Inspection and cleaning system and its mobile cleaning device

Abstract

The present invention relates to the technical field of in-reactor components of a reactor, and particularly to an inspection and cleaning system and a mobile cleaning device thereof. The mobile cleaning device includes a carrying mechanism for moving on a walking surface; a guiding mechanism disposed above the carrying mechanism and used for extending into a target to be cleaned; a cleaning mechanism including a liquid supply assembly for storing a cleaning liquid, a cleaning integrated assembly for spraying the cleaning liquid, and a first infusion tube connecting the liquid supply assembly and the cleaning integrated assembly. The cleaning integrated assembly is disposed in the guiding mechanism, and the liquid supply assembly is disposed on the carrying mechanism; an adjusting mechanism disposed on the carrying mechanism and used for adjusting the height and angle of the cleaning integrated assembly relative to the walking surface; and a main control mechanism for controlling the operation of the carrying mechanism, the guiding mechanism, the cleaning mechanism, and the adjusting mechanism. The mobile cleaning device can be used for cleaning pipelines.

Description

Technical Field

[0001] The present invention relates to the technical field of in-vessel components of a reactor, and particularly to an inspection and cleaning system and its mobile cleaning device. Background Art

[0002] The control rod drive mechanism of a reactor pressure vessel (the control rod drive mechanism, abbreviated as CRDM, Control Rod Drive Mechanism) needs to be regularly inspected and cleaned for its claw assembly. If dirt contaminates the inside of the claw assembly, it will cause jamming and other situations, laying a safety hazard for the control rod to slip out of step and affecting the stable operation of the reactor.

[0003] However, the area where the control rod drive mechanism is located is the red zone in a nuclear power plant, with strong radiation and a high dose rate. Relevant personnel cannot directly construct for a long time, and there is no suitable inspection tool, making it difficult to inspect and clean the claw assembly. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an inspection and cleaning system and its mobile cleaning device.

[0005] The technical solution adopted by the present invention to solve its technical problem is to construct a mobile cleaning device, which is characterized in that it includes:

[0006] A carrier mechanism for moving on a walking surface;

[0007] A guiding mechanism placed above the carrier mechanism and used for extending into a target to be cleaned;

[0008] A cleaning mechanism including a liquid supply component for storing cleaning liquid, a cleaning integrated component for spraying the cleaning liquid, and a first infusion tube connecting the liquid supply component and the cleaning integrated component. The cleaning integrated component is placed in the guiding mechanism, and the liquid supply component is placed on the carrier mechanism;

[0009] An adjusting mechanism placed on the carrier mechanism and used for adjusting the height and angle of the cleaning integrated component relative to the walking surface;

[0010] A main control mechanism communicatively connected to the carrier mechanism, the guiding mechanism, the cleaning mechanism, and the adjusting mechanism respectively to control the operation of the carrier mechanism, the guiding mechanism, the cleaning mechanism, and the adjusting mechanism.

[0011] In some embodiments, the cleaning mechanism further includes a pipe winding wheel for winding the first infusion tube, and a tube retracting and releasing drive assembly for driving the pipe winding wheel to rotate to retract or release the first infusion tube according to the rotation direction. The pipe winding wheel is mounted on the carrier mechanism.

[0012] In some embodiments, the adjusting mechanism includes a pitching mechanism for adjusting the pitching angle of the guiding mechanism relative to the walking surface, and a lifting mechanism for driving the cleaning integrated component to move along the axial direction of the guiding mechanism. Both the pitching mechanism and the lifting mechanism are installed on one side of the guiding mechanism close to the carrier mechanism.

[0013] In some embodiments, the lifting mechanism includes a liquid tube transmission component for driving the first infusion tube to extend into or out of the guiding mechanism;

[0014] The liquid tube transmission component includes a fixed support seat fixed on the carrier mechanism, a driving wheel installed on the fixed support seat and used for driving the first infusion tube to move, a driven wheel that cooperates with the driving wheel to clamp the first infusion tube, and a fourth driving motor for driving the driving wheel to rotate.

[0015] In some embodiments, the guiding mechanism includes a first mounting end installed above the carrier mechanism and swingable relative to the carrier mechanism;

[0016] The pitching mechanism includes a first worm gear fixedly connected to the first mounting end, a first worm for driving the first worm gear to rotate, and a second driving assembly for driving the first worm to rotate.

[0017] In some embodiments, the guiding mechanism includes a first guiding cylinder, a second guiding cylinder disposed in the first guiding cylinder, and a plurality of rollers;

[0018] The plurality of rollers are used to assist the second guiding cylinder to move along the axial direction of the first guiding cylinder; one end of the first guiding cylinder close to the carrier mechanism is installed above the carrier mechanism, and one end of the first guiding cylinder far from the carrier mechanism is open; the cleaning integrated component is placed at one end of the second guiding cylinder far from the carrier mechanism.

[0019] In some embodiments, the cleaning integrated component includes a flushing head and a first imaging element; the cleaning mechanism further includes a second infusion tube disposed in the second guiding cylinder;

[0020] The flushing head is connected to the first infusion tube through the second infusion tube, and the nozzle of the flushing head faces one end of the first guiding cylinder far from the carrier mechanism, and the first imaging element is arranged around the nozzle.

[0021] In some embodiments, the mobile cleaning device further includes an auxiliary positioning mechanism fixed to the guiding mechanism;

[0022] The auxiliary positioning mechanism includes a second light-emitting component and a second camera component, and the light-emitting angle of the second light-emitting component and the shooting angle of the second camera component are both parallel to the axial direction of the guiding mechanism.

[0023] In some embodiments, the mobile cleaning device further includes a waste liquid recovery mechanism;

[0024] The waste liquid recovery mechanism includes a waste liquid tank installed on the carrier mechanism, a collection hopper sleeved and fixed on the outer periphery of the guiding mechanism, and a recovery liquid pipe connecting the waste liquid tank and the collection hopper.

[0025] The present invention also constructs an inspection and cleaning system, including a monitoring device and the above-mentioned mobile cleaning device;

[0026] The monitoring device includes a monitoring mechanism for shooting the motion state of the mobile cleaning device, and a control mechanism for feeding back the motion state of the mobile cleaning device and controlling the operation of the mobile cleaning device.

[0027] Implementing the present invention has the following beneficial effects: The mobile cleaning device can be used to clean pipelines. The device can move to the lower position of the pipeline and clean the inside of the pipeline, avoiding relevant personnel from cleaning in person. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0029] Figure 1 is a schematic structural diagram of the inspection and cleaning system of the present invention;

[0030] Figure 2 is a schematic structural diagram of the mobile cleaning device of the present invention in some embodiments;

[0031] Figure 3 is a structural cross-sectional view of the guiding mechanism and the cleaning integrated component of the mobile cleaning device of the present invention in some embodiments;

[0032] Figure 4 is Figure 2 a left view of the structure between the guiding mechanism and the carrier mechanism in the shown mobile cleaning device;

[0033] Figure 5 is a schematic structural diagram of the carrier mechanism of the mobile cleaning device of the present invention in some embodiments;

[0034] Figure 6Schematic structural diagram of the pitching mechanism of the mobile cleaning device of the present invention in some embodiments;

[0035] Figure 7 is Figure 2 Front view of the structure located between the guiding mechanism and the carrying mechanism in the shown mobile cleaning device;

[0036] Figure 8 is Figure 7 Top view of the shown structure;

[0037] Figure 9 is Figure 7 Schematic structural diagram of the marked frame A after being enlarged;

[0038] Figure 10 is Figure 8 Schematic structural diagram of the marked frame B after being enlarged;

[0039] Figure 11 Schematic structural diagram of the auxiliary positioning mechanism and the pitching mechanism of the mobile cleaning device of the present invention in some embodiments.

[0040] Reference numerals:

[0041] Mobile cleaning device 100; Monitoring device 200; Control mechanism 201; Monitoring mechanism 202; Hook claw assembly 301; Biological shielding body 302;

[0042] Carrying mechanism 1; Vehicle shell 11; Driving wheel 12; Traveling wheel 13;

[0043] Guiding mechanism 2; First guiding cylinder 21; First cylinder part 211; First mounting end 2111; Second cylinder part 212; First free end 2121; Second guiding cylinder 22; First connection end 221; First opening end 222; Multiple rollers 23;

[0044] Cleaning mechanism 3; Cleaning integrated component 31; Flushing head 311; Second infusion tube 312; First infusion tube 32; Liquid supply component 33; Liquid storage tank 331; Water pump 332; Tube winding wheel 34; Support component 35; Vertical support 351; First rotating shaft 352; Reeling tube drive component 36; Second worm 361; Second worm gear 362; Third driving motor 363;

[0045] Pitching mechanism 4; First worm gear 41; First worm 42; Second driving component 43;

[0046] Lifting mechanism 5; liquid pipe transmission component 51; fixed support 511; fixed main board 5111; first fixed sub-board 5112; second fixed sub-board 5113; driving wheel 512; driven wheel 513; fourth driving motor 514; acting channel 515; adjusting component 516; spring 5161; bolt 5162; nut seat 5163;

[0047] Auxiliary positioning mechanism 6;

[0048] Waste liquid recovery mechanism 7; waste liquid tank 71; recovery liquid pipe 72; collection hopper 73. Specific implementation manners

[0049] For a clearer understanding of the technical features, objectives, and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientation or positional relationships indicated by "front", "rear", "upper", "lower", "left", "right", "longitudinal", "transverse", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail", etc. are based on the orientation or positional relationships shown in the accompanying drawings and are constructed and operated in a specific orientation, and are only for the convenience of describing the present technical solution, rather than indicating that the indicated device or element must have a specific orientation, and thus should not be construed as a limitation to the present invention.

[0050] It should also be noted that, unless otherwise clearly specified and defined, terms such as "installation", "connection", "connection", "fixation", "setting", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located above the other element, or there may also be one or more intermediate elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third", etc. can explicitly or implicitly include one or more of such features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present invention.

[0052] Figure 1 Some inspection and cleaning systems in embodiments of the present invention are shown, which can be used to inspect the claw assembly 301 of the control rod drive mechanism (Control Rod Drive Mechanism) of the reactor pressure vessel and clean foreign objects therein. Of course, this inspection and cleaning system can also clean other pipeline structures, especially pipeline structures in a height-restricted environment.

[0053] As Figure 1 shown, the inspection and cleaning system may include a mobile cleaning device 100 and a monitoring device 200. The monitoring device 200 can be arranged in a low-radiation area, and technicians can operate the monitoring device 200 to drive the mobile cleaning device 100 to move under the claw assembly 301, inspect the inside of the claw assembly 301, and can perform real-time video recording storage and cleaning of the inspection situation.

[0054] It can be understood that the top cover of the reactor pressure vessel is located on the biological shield 302 in the storage room. The mobile cleaning device 100 can easily move through the door of the biological shield 302 and enter its interior, and perform inspection and cleaning on multiple claw assemblies 301 one by one from under the top cover of the reactor pressure vessel.

[0055] As Figure 2 、 Figure 3 shown, in some embodiments, the mobile cleaning device 100 may include a carrier mechanism 1, a guiding mechanism 2, a cleaning mechanism 3, an adjusting mechanism, an auxiliary positioning mechanism 6 (refer to Figure 11 ), a waste liquid recovery mechanism 7, and a main control mechanism (not shown).

[0056] Among them, the carrier mechanism 1 is used to freely move on a walking surface (such as a horizontal plane like the ground, etc.) and is used to carry the guiding mechanism 2, the cleaning mechanism 3, the pitching mechanism 4, the lifting mechanism 5, the auxiliary positioning mechanism 6, the waste liquid recovery mechanism 7, and the main control mechanism.

[0057] The cleaning mechanism 3 is used to spray liquid to inspect and clean the inside of the claw assembly 301, as Figure 3 and Figure 4As shown, the cleaning mechanism 3 may include a liquid supply component 33 and a cleaning integrated component 31 connected to the liquid supply component 33. The liquid supply component 33 is used to provide cleaning liquid, and the cleaning integrated component 31 shoots the cleaning liquid outward (outside the mobile cleaning device 100).

[0058] The guiding mechanism 2 is used to house the cleaning integrated component 31 therein, and the guiding mechanism 2 can swing longitudinally relative to the carrier mechanism 1 so as to extend into the target to be cleaned. In this embodiment, the target to be cleaned may be the claw component 301.

[0059] The adjusting mechanism is used to adjust the height and angle of the cleaning integrated component 31 relative to the walking surface. The adjusting mechanism includes a pitching mechanism 4 and a lifting mechanism 5. The pitching mechanism 4 is used to adjust the pitching angle of the guiding mechanism 2 and the cleaning integrated component 31 (the angle formed between the guiding mechanism 2 or the cleaning integrated component 31 and the walking surface, and the angle size can be selected between 0° and 90°). Secondly, the lifting mechanism 5 is used to cooperate with adjusting the height of the cleaning integrated component 31 relative to the walking surface.

[0060] The auxiliary positioning mechanism 6 is used to provide camera and lighting functions. When entering the inside of the biological shield 302, it assists the carrier mechanism 1 to move under the corresponding claw component 301 and assist in aligning and extending into the inside of the claw component 301 by means of live broadcast.

[0061] The waste liquid recovery mechanism 7 is used to recover the ejected liquid.

[0062] The main control mechanism is used to receive instructions from the monitoring device 200 and control the working states (start or stop or state switching) of the carrier mechanism 1, the cleaning mechanism 3, the pitching mechanism 4, the lifting mechanism 5, and the auxiliary positioning mechanism 6.

[0063] In the related art, as Figure 1 shown, the biological shield 302 is arc-shaped, its door size is 500 mm (width) × 690 mm (height), the height of its highest point inside is 1940 mm, and the maximum height of the inspected part is about 4200 mm. Based on this, in some embodiments, the overall external dimensions of the mobile cleaning device 100 are 1542 (length) × 485 mm (width) × 586 mm (height), the chassis is 25 mm away from the ground, the minimum height when the pitching mechanism 4 rotates to the vertical direction is about 1829 mm, and after further lifting, the maximum height of the mobile cleaning device 100 is about 4800 mm.

[0064] Understandably, the working principle of the mobile cleaning device 100 is as follows: After the main control mechanism receives an instruction from the monitoring device 200, it controls the carrier mechanism 1 to move under the top cover of the reactor pressure vessel. The guiding mechanism 2 is rotated to the longitudinal direction by using the pitching mechanism 4, and positioning is performed by observing through the auxiliary positioning mechanism 6. After accurate positioning, the cleaning integrated component 31 is sent into the control rod drive mechanism component by means of the lifting mechanism 5, so as to perform a full-round inspection on the inner wall circumference of the hook claw component 301, and store the observed situation in real-time video and handle foreign objects (high-pressure water flushing). After the inspection and cleaning are completed, the control rod drive mechanism is withdrawn in reverse according to the above process, and the carrier mechanism 1 moves to the next control rod drive mechanism for inspection until all inspections are completed.

[0065] Refer to Figure 5 , in some embodiments, the carrier mechanism 1 is integrally square, and it is a six-wheel dual-drive structure, which may include a vehicle body 11, two first drive components (not shown) installed on the vehicle body 11, two drive wheels 12, and four walking wheels 13.

[0066] The vehicle body 11 is a square boxed structure, which may include a chassis. The two first drive components are housed in the vehicle body 11. The two drive wheels 12 are rotatably installed on both sides of the center position of the chassis and are mechanically connected to the corresponding first drive components, and the drive wheels 12 are driven to rotate by the first drive components. The four walking wheels 13 are respectively installed at positions close to the four corners of the chassis, and the walking wheels 13 are driven to travel by the drive wheels 12.

[0067] Each first drive component may include a first drive motor, which is mechanically connected to the corresponding drive wheel 12 and can drive the corresponding drive wheel 12 to rotate. Preferably, the first drive motor uses a low-voltage brushless torque motor, equipped with a right-angle planetary reducer, and the reduction ratio is 200:1, and the driving torque can reach 60 N*m. Understandably, the number of the first drive components can be at least one, and a single first drive component can control two or more drive wheels 12 to rotate.

[0068] Each drive wheel 12 is an aluminum alloy coated (urethane) wheel, and its diameter can be 150 mm. Driven by the first drive motor, the maximum traveling speed of the entire mobile cleaning device 100 can reach 7 m / min. Understandably, the number of the drive wheels 12 can be at least one, and the movement of the carrier mechanism 1 is realized by a single drive wheel 12.

[0069] The four traveling wheels 13 are all universal wheels. On the one hand, they are used to support the entire vehicle body 11 and other mechanisms (such as the guiding mechanism 2, the cleaning mechanism 3, etc.). On the other hand, they cooperate with the driving wheel 12 to control the entire transporting mechanism 1 to perform linear movement and turning movement. It should be particularly noted that since the driving wheel 12 is rotatably installed at the bottom center of the vehicle body 11, the transporting mechanism 1 can achieve in-situ turning. Understandably, the number of the traveling wheels 13 can be at least two. When the number of the traveling wheels 13 is two, the two traveling wheels 13 can be respectively arranged at the front end and the rear end of the vehicle body 11 in the forward direction.

[0070] Preferably, the transporting mechanism 1 may further include two obstacle avoidance imaging components (not shown), which are respectively arranged at the front end and the rear end of the vehicle body 11 in the forward direction, so as to determine the position of the device in the biological shield 302 and avoid obstacles on the forward road.

[0071] Refer to Figure 2 , the guiding mechanism 2 is swingably installed above the vehicle body 11 and is located on the longitudinal plane (hereinafter simply referred to as the first longitudinal plane) containing the central axis of the vehicle body 11 in the forward direction. The guiding mechanism 2 can swing up and down on the first longitudinal plane. Optionally, the guiding mechanism 2 may include two swing positions (the first position and the second position). The first position is that the central axis of the guiding mechanism 2 is perpendicular to the walking surface, and the second position is that the central axis of the guiding mechanism 2 is parallel to the walking surface. The guiding mechanism 2 can swing back and forth between the first position and the second position. Understandably, when the guiding mechanism 2 is in the first position, its central axis is parallel or coincident with the central axis between the hook claw assemblies 301.

[0072] In some embodiments, the guiding mechanism 2 is longitudinally elongated and may include a first guiding cylinder 21 and a second guiding cylinder 22 arranged in the first guiding cylinder 21. The second guiding cylinder 22 can perform reciprocating axial displacement in the first guiding cylinder 21, and the second guiding cylinder 22 can partially extend out of the first guiding cylinder 21.

[0073] The first guiding cylinder 21 is longitudinally elongated and may include a first cylinder part 211 and a second cylinder part 212 coaxially connected to the first cylinder part 211; the first cylinder part 211 is cylindrical and is relatively adjacent to the vehicle body 11. One end (the first mounting end 2111) of the first cylinder part 211 is swingably connected above the vehicle body 11, and the other end of the first cylinder part 211 is connected to the second cylinder part 212; the second cylinder part 212 is cylindrical and is relatively far from the vehicle body 11 and is used to house the second guiding cylinder 22 therein; one end (the first free end 2121) of the second cylinder part 212 far from the first cylinder part 211 is an open structure, and the second guiding cylinder 22 can extend out from the end of the second cylinder part 212 far from the first cylinder part 211.

[0074] The second guide cylinder 22 is cylindrical and is arranged in the second cylinder part 212. Its diameter is smaller than the inner diameter of the second cylinder part 212, and its axial length is smaller than the axial length inside the second cylinder part 212. The second guide cylinder 22 may include a first connection end 221 and a first opening end 222 opposite to the first connection end 221. Among them, the first connection end 221 is relatively close to the first cylinder part 211, and an axially penetrating fixing hole is provided on the end wall of the first connection end 221, and this fixing hole is used to cooperate with the cleaning mechanism 3. The cleaning integrated component 31 is installed in the second guide cylinder 22 and near the first opening end 222, and the cleaning liquid can be ejected outward from the opening of the first opening end 222.

[0075] In some embodiments, the guiding mechanism 2 may further include a plurality of rollers 23. The plurality of rollers 23 are rotatably arranged on the outer periphery of the second guide cylinder 22 and abut against the inner peripheral wall surface of the second cylinder part 212. The second guide cylinder 22 realizes axial reciprocating displacement in the second cylinder part 212 by means of the plurality of rollers 23. Preferably, the plurality of rollers 23 can be divided into two groups. The two groups are symmetrically distributed on both sides of the outer periphery of the second guide cylinder 22 with the central axis of the second guide cylinder 22 as the boundary, and each group of rollers 23 is spaced and evenly distributed on the second guide cylinder 22 along the direction parallel to the axial direction of the second guide cylinder 22.

[0076] As Figure 2 shown, in addition to the liquid supply component 33 and the cleaning integrated component 31 described above, the cleaning mechanism 3 may further include a pipe winding wheel 34, a bracket component 35, a first infusion pipe 32, and a second infusion pipe 312.

[0077] The bracket component 35 is used to relatively fix the pipe winding wheel 34 above the vehicle body 11. The pipe winding wheel 34 is rotatably installed on the bracket component 35 to perform a circular motion around its own central axis above the vehicle body 11. The first infusion pipe 32 is wound around the pipe winding wheel 34. The first infusion pipe 32 may include a first end and a second end. The first end is connected to the liquid supply component 33, and the diameter of the second end is equivalent to the aperture of the fixing hole of the second guide cylinder 22. The second end can extend into the first guide cylinder 21, be fixedly arranged through the fixing hole of the second guide cylinder 22, and be connected to the cleaning integrated component 31 in a liquid guiding manner through the second infusion pipe 312.

[0078] In some embodiments, the bracket assembly 35 may include two vertical brackets 351 and a first rotating shaft 352 disposed between the two vertical brackets 351. Among them, the two vertical brackets 351 are generally triangular, fixed to the top of the vehicle body 11, and the two vertical brackets 351 are symmetrically and spaced apart on the vehicle body 11 with the central axis of the vehicle body 11 in the forward direction as the boundary; the first rotating shaft 352 is rotatably connected between the two vertical brackets 351, and the central axis of the first rotating shaft 352 is perpendicular to the central axis of the vehicle body 11 in the forward direction. Optionally, both ends of the first rotating shaft 352 pass through the two vertical brackets 351 and are located on the side of the two vertical brackets 351 away from the pipe winding wheel 34 to cooperate with a part of the lifting mechanism 5.

[0079] The pipe winding wheel 34 is an I-shaped wheel, which is sleeved on the first rotating shaft 352 and erected between the two vertical brackets 351; at the same time, there is a gap between the I-shaped wheel and the top surface of the vehicle body 11, so that the I-shaped wheel can rotate in a circular motion around its own central axis above the vehicle body 11. In this embodiment, as Figure 2 shown, the I-shaped wheel is relatively located between one end of the first cylinder part 211 far from the second cylinder part 212 and the top surface of the housing.

[0080] The liquid supply assembly 33 may include a liquid storage tank 331 and a water pump 332 disposed in the liquid storage tank 331. Among them, the liquid storage tank 331 is arranged on the top surface of the vehicle body 11 at a peripheral position of the pipe winding wheel 34, and the liquid storage tank 331 stores cleaning liquid. The water pump 332 is used to transport the liquid to the cleaning integration component 31.

[0081] The first end of the first liquid delivery pipe 32 is connected to the liquid storage tank 331, and the second end of the first liquid delivery pipe 32 winds around the I-shaped wheel for several circles and then extends out from the gap between the I-shaped wheel and the top surface of the vehicle body 11, extends longitudinally upward and extends into the first guide cylinder 21, and is connected to the cleaning integration component 31 in a liquid guiding manner through the second liquid delivery pipe 312.

[0082] The second liquid delivery pipe 312 is disposed in the second guide cylinder 22. Optionally, the second liquid delivery pipe 312 may be a PU pipe.

[0083] Preferably, as Figure 7 shown, the cleaning mechanism 3 may further include a pipe winding and unwinding driving component 36. The pipe winding and unwinding driving component 36 is installed on the pipe winding wheel 34 and is used to drive the pipe winding wheel 34 to rotate in a circular motion around its own central axis, so as to wind or unwind the first liquid delivery pipe 32; at the same time, the pipe winding and unwinding driving component 36 is also connected to the main control mechanism, and the main control mechanism controls the pipe winding and unwinding driving component 36 to realize the control of the rotation direction of the pipe winding wheel 34.

[0084] In some embodiments, the winding and unwinding tube driving assembly 36 may include a third driving motor 363, a second worm gear 362, and a second worm 361. The second worm gear 362 is coaxially and fixedly sleeved on one end of the first rotating shaft 351. The second worm 361 is meshed with the second worm gear 362. In this embodiment, the second worm 361 is disposed below the second worm gear 362, and the central axis of the second worm 361 is perpendicular to the central axis of the first rotating shaft 351. The third driving motor 363 is mechanically connected to the second worm 361 for driving the second worm 361 to rotate self, so as to realize the rotation of the pipe winding wheel 34; at the same time, the third driving motor 363 is also connected to the main control mechanism, and the main control mechanism controls the rotation direction of the third driving motor 363 to control the rotation direction of the pipe winding wheel 34. Optionally, the third driving motor 363 is generally cylindrical and is coaxially connected to the second worm 361.

[0085] As Figure 3 shown, the cleaning integrated assembly 31 may include a flushing head 311, a first light-emitting element (not shown), and a first imaging element (not shown). Among them, the flushing head 311 is connected to the second end of the first infusion tube 32 through the second infusion tube 312 to eject the cleaning liquid. The first light-emitting element is used to illuminate the inside of the hook assembly 301. The first light-emitting element is disposed around the flushing head 311 and is electrically connected to the main control mechanism; optionally, the first light-emitting element may include a first LED spotlight. The first imaging element is used to observe the inside of the hook assembly 301 in real time. The first imaging element is disposed around the flushing head 311 and is electrically connected and communicatively connected to the main control mechanism; optionally, the first imaging element may include an endoscope camera.

[0086] In some embodiments, the cleaning mechanism 3 may further include a heating assembly (not shown). The heating assembly is used to heat the cleaning liquid, so as to improve the cleaning effect on the inside of the hook assembly 301. Optionally, the heating assembly may include a heating rod (such as adopting a resistance heating method). The heating rod is disposed in the liquid storage tank 331 and is electrically connected to the main control mechanism.

[0087] As Figure 2 shown, the pitching mechanism 4 is disposed around the guiding mechanism 2 and is mechanically connected to the guiding mechanism 2. Specifically, the pitching mechanism 4 is disposed at the outer peripheral position of the first cylinder part 211 and is mechanically connected to one end of the first cylinder part 211 away from the second cylinder part 212.

[0088] Again, as Figure 6As shown, in some embodiments, the pitching mechanism 4 may include a second driving component 43, a first worm 42, and a first worm wheel 41. The first worm wheel 41 is fixedly connected to the outer periphery of one end of the first cylinder part 211 away from the second cylinder part 212, and the plane of the first worm wheel 41 is perpendicular to the walking surface. The first worm 42 is meshed with the first worm wheel 41. The second driving component 43 is mechanically connected to the first worm 42 and is used to drive the first worm 42 to rotate self - sufficiently, so as to realize the longitudinal swing of the guiding mechanism 2; at the same time, the second driving component 43 is also connected to the main control mechanism, and the main control mechanism controls the swinging direction of the guiding mechanism 2 by controlling the rotation direction of the second driving component 43. Optionally, the second driving component 43 may include a second driving motor, which is generally cylindrical and coaxially connected to the first worm 42.

[0089] It can be understood that, referring to Figure 2 , when the first worm 42 drives the first worm wheel 41 to rotate clockwise, the guiding mechanism 2 follows the clockwise rotation, and then the guiding mechanism 2 swings from the first position to the second position; or, when the first worm 42 drives the first worm wheel to rotate counterclockwise, the guiding mechanism 2 follows the counterclockwise rotation, and then the guiding mechanism 2 swings from the second position to the first position.

[0090] As Figure 7 shown, the lifting mechanism 5 may include a liquid pipe transmission component 51. The liquid pipe transmission component 51 is located below the guiding mechanism 2 and is arranged on the path where the first infusion pipe 32 extends towards the guiding mechanism 2, and is used to drive a part of the first infusion pipe 32 released from the winding wheel 34 to extend into the guiding mechanism 2, or pull out a part of the first infusion pipe 32 extending into the guiding mechanism 2, so as to assist in recycling a part of the first infusion pipe 32 released from the winding wheel 34 onto the winding wheel 34.

[0091] Again, as Figures 8 to 10 shown, in some embodiments, the liquid pipe transmission component 51 may include a fixed support 511, a driving wheel 512, a driven wheel 513, an adjusting component 516, and a fourth driving motor 514.

[0092] The fixed support 511 is mounted above the vehicle body 11 and is located between one end of the first cylinder part 211 away from the second cylinder part 212 and the top surface of the vehicle body 11, preferably directly below one end of the first cylinder part 211 away from the second cylinder part 212, and is used for the driving wheel 512, the driven wheel 513, the adjusting component 516, and the fourth driving motor 514 to be relatively fixed thereon.

[0093] The driving wheel 512 is rotatably mounted on the fixed support 511. The plane where the driving wheel 512 is located coincides with or is parallel to the first longitudinal plane, preferably coincides. The driven wheel 513 is also mounted on the fixed support 511 and is arranged at an interval and opposite to the driving wheel 512. A working channel 515 for accommodating the first infusion tube 32 is formed between the driving wheel 512 and the driven wheel 513. The driving wheel 512 and the driven wheel 513 can clamp and press against the corresponding outer peripheral surface of the first infusion tube 32, and use friction to drive a part of the first infusion tube 32 released from the tubing reel 34 to extend into the guiding mechanism 2, or assist in recovering a part of the first infusion tube 32 released from the tubing reel 34 onto the tubing reel 34.

[0094] The fourth driving motor 514 is relatively fixed on the fixed support 511 and is mechanically connected to the driving wheel 512. The fourth driving motor 514 is used to drive the driving wheel 512 to rotate. At the same time, the fourth driving motor 514 is also connected to the main control mechanism. The main control mechanism controls the rotation direction of the driving wheel 512 by controlling the rotation direction of the fourth driving motor 514.

[0095] The adjusting component 516 is mounted on the fixed support 511 and is arranged at the peripheral position of the driven wheel 513. The adjusting component 516 is used to adjust the distance of the driven wheel 513 relative to the driving wheel 512 to ensure that the driving wheel 512 and the driven wheel 513 tightly press against the corresponding outer peripheral surface of the first infusion tube 32, and can also increase the friction force.

[0096] As Figure 10 shown, in some embodiments, the fixed support 511 is generally U-shaped and may include a fixed main board 5111, and a first fixed sub-board 5112 and a second fixed sub-board 5113 respectively connected to opposite sides of the fixed main board 5111. The fixed main board 5111 is relatively far from the tubing reel 34, and the plane where the fixed main board 5111 is located is perpendicular to the first longitudinal plane. The first fixed sub-board 5112 and the second fixed sub-board 5113 are symmetric with respect to the first longitudinal plane, and the planes where the first fixed sub-board 5112 and the second fixed sub-board 5113 are located are parallel to the first longitudinal plane.

[0097] The driving wheel 512 and the driven wheel 513 are located between the first fixed auxiliary plate 5112 and the second fixed auxiliary plate 5113. The driven wheel 513 is relatively adjacent to the first fixed main plate 5111, and the driving wheel 512 and the driven wheel 513 are spaced and oppositely arranged on the central axis of the vehicle body 11 in the forward direction. Optionally, the driving wheel 512 is rotatably connected to the surface of the first fixed auxiliary plate 5112 facing the second fixed auxiliary plate 5113, and the driven wheel 513 is rotatably connected to the surface of the second fixed auxiliary plate 5113 facing the first fixed auxiliary plate 5112. The first sliding rail is formed on the driving wheel 512 and distributed in its circumferential direction, and the second sliding rail is formed on the driven wheel 513 and distributed in its circumferential direction. The first sliding rail and the second sliding rail are respectively arc-shaped, and the radian of the two is adapted to the radian of the outer peripheral surface of the first infusion tube 32, so that the driving wheel 512 and the driven wheel 513 can be as close as possible to the outer peripheral surface of the first infusion tube 32.

[0098] The inner wall surface of the first sliding rail relative to the second sliding rail and the inner wall surface of the second sliding rail relative to the first sliding rail together form an action channel 515, and the action channel 515 is generally cylindrical.

[0099] The fourth driving motor 514 is arranged on the surface of the first fixed auxiliary plate 5112 away from the second fixed auxiliary plate 5113, and the rotating shaft of the four driving motors passes through the first fixed auxiliary plate 5112 and is connected to the driving wheel 512. Optionally, the fourth driving motor 514 is generally cylindrical, and its central axis is perpendicular to the plane where the driving wheel 512 is located.

[0100] The adjusting component 516 is installed on the surface of the first fixed main plate 5111 away from the driven wheel 513. The adjusting component 516 may include a spring 5161, a bolt 5162 and a nut seat 5163. Among them, the end face of the nut seat 5163 is fitted to the surface of the first fixed main plate 5111 away from the driven wheel 513 and fixed on this surface. The central through hole of the nut seat 5163 corresponds to the driven wheel 513. The bolt 5162 is threadedly connected to the nut seat 5163 in a direction perpendicular to the first fixed main plate 5111. The spring 5161 is axially sleeved on the bolt 5162 and is between the head of the bolt 5162 and the nut seat 5163. At the same time, by rotating the bolt 5162, the bolt 5162 can pass through the first fixed main plate 5111 to abut against the outer peripheral surface of the driven wheel 513, pushing the driven wheel 513 closer to the driving wheel 512, so that both the driven wheel 513 and the driving wheel 512 tightly abut against the first infusion tube 32.

[0101] Understandably, referring to Figure 2For example, when the main control mechanism receives an instruction to extend the cleaning integrated component 31 out of the first guiding cylinder 21, it controls the third driving motor 363 to operate, causing the pipe winding wheel 34 to rotate clockwise, and the first infusion pipe 32 can be gradually released out of the pipe winding wheel 34. At the same time, the main control mechanism controls the fourth driving motor 514 to work, enabling a part of the first infusion pipe 32 released from the pipe winding wheel 34 to extend along the axial direction of the first guiding cylinder 21 towards the end of the second cylinder part 212 away from the first cylinder part 211. The second guiding cylinder 22 is pushed and gradually extends out of the first guiding cylinder 21, and the cleaning integrated component 31 follows and extends out of the first guiding cylinder 21. Or, when the main control mechanism receives an instruction to return the cleaning integrated component 31 into the first guiding cylinder 21, it controls the fourth driving motor 514 to pull a part of the first infusion pipe 32 located in the second cylinder part 212 out of the first cylinder part 211. The second end of the first infusion pipe 32 pulls the second guiding cylinder 22 and the cleaning integrated component 31 to gradually retract into the first guiding cylinder 21. At the same time, the main control mechanism controls the third driving motor 363 to make the pipe winding wheel 34 rotate counterclockwise, and recovers the part of the first infusion pipe 32 that has exited the first cylinder part 211 onto the pipe winding wheel 34.

[0102] Preferably, the lifting mechanism 5 may further include an encoder (not shown) provided around the liquid pipe transmission component 51 for realizing the measurement of the feeding and winding length. The encoder can be an incremental photoelectric encoder, and preferably an incremental photoelectric encoder of the model Omron E6B2-CWZ6C with a pulse count of 1000P / r.

[0103] In some embodiments, the auxiliary positioning mechanism 6 is fixedly connected to the first cylinder part 211 and is provided around the end of the first cylinder part 211 away from the second cylinder part 212. Optionally, as Figure 11 shown, the auxiliary positioning mechanism 6 and the pitching mechanism 4 are respectively provided on opposite sides of the first cylinder part 211. It can be understood that when the guiding mechanism 2 swings, the auxiliary positioning mechanism 6 follows and swings.

[0104] In some embodiments, the auxiliary positioning mechanism 6 may include a second light emitting component and a second camera component. The light emitting angle of the second light emitting component is in the same plane as the axial direction of the guiding mechanism 2 and is parallel to the axial direction, for illuminating the environment pointed by the axial direction of the guiding mechanism 2. Optionally, the second light emitting component may include a second LED spotlight. The shooting angle of the second camera component is in the same plane as the axial direction of the guiding mechanism 2 and is parallel to the axial direction, for live broadcasting the environmental conditions pointed by the axial direction of the guiding mechanism 2. Optionally, the second camera component may include a first camera.

[0105] As Figure 2 、 Figure 4As shown, the waste liquid recovery mechanism 7 may include a waste liquid tank 71, a recovery liquid pipe 72, and a collection hopper 73. The collection hopper 73 is used to collect the waste liquid scattered after being ejected from the flushing head 311. The collection hopper 73 and the waste liquid tank 71 are connected through the recovery liquid pipe 72, and the waste liquid collected by the collection hopper 73 is stored in the waste liquid tank 71.

[0106] In some embodiments, the collection hopper 73 is in a bowl shape and is coaxially and fixedly connected to the outer periphery of the first cylinder portion 211. The waste liquid tank 71 is arranged on the top surface of the vehicle body 11. Optionally, the waste liquid tank 71 and the liquid storage tank 331 are respectively located on opposite sides of the first longitudinal plane.

[0107] In some embodiments, the main control mechanism includes a PLC control module, a motion control module, a power supply module, and a wireless transceiver module. Among them, the power supply module provides electrical energy for the PLC control module, the motion control module, and the wireless transceiver module; the PLC control module and the motion control module can receive control instructions from the monitoring device 200 through the wireless transceiver module, and implement functions such as pitching and lifting functions, vehicle body movement functions, spraying functions, etc. according to the corresponding control instructions.

[0108] In some embodiments, the monitoring device 200 includes a control mechanism 201 and a monitoring mechanism 202. The operating mechanism can be arranged in a low-radiation area and an area where technicians can move conveniently, while the monitoring mechanism 202 needs to be arranged at a position where the mobile cleaning device 100 can be seen. In this embodiment, the monitoring mechanism 202 is arranged at the entrance of the biological shield 302. The control mechanism 201 and the monitoring mechanism 202 are electrically connected. The control mechanism 201 communicates wirelessly with the mobile cleaning device 100 through the monitoring mechanism 202. The monitoring mechanism 202 is not only responsible for monitoring the motion state of the mobile cleaning device 100 and the position positioning function, but also serves as a relay station. It can receive data such as video information transmitted back by the mobile cleaning device 100 and transmit it to the control mechanism 201. Optionally, the data is transmitted between the control mechanism 201 and the monitoring mechanism 202 by using a 19-core cable connection method.

[0109] It can be understood that the control mechanism 201 can also communicate with the mobile cleaning device 100 through the monitoring mechanism 202 in a wired manner. The monitoring mechanism 202 and the mobile cleaning device 100 can be electrically connected through a 19-core cable. In some embodiments, the wired transmission distance between the two is 30m, and if wireless transmission is used, the maximum distance can also reach 30m.

[0110] In some embodiments, the control mechanism 201 may include an industrial control computer and a remote control handle (not shown). Among them, the industrial control computer may be a portable industrial control computer, which may include a display, a computer, and a keyboard and mouse. Technicians can view the video information of the mobile cleaning device 100 through the display. The remote control handle is connected to the computer and is used to control the mobile cleaning device 100 to achieve the pitching and lifting functions and the vehicle body movement function.

[0111] In some embodiments, the monitoring mechanism 202 may include a second camera (not shown), a two-dimensional pan-tilt (not shown), and a laser calibrator (not shown). Among them, the second camera is installed on the two-dimensional pan-tilt. The second camera is used to capture the mobile cleaning device 100 in real time. The two-dimensional pan-tilt is used to adjust the angles of the second camera in the horizontal and pitching directions. The laser calibrator is used to assist in shooting and can calibrate the mobile cleaning device 100 through laser.

[0112] In summary, the inspection and cleaning system can achieve the functions of video inspection of the inside of the claw assembly 301 of the CRDM without removing the claw assembly 301, flushing foreign objects inside, and collecting flushing waste liquid. The inspection and cleaning system can not only visually and effectively inspect the inner wall of the claw assembly 301 of the CRDM, but also record and save the inspection video for long-term data statistics and status tracing. Moreover, it greatly reduces the workload of technicians and the overhaul inspection time, and reduces the environmental pollution caused during the cleaning process.

[0113] It can be understood that the above embodiments only represent the preferred embodiments of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, all equivalent transformations and modifications made to the scope of the claims of the present invention shall fall within the scope covered by the claims of the present invention.

Claims

1. A mobile cleaning device, characterized in that: It includes: A carrying mechanism (1) is used to move on a walking surface so as to move the mobile cleaning device to a position below the pipeline to be cleaned; A guide mechanism (2) is placed above the carrier mechanism (1), and the guide mechanism (2) is used to extend into the pipe to be cleaned; A cleaning mechanism (3), comprising a liquid supply assembly (33) for storing cleaning liquid, a cleaning integrated assembly (31) for spraying the cleaning liquid, and a first liquid delivery pipe (32) connecting the liquid supply assembly (33) and the cleaning integrated assembly (31), wherein the cleaning integrated assembly (31) is placed in the guide mechanism (2), and the liquid supply assembly (33) is placed on the carrier mechanism (1); An adjustment mechanism, which is placed on the transport mechanism (1), and is used to adjust the height and angle of the cleaning integrated component (31) relative to the walking surface; a main control mechanism, which is respectively connected to the transport mechanism (1), the guide mechanism (2), the cleaning mechanism (3) and the regulating mechanism for controlling the operation of the transport mechanism (1), the guide mechanism (2), the cleaning mechanism (3) and the regulating mechanism; The adjustment mechanism comprises a pitch mechanism (4) for adjusting the pitch angle of the guide mechanism (2) relative to the walking surface, and a lifting mechanism (5) for driving the cleaning integrated component to move along the axial direction of the guide mechanism, and the pitch mechanism (4) and the lifting mechanism (5) are both installed on a side of the guide mechanism (2) close to the carrier mechanism (1); The lifting mechanism (5) includes a liquid tube transmission assembly (51) for driving the first liquid infusion tube (32) to extend into or leave the guide mechanism (2); the liquid tube transmission assembly (51) includes a fixed support (511) fixed on the carrier mechanism (1), a driving wheel (512) installed on the fixed support (511) and used to drive the first liquid infusion tube (32) to move, a driven wheel (513) cooperating with the driving wheel (512) to clamp the first liquid infusion tube (32), and a fourth drive motor (514) for driving the driving wheel (512) to rotate; The guide mechanism comprises a first guide cylinder (21), a second guide cylinder (22) and a plurality of rollers arranged in the first guide cylinder (21); the plurality of rollers are used to assist the second guide cylinder (22) in moving along the axial direction of the first guide cylinder, the end of the first guide cylinder (21) close to the transport mechanism (1) is installed above the transport mechanism (1), and the end of the first guide cylinder (21) away from the transport mechanism (1) is open; the cleaning integrated component (31) is placed at the end of the second guide cylinder (22) away from the transport mechanism (1).

2. The mobile cleaning device according to claim 1, characterized in that The cleaning mechanism (3) further comprises a tube winding wheel (34) for winding the first infusion tube (32), and a tube retracting and unreeling driving assembly (36) for driving the tube winding wheel (34) to rotate so as to reel in or unreel the first infusion tube (32) according to the rotation direction; the tube winding wheel (34) is mounted on the transport mechanism (1).

3. The mobile cleaning device according to claim 1, characterized in that The guide mechanism (2) comprises a first mounting end (2111) mounted above the transport mechanism (1) and capable of swinging relative to the transport mechanism (1); The pitch mechanism (4) comprises a first worm gear (41) fixedly connected to the first mounting end (2111), a first worm (42) driving the first worm gear to rotate, and a second drive assembly (43) for driving the first worm (42) to rotate.

4. The mobile cleaning device according to any one of claims 1 to 3, characterized in that: The cleaning integrated assembly (31) includes a flushing head (311) and a first camera element; the cleaning mechanism (3) also includes a second infusion tube (312) placed in the second guide cylinder (22); The flushing head (311) is connected to the first infusion tube (32) via the second infusion tube (312), and the nozzle of the flushing head (311) faces one end of the first guide cylinder (21) away from the carrier mechanism (1), and the first camera element is arranged around the nozzle.

5. The mobile cleaning device according to any one of claims 1 to 3, characterized in that: The mobile cleaning device further comprises an auxiliary positioning mechanism (6) fixed on the guide mechanism (2); The auxiliary positioning mechanism (6) comprises a second light-emitting component and a second camera component, wherein the light-emitting angle of the second light-emitting component and the shooting angle of the second camera component are both parallel to the axial direction of the guide mechanism (2).

6. The mobile cleaning device according to any one of claims 1 to 3, characterized in that: The mobile cleaning device further includes a waste liquid recovery mechanism (7); The waste liquid recovery mechanism (7) comprises a waste liquid tank (71) mounted on the transport mechanism (1), a collection hopper (73) sleeved and fixed on the outer periphery of the guide mechanism (2), and a recovery liquid pipe (72) connecting the waste liquid tank (71) and the collection hopper (73).

7. An inspection and cleaning system, characterized in that, comprising a monitoring device (200) and a mobile cleaning device according to any one of claims 1 to 6; The monitoring device (200) comprises a monitoring mechanism (202) for photographing the motion state of the mobile cleaning device, and a control mechanism (201) for feeding back the motion state of the mobile cleaning device and controlling the operation of the mobile cleaning device.

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