A device for radioactive slurry retrieval

Abstract

The application discloses a kind of for radioactive slurry recovery reel device, including base frame, further include the cable winch mechanism for realizing pipeline synchronous reeling during slurry recovery process is set on base frame, for preventing slurry recovery robot skidding or side overturning due to pipeline tightness adaptive tensioning mechanism, and can realize slurry recovery robot when moving up and down without horizontal deviation guiding mechanism.The device provided by the application solves the problem of difficult slurry recovery in closed storage tank, by setting cable winch mechanism and guiding mechanism, can guarantee the steel wire rope and slurry pipe, water pipe, cable, signal line, air pipe etc.for dragging robot and slurry recovery robot synchronous reeling, make slurry recovery robot pass through narrow channel and enter stably, accurately complete robot delivery, recovery, overturning correction, transfer etc., can reduce the drag force of pipeline to slurry recovery robot, and can effectively protect pipeline during operation.

Description

Technical Field

[0001] This invention relates to the field of radioactive mud recovery technology, specifically to a receiving and releasing device for radioactive mud recovery. Background Technology

[0002] The development of the nuclear industry has brought about tremendous changes to military, social production, and daily life. Currently, China has a large amount of high, intermediate, and low-level radioactive waste liquid, which generally has a volume exceeding 500 cubic meters. 3 Waste liquid is stored in tanks or cement troughs. After a large amount of waste liquid is emptied, the extraction, transportation, and transfer of sediments remaining in the sludge at the bottom of the waste liquid tanks and troughs become a challenge for tank decommissioning and radioactive waste management.

[0003] These storage tanks are buried underground, are large (12m×12m×6m), and have exceeded their service life. The residual mud inside the tanks has a high degree of radioactivity, and the space available for mud retrieval is limited. Currently, a mud retrieval robot has been developed for retrieving radioactive mud from the tanks. However, the robot's movement is often affected by pipelines and cables. Therefore, it is necessary to develop a special device to simultaneously retract and extend pipelines and cables during the movement of the mud retrieval robot. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a device for the deployment and retraction of radioactive mud during the recovery process. This device can realize the synchronous deployment and retraction of pipelines during the recovery process, effectively avoiding the impact of pipeline dragging on the movement and operation of the mud recovery robot.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A take-up and take-down device for radioactive mud slurry recovery includes a base frame, a cable winch mechanism mounted on the base frame for synchronous take-up and take-down of pipelines during the mud slurry recovery process, an adaptive tensioning mechanism to prevent the mud slurry recovery robot from slipping or tipping over due to pipeline tension, and a guide mechanism to prevent horizontal deviation when the mud slurry recovery robot moves up and down.

[0007] Furthermore, the cable winch mechanism includes a sludge reel and a cable reel placed on a base frame for winding the pipeline, and a cable guide fixed on the base frame for neatly arranging the pipeline on the sludge reel and the cable reel; a main wire rope motor that drives the sludge reel to rotate is provided on one side of the sludge reel, and a transmission mechanism that transmits the driving force of the main wire rope motor to the cable reel is connected by a chain on the other side; a main wire rope reel that can rotate under the drive of the main wire rope motor is also provided on the side of the sludge reel connected to the transmission mechanism; an auxiliary wire rope reel and an auxiliary wire rope motor for driving the auxiliary wire rope reel to rotate are also fixed on the base frame.

[0008] Furthermore, the control systems of the auxiliary wire rope motor and the main wire rope motor are connected to the control system of the mud recovery robot, and rocker arms are added to the tail of the auxiliary wire rope motor and the main wire rope motor.

[0009] Furthermore, both the sludge reel and the cable reel are made of welded stainless steel.

[0010] Furthermore, the base frame includes an upper base frame for mounting the cable winch mechanism and a lower base frame for mounting the guide mechanism. The lower base frame includes vertically arranged base frame columns and a profile steel frame for stabilization. The guide mechanism includes a horizontally arranged mounting plate, guide wheels mounted on both sides of the mounting plate, tracks on the base frame columns adapted to the guide wheels, cable-passing holes on the mounting plate, and guide posts mounted on both sides below the mounting plate. The guide posts are equipped with constraint mechanisms for constraining pipelines via linear bearings. The cable-passing holes include wire rope cable-passing holes and pipeline cable-passing holes.

[0011] Furthermore, six guide pillars are provided, three on each side below the mounting plate.

[0012] Furthermore, the adaptive tensioning mechanism is provided in two sets, located below the main wire rope reel and the auxiliary wire rope reel, respectively; the adaptive tensioning mechanism includes a mounting bracket mounted on the base frame, a first fixed pulley and a second fixed pulley disposed above the mounting bracket, a vertical guide rod disposed inside the mounting bracket, a counterweight box slidably mounted on the guide rod, a movable pulley fixed above the counterweight box, and an upper sensor and a lower sensor respectively mounted above and below the guide rod; the counterweight box contains a counterweight block.

[0013] Furthermore, the outer contour of the base frame is 2.81 meters long, 1.73 meters wide, and 2.6 meters high; a positioning component is provided at the lower end of the base frame, which includes sliding rollers and ground positioning feet for fixing and positioning with the ground.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] (1) The device provided by the present invention solves the problem of difficulty in retrieving mud from closed storage tanks. By setting up a cable winch mechanism, it can ensure that the steel wire rope, mud pipe, water pipe, cable, signal line, air pipe and other materials used for dragging the robot are synchronously wound and released with the mud retrieval robot, reducing the drag force of the pipeline on the mud retrieval robot, and effectively protecting the pipeline during operation.

[0016] (2) The device provided by the present invention is equipped with a guiding mechanism, which enables the mud slurry recovery robot to pass through narrow channels and enter stably, and accurately complete robot deployment, recovery, overturning correction, transfer, etc.; by classifying and integrating pipelines, friction and wear between various pipelines and channel holes can be reduced.

[0017] (3) The main and auxiliary wire rope motors and adaptive tensioning mechanism in the take-up and release device provided by the present invention can be connected to the robot's control system. The mud can be retrieved by controlling the robot, which effectively reduces the irradiation time of workers entering the radioactive work area. Attached Figure Description

[0018] Figure 1 This is a structural diagram of the present invention;

[0019] Figure 2 This is a structural diagram from another perspective of the present invention;

[0020] Figure 3 This is a control diagram of the main and auxiliary wire rope motors in this invention;

[0021] Figure 4 This is a structural diagram of the tensioning mechanism of the present invention;

[0022] Figure 5 This is a schematic diagram illustrating the working principle of the tensioning mechanism of the present invention.

[0023] Figure 6 This is a structural diagram of the guide mechanism in this invention;

[0024] Figure 7 This is a side view of the guide mechanism in this invention;

[0025] Figure 8 This is a top view of the mounting plate of the guide mechanism in this invention.

[0026] The corresponding names of the attached figures are as follows: 1-Base frame, 2-Positioning component, 3-Sludge reel, 4-Cable reel, 5-Cable guide, 6-Main wire rope reel, 7-Main wire rope motor, 8-Transmission mechanism, 9-Secondary wire rope reel, 10-Secondary wire rope motor, 11-Rock arm, 12-Mounting plate, 13-Guide wheel, 14-Base frame lower assembly, 15-Base frame column, 16-Wire rope threading hole, 17-Pipeline threading hole, 18-Guide column, 19-Mounting bracket, 20-First fixed pulley, 21-Second fixed pulley, 22-Guide rod, 23-Counterweight box, 24-Moving pulley, 25-Counterweight block, 26-Upper sensor, 27-Lower sensor, 28-Constraint mechanism. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments. The embodiments of the present invention include, but are not limited to, the following embodiments.

[0028] like Figure 1 , 2 As shown, this embodiment provides a deployment and retrieval device for radioactive mud slurry. The device mainly consists of a base frame 1, a cable winch mechanism, an adaptive tensioning mechanism, and a guiding mechanism. The base frame 1 has an outer length of 2.81 meters, a width of 1.73 meters, and a height of 2.6 meters. A positioning component 2 is provided at the lower end of the base frame 1. The positioning component 2 includes sliding rollers and ground positioning feet for fixing the device to the ground. The positioning component 2 can move the entire deployment and retrieval device to the target position and fix the position of the device.

[0029] The retraction and deployment device requires the following pipelines to be retracted and deployed during use: mud pipe, water pipe, cable, signal line, air pipe, and steel wire hoisting line. Considering that these pipelines need to be synchronized, the above-mentioned pipelines are integrated into two bundles, each wrapped with a rigid tube of appropriate size, forming two integrated pipes. The mud pipe, water pipe, and air pipe are integrated into one bundle, which is the first integrated pipeline; the cable and signal line are integrated into another bundle, which is the second integrated pipeline; there are two steel wire hoisting lines, namely a main steel wire rope and a secondary steel wire rope. The main steel wire rope is connected to the front end of the mud slurry recovery robot, and the secondary steel wire rope is connected to the rear end of the mud slurry recovery robot. By retracting and deploying the two steel wire ropes, the position of the mud slurry recovery robot is balanced during operation.

[0030] The function of the cable winch mechanism is to realize the synchronous winding and unwinding of various pipelines during the mud slurry return process. The entire mechanism is installed on the base frame 1, including the mud reel 3 placed on the base frame 1 for winding the first integrated pipeline, the cable reel 4 for winding the second integrated pipeline, and the cable guide 5 fixed on the base frame 1 to neatly arrange the first integrated pipeline and the second integrated pipeline on the mud reel 3 and the cable reel 4 respectively. A main wire rope motor 7 is provided on one side of the sludge reel 3 to drive the sludge reel 3 to rotate, and a transmission mechanism 8 is connected to the other side via a chain to transmit the driving force of the main wire rope motor 7 to the cable reel 4. While the main wire rope motor 7 drives the sludge reel 3 to rotate, it transmits the driving force to the transmission mechanism 8 through the chain. The transmission mechanism 8 then transmits the driving force to the cable reel 4, thereby realizing the rotation of the cable reel 4. A main wire rope spool 6 is also provided on the side of the sludge reel 3 connected to the transmission mechanism 8, which can rotate under the drive of the main wire rope motor 7 to realize the synchronous winding and unwinding of the main wire rope. A secondary wire rope reel 9 for winding and unwinding the secondary wire rope is also fixedly installed on the base frame 1. A secondary wire rope motor 10 for driving the secondary wire rope reel 9 to rotate is also installed on the base frame 1. In order to achieve synchronous winding and unwinding of pipelines and mud recovery robots, the control systems of the secondary wire rope motor 10 and the main wire rope motor 7 can be connected to the control system of the mud recovery robot. In addition, a rocker arm 11 is installed at the tail of the secondary wire rope motor 10 and the main wire rope motor 7. When the secondary wire rope motor 10 and the main wire rope motor 7 malfunction, or when there is a power outage, or when the mud recovery robot malfunctions, the winding and unwinding device can be manually operated to perform normal pipeline winding and unwinding and wire rope winding and unwinding. Figure 3 The diagram illustrates the working principle of this embodiment. The main wire rope and the auxiliary wire rope are connected to the rear and front ends of the mud slurry recovery robot, respectively. The main wire rope motor 7 then retracts and extends the main wire rope, the first integrated pipeline, and the second integrated pipeline, while the auxiliary wire rope motor 10 retracts and extends the auxiliary wire rope. When the mud slurry recovery robot needs to be placed into the storage tank for radioactive mud slurry recovery, the main and auxiliary wire rope motors work together to extend the main and auxiliary wire ropes, allowing the mud slurry recovery robot to change from a vertical to a horizontal posture. During this process, the first and second integrated pipelines are designed with a certain amount of redundancy to enable the synchronous extension and retraction of the integrated pipelines during the movement of the mud slurry recovery robot.

[0031] In this embodiment, both the sludge reel 3 and the cable reel 4 are made of stainless steel welded together. The rigid tubes outside the first and second integrated pipelines are PVC steel wire hoses with internal steel wires, which have a certain tensile strength and can be spirally wound onto the integrated reel.

[0032] When a mud retrieval robot is performing mud retrieval operations, the tension of the integrated pipeline at its tail end needs to be adjusted constantly. This is to prevent the integrated pipeline from becoming too taut, causing the trolley to slip or tip over, and to prevent the integrated pipeline from becoming too long and dragging on the ground, causing contamination, and to prevent cable twisting when the trolley turns. This invention designs an adaptive tensioning mechanism that monitors the tension of the main and auxiliary wire ropes in real time, controlling the retraction and extension speed of the integrated pipeline to keep the tension within a reasonable range. The number of counterweights is adjusted to regulate the load on the movable pulley, setting a corresponding pipeline tension range. This adaptive tensioning mechanism has two sets, located below the main wire rope reel 6 and the auxiliary wire rope reel 9, respectively. Figure 4 As shown, the adaptive tensioning mechanism includes a mounting bracket 19 mounted on a base frame 1, a first fixed pulley 20 and a second fixed pulley 21 disposed above the mounting bracket 19, a vertical guide rod 22 disposed inside the mounting bracket 19, a counterweight box 23 slidably mounted on the guide rod 22, a movable pulley 24 fixed above the counterweight box 23, and an upper sensor 26 and a lower sensor 27 respectively mounted above and below the guide rod 22; a counterweight block 25 is disposed inside the counterweight box 23. The operating principle of this adaptive tensioning mechanism is as follows: Figure 5 As shown, the wire rope is led out from the reel, passes sequentially through the first fixed pulley 20, the movable pulley 24, and the second fixed pulley 21, and then connects to the mud retrieval robot. Since the movable pulley 24 is fixed to the counterweight box 23, the wire rope pulls the movable pulley 24 up and down, thereby driving the counterweight box 23 to move up and down along the guide rod 22. When the counterweight box 23 moves to the top of the guide rod 22, the tension of the wire rope is at its maximum; when the counterweight box moves to the bottom of the guide rod 22, the tension of the wire rope is at its minimum. When the counterweight box is within the upper and lower limit range, the tension of the wire rope is within a reasonable range. In addition, the counterweight box is equipped with counterweight blocks inside, and different weight counterweight blocks can be replaced to achieve different tensions of the wire rope to adapt to different working environments. The adaptive tensioning mechanism has a sensor at the top and bottom of each side to monitor the position of the counterweight box during the operation of the mud recovery device. After the position information is fed back to the control system, the control system automatically adjusts the main wire rope motor or the auxiliary wire rope motor to perform the wire release or reeling action, ensuring that the counterweight box is always between the upper and lower limits, so that the tension of the wire rope is always within a reasonable range.

[0033] The opening of the storage tank is relatively narrow, typically a hole with a diameter of φ700 or less. When the mud retrieval robot is placed into and retrieved from the storage tank, it passes vertically downwards through the opening. The first integrated pipeline, the second integrated pipeline, and the main and auxiliary steel wire ropes also need to pass through this opening. To ensure that the mud retrieval robot does not collide with the storage tank during movement, and to ensure the stability of the robot during movement, a guide mechanism is installed below the cable winch mechanism. Figure 6 As shown, the guide mechanism is installed inside the base frame 1. The base frame 1 includes an upper base frame for mounting the cable winch mechanism and a lower base frame for mounting the guide mechanism. The lower base frame includes a vertically arranged base frame column 15 and a profile steel frame 14 for stabilization. The guide mechanism, installed inside the lower base frame, includes a horizontally arranged mounting plate 12. Guide wheels 13 are mounted on both sides of the mounting plate 12. Tracks adapted to the guide wheels 13 are provided on the base frame column 15, allowing the guide wheels 13 to slide up and down along the tracks, thereby enabling the mounting plate 12 to move horizontally up and down. Figure 8 As shown, the mounting plate 12 has a wire-passing hole in the middle. This wire-passing hole includes a wire rope passing hole 16 for the main wire rope and the auxiliary wire rope to pass through, and a pipeline passing hole 17 for the first integrated pipeline and the second integrated pipeline to pass through. The position of the wire rope and the integrated pipeline is restricted by the wire-passing hole.

[0034] like Figure 7 As shown, guide posts 18 are fixedly installed on both sides below the mounting plate, with three posts on each side. A constraint mechanism 28 for restraining the main wire rope, auxiliary wire rope, first integrated pipeline, and second integrated pipeline is mounted on the guide posts 18 via linear bearings. This constraint mechanism 28 can move up and down independently along the guide posts 18. When the mud slurry recovery robot is deployed, the mounting plate 12 is slowly lowered to the bottom of the base column 15 along with the mud slurry recovery robot. The constraint mechanism 28 can continue to extend downwards along the guide posts 18, ensuring that the mud slurry recovery robot smoothly passes through the opening of the storage tank. The constraint mechanism 28 can restrain the integrated pipeline and wire rope within a specific range to move downwards or retract, preventing damage caused by friction between the integrated pipeline and wire rope and the channel wall during the operation of the mud slurry recovery robot. When the mud slurry recovery robot is being retrieved, the restraint mechanism 28 can assist in adjusting the posture of the mud slurry recovery robot so that the robot is vertically positioned in the middle of the guide column 18 and moves upward along the guide column 18. At this time, the restraint mechanism 28 first moves upward along the guide column 18 to the connection point between the guide column 18 and the guide mechanism mounting plate 12, and then continues to drive the guide mechanism mounting plate 12 to move upward until the mud slurry recovery device is completely recovered into the receiving and releasing device.

[0035] In use, the device provided in this embodiment is first moved to the target position by the rollers below, and then the device is precisely positioned and fixed by the ground positioning feet. The main and auxiliary wire rope motors are started to release the main and auxiliary wire ropes, and the first and second integrated pipelines are released simultaneously. The guide wheels on the side of the guide mechanism mounting plate slide in the track of the base column, so that the mud slurry retrieval robot is slowly lowered. When the mounting plate is lowered to the bottom, the constraint mechanism continues to move slowly downward along the guide column until it passes through the opening of the storage tank. Then, by controlling the main and auxiliary wire rope motors, the main and auxiliary wire ropes are released in coordination, so that the mud slurry retrieval robot changes from a vertical posture to a horizontal posture, and mud slurry retrieval can be performed. After the mud slurry retrieval is completed, the above steps are reversed to retrieve the mud slurry retrieval robot.

[0036] The device provided by this invention solves the problem of difficult mud retrieval from sealed storage tanks. By setting up a cable winch mechanism and a guiding mechanism, it can ensure the synchronous release and retraction of the steel wire rope, mud pipe, water pipe, cable, signal line, air pipe, etc. used for towing the robot with the mud retrieval robot. This allows the mud retrieval robot to pass through narrow passages and enter stably, accurately completing robot deployment, retrieval, tilting correction, and transfer. It can reduce the drag force of pipelines on the mud retrieval robot and effectively protect the pipelines during operation.

[0037] The above embodiments are merely one of the preferred embodiments of the present invention and should not be used to limit the scope of protection of the present invention. Any modifications or refinements made to the main design concept and spirit of the present invention that are not of substantial significance, but solve the same technical problem as the present invention, should be included within the scope of protection of the present invention.

Claims

1. A receiving and discharging device for retrieving radioactive mud, comprising a base frame (1), characterized in that, It also includes a cable winch mechanism set on the base frame (1) for synchronous winding and unwinding of pipelines during the mud slurry recovery process, an adaptive tensioning mechanism to prevent the mud slurry recovery robot from slipping or tipping over due to pipeline tension, and a guide mechanism to prevent horizontal deviation when the mud slurry recovery robot moves up and down. The cable winch mechanism includes a sludge reel (3) and a cable reel (4) placed on a base frame (1) for winding the pipeline, and a cable guide (5) fixed on the base frame (1) for neatly arranging the pipeline on the sludge reel (3) and the cable reel (4); a main wire rope motor (7) that can drive the sludge reel (3) to rotate is provided on one side of the sludge reel (3), and a transmission mechanism (8) that can transmit the driving force of the main wire rope motor (7) to the cable reel (4) is connected by a chain on the other side; a main wire rope reel (6) that can rotate under the drive of the main wire rope motor (7) is also provided on the side of the sludge reel (3) connected to the transmission mechanism (8); an auxiliary wire rope reel (9) and an auxiliary wire rope motor (10) for driving the auxiliary wire rope reel (9) to rotate are also fixed on the base frame (1); The base frame (1) includes an upper base frame for installing the cable winch mechanism and a lower base frame for installing the guide mechanism. The lower base frame includes a vertically arranged base frame column (15) and a profile steel frame (14) for stabilization. The guide mechanism includes a horizontally arranged mounting plate (12), guide wheels (13) installed on both sides of the mounting plate (12), a track on the base frame column (15) adapted to the guide wheels (13), a wire hole on the mounting plate (12), and guide columns (18) installed on both sides below the mounting plate (12). The guide columns (18) are equipped with a constraint mechanism (28) for constraining the pipeline via linear bearings. The wire hole includes a wire rope wire hole (16) and a pipeline wire hole (17). The adaptive tensioning mechanism is provided in two sets, located below the main wire rope reel (6) and the auxiliary wire rope reel (9), respectively. The adaptive tensioning mechanism includes a mounting bracket (19) installed on the base frame (1), a first fixed pulley (20) and a second fixed pulley (21) set above the mounting bracket (19), a vertical guide rod (22) set inside the mounting bracket (19), a counterweight box (23) slidably installed on the guide rod (22), a movable pulley (24) fixed above the counterweight box (23), and an upper sensor (26) and a lower sensor (27) respectively installed above and below the guide rod (22). The counterweight box (23) is provided with a counterweight block (25) inside.

2. The receiving and discharging device for radioactive mud recovery according to claim 1, characterized in that, The control systems of the auxiliary wire rope motor (10) and the main wire rope motor (7) are connected to the control system of the mud recovery robot, and rocker arms (11) are added to the tail of the auxiliary wire rope motor (10) and the main wire rope motor (7).

3. The receiving and discharging device for radioactive mud recovery according to claim 2, characterized in that, Both the sludge reel (3) and the cable reel (4) are made of stainless steel by welding.

4. The receiving and discharging device for radioactive mud recovery according to claim 3, characterized in that, The guide post (18) is provided with 6 posts, and 3 posts on each side below the mounting plate (12).

5. The receiving and discharging device for radioactive mud recovery according to claim 4, characterized in that, The base frame (1) has an outer contour of 2.81 meters in length, 1.73 meters in width, and 2.6 meters in height; a positioning component (2) is provided at the lower end of the base frame, which includes a sliding roller and a ground positioning foot for fixing the base frame to the ground.

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