Nuclear power tunnel marine organism cleaning device and system

Abstract

The application discloses a nuclear power tunnel marine organism cleaning device and system, which comprises a movable main body device, a cleaning and gathering device and a conveying device arranged on the main body device respectively, and comprises profiled side plates arranged on both sides of the front end of the main body device. The bottom of the profiled side plate is used for being attached to the inner wall of the tunnel, the profiled side plate is used for cleaning marine organisms on the inner wall of the tunnel in a flat pushing mode under the advancement of the main body device, and the marine organisms peeled off during the cleaning are gathered on the middle plane of the bottom of the tunnel. The collecting device is arranged at the rear end between the two profiled side plates, and is used for collecting the marine organisms gathered on the middle plane of the bottom of the tunnel to the conveying device under the advancement of the main body device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel robots, in particular to a nuclear power tunnel marine organism cleaning device and system. BACKGROUND

[0002] After long-term use, a large number of marine organisms will grow on the inner wall of the underwater water intake tunnel, and too many marine organisms will reduce the water intake area of the water intake tunnel, thereby having a significant impact on the water intake capacity of the tunnel. The marine organisms in the underwater water intake tunnel are large in size and have many impurities (such as steel bars, stones, etc.). After tunnel cleaning, a large amount of marine organisms accumulate on the inner wall arc surface and the middle plane of the bottom of the tunnel. Due to the structural limitations of the tunnel, the marine organisms on the inner wall arc surface of the tunnel are difficult to completely clean, and often there are residual marine organisms. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a nuclear power tunnel marine organism cleaning device and system, which solves at least one defect of the related art mentioned in the background art, that is, a large amount of marine organisms accumulate on the inner wall arc surface and the middle plane of the bottom of the tunnel after tunnel cleaning, and it is difficult to completely clean them.

[0004] The technical solution adopted by the present application to solve the technical problem is: a nuclear power tunnel marine organism cleaning device is constructed, which includes a movable main body device, and a cleaning and gathering device, a collecting device and a conveying device arranged on the main body device respectively;

[0005] The cleaning and gathering device includes a profiling side plate located on both sides of the front end of the main body device. The bottom of the profiling side plate is used to fit the inner wall of the tunnel. The profiling side plate is used to clean the marine organisms on the inner wall of the tunnel in a flat pushing manner under the advancement of the main body device, and gather the cleaned and peeled marine organisms on the middle plane of the bottom of the tunnel.

[0006] The collecting device is located at the rear end between the two profiling side plates, and is used to collect the marine organisms gathered on the middle plane of the bottom of the tunnel to the conveying device under the advancement of the main body device.

[0007] Preferably, in the nuclear power tunnel marine organism cleaning device of the present application, the nuclear power tunnel marine organism cleaning device further comprises a centering positioning device arranged on the main body device; the centering positioning device is used to adaptively assist in centering and positioning the main body device when the main body device deviates left and right.

[0008] Preferably, in the nuclear power tunnel marine organism cleaning device of the present application, the centering positioning device comprises an auxiliary support arm arranged on both sides of the main body device and rotatable around the axis of the tunnel, a first wall- abutting sliding member arranged at the end of the auxiliary support arm, and a support member connecting the main body device and the auxiliary support arm.

[0009] The support applies a pre-pressure to the auxiliary arms, and when the main body device is inclined left or right, the support can adaptively reciprocate to keep the main body device in the center line.

[0010] Preferably, in the nuclear power tunnel marine organism cleaning device, the front surface of the profiling side plate is concave.

[0011] Preferably, in the nuclear power tunnel marine organism cleaning device, the cleaning and gathering device further comprises a driving member connecting the main body device and the profiling side plate; the electric control system of the main body device controls the driving member to drive the two profiling side plates to open and close.

[0012] Preferably, in the nuclear power tunnel marine organism cleaning device, the driving member is further used to apply a pre-pressure to the profiling side plate and can adaptively reciprocate.

[0013] The cleaning and gathering device further comprises a second wall-approaching sliding member arranged at the end of the profiling side plate, which is used to bear pressure when the bottom of the profiling side plate is attached to the inner wall of the tunnel, and cooperates with the driving member to keep the bottom of the profiling side plate attached to the inner wall of the tunnel.

[0014] Preferably, in the nuclear power tunnel marine organism cleaning device, the cleaning and gathering device further comprises a plurality of floating scrapers arranged on the back surface of the profiling side plate along the bottom.

[0015] When the main body device is inclined left or right and the profiling side plate is away from the inner wall of the tunnel, the floating scrapers protrude from the bottom plate of the profiling side plate to attach to the inner wall of the tunnel, and clean the marine organisms on the inner wall of the tunnel in a flat pushing manner.

[0016] Preferably, in the nuclear power tunnel marine organism cleaning device, the floating scraper comprises a fixed plate, a first elastic reset member, a guide member, a floating plate and a profiling scraper.

[0017] The fixed plate, the floating plate and the profiling scraper are arranged side by side; the fixed plate is installed on the back surface of the profiling side plate, the guide member is fixed on the fixed plate in a vertical manner, the floating plate can float up and down on the guide member, the first elastic reset member is arranged vertically to connect the floating plate and the fixed plate, and the profiling scraper is connected to the floating plate.

[0018] The first elastic reset member applies a pre-pressure to the profiled scraper in the vertical direction of the tunnel inner wall through the floating plate, when the main body device is inclined left and right, the profiled side plate is away from the tunnel inner wall, the profiled scraper protrudes from the profiled side plate to be attached to the inner wall of the tunnel, and the sea creatures on the inner wall of the tunnel are cleaned in a flat pushing manner; when the profiled scraper encounters an obstacle, the profiled scraper floats up and down on the guide member through the floating plate.

[0019] Preferably, in the nuclear power tunnel sea creature cleaning device, the floating scraper further comprises a second elastic reset member arranged transversely between the profiled scraper and the floating plate, so that the profiled scraper can move forward and backward when the profiled scraper encounters an obstacle.

[0020] Preferably, in the nuclear power tunnel sea creature cleaning device, the floating scraper further comprises a force sensor arranged between the profiled scraper and the floating plate, so that an alarm signal is sent when the profiled scraper encounters an obstacle and the resistance of the obstacle exceeds the adaptive range.

[0021] Preferably, in the nuclear power tunnel sea creature cleaning device, the floating scraper further comprises a third wall-approaching sliding member arranged close to the bottom of the profiled scraper.

[0022] Preferably, in the nuclear power tunnel sea creature cleaning device, the profiled side plate and the bottom of the profiled scraper are respectively provided with a guard plate to avoid damaging the inner wall of the tunnel.

[0023] Preferably, in the nuclear power tunnel sea creature cleaning device, the cleaning and gathering device further comprises a first conveying member arranged on the front surface of the profiled side plate; and the electric control system of the main body device controls the first conveying member to accelerate the gathering of the cleaned and peeled sea creatures on the middle plane at the bottom of the tunnel.

[0024] Preferably, in the nuclear power tunnel sea creature cleaning device, the collecting device comprises a collecting chamber arranged in the main body device, a sloped shovel plate arranged at the bottom of the main body device, a second conveying member arranged above the shovel plate at the entrance of the collecting chamber, and a transfer member arranged in the collecting chamber.

[0025] The application further discloses a nuclear power tunnel sea creature cleaning system comprising the nuclear power tunnel sea creature cleaning device and a transportation device.

[0026] By implementing the application, the following beneficial effects are achieved:

[0027] The application provides a flat-pushing nuclear power tunnel marine organism cleaning device which can simply and efficiently clean and peel off marine organisms on both sides of the inner wall of the tunnel, gather the marine organisms to the middle plane of the bottom, and quickly collect and convey the gathered marine organisms without being affected by impurities in the marine organisms. BRIEF DESCRIPTION OF DRAWINGS

[0028] The application will be further described below in conjunction with the drawings and embodiments, wherein:

[0029] Figure 1 is a structural front view of the nuclear power tunnel marine organism cleaning device of the application;

[0030] Figure 2 is a structural back view of the nuclear power tunnel marine organism cleaning device of the application;

[0031] Figure 3 is a structural view of the floating scraper of the application. DETAILED DESCRIPTION

[0032] In order to have a clearer understanding of the technical features, objectives and effects of the application, the specific implementation mode of the application will be described in detail below with reference to the drawings.

[0033] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0034] In the description of the application, it should be understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0035] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "arranged", "located" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be chemical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] As shown in the drawings, Figures 1 to 3 One embodiment of the present application discloses a nuclear power tunnel marine organism cleaning device, comprising a movable main body device 1, and a cleaning and gathering device 2, a collecting device 3 and a conveying device 4 arranged on the main body device 1 respectively.

[0037] The cleaning and gathering device 2 comprises a profiled side plate 21 arranged at the front end of the main body device 1. The bottom of the profiled side plate 21 is used to be in close contact with the inner wall of the tunnel, and the profiled side plate 21 is used to clean the marine organisms on the inner wall of the tunnel in a flat pushing manner under the advancement of the main body device 1, and gather the marine organisms peeled off by the cleaning on the middle plane of the bottom of the tunnel.

[0038] The collecting device 3 is arranged at the rear end of the middle of the two profiled side plates 21, and is used to collect the marine organisms gathered on the middle plane of the bottom of the tunnel to the conveying device 4 under the advancement of the main body device 1.

[0039] In the embodiment, the nuclear power tunnel marine organism cleaning device further comprises a centering positioning device arranged on the main body device 1. The centering positioning device is used to adaptively assist in centering positioning of the main body device 1 when the main body device 1 is left-right inclined, has good automatic centering performance, can simplify the operation, and realizes high-purity cleaning of the tunnel.

[0040] Specifically, as shown in the drawings, Figure 1 and Figure 2 The centering positioning device comprises an auxiliary supporting arm 51 arranged on both sides of the main body device 1 and capable of rotating around the axis of the tunnel, a first wall-approaching sliding piece 52 arranged at the end of the auxiliary supporting arm 51, and a supporting piece 53 connecting the main body device 1 and the auxiliary supporting arm 51. The supporting piece 53 applies a pre-pressure to the auxiliary supporting arm 51, and when the main body device 1 is left-right inclined, the supporting piece 53 can adaptively reciprocate to make the main body device 1 be on the center line. For example, the first wall-approaching sliding piece 52 is a wall-approaching wheel plate, and the supporting piece 53 is a hydraulic oil cylinder.

[0041] In the embodiment, as shown in the drawings, Figure 1 In order to better gather the marine organisms peeled off by the cleaning, the front surface of the profiled side plate 21 is a concave surface.

[0042] And, as shown in the drawings, Figure 2As shown, the cleaning and gathering device 2 further comprises a driving member 22 connecting the main body device 1 and the profiling side plate 21. The electric control system of the main body device 1 controls the driving member 22 to drive the two profiling side plates 21 to open and close. Specifically, the driving member 22 is a hydraulic cylinder, for example, and the opening and closing of the profiling side plates 21 can be achieved by controlling the hydraulic cylinder. During operation, the hydraulic cylinder is controlled to extend, so that the bottom of the profiling side plate 21 is attached to the inner wall of the tunnel arc, and the bottom of the profiling side plate 21 has a shape consistent with the tunnel arc. Moreover, as shown in Figure 1 In order to avoid damage to the inner wall of the tunnel arc, the bottom of the profiling side plate 21 is provided with a first guard plate 23, for example, which is a polyurethane plate, to avoid damage to the inner wall of the tunnel arc.

[0043] In addition, the driving member 22 is also used to apply a pre-pressure to the profiling side plate 21, and can adaptively reciprocate. Correspondingly, the cleaning and gathering device 2 further comprises a second wall- abutting sliding member 24 arranged at the end of the profiling side plate 21, which is used to bear pressure when the bottom of the profiling side plate 21 is attached to the inner wall of the tunnel, and cooperates with the driving member 22 to keep the bottom of the profiling side plate 21 attached to the inner wall of the tunnel, so as to completely clean and peel off the marine organisms on the inner wall of the tunnel, and assist the main body device 1 to automatically return to the center when it deviates. For example, the second wall- abutting sliding member 24 is a wall- abutting pulley, preferably a large wheel.

[0044] In this embodiment, as shown in Figure 2 and Figure 3 In order to avoid the profiling side plate 21 from being unable to attach to the inner wall of the tunnel to clean and peel off when the main body device 1 deviates left and right, the cleaning and gathering device 2 further comprises a plurality of floating scrapers 25 arranged on the back of the profiling side plate 21 along the bottom. When the main body device 1 deviates left and right and the profiling side plate 21 is away from the inner wall of the tunnel, the floating scrapers 25 protrude from the bottom of the profiling side plate 21 to attach to the inner wall of the tunnel, and clean the marine organisms on the inner wall of the tunnel in a flat pushing manner.

[0045] Specifically, the floating scraper 25 comprises a fixed plate 251, a first elastic return member 252, a guide member 253, a floating plate 254, and a profiling scraper 255. For example, the first elastic return member 252 is a nitrogen gas spring.

[0046] The fixed plate 251, the floating plate 254, and the profiling scraper 255 are arranged side by side. The fixed plate 251 is installed on the back of the profiling side plate 21, and the vertical guide member 253 is fixed on the fixed plate 251. The floating plate 254 can float up and down on the guide member 253, and the first elastic return member 252 is connected between the floating plate 254 and the upper and lower portions of the fixed plate 251. The profiling scraper 255 is connected to the floating plate 254.

[0047] The first elastic reset member 252 applies a pre-pressure to the profiling scraper 255 in the vertical direction of the tunnel inner wall through the floating plate 254. When the main body device 1 is inclined left and right, the profiling side plate 21 is away from the tunnel inner wall, and the profiling scraper 255 protrudes from the profiling side plate 21 to be in close contact with the inner wall of the tunnel, and the sea creatures on the inner wall of the tunnel are cleaned in a flat pushing manner. When the profiling scraper 255 encounters an obstacle, the profiling scraper 255 floats up and down on the guide 253 through the floating plate 254, and has a certain self-adaptability in the up-down direction.

[0048] Through the self-adaptive reciprocating movement of the driving member 22 and the floating scraper 25, the nuclear power tunnel sea creature cleaning device has good self-adaptability, and ensures that the nuclear power tunnel sea creature cleaning device has high close contact with the inner wall of the tunnel.

[0049] In addition, in order to make the profiling scraper 255 also have a certain front-back adaptability, the floating scraper 25 further comprises a second elastic reset member 256 arranged in the transverse direction between the profiling scraper 255 and the floating plate 254, which is used for moving the profiling scraper 255 forward and backward when the profiling scraper 255 encounters an obstacle. For example, the second elastic reset member 256 is a spring, preferably a high-elasticity spring.

[0050] In the embodiment, the floating scraper 25 further comprises a force sensor 257 arranged between the profiling scraper 255 and the floating plate 254. When the profiling scraper 255 encounters an obstacle and the resistance of the obstacle exceeds the self-adaptive range, the force sensor 257 sends an alarm signal, and the operator can stop the machine according to the situation, fold the two-wing profiling side plates 21, and then unfold the two-wing profiling side plates 21 after passing the obstacle, and continue the sea creature gathering and collecting operation.

[0051] In the embodiment, the floating scraper 25 further comprises a third wall-approaching sliding member 258 arranged at the bottom of the profiling scraper 255, for example, an auxiliary walking caster. The bottom of the profiling side plate 21 and the profiling scraper 255 is respectively provided with a second guard plate 259, which is used for avoiding damage to the inner wall of the tunnel, for example, the second guard plate 259 is a polyurethane plate.

[0052] In the embodiment, as shown in Figure 1 The cleaning and gathering device 2 further comprises a first conveying member 26 arranged on the front surface of the profiling side plate 21. The electric control system of the main body device 1 controls the first conveying member 26 to accelerate the gathering of the cleaned and peeled sea creatures on the middle plane of the bottom of the tunnel. For example, the first conveying member 26 is a spiral conveying member.

[0053] In the embodiment, as shown in Figure 1As shown, the collecting device 3 comprises a collecting chamber 31 arranged in the main device 1, a sloped shovel plate 32 arranged at the bottom of the main device 1, a second conveying member 33 arranged at the entrance of the collecting chamber 31 and above the shovel plate 32, and a transfer member 34 arranged in the collecting chamber 31. Specifically, the main device 1 comprises a portal 11 which is attached to the bottom plane of the tunnel, and the portal 11 is provided with the sloped shovel plate 32 and walking casters at the bottom, the sloped shovel plate 32 facilitates the shoveling of the marine organisms on the middle plane of the bottom of the tunnel into the collecting chamber 31, and the walking casters facilitate the forward movement of the portal 11. For example, the second conveying member 33 is a conveying chain harrow, and the transfer member 34 is a milling wheel, the conveying chain harrow conveys the marine organisms accumulated on the middle plane of the bottom of the tunnel backward, and the milling wheel throws the marine organisms entering the collecting chamber 31 to the rear conveying device 4 through high-speed rotation.

[0054] Correspondingly, the portal 11 is provided with an auxiliary support arm 51 and a profiling side plate 21, a support member 53 connects the portal 11 and the auxiliary support arm 51, and a driving member 22 connects the portal 11 and the profiling side plate 21.

[0055] In some embodiments, the conveying device 4 comprises a first conveying assembly and a second conveying assembly which is telescopic and multi-directionally adjustable at the end of the first conveying assembly, for example, the second conveying assembly can realize pitching and left-right movement, facilitating the collection of the marine organisms.

[0056] Specifically, the conveying device 4 further comprises a connecting arm connecting the first conveying assembly and the second conveying assembly, and a telescopic mechanism and a rotating mechanism arranged on the connecting arm. The electric control system of the main device 1 controls the telescopic mechanism and the rotating mechanism to adjust the position of the second conveying assembly conveying the marine organisms. For example, the telescopic mechanism is a hydraulic telescopic rod, and the rotating mechanism is a hydraulic rotating mechanism.

[0057] One embodiment of the present application also discloses a nuclear power tunnel marine organism cleaning system comprising the nuclear power tunnel marine organism cleaning equipment and the transportation equipment described in the above embodiments, and the conveying device 4 conveys the marine organisms to the transportation equipment, for example, the transportation equipment is a loading vehicle.

[0058] By implementing the present application, the following beneficial effects are achieved:

[0059] The present application provides a flat-pushing type nuclear power tunnel marine organism cleaning equipment which can simply and efficiently clean and peel off the marine organisms on both sides of the inner wall of the tunnel and gather them to the middle plane of the bottom, and can also quickly collect and convey the gathered marine organisms without being affected by the impurities (such as steel bars and stones) in the marine organisms.

[0060] It can be understood that the above embodiments only express part of the embodiments of the present application, the description is more specific and detailed, but it cannot be understood as the limitation of the patent scope of the present application; it should be pointed out that for ordinary skilled in the art, the above embodiments or technical features can be freely combined without departing from the concept of the present application, and several modifications and improvements can be made, which belong to the protection scope of the present application, that is, the embodiments described in "in some embodiments" can be freely combined with any embodiment above and below; therefore, any equivalent transformation and modification within the scope of the claims of the present application shall belong to the scope of the claims of the present application.

Claims

1. A marine organism cleaning device for nuclear power plant tunnels, characterized in that, It includes a movable main body device (1), and a cleaning and gathering device (2), a collecting device (3) and a conveying device (4) respectively provided on the main body device (1). The cleaning and gathering device (2) includes contoured side plates (21) located on both sides of the front end of the main body device (1); the bottom of the contoured side plate (21) is used to fit against the inner wall of the tunnel, and the contoured side plate (21) is used to push and clean the marine organisms on the inner wall of the tunnel in a flat manner as the main body device (1) moves forward, and gathers the cleaned and peeled marine organisms on the middle plane of the bottom of the tunnel. The collection device (3) is located at the rear end between the two contoured side plates (21) and is used to collect marine organisms gathered on the middle plane at the bottom of the tunnel to the conveying device (4) as the main body device (1) moves forward. The cleaning and gathering device (2) also includes a plurality of floating scrapers (25) disposed on the back of the contoured side plate (21) and along the bottom. When the main body device (1) tilts left and right and the contoured side plate (21) moves away from the inner wall of the tunnel, the floating scraper (25) protrudes from the bottom plate of the contoured side plate (21) to fit against the inner wall of the tunnel and pushes to clean the marine organisms on the inner wall of the tunnel. The floating scraper (25) includes a floating plate (254), a contour scraper (255), and a second elastic reset member (256) arranged laterally between the floating plate (254) and the contour scraper (255). The floating plate (254) and the contour scraper (255) are arranged side by side. The second elastic reset member (256) is used to allow the contour scraper (255) to move back and forth when it encounters an obstacle.

2. The marine organism cleaning equipment for nuclear power plant tunnels according to claim 1, characterized in that, The nuclear power tunnel marine organism cleaning equipment also includes a centering and positioning device installed on the main device (1); the centering and positioning device is used to perform adaptive auxiliary centering and positioning of the main device (1) when the main device (1) is tilted to the left or right.

3. The marine organism cleaning equipment for nuclear power plant tunnels according to claim 2, characterized in that, The centering and positioning device includes auxiliary arms (51) located on both sides of the main device (1) and rotatable around the tunnel axis, a first wall-mounted sliding member (52) located at the end of the auxiliary arms (51), and a support member (53) connecting the main device (1) and the auxiliary arms (51). The support member (53) applies a preload to the auxiliary arm (51). When the main body device (1) tilts left or right, the support member (53) can adaptively reciprocate so that the main body device (1) is on the center line.

4. The marine organism cleaning equipment for nuclear power plant tunnels according to claim 1, characterized in that, The front of the contoured side plate (21) is concave.

5. The marine organism cleaning equipment for nuclear power plant tunnels according to claim 1, characterized in that, The cleaning and gathering device (2) also includes a drive component (22) connecting the main body device (1) and the contoured side plate (21); the electronic control system of the main body device (1) controls the drive component (22) to drive the two contoured side plates (21) to open and close.

6. The marine organism cleaning equipment for nuclear power plant tunnels according to claim 5, characterized in that, The drive unit (22) is also used to apply a preload to the contoured side plate (21) and can adaptively perform reciprocating motion; The cleaning and gathering device (2) further includes a second wall-mounted sliding member (24) located at the end of the contoured side plate (21), which is used to bear pressure when the bottom of the contoured side plate (21) is in contact with the inner wall of the tunnel, and cooperates with the driving member (22) to keep the bottom of the contoured side plate (21) in contact with the inner wall of the tunnel.

7. The marine organism cleaning equipment for nuclear power plant tunnels according to claim 1, characterized in that, The floating scraper (25) also includes a fixed plate (251), a first elastic reset member (252), and a guide member (253); The fixed plate (251), the floating plate (254), and the contour scraper (255) are arranged side by side; the fixed plate (251) is installed on the back of the contour side plate (21), and the vertically arranged guide (253) is fixed on the fixed plate (251). The floating plate (254) can float up and down on the guide (253). The floating plate (254) and the fixed plate (251) are connected vertically by the first elastic reset member (252). The first elastic reset member (252) applies a pre-pressure to the contour scraper (255) in the vertical direction of the tunnel inner wall through the floating plate (254). When the main body device (1) tilts left and right and the contour side plate (21) moves away from the tunnel inner wall, the contour scraper (255) protrudes from the contour side plate (21) to fit against the inner wall of the tunnel and pushes to clean the marine organisms on the tunnel inner wall. When the contour scraper (255) encounters an obstacle, the contour scraper (255) floats up and down on the guide member (253) through the floating plate (254).

8. The marine organism cleaning equipment for nuclear power plant tunnels according to claim 1, characterized in that, The floating scraper (25) also includes a force sensor (257) disposed between the contour scraper (255) and the floating plate (254), which is used to issue an alarm signal when the contour scraper (255) encounters an obstacle and the resistance of the obstacle exceeds the adaptive range.

9. The marine organism cleaning equipment for nuclear power plant tunnels according to claim 1, characterized in that, The floating scraper (25) also includes a third wall-mounted sliding member (258) located near the bottom of the contour scraper (255).

10. The marine organism cleaning equipment for nuclear power plant tunnels according to claim 1, characterized in that, The bottom of the contoured side plate (21) and the contoured scraper (255) are respectively provided with protective plates to avoid damage to the inner wall of the tunnel.

11. The marine organism cleaning equipment for nuclear power plant tunnels according to claim 1, characterized in that, The cleaning and gathering device (2) also includes a first conveyor (26) disposed on the front of the contoured side plate (21); the electrical control system of the main device (1) controls the first conveyor (26) to accelerate the gathering of the cleaned and peeled marine organisms on the middle plane of the bottom of the tunnel.

12. The marine organism cleaning equipment for nuclear power plant tunnels according to claim 1, characterized in that, The collecting device (3) includes a collecting chamber (31) opened in the main device (1), a sloping shovel (32) located at the bottom of the main device (1), a second conveying component (33) located at the entrance end of the collecting chamber (31) and above the shovel (32), and a transfer component (34) located in the collecting chamber (31).

13. A marine organism cleaning system for nuclear power plant tunnels, characterized in that, Includes the marine organism cleaning equipment and transport equipment for nuclear power tunnels as described in any one of claims 1-12; the conveying device (4) conveys the marine organisms to the transport equipment.

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