Nuclear power plant tunnel cleaning robot

Abstract

This invention relates to a nuclear power plant tunnel cleaning robot, comprising a movable main body and a material collection system mounted on the main body, and a replaceable collection and gathering device operably disposed at the front end of the main body for cleaning nuclear power plant tunnels under different operating conditions. The collection and gathering device includes a first conveyor disposed on both sides of the front end of the main body and a second conveyor located at the center of the front end of the first conveyor. The first conveyor is used to gather material in the tunnel, and the second conveyor connects the first conveyor and the material collection system to transfer the material gathered by the first conveyor to the material collection system. Because the collection and gathering device of this invention is operably mounted at the front end of the main body and is replaceable, it can handle nuclear power plant intake tunnels under different cleaning conditions, exhibiting good applicability and delivering excellent cleaning results.

Description

Technical Field

[0001] This application relates to the field of nuclear power plant technology, and more specifically, to a nuclear power plant tunnel cleaning robot. Background Technology

[0002] During the process of introducing seawater from the intake tunnel into a nuclear power plant, it is necessary to maintain a consistent seawater flow to ensure the plant's normal operation. However, with prolonged use, the tunnel walls accumulate various marine organisms, such as shellfish and barnacles, reducing the tunnel's flow area and impacting its water transport capacity, leading to head loss. Therefore, during the maintenance of the nuclear power plant, it is essential to clean the marine organisms and other materials adhering to the tunnel walls.

[0003] Traditional cleaning methods for nuclear power plant intake tunnels involve manual labor, which presents problems such as poor working conditions, low efficiency, and potential safety hazards. Currently, some machines are used to clean nuclear power plant intake tunnels. However, existing machines cannot collect marine life from the curved surfaces on both sides of the tunnel. Furthermore, due to the limited space inside the tunnel, mechanical equipment cannot easily enter, and there is a risk of damaging the tunnel walls, potentially leading to more serious safety issues.

[0004] Furthermore, due to the varying material conditions and structural dimensions within different tunnels, the available machinery cannot fully meet the diverse cleaning needs of nuclear power plant tunnels, making it difficult to achieve satisfactory cleaning results. Summary of the Invention

[0005] The technical problem to be solved by this application is to provide an improved nuclear power plant tunnel cleaning robot, addressing the aforementioned deficiencies of the prior art.

[0006] The technical solution adopted by this application to solve its technical problem is as follows: A nuclear power plant tunnel cleaning robot is constructed, comprising a movable equipment body and a material collection system disposed on the movable equipment body; it also includes a replaceable collection and gathering device, which is operably disposed at the front end of the equipment body for cleaning nuclear power plant tunnels under different operating conditions; the collection and gathering device includes a first conveyor disposed on both sides of the front end of the equipment body and a second conveyor located in the middle of the front end of the first conveyor, the first conveyor being used to gather materials in the tunnel, and the second conveyor being connected between the first conveyor and the material collection system for conveying the materials gathered by the first conveyor to the material collection system;

[0007] The collection and gathering device further includes a first cleaning and gathering side wing and a second cleaning and gathering side wing, and the first conveyor is a collection spiral conveyor; the collection spiral conveyor includes a first spiral conveyor and a second spiral conveyor; the first spiral conveyor and the second spiral conveyor are respectively installed on the first cleaning and gathering side wing and the second cleaning and gathering side wing;

[0008] The first screw conveyor includes a first drum, a first helical blade mounted on the first drum, and a first drive member connected to the end of the first drum for driving the first drum to rotate about its axis; the second screw conveyor includes a second drum, a second helical blade mounted on the second drum, and a second drive member connected to the end of the second drum for driving the second drum to rotate about its axis.

[0009] Both the first and second helical blades are fixed-pitch blades with equal pitch; the diameters of the first and second helical blades are different, with the larger diameter of the first and second helical blades located closer to the second conveyor.

[0010] The first drive member and the second drive member can rotate forward or in reverse.

[0011] In some embodiments, the first cleaning and gathering side wing and the second cleaning and gathering side wing each include a first side wing drive device and a second side wing drive device mounted on the main body of the device; the first side wing drive device and the second side wing drive device are respectively mounted at one end of the first cleaning and gathering side wing and the second cleaning and gathering side wing; the first cleaning and gathering side wing and the second cleaning and gathering side wing are respectively swayably mounted on the main body of the device via the first side wing drive device and the second side wing drive device.

[0012] In some embodiments, the first cleaning and gathering wing and the second cleaning and gathering wing further include a first support wheel and a second support wheel respectively installed at their other ends, and the first support wheel and the second support wheel are respectively provided with pressure sensors.

[0013] In some embodiments, the collection and gathering device further includes a first floating scraper and a second floating scraper respectively installed on the first cleaning and gathering wing and the second cleaning and gathering wing; the first floating scraper and the second floating scraper each include a plurality of scraper units.

[0014] In some embodiments, the scraper unit includes a fixed frame, a floating scraper mounting frame, and a scraper body. The floating scraper mounting frame is movably mounted on the fixed frame, and the scraper body is mounted on one end of the floating scraper mounting frame. The fixed frame is mounted on the first cleaning and gathering wing or the second cleaning and gathering wing.

[0015] In some embodiments, the scraper unit further includes a compression spring and a limiting circlip. The two ends of the compression spring are respectively connected to the fixed frame and the floating scraper mounting frame. The limiting circlip is radially locked to the outside of the floating scraper mounting frame, and the axis of the limiting circlip is locked to the end of the fixed frame.

[0016] In some embodiments, the second conveyor is a first intermediate conveyor, which includes a first conveyor frame, a first shaft and a second shaft rotatably mounted at the front and rear ends of the first conveyor frame, a plurality of first sprockets respectively mounted on the first shaft and the second shaft, a first chain, and a first chain rake connected by the first chain, the first chain rake being provided with serrations; the first chain is sleeved on the first sprocket.

[0017] In some embodiments, the first intermediate conveyor further includes an eighth drive member, which is mounted on the first or second rotating shaft and drives the first or second rotating shaft to rotate forward or in reverse.

[0018] In some embodiments, the collection and gathering device further includes a first cleaning and gathering wing and a second cleaning and gathering wing, wherein the first conveyor is a bucket conveyor; the bucket conveyor includes a first bucket conveyor and a second bucket conveyor, wherein the first bucket conveyor and the second bucket conveyor are respectively installed on the first cleaning and gathering wing and the second cleaning and gathering wing.

[0019] In some embodiments, the bucket conveyor includes a ninth drive member, the output end of which is provided with a fixed arm, a drive arm, a cross link, a lever arm, and a material lever plate.

[0020] One end of the fixed arm is driven to the output end of the ninth driving member, and the other end of the fixed arm is hinged to one end of the cross link, and the other end of the cross link is hinged to one end of the lever arm; one end of the driving arm is driven to the output end of the ninth driving member, and the other end of the driving arm is hinged to the middle of the lever arm; the other end of the lever arm is connected to the material feeding plate.

[0021] In some embodiments, the second conveyor is a second intermediate conveyor, which includes a second conveyor frame, a third and a fourth rotating shaft rotatably mounted at the front and rear ends of the second conveyor frame, a plurality of second sprockets respectively mounted on the third and fourth rotating shafts, a second chain, and a third chain rake connected by the second chain, the third chain rake having serrations; the second chain being sleeved on the second sprockets; the length of the third rotating shaft being greater than the length of the third chain rake, one end of the third rotating shaft being flush with the third chain rake, and the other end of the third rotating shaft extending beyond the third chain rake and extending away from the end of the third chain rake.

[0022] In some embodiments, the second intermediate conveyor further includes a long pusher screw, which is mounted on the end of the third shaft away from the third chain rake.

[0023] In some embodiments, the second intermediate conveyor further includes a tension adjustment assembly, which includes a bearing housing, a fixing member, and an adjusting screw; the bearing housing is fixed on the frame of the second conveyor, and the fourth rotating shaft is connected to the bearing housing; the adjusting screw is connected between the bearing housing and the fixing member, and the bearing housing and the fixing member are movable relative to each other along the axial direction of the adjusting screw.

[0024] In some embodiments, the collecting and gathering device further includes a rotation speed measuring component, which is fixed to a movable device body, is parallel to the axis of the fourth rotating shaft, and is linked to the fourth rotating shaft.

[0025] In some embodiments, the collection and gathering device includes a third cleaning and gathering wing and a foldable fourth cleaning and gathering wing; the foldable fourth cleaning and gathering wing includes a fixed wing and a folding wing; one end of the fixed wing is connected to the device body, and the folding wing is hinged to the other end of the fixed wing.

[0026] In some embodiments, the foldable fourth cleaning and gathering wing further includes a first connecting component, through which the fixed wing and the folding wing are operatively connected.

[0027] In some embodiments, the first conveyor is a gathering spiral conveyor, which includes a fourth spiral conveyor, a fifth spiral conveyor, and a sixth spiral conveyor; the fourth spiral conveyor is disposed on the third cleaning and gathering wing; the fifth spiral conveyor and the sixth spiral conveyor are respectively disposed on the fixed wing and the folding wing of the fourth cleaning and gathering wing.

[0028] In some embodiments, the converging screw conveyor further includes a third drive member and a fourth drive member; the third drive member is installed at one end of the fourth screw conveyor, and the fourth drive member is installed at one end of the sixth screw conveyor.

[0029] In some embodiments, the collecting and gathering device further includes a first coupling, wherein one end of the fifth screw conveyor and the other end of the sixth screw conveyor are operably connected via the first coupling; the first coupling includes a first half coupling and a second half coupling, the first half coupling being installed at one end of the fifth screw conveyor and the second half coupling being installed at the other end of the sixth screw conveyor, and the first half coupling meshing with the second half coupling.

[0030] In some embodiments, the collection and gathering device includes a main frame disposed on the device body, a second connecting component, and two foldable side wing components; the two side wing components are hinged to the main frame via the second connecting component.

[0031] In some embodiments, the main body of the device is provided with at least one floating bracket, and the main frame is provided with at least one floating connecting bracket. The number of floating brackets corresponds to the number of floating connecting brackets. The floating brackets are movably connected to the floating connecting brackets.

[0032] In some embodiments, the second conveyor is a third intermediate conveyor, which includes a rotatable gathering roller and an auxiliary feeding wheel, the auxiliary feeding wheel being disposed between the gathering roller and the main frame.

[0033] In some embodiments, the collecting and gathering device includes a seventh spiral conveyor, an eighth spiral conveyor, and a second coupling, wherein the second coupling is respectively installed at one end of the seventh spiral conveyor and the eighth spiral conveyor; the seventh spiral conveyor is installed on the main frame, and the eighth spiral conveyor is respectively installed on the two side wing assemblies, and the seventh spiral conveyor and the eighth spiral conveyor are linked together through the second coupling.

[0034] In some embodiments, the collecting and gathering device further includes a third spiral conveyor, which is mounted on the main frame and located below the seventh spiral conveyor.

[0035] In some embodiments, the second conveyor is an intermediate conveyor, which includes a drive shaft, helical blades mounted on the drive shaft, and a drive unit connected to the drive shaft, wherein the axial direction of the drive shaft is consistent with the moving direction of the main body of the device.

[0036] In some embodiments, the collecting and gathering device includes a side wing unit and a hinge assembly, the side wing unit being hinged to the device body via the hinge assembly;

[0037] The hinge assembly includes a pin, a sleeve, a hinge frame, and a pin seat. The pin is mounted on the main body of the equipment. The sleeve is mounted on the side wing unit and sleeved around the outside of the pin. The sleeve and the pin are rotatable relative to each other in the circumferential direction and movable relative to each other in the axial direction. The hinge frame is mounted on the main body of the equipment and connected to one end of the pin. There is a floating gap between the hinge frame and the sleeve. The pin seat is mounted on the side wing unit and is detachably connected to the opposite end of the pin.

[0038] In some embodiments, the collecting and gathering device further includes an auxiliary connecting unit, which is connected to the main body of the device and the side wing unit respectively;

[0039] The auxiliary connection unit includes a support plate, rollers, a floating support, and a fixed support. The support plate is fixed to the side wing unit and includes an arc groove. The rollers are disposed in the arc grooves and a first guide shaft passes through the rollers. The fixed support is fixed to the main body of the equipment and a second guide shaft passes through it. One end of the floating support is hinged to the first guide shaft, and the other end is hinged to the second guide shaft.

[0040] In some embodiments, the collecting and gathering device further includes a scraping mechanism mounted behind the second conveyor and disposed at the bottom of the device body.

[0041] In some embodiments, the scraping mechanism may include a mounting housing disposed at the bottom of the device body and a scraper disposed on the mounting housing;

[0042] The scraping mechanism further includes an elastic element and a guide wheel disposed within the mounting housing; the elastic element abuts against the inner wall of the mounting housing and the scraper; the scraper has a guide groove, and the guide wheel is slidably mounted within the guide groove.

[0043] Implementing the present invention has at least the following beneficial effects: Since the collection and gathering device is operably installed at the front end of the main body of the equipment and can be replaced to cope with the water intake tunnel of the nuclear power plant under different cleaning conditions, it has good applicability and can bring good cleaning effect. Attached Figure Description

[0044] The present application will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0045] Figure 1This is a three-dimensional structural diagram of a nuclear power plant tunnel cleaning robot in some embodiments of this application;

[0046] Figure 2 This is a three-dimensional structural diagram of the nuclear power plant tunnel cleaning robot in Embodiment 1 of this application;

[0047] Figure 3 yes Figure 2 A front view of the nuclear power plant tunnel cleaning robot in Embodiment 1 shown;

[0048] Figure 4 yes Figure 2 A side view of the nuclear power plant tunnel cleaning robot in Embodiment 1 shown;

[0049] Figure 5 yes Figure 2 A top view of the nuclear power plant tunnel cleaning robot in Embodiment 1 shown;

[0050] Figure 6 yes Figure 2 A three-dimensional structural diagram of the intermediate conveyor in Embodiment 1 is shown;

[0051] Figure 7 yes Figure 2 A schematic cross-sectional view of the first floating scraper in Embodiment 1;

[0052] Figure 8 yes Figure 2 A three-dimensional structural schematic diagram of the first floating scraper in Embodiment 1 is shown;

[0053] Figure 9 This is a three-dimensional structural diagram of the nuclear power plant tunnel cleaning robot in Embodiment 2 of this application;

[0054] Figure 10 yes Figure 9 The front view of the nuclear power plant tunnel cleaning robot in Embodiment 2 is shown.

[0055] Figure 11 yes Figure 9 A side view of the nuclear power plant tunnel cleaning robot in Embodiment 2 shown;

[0056] Figure 12 yes Figure 9 A top view of the nuclear power plant tunnel cleaning robot in Embodiment 2 shown;

[0057] Figure 13 yes Figure 9 A three-dimensional structural diagram of the bucket conveyor in Embodiment 2 is shown;

[0058] Figure 14 This is a three-dimensional structural diagram of the nuclear power plant tunnel cleaning robot in Embodiment 3 of this application;

[0059] Figure 15 yes Figure 14 A three-dimensional structural diagram of the intermediate conveyor in Embodiment 3 is shown;

[0060] Figure 16 yes Figure 15 A schematic diagram of the CC-direction cross-sectional structure of the intermediate conveyor in Embodiment 3 is shown;

[0061] Figure 17 yes Figure 16 A schematic diagram of the DD-direction cross-sectional structure of the intermediate conveyor in Embodiment 3 is shown;

[0062] Figure 18 This is a three-dimensional structural diagram of the nuclear power plant tunnel cleaning robot in Embodiment 4 of this application;

[0063] Figure 19 yes Figure 18 A three-dimensional structural diagram of the nuclear power plant tunnel cleaning robot in its folded state in Embodiment 4 is shown.

[0064] Figure 20 yes Figure 18 A top view of the nuclear power plant tunnel cleaning robot in Embodiment 4 shown;

[0065] Figure 21 yes Figure 18 A front view of the nuclear power plant tunnel cleaning robot in Embodiment 4 shown;

[0066] Figure 22 yes Figure 18 A side view of the nuclear power plant tunnel cleaning robot in Embodiment 4 shown;

[0067] Figure 23 yes Figure 18 A three-dimensional structural schematic diagram of the second cleaning and gathering wing in Embodiment 4;

[0068] Figure 24 yes Figure 18 A partial three-dimensional structural diagram of the second cleaning and gathering wing in Embodiment 4 is shown;

[0069] Figure 25 yes Figure 24 A partial enlarged view of the second cleaning and gathering wing in Embodiment 4 shown;

[0070] Figure 26 yes Figure 18 A three-dimensional structural diagram of the intermediate conveyor in Embodiment 4 is shown;

[0071] Figure 27 yes Figure 26 A cross-sectional view of the intermediate conveyor in Embodiment 4 is shown.

[0072] Figure 28 yes Figure 18 A side view of the scraper assembly in Embodiment 4 shown;

[0073] Figure 29 This is a three-dimensional structural diagram of the nuclear power plant tunnel cleaning robot in Embodiment 5 of this application;

[0074] Figure 30 yes Figure 29 A front view of the nuclear power plant tunnel cleaning robot in Embodiment 5 shown;

[0075] Figure 31 yes Figure 29 A top view of the nuclear power plant tunnel cleaning robot in Embodiment 5 shown;

[0076] Figure 32 yes Figure 29 A three-dimensional structural schematic diagram of the side wing assembly in Embodiment 5 is shown;

[0077] Figure 33 yes Figure 29 A partial three-dimensional structural schematic diagram of the side wing assembly in Embodiment 5 is shown;

[0078] Figure 34 yes Figure 29 A side view of the intermediate conveyor in Embodiment 5 shown;

[0079] Figure 35 This is a three-dimensional structural schematic diagram of the collection and gathering device in Embodiment Six of this application;

[0080] Figure 36 yes Figure 35 An exploded three-dimensional structural diagram of the intermediate conveyor in Embodiment Six is ​​shown.

[0081] Figure 37 yes Figure 35 Another exploded perspective view of the intermediate conveyor in Embodiment Six;

[0082] Figure 38 yes Figure 35 A top view of a portion of the structure in the intermediate conveyor in Embodiment Six;

[0083] Figure 39 yes Figure 38 A cross-sectional view of the intermediate conveyor in Embodiment Six is ​​shown.

[0084] Figure 40 This is a three-dimensional structural diagram of the nuclear power plant tunnel cleaning robot in Embodiment 7 of this application;

[0085] Figure 41 yes Figure 40A side view of the nuclear power plant tunnel cleaning robot in Embodiment 7 shown;

[0086] Figure 42 yes Figure 40 A front view of the hinge assembly in Embodiment 7 shown;

[0087] Figure 43 yes Figure 40 A side view of the auxiliary connection unit in Embodiment 7 shown;

[0088] Figure 44 yes Figure 40 A top view of the auxiliary connection unit in Embodiment 7 shown;

[0089] Figure 45 This is a side view of the nuclear power plant tunnel cleaning robot in Embodiment 8 of this application;

[0090] Figure 46 yes Figure 45 A three-dimensional structural schematic diagram of the scraping mechanism in Embodiment 8 is shown;

[0091] Figure 47 yes Figure 45 A cross-sectional structural diagram of the scraping mechanism in Embodiment 8. Detailed Implementation

[0092] To provide a clearer understanding of the technical features, objectives, and effects of this application, the specific embodiments of this application are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "upper," "lower," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or component referred to must have a specific orientation; therefore, they should not be construed as limitations on this application.

[0093] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, that component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0094] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0095] Figure 1 This invention illustrates a nuclear power plant tunnel cleaning robot 1 in some embodiments. This robot 1 can be used to clean and collect marine organisms from tunnel walls to ensure the tunnel remains in good working condition. In some embodiments, the nuclear power plant tunnel cleaning robot 1 may include a collection and gathering device 100, a material collection system 200, a movable equipment body 300, and a material conveying system 400 located at the front end of the robot 1. The collection and gathering device 100 is alternatively mounted at the front end of the equipment body 300 to adapt to nuclear power plant tunnels with different operating conditions, and can be used to clean nuclear power plant tunnels under different operating conditions. The collection and gathering device 100 is operably installed at the front end of the equipment body 300, and can move along the tunnel wall to clean the tunnel interior and marine organisms within the tunnel, preventing marine organisms from affecting the normal environment of the tunnel. The collection system 200 is installed on the movable equipment body 300 and is connected to the collection and gathering device 100 at its front end and the conveying system 400 at its rear end. The collection system 200 can be used to collect marine organisms collected by the collection and gathering device 100 and to allow the conveying system 400 to output the marine organisms to the recycling point.

[0096] In some embodiments, the material collection system 200 may include a milling chamber, milling wheels installed inside the milling chamber, a shovel plate disposed at the entrance of the milling chamber, and a discharge connection mechanism disposed at the exit of the milling chamber. As the nuclear power plant tunnel cleaning robot 1 moves inside the tunnel, the shovel plate, in some embodiments, can transfer materials such as marine organisms collected by the collection and gathering device 100 into the milling chamber, where the milling wheels rotate and throw the materials to the conveying system 400.

[0097] In some embodiments, the movable equipment body 300 may include a mobile body 301 and a tracked chassis 302 mounted on the lower end of the mobile body 301. The tracked chassis 302 enables the nuclear power plant tunnel cleaning robot 1 to move within the tunnel to clean different locations within the tunnel. Specifically, the tracked chassis may include four tracks; along the direction of movement of the nuclear power plant tunnel cleaning robot 1, the first two tracks are asymmetrically arranged, and the last two tracks are symmetrically arranged, to facilitate more flexible movement of the nuclear power plant tunnel cleaning robot 1.

[0098] In some embodiments, the material conveying system 400 may include a first-stage conveyor belt 401 and a second-stage conveyor belt 402 connected in series. The first-stage conveyor belt 401 can convey the material thrown out by the collection system 200 to the second-stage conveyor belt 402, which is used for the final output of the material.

[0099] The first-stage conveyor belt 401 and the second-stage conveyor belt 402 are foldable to reduce the size of the nuclear power plant tunnel cleaning robot 1, and can be unfolded for use. In some embodiments, the material conveying system 400 may also include a conveyor belt connecting device and a drive device. The conveyor belt connecting device connects the first-stage conveyor belt 401 and the second-stage conveyor belt 402 to facilitate continuous material conveying. The drive device provides power to the first-stage conveyor belt 401 and the second-stage conveyor belt 402.

[0100] The collection and gathering device 100 can be used to collect marine organisms and other materials located on the tunnel wall. It can include a variety of different embodiments. When using the nuclear power plant tunnel cleaning robot 1, the collection and gathering device in different embodiments can be used according to different tunnel conditions.

[0101] Example 1:

[0102] like Figures 2 to 8As shown, the collection and gathering device 100 in this embodiment may include a passive collection component and an active collection component. The passive collection component in this embodiment may include separately arranged cleaning and gathering side wing groups, which may include a first cleaning and gathering side wing 101 and a second cleaning and gathering side wing 102. The active collection component in this embodiment may include a separately arranged first conveyor and a second conveyor. The first conveyor in this embodiment may be a collection spiral conveyor 103; the second conveyor in this embodiment may be a first intermediate conveyor 104. The collection spiral conveyor 103 is respectively mounted on the first cleaning and gathering side wing 101 and the second cleaning and gathering side wing 102.

[0103] The first cleaning and gathering side wing 101 and the second cleaning and gathering side wing 102 are respectively swayably mounted on the front end of the device body 300, and each includes a first side wing drive device 1011 and a second side wing drive device 1021 for controlling their position and angle. In this embodiment, the first side wing drive device 1011 and the second side wing drive device 1021 are disposed at one end of the first cleaning and gathering side wing 101 and the second cleaning and gathering side wing 102, and are located at the connection between the two and the front end of the device body 300.

[0104] The first side wing drive device 1011 is used to control the position and angle of the first cleaning and gathering side wing 101; the second side wing drive device 1021 is used to control the position and angle of the second cleaning and gathering side wing 102.

[0105] Specifically, when the nuclear power plant tunnel cleaning robot 1 is in operation, the first side wing drive device 1011 and the second side wing drive device 1021 respectively press down the first cleaning and gathering side wing 101 and the second cleaning and gathering side wing 102, so that the other ends of the first cleaning and gathering side wing 101 and the second cleaning and gathering side wing 102 are pressed against the inner wall of the tunnel to be cleaned. At the same time, the first side wing drive device 1011 and the second side wing drive device 1021 continuously output downward pressure in operation, so that the first cleaning and gathering side wing 101 and the second cleaning and gathering side wing 102 can continuously press against the inner wall of the tunnel to be cleaned, thereby cleaning it.

[0106] In this embodiment, the first cleaning and gathering wing 101 and the second cleaning and gathering wing 102 also include a first support wheel 1012 and a second support wheel 1022 installed at their other ends. The first support wheel 1012 and the second support wheel 1022 are close to the inner wall of the tunnel to be cleaned, and can be used to guide the movement of the nuclear power plant tunnel cleaning robot 1.

[0107] Specifically, pressure sensors are respectively installed on the first support wheel 1012 and the second support wheel 1022. When the first support wheel 1012 and the second support wheel 1022 move forward while adhering to the inner wall of the tunnel, they can receive the supporting force generated by the inner wall of the tunnel. When the nuclear power plant tunnel cleaning robot 1 deviates from its course, the force on one of the first support wheel 1012 and the second support wheel 1022 increases, and the reaction force generated can act on the main body 300 of the nuclear power plant tunnel cleaning robot 1, and balance the steering force when the nuclear power plant tunnel cleaning robot 1 deviates from its course, so that the nuclear power plant tunnel cleaning robot 1 can continue to work along the original route.

[0108] When the nuclear power plant tunnel cleaning robot 1 deviates beyond the adjustable range of the first support wheel 1012 and the second support wheel 1022, the pressure sensor reading exceeds its withstand threshold. The first support wheel 1012 and the second support wheel 1022 then send feedback to the first side wing drive device 1011 and the second side wing drive device 1021, which lift the first cleaning convergence side wing 101 and the second cleaning convergence side wing 102 upwards respectively. The nuclear power plant tunnel cleaning robot 1 will continue working after readjusting its posture or moving beyond this range.

[0109] In this embodiment, the passive collection component may further include a first floating scraper 105 and a second floating scraper 106. The first floating scraper 105 and the second floating scraper 106 are respectively mounted on the first cleaning and gathering side wing 101 and the second cleaning and gathering side wing 102. When the first support wheel 1012 and the second support wheel 1022 are in close contact with the tunnel inner wall to be cleaned, the lower edges of the first floating scraper 105 and the second floating scraper 106 are respectively in close contact with the tunnel inner wall, so as to clean the tunnel inner wall when the nuclear power plant tunnel cleaning robot 1 moves.

[0110] In this embodiment, the first floating scraper 105 and the second floating scraper 106 may include multiple scraper units. Each scraper unit may include a fixing frame 1051, a floating scraper mounting frame 1052, and a scraper body 1053 mounted on the first cleaning and gathering wing 101 or the second cleaning and gathering wing 102. The fixing frame 1051 is sleeve-shaped and may include a fixing frame 1054 in this embodiment. The fixing frame 1051 is mounted on the first cleaning and gathering wing 101 via the fixing frame 1054. The floating scraper mounting frame 1052 is rotatably and vertically mounted in the fixing frame 1051 and can be used to mount the scraper body 1053. Since the floating scraper mounting frame 1052 and the fixing frame 1051 are rotatably and vertically connected, the scraper body 1053 mounted on the floating scraper mounting frame 1052 is also rotatably and vertically connected to the fixing frame 1051. Therefore, the scraper body 1053 can better fit against the tunnel wall and can avoid obstacles by moving up and down, thus making the cleaning work smoother.

[0111] Each scraper unit in this embodiment may further include a compression spring 1055 and a limiting spring 1056. The two ends of the compression spring 1055 are respectively connected to the fixed frame 1054 and the floating scraper mounting bracket 1052, so that the scraper body 1053 mounted on the floating scraper mounting bracket 1052 is held in the working position, while having room to be compressed, allowing it to avoid obstacles in the tunnel. The limiting spring 1056 is radially engaged with the outside of the floating scraper mounting bracket 1052. When the scraper body 1053 is in the working position, the limiting spring 1056 can axially engage with the end of the fixed frame 1054 to prevent the scraper body 1053 mounted on the floating scraper mounting bracket 1052 from detaching from the fixed frame 1051.

[0112] In this embodiment, the active collection component may include a separately configured collection spiral conveyor 103 and a first intermediate conveyor 104. In this embodiment, the collection spiral conveyor 103 may include a first spiral conveyor 1031 and a second spiral conveyor 1032. The first spiral conveyor 1031 and the second spiral conveyor 1032 are respectively mounted on the first cleaning and gathering side wing 101 and the second cleaning and gathering side wing 102.

[0113] The first screw conveyor 1031 may include a first roller 1033, a first screw blade 1034 mounted on the first roller 1033, and a first drive member 1035 connected to the end of the first roller 1033 for driving the first roller 1033 to rotate about its axis; the second screw conveyor 1032 may include a second roller 1036, a second screw blade 1037 mounted on the second roller 1036, and a second drive member 1038 connected to the end of the second roller 1036 for driving the second roller 1036 to rotate about its axis.

[0114] The first roller 1033 and the second roller 1036 are longitudinally elongated, and their lengths are respectively equivalent to the lengths of the first cleaning and gathering side wing 101 and the second cleaning and gathering side wing 102. The first helical blade 1034 and the second helical blade 1037 are also longitudinally elongated, and their lengths are respectively equivalent to the lengths of the first roller 1033 and the second roller 1036. They can be used to transfer the material cleaned by the first floating scraper 105 and the second floating scraper 106 from both sides of the nuclear power plant tunnel cleaning robot 1 to the first intermediate conveyor 104 located in the middle.

[0115] Both the first helical blade 1034 and the second helical blade 1037 are fixed-pitch blades with equal pitch. Furthermore, the diameters of the first helical blade 1034 and the second helical blade 1037 are unequal, specifically: the diameter closer to the first intermediate conveyor 104 is larger, and the diameter further away from the first intermediate conveyor 104 is smaller. The material conveyed towards the center by the first helical blade 1034 and the second helical blade 1037 tends to accumulate in greater quantities near the center, with the larger diameter blade corresponding to a higher material conveying capacity. Therefore, unequal diameter design of the first helical blade 1034 and the second helical blade 1037 ensures the material conveying capacity of the collecting helical conveyor 103.

[0116] The first drive unit 1035 and the second drive unit 1038 can drive the first spiral blade 1034 and the second spiral blade 1037 to rotate forward, so that the material is conveyed to the first intermediate conveyor 104, or they can rotate in reverse to avoid material blockage.

[0117] In this embodiment, the first intermediate conveyor 104 may include a first conveyor frame 1041, a first rotating shaft 1042 and a second rotating shaft 1043 rotatably mounted at the front and rear ends of the first conveyor frame 1041 (the second rotating shaft 1043 is located away from the collecting screw conveyor 103), a plurality of first sprockets 1044 respectively mounted on the first rotating shafts 1042 and 1043, and a plurality of first chain rakes 1046 connected by a plurality of first chains 1045. The first chain rakes 1046 are provided with serrations to facilitate material conveying. The first chains 1045 are sleeved on the first sprockets 1044.

[0118] In this embodiment, the first intermediate conveyor 104 may further include an eighth drive member 1047. The eighth drive member 1047 can be mounted on either the first rotating shaft 1042 or the second rotating shaft 1043 to provide power for shaft rotation. The rotating shaft on which the eighth drive member 1047 is mounted is the driving shaft, and the other is the driven shaft. In this embodiment, the driving shaft is the second rotating shaft 1043, located away from the collecting screw conveyor 103, to prevent interference with the screw blades of the collecting screw conveyor 103 during rotation. It is understood that the driving shaft could also be the first rotating shaft 1042; both the first rotating shaft 1042 and the second rotating shaft 1043 could be powered shafts. In this embodiment, the eighth drive member 1047 can rotate forward or backward; reversing the rotation avoids material blockage.

[0119] When the collecting screw conveyor 103 transports the material to the first intermediate conveyor 104 located in the middle, the eighth drive member 1047 of the first intermediate conveyor 104 can drive the shaft to rotate so that the first chain rake 1046 moves along the first chain 1045 to transfer the material to the collection system 200, thereby cleaning the marine organisms on the inner wall of the tunnel.

[0120] Example 2:

[0121] See also Figures 9 to 13 Unlike Embodiment 1, in this embodiment, the active collection component of the collection and gathering device 100, which is used to transfer the material cleaned by the first floating scraper 105 and the second floating scraper 106 from both sides to the first conveyor, does not use a collection screw conveyor 103 but a bucket conveyor 107.

[0122] The bucket conveyor 107 may include a first bucket conveyor 1071 and a second bucket conveyor 1070 respectively installed on the first cleaning and gathering wing 101 and the second cleaning and gathering wing 102.

[0123] In this embodiment, the first bucket conveyor 1071 may include a ninth drive member 1072. The output end of the ninth drive member 1072 is provided with a fixed arm 1073, a drive arm 1074, a cross link 1075, and a lever arm 1076. The fixed arm 1073, drive arm 1074, cross link 1075, and lever arm 1076 form a four-bar linkage structure.

[0124] Specifically, one end of the fixed arm 1073 is driven to the output end of the ninth drive member 1072, and the other end of the fixed arm 1073 is hinged to one end of the cross link 1075, the other end of the cross link 1075 being hinged to one end of the lever arm 1076. One end of the drive arm 1074 is driven to the output end of the ninth drive member 1072, and the other end of the drive arm 1074 is hinged to the middle position of the lever arm 1076. The lever arm 1076 reciprocates under the combined action of the drive arm 1074, the fixed arm 1073, and the cross link 1075 (similar to the action of a paddle). In this embodiment, the other end of the lever arm 1076 is connected to a material-pushing plate 1077, which can transfer the material cleaned by the first floating scraper 105 and the second floating scraper 106 from both sides to the first intermediate conveyor 104.

[0125] The structure of the second bucket conveyor 1070 is the same as that of the first bucket conveyor 1071, and will not be described again.

[0126] Example 3:

[0127] See also Figures 14 to 17 Unlike the second conveyor in the above embodiments, the active collection component of the collection and gathering device 100 in this embodiment, which is used to transfer materials to the collection system 200, can be a second intermediate conveyor 108.

[0128] In this embodiment, the second intermediate conveyor 108 may include a second conveyor frame 1081, a third shaft 1082 and a fourth shaft 1083 rotatably mounted at the front and rear ends of the second conveyor frame 1081, a plurality of second sprockets 1084 respectively mounted on the third shaft 1082 and the fourth shaft 1083, and a plurality of third chain rakes 1086 connected by a plurality of second chains 1085. Each third chain rake 1086 has serrations to facilitate material conveying. The second chains 1085 are sleeved on the second sprockets 1084. In this embodiment, the length of the third shaft 1082 is greater than the length of the third chain rake 1086, with one end flush with the third chain rake 1086 and the other end extending beyond the range of the third chain rake 1086 and extending away from the end of the third chain rake 1086.

[0129] In this embodiment, the second intermediate conveyor 108 may further include a drive member 1087, which can be mounted on either the third shaft 1082 or the fourth shaft 1083 to provide power for the shaft rotation. The shaft on which the drive member 1087 is mounted is the active shaft, and the other is the driven shaft. In this embodiment, the active shaft is the fourth shaft 1083, which is located away from the first cleaning and gathering side wing 101 and the second cleaning and gathering side wing 102, to prevent interference with other active collection components on the first cleaning and gathering side wing 101 and the second cleaning and gathering side wing 102 when the shaft rotates. It is understood that the active shaft can also be the third shaft 1082; the third shaft 1082 and the fourth shaft 1083 can both be powered shafts. In this embodiment, the drive member 1087 can rotate forward or backward, and reversing the rotation can avoid material blockage.

[0130] When other active collection components convey material to the second intermediate conveyor 108 located in the middle, the drive 1087 of the second intermediate conveyor 108 can drive the shaft to rotate so that the third chain rake 1086 moves along the second chain 1085 to transfer the material to the collection system 200, thereby cleaning the marine organisms on the tunnel wall.

[0131] The second intermediate conveyor 108 also includes a long pushing spiral 1088, which is installed at the end of the third rotating shaft 1082 away from the third chain rake 1086. During operation, all components are activated, and the nuclear power plant tunnel cleaning robot 1 is pushed and gathers marine biological materials under the push of the chassis. The first floating scraper 105 and the second floating scraper 106 scrape the inner wall of the tunnel to clean the marine organisms adhering to the inner wall of the tunnel. After the marine biological materials accumulate to a certain height or the marine biological materials themselves are relatively high, the marine biological materials are pushed to the middle under the thrust of the lateral component force generated by the first cleaning and gathering side wing 101 and the second cleaning and gathering side wing 102. The higher upper layer of marine biological materials is pushed onto the third chain rake 1086 of the second intermediate conveyor 108 by the collecting spiral conveyor 103 in Embodiment 1 or the bucket conveyor 107 in Embodiment 2. The lower layer of marine organisms is pushed into the long pusher screw 1088, and driven by the screw blades, it enters the third chain rake 1086 and is then conveyed to the collection system 200.

[0132] The fourth rotating shaft 1083 of the second intermediate conveyor 108 is tension-adjustable. In this embodiment, the second intermediate conveyor 108 also includes a tension adjustment assembly 1089. Specifically, the tension adjustment assembly 1089 includes an adjustable bearing seat 1089a with a long slot 1089d, a fixing member 1089b, and an adjusting screw 1089c. The outer side plate of the second conveyor frame 1081 has a fixing structure with screw holes. The adjustable bearing seat 1089a can be fixed to the second conveyor frame 1081 by means of bolts or other connecting parts passing through the long slot 1089d and the screw holes. The fourth rotating shaft 1083 passes through the main frame and is connected to the adjustable bearing seat 1089a. The fixing part 1089b is installed on the fixed structure. The fixing part 1089b is provided with a hole for the adjusting screw 1089c to pass through. The adjustable bearing seat 1089a is provided with a protrusion that protrudes relative to the adjustable bearing seat 1089a. The protrusion is also provided with a hole for the adjusting screw 1089c to pass through. The two ends of the adjusting screw 1089c pass through the holes on the fixing member 1089b and the protrusion, respectively, connecting the protrusion and the fixing member 1089b. The adjusting screw 1089c is connected between the adjustable bearing seat 1089a and the fixing member 1089b. The adjustable bearing seat 1089a and the fixing member 1089b are movable relative to each other along the axial direction of the adjusting screw 1089c. By turning the adjusting screw 1089c, the distance between the adjustable bearing seat 1089a and the fixing member 1089b is changed. The adjustable bearing seat 1089a can move back and forth along the length direction of the long slot 1089d (that is, the length direction of the adjusting screw 1089c). The fourth rotating shaft 1083 on the adjustable bearing seat 1089a can be tensioned to adjust the tension of the subsequent third chain rake 1086.

[0133] In this embodiment, the collection and gathering device 100 may include a rotation speed measuring component 110. The rotation speed measuring component 110 is fixed on the movable device body 300. The rotation speed measuring component 110 is disposed on the same side as the end of the fourth rotating shaft 1083, and their axes are parallel. It is linked with the fourth rotating shaft 1083 to measure the rotation speed of the fourth rotating shaft 1083.

[0134] Specifically, the speed measuring assembly 110 includes a fixed base 1101, a rotating shaft 1102, a driven sprocket 1103, a driving sprocket 1104, a second sprocket bar 1105, a speed gear 1106, and a speed sensor 1107. The second fixed base 1101 is mounted on the main body 300 of the equipment. A cantilevered rotating shaft 1102 is mounted on the second fixed base 1101. The driven sprocket 1103 and the speed gear 1106 are fixedly mounted on the rotating shaft 1102. The speed gear 1106... A speed sensor 1107 is installed at the vertical position of the outer circle of the gear teeth. A drive sprocket 1104 is installed on the fourth rotating shaft 1083. The drive sprocket 1104 and the driven sprocket 1103 are linked through the second sprocket bar 1105. The drive sprocket 1104 drives the second sprocket bar 1105 to move, thereby driving the driven sprocket 1103 of the cantilever rotating shaft 1102 to rotate. The speed gear 1106 rotates accordingly. The speed sensor 1107 can indirectly read the speed of the drive shaft 232 and transmit the data to the control system.

[0135] Example 4:

[0136] See also Figures 18 to 28 In this embodiment, the collection and gathering device 100 may include a passive collection component and an active collection component. The passive collection component may include separately configured cleaning and gathering side wing groups, which may include a third cleaning and gathering side wing 111 and a foldable fourth cleaning and gathering side wing 112. The active collection component may include separately configured spiral conveyors 113 and intermediate conveyors 114, with the spiral conveyors 113 respectively mounted on the third cleaning and gathering side wing 111 and the foldable fourth cleaning and gathering side wing 112.

[0137] In this embodiment, the third cleaning and gathering side wing 111 and the foldable fourth cleaning and gathering side wing 112 can be connected to the main body 300 via a drive assembly 115. Specifically, the drive assembly 115 includes a fifth drive member 116 and a sixth drive member 117; the fifth drive member 116 is connected to the third cleaning and gathering side wing 111, and the sixth drive member 117 is connected to the foldable fourth cleaning and gathering side wing 112. The fifth drive member 116 and the sixth drive member 117 can be used to drive the third cleaning and gathering side wing 111 and the foldable fourth cleaning and gathering side wing 112 respectively, so that they can be unfolded or retracted, thereby enabling the nuclear power plant tunnel cleaning robot 1 to switch between working and non-working states.

[0138] The third cleaning and gathering wing 111 includes a wing body 1110 and a connecting frame 1111 connected to the wing body 1110. The connecting frame 1111 is installed on the main body 300 of the device. The wing body 1110 can have a semi-enclosed structure to facilitate the collection of marine organisms.

[0139] In this embodiment, the connecting frame 1111 may include a connecting beam 1112, a first hinge frame 1113, and a drive seat 1114. The connecting beam 1112 is fixed to one side of the equipment body 300. The first hinge frame 1113 and the drive seat 1114 are respectively disposed on the connecting beam 1112. The first hinge frame 1113 may be disposed on one side of the equipment body 300. The first hinge frame 1113 is connected to the side wing body 1110, and the drive seat 1114 is connected to the fifth drive member 116. Specifically, the side wing body 1110 and the first hinge frame 1113 can be hinged by a pin. In this embodiment, the connecting beam 1112 may be a box-shaped rectangular column structure, with one side fixed to the side plate of the equipment body 300, the first hinge frame 1113 fixed to the adjacent vertical side, and the fifth drive member 116 fixed to the opposite side. Specifically, the first hinge frame 1113 is disposed on the adjacent side of the end of the connecting beam 1112 connected to the equipment body 300, and the drive seat 1114 is disposed on the opposite side of the end of the connecting beam 1112 connected to the equipment body 300. One end of the fifth drive member 116 is hinged to the drive seat 1114, and the other end of the fifth drive member 116 is hinged to the side wing body 1110. Thus, the hinge between the side wing body 1110 of the third cleaning and gathering side wing 111 and the equipment body 300 can be realized.

[0140] In this embodiment, the foldable fourth cleaning and gathering side wing 112 includes a fixed wing 1121, a folding wing 1122, a first connecting assembly 1123, and a second hinge frame 1124 fixed to one end of the fixed wing 1121. In this embodiment, the second hinge frame 1124 can be mounted on the device body 300. The other end of the fixed wing 1121 is hinged to the folding wing 1122 via the first connecting assembly 1123, and one end of the fixed wing 1121 is hinged to the second hinge frame 1124. Specifically, the fixed wing 1121 and the second hinge frame 1124 can be hinged together via a pin. Thus, the fixed wing 1121 can be hinged to the device body 300.

[0141] In this embodiment, the first connecting component 1123 may include a first connector 1125, a second connector 1126, a first bracket 1127 connected to the first connector 1125, a second bracket 1128 connected to the second connector 1126, and a drive component 1129.

[0142] Each of the fixed wing 1121 and the folding wing 1122 is provided with a pair of pin holes. The fixed wing 1121 and the folding wing 1122 can be hinged together by being mounted in the pin holes with a pin. In this embodiment, the first bracket 1127 can be an I-shaped bracket, and the second bracket 1128 can be a curved bracket. The first bracket 1127 and the second bracket 1128 are connected with the first connector 1125 and the second connector 1126 respectively to form a linkage structure. Under the action of the sixth driving member 117, the folding wing 1122 can rotate around the axis of the pin, thereby realizing the folding of the folding wing 1122.

[0143] In this embodiment, the folding wing 1122 can open and close relative to the fixed wing 1121, and the opening and closing angle is 0~180°. The foldable fourth cleaning and gathering side wing 112 can greatly reduce the width of the collection and gathering device 100 in the non-working state when folded, thereby enabling more portable movement of the nuclear power plant tunnel cleaning robot 1.

[0144] One end of the first bracket 1127 is hinged to the first end of the first connector 1125, and the other end of the first bracket 1127 is hinged to one end of the second bracket 1128; the other end of the second bracket 1128 is hinged to one end of the second connector 1126, and the other end of the first bracket 1127 and the other end of the second bracket 1128 can be hinged together.

[0145] One end of the driving component 1129 is fixed to the fixed wing 1121, and the other end of the driving component 1129 is connected to the fixing component. The first bracket 1127 and the second bracket 1128 drive the folding wing 1122 to fold toward the fixed wing 1121 under the drive of the driving component 1129.

[0146] Because the third cleaning and gathering wing 111 can swing around the axis of the first hinge frame 1113, the foldable fourth cleaning and gathering wing 112 can swing around the axis of the second hinge frame 1124. One end of the fifth drive member 116 is connected to the fixed point of the wing body 1110, and the other end is hinged to the drive seat 1114; one end of the sixth drive member 117 is connected to the fixed point of the fixed wing 1121, and the other end is hinged to the main body 300. The fifth drive member 116 and the sixth drive member 117 can drive the third cleaning and gathering wing 111 and the foldable fourth cleaning and gathering wing 112 to achieve controllable opening and closing actions. This effectively reduces the width of the collection and gathering device 100 in the non-working state, enabling the nuclear power plant tunnel cleaning robot 1 to smoothly pass through narrow areas for transport.

[0147] In this embodiment, the collection and gathering device 100 may further include a scraper assembly 118. The scraper assembly 118 may include a fixed frame 1181 connected to the third cleaning and gathering side wing 111 and the foldable fourth cleaning and gathering side wing 112, a floating scraper 1182 movably connected to the fixed frame 1181, and a swinging scraper 1183. The floating scraper 1182 can move up and down relative to the fixed frame 1181, and the swinging scraper 1183 swings back and forth relative to the fixed frame 1181. In this embodiment, there are multiple floating scrapers 1182 and multiple swinging scrapers 1183. The lower edge of the swinging scraper 1183 is in contact with the tunnel inner wall to clean the material located on the tunnel inner wall. When the scraper assembly 118 encounters an obstacle and experiences excessive stress while scraping the tunnel inner wall, the floating scraper 1182 can avoid it by floating upwards, and the swinging scraper 1183 can avoid the obstacle by deflecting.

[0148] In this embodiment, the fixed frame 1181 is provided with a guide shaft system 1184 for the floating scraper 1182 to float, a rotating shaft system 1185 for the swinging scraper 1183 to swing, and a scraper drive (not shown). The guide shaft system 1184 and the rotating shaft system 1185 are respectively driven connected to the floating scraper 1182 and the swinging scraper 1183. Specifically, the scraper drive is a drive cylinder, which can be arranged along the height direction of the fixed frame 1181. The guide shaft system 1184 includes guide shafts arranged parallel to both sides of the drive cylinder and a guide plate drivingly connecting the guide shaft system 1184 and the drive cylinder. The floating scraper 1182 is drivenly connected to the guide plate. The drive cylinder moves in a telescopic motion, causing the floating scraper 1182 to move up and down relative to the guide shaft system 1184. Therefore, the scraper assembly 118 in this embodiment has a first degree of freedom. The bottom of the oscillating scraper 1183 is hinged to the fixed frame 1181 via a rotating shaft 1185. The oscillating scraper 1183 deflects along the axis of the rotating shaft 1185. Therefore, the scraper assembly 118 in this embodiment has a second degree of freedom. The scraper assembly 118 has energy storage components at both degrees of freedom to push and maintain its position. When the device encounters excessive reaction force on the scraping hole wall, it avoids obstacles by floating and deflecting.

[0149] In this embodiment, the collection and gathering device 100 may further include a gathering spiral conveyor 119, which may include a fourth spiral conveyor 1191, a fifth spiral conveyor 1192, and a sixth spiral conveyor 1193. The fourth spiral conveyor 1191 is disposed on the third cleaning and gathering side wing 111; the fifth spiral conveyor 1192 and the sixth spiral conveyor 1193 are respectively disposed on the fixed wing 1121 and the folding wing 1122 of the fourth cleaning and gathering side wing 112.

[0150] In this embodiment, the gathering screw conveyor 119 further includes a third drive member 1194 and a fourth drive member 1195 respectively installed at the ends of the third cleaning and gathering side wing 111 and the fourth cleaning and gathering side wing 112. The fourth drive member 1195 is installed on the folding wing 1122. The third drive member 1194 is operably installed at one end of the fourth screw conveyor 1191 and can be used to drive the fourth screw conveyor 1191. The fourth drive member 1195 is operably installed at one end of the sixth screw conveyor 1193 and can be used to drive the sixth screw conveyor 1193 installed on the folding wing 1122.

[0151] One end of the fifth screw conveyor 1192 is connected to the other end of the sixth screw conveyor 1193 via a first coupling 120. The first coupling 120 can drive the fifth screw conveyor 1192 to rotate through the rotation of the sixth screw conveyor 1193.

[0152] In this embodiment, both the third drive member 1194 and the fourth drive member 1195 can rotate forward or backward. When rotating forward, they can transport the material to the middle; when rotating backward, they can effectively prevent material blockage. It is understood that the number of the fourth screw conveyor 1191, the fifth screw conveyor 1192, and the sixth screw conveyor 1193 is not limited to one; two or more arranged side by side are also applicable.

[0153] In this embodiment, the first coupling 120 may include a first half coupling 1201, a second half coupling 1202, a first compression spring 1203, and a second compression spring 1204.

[0154] The first half-coupling 1201 and the second half-coupling 1202 are axially movable and mounted at the ends of the fifth screw conveyor 1192 and the sixth screw conveyor 1193, respectively. The ends of the fifth screw conveyor 1192 and the sixth screw conveyor 1193 are hollow tubular structures, with the first compression spring 1203 and the second compression spring 1204 respectively embedded therein, providing opposing axial support forces to the first half-coupling 1201 and the second half-coupling 1202.

[0155] Both ends of the first half-coupling 1201 and the second half-coupling 1202 are provided with a plurality of grooves and a plurality of protruding teeth. The grooves on the first half-coupling 1201 are adapted to the protruding teeth on the second half-coupling 1202, and the protruding teeth on the first half-coupling 1201 are adapted to the grooves on the second half-coupling 1202. This enables the transmission of the torque generated by the fourth driving member 1195 to drive the sixth screw conveyor 1193 to rotate.

[0156] When the folding wing 1122 unfolds, the first half-coupling 1201 and the second half-coupling 1202 may not be fully engaged. However, the rotation of the sixth screw conveyor 1193, under the action of the first compression spring 1203 and the second compression spring 1204, pushes the first half-coupling 1201 and the second half-coupling 1202 against each other, causing the first half-coupling 1201 to rotate until it engages with the second half-coupling 1202. This allows the fifth screw conveyor 1192 and the sixth screw conveyor 1193, respectively mounted on the fixed wing 1121 and the folding wing 1122, to rotate synchronously.

[0157] Unlike the second intermediate conveyor 108 in Embodiment 3, the collecting and gathering device 100 in this embodiment may include an intermediate conveyor 121. In this embodiment, the intermediate conveyor 121 may include a hollowed-out conveyor frame 1211, a chain rake passive shaft system 1212, and a chain rake active shaft system 1213, respectively disposed at the front and rear ends of the conveyor frame 1211. The conveyor frame 1211 forms a certain angle with the bottom of the tunnel and extends to the material collection system 200. One end of the chain rake active shaft system 1213 is connected to the main body 300 of the equipment. In this embodiment, the conveyor frame 1211 can swing around the axis of the chain rake active shaft system 1213.

[0158] Furthermore, the conveyor frame 1211 includes opposing side plates 1214, on which limit shaft heads 1215 are provided. A floating limit frame 1216 is provided above the intermediate conveyor 121 corresponding to the limit shaft head 1215 to limit the swing amplitude of the conveyor frame 1211, thereby limiting the swing amplitude of the intermediate conveyor 121. To accommodate materials of different heights, the end of the intermediate conveyor 121 that first contacts the material can be appropriately floated, thereby reducing material blockage.

[0159] Example 5:

[0160] See also Figures 29 to 34Unlike the above embodiments, the collection and gathering device 100 in this embodiment may include a main frame 122, a second connecting component 123, and two foldable side wing components 124. The width of the main frame 122 may be greater than the cross-sectional width of the device body 300. The main frame 122 is disposed on the device body 300 and fits against the bottom wall of the tunnel. The two side wing components 124 are symmetrically disposed on opposite sides of the main frame 122. The two side wing components 124 are hinged to the main frame 122 through the second connecting component 123. The main frame 122 includes a first side located at the front end and a second side opposite to the first side. The two side wing components 124 open and close toward the first side of the main frame 122 and move between a first position and a second position. When the two side wing components 124 are in the first position, they are housed together in the first side of the main frame 122, that is, the two side wing components 124 are in a folded state when they are in the first position. Driven by the main body 300, the collection and gathering device 100 moves horizontally along the axis of the tunnel, gathering the marine organisms located in the tunnel towards the first side of the main frame 122.

[0161] In this embodiment, the main body 300 is provided with at least one floating support 305, and the main frame 122 is provided with at least one floating connecting frame 1221. The number of floating support 305s corresponds to the number of floating connecting frames 1221s. In this embodiment, there are two floating support 305s and two floating connecting frames 1221s. The floating support 305s are movably connected to the floating connecting frames 1221s, and the floating connecting frames 1221s can move laterally relative to the floating support 305s by a certain distance. This allows for lateral movement between the collecting and gathering device 100 and the main body 300. When the main body 300 deviates from its designated position, the lateral movement margin must be greater than the deviation amount, thus providing a certain tolerance for the collecting and gathering device 100.

[0162] In this embodiment, the floating connecting frame 1221 is provided with mounting holes, the two floating seats 305 are coaxially arranged, and each floating seat 305 is provided with two parallel pin holes. The collecting and gathering device 100 is connected by passing a detachable pin through the mounting holes and pin holes.

[0163] In this embodiment, the collection and gathering device 100 may further include a third intermediate conveyor 125 mounted on the main body 300 of the device. The third intermediate conveyor 125 includes a rotatable gathering roller 1251 located behind the two side wing assemblies 124, which can convey the collected material to the collection system 200.

[0164] In this embodiment, the third intermediate conveyor 125 further includes an auxiliary feeding wheel 1252, which is disposed between the gathering roller 1251 and the main frame 122. The auxiliary feeding wheel 1252 can fill the dead space in the gathering roller 1251 during material conveying, thereby assisting in the conveying of marine materials. Marine materials can be forcibly moved backward by the movement of its blade structure. The auxiliary feeding wheel 1252 can rotate in both directions; reverse rotation activates when marine materials cause blockage, effectively relieving the blockage. In this embodiment, the axis of the auxiliary feeding wheel 1252 is parallel to the axis of the gathering roller 1251.

[0165] The second connecting assembly 123 includes a third connector 1231, a fourth connector 1232, a first bracket 1233 connected to the third connector 1231, a second bracket 1234 connected to the fourth connector 1232, and a driving component 1235. The third connector 1231 is disposed at both ends of the first side of the main frame 122, and the fourth connector 1232 is disposed at one end of each side wing assembly 124 near the main frame 122. The fourth connector 1232 is connected to the third connector 1231. Specifically, the fourth connector 1232 and the third connector 1231 can be connected by a pin.

[0166] The first end of the first bracket 1233 is hinged to the first end of the third connector 1231, and the second end of the first bracket 1233 is hinged to the first end of the second bracket 1234. The second end of the second bracket 1234 is hinged to the first end of the fourth connector 1232. The second ends of the first bracket 1233 and the second ends of the second bracket 1234 are hinged by a fixing member. This fixing member can be a pivot pin. The first bracket 1233 and the second bracket 1234 are respectively provided with pin holes, and the pin is installed in the corresponding pin holes to realize the hinge between the first bracket 1233 and the second bracket 1234. One end of the driving member 1235 is fixed to the main frame 122, and the other end is connected to the fixing member. The first bracket 1233 can be an I-beam frame, and the second bracket 1234 can be a curved frame. The first bracket 1233, the second bracket 1234, the third connector 1231, and the fourth connector 1232 are connected together to form a linkage structure. The first bracket 1233 and the second bracket 1234 can rotate around the axis of the pin under the drive of the drive member 1235, thereby driving the fourth connector 1232 to rotate relative to the third connector 1231, so that the side wing assembly 124 can open and close relative to the main frame 122.

[0167] Understandably, the third connector 1231 and the first bracket 1233, as well as the fourth connector 1232 and the second bracket 1234, can also be hinged using the same connection method as the first bracket 1233 and the second bracket 1234, which will not be repeated here.

[0168] When the device is in operation, the drive unit 1235 drives the side wing assembly 124 to unfold, and the side wing assembly 124 is arranged at a certain angle to the circumference of the device, with the axis of rotation in the vertical direction. The side wing assembly 124 does not need to be arranged at an acute angle to the tunnel axis, and its end face can be directly perpendicular to the axis, resulting in a simple structure and greatly reducing manufacturing difficulty and cost. The side wing assembly 124 can be folded forward at a maximum angle of 180°, significantly reducing the width of the collection and gathering device 100 in its non-operating state.

[0169] When the side wing assembly 124 is in the deployed state and affects the transportation of the device, or when it needs to pass through narrow passages, the side wing assembly 124 can be folded toward the first side of the main frame 122. The side wing assembly 124 can rotate around an axis perpendicular to the ground under the drive of the drive member 1235, and its side will separate from the left and right end faces of the main frame 122, rotating toward the first side of the main frame 122, and can be folded and stored in the first side of the main frame 122. This greatly facilitates the transportation of the device and its passage through narrow passages, makes it easier to move in tunnels, and the relatively compact structural arrangement is conducive to the miniaturization of the device.

[0170] In this embodiment, the collecting and gathering device 100 may further include two seventh spiral conveyors 126 disposed on the main frame 122 and a drive assembly that provides power to the two seventh spiral conveyors 126. The blades of the two seventh spiral conveyors 126 rotate in opposite directions, gathering marine organisms toward the first side of the main frame 122. In this embodiment, the two seventh spiral conveyors 126 may be an asymmetrical structure.

[0171] Each side wing assembly 124 is equipped with an eighth spiral conveyor 127. Two eighth spiral conveyors 127 are respectively connected to two seventh spiral conveyors 126 via a transmission connection. The seventh spiral conveyors 126 and the eighth spiral conveyors 127 can be a series transmission structure. The blades of the eighth spiral conveyors 127 located on different side wing assemblies 124 rotate in opposite directions to achieve the gathering of marine biological material from both sides towards the center. In this embodiment, the two eighth spiral conveyors 127 can be a symmetrical structure, which facilitates simplified structural design, reduces device complexity, lowers the failure rate, and reduces costs.

[0172] In this embodiment, the main frame 122 is also equipped with a third spiral conveyor 128 arranged parallel to the seventh spiral conveyor 126. The third spiral conveyor 128 can be linked with the seventh spiral conveyor 126. The third spiral conveyor 128 is closer to the bottom wall of the tunnel than the seventh spiral conveyor 126 to further improve the aggregation effect of marine materials. The seventh spiral conveyor 126 and the third spiral conveyor 128 can be arranged in two parallel axes, one above the other. The seventh spiral conveyor 126, located on the upper layer, can be a type with a connecting shaft to facilitate linkage with the eighth spiral conveyor 127. Due to the tunnel structure limitations, the length of the third spiral conveyor 128, located on the lower layer, should not be longer than the length of the seventh spiral conveyor 126. The structure of the third spiral conveyor 128 can be similar to that of the seventh spiral conveyor 126. The rotation direction of the blades of the third spiral conveyor 128 can correspond to the rotation direction of the blades of the seventh spiral conveyor 126, working together to aggregate marine materials such as organisms towards the first side of the main frame 122.

[0173] Each eighth screw conveyor 127 is connected to each seventh screw conveyor 126 via a second coupling 129. In this embodiment, since there are two seventh screw conveyors 126 and two eighth screw conveyors 127, there should also be two second couplings 129. The second coupling 129 has the same structure as the first coupling 120 in embodiment four.

[0174] Example 6:

[0175] See also Figures 35 to 39 Unlike the intermediate conveyor in the above embodiments, the intermediate conveyor 130 in this embodiment does not use a chain rake structure for material conveying, but instead uses a spiral blade structure. In this embodiment, the intermediate conveyor 130 may include a drive shaft 131, spiral blades 132, and a drive unit 133.

[0176] The drive shaft 131 extends along the moving direction of the nuclear power plant tunnel cleaning robot 1, which is also the material flow direction, with its axial direction aligned with this extension direction, to convey the material along the axial direction of the drive shaft 131. Spiral blades 132 are disposed on the outer circumferential surface of the drive shaft 131 along its extension direction. As the drive shaft 131 rotates, the spiral blades 132 rotate accordingly, and the material is driven by the spiral blades 132 and conveyed along the axial direction of the drive shaft 131 to the collection system 200.

[0177] In this embodiment, the drive unit 133 may include a driving gear 1331, a driven gear 1332, and a drive motor 1333. Both the driving gear 1331 and the driven gear 1332 are umbrella-shaped, and the driving gear 1331 meshes perpendicularly with the driven gear 1332. The driving gear 1331 is coaxially connected to the output end of the drive motor 1333. The driven gear 1332 is coaxially connected to the drive shaft 131. The torque output from the drive motor 1333 is transmitted sequentially through the driving gear 1331 and the driven gear 1332 to the drive shaft 131, driving the rotation of the helical blade 132.

[0178] A rotary transmission is achieved using a vertically meshing drive gear 1331 and driven gear 1332, allowing the drive motor 1333 to be positioned perpendicular to the transmission shaft 131. The helical blades 132 extend along the extension direction of the transmission shaft 131, meaning the drive motor 1333 is perpendicular to the extension direction of the helical blades 132. Since the extension direction of the transmission shaft 131 is consistent with the material flow direction, the drive motor 1333 is also perpendicular to the material flow direction. Therefore, compared to conventional screw conveyor structures where the output end of the drive motor 1333 and the extension direction of the helical blades 132 are on the same axis, this drive motor 1333 experiences significantly reduced axial load, lower energy consumption, and higher transmission efficiency. Furthermore, the structural characteristics of the helical blades 132 offer the advantage of preventing blockage by foreign objects.

[0179] Furthermore, in this embodiment, the drive shaft 131 can rotate in two opposite directions under the drive of the drive motor 1333. Specifically, the two opposite directions can be defined as forward rotation and reverse rotation. Forward rotation is used for normal material conveying. Reverse rotation is used to solve jamming problems.

[0180] The purpose of this design is that although the structural characteristics of the spiral blade 132 make it extremely unlikely to jam due to the presence of impurities, there is still a risk of the drive unit jamming if there is too much material or if large pieces of impurities are mixed in. When the drive unit jams, the drive shaft 131 can be rotated in the opposite direction, and the material and impurities will be pushed out in the opposite direction, thereby solving the jamming problem.

[0181] In this embodiment, the drive unit 133 further includes a gearbox 1334, a first sealing support assembly, and a second sealing support assembly. The driving gear 1331 and the driven gear 1332 are both housed within the gearbox 1334 to isolate them from the external environment and prevent contamination and corrosion. The first and second sealing support assemblies seal the output end of the drive motor 1333 and the transmission shaft 131 with the gearbox 1334, and also support the rotation of the output end of the drive motor 1333 and the transmission shaft 131.

[0182] Specifically, the gearbox 1334 has a first through hole 1335 and a second through hole 1336 respectively formed on mutually perpendicular surfaces. The output end of the drive motor 1333 is sealed to the wall of the first through hole 1335 through a first sealing support assembly and is connected to the drive gear 1331 for transmission. The drive shaft 131 is sealed to the wall of the second through hole 1336 through a second sealing support assembly and is connected to the driven gear 1332 for transmission.

[0183] Furthermore, the first sealing support assembly may include a first end cap 1337 and a first bearing 1338.

[0184] Specifically, the first end cap 1337 is used to seal the output end of the drive motor 1333 to the first through hole 1335 and to limit the axial position of the output end of the drive motor 1333. The first bearing 1338 is used to support the rotation of the output end of the drive motor 1333.

[0185] The outer peripheral surface of the first end cap 1337 is sealed to the wall of the first through hole 1335. The first bearing 1338 is connected between the first end cap 1337 and the drive gear 1331. The drive gear 1331 is sleeved on the output end of the drive motor 1333. The first bearing limiting member is connected between the first bearing 1338 and the first end cap 1337.

[0186] A journal is formed on the drive gear 1331, and a first bearing 1338 is mounted on the journal of the drive gear 1331.

[0187] The first sealing support assembly may further include a first bearing limiting member (not shown in the figure) connected between the first bearing 1338 and the first end cap 1337 for limiting the first bearing 1338 on the first end cap 1337.

[0188] The gearbox 1334 has a cuboid housing, assembled from various plates connected by bolts. During installation, the first sealing support assembly and the drive motor 1333 are fixedly installed in the first through hole 1335. When the drive gear 1331 is under force, its axial force is borne by the bearing and transmitted to the inner wall of the first through hole 1335 of the gearbox 1334 housing, resulting in a relatively small axial load on the drive motor 1333. Correspondingly, a shoulder structure can be provided on the inner wall of the first through hole 1335 to strengthen the sealing connection between the first end cover 1337 and the inner wall of the first through hole 1335.

[0189] By controlling the direction of the drive motor 1333, the transmission shaft 131 can be controlled to rotate in two opposite directions, that is, to convey materials in the forward direction or to reverse the direction to solve the jamming problem.

[0190] Furthermore, the second sealing support assembly may include a second end cap 1339 and a second bearing 1330.

[0191] Specifically, the second end cap 1339 is used to seal the drive shaft 131 and the second through hole 1336, and to limit the axial position of the drive shaft 131. The second bearing 1330 is used to support the rotation of the drive shaft 131.

[0192] The outer circumferential surface of the second end cover 1339 is sealed to the wall of the second through hole 1336. The second bearing 1330 is connected between the second end cover 1339 and the drive shaft 131. The driven gear 1332 is sleeved on the outer circumferential surface of the drive shaft 131. The driven gear 1332 and the second bearing 1330 are located at two axial positions on the drive shaft 131, respectively. The driven gear 1332 and the second bearing 1330 may or may not be connected.

[0193] The second sealing support assembly may further include a second bearing limiting member connected between the second bearing 1330 and the second end cap 1339 for limiting the second bearing 1330 on the second end cap 1339.

[0194] In this embodiment, the transmission shaft 131 includes an axially connected main shaft 1311 and a hollow cylindrical shaft 1312. The main shaft 1311 is used for transmission connection with the driven gear 1332 to transmit torque. The hollow structure of the cylindrical shaft 1312 can reduce the overall weight of the transmission shaft 131, reduce the rotational load, and improve the transmission efficiency.

[0195] The spiral blade 132 is disposed on the outer circumferential surface of the cylindrical shaft 1312 along the extension direction of the cylindrical shaft 1312.

[0196] The main shaft 1311 passes through the gearbox 1334 and includes a first portion housed within the gearbox 1334 and drivenly connected to the driven gear 1332, and a second portion extending outside the gearbox 1334. The first portion of the main shaft 1311 is used for drivingly connecting with the driven gear 1332 to transmit torque. The second portion of the main shaft 1311 is used for connecting to the cylindrical shaft 1312. Furthermore, the cylindrical shaft 1312 and the second portion of the main shaft 1311 are detachably connected.

[0197] Furthermore, the intermediate conveyor 130 also includes an expansion sleeve 134, which can be used for a detachable connection between the cylindrical shaft 1312 and the second part of the main shaft 1311. Specifically, the end of the cylindrical shaft 1312 away from the main shaft 1311 is a closed end. The end of the cylindrical shaft 1312 near the main shaft 1311 has a through hole for the main shaft 1311 to extend into. An annular fixing part 1312a is provided on the inner wall of the cylindrical shaft 1312. The second part of the main shaft 1311 extends into the cylindrical shaft 1312 through the through hole and is detachably connected to the annular fixing part 1312a through the expansion sleeve 134.

[0198] Therefore, the hollow structure of the cylindrical shaft 1312 can be cleverly utilized to reduce the overall weight of the transmission shaft 131, while also facilitating the detachable connection between the cylindrical shaft 1312 and the second part of the main shaft 1311.

[0199] Furthermore, an operating hole is provided on the circumferential surface of the cylindrical shaft 1312 at a position corresponding to the annular fixing part 1312a. The intermediate conveyor 130 also includes a mounting cover 135 adapted to the operating hole. During normal operation, the mounting cover 135 closes to the operating hole, isolating and sealing the interior of the cylindrical shaft 1312 from the external environment. When it is necessary to install the cylindrical shaft 1312 and the main shaft 1311, the second part of the main shaft 1311 is inserted into the cylindrical shaft 1312 through the through hole and into the annular hole of the annular fixing part 1312a. The mounting cover 135 is then opened, and the expansion sleeve 134 is fitted onto the second part of the main shaft 1311 to fix the second part of the main shaft 1311 onto the annular fixing part 1312a. Then, the mounting cover 135 is closed again to close the operating hole. Similarly, when it is necessary to disassemble the cylindrical shaft 1312 and the main shaft 1311, simply open the mounting cover 135 and remove the expansion sleeve 134 from the second part of the main shaft 1311. In this way, the cylindrical shaft 1312 and the second part of the main shaft 1311 can be tightly fitted together, while also facilitating disassembly and assembly.

[0200] Furthermore, in order to adapt the intermediate conveyor 130 to the nuclear power plant tunnel cleaning robot 1, in this embodiment: the main shaft 1311 includes two second parts. The cylindrical shaft 1312 includes a first part and a second part located on the same axis.

[0201] One of the second portions of the main shaft 1311 is axially connected to the first portion of the cylindrical shaft 1312. The other second portion of the main shaft 1311 is axially connected to the second portion of the cylindrical shaft 1312. That is, the first and second portions of the cylindrical shaft 1312 are respectively connected to the two second portions of the main shaft 1311 extending from the gearbox 1334.

[0202] Correspondingly, both the first and second parts of the cylindrical shaft 1312 have helical blades 132, and the helical directions of the helical blades 132 in the two parts are continuously corresponding. Driven by the helical blades 132, the material flows from the first part of the cylindrical shaft 1312 to the second part and enters the collection system 200. The lengths of the first and second parts of the cylindrical shaft 1312 can be adjusted according to different working conditions.

[0203] In this embodiment, the intermediate conveyor 130 further includes at least two mounting plates. The two mounting plates are detachably connected to two relatively parallel surfaces of the gearbox 1334 via bolts or other connecting components. Thus, the intermediate conveyor 130 can be conveniently and quickly installed onto other equipment for adaptation and use. Furthermore, when the mounting plates are installed on the gearbox 1334, their thickness direction is perpendicular to the material flow direction to minimize the obstruction to material flow.

[0204] Furthermore, in this embodiment, the intermediate conveyor 130 also includes a motor cover 137 for housing the drive motor 1333 and providing protection. The gearbox 1334 includes a first surface 1334a where the first through hole 1335 is located, and a second surface 1334b parallel to the first surface 1334a on the opposite side. The two mounting plates are a first mounting plate 138 and a second mounting plate 139, respectively.

[0205] The first mounting plate 138 has a motor clearance hole for the drive motor 1333 to pass through. The first mounting plate 138 is detachably connected to the first surface 1334a of the gearbox 1334. The motor cover 137 is detachably connected to the first mounting plate 138 and encloses the portion of the drive motor 1333 located outside the gearbox 1334. The shape of the motor cover 137 is designed to conform to the shape of the outer shell of the drive motor 1333 that needs to be protected. The second mounting plate 139 is detachably connected to the second surface 1334b of the gearbox 1334.

[0206] Considering the complex environment and harsh working conditions inside the seabed water intake tunnel, the drive motor 1333 can preferably be a hydraulic motor, which has more stable operation, larger output torque, and can better adapt to the harsh working conditions such as seabed water intake tunnels.

[0207] Example 7:

[0208] See also Figures 40 to 44In this embodiment, the collecting and gathering device 100 may include a side wing unit 140. The side wing unit 140 is hinged to the device body 300 via a hinge assembly 141. The hinge assembly 141 includes a pin 1411, a sleeve 1412, a hinge frame 1413, and a pin seat 1414. The pin 1411 is mounted on the device body 300, and the sleeve 1412 is mounted on the side wing unit 140 and sleeved around the outer periphery of the pin 1411. The sleeve 1412 and the pin 1411 are rotatable relative to each other in the circumferential direction and movable relative to each other in the axial direction. The hinge frame 1413 is mounted on the device body 300 and connected to one end of the pin 1411. A floating gap is formed between the hinge frame 1413 and the sleeve 1412, allowing the sleeve 1412 and the pin 1411 to move relative to each other in the axial direction. A pin seat 1414 is mounted on the side wing unit 140 and detachably connected to the opposite end of the pin 1411 via bolts or other connecting components, thereby fixing the other end of the pin 1411 to the side wing unit 140. The side wing unit 140 can open and close relative to the main body 300, and can also float up and down relative to the main body 300 when external forces change, realizing its adaptive floating function to adapt to changes in travel conditions. In addition, the adaptive floating function of the side wing unit 140 can also prevent excessive local stress on the tunnel structure, thus avoiding internal cracks.

[0209] In this embodiment, the collection and gathering device 100 further includes an auxiliary connection unit 142. One side of the side wing unit 140 is connected to the main body 300 via the auxiliary connection unit 142. The auxiliary connection unit 142 includes a support plate 1421, a roller 1422, a floating support 1423, and a fixed support 1424. The support plate 1421 is fixedly connected to the side wing unit 140 and has an arc groove 1421a whose axis coincides with the rotation axis of the side wing unit 140. The roller 1422 is disposed in the arc groove 1421a and can roll within it. A first guide shaft passes through the roller 1422. The fixed support 1424 is fixedly connected to the main body 300 and has a second guide shaft passing through it. One end of the floating support 1423 is hinged to the first guide shaft, and the other end is hinged to the second guide shaft. Preferably, the fixed support 1424 has a free section, allowing the floating support 1423 to move up and down on the second guide shaft. When the side wing unit 140 floats, the floating support 1423 can follow suit. The auxiliary connection unit 142 strengthens the hinge structure at the bottom of the side wing unit 140 and enhances its stability. When the amount of material pushed by the front end of the nuclear power plant tunnel cleaning robot 1 is large and the reaction force on the nuclear power plant tunnel cleaning robot 1 is huge, the overall structure can have better rigidity and uniform force distribution.

[0210] Example 8:

[0211] See also Figures 45 to 47In this embodiment, the collection and gathering device 100 also includes a scraping mechanism 143, two cleaning side wings 144, and an intermediate conveyor 145. In this embodiment, the two cleaning side wings 144 are symmetrically arranged, and the intermediate conveyor 145 is located in the middle of the two cleaning side wings 144 to collect marine organisms and other materials cleaned out by the two cleaning side wings 144. The scraping mechanism 143 is installed at the bottom of the main body 300 and located at the front end of the collection system 200; it can be used to clean marine organisms and other materials at the bottom of the tunnel.

[0212] The scraping mechanism 143 may include a mounting shell 1431 disposed at the bottom of the main body 300 of the equipment, and a scraper 1432 disposed on the mounting shell 1431. The mounting shell 1431 includes a connected upper cover plate 1433 and a bottom shell 1434, which together form a cavity for accommodating the scraper 1432. The scraper 1432 is inclined relative to the bottom of the tunnel and can move back and forth in a direction perpendicular to the bottom of the tunnel.

[0213] Specifically, as the nuclear power plant tunnel cleaning robot 1 advances, the scraper 1432 scrapes and cleans materials such as marine organisms from the bottom of the tunnel. The scraped materials are then pushed forward along the inclined surface of the scraper 1432 and collected at the intermediate conveyor 145. Furthermore, because the scraper 1432 can move back and forth in a direction perpendicular to the tunnel's bottom plane 40, it has a retraction and avoidance function when encountering hard objects, effectively adapting to the uneven conditions of the tunnel floor.

[0214] Furthermore, the scraping mechanism 143 also includes an elastic element 1345 and a guide wheel 1346 disposed within the mounting housing 1431.

[0215] The elastic element 1345 abuts against the inner wall of the mounting housing 1431 and the scraper 1432. The scraper 1432 is provided with a guide groove 1347, the length direction of which is perpendicular to the bottom of the tunnel, and the guide wheel 1346 is slidably installed in the guide groove 1347.

[0216] Specifically, the elastic element 1345 can be a spring. Before entering the working state, the elastic element 1345 can be in a pre-compressed state with pre-pressure, thereby pushing the scraper 1432 to generate pre-pressure on the bottom of the tunnel, thereby cleaning the bottom of the tunnel and making the cleaned tunnel bottom have a high degree of cleanliness.

[0217] In some embodiments, the nuclear power plant tunnel cleaning robot 1 has a leak-proof function, and the leak-proof control method may include the following steps in some embodiments:

[0218] S1. Acquire input operation commands and the current operating status information of the nuclear power plant tunnel cleaning robot 1. Specifically, when the nuclear power plant tunnel cleaning robot 1 starts the automatic material collection mode, it acquires operation commands based on the automatic control of the industrial control computer inside the nuclear power plant tunnel cleaning robot 1; when the nuclear power plant tunnel cleaning robot 1 starts the manual control material collection mode, it acquires input operation commands based on the control of the operator. In addition, by monitoring the working status of each working unit of the nuclear power plant tunnel cleaning robot 1, the current operating status information of each working unit of the nuclear power plant tunnel cleaning robot 1 can be obtained.

[0219] S2. Determine whether the operation command conforms to the preset interlock rules based on the operating status information; if not, the nuclear power plant tunnel cleaning robot 1 shall execute the operation corresponding to the operation command; if so, the nuclear power plant tunnel cleaning robot 1 shall be prohibited from executing the operation corresponding to the operation command in order to avoid material leakage caused by abnormal operation of the nuclear power plant tunnel cleaning robot 1.

[0220] Specifically, efficient material collection requires coordinated operation of all components of the nuclear power plant tunnel cleaning robot 1. To ensure this coordination, interlocking rules are established based on the functional and structural characteristics of each component and the logical interlocking relationships designed for operational safety. An "×" indicates that two operations in the corresponding row or column are prohibited from simultaneous execution; a "√" indicates that two operations in the corresponding row or column are allowed to be executed simultaneously; and a " / " indicates none. The input operation command is compared with all operations currently being performed by the nuclear power plant tunnel cleaning robot 1. If no interlocking relationship exists, the robot can execute the operation corresponding to the command. If an interlocking relationship exists, the operation corresponding to the command is prohibited to prevent abnormal operation, ensure coordinated operation of all components and equipment safety, thereby avoiding material leakage and improving material collection efficiency. Furthermore, when an interlocking relationship is detected, a prompt signal can be output to alert the personnel.

[0221] In an optional embodiment, when the operation command includes an operation command for controlling the movement of the nuclear power plant tunnel cleaning robot 1, step S2 includes: determining whether the material collection chamber is pressed down based on the operating status information; if so, the operation command conforms to a preset interlock rule, prohibiting the control of the nuclear power plant tunnel cleaning robot 1 to move. Specifically, the material collection chamber is located at the bottom of the equipment body 300, close to the ground. When the material collection chamber is pressed down, controlling the nuclear power plant tunnel cleaning robot 1 to move forward, backward, turn left, or turn right will cause the material collection chamber to rub against the ground, resulting in damage. Therefore, the preset interlock rule includes: when the material collection chamber is pressed down, controlling the nuclear power plant tunnel cleaning robot 1 to move is prohibited.

[0222] In an optional embodiment, when the operation command includes an operation command for controlling the folding of the conveying system 400, step S2 includes: determining whether the conveying system 400 is running or oscillating based on the operating status information; if so, the operation command conforms to a preset interlock rule, and folding of the conveying system 400 is prohibited. Specifically, the conveying system 400 conveys materials through running and oscillating. The material conveying of the conveying system 400 requires the cooperation of the first-stage conveyor belt 401 and the second-stage conveyor belt 402. If the second-stage conveyor belt 402 is controlled to fold inward when the conveying system 400 is running or oscillating, the second-stage conveyor belt 402 cannot receive the material on the first-stage conveyor belt 401, which will lead to material leakage. Therefore, the preset interlock rule includes: when the conveying system 400 is running or oscillating, controlling the folding of the conveying system 400 is prohibited.

[0223] In an optional embodiment, when the operation instruction includes an operation instruction for controlling the material conveying system 400 to swing along a first swing direction, the second swing direction is the opposite direction to the first swing direction; step S2 includes: determining whether the material conveying system 400 is swinging along the second swing direction based on the operating status information; if so, the operation instruction conforms to the preset interlock rules, and controlling the material conveying system 400 to swing along the first swing direction is prohibited. Specifically, according to work needs, the material conveying system 400 can pitch up and down and swing left and right. When the material conveying system 400 is swinging along the first swing direction, if it is controlled to swing along the opposite second swing direction, there will be a logical conflict, which may damage the material conveying system 400 and cause material leakage, or even cause the nuclear power plant tunnel cleaning robot 1 to malfunction. The preset interlock rules include: when the material conveying system 400 swings upward, controlling the material conveying system 400 to swing downward is prohibited; when the material conveying system 400 swings left, controlling the material conveying system 400 to swing right is prohibited.

[0224] In an optional embodiment, when the operation instruction includes an operation instruction for controlling the nuclear power plant tunnel cleaning robot 1 to travel along a first travel direction, the second travel direction is the opposite direction to the first travel direction. Step S2 includes: determining whether the nuclear power plant tunnel cleaning robot 1 is traveling along the second travel direction based on the operating status information. If so, the operation instruction conforms to the preset interlock rules, and controlling the nuclear power plant tunnel cleaning robot 1 to travel along the first travel direction is prohibited. Specifically, the nuclear power plant tunnel cleaning robot 1 can be controlled to travel by the control device body 300. When the nuclear power plant tunnel cleaning robot 1 is traveling along the first travel direction, if it is controlled to travel along the opposite second travel direction, there will be a logical conflict, and it may even lead to a malfunction of the nuclear power plant tunnel cleaning robot 1. When the first travel direction is forward, the second travel direction is backward; when the first travel direction is turning left, the second travel direction is turning right. The preset interlock rules include: when the nuclear power plant tunnel cleaning robot 1 turns left, controlling the nuclear power plant tunnel cleaning robot 1 to turn right is prohibited; when the nuclear power plant tunnel cleaning robot 1 is moving forward, controlling the nuclear power plant tunnel cleaning robot 1 to move backward is prohibited.

[0225] In one optional embodiment, when the first travel direction is to turn left, step S2 includes: determining whether the left-side collection and gathering device 100 is pressed down based on the operating status information; if so, the operation command conforms to the preset interlocking rules, and the control of the nuclear power plant tunnel cleaning robot 1 to turn left is prohibited. Alternatively, in another optional embodiment, when the first travel direction is to turn right, step S2 includes: determining whether the right-side collection and gathering device 100 is pressed down based on the operating status information; if so, the operation command conforms to the preset interlocking rules, and the control of the nuclear power plant tunnel cleaning robot 1 to turn right is prohibited.

[0226] Specifically, when the left-side collecting and gathering device 100 presses down, it adheres to the tunnel sidewall and experiences pressure. Once this pressure exceeds a certain threshold, it enters a compressed state. If the nuclear power plant tunnel cleaning robot 1 continues to rotate to the left, the pressure will become too high, damaging the left-side collecting and gathering device 100. The left-side device 100 will then be unable to properly push the material, resulting in leakage. Similarly, when the right-side collecting and gathering device 100 presses down, it adheres to the tunnel sidewall and experiences pressure. Once this pressure exceeds a certain threshold, it enters a compressed state. If the nuclear power plant tunnel cleaning robot 1 continues to rotate to the right, the pressure will become too high, damaging the right-side collecting and gathering device 100. The right-side device 100 will then be unable to properly push the material, resulting in leakage. Therefore, the preset interlocking rules include: when the left collection and gathering device 100 is pressed, it is prohibited to control the nuclear power plant tunnel cleaning robot 1 to rotate to the left; when the right collection and gathering device 100 is pressed, it is prohibited to control the nuclear power plant tunnel cleaning robot 1 to rotate to the right.

[0227] In an optional embodiment, when the operation command includes an operation command to control the nuclear power plant tunnel cleaning robot 1 to retreat; step S2 includes: determining, based on the operating status information, whether the side collection and gathering device 100 is pressing or pushing material to the front collection and gathering device 100; if so, the operation command conforms to the preset interlocking rules, and controlling the nuclear power plant tunnel cleaning robot 1 to retreat is prohibited. Specifically, when the side collection and gathering device 100 is pressing, controlling the nuclear power plant tunnel cleaning robot 1 to retreat will cause the side collection and gathering device 100 to rub against the tunnel sidewall, damaging the side collection and gathering device 100. When the side collection and gathering device 100 is performing material feeding, the spiral of different diameters feeds the material to the front collection and gathering device 100 by rotating in the forward direction; if the nuclear power plant tunnel cleaning robot 1 is controlled to retreat, some material will be carried away, resulting in material leakage. Therefore, the preset interlock rules include: when the side collection and gathering device 100 is pressed down or when the spiral is rotating in the forward direction, the nuclear power plant tunnel cleaning robot 1 is prohibited from reversing.

[0228] In an optional embodiment, when the operation instruction includes an operation instruction for controlling the material collection system 200 to throw materials, step S2 includes: determining, based on the operating status information, whether the nuclear power plant tunnel cleaning robot 1 is reversing or the material conveying system 400 is in a folded state. If so, the operation instruction conforms to a preset interlock rule, prohibiting the control of the material collection system 200 to throw materials. Specifically, when the material conveying system 400 is folded, it is in a non-working state. If the material collection system 200 continues to be controlled to rotate forward and throw materials to the material conveying system 400, the materials will accumulate on the material conveying system 400 and cannot be conveyed in time, resulting in material leakage. In addition, according to design requirements, no material collection-related work is performed when the nuclear power plant tunnel cleaning robot 1 is reversing; therefore, the control of the material collection system 200 to throw materials is also not allowed. The preset interlock rule includes: when the material conveying system 400 is folded or when the nuclear power plant tunnel cleaning robot 1 is reversing, the control of the material collection system 200 to throw materials is prohibited.

[0229] In an optional embodiment, when the operation instruction includes an operation instruction for controlling the front collection and gathering device 100 to transport materials to the material collection chamber, step S2 includes: determining, based on the operating status information, whether the nuclear power plant tunnel cleaning robot 1 is reversing or the material conveying system 400 is in a folded state. If so, the operation instruction conforms to the preset interlocking rules, and controlling the front collection and gathering device 100 to transport materials to the material collection chamber is prohibited. Specifically, according to design requirements, when the nuclear power plant tunnel cleaning robot 1 is reversing, no material collection-related work is performed, therefore, controlling the front collection and gathering device 100 to transport materials to the material collection chamber is not allowed. When the material conveying system 400 is folded, it is in a non-working state, and controlling the collection system 200 to throw materials is prohibited. If the chain rake of the front collection and gathering device 100 continues to rotate forward to transport materials to the material collection chamber, a large amount of material will accumulate in the material collection chamber, which may affect the subsequent work of the collection system 200. The preset interlock rules include: when the material conveying system 400 is folded or when the nuclear power plant tunnel cleaning robot 1 is retracted, the front collection and gathering device 100 is prohibited from rotating forward.

[0230] The nuclear power plant tunnel cleaning robot 1 leak prevention control system of the present invention can be used to perform the nuclear power plant tunnel cleaning robot 1 leak prevention control method of any of the above embodiments.

[0231] In one embodiment of the leak-proof control system for the nuclear power plant tunnel cleaning robot 1 of the present invention, the system includes:

[0232] The data acquisition module is used to acquire input operation commands and the current operating status information of the nuclear power plant tunnel cleaning robot 1. Specifically, when the nuclear power plant tunnel cleaning robot 1 starts the automatic material collection mode, the data acquisition module acquires operation commands based on the automatic control of the industrial control computer inside the nuclear power plant tunnel cleaning robot 1; when the nuclear power plant tunnel cleaning robot 1 starts the manual control material collection mode, the data acquisition module acquires input operation commands based on the control of the operator. In addition, by monitoring the working status of each working unit of the nuclear power plant tunnel cleaning robot 1, the data acquisition module can obtain the current operating status information of each working unit of the nuclear power plant tunnel cleaning robot 1.

[0233] The data processing module is used to determine whether the operation command conforms to the preset interlock rules based on the operation status information. If not, the nuclear power plant tunnel cleaning robot 1 will execute the operation corresponding to the operation command. If so, the nuclear power plant tunnel cleaning robot 1 will be prohibited from executing the operation corresponding to the operation command in order to avoid material leakage caused by abnormal operation of the nuclear power plant tunnel cleaning robot 1.

[0234] Specifically, the data processing module compares the input operation command with all operations being performed by the nuclear power plant tunnel cleaning robot 1. If no interlocking relationship exists, the nuclear power plant tunnel cleaning robot 1 can execute the operation corresponding to the input command. If an interlocking relationship exists, the operation corresponding to the input command is prohibited to prevent abnormal operation, ensure coordinated operation of all components and equipment safety, and thus avoid material leakage. Furthermore, when an interlocking relationship is detected, the data processing module can also output a prompt signal to alert the personnel.

[0235] In an optional embodiment, when the operation command includes an operation command for controlling the movement of the nuclear power plant tunnel cleaning robot 1, the data processing module is used to determine whether the material collection chamber is pressed down based on the operating status information. If so, the operation command conforms to the preset interlock rules, and controlling the movement of the nuclear power plant tunnel cleaning robot 1 is prohibited. Specifically, the material collection chamber is located at the bottom of the equipment body 300, close to the ground. When the material collection chamber is pressed down, if the nuclear power plant tunnel cleaning robot 1 is controlled to move forward, backward, turn left, or turn right, it will cause the material collection chamber to rub against the ground, resulting in damage. Therefore, the preset interlock rules include: when the material collection chamber is pressed down, controlling the movement of the nuclear power plant tunnel cleaning robot 1 is prohibited.

[0236] In an optional embodiment, when the operation command includes an operation command for controlling the folding of the conveying system 400, the data processing module is used to determine whether the conveying system 400 is running or swinging based on the operating status information. If so, the operation command conforms to the preset interlocking rules, and folding of the conveying system 400 is prohibited. Specifically, the conveying system 400 conveys materials through running and swinging. The material collection system 200 requires the cooperation of the first-stage conveyor belt 401 and the second-stage conveyor belt 402 to perform material conveying. If the second-stage conveyor belt 402 is controlled to fold inward when the conveying system 400 is running or swinging, the second-stage conveyor belt 402 cannot receive the material on the first-stage conveyor belt 401, which will lead to material leakage. Therefore, the preset interlocking rules include: when the conveying system 400 is running or swinging, controlling the folding of the conveying system 400 is prohibited.

[0237] In an optional embodiment, when the operation instruction includes an operation instruction for controlling the material conveying system 400 to swing along a first swing direction, the second swing direction is the opposite direction to the first swing direction. The data processing module is used to determine whether the material conveying system 400 is swinging along the second swing direction based on the operating status information. If so, the operation instruction conforms to the preset interlock rules, and controlling the material conveying system 400 to swing along the first swing direction is prohibited. Specifically, the material conveying system 400 can pitch up and down and swing left and right as needed. When the material conveying system 400 is swinging along the first swing direction, if it is controlled to swing along the opposite second swing direction, there will be a logical conflict, which may damage the material conveying system 400 and cause material leakage, or even cause the nuclear power plant tunnel cleaning robot 1 to malfunction. The preset interlock rules include: when the material conveying system 400 swings upward, controlling the material conveying system 400 to swing downward is prohibited; when the material conveying system 400 swings left, controlling the material conveying system 400 to swing right is prohibited.

[0238] In an optional embodiment, when the operation instruction includes an operation instruction for controlling the nuclear power plant tunnel cleaning robot 1 to travel along a first travel direction, the second travel direction is the opposite direction to the first travel direction. The data processing module is used to determine whether the nuclear power plant tunnel cleaning robot 1 is traveling along the second travel direction based on the operating status information. If so, the operation instruction conforms to the preset interlock rules, and controlling the nuclear power plant tunnel cleaning robot 1 to travel along the first travel direction is prohibited. Specifically, the nuclear power plant tunnel cleaning robot 1 can be controlled to travel by the control device body 300. When the nuclear power plant tunnel cleaning robot 1 is traveling along the first travel direction, if it is controlled to travel along the opposite second travel direction, there will be a logical conflict, and it may even lead to the malfunction of the nuclear power plant tunnel cleaning robot 1. When the first travel direction is forward, the second travel direction is backward; when the first travel direction is turning left, the second travel direction is turning right. The preset interlock rules include: when the nuclear power plant tunnel cleaning robot 1 turns left, controlling the nuclear power plant tunnel cleaning robot 1 to turn right is prohibited; when the nuclear power plant tunnel cleaning robot 1 is moving forward, controlling the nuclear power plant tunnel cleaning robot 1 to move backward is prohibited.

[0239] In one optional embodiment, when the first travel direction is leftward, the data processing module determines whether the left-side collection and gathering device 100 is pressed down based on the operating status information. If so, the operation command conforms to the preset interlocking rules, prohibiting the control of the nuclear power plant tunnel cleaning robot 1 to turn to the left. Alternatively, in another optional embodiment, when the first travel direction is rightward, step S2 includes: determining whether the right-side collection and gathering device 100 is pressed down based on the operating status information. If so, the operation command conforms to the preset interlocking rules, prohibiting the control of the nuclear power plant tunnel cleaning robot 1 to turn to the right.

[0240] Specifically, when the left-side collecting and gathering device 100 presses down, it adheres to the tunnel sidewall and experiences pressure. Once this pressure exceeds a certain threshold, it enters a compressed state. If the nuclear power plant tunnel cleaning robot 1 continues to rotate to the left, the pressure will become too high, damaging the left-side collecting and gathering device 100. The left-side device 100 will then be unable to properly push the material, resulting in leakage. Similarly, when the right-side collecting and gathering device 100 presses down, it adheres to the tunnel sidewall and experiences pressure. Once this pressure exceeds a certain threshold, it enters a compressed state. If the nuclear power plant tunnel cleaning robot 1 continues to rotate to the right, the pressure will become too high, damaging the right-side collecting and gathering device 100. The right-side device 100 will then be unable to properly push the material, resulting in leakage. Therefore, the preset interlocking rules include: when the left collection and gathering device 100 is pressed, it is prohibited to control the nuclear power plant tunnel cleaning robot 1 to rotate to the left; when the right collection and gathering device 100 is pressed, it is prohibited to control the nuclear power plant tunnel cleaning robot 1 to rotate to the right.

[0241] In an optional embodiment, when the operation command includes an operation command to control the nuclear power plant tunnel cleaning robot 1 to retreat, the data processing module is used to determine whether the side collection and gathering device 100 is pressing or pushing material to the front collection and gathering device 100 based on the operating status information. If so, the operation command conforms to the preset interlock rules, and controlling the nuclear power plant tunnel cleaning robot 1 to retreat is prohibited. Specifically, when the side collection and gathering device 100 is pressing, controlling the nuclear power plant tunnel cleaning robot 1 to retreat will cause the side collection and gathering device 100 to rub against the tunnel sidewall, damaging the side collection and gathering device 100. When the side collection and gathering device 100 is performing material feeding, the material gathers to the front collection and gathering device 100. If controlling the nuclear power plant tunnel cleaning robot 1 to retreat, some material will be carried away, resulting in material leakage. Therefore, the preset interlock rules include: when the side collection and gathering device 100 is pressing or when the side collection and gathering device 100 is working, controlling the nuclear power plant tunnel cleaning robot 1 to retreat is prohibited.

[0242] In an optional embodiment, when the operation command includes an operation command for controlling the material collection system 200 to throw materials, the data processing module is used to determine, based on the operating status information, whether the nuclear power plant tunnel cleaning robot 1 is reversing or the material conveying system 400 is in a folded state. If so, the operation command conforms to the preset interlock rules, and controlling the material collection system 200 to throw materials is prohibited. Specifically, when the material conveying system 400 is folded, it is in a non-working state. If the material collection system 200 continues to be controlled to rotate forward and throw materials to the material conveying system 400, the materials will accumulate on the material conveying system 400 and cannot be conveyed in time, resulting in material leakage. In addition, according to design requirements, no material collection-related work is performed when the nuclear power plant tunnel cleaning robot 1 is reversing; therefore, controlling the material collection system 200 to throw materials is also not allowed. The preset interlock rules include: controlling the material collection system 200 to throw materials is prohibited when the material conveying system 400 is folded or when the nuclear power plant tunnel cleaning robot 1 is reversing.

[0243] In an optional embodiment, when the operation command includes an operation command for controlling the front collection and gathering device 100 to transport materials to the material collection chamber, the data processing module is used to determine, based on the operating status information, whether the nuclear power plant tunnel cleaning robot 1 is reversing or the material conveying system 400 is in a folded state. If so, the operation command conforms to the preset interlocking rules, and controlling the front collection and gathering device 100 to transport materials to the material collection chamber is prohibited. Specifically, according to design requirements, when the nuclear power plant tunnel cleaning robot 1 is reversing, no material collection-related work is performed, therefore, controlling the front collection and gathering device 100 to transport materials to the material collection chamber is not allowed. When the material conveying system 400 is folded, it is in a non-working state, and controlling the collection system 200 to throw materials is prohibited. If the chain rake of the front collection and gathering device 100 is controlled to rotate forward to transport materials to the material collection chamber, a large amount of material will accumulate in the material collection chamber, which may affect the subsequent work of the collection system 200. The preset interlock rules include: when the material conveying system 400 is folded or when the nuclear power plant tunnel cleaning robot 1 is retracted, the front collection and gathering device 100 is prohibited from rotating forward.

[0244] The present invention also provides an electronic device, including a processor and a memory. The memory stores a computer program, and the processor executes the computer program stored in the memory to implement the leak-proof control method for the nuclear power plant tunnel cleaning robot 1 of any of the above embodiments. Specifically, according to embodiments of the present invention, the processes described above can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the method. In such embodiments, when the computer program is downloaded, installed, and executed by an electronic device, it performs the functions defined in the methods of the embodiments of the present invention. The electronic device in the present invention can be a terminal such as a laptop, desktop computer, tablet computer, or smartphone, or it can be a server.

[0245] Furthermore, this invention provides a computer storage medium storing a computer program, which, when executed by a processor, implements the leak-proof control method for the nuclear power plant tunnel cleaning robot 1 in any of the above embodiments. Specifically, it should be noted that the computer-readable medium described above can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, capable of sending, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0246] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0247] It is understood that the above embodiments only illustrate some implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that for those skilled in the art, the above technical features can be freely combined, and several modifications and improvements can be made without departing from the concept of the present invention, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A nuclear power plant tunnel cleaning robot comprising a movable device body (300) and a debris collection system (200) disposed on the movable device body (300); characterized in that, It also includes a replaceable collection and gathering device (100), which is operably disposed at the front end of the main body of the equipment (300) for cleaning nuclear power plant tunnels under different operating conditions; the collection and gathering device (100) includes a first conveyor disposed on both sides of the front end of the main body of the equipment (300) and a second conveyor located in the middle of the front end of the first conveyor, the first conveyor being used to gather materials in the tunnel, and the second conveyor being connected between the first conveyor and the collection system (200) for conveying the materials gathered by the first conveyor to the collection system (200). The collection and gathering device (100) further includes a first cleaning and gathering side wing (101) and a second cleaning and gathering side wing (102), and the first conveyor is a collection spiral conveyor (103); the collection spiral conveyor (103) includes a first spiral conveyor (1031) and a second spiral conveyor (1032); the first spiral conveyor (1031) and the second spiral conveyor (1032) are respectively installed on the first cleaning and gathering side wing (101) and the second cleaning and gathering side wing (102); The first screw conveyor (1031) includes a first roller (1033), a first helical blade (1034) mounted on the first roller (1033), and a first drive member (1035) connected to the end of the first roller (1033) for driving the first roller (1033) to rotate about its axis; the second screw conveyor (1032) includes a second roller (1036), a second helical blade (1037) mounted on the second roller (1036), and a second drive member (1038) connected to the end of the second roller (1036) for driving the second roller (1036) to rotate about its axis. Both the first helical blade (1034) and the second helical blade (1037) are fixed-pitch blades, and their pitches are equal; the diameters of the first helical blade (1034) and the second helical blade (1037) are set with different diameters, and the diameter of the first helical blade (1034) and the second helical blade (1037) is larger at the position of the second conveyor; The first drive unit (1035) and the second drive unit (1038) can rotate forward or in reverse.

2. The nuclear power plant tunnel cleaning robot of claim 1, wherein, The first cleaning and gathering wing (101) and the second cleaning and gathering wing (102) each include a first wing drive device (1011) and a second wing drive device (1021) mounted on the main body of the equipment (300); the first wing drive device (1011) and the second wing drive device (1021) are respectively mounted on one end of the first cleaning and gathering wing (101) and the second cleaning and gathering wing (102); the first cleaning and gathering wing (101) and the second cleaning and gathering wing (102) are respectively swayably mounted on the main body of the equipment (300) through the first wing drive device (1011) and the second wing drive device (1021).

3. The nuclear power plant tunnel cleaning robot of claim 2, wherein, The first cleaning and gathering side wing (101) and the second cleaning and gathering side wing (102) also include a first support wheel (1012) and a second support wheel (1022) respectively installed at their other ends, and pressure sensors are respectively provided on the first support wheel (1012) and the second support wheel (1022).

4. The nuclear power plant tunnel cleaning robot of claim 2, wherein, The collection and gathering device (100) further includes a first floating scraper (105) and a second floating scraper (106) respectively installed on the first cleaning and gathering side wing (101) and the second cleaning and gathering side wing (102); the first floating scraper (105) and the second floating scraper (106) each include a plurality of scraper units.

5. The nuclear power plant tunnel cleaning robot of claim 4, wherein, The scraper unit includes a fixed frame (1051), a floating scraper mounting frame (1052), and a scraper body (1053). The floating scraper mounting frame (1052) is movably mounted on the fixed frame (1051), and the scraper body (1053) is mounted on one end of the floating scraper mounting frame (1052). The fixed frame (1051) is mounted on the first cleaning and gathering wing (101) or the second cleaning and gathering wing (102).

6. The nuclear power plant tunnel cleaning robot of claim 5, wherein, The scraper unit also includes a compression spring (1055) and a limiting circlip (1056). The two ends of the compression spring (1055) are respectively connected to the fixed frame (1051) and the floating scraper mounting frame (1052). The limiting circlip (1056) is radially locked to the outside of the floating scraper mounting frame (1052), and the axis of the limiting circlip (1056) is locked to the end of the fixed frame (1051).

7. The nuclear power plant tunnel cleaning robot of claim 1, wherein, The second conveyor is a first intermediate conveyor (104). The first intermediate conveyor (104) includes a first conveyor frame (1041), a first rotating shaft (1042) and a second rotating shaft (1043) rotatably mounted at the front and rear ends of the first conveyor frame (1041), a plurality of first sprockets (1044) respectively mounted on the first rotating shaft (1042) and the second rotating shaft (1043), a first chain (1045), and a first chain rake (1046) connected by the first chain (1045). The first chain rake (1046) is provided with serrations. The first chain (1045) is sleeved on the first sprocket (1044).

8. The nuclear power plant tunnel cleaning robot of claim 7, wherein, The first intermediate conveyor (104) further includes a third drive (1047), which is mounted on the first rotating shaft (1042) or the second rotating shaft (1043) and drives the first rotating shaft (1042) or the second rotating shaft (1043) to rotate forward or in reverse.

9. The nuclear power plant tunnel cleaning robot of claim 1, wherein, The collection and gathering device (100) further includes a first cleaning and gathering wing (101) and a second cleaning and gathering wing (102), and the first conveyor is a bucket conveyor (107); the bucket conveyor (107) includes a first bucket conveyor (1071) and a second bucket conveyor (1070), and the first bucket conveyor (1071) and the second bucket conveyor (1070) are respectively installed on the first cleaning and gathering wing (101) and the second cleaning and gathering wing (102).

10. The nuclear power plant tunnel cleaning robot of claim 9, wherein, The bucket conveyor (107) includes a fourth drive unit (1072), and the output end of the fourth drive unit (1072) is provided with a fixed arm (1073), a drive arm (1074), a cross link (1075), a lever arm (1076), and a material lever plate (1077). One end of the fixed arm (1073) is driven to the output end of the fourth driving member (1072), and the other end of the fixed arm (1073) is hinged to one end of the horizontal connecting rod (1075). The other end of the horizontal connecting rod (1075) is hinged to one end of the lever arm (1076). One end of the driving arm (1074) is driven to the output end of the fourth driving member (1072), and the other end of the driving arm (1074) is hinged to the middle of the lever arm (1076). The other end of the lever arm (1076) is connected to the material feeding plate (1077).

11. The nuclear power plant tunnel cleaning robot of claim 1, wherein, The second conveyor is a second intermediate conveyor (108), which includes a second conveyor frame (1081), a third shaft (1082) and a fourth shaft (1083) rotatably mounted at the front and rear ends of the second conveyor frame (1081), a plurality of second sprockets (1084) respectively mounted on the third shaft (1082) and the fourth shaft (1083), a second chain (1085), and a chain connected by the second chain (1085). The third chain rake (1086) has serrations; the second chain (1085) is sleeved on the second sprocket (1084); the length of the third rotating shaft (1082) is greater than the length of the third chain rake (1086), one end of the third rotating shaft (1082) is flush with the third chain rake (1086), and the other end of the third rotating shaft (1082) extends out of the third chain rake (1086) and extends away from the third chain rake (1086).

12. The nuclear power plant tunnel cleaning robot of claim 11, wherein, The second intermediate conveyor (108) also includes a long pusher screw (1088), which is mounted on the end of the third shaft (1082) away from the third chain rake (1086).

13. The nuclear power plant tunnel cleaning robot of claim 12, wherein, The second intermediate conveyor (108) further includes a tension adjustment assembly (1089), which includes a bearing seat (1089a), a fixing member (1089b), and an adjusting screw (1089c). The bearing seat (1089a) is fixed on the second conveyor frame (1081), and the fourth rotating shaft (1083) is connected to the bearing seat (1089a). The adjusting screw (1089c) is connected between the bearing seat (1089a) and the fixing member (1089b), and the bearing seat (1089a) and the fixing member (1089b) are relatively movable relative to each other along the axial direction of the adjusting screw (1089c).

14. The nuclear power plant tunnel cleaning robot of claim 13, wherein, The collecting and gathering device (100) also includes a rotation speed measuring component (110), which is fixed on the movable device body (300). The rotation speed measuring component (110) is parallel to the axis of the fourth rotating shaft (1083) and is linked with the fourth rotating shaft (1083).

15. The nuclear power plant tunnel cleaning robot of claim 1, wherein, The collection and gathering device (100) includes a third cleaning and gathering side wing (111) and a foldable fourth cleaning and gathering side wing (112); the foldable fourth cleaning and gathering side wing (112) includes a fixed wing (1121) and a folding wing (1122); one end of the fixed wing (1121) is connected to the main body of the device (300), and the folding wing (1122) is hinged to the other end of the fixed wing (1121).

16. The nuclear power plant tunnel cleaning robot of claim 15, wherein, The foldable fourth cleaning and gathering wing (112) also includes a first connecting component (1123), through which the fixed wing (1121) and the folding wing (1122) are operably connected.

17. The nuclear power plant tunnel cleaning robot of claim 16, wherein, The first conveyor is a gathering spiral conveyor (119), which includes a fourth spiral conveyor (1191), a fifth spiral conveyor (1192), and a sixth spiral conveyor (1193). The fourth spiral conveyor (1191) is disposed on the third cleaning and gathering side wing (111). The fifth spiral conveyor (1192) and the sixth spiral conveyor (1193) are respectively disposed on the fixed wing (1121) and the folding wing (1122) of the fourth cleaning and gathering side wing (112).

18. The nuclear power plant tunnel cleaning robot of claim 17, wherein, The gathering screw conveyor (119) further includes a third drive (1194) and a fourth drive (1195); the third drive (1194) is installed at one end of the fourth screw conveyor (1191), and the fourth drive (1195) is installed at one end of the sixth screw conveyor (1193).

19. The nuclear power plant tunnel cleaning robot of claim 18, wherein, The collecting and gathering device (100) further includes a first coupling (120), one end of the fifth screw conveyor (1192) and the other end of the sixth screw conveyor (1193) are operably connected through the first coupling (120); the first coupling (120) includes a first half coupling (1201) and a second half coupling (1202), the first half coupling (1201) is installed at one end of the fifth screw conveyor (1192), the second half coupling (1202) is installed at the other end of the sixth screw conveyor (1193), and the first half coupling (1201) and the second half coupling (1202) mesh with each other.

20. The nuclear power plant tunnel cleaning robot of claim 1, wherein, The collection and gathering device (100) includes a main frame (122), a second connecting component (123), and two foldable side wing components (124) disposed on the main body (300); the two side wing components (124) are hinged to the main frame (122) through the second connecting component (123).

21. The nuclear power plant tunnel cleaning robot of claim 20, wherein, The main body (300) of the equipment is provided with at least one floating seat (305), and the main frame (122) is provided with at least one floating connecting frame (1221). The number of floating seats (305) corresponds to the number of floating connecting frames (1221). The floating seats (305) are movably connected to the floating connecting frames (1221).

22. The nuclear power plant tunnel cleaning robot of claim 20, wherein, The second conveyor is a third intermediate conveyor (125), which includes a rotatable gathering roller (1251) and an auxiliary feeding wheel (1252). The auxiliary feeding wheel (1252) is disposed between the gathering roller (1251) and the main frame (122).

23. The nuclear power plant tunnel cleaning robot of claim 20, wherein, The collecting and gathering device (100) includes a seventh spiral conveyor (126), an eighth spiral conveyor (127), and a second coupling (129). The second coupling (129) is installed at one end of the seventh spiral conveyor (126) and the eighth spiral conveyor (127), respectively. The seventh spiral conveyor (126) is installed on the main frame (122), and the eighth spiral conveyor (127) is installed on the two side wing assemblies (124), respectively. The seventh spiral conveyor (126) and the eighth spiral conveyor (127) are linked together through the second coupling (129).

24. The nuclear power plant tunnel cleaning robot of claim 23, wherein, The collecting and gathering device (100) also includes a third spiral conveyor (128), which is mounted on the main frame (122) and located below the seventh spiral conveyor (126).

25. The nuclear power plant tunnel cleaning robot of claim 1, wherein, The second conveyor is an intermediate conveyor (130), which includes a drive shaft (131), a spiral blade (132) mounted on the drive shaft (131), and a drive unit (133) connected to the drive shaft (131). The axial direction of the drive shaft (131) is consistent with the moving direction of the main body of the equipment (300).

26. The nuclear power plant tunnel cleaning robot of claim 1, wherein, The collecting and gathering device (100) includes a side wing unit (140) and a hinge assembly (141), wherein the side wing unit (140) is hinged to the device body (300) via the hinge assembly (141); The hinge assembly (141) includes a pin (1411), a sleeve (1412), a hinge frame (1413), and a pin seat (1414); the pin (1411) is mounted on the main body (300), the sleeve (1412) is mounted on the side wing unit (140) and sleeved to the outside of the pin (1411), the sleeve (1412) and the pin (1411) are rotatable relative to each other in the circumferential direction, and the sleeve (1412) is rotatable relative to the pin (1411) in the circumferential direction. 12) The hinge frame (1413) is axially movable relative to the pin (1411), and is disposed on the main body (300) and connected to one end of the pin (1411). There is a floating gap between the hinge frame (1413) and the sleeve (1412). The pin seat (1414) is disposed on the side wing unit (140) and is detachably connected to the other end of the pin (1411).

27. The nuclear power plant tunnel cleaning robot of claim 26, wherein, The collection and gathering device (100) also includes an auxiliary connection unit (142), which is connected to the main body (300) and the side wing unit (140) respectively. The auxiliary connection unit (142) includes a support plate (1421), a roller (1422), a floating support (1423), and a fixed support (1424). The support plate (1421) is fixed to the side wing unit (140) and includes an arc groove (1421a). The roller (1422) is disposed in the arc groove (1421a). A first guide shaft passes through the roller (1422). The fixed support (1424) is fixed to the main body of the equipment (300) and a second guide shaft passes through it. One end of the floating support (1423) is hinged to the first guide shaft, and the other end is hinged to the second guide shaft.

28. The nuclear power plant tunnel cleaning robot of claim 1, wherein, The collecting and gathering device (100) also includes a scraping mechanism (143), which is installed behind the second conveyor and located at the bottom of the device body (300).

29. The nuclear power plant tunnel cleaning robot of claim 28, wherein, The scraping mechanism (143) may include a mounting shell (1431) disposed at the bottom of the device body (300) and a scraper (1432) disposed on the mounting shell (1431). The scraping mechanism (143) further includes an elastic element (1345) and a guide wheel (1346) disposed in the mounting housing (1431); the elastic element (1345) abuts against the inner wall of the mounting housing (1431) and the scraper (1432); the scraper (1432) is provided with a guide groove (1347), and the guide wheel (1346) is slidably installed in the guide groove (1347).

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