Glove box decommissioning robot, glove box decommissioning system, and method of decommissioning a nuclear facility

Abstract

The application discloses a glove box decommissioning robot, a glove box decommissioning system and a decommissioning method of a nuclear facility, which enables the mechanical arm of a crawler robot to accurately enter a glove operation hole and clean and decontaminate the inside of the glove box. The glove box decommissioning robot comprises a crawler walking system (1), an arm moving system (3), a mechanical arm system (2) and an electric control system (7). The arm moving system (3) comprises a horizontal screw module and a vertical screw module. The horizontal screw module is fixed at the front end of the crawler walking system (1) and is used for linear motion in the horizontal direction. The vertical screw module is fixed on the sliding block of the horizontal screw module and is used for linear motion in the vertical direction. The mechanical arm system (2) comprises two mechanical arms, and the two mechanical arms are fixed on the sliding blocks of the vertical screw module and are moved under the drive of the arm moving system (3). The roots of the two mechanical arms rotate around the same axis.

Description

Technical Field

[0001] This invention belongs to the field of nuclear facility decommissioning technology, specifically relating to a glovebox decommissioning robot, a glovebox decommissioning system, and a method for decommissioning nuclear facilities. Background Technology

[0002] Numerous nuclear facilities require decommissioning. The decommissioning environment is complex, often severely unstructured, and contains large amounts of radioactive waste, making manual dismantling and disposal extremely difficult and dangerous. Among the many nuclear facilities requiring decommissioning, glove boxes and their internal equipment constitute a significant proportion of the primary nuclear protection facilities.

[0003] The conventional solution is for personnel to wear protective clothing to clean, disassemble, and remove the decommissioned glove boxes, but this will expose the workers to radiation.

[0004] In existing technologies, there are also methods that use tracked robots for decontamination. Figure 1 and Figure 2 This is a structural diagram of a glove box. During the decommissioning process, cleaning, decontamination, and disassembly of the glove box's interior are far more difficult than those of the exterior. Furthermore, since the glove box's radioactive sources are primarily located inside, their distribution and radioactivity levels are generally unknown. Direct disassembly from the outside in could potentially lead to catastrophic consequences due to a sudden increase in radioactivity levels. Tracked robots can disassemble the exterior of the glove box using cold cutting tools such as circular saws, reciprocating saws, and hydraulic shears, or thermal cutting tools such as laser cutting and plasma cutting. However, operating, cleaning, and decontaminating the extremely confined space inside the glove box presents significant challenges for the following reasons:

[0005] like Figure 1 and Figure 2As shown, the tracked robot's robotic arm enters the glove box primarily through two routes: one is through the maintenance door 21 located on the side of the glove box. However, since the maintenance door 21 is generally located on one side of the glove box, it is difficult to clean the other side for longer glove boxes. Furthermore, due to radiation protection requirements, the maintenance door 21 is thick and heavy, making it difficult for the tracked robot's robotic arm to open. Opening the maintenance door also creates a large opening for radioactive atmosphere in the glove box, which is detrimental to atmosphere control in the decommissioning environment. The other route is through the glove operation holes 22. These holes are strategically distributed on the surface of the glove box, allowing access to virtually all spaces inside. Rubber gloves are installed at the glove operation holes 22, making them easy to remove. Removing the rubber gloves also minimizes the opening for radioactive atmosphere in the glove box, facilitating atmosphere control in the decommissioning environment. However, the size of the glove operation hole 22 is relatively small, with a diameter generally not exceeding 180mm. The positioning accuracy of the tracked robot is low. Therefore, the robotic arm of the tracked robot cannot accurately extend into the glove operation hole 22, making it difficult to operate, clean, and decontaminate the inside of the glove box. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies in the prior art by providing a glove box decommissioning robot, a glove box decommissioning system, and a decommissioning method for nuclear facilities, which enables the robotic arm of a tracked robot to accurately enter the glove operation hole of the glove box to clean and decontaminate the inside of the glove box.

[0007] In a first aspect, embodiments of the present invention provide a glovebox decommissioning robot, which includes a tracked walking system, an arm movement system, a robotic arm system, and an electronic control system. The arm movement system includes a horizontal lead screw module and a vertical lead screw module. The horizontal lead screw module is fixed to the front end of the tracked walking system and is used for linear motion in the horizontal direction. The vertical lead screw module is fixed to a slider of the horizontal lead screw module and is used for linear motion in the vertical direction. The robotic arm system includes two robotic arms, both of which are fixed to sliders on the vertical lead screw module to move under the drive of the arm movement system; the roots of the two robotic arms rotate around the same axis, one robotic arm being used to disassemble and clean items inside the glovebox, and the other robotic arm being used to clean the interior of the glovebox. The electronic control system is fixed to the tracked walking system and electrically connected to the tracked walking system, the arm movement system, and the robotic arm system respectively, to control the tracked walking system, the arm movement system, and the robotic arm system.

[0008] Therefore, the glove box decommissioning robot provided in this embodiment of the invention, by setting a horizontal and vertical lead screw module in the arm movement system and fixing two robotic arms to sliders on the vertical lead screw module, allows for precise movement of the two robotic arms in both the vertical and horizontal directions. Simultaneously, by adjusting the posture of the two robotic arms through the robotic arm system, precise alignment between the two robotic arms and the glove operating hole can be achieved, allowing them to enter the glove box through the operating hole for cleaning and decontamination. Furthermore, by setting the roots of the two robotic arms to rotate around the same axis, the working reference points of the two robotic arms are made identical, ensuring consistent posture at the roots and making it easier for them to enter the glove box through the operating hole. When this working reference point needs adjustment, the horizontal and vertical lead screw modules can simultaneously drive the two robotic arms to perform the same movement, reducing the difficulty and improving the control precision of simultaneously operating the two robotic arms. By setting up an electronic control system, automatic control of the glove box decommissioning robot can be achieved, improving its automation level.

[0009] In some embodiments, the two robotic arms are specifically a first robotic arm and a second robotic arm. The first robotic arm is used to clean the glove box, and the second robotic arm is used to disassemble and clean the items inside the glove box. The length of the second robotic arm is greater than the length of the first robotic arm.

[0010] In some embodiments, when both the first and second robotic arms are in a straight and horizontal position, the maximum cross-sectional dimension of the robotic arm system is smaller than the size of the glove operation hole on the glove box.

[0011] In some embodiments, the end of the second robotic arm is provided with a quick-change tool system, which includes a quick-change tool connector. The quick-change tool connector is used for quickly changing quick-change tools, enabling the second robotic arm to perform different disassembly and cleaning functions through the quick-change tools.

[0012] The glove box decommissioning robot also includes a quick-change toolbox fixed to the tracked walking system. The quick-change toolbox contains multiple quick-change tools to provide the quick-change tools required for the quick-change tool connectors.

[0013] In some embodiments, the end of the first robotic arm is provided with a decontamination system electrically connected to the electronic control system. The decontamination system includes a high-pressure spraying device for spraying a decontaminant at high pressure. The glove box decommissioning robot also includes a compressed air system electrically connected to the electronic control system. The compressed air system is fixed to the rear end of the tracked walking system and connected to the high-pressure spraying device, for providing a high-pressure air source to the high-pressure spraying device under the control of the electronic control system.

[0014] In some embodiments, the high-pressure spraying device is connected to a detergent storage device via piping. The detergent storage device is located outside the nuclear facility, or it is fixed to the tracked walking system.

[0015] In some embodiments, the end of the first robotic arm is provided with a camera monitoring system electrically connected to the electronic control system; and / or, the end of the first robotic arm is provided with a hotspot monitoring system electrically connected to the electronic control system.

[0016] In some embodiments, the electrical control system is electrically connected to the outside of the nuclear facility via a cable, and / or the electrical control system has a wireless transmission function for wireless communication with the outside of the nuclear facility.

[0017] Secondly, embodiments of the present invention also provide a glove box decommissioning system, which includes a glove box decommissioning robot as described in the above embodiments and a remote control system. The remote control system is connected to the electronic control system of the glove box decommissioning robot via cable or wireless means, and is used to remotely control the glove box decommissioning robot.

[0018] Thirdly, embodiments of the present invention also provide a method for decommissioning a nuclear facility, the method comprising: an electronic control system driving a tracked walking system to move, causing a glove box decommissioning robot to approach the glove operation port of the glove box; the electronic control system driving the horizontal and vertical lead screw modules of the arm moving system to move to adjust the position of two robotic arms, and simultaneously driving the robotic arm system to adjust the posture of the two robotic arms so that the two robotic arms are aligned with the glove operation port and enter the glove box through the glove operation port; and the electronic control system driving the two robotic arms of the robotic arm system to clean and decontaminate the inside of the glove box.

[0019] The glovebox decommissioning system and nuclear facility decommissioning method provided in this embodiment of the invention have the same beneficial effects as the glovebox decommissioning robot described above, and will not be repeated here. Attached Figure Description

[0020] Figure 1 : This is a structural diagram of a glove box;

[0021] Figure 2 :for Figure 1 Rear view of the glove box;

[0022] Figure 3 : A structural diagram of a glove box-decommissioned robot provided in an embodiment of the present invention;

[0023] Figure 4 :for Figure 3 Side view of a decommissioned robot with a mid-sized glove box. Detailed Implementation

[0024] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0025] Example 1:

[0026] like Figure 3 and Figure 4 As shown, this embodiment of the invention provides a glovebox decommissioning robot for decommissioning nuclear facilities. The glovebox decommissioning robot includes a tracked walking system 1, an arm moving system 3, a robotic arm system 2, and an electronic control system 7.

[0027] The tracked locomotive system 1 enables the glovebox decommissioning robot to walk. Decommissioning environments are typically unstructured, filled with debris, obstacles, and ditches, placing high demands on the locomotive system. Compared to ordinary wheeled (wheel, Mecanum wheel) locomotive systems, the tracked locomotive system 1 provides the glovebox decommissioning robot with a certain obstacle-crossing ability, improving its environmental adaptability. Furthermore, the tracked locomotive system 1 offers better load-bearing capacity, allowing the glovebox decommissioning robot to accommodate more functional components.

[0028] like Figure 3 and Figure 4 As shown, the arm movement system 3 includes a horizontal lead screw module and a vertical lead screw module. The horizontal lead screw module is fixed to the front end of the tracked walking system 1 and is used for linear motion in the horizontal direction. The vertical lead screw module is fixed to the slider of the horizontal lead screw module and is used for linear motion in the vertical direction. The robotic arm system 2 includes two robotic arms, which are fixed to the slider on the vertical lead screw module to move under the drive of the arm movement system 3. The roots of the two robotic arms rotate around the same axis. One robotic arm is used to disassemble and clean the items inside the glove box, and the other robotic arm is used to clean the inside of the glove box.

[0029] The horizontal and vertical lead screw modules in the arm movement system 3 have high motion accuracy. Therefore, after fixing the two robotic arms to the slider on the vertical lead screw module, the two robotic arms can move accurately in the vertical and horizontal directions.

[0030] In the actual use of the glove box decommissioning robot, the tracked walking system 1 can be used to bring the glove box decommissioning robot close to the glove operation hole 22. Then, the horizontal and vertical lead screw modules in the arm movement system 3 are used to adjust the position of the two robotic arms. At the same time, the posture of the two robotic arms is adjusted by the drive robotic arm system 2 so that the two robotic arms are precisely aligned with the glove operation hole 22 and accurately enter the glove box through the glove operation hole 22 to clean and decontaminate the inside of the glove box. Meanwhile, the tracked walking system 1 and the arm movement system 3 located outside the glove box can provide support for the two robotic arms that extend into the glove box.

[0031] Furthermore, since the roots of the two robotic arms are designed to rotate around the same axis, their working reference points are identical, making it easy to maintain consistent posture at the roots of the two robotic arms. This also makes it easier for both robotic arms to simultaneously enter the glove box through the glove operation hole 22. Moreover, when this working reference point needs adjustment, the arm movement system 3 located outside the glove box can simultaneously drive both robotic arms to perform the same movement via horizontal and vertical lead screw modules, reducing the difficulty and precision of operating two robotic arms simultaneously.

[0032] Furthermore, the cross-sectional dimensions of the roots of the two robotic arms are smaller than the maximum cross-sectional dimensions formed by the other parts of the two robotic arms. After the two robotic arms enter the glove box through the glove operating hole 22, the roots of the two robotic arms have a large range of motion within the glove operating hole, allowing the two robotic arms to make fine adjustments to their orientation and posture through the tracked walking system 1 and the arm moving system 3, so that the working range of the two robotic arms can cover as much of the space inside the glove box as possible.

[0033] By using one robotic arm to disassemble and clean the items inside the glove box, and another robotic arm to decontaminate the glove box, the glove box decommissioning robot can have more cleaning methods and both robotic arms can clean and decontaminate the inside of the glove box at the same time, which helps to improve the cleaning efficiency of the glove box.

[0034] like Figure 3 and Figure 4As shown, the electronic control system 7 is fixed on the tracked walking system 1 and is electrically connected to the tracked walking system 1, the arm moving system 3 and the robotic arm system 2 respectively, so as to control the tracked walking system 1, the arm moving system 3 and the robotic arm system 2.

[0035] For example, the electronic control system 7 can control the tracked walking system 1 to move forward, backward, or turn. The electronic control system 7 can control the arm moving system 3 to move in the vertical and horizontal directions. The electronic control system 7 can control the robotic arm in the robotic arm system 2 to rotate, extend, retract, or perform operations such as decontamination.

[0036] The electronic control system 7 enables automatic control of the glove box decommissioning robot, thereby improving the automation level of the glove box decommissioning robot.

[0037] Therefore, the glove box decommissioning robot provided in this embodiment of the invention, by setting up a horizontal lead screw module and a vertical lead screw module in the arm movement system 3, and fixing two robotic arms on the sliders on the vertical lead screw module, can achieve precise movement of the two robotic arms in the vertical and horizontal directions through the arm movement system 3. Simultaneously, by adjusting the posture of the two robotic arms through the robotic arm system 2, the two robotic arms can achieve precise alignment with the glove operation hole 22, and enter the glove box through the glove operation hole 22 to clean and decontaminate the inside of the glove box. Furthermore, by setting the roots of the two robotic arms to rotate around the same axis, the working reference points of the two robotic arms are made the same, ensuring that the posture of the roots of the two robotic arms remains consistent, making it easier for the two robotic arms to enter the glove box through the glove operation hole 22. And when this working reference point needs to be adjusted, the horizontal lead screw module and the vertical lead screw module can simultaneously drive the two robotic arms to perform the same movement, reducing the difficulty and control precision of operating the two robotic arms simultaneously. By setting up the electronic control system 7, automatic control of the glove box decommissioning robot can be achieved, improving the automation level of the glove box decommissioning robot.

[0038] In some embodiments, the glovebox decommissioning robot also includes a power supply and power system for providing the power and energy required for the operation of the various systems in the glovebox decommissioning robot.

[0039] In some embodiments, such as Figure 3 and Figure 4As shown, the two robotic arms are specifically a first robotic arm 8 and a second robotic arm 9. The first robotic arm 8 is used to clean the glove box, and the second robotic arm 9 is used to disassemble and clean the items inside the glove box. The length of the second robotic arm 9 is greater than the length of the first robotic arm 8. For example, when cleaning the glove box, the first robotic arm 8 typically uses high-pressure airflow to spray and clean, while the second robotic arm 9 typically uses tools to disassemble and clean the items inside the glove box.

[0040] For example, the first robotic arm 8 is a two-segment robotic arm, and the second robotic arm 9 is a three-segment robotic arm.

[0041] Alternatively, the first robotic arm 8 can be a three-section robotic arm, and the second robotic arm 9 can be a four-section robotic arm. The structure of the first robotic arm 8 and the second robotic arm 9 can be flexibly set according to the needs of the site.

[0042] In this context, it is understandable that the second robotic arm 9 has more degrees of freedom and is therefore more flexible. It can perform more actions when disassembling and cleaning items in the glove box, so as to better complete the disassembly and cleaning tasks.

[0043] like Figure 1 As shown, the glove box is divided into an upper and lower section. The upper section is the main body of the glove box and the main containment space of the process equipment. It is the focus of operation and has a higher level of contamination, making cleaning and decontamination more difficult. However, the lower section of the glove box, being isolated from the main operating space, has a lower level of contamination. Once the upper section of the glove box is cleaned and removed, cleaning and decontamination of the lower interior space becomes relatively simple. Due to its lower position, the longer second robotic arm 9 can clean this area. The first robotic arm 8 removes contaminants by spraying a detergent; even though the first robotic arm 8 is relatively short, it can still spray the detergent onto the surface of the area to be cleaned.

[0044] In this embodiment of the invention, by making the length of the second robotic arm 9 greater than the length of the first robotic arm 8, the second robotic arm 9 and the first robotic arm 8 can have different functions while keeping the structure of the two robotic arms compact, thus satisfying the cleaning and decontamination work of all locations in the glove box.

[0045] In some embodiments, when both the first robotic arm 8 and the second robotic arm 9 are in a straight and horizontal state, the maximum size of the cross-section of the robotic arm system 2 is smaller than the size of the glove operation hole 22 on the glove box.

[0046] Understandably, under the above conditions, the cross-sectional dimension of the robotic arm system 2 is minimized. With the above setup, it can be ensured that by reasonably adjusting the extension state of the robotic arm system 2, it can simultaneously pass through the same glove operating hole 22 and enter the interior of the glove box.

[0047] In some embodiments, such as Figure 3 and Figure 4 As shown, the end of the second robotic arm 9 is equipped with a quick-change tool system 4, which includes a quick-change tool connector. The quick-change tool connector is used for quick tool replacement, enabling the second robotic arm 9 to perform different disassembly and cleaning functions through quick tool replacement.

[0048] For example, the quick-change tool described above may include a circular saw, hydraulic shears, clamps, buckets, etc. After the quick-change tool is installed on the quick-change tool connector of the second robotic arm 9, the second robotic arm 9 can perform operations such as cutting, splitting, clamping, or shoveling.

[0049] With the above settings, the second robotic arm 9 can perform different functions by changing different quick-change tools through the quick-change tool system 4, thereby improving the adaptability of the glove box decommissioning robot to different cleaning tasks.

[0050] In some embodiments, the glove box decommissioning robot also includes a quick-change toolbox fixed to the tracked walking system 1, the quick-change toolbox containing a plurality of quick-change tools to provide the quick-change tools required for the quick-change tool connector.

[0051] With the above settings, the glove box decommissioning robot can carry a variety of quick-change tools, enabling it to quickly change between different tools at the work site and thus achieve different functions. This reduces the time the glove box decommissioning robot needs to return to the outside of the nuclear facility to change the quick-change tools, thereby improving the working efficiency of the glove box decommissioning robot at the work site.

[0052] In some embodiments, the end of the first robotic arm 8 is provided with a decontamination system electrically connected to the electronic control system 7. The decontamination system includes a high-pressure spraying device for spraying a decontaminant at high pressure. The glove box decommissioning robot also includes a compressed air system 6 electrically connected to the electronic control system 7. The compressed air system 6 is fixed to the rear end of the tracked walking system 1 and connected to the high-pressure spraying device, for providing a high-pressure air source to the high-pressure spraying device under the control of the electronic control system 7.

[0053] For example, the pressure of the high-pressure air source is between 0.7MPa and 1MPa, and the high-pressure air source can be high-pressure air. The compressed air system 6 includes an air compressor.

[0054] By using high-pressure airflow for spraying and decontamination, the decontaminant can be sprayed to a greater distance, thus eliminating the need for a longer reach on the first robotic arm 8 to complete the spraying and decontamination work inside the glove box.

[0055] In some embodiments, the high-pressure spraying device is connected to a detergent storage device via a pipe. The detergent storage device is used to store various detergents, and in this embodiment, the detergent storage device can be located in multiple locations.

[0056] In some examples, detergent storage facilities are located outside the nuclear facility.

[0057] This allows for flexible replacement of the detergent in the detergent storage device, and timely addition or replacement of detergent, which helps reduce the load on the tracked walking system 1 and maintain the working continuity of the glove box decommissioned robot.

[0058] Alternatively, in other examples, the detergent storage device is fixed to the tracked walking system 1.

[0059] Understandably, the pipes required to connect the high-pressure spraying device and the detergent storage device are relatively short and are located on the tracked walking system 1. This avoids the pipes from getting tangled and affecting the walking of the glove box decommissioning robot when it is walking.

[0060] After the glovebox decommissioning robot enters the decommissioning nuclear facility, the staff (operators) are usually located outside the decommissioning nuclear facility to operate it remotely. Therefore, real-time monitoring of the environmental conditions around the glovebox decommissioning robot is extremely important.

[0061] In some embodiments, the end of the first robotic arm 8 is provided with a camera monitoring system electrically connected to the electronic control system 7.

[0062] For example, the camera monitoring system consists of multiple cameras that can capture images of the environment near the decommissioned robot in the glove box.

[0063] Through the above setup, the camera monitoring system can transmit the environmental conditions near the working device to the staff in real time, allowing them to assess the situation and select appropriate solutions. Furthermore, the camera monitoring system, located at the end of the first robotic arm 8, is at a certain distance from the second robotic arm 9. This allows the staff to control the camera in the monitoring system to observe from different angles and guide the operation of the second robotic arm 9, preventing the second robotic arm 9 from obstructing the camera. It also reduces the damage and interference to the camera monitoring system caused by mechanical vibrations and powder splashes from the quick-change tools on the second robotic arm 9.

[0064] In other embodiments, the ends of the first robotic arm 8 and the second robotic arm 9 are both equipped with a camera monitoring system electrically connected to the electronic control system 7.

[0065] This camera monitoring system, which is simultaneously installed on two robotic arms, can provide information about the surrounding environment of the glove box decommissioning robot from different perspectives as much as possible. Furthermore, the camera monitoring system on one of the robotic arms can serve as a redundancy design, with one system in standby to improve the reliability of the camera monitoring system.

[0066] Furthermore, in some examples, the end of the first robotic arm 8 is equipped with a hotspot monitoring system electrically connected to the electronic control system 7.

[0067] The above settings also allow the glove box decommissioning robot to detect ionizing radiation simultaneously, providing workers with a reference for the irradiation range. This enables timely spraying of cleaning agents based on the dose level in the working area of ​​the glove box decommissioning robot, and avoids the significant impact of a sudden increase in irradiation dose on the glove box decommissioning robot.

[0068] In some embodiments, the electrical control system 7 is electrically connected to the outside of the nuclear facility via a cable, or the electrical control system 7 has a wireless transmission function for wireless communication with the outside of the nuclear facility.

[0069] With the above setup, personnel located outside the nuclear facility can communicate with the electronic control system 7 via cable or wirelessly, thereby remotely controlling the operation of the glove box decommissioning robot and reducing the level of radiation exposure to personnel.

[0070] Furthermore, the electrical control system 7 is equipped with both of the above-mentioned communication methods: it can communicate with the outside of the nuclear facility via cable or via wireless transmission.

[0071] This allows for flexible selection of communication methods with personnel outside the nuclear facility, based on the actual conditions of the decommissioned nuclear facility, thereby improving the adaptability of the glovebox decommissioning robot to different decommissioned nuclear facilities.

[0072] Example 2:

[0073] This invention also provides a glove box decommissioning system, which includes a glove box decommissioning robot as shown in Embodiment 1 and a remote control system. The remote control system is connected to the electronic control system 7 of the glove box decommissioning robot via cable or wireless means, and is used to remotely control the glove box decommissioning robot.

[0074] For example, the remote control system can be a remote control handle, etc.

[0075] With the above setup, staff can remotely control the glovebox decommissioning robot from outside the nuclear facility via a remote control system to clean the decommissioned nuclear facility, thereby reducing the radiation levels received by staff.

[0076] Example 3:

[0077] This invention also provides a method for decommissioning a nuclear facility, which employs the glove box decommissioning robot as described in Embodiment 1 above. The decommissioning method for the nuclear facility includes steps S100-S300.

[0078] S100, the electric control system drives the tracked walking system 1 to walk, so that the glove box decommissioning robot approaches the glove operation hole 22 of the glove box;

[0079] S200, the horizontal and vertical lead screw modules in the electric control system drive the arm moving system 3 to move to adjust the position of the two robotic arms. At the same time, the electric control system drives the robotic arm system 2 to adjust the posture of the two robotic arms so that the two robotic arms are aligned with the glove operation hole 22 and enter the glove box through the glove operation hole 22.

[0080] The two robotic arms of the S300 and the electronic control system drive the robotic arm system 2 to clean and decontaminate the inside of the glove box.

[0081] For example, during this process, the second robotic arm 9 can be used to disassemble and clean the equipment, devices, and items inside the glove box. If, during the disassembly process, the radioactivity level inside the glove box suddenly rises or exceeds the standard limit, the first robotic arm 8 continues to decontaminate the area until the radioactivity level inside the glove box drops below the standard.

[0082] Afterwards, the glove box decommissioning robot moves to other glove operation ports 22 and repeats S100 to S300 until the glove box decommissioning robot has completed cleaning and decontamination of all equipment, devices and items inside the glove box.

[0083] Therefore, after the glove box decommissioning robot approaches the glove operation hole 22, the electronic control system can enable the two robotic arms to accurately align with the glove operation hole 22 and smoothly enter the glove box through the glove operation hole 22 to clean and remove dirt from the inside of the glove box.

[0084] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A glovebox-decommissioned robot, characterized in that, include: Tracked walking system (1); The arm movement system (3) includes: a horizontal lead screw module, fixed to the front end of the tracked walking system (1), for linear motion in the horizontal direction; and a vertical lead screw module, fixed to the slider of the horizontal lead screw module, for linear motion in the vertical direction. The robotic arm system (2) includes two robotic arms, both of which are fixed to sliders on the vertical lead screw module to move under the drive of the arm movement system (3); the roots of the two robotic arms rotate around the same axis, one of which is used to disassemble and clean items inside the glove box, and the other is used to clean the inside of the glove box; and, An electronic control system (7) is fixed on the tracked walking system (1) and electrically connected to the tracked walking system (1), the arm moving system (3) and the robotic arm system (2) respectively, so as to control the tracked walking system (1), the arm moving system (3) and the robotic arm system (2); The two robotic arms are specifically a first robotic arm (8) and a second robotic arm (9). When the first robotic arm (8) and the second robotic arm (9) are both in a straight and horizontal state, the maximum size of the cross-section of the robotic arm system (2) is smaller than the size of the glove operation hole (22) on the glove box. The end of the first robotic arm (8) is provided with a decontamination system electrically connected to the electronic control system (7). The decontamination system includes a high-pressure spraying device, which is used to spray the decontaminant under high pressure. The glove box decommissioning robot also includes a compressed air system (6) electrically connected to the electronic control system (7). The compressed air system (6) is fixed to the rear end of the tracked walking system (1) and connected to the high-pressure spraying device, and is used to provide a high-pressure air source for the high-pressure spraying device under the control of the electronic control system (7).

2. The glove box decommissioning robot according to claim 1, characterized in that, The first robotic arm (8) is used to clean the glove box, and the second robotic arm (9) is used to disassemble and clean the items inside the glove box. The length of the second robotic arm (9) is greater than the length of the first robotic arm (8).

3. The glove box decommissioning robot according to claim 2, characterized in that, The end of the second robotic arm (9) is provided with a quick-change tool system (4), which includes a quick-change tool connector; The quick-change tool connector is used to quickly change the quick-change tool so that the second robotic arm (9) can perform different disassembly and cleaning functions through the quick-change tool; The glove box decommissioning robot also includes a quick-change toolbox fixed to the tracked walking system (1), the quick-change toolbox containing a plurality of quick-change tools to provide the quick-change tools required for the quick-change tool connector.

4. The glove box decommissioning robot according to claim 1, characterized in that, The high-pressure spraying device is connected to the detergent storage device via a pipeline; The detergent storage device is located outside the nuclear facility, or the detergent storage device is fixed to the tracked walking system (1).

5. The glove box decommissioning robot according to claim 2, characterized in that, The end of the first robotic arm (8) is provided with a camera monitoring system electrically connected to the electronic control system (7); and / or, the end of the first robotic arm (8) is provided with a hotspot monitoring system electrically connected to the electronic control system (7).

6. The glove box decommissioning robot according to any one of claims 1-5, characterized in that, The electrical control system (7) is electrically connected to the outside of the nuclear facility via a cable, and / or the electrical control system (7) has a wireless transmission function for wireless communication with the outside of the nuclear facility.

7. A glove box decommissioning system, characterized in that, include: Glovebox decommissioning robot as described in any one of claims 1-6; and, The remote control system is connected to the electronic control system (7) of the glove box decommissioning robot via cable or wireless means, and is used to remotely control the glove box decommissioning robot.

8. A method for decommissioning a nuclear facility, characterized in that, The decommissioning method of the nuclear facility using the glovebox decommissioning robot according to any one of claims 1-6 includes: The electronic control system drives the tracked walking system (1) to walk, so that the glove box decommissioning robot approaches the glove operation hole (22) of the glove box. The electronic control system drives the horizontal and vertical lead screw modules in the arm movement system (3) to move to adjust the position of the two robotic arms. At the same time, the electronic control system drives the robotic arm system (2) to adjust the posture of the two robotic arms so that the two robotic arms are aligned with the glove operation hole (22) and enter the glove box from the glove operation hole (22). The electronic control system drives the two robotic arms of the robotic arm system (2) to clean and decontaminate the inside of the glove box.

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