Retrieval process and retrieval device for radioactive residual slurry in large underground storage tanks

Abstract

The present invention discloses a device for retrieving radioactive residual mud from a large underground storage tank, which relates to the technical field of nuclear facility decommissioning, and includes an adaptive retractable mechanism that can realize synchronous retracting and releasing of pipelines during mud retrieval, and a remote control retrieval robot connected to the adaptive retractable mechanism by a steel wire rope for retrieving mud; the remote control retrieval robot includes a robot body, a rear installation component is arranged at the rear end of the robot body, and a crushing mechanism that can crush the radioactive residual mud in the storage tank is installed at the front end. The retrieval device provided by the present invention is suitable for retrieving residual mud with high radioactivity level in large underground storage tanks, which not only solves the problem of pipeline retraction and release in the retrieval of mud from closed storage tanks, but also realizes the automatic retrieval of radioactive residual mud in the storage tank, and can also remove and retrieve mud in compacted and dead corners.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear facility decommissioning, in particular to a retrieval process and a retrieval device for radioactive residual mud in a large underground storage tank. Background Art

[0002] The development of the nuclear industry over the past 60 years has laid a solid foundation for the safe development of the country. At the same time, it has also produced a large amount of radioactive waste. The safety risks of nuclear facilities themselves are becoming increasingly prominent, especially for radioactive waste storage facilities. Once leaked, it will cause serious radioactive pollution to the environment. Most of these radioactive waste storage facilities are buried underground. The storage tanks are square or round, with a volume of hundreds of cubic meters. However, due to the influence of factors such as the technical maturity, construction period, construction capacity, subsequent processing design, and material supply during the construction period, the retrieval of waste liquid and solid sediments has not been comprehensively considered. In addition, many storage tanks are made of carbon steel. As time goes by, safety is severely challenged. In order to eliminate the risks to environmental safety brought by radioactive waste storage facilities, the overall safe decommissioning of the facilities must be carried out as soon as possible, and the retrieval of residual mud at the bottom is the premise and basis for the safe decommissioning of large tanks.

[0003] There is no experience to draw on for the relevant equipment for the retrieval of high-level radioactive residual mud in China, and there is no method for the retrieval of high-level radioactive residual mud in large underground storage tanks. There have been "remote control robots" used in foreign countries to retrieve residual mud, but the physical and chemical properties and operating environment of the retrieval objects are different from those in China, and the retrieval effect is unknown. The radiation resistance, reliability and safety of the equipment are also unknown. In addition, the cost of introducing equipment and technology is high, and it may not be applicable to the retrieval of residual mud in storage tanks of nuclear facilities in my country. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a process and a device for retrieval of radioactive residual mud from large underground storage tanks, so as to realize long-distance retrieval of high-level radioactive residual mud from large underground storage tanks.

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

[0006] A device for retrieving radioactive residual mud from a large underground storage tank, comprising an adaptive retractable mechanism capable of realizing synchronous retraction and extension of pipelines during mud retrieval, and a remote control retrieval robot connected to the adaptive retractable mechanism via a steel wire rope for retrieving the mud;

[0007] The remote control retrieval robot comprises a robot body, a rear installation assembly is arranged at the rear end of the robot body, and a crushing mechanism capable of crushing radioactive residual mud in a storage tank is arranged at the front end; the crushing mechanism is fixed to the front end of the robot body by a lifting mechanism capable of raising or lowering the crushing mechanism; a water spraying mechanism is installed above the crushing mechanism through a mounting plate, a suction mechanism connected to the crushing mechanism through a connecting pipe is arranged inside the robot body, and a walking mechanism is arranged at the lower part of the robot body.

[0008] Furthermore, the adaptive retraction and extension mechanism includes a base frame, a cable winch mechanism arranged on the base frame for realizing synchronous retraction and extension of the pipeline during the mud retrieval process, an adaptive tensioning mechanism for preventing the mud retrieval robot from slipping or tipping over due to the tightness of the pipeline, and a guide mechanism that can achieve the remote control retrieval robot without horizontal deviation when moving up and down.

[0009] Furthermore, the base frame includes a profile steel frame for supporting and a positioning component for walking on the ground and fixing the position.

[0010] Furthermore, the cable hoisting mechanism includes an oil mud reel and a cable reel placed on a base frame for winding the pipeline; a main wire rope motor is connected to one side of the oil mud reel, and a first transmission mechanism that can transmit the driving force of the main wire rope motor to the cable reel is connected to the other side of the oil mud reel through a chain, and 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 oil mud reel connected to the first transmission mechanism; an auxiliary wire rope reel for retracting and releasing the auxiliary wire rope, and an auxiliary wire rope motor that can drive the auxiliary wire rope reel to rotate are also fixedly provided on the base frame.

[0011] Furthermore, the adaptive tensioning mechanism includes a mounting bracket installed on the base frame, a first fixed pulley and a second fixed pulley arranged above the mounting bracket, two vertical guide rods arranged below the mounting bracket, a counterweight box slidably mounted on the guide rods, a movable pulley fixed above the counterweight box, and an upper sensor and a lower sensor respectively installed above and below the guide rods; a counterweight block is arranged inside the counterweight box, and a laser ranging sensor is also fixedly installed below the mounting bracket.

[0012] Furthermore, the guide mechanism is installed inside the base frame, including a main lifting plate, a small lifting plate, and a guide column; a wire tube hole sleeve is provided on the main lifting plate, and a wire rope threading hole and a cable threading hole are opened on the wire tube hole sleeve; a V-shaped guide wheel is provided on the side of the main lifting plate to install it on the profile steel frame inside the base frame, so that the main lifting plate can move up and down on the profile steel frame; the small lifting plate is fixed to the bottom of the main lifting plate through a guide shaft.

[0013] Furthermore, the crushing mechanism includes a tool head frame connected to the lifting mechanism, a crushing roller installed at the front end of the tool head frame, an iron-based sensor installed at the lower rear of the tool head frame for detecting whether it contacts the bottom of the storage tank, a second transmission mechanism installed on the side of the tool head frame that can transfer kinetic energy to the crushing roller, and a first drive motor installed inside the tool head frame and connected to the second transmission mechanism; a water spraying mechanism is arranged on the tool head frame, including a water pipe, a nozzle arranged at the end of the water pipe that can flush mud dead corners and compacted areas, and a nozzle mounting seat for limiting the position of the nozzle; a swing motor that allows the nozzle to swing left and right, and a pitch motor that allows the nozzle to swing up and down are installed below the nozzle mounting seat.

[0014] Furthermore, the suction mechanism includes a collection port connected to the crushing mechanism for collecting radioactive residual mud, a pneumatic diaphragm pump installed inside the robot body, a connecting pipe for connecting the collection port and the pneumatic diaphragm pump, and a mud collection box for storing radioactive residual mud; the output port of the pneumatic diaphragm pump is connected to the mud pipe in the oil mud pipeline.

[0015] Further, the rear installation assembly includes a rear installation plate connected to the robot body by bolts, a cable fixing frame fixed to the rear installation plate, a conversion joint and an air plug arranged on the cable fixing frame, and a lifting ring fixed on the cable fixing frame for connecting to the main steel wire rope;

[0016] The walking mechanism includes wheels, tracks, and a second drive motor. The second drive motor drives the wheels to rotate through a sprocket chain transmission member, and the rotation of the wheels drives the tracks to move the remote control retrieval robot. A bracket for supporting the middle force of the tracks is also provided on the robot body.

[0017] The process for recovering radioactive residual mud from a large underground storage tank using the above-mentioned recovery device comprises:

[0018] S1: Device preparation: confirm the working conditions, accurately position and fix the positioning assembly of the retrieval device to the positioning hole of the tank opening;

[0019] S2: Lowering the remote control retrieval robot: The main wire rope motor and the auxiliary wire rope motor work in coordination to release the main and auxiliary wire ropes, mud pipes, water pipes, air pipes and cables. The main lifting plate slowly moves downward along the profile steel frame with the remote control retrieval robot. When the main lifting plate slowly lowers to the bottom of the profile steel frame, the small lifting plate continues to move downward along the guide column to ensure that the remote control retrieval robot smoothly passes through the hole of the storage tank. When the remote control retrieval robot is lowered to the middle of the storage tank, the release speed of the auxiliary wire rope reel increases and the release speed of the main wire rope reel decreases, so that the posture of the remote control retrieval robot changes from vertical to horizontal. The remote control retrieval robot continues to be lowered horizontally, and the release length of the main and auxiliary wire ropes and the adaptive tensioning mechanism are used to determine whether the remote control retrieval robot has reached the bottom of the storage tank.

[0020] S3: Mud retrieval: The lifting mechanism drives the crushing mechanism to move downward, and the crushing drum recovers the mud into the mud collection port. The connecting pipe is connected to the suction mechanism, and the suction mechanism transports the radioactive residual mud to the external target storage tank through the mud pipe connected to its outlet; the remote control retrieval robot is equipped with laser and ultrasonic detection equipment inside to determine whether the remote control retrieval robot has reached the edge of the storage tank. When the remote control retrieval robot reaches the edge of the storage tank, the crushing mechanism stops working, the lifting mechanism lifts the crushing mechanism, and the remote control retrieval robot retreats a certain distance, turns and moves horizontally, and then continues to crush and retrieve the radioactive mud;

[0021] S4: When encountering compaction and dead corners, the water spraying mechanism is started to spray high-pressure water, and the sprinkler head is swung up and down and left and right by the action of the swing motor and pitch motor in the water spraying mechanism, thereby flushing the radioactive residual mud in the compaction and dead corners;

[0022] S5: Recover the remote control retrieval robot: After the retrieval of the radioactive residual mud is completed, start the main and auxiliary wire rope motors, lift the remote control retrieval robot from the bottom of the storage tank, and when it reaches the middle of the storage tank, replace and clean the mud residue in the collection port of the suction mechanism, the pneumatic diaphragm pump and the connecting pipe. After cleaning, the main wire rope motor continues to lift the recovery cable, and the auxiliary wire rope motor stops working. After the remote control retrieval robot returns to a vertical state from a horizontal posture, the main and auxiliary wire rope motors make the remote control retrieval robot continue to rise, but without passing through the storage tank opening. The remote control retrieval robot is sprayed and washed. After the spraying is completed, let it stand for more than 2 hours or when there is no obvious water droplet, start the main and auxiliary wire rope motors again to lift the remote control retrieval robot until it passes smoothly through the storage tank opening and is stored in the retrieval device.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] (1) The retrieval device provided by the present invention is suitable for retrieving residual mud with high radioactivity level in large underground storage tanks, which 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 and mud pipe, water pipe, cable, signal line, air pipe, etc. used to drag the robot are synchronously retracted and released with the mud retrieval robot, thereby reducing the dragging force of the pipeline on the mud retrieval robot and being able to effectively protect the pipeline during operation.

[0025] (2) The remote-controlled retrieval robot in the present invention is provided with a crushing mechanism and a suction mechanism, which can retrieve the radioactive residual mud in the storage tank, and can also use high-pressure water to flush and retrieve the compacted mud and dead corners. The entire device can realize automatic mud retrieval by setting a control mechanism. The present invention provides a radioactive residual mud retrieval device process that is resistant to radiation, has strong reliability and high safety.

[0026] (3) The device provided by the present invention is provided with a guiding mechanism, which enables the mud retrieval robot to pass through the narrow channel and enter stably, and accurately complete the robot's deployment, recovery, overturning correction, transfer, etc.; by classifying and integrating the pipelines, the friction and wear between various pipelines and the channel holes can be reduced.

[0027] (4) The main and auxiliary wire rope motors and the adaptive tensioning mechanism in the retracting and releasing device provided by the present invention can be connected to the control system of the robot, and the retrieval of mud can be achieved by controlling the robot, effectively reducing the irradiation time of workers entering the radioactive working area. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a state diagram of the retrieval device of the present invention;

[0029] Figure 2 It is the overall structure diagram of the present invention;

[0030] Figure 3 It is a structural diagram of the adaptive retractable mechanism in the present invention;

[0031] Figure 4 It is a structural diagram of the cable hoisting mechanism in the present invention;

[0032] Figure 5 It is a structural schematic diagram of the adaptive tensioning mechanism in the present invention;

[0033] Figure 6 It is a schematic diagram of the structure of the guide mechanism in the present invention;

[0034] Figure 7 This is a schematic diagram of the structure of the remote control retrieval robot in the present invention;

[0035] Figure 8 This is a schematic diagram of the crushing mechanism structure in the present invention;

[0036] Fig. 9 It is a cross-sectional view of the crushing mechanism in the present invention;

[0037] Fig.10 It is a schematic diagram of the structure of the suction mechanism in the present invention;

[0038] Fig.11 It is a schematic diagram of the lifting mechanism structure in the present invention;

[0039] Fig.12 It is a schematic diagram of the structure of the water spraying mechanism in the present invention;

[0040] Fig.13 It is a schematic diagram of the structure of the rear installation component in the present invention;

[0041] Fig.14 It is a schematic diagram of the structure of the walking mechanism in the present invention.

[0042] Among them, the names corresponding to the figure numbers are: 1 adaptive retracting and releasing mechanism, 2 remote control retrieval robot, 3 base frame, 4 cable hoisting mechanism, 5 adaptive tensioning mechanism, 6 guide mechanism, 7 profile steel frame, 8 positioning assembly, 9 first lifting motor, 9-1 auxiliary wire rope motor, 9-2 main wire rope motor, 10 mud reel, 11 cable reel, 12 auxiliary wire reel, 13 first transmission mechanism, 14 mounting bracket, 15-1 first fixed pulley, 15-2 second fixed pulley, 16 movable pulley, 17 counterweight, 18-1 upper sensor, 18-2 lower sensor, 19 laser ranging sensor, 20 guide rod, 21 small lifting plate, 22 main lifting plate, 23 wire pipe hole sleeve, 24 V-shaped guide wheel, 25 wire rope threading hole, 26 cable threading Wire hole, 27 crushing mechanism, 28 suction mechanism, 29 second lifting motor, 30 water spray mechanism, 31 rear installation assembly, 32 walking mechanism, 33 tool head frame, 34 first drive motor, 35 second transmission mechanism, 36 crushing drum, 37 iron-based sensor, 38 collection port, 39 connecting pipe, 40 pneumatic diaphragm pump, 41 lifting bracket, 42 sprocket chain pin, 43 slider guide, 44 water pipe, 45 nozzle, 46 nozzle mounting seat, 47 swing motor, 48 pitch motor, 49 gear pair, 50 rear installation plate, 51 cable fixing frame, 52 aviation plug, 53 conversion joint, 54 lifting ring, 55 wheel, 56 crawler track, 57 bracket, 58 second drive motor, 59 sprocket chain transmission, 60 guide column, 61 mounting plate. DETAILED DESCRIPTION

[0043] The present invention is further described below in conjunction with the accompanying drawings and embodiments. The embodiments of the present invention include but are not limited to the following embodiments.

[0044] like Figure 1As shown, this embodiment provides a device for retrieving radioactive residual mud from a large underground storage tank, and the device is placed at the opening of the storage tank.

[0045] like Figure 2 As shown, the retrieval device is composed of an adaptive retractable mechanism 1 and a remote control retrieval robot 2, and the adaptive retractable mechanism 1 and the remote control retrieval robot 2 are connected by a steel wire rope. The adaptive retractable mechanism 1 includes a base frame 3, a cable winding mechanism 4, an adaptive tensioning mechanism 5, and a guide mechanism 6.

[0046] like Figure 3 As shown, the base frame 3 includes a profile steel frame 7 for supporting and a positioning assembly 8 for walking on the ground and fixing the position, and the positioning assembly 8 includes sliding rollers and ground positioning feet for fixing the position with the ground. The cable hoisting mechanism 4 is fixed on the upper part of the base frame 3, the adaptive tensioning mechanism 5 is installed on both sides of the middle part of the base frame 3, and the guide mechanism 6 is fixed inside the base frame 3.

[0047] The cable winch mechanism 4 is used to realize the synchronous retraction and release of pipelines during the mud retrieval process. The pipelines that need to be retracted and released include: mud pipes, water pipes, cables, signal lines, air pipes and steel wire suspension lines, etc. These pipelines are integrated into two bundles, and hard pipes of appropriate sizes are respectively covered on the outside to integrate into two pipes. The mud pipes, water pipes, and air pipes are integrated into one bundle, which is the oil mud pipeline; the cables and signal lines are integrated into another bundle, which is the cable pipeline; there are two steel wire suspension lines, namely the main steel wire rope and the auxiliary steel wire rope. The main steel wire rope is connected to one end of the remote-controlled retrieval robot 2, and the auxiliary steel wire rope is connected to the other end of the remote-controlled retrieval robot 2. By retracting and releasing the two steel wire ropes, the position balance of the remote-controlled retrieval robot during the operation can be achieved.

[0048] like Figure 4 As shown, the cable winding mechanism 4 includes a sludge reel 10 placed on the base frame 3 for winding the sludge pipeline, and a cable reel 11 for winding the cable pipeline. The cable winding mechanism 4 uses a cable arranger to arrange the sludge pipeline and the cable pipeline in circles on the reel in an orderly manner to avoid chaotic entanglement of the cables.

[0049] A first lifting motor 9 connected to the oil mud reel 10 is provided on one side thereof, and the first lifting motor 9 includes a main wire rope motor 9-1 and an auxiliary wire rope motor 9-2. The main wire rope motor 9-1 drives the oil mud reel 10 to rotate, and the other side of the oil mud reel 10 is connected to a first transmission mechanism 13 through a chain, which can transmit the driving force of the main wire rope motor 9-1 to the cable reel 11. When the main wire rope motor 9-1 drives the oil mud reel 3 to rotate, it transmits the driving force to the first transmission mechanism 13 through the chain, and the first transmission mechanism 13 then transmits the driving force to the cable reel 11, thereby realizing the synchronous rotation of the cable reel 11; a main wire rope reel 12-1 which can rotate under the drive of the main wire rope motor 9-1 is also provided on the side of the oil mud reel 10 connected to the first transmission mechanism 13, so as to realize the synchronous retraction and release of the main wire rope. An auxiliary wire rope reel 12-2 for retracting and releasing the auxiliary wire rope is also fixedly arranged on the base frame 1, and the auxiliary wire rope motor 9-2 is used to drive the auxiliary wire rope reel 12-2 to rotate.

[0050] When the remote control retrieval robot 2 is performing mud retrieval operations, it is necessary to adjust the tension of the tail end carrier integrated pipeline at any time. On the one hand, it is necessary to avoid the oil mud pipeline and cable pipeline being too tight, which may cause the operating robot to slip or roll over. On the other hand, it is necessary to avoid the pipeline being too long, which may cause the pipeline surface to be contaminated after being dragged on the ground, and the cable twisting when the trolley turns. This embodiment provides two sets of adaptive tensioning mechanisms for real-time monitoring of the tension of the main steel wire rope and the auxiliary steel wire rope, thereby controlling the tension of the oil mud pipeline and the cable pipeline within a reasonable range. Figure 5As shown, the adaptive tensioning mechanism 5 includes a mounting bracket 14 mounted on the base frame 1, a first fixed pulley 15-1 and a second fixed pulley 15-2 arranged above the mounting bracket 14, two vertical guide rods 20 arranged below the mounting bracket 14, a counterweight box slidably mounted on the guide rod 20, a movable pulley 16 fixed above the counterweight box, and an upper sensor 18-1 and a lower sensor 18-2 respectively mounted above and below the guide rod 20; a counterweight block 17 is arranged inside the counterweight box, and a laser ranging sensor 19 is also fixedly installed below the mounting bracket 14. The operating principle of the adaptive tensioning mechanism 5 is as follows: the steel wire rope is drawn out from the reel, passes through the first fixed pulley 15-1, the movable pulley 16, and the second fixed pulley 15-2 in sequence, and then is connected to the remote control retrieval robot 2. Since the movable pulley 16 is fixed on the counterweight box, the movable pulley 16 can be moved up and down by the traction of the steel wire rope, thereby driving the counterweight box to move up and down along the guide rod 20. When the counterweight box moves to the top of the guide rod 20, the tension of the wire rope is the largest, when the counterweight box moves to the bottom of the guide rod 20, the tension of the wire rope is the smallest, and when the counterweight box is located within the upper and lower limit intervals, the tension of the wire rope is within a reasonable range. In addition, a counterweight block 17 is provided inside the counterweight box, and the counterweight blocks 17 of different weights can be replaced to achieve different tensions on the wire rope to adapt to different working environments. A sensor and a laser ranging sensor are respectively provided at the top and bottom of the adaptive tensioning mechanism 5, which are used to monitor the position of the counterweight box during the operation of the mud retrieval device. The position information can be used as a basis for adjusting the main wire rope motor or the auxiliary wire rope motor to release or reel in the wire, ensuring that the counterweight box is always located between the upper and lower limits, so that the tension of the wire rope is always within a reasonable range.

[0051] The opening of the storage tank is relatively narrow, usually a hole within φ700. When the remote control retrieval robot is put into and recovered from the storage tank, the remote control retrieval robot passes vertically downward through the opening of the storage tank. The sludge pipeline, cable pipeline and main and auxiliary wire ropes also need to pass through the opening. In order to ensure that the remote control retrieval robot does not collide with the storage tank when moving, and to ensure the stability of the remote control retrieval robot when moving, a guide mechanism 6 is set below the cable winch mechanism 5. The guide mechanism 6 is installed inside the base frame 3 and can slide up and down on the profile steel frame 7. Figure 6As shown, the guide mechanism 6 includes a main lifting plate 21, a small lifting plate 22, and a guide column 60. The main lifting plate 21 is provided with a wire tube hole sleeve 23, and the wire tube hole sleeve 23 is provided with a wire rope threading hole 25 for passing the main and auxiliary wire ropes, and a cable threading hole 26 for passing the oil mud pipeline and the cable pipeline. The side of the main lifting plate 21 is installed on the profile steel frame 7 inside the base frame 3 by arranging a V-shaped guide wheel 24, so that the main lifting plate 21 can move up and down on the profile steel frame 7. The small lifting plate 22 is fixed below the main lifting plate 21 through a guide shaft. When the remote control retrieval robot 2 is being deployed, the main lifting plate 21 slowly moves downward along the profile steel frame 7 with the remote control retrieval robot 2. When the main lifting plate 21 slowly moves down to the bottom of the profile steel frame 7, the small lifting plate 22 continues to move downward along the guide column 60 to ensure that the remote control retrieval robot 2 smoothly passes through the opening of the storage tank. The small lifting plate 22 is also provided with a through hole for restraining the main and auxiliary steel wire ropes, oil sludge pipelines, and cable pipelines to prevent the pipelines from rubbing against the wall of the channel, causing damage and pollution to the pipelines. The guide mechanism 6 can also limit the position of the remote control retrieval robot so that the remote control retrieval robot is always located in the middle of the guide column 60 when it is being retracted and released, preventing the remote control retrieval robot 2 from contacting the wall of the channel.

[0052] like Figure 7 As shown, the remote control retrieval robot 2 in this embodiment includes a robot body, a rear mounting assembly 31 connected to the main steel wire rope is arranged at the rear end of the robot body, and a crushing mechanism 27 capable of crushing the radioactive residual mud in the storage tank is installed at the front end. The crushing mechanism 27 is fixed to the front end of the robot body through a lifting mechanism 29, and the lifting mechanism 29 can make the crushing mechanism 27 rise or fall; a water spraying mechanism 30 is installed above the crushing mechanism 27 through a mounting plate 61, and a suction mechanism 28 connected to the crushing mechanism 27 through a connecting pipe is arranged inside the robot body. A walking mechanism 32 is arranged at the lower part of the robot body to drive the remote control retrieval robot to move. The robot body is spliced ​​by upper and lower stainless steel covers. The spliced ​​part has a compact structure and a smooth surface. Its structural design ensures that the robot body has a high sealing performance. The appearance adopts a streamlined appearance design, so that the remote control retrieval robot has the characteristics of easy cleaning and decontamination.

[0053] like Figure 8 , 9As shown, the crushing mechanism 27 includes a tool head frame 33 connected to the lifting mechanism 29, a crushing roller 36 installed at the front end of the tool head frame 33, an iron-based sensor 37 installed at the rear and lower part of the tool head frame 33 for detecting whether it has reached the bottom of the tank, a second transmission mechanism 35 installed at the side of the tool head frame 33 that can transfer kinetic energy to the crushing roller 36, and a first drive motor 34 installed inside the tool head frame 33 and connected to the second transmission mechanism 35; when the crushing mechanism 27 approaches the steel plate at the bottom of the tank during the downward exploration under the action of the lifting mechanism 29, the iron-based sensor 37 installed at the rear and lower part of the crushing mechanism 27 will detect a signal and feed the signal back to the control system, and the control system will issue a stop exploration command to avoid contact and damage between the bottom plate of the tank and the crushing mechanism 27 of the remote control retrieval robot 2. Preferably, the crushing roller 36 of the crushing mechanism 27 includes a stainless steel cylinder and spiral rubber teeth with a high degree of vulcanization fixed on the stainless steel cylinder. The spiral rubber teeth are two spiral blades with opposite pitches installed opposite to each other. When the drum rotates, they can effectively cut the mud in the longitudinal direction, while avoiding problems such as poor cutting effect and large resistance caused by excessive contact area. At the same time, there are diaphragms inserted between the spiral blades, which also have a crushing and stirring effect on the mud. When the drum rotates to crush the mud, the diaphragm mainly provides the function of returning the crushed mud to the mud collection port, and the spiral blades also have a certain function of returning the mud to the mud collection port during the rotation process.

[0054] like Fig.10 As shown, the suction mechanism 28 includes a collection port 38 connected to the crushing mechanism 27 for collecting radioactive residual mud, a pneumatic diaphragm pump 40 installed inside the robot body, and a connecting pipe 39 for connecting the collection port 38 and the pneumatic diaphragm pump 40; the output port of the pneumatic diaphragm pump 40 is connected to the mud pipe in the oil mud pipeline. The suction mechanism 28 also includes a mud collection box, the inside of which is equipped with a filter screen and an overflow port at the top. During the recovery of radioactive mud, when the filter screen is blocked or the pipeline needs to be cleaned, the high-pressure water in the backwash pipeline passes through the mud pipeline to effectively remove the blockage and clean the pipeline.

[0055] like Fig.11 As shown, the lifting mechanism 29 includes a lifting bracket 41, a sprocket chain pin 42, a slider guide rail 43, and a second lifting motor 29. The second lifting motor 29 controls the lifting bracket 41 to rise and fall through the sprocket and the slider; the crushing mechanism 27 is fixed on the lifting bracket 41.

[0056] like Fig.12As shown, the water spray mechanism 30 includes a water pipe 44 passing through a mounting plate 61, a nozzle 45 disposed at the end of the water pipe 44 for flushing mud dead corners and hardened areas, and a nozzle mounting seat 46 for limiting the position of the nozzle 45; a swing motor 47 and a pitch motor 48 are installed below the nozzle mounting seat 46, and the swing motor 47 and the pitch motor are connected to a pair of gear pairs 49, and the swing motor makes the nozzle 45 swing left and right, and the pitch motor 48 makes the nozzle swing up and down. The swing motor 47 installed on the nozzle mounting seat is connected to a pair of gear pairs 49 to drive the shaft to rotate, drive the nozzle 45 to swing left and right, and the pitch motor 48 installed on the nozzle 45 mounting seat moves, and the gear pair 49 drives the core shaft to rotate, and the core shaft drives the sliding sleeve to swing up and down.

[0057] like Fig.13 As shown, the rear mounting assembly 31 includes a rear mounting plate 50 connected to the robot body by bolts, a cable fixing frame 51 fixed on the rear mounting plate 50, a conversion joint 53 and an air plug 52 arranged on the cable fixing frame 51, and a lifting ring 54 fixed on the cable fixing frame 51 for connecting with the main steel wire rope; the conversion joint 53 is a quick conversion joint for mud pipes, water pipes, air pipes, etc., and the air plug 52 is a quick conversion joint for cables, signal lines, etc. Various pipelines are lowered from the adaptive retractable mechanism 1 to the tail of the remote control retrieval robot 2, and then fixed to the tail of the remote control retrieval robot 2 through the cable fixing frame 51, and each pipeline is connected through the conversion joint 53 and the air plug 52. The vertical delivery and recovery of the remote control retrieval robot 2 are realized through the lifting ring 54 on the rear mounting assembly 31.

[0058] like Fig.14 As shown, the walking mechanism 32 includes wheels 55, tracks 56, and a second drive motor 58. The second drive motor 58 drives the wheels 55 to rotate through a sprocket chain transmission member 59. The rotation of the wheels 55 drives the tracks 56 to enable the remote control retrieval robot 2 to have a mobile function. A bracket 57 is also provided on the body of the remote control retrieval robot 2 to support the middle force of the tracks 56.

[0059] This embodiment is also provided with a control system for controlling the remote-controlled retrieval robot 2, the main wire rope motor 9-1, the auxiliary wire rope motor 9-2, the lifting mechanism 29, the first drive motor 34, and the second drive motor 58. The control system is centrally controlled by the piano console, and the remote-controlled retrieval robot 2 is provided with a sensor system for positioning and an autonomous cruise retrieval system that can plan an autonomous endurance retrieval route. The remote-controlled retrieval robot is also provided with laser and ultrasonic detection equipment.

[0060] This embodiment also provides a process for recovering radioactive residual slurry from a large underground storage tank, comprising the following steps:

[0061] (1) Equipment preparation: Upon receiving a project instruction to retrieve radioactive mud from a storage tank, confirm the surrounding environment and working conditions of the storage tank, plan the overall plan, and arrange and debug the on-site equipment; transport the retrieval device to the designated location on site by car; lift the retrieval device by crane to the working range of the gantry crane; lift the retrieval device near the plug by the gantry crane; build an air tent, cover the gantry crane and the retrieval device, and pay attention to sealing to prevent radiation leakage; connect the external cables, mud pipes, air pipes, and water pipes of the retrieval device; self-check the functions of the retrieval device; lift the sealing plug away by the gantry crane and place it on the edge of the air tent; lift the retrieval device by the gantry crane just above the entrance of the storage tank, and accurately position it using the air tent camera and the positioning piles on the ground; check that all devices are intact and the preparation work is completed, and prepare to lower the remote control retrieval robot.

[0062] (2) Lowering the remote control retrieval robot: The main wire rope motor and the auxiliary wire rope motor work in coordination to release the main and auxiliary wire ropes, mud pipes, water pipes, air pipes and cables; the release lengths of the main and auxiliary wire ropes and the pan / tilt inside the tank determine whether the remote control retrieval robot has successfully passed through the hole and is lowered into the middle of the tank; the release speed of the auxiliary wire rope reel increases and the release speed of the main wire rope reel decreases. At this time, the posture of the remote control retrieval robot changes from vertical to horizontal, and the display angle of the piano changes from 90° to 0°. The remote control retrieval robot continues to be lowered horizontally, and the release lengths of the main and auxiliary wire ropes, the adaptive tensioning mechanism and the pan / tilt inside the tank determine whether the remote control retrieval robot has reached the bottom of the tank.

[0063] (3) Mud retrieval: After the remote-controlled retrieval robot reaches the bottom of the storage tank, the sensor system will locate it and plan an autonomous cruise retrieval route; the control button on the control console will be adjusted to the autonomous cruise retrieval state. At this time, the crushing drum in the crushing mechanism will rotate, and the lifting mechanism will drive the crushing mechanism downward. The crushing drum will recover the mud into the mud collection port. The connecting pipe will connect to the suction mechanism, and the suction mechanism will transport the radioactive mud to the target storage tank through the mud pipe connected to its outlet. When the laser and ultrasonic detection equipment detects that the remote-controlled retrieval robot is about to reach the edge of the storage tank, the crushing mechanism stops working, the lifting mechanism lifts the crushing mechanism, the remote-controlled retrieval robot retreats a certain distance, turns and moves horizontally, and then the lifting mechanism lowers the crushing mechanism to the set depth to continue crushing and retrieving the radioactive mud;

[0064] When building a tank for storing radioactive waste liquid, it is usually necessary to set up reinforcing ribs to divide the tank into multiple areas. After completing the autonomous cruising and retrieval of the upper layer of mud on the reinforcing ribs, the lower layer of the reinforcing ribs adopts the segmented area crushing and retrieval process, that is, crushing and retrieval one by one according to the areas surrounded by the reinforcing ribs; when performing retrieval operations in the area, when the remote-controlled retrieval robot reaches the edge of one end of the area, the rotation of the crushing drum and the suction action of the suction mechanism are stopped, the lifting mechanism lifts the crushing mechanism, the remote-controlled retrieval robot retreats to the edge of the other end of the area, and the remote-controlled retrieval robot is horizontally remotely controlled to continue crushing and retrieval in one direction. After completing the crushing and retrieval of a layer of mud in one direction within the area, the remote-controlled retrieval robot turns around and repeats the above process to crush and retrieve the mud in the opposite direction; during the regional crushing and retrieval process, when encountering mud at the hardened or reinforcing rib dead corner, the water spraying mechanism is started to spray high-pressure water to dilute the mud. Using the above process, all the bottom mud is retrieved layer by layer according to the crushing and retrieval process within the area.

[0065] (4) Recovering the remote control retrieval robot: After stopping the crushing and suction operations, lift the crushing mechanism, and let the remote control retrieval robot climb over the reinforcement ribs and return to the initial lowering point (change the posture of the remote control retrieval robot from vertical to horizontal); start the main and auxiliary wire rope motors, and lift the remote control retrieval robot from the bottom of the storage tank. When it reaches the middle of the storage tank, replace and clean the collection port of the suction mechanism, the pneumatic diaphragm pump, and the mud residue in the connecting pipe. After cleaning, the main wire rope motor continues to lift the recovery cable, and the auxiliary wire rope motor stops working, so that the remote control retrieval robot returns from a horizontal posture to a vertical state, from 0° to 90°, and then lifts all the reels. The remote control retrieval robot continues to rise, but does not pass through the tank hole. The reel lifting is stopped and the remote control retrieval robot is sprayed and washed. After the spraying is completed, it is left to stand for more than 2 hours, or when there are no obvious water droplets, all reels are started again to lift the remote control retrieval robot until it passes through the tank hole smoothly and is stored in the retrieval device. The gantry crane lifts the retracting device away from the hole, and the gantry crane lifts the plug back to its original position to seal the tank; the gas tent door is opened, the gantry crane lifts the retracting device to the position at the time of entry, and the crane loads the retracting mechanism into the transfer box; the crane lifts the transfer box onto the transfer vehicle, and the transfer vehicle transports the transfer box to the cleaning workshop for further cleaning; the irradiated device is packaged, the site is tidied, and the on-site equipment is moved to the designated place to complete the slurry retrieval work in the storage tank.

[0066] During the crushing and retrieval process, the flow meter of the remote control retrieval robot detected that the mud output was very small, indicating that the filter in the mud collection box was clogged, and the water spray backwash system was started. At this time, the remote control retrieval robot stopped working, lifted the crushing mechanism, and the pressurized water from the pressurized water system cleaned the filter along the pipeline. After a period of cleaning, the filter cleaning work was completed; the autonomous cruise retrieval mode was restarted, and the remote control retrieval robot continued to crush and retrieve the mud.

[0067] The moving speed of the remote-controlled retrieval robot and the retracting and releasing status of the main wire rope are realized through the adaptive tensioning system on the retracting and releasing device. That is, when the wire rope is taut, the adaptive tensioning system detects that the counterweight has reached the upper limit position. When the wire rope is taut for a long time, the adaptive tensioning system detects that the counterweight has reached the lower limit position. At this time, the speed of the reel lowering and recovering the wire rope is automatically adjusted to make the counterweight dynamically balanced within a reasonable range set by the adaptive tensioning system.

[0068] The above embodiment is only one of the preferred implementation modes of the present invention and should not be used to limit the protection scope of the present invention. Any changes or modifications that are made to the main design concept and spirit of the present invention and have no substantive significance, and the technical problems they solve are still consistent with the present invention, should be included in the protection scope of the present invention.

Claims

1. A device for retrieving radioactive residual mud from large underground storage tanks, characterized in that: It comprises an adaptive retractable mechanism (1) capable of realizing synchronous retractable and retractable pipelines during the mud retrieval process, and a remote control retrieval robot (2) connected to the adaptive retractable mechanism (1) via a steel wire rope for retrieving the mud; The remote control retrieval robot (2) comprises a robot body, a rear mounting assembly (31) is arranged at the rear end of the robot body, and a crushing mechanism (27) capable of crushing radioactive residual mud in the storage tank is arranged at the front end; the crushing mechanism (27) is fixed to the front end of the robot body through a lifting mechanism (29) capable of raising or lowering the crushing mechanism (27); a water spraying mechanism (30) is installed above the crushing mechanism (27) through a mounting plate (61), a suction mechanism (28) connected to the crushing mechanism (27) through a connecting pipe is arranged inside the robot body, and a walking mechanism (32) is arranged at the bottom of the robot body; The adaptive retractable mechanism (1) comprises a base frame (3), a cable hoisting mechanism (4) arranged on the base frame (3) for realizing synchronous retractable and retractable pipelines during mud retrieval, an adaptive tensioning mechanism (5) for preventing the mud retrieval robot from slipping or tipping over due to the tightness of the pipeline, and a guiding mechanism (6) for preventing the remote control retrieval robot (2) from horizontally deviating when moving up and down; the cable hoisting mechanism (4) comprises a mud reel (10) and a cable reel (11) placed on the base frame (3) for reeling the pipeline; one side of the mud reel (10) is connected to the cable reel (11). A main steel wire rope motor (9-1) is connected to the other side of the oil mud reel (10) through a chain, and a first transmission mechanism (13) capable of transmitting the driving force of the main steel wire rope motor (9-1) to the cable reel (11) is connected; a main steel wire rope reel (12-1) capable of rotating under the drive of the main steel wire rope motor (9-1) is also arranged on the side of the oil mud reel (10) connected to the first transmission mechanism (13); an auxiliary steel wire rope reel (12-2) and an auxiliary steel wire rope motor (9-2) capable of driving the auxiliary steel wire rope reel (12-2) to rotate are also fixedly arranged on the base frame (3); The crushing mechanism (27) comprises a tool head frame (33) connected to the lifting mechanism (29), and a crushing drum (36) mounted on the front end of the tool head frame (33); the surface of the crushing drum (36) is mounted with two spiral blades with opposite pitches and mounted opposite to each other, and a transverse partition is inserted between the spiral blades; The guide mechanism (6) is installed inside the base frame (3), and comprises a main lifting plate (21), a small lifting plate (22), and a guide column (60); a wire tube hole sleeve (23) is provided on the main lifting plate (21), and a wire rope threading hole (25) and a cable threading hole (26) are provided on the wire tube hole sleeve (23); a V-shaped guide wheel (24) is provided on the side of the main lifting plate (21) to install it on the profile steel frame (7) inside the base frame (3), so that the main lifting plate (21) can move up and down on the profile steel frame (7); and the small lifting plate (22) is fixed below the main lifting plate (21) through a guide shaft.

2. The device for retrieving radioactive residual mud from a large underground storage tank according to claim 1, characterized in that: The base frame (3) comprises a profile steel frame (7) for supporting and a positioning assembly (8) for walking on the ground and fixing the position.

3. The device for retrieving radioactive residual mud from a large underground storage tank according to claim 2, characterized in that: The adaptive tensioning mechanism (5) comprises a mounting bracket (14) mounted on a base frame (3), a first fixed pulley (15-1) and a second fixed pulley (15-2) arranged above the mounting bracket (14), two vertical guide rods (20) arranged below the mounting bracket (14), a counterweight box slidably mounted on the guide rods (20), a movable pulley (16) fixed above the counterweight box, and an upper sensor (18-1) and a lower sensor (18-2) respectively mounted above and below the guide rods (20); a counterweight block (17) is arranged inside the counterweight box, and a laser distance measuring sensor (19) is also fixedly mounted below the mounting bracket (14).

4. The device for retrieving radioactive residual mud from a large underground storage tank according to claim 3 is characterized in that: The crushing mechanism (27) further comprises an iron-based sensor (37) mounted at the rear lower part of the tool head frame (33) for detecting whether it contacts the bottom of the storage tank, a second transmission mechanism (35) mounted at the side of the tool head frame (33) for transmitting kinetic energy to the crushing roller (36), and a first drive motor (34) mounted inside the tool head frame (33) and connected to the second transmission mechanism (35); a water spraying mechanism (30) is arranged on the tool head frame (33), comprising a water pipe (44), a nozzle (45) mounted at the end of the water pipe (44) for flushing mud dead corners and hardened areas, and a nozzle mounting seat (46) for limiting the position of the nozzle (45); a swinging motor (47) for allowing the nozzle (45) to swing left and right, and a pitching motor (48) for allowing the nozzle to swing up and down are mounted below the nozzle mounting seat (46).

5. The device for retrieving radioactive residual mud from a large underground storage tank according to claim 4, characterized in that: The suction mechanism (28) comprises a collection port (38) connected to the crushing mechanism (27) for collecting radioactive residual mud, a pneumatic diaphragm pump (40) installed inside the robot body, a connecting pipe (39) for connecting the collection port (38) and the pneumatic diaphragm pump (40), and a mud collection box for storing radioactive residual mud; the output port of the pneumatic diaphragm pump (40) is connected to a mud pipe in the oil mud pipeline.

6. The device for retrieving radioactive residual mud from a large underground storage tank according to claim 5, characterized in that: The rear mounting assembly (31) comprises a rear mounting plate (50) connected to the robot body by bolts, a cable fixing frame (51) fixed on the rear mounting plate (50), a conversion joint (53) and an air plug (52) arranged on the cable fixing frame (51), and a lifting ring (54) fixed on the cable fixing frame (51) and used for connecting with the main steel wire rope; The walking mechanism (32) comprises a wheel (55), a crawler belt (56), and a second driving motor (58). The second driving motor (58) drives the wheel (55) to rotate through a sprocket chain transmission member (59). The rotation of the wheel (55) drives the crawler belt (56) to move the remote control retrieval robot (2). A bracket (57) for supporting the middle force of the crawler belt (56) is also provided on the robot body.

7. A process for recovering radioactive residual mud from a large underground storage tank using the device for recovering radioactive residual mud from a large underground storage tank as claimed in any one of claims 1 to 6, characterized in that: include: S1: Device preparation: confirm the working conditions, accurately position and fix the positioning assembly of the retrieval device to the positioning hole of the tank opening; S2: Lowering the remote control retrieval robot: The main wire rope motor and the auxiliary wire rope motor work in coordination to release the main and auxiliary wire ropes, mud pipes, water pipes, air pipes and cables. The main lifting plate slowly moves downward along the profile steel frame with the remote control retrieval robot. When the main lifting plate slowly lowers to the bottom of the profile steel frame, the small lifting plate continues to move downward along the guide column to ensure that the remote control retrieval robot smoothly passes through the hole of the storage tank. When the remote control retrieval robot is lowered to the middle of the storage tank, the release speed of the auxiliary wire rope reel increases and the release speed of the main wire rope reel decreases, so that the posture of the remote control retrieval robot changes from vertical to horizontal. The remote control retrieval robot continues to be lowered horizontally, and the release length of the main and auxiliary wire ropes and the adaptive tensioning mechanism are used to determine whether the remote control retrieval robot has reached the bottom of the storage tank. S3: Mud retrieval: The lifting mechanism drives the crushing mechanism to move downward, and the crushing drum recovers the mud into the mud collection port. The connecting pipe is connected to the suction mechanism, and the suction mechanism transports the radioactive residual mud to the external target storage tank through the mud pipe connected to its outlet; the remote control retrieval robot is equipped with laser and ultrasonic detection equipment inside to determine whether the remote control retrieval robot has reached the edge of the storage tank. When the remote control retrieval robot reaches the edge of the storage tank, the crushing mechanism stops working, the lifting mechanism lifts the crushing mechanism, and the remote control retrieval robot retreats a certain distance, turns and moves horizontally, and then continues to crush and retrieve the radioactive mud; S4: When encountering compaction and dead corners, the water spraying mechanism is started to spray high-pressure water, and the sprinkler head is swung up and down and left and right by the action of the swing motor and pitch motor in the water spraying mechanism, thereby flushing the radioactive residual mud in the compaction and dead corners; S5: Recover the remote control retrieval robot: After the retrieval of the radioactive residual mud is completed, start the main and auxiliary wire rope motors, lift the remote control retrieval robot from the bottom of the storage tank, and when it reaches the middle of the storage tank, replace and clean the mud residue in the collection port of the suction mechanism, the pneumatic diaphragm pump and the connecting pipe. After cleaning, the main wire rope motor continues to lift the recovery cable, and the auxiliary wire rope motor stops working. After the remote control retrieval robot returns to a vertical state from a horizontal posture, the main and auxiliary wire rope motors make the remote control retrieval robot continue to rise, but without passing through the storage tank opening. The remote control retrieval robot is sprayed and washed. After the spraying is completed, let it stand for more than 2 hours or when there is no obvious water droplet, start the main and auxiliary wire rope motors again to lift the remote control retrieval robot until it passes smoothly through the storage tank opening and is stored in the retrieval device.

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