Cleaning mechanism, cleaning equipment and maintenance system

Abstract

This invention provides a cleaning mechanism, cleaning device, and maintenance system. The cleaning mechanism for the top cover of a nuclear reactor pressure vessel is used to clean the top cover of the nuclear reactor pressure vessel. It includes a waste liquid collection tank, a first guide rail, a traveling assembly, a high-pressure cleaning assembly, and a first drive assembly. The top of the waste liquid collection tank is sealed to the top cover of the nuclear reactor pressure vessel to collect waste liquid used for cleaning the top cover. The first guide rail is horizontally positioned within the waste liquid collection tank. The traveling assembly is movably mounted on the first guide rail. The high-pressure cleaning assembly is mounted on the traveling assembly and is used to clean the top cover of the nuclear reactor pressure vessel. The first drive assembly is connected to the traveling assembly and controls the movement of the traveling assembly along the first guide rail. In this invention, the first drive assembly is connected to the traveling assembly to control the movement of the traveling assembly along the first guide rail, thereby moving the high-pressure cleaning assembly and enabling cleaning of different areas of the top cover of the nuclear reactor pressure vessel.

Description

Technical Field

[0001] This invention relates to the technical field of cleaning devices for the top cover of nuclear reaction pressure vessels, and particularly to a cleaning mechanism, cleaning device, and maintenance system. Background Technology

[0002] After a certain operating cycle, nuclear power plants require the replacement of the O-ring seals inside the pressure vessel top cover. Before replacing the O-rings, the C-ring grooves of the pressure vessel top cover must be cleaned. Currently, cleaning the C-ring grooves of the pressure vessel top cover primarily involves grinding and polishing. The effectiveness of this process needs to be confirmed through rigorous testing. Inappropriate selection of the grinding wheel's speed and grit can cause irreversible scratches or other damage to the C-ring grooves. Furthermore, traditional cleaning methods involve manual wiping, requiring maintenance personnel to maintain a squatting posture for extended periods under high radiation exposure, resulting in significant radiation doses and the risk of skin contamination. Therefore, there is an urgent need to develop a cleaning mechanism for automatically cleaning the C-ring grooves of the pressure vessel top cover. Summary of the Invention

[0003] This invention provides a cleaning mechanism, a cleaning device, and a maintenance system to solve the problem that existing cleaning mechanisms cannot meet the requirements for automatic cleaning of the top cover of nuclear reaction pressure vessels.

[0004] A cleaning mechanism for cleaning the top cover of a nuclear reaction pressure vessel includes a waste liquid collection tank, a first guide rail, a walking assembly, a high-pressure cleaning assembly, and a first drive assembly.

[0005] The top of the waste liquid collection tank is used to seal and connect with the top cover of the nuclear reaction pressure vessel to collect the waste liquid used to clean the top cover of the nuclear reaction pressure vessel.

[0006] The first guide rail is arranged horizontally inside the waste liquid collection tank;

[0007] The walking component is movably mounted on the first guide rail;

[0008] The high-pressure cleaning assembly is installed on the walking assembly and is used to clean the top cover of the nuclear reaction pressure vessel.

[0009] The first drive component is connected to the walking component and is used to control the walking component to move along the first guide rail.

[0010] Preferably, the waste liquid collection tank has a sealing protrusion structure and a sealing strip, wherein the sealing protrusion structure matches the sealing groove of the top cover of the nuclear reaction pressure vessel, and the sealing strip is disposed on the sealing protrusion structure for sealingly connecting the top of the waste liquid collection tank to the top cover of the nuclear reaction pressure vessel.

[0011] Preferably, the waste liquid collection tank has a circular arc shape in the horizontal direction, which is consistent with the circumferential direction of the top cover of the nuclear reaction pressure vessel;

[0012] The cross-sectional shape of the first guide rail in the horizontal direction is the same as the cross-sectional shape of the waste liquid collection box in the horizontal direction.

[0013] Preferably, the walking assembly includes a slider, a bracket, and walking wheels;

[0014] The slider is movably mounted on the first guide rail and connected to the first drive assembly;

[0015] The bracket is fixed on the slider, and the high-pressure cleaning assembly is mounted on the bracket;

[0016] The traveling wheels are located at the bottom of the slider and are in contact with the inner bottom wall of the waste liquid collection tank.

[0017] Preferably, the walking assembly further includes a guide wheel, which is disposed on the slider and contacts the inner wall of the waste liquid collection tank.

[0018] Preferably, the high-pressure cleaning assembly includes a water chamber, a high-pressure pipeline, a water pump, and a high-pressure nozzle;

[0019] The water chamber is mounted on the walking assembly. The first end of the high-pressure pipe is connected to the cleaning fluid source. The second end of the high-pressure pipe passes through the waste liquid collection tank and is connected to the bottom of the water chamber. The water pump is mounted on the water chamber. The first end of the high-pressure nozzle is connected to the water pump. The second end of the high-pressure nozzle faces the top cover of the nuclear reaction pressure vessel.

[0020] Preferably, the first drive assembly includes a support plate, a first motor, a gear, and a rack;

[0021] The support plate is fixed to the walking assembly, the first motor is fixed to the support plate, and the gear is installed at the output end of the first motor;

[0022] The rack is installed on the inner wall of the waste liquid collection tank and meshes with the gear.

[0023] Preferably, the cleaning mechanism further includes two position sensors;

[0024] The two position sensors are respectively installed on two opposite inner sidewalls inside the waste liquid collection tank, and the two position sensors correspond to the two ends of the first guide rail.

[0025] Preferably, the cleaning mechanism further includes a lifting assembly; the lifting assembly is located on the outside of the waste liquid collection tank;

[0026] The lifting assembly is used to move the waste liquid collection tank vertically.

[0027] Preferably, the lifting assembly includes a guide support rod, a lifting plate, and an electric cylinder;

[0028] The guide support rod is provided on the outside of the waste liquid collection tank, and the guide support rod is arranged along the height direction of the waste liquid collection tank;

[0029] The lifting plate is connected to the waste liquid collection tank and is movably installed on the guide support rod;

[0030] The electric cylinder is located below the lifting plate and is used to move the lifting plate along the height direction of the waste liquid collection tank.

[0031] Preferably, the lifting assembly further includes a limiting plate; the limiting plate is fixed on the shaft end of the guide support rod and is used to limit the lifting plate.

[0032] A cleaning device for cleaning the top cover of a nuclear reaction pressure vessel includes a vehicle body and a cleaning mechanism; the cleaning mechanism is mounted on the vehicle body.

[0033] Preferably, the vehicle body mechanism includes at least two vehicle body plates, a support column, and a second drive assembly;

[0034] At least two of the vehicle body panels have a horizontal cross-sectional shape that is circular, consistent with the circumferential direction of the top cover of the nuclear reaction pressure vessel;

[0035] At least two of the vehicle body panels are arranged at intervals along the height direction of the waste liquid collection tank, and two adjacent vehicle body panels are connected by the support column and at least partially overlap to form at least two placement areas, and the cleaning mechanism is placed in the placement area;

[0036] The second drive component is disposed on the lowest layer of the vehicle body plate and is used to drive the vehicle body mechanism to move.

[0037] Preferably, the second drive assembly includes a drive wheel, a driven wheel, a second motor, a side-fixed guide wheel, and a side-sliding guide wheel;

[0038] The drive wheel and the driven wheel are arranged at intervals below the lowest layer of the vehicle body plate, and the second motor is connected to the drive wheel;

[0039] The side fixed guide wheel is located on the inner side of the bottommost vehicle body plate, and the side sliding guide wheel is located on the outer side of the bottommost vehicle body plate. The side fixed guide wheel and the side sliding guide wheel cooperate to provide guidance for the movement of the vehicle body mechanism.

[0040] Preferably, the cleaning device further includes a drying assembly, which is disposed on the vehicle body structure and located on one side of the cleaning mechanism, for wiping the top cover of the nuclear reaction pressure vessel.

[0041] Preferably, the drying assembly includes a telescopic mounting rod, a spring, a collection box, a drying cloth, and a fixing member;

[0042] The first end of the retractable mounting rod is mounted on the vehicle body mechanism, and the spring and the collection box are sequentially fitted onto the second end of the retractable mounting rod;

[0043] The drying cloth is installed inside the collection box via the fastener and is used to wipe the top cover of the nuclear reaction pressure vessel.

[0044] Preferably, the fixing element includes a vertical pole and a clamping plate;

[0045] Two of the uprights are arranged at intervals inside the collection box, and the size of the uprights matches the top cover of the nuclear reaction pressure vessel;

[0046] The drying cloth is fitted onto the upright, and the clamping plate is installed on the upright.

[0047] Preferably, the cleaning device further includes an inspection component, which includes a gimbal camera and a binocular camera;

[0048] The PTZ camera is installed on one side of the cleaning mechanism to monitor the condition of the top cover of the nuclear reaction pressure vessel before and after cleaning.

[0049] The binocular camera is located on the other side of the cleaning mechanism and is used to monitor scratches and defects on the top cover of the nuclear reaction pressure vessel.

[0050] Preferably, the cleaning device further includes a circulation and recovery component, which includes a cleaning fluid tank, a diaphragm pump, and a filter;

[0051] The cleaning fluid tank and the diaphragm pump are both mounted on the vehicle body structure. The inlet of the cleaning fluid tank is connected to the outlet of the waste liquid collection tank of the cleaning mechanism through a pipe. The inlet of the high-pressure cleaning component of the cleaning mechanism is connected to the outlet of the diaphragm pump through a pipe. The inlet of the diaphragm pump is connected to the outlet of the cleaning fluid tank through a pipe.

[0052] The filter is installed inside the cleaning fluid tank and is used to filter the cleaning fluid in the tank.

[0053] Preferably, the recycling assembly further includes a heating element and a temperature sensor;

[0054] The heating element is installed inside the cleaning fluid tank for heating the cleaning fluid;

[0055] The temperature sensor is installed inside the cleaning fluid tank to measure the temperature of the cleaning fluid.

[0056] A maintenance system for maintaining the top cover of a nuclear reaction pressure vessel includes a support base, an annular guide rail, and the aforementioned cleaning device.

[0057] The support base is disposed around the annular guide rail and is used to support the top cover of the nuclear reaction pressure vessel;

[0058] The vehicle body mechanism of the cleaning device is movably mounted on the annular guide rail.

[0059] The cleaning mechanism provided in this embodiment of the invention is used to clean the top cover of a nuclear reaction pressure vessel. It includes a waste liquid collection tank, a sealing strip, a first guide rail, a traveling assembly, a high-pressure cleaning assembly, and a first drive assembly. In use, the top of the waste liquid collection tank is sealed to the top cover of the nuclear reaction pressure vessel to collect the waste liquid used for cleaning the top cover, effectively preventing splashing of the cleaning liquid during the cleaning process. The first guide rail is horizontally positioned within the waste liquid collection tank for guidance, and the traveling assembly is movably mounted on the first guide rail. The high-pressure cleaning assembly is mounted on the traveling assembly and is used to clean the top cover of the nuclear reaction pressure vessel. The first drive assembly is connected to the traveling assembly and controls the traveling assembly to move along the first guide rail, thereby moving the high-pressure cleaning assembly to clean different areas of the top cover of the nuclear reaction pressure vessel. The waste liquid collection tank is used to collect the waste liquid used for cleaning the top cover of the nuclear reaction pressure vessel.

[0060] The cleaning mechanism in this example employs high-pressure cleaning, which, compared to existing grinding and polishing methods, reduces the risk of accidental scratches to the C-ring groove of the nuclear reactor pressure vessel top cover. Furthermore, the waste liquid collection tank can collect the used cleaning waste liquid, preventing splashing during the cleaning process and enabling its recycling. During major overhauls at nuclear power plants, the O-ring seals inside the nuclear reactor pressure vessel top cover need to be replaced. Before replacement, the C-ring groove of the top cover must be cleaned. The cleaning mechanism in this example provides an automated cleaning method, facilitating maintenance work, automating the cleaning of the C-ring groove of the nuclear reactor pressure vessel top cover, and reducing the workload and radiation exposure of on-site operators. Attached Figure Description

[0061] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 This is an isometric view of the cleaning mechanism in one embodiment of the present invention;

[0063] Figure 2 This is a top view of the cleaning mechanism in one embodiment of the present invention;

[0064] Figure 3 This is an isometric view of a high-pressure cleaning assembly according to an embodiment of the present invention;

[0065] Figure 4 This is an axonometric view of the cleaning device from a first perspective in an embodiment of the present invention;

[0066] Figure 5 This is an axonometric view of the cleaning device from a second perspective in one embodiment of the present invention;

[0067] Figure 6 This is an axonometric view of the vehicle body mechanism in one embodiment of the present invention;

[0068] Figure 7 This is a front view of the vehicle body mechanism in one embodiment of the present invention;

[0069] Figure 8 This is an isometric view of a drying assembly according to an embodiment of the present invention;

[0070] Figure 9 This is an isometric view of a recycling component in one embodiment of the present invention;

[0071] Figure 10 This is an isometric view of a nuclear reaction pressure vessel top cover maintenance system according to an embodiment of the present invention.

[0072] The components include: 1. Waste liquid collection tank; 2. Sealing strip; 3. First guide rail; 4. Walking assembly; 41. Slider; 42. Bracket; 43. Walking wheel; 44. Guide wheel; 5. High-pressure cleaning assembly; 51. Water chamber; 52. High-pressure pipeline; 53. Water pump; 54. High-pressure nozzle; 6. First drive assembly; 61. Support plate; 62. First motor; 63. Gear; 64. Rack; 7. Top cover of nuclear reaction pressure vessel; 8. Position sensor; 9. Lifting assembly; 91. Guide support rod; 92. Lifting plate; 93. Electric cylinder; 94. Limiting plate; 10. Vehicle body mechanism; 101. Vehicle body plate; 102. Support column; 103. Second drive assembly; 1031. 1032. Drive wheel; 1033. Driven wheel; 1034. Second motor; 1035. Side fixed guide wheel; 1036. Side sliding guide wheel; 11. Drying assembly; 117. Telescopic mounting rod; 118. Spring; 119. Collection box; 110. Fixture; 111. Upright pole; 112. Pressure plate; 12. Inspection assembly; 121. Pan-tilt camera; 122. Binocular camera; 13. Circulation and recycling assembly; 131. Cleaning fluid tank; 132. Diaphragm pump; 133. Filter; 134. Heating element; 135. Temperature sensor; 14. Support base; 15. Circular guide rail; 16. Battery; 17. Stop; 18. Driver. Detailed Implementation

[0073] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0074] In the description of this invention, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0075] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0076] This invention provides a cleaning mechanism for cleaning the top cover of a nuclear reaction pressure vessel, as described in the following embodiment. Figure 1 and Figure 2 The system includes a waste liquid collection tank 1, a first guide rail 3, a walking assembly 4, a high-pressure cleaning assembly 5, and a first drive assembly 6. The top of the waste liquid collection tank 1 is used to seal and connect with the top cover of the nuclear reaction pressure vessel 7 to collect waste liquid from cleaning the top cover of the nuclear reaction pressure vessel 7. The first guide rail 3 is set horizontally inside the waste liquid collection tank 1. The walking assembly 4 is movably mounted on the first guide rail 3. The high-pressure cleaning assembly 5 is mounted on the walking assembly 4 and is used to clean the top cover of the nuclear reaction pressure vessel 7. The first drive assembly 6 is connected to the walking assembly 4 and is used to control the walking assembly 4 to move along the first guide rail 3.

[0077] As an example, the cleaning mechanism is used to clean the top cover 7 of the nuclear reaction pressure vessel, and includes a waste liquid collection tank 1, a sealing strip 2, a first guide rail 3, a traveling assembly 4, a high-pressure cleaning assembly 5, and a first drive assembly 6. In use, the top of the waste liquid collection tank 1 is sealed to the top cover of the nuclear reaction pressure vessel to collect the waste liquid from cleaning the top cover 7, effectively preventing splashing of the cleaning liquid during the cleaning process. The first guide rail 3 is horizontally positioned within the waste liquid collection tank 1 for guidance, and the traveling assembly 4 is movably mounted on the first guide rail 3. The high-pressure cleaning assembly 5 is mounted on the traveling assembly 4 and is used to clean the top cover 7 of the nuclear reaction pressure vessel. The first drive assembly 6 is connected to the traveling assembly 4 and controls the traveling assembly 4 to move along the first guide rail 3, thereby moving the high-pressure cleaning assembly 5 to clean different areas of the top cover 7 of the nuclear reaction pressure vessel. The waste liquid collection tank 1 is used to collect the waste liquid from cleaning the top cover 7 of the nuclear reaction pressure vessel.

[0078] The cleaning mechanism in this example employs high-pressure cleaning, which, compared to existing grinding and polishing methods, reduces the risk of accidental scratches to the C-ring groove of the nuclear reaction pressure vessel top cover 7. Furthermore, the waste liquid collection tank 1 can collect the used cleaning waste liquid, preventing splashing during the cleaning process and enabling its recycling. During major overhauls at nuclear power plants, the O-ring seal inside the nuclear reaction pressure vessel top cover 7 needs to be replaced. Before replacement, the C-ring groove of the top cover 7 needs to be cleaned. The cleaning mechanism in this example provides an automated cleaning method, facilitating maintenance work, automating the cleaning of the C-ring groove of the nuclear reaction pressure vessel top cover 7, and reducing the workload and radiation exposure of on-site operators.

[0079] In one embodiment, reference is made to Figure 1 and Figure 2 The top of the waste liquid collection tank 1 is provided with a sealing protrusion structure and a sealing strip. The sealing protrusion structure matches the sealing groove of the top cover 7 of the nuclear reaction pressure vessel. The sealing strip 2 is set on the sealing protrusion structure to seal the top of the waste liquid collection tank 1 to the top cover 7 of the nuclear reaction pressure vessel.

[0080] As an example, the top of the waste liquid collection tank 1 is also provided with a sealing protrusion structure and a sealing strip 2. The sealing protrusion structure matches the sealing groove of the nuclear reaction pressure vessel top cover 7, and the sealing strip 2 is set on the sealing protrusion structure to seal the top of the waste liquid collection tank 1 to the nuclear reaction pressure vessel top cover 7, which can effectively prevent the splashing of cleaning fluid during the cleaning process. The sealing protrusion structure can be a stepped structure, including a first sealing frame extending outward from the outer periphery of the top of the waste liquid collection tank 1 and a second sealing frame extending along the height direction of the waste liquid collection tank 1 from the outer edge of the first sealing frame. The second sealing frame and the first sealing frame cooperate to form a stepped sealing protrusion structure for installing the sealing strip 2 and sealingly connecting it to the nuclear reaction pressure vessel top cover 7, which can effectively prevent the splashing of cleaning fluid during the cleaning process.

[0081] In one embodiment, reference is made to Figure 2 The waste liquid collection box 1 has a circular arc shape in the horizontal direction, which is consistent with the circumferential direction of the top cover 7 of the nuclear reaction pressure vessel; the first guide rail 3 has the same cross-sectional shape in the horizontal direction as the waste liquid collection box 1.

[0082] As an example, the waste liquid collection tank 1 has an overall arc-shaped structure, with a circular arc-shaped cross-section in the horizontal direction, consistent with the circumference of the top cover 7 of the nuclear reaction pressure vessel. The cross-sectional shape of the first guide rail 3 in the horizontal direction is the same as that of the waste liquid collection tank 1 in the horizontal direction. This ensures that the shape of the opening of the waste liquid collection tank 1 matches the surface of the top cover 7 of the nuclear reaction pressure vessel to be cleaned, facilitating the control of the high-pressure cleaning assembly 5 to move on the first guide rail 3, continuously cleaning the top cover 7 of the nuclear reaction pressure vessel, avoiding cleaning omissions, and improving the cleaning effect.

[0083] In one embodiment, reference is made to Figure 3 The walking component 4 includes a slider 41, a bracket 42, and a walking wheel 43. The slider 41 is movably mounted on the first guide rail 3 and connected to the first drive component 6. The bracket 42 is fixed on the slider 41, and the high-pressure cleaning component 5 is mounted on the bracket 42. The walking wheel 43 is located at the bottom of the slider 41 and contacts the inner bottom wall of the waste liquid collection tank 1.

[0084] As an example, the walking assembly 4 includes a slider 41, a bracket 42, and walking wheels 43. During installation, the slider 41 is movably mounted on the first guide rail 3 and connected to the first drive assembly 6. The bracket 42 is fixed on the slider 41, and the high-pressure cleaning assembly 5 is mounted on the bracket 42. This configuration allows the slider 41 to move on the first guide rail 3 via the first drive assembly 6, thereby driving the high-pressure cleaning assembly 5 to move along the first guide rail 3. This enables the cleaning of different areas of the nuclear reaction pressure vessel top cover 7, automating the cleaning of the C-ring groove of the nuclear reaction pressure vessel top cover 7 and reducing the workload and radiation dose of on-site operators. The walking wheels 43 are positioned at the bottom of the slider 41 and contact the inner bottom wall of the waste liquid collection tank 1, facilitating the movement of the slider 41 on the first guide rail 3. The first guide rail 3 is a strip-shaped guide rail.

[0085] In one embodiment, reference is made to Figure 3 The walking component 4 also includes a guide wheel 44, which is mounted on the slider 41 and contacts the inner wall of the waste liquid collection tank 1.

[0086] As an example, the walking assembly 4 also includes a guide wheel 44, which is disposed on the side wall of the slider 41 and contacts the inner side wall of the waste liquid collection tank 1, and can provide guidance for the slider 41 to move on the first guide rail 3.

[0087] In one embodiment, reference is made to Figure 3The high-pressure cleaning assembly 5 includes a water chamber 51, a high-pressure pipe 52, a water pump 53, and a high-pressure nozzle 54. The water chamber 51 is mounted on the walking assembly 4. The first end of the high-pressure pipe 52 is connected to the cleaning liquid source, and the second end of the high-pressure pipe 52 passes through the waste liquid collection tank 1 and is connected to the bottom of the water chamber 51. The water pump 53 is mounted on the water chamber 51. The first end of the high-pressure nozzle 54 is connected to the water pump 53, and the second end of the high-pressure nozzle 54 faces the top cover 7 of the nuclear reaction pressure vessel.

[0088] As an example, the high-pressure cleaning assembly 5 includes a water chamber 51, a high-pressure pipe 52, a water pump 53, and a high-pressure nozzle 54. During installation, the water chamber 51 is mounted on the walking assembly 4 as a support reference. Then, the first end of the high-pressure pipe 52 is connected to the cleaning fluid source, and the second end of the high-pressure pipe 52 passes through the waste liquid collection tank 1 and is connected to the bottom of the water chamber 51. The water pump 53 is then mounted on the water chamber 51. The first end of the high-pressure nozzle 54 is connected to the water pump 53 through a pipe, and the second end of the high-pressure nozzle 54 faces the top cover 7 of the nuclear reaction pressure vessel. This arrangement facilitates the delivery of the cleaning fluid to the water chamber 51 through the high-pressure pipe 52. When in use, the water pump 53 is turned on, and the high-pressure nozzle 54 can be controlled to spray the cleaning fluid. The spraying direction of the high-pressure nozzle 54 is from top to bottom, so as to spray the C-shaped groove at the bottom of the top cover 7 of the nuclear reaction pressure vessel. After cleaning, the water pump 53 is turned off, and the high-pressure nozzle 54 is controlled to stop spraying the cleaning fluid to avoid wasting the cleaning fluid.

[0089] In one embodiment, reference is made to Figure 3 The first drive assembly 6 includes a support plate 61, a first motor 62, a gear 63, and a rack 64; the support plate 61 is fixed on the walking assembly 4, the first motor 62 is fixed on the support plate 61, and the gear 63 is installed on the output end of the first motor 62; the rack 64 is installed on the inner side wall of the waste liquid collection tank 1 and meshes with the gear 63.

[0090] As an example, the first drive assembly 6 includes a support plate 61, a first motor 62, a gear 63, and a rack 64. During installation, using the waste liquid collection tank 1 as a support reference, the rack 64 is installed on the inner wall of the waste liquid collection tank 1. Using the traveling assembly 4 as a support, the first end of the support plate 61 is fixed to the traveling assembly 4, the first motor 62 is fixed to the second end of the support plate 61, and the gear 63 is installed at the output end of the first motor 62. Controlling the first motor 62 can drive the gear 63 to rotate. The gear 63 meshes with the rack 64. The rack 64 is a fixed component, which allows the gear 63 to move along the arrangement direction of the rack 64. This enables the first motor 62 to drive the traveling assembly 4 to move along the arrangement direction of the first guide rail 3, so that the high-pressure cleaning assembly 5 can clean different areas of the top cover 7 of the nuclear reaction pressure vessel, improving the cleaning effect.

[0091] In one embodiment, reference is made to Figure 2The cleaning mechanism also includes two position sensors 8; the two position sensors 8 are respectively installed on two opposite inner side walls inside the waste liquid collection tank 1, and the two position sensors 8 correspond to the two ends of the first guide rail 3 respectively.

[0092] As an example, the cleaning mechanism also includes two position sensors 8; the two position sensors 8 are respectively set on two opposite inner walls inside the waste liquid collection tank 1, and the two position sensors 8 correspond to the two ends of the first guide rail 3 respectively. In cooperation with the first drive assembly 6, they can monitor and protect the moving walking assembly 4 and the high-pressure cleaning assembly 5 to prevent them from continuing to move and colliding with the inner wall of the waste liquid collection tank 1 after reaching the limit position.

[0093] In one embodiment, reference is made to Figure 1 The cleaning mechanism also includes a lifting assembly 9; the outer side of the waste liquid collection tank 1 is provided with the lifting assembly 9; the lifting assembly 9 is used to drive the waste liquid collection tank 1 to move in the vertical direction.

[0094] As an example, the cleaning mechanism also includes a lifting assembly 9. The lifting assembly 9 is located outside the waste liquid collection tank 1 and is used to move the waste liquid collection tank 1 vertically, ensuring that the sealing strip 2 at its upper part fits well with the sealing surface and C-ring groove of the nuclear reaction pressure vessel top cover 7, effectively preventing splashing of cleaning fluid during the cleaning process. The arrangement of the lifting assembly 9 can be changed according to actual needs. First arrangement: One lifting assembly 9 is selected and placed below the waste liquid collection tank 1. The lifting assembly 9 extends or retracts to control the lifting of the waste liquid collection tank 1. Second arrangement: Two lifting assemblies 9 are selected and placed on opposite sides of the waste liquid collection tank 1, either on the front / rear sides or left / right sides. The two lifting assemblies 9 extend or retract simultaneously to control the lifting of the waste liquid collection tank 1.

[0095] In one embodiment, reference is made to Figure 1 The lifting assembly 9 includes a guide support rod 91, a lifting plate 92, and an electric cylinder 93; the guide support rod 91 is provided on the outside of the waste liquid collection tank 1, and the guide support rod 91 is arranged along the height direction of the waste liquid collection tank 1; the lifting plate 92 is movably installed on the guide support rod 91; the electric cylinder 93 is located below the lifting plate 92 and is used to drive the lifting plate 92 to move along the height direction of the waste liquid collection tank 1.

[0096] As an example, the lifting assembly 9 includes a guide support rod 91, a lifting plate 92, an electric cylinder 93, and a limiting plate 94. During installation, a guide support rod 91 is provided on the outside of the waste liquid collection tank 1. The guide support rod 91 is set along the height direction of the waste liquid collection tank 1 to provide support and guidance. The lifting plate 92 is connected to the waste liquid collection tank 1 and can be movably installed on the guide support rod 91. The electric cylinder 93 is located below the lifting plate 92. By controlling the extension or retraction of the push rod of the electric cylinder 93, the lifting plate 92 can be moved along the height direction of the waste liquid collection tank 1, that is, along the axial direction of the guide support rod 91, so as to move the waste liquid collection tank 1 vertically, so that the sealing strip 2 on its upper part fits well with the sealing groove and C-ring groove of the top cover 7 of the nuclear reaction pressure vessel, which can effectively prevent the splashing of cleaning fluid during the cleaning process. The guide support rod 91 can be selected as one or two according to actual needs. When there are two guide support rods 91, the two guide support rods 91 are arranged at intervals on the outside of the waste liquid collection box 1, and the lifting plate 92 can be movably installed on the two guide support rods 91.

[0097] In one embodiment, reference is made to Figure 1 The lifting assembly 9 also includes a limiting plate 94, which is fixed to the shaft ends of the two guide support rods 91 and is used to limit the lifting plate 92.

[0098] As an example, the lifting assembly 9 also includes a limiting plate 94, which is fixed to the shaft ends of the two guide support rods 91 to limit the lifting plate 92 and prevent the lifting plate 92 from continuing to move after reaching the limit position.

[0099] This invention provides a cleaning device for cleaning the top cover of a nuclear reaction pressure vessel, as described in the following embodiment. Figure 4 and Figure 5 The cleaning device includes a vehicle body structure 10 and a cleaning mechanism; the cleaning mechanism is installed on the vehicle body structure 10.

[0100] As an example, the cleaning device includes a vehicle body 10 and a cleaning mechanism. The cleaning mechanism is used to clean the top cover 7 of the nuclear reaction pressure vessel and includes a waste liquid collection tank 1, a sealing strip 2, a first guide rail 3, a walking assembly 4, a high-pressure cleaning assembly 5, and a first drive assembly 6. In use, the top of the waste liquid collection tank 1 is sealed to the top cover of the nuclear reaction pressure vessel to collect the waste liquid from cleaning the top cover 7, effectively preventing splashing of the cleaning liquid during the cleaning process. The first guide rail 3 is horizontally positioned inside the waste liquid collection tank 1 for guidance, and the walking assembly 4 is movably mounted on the first guide rail 3. The high-pressure cleaning assembly 5 is mounted on the walking assembly 4 and is used to clean the top cover 7 of the nuclear reaction pressure vessel. The first drive assembly 6 is connected to the walking assembly 4 and is used to control the walking assembly 4 to move along the first guide rail 3, thereby moving the high-pressure cleaning assembly 5 to clean different areas of the top cover 7 of the nuclear reaction pressure vessel. The waste liquid collection tank 1 is used to collect the waste liquid from cleaning the top cover 7 of the nuclear reaction pressure vessel. The cleaning mechanism is installed on the vehicle body 10, and the vehicle body 10 can move with the cleaning mechanism to achieve cleaning of the entire area of ​​the top cover 7 of the nuclear reaction pressure vessel.

[0101] The cleaning mechanism in this example uses high-pressure cleaning, which, compared to existing grinding and polishing methods, reduces the risk of accidental scratches to the C-ring groove of the nuclear reactor pressure vessel top cover 7. Furthermore, the waste liquid collection tank 1 can collect the used cleaning waste liquid, preventing splashing during the cleaning process and enabling its recycling. During major overhauls at nuclear power plants, the O-ring seal inside the nuclear reactor pressure vessel top cover 7 needs to be replaced. Before replacement, the C-ring groove of the top cover 7 needs to be cleaned. The cleaning mechanism in this example provides an automated cleaning method, facilitating maintenance work. Automating the cleaning of the C-ring groove of the nuclear reactor pressure vessel top cover 7 reduces the workload and radiation exposure of on-site operators.

[0102] In one embodiment, reference is made to Figure 6 and Figure 7 The vehicle body mechanism 10 includes at least two vehicle body plates 101, a support column 102, and a second drive assembly 103. The cross-sectional shape of the at least two vehicle body plates 101 in the horizontal direction is an arc shape, which is consistent with the circumferential direction of the top cover 7 of the nuclear reaction pressure vessel. The at least two vehicle body plates 101 are arranged at intervals along the height direction of the waste liquid collection tank 1, and adjacent vehicle body plates 101 are connected by the support column 102. The cleaning mechanism is set on the uppermost vehicle body plate 101. The second drive assembly 103 is set on the lowermost vehicle body plate 101 and is used to drive the vehicle body mechanism 10 to move.

[0103] As an example, the vehicle body mechanism 10 includes at least two vehicle body plates 101, a support column 102, and a second drive assembly 103. In use, the cross-sectional shape of the at least two vehicle body plates 101 in the horizontal direction is an arc shape, which is consistent with the circumferential direction of the nuclear reaction pressure vessel top cover 7. This facilitates the movement of the cleaning mechanism via the vehicle body mechanism 10 to different areas corresponding to the nuclear reaction pressure vessel top cover 7, ensuring that the entire area of ​​the nuclear reaction pressure vessel top cover 7 can be cleaned, and avoiding the situation of missed cleaning due to inconvenience in repositioning.

[0104] At least two body panels 101 are arranged at intervals along a direction perpendicular to the surface of the body panels 101. Adjacent body panels 101 are connected by support columns 102 and at least partially overlap, forming at least two placement areas for placing structural components of the cleaning device. In this example, three body panels 101 are provided. The three body panels 101 cooperate with the support columns 102 to form three placement areas along a direction perpendicular to the surface of the body panels 101. The uppermost placement area is used to place the cleaning mechanism; the middle placement area is used to place the battery 16 or other structural components. The battery 16 is used to connect to the electrical equipment in the cleaning device; the lowermost placement area is used to place the driver 18. The battery 16 is connected to the driver 18 to provide power to the driver 18. The driver 18 is mounted on a body panel 101 and is used to control the operation of the electrical equipment in the cleaning device. The battery 16 is fixed to a vehicle body plate 101 by a stop 17, which facilitates the removal of the battery 16. The cleaning device itself carries the battery 16, reducing the inconvenience caused by the heavy cable during the movement of the cleaning device. The second drive assembly 103 is set on the lowest vehicle body plate 101. The second drive assembly 103 can drive the vehicle body mechanism 10 to move, so as to clean different areas of the top cover 7 of the nuclear reaction pressure vessel.

[0105] In one embodiment, reference is made to Figure 6 and Figure 7 The second drive assembly 103 includes a drive wheel 1031, a driven wheel 1032, a second motor 1033, a side fixed guide wheel 1034, and a side sliding guide wheel 1035. The drive wheel 1031 and the driven wheel 1032 are spaced apart below the lowest vehicle body plate 101, and the second motor 1033 is connected to the drive wheel 1031. The side fixed guide wheel 1034 is disposed on the inner side of the lowest vehicle body plate 101, and the side sliding guide wheel 1035 is disposed on the outer side of the lowest vehicle body plate 101. The side fixed guide wheel 1034 and the side sliding guide wheel 1035 cooperate to provide guidance for the movement of the vehicle body mechanism 10.

[0106] As an example, the second drive assembly 103 includes a drive wheel 1031, a driven wheel 1032, a second motor 1033, a side fixed guide wheel 1034, and a side sliding guide wheel 1035. During installation, the drive wheel 1031 and the driven wheel 1032 are arranged at intervals below the lowest vehicle body plate 101. The second motor 1033 is connected to the drive wheel 1031 through a reducer. By controlling the operation of the second motor 1033, the drive wheel 1031 can be moved through the reducer. The drive wheel 1031 and the driven wheel 1032 cooperate to move the entire vehicle body mechanism 10, thereby moving the cleaning mechanism to different areas corresponding to the top cover 7 of the nuclear reaction pressure vessel, ensuring that the entire area of ​​the top cover 7 of the nuclear reaction pressure vessel can be cleaned. In addition, the side-fixed guide wheel 1034 is located on the inner side of the lowest vehicle body plate 101, and the side-sliding guide wheel 1035 is located on the outer side of the lowest vehicle body plate 101. The side-fixed guide wheel 1034 and the side-sliding guide wheel 1035 cooperate to provide guidance for the movement of the vehicle body mechanism 10, and to prevent the vehicle body mechanism 10 from being misaligned and causing missed cleaning. The inner side of the vehicle body plate 101 is the side closer to the top cover 7 of the nuclear reaction pressure vessel, and the outer side of the vehicle body plate 101 is the side farther away from the top cover 7 of the nuclear reaction pressure vessel.

[0107] In one embodiment, reference is made to Figure 4 , Figure 5 and Figure 8 The cleaning device also includes a drying assembly 11, which is mounted on the vehicle body mechanism 10 and located on one side of the cleaning mechanism, for wiping the top cover 7 of the nuclear reaction pressure vessel.

[0108] As an example, the cleaning device also includes a drying assembly 11, which is mounted on the vehicle body 10 and located on one side of the cleaning mechanism. When the vehicle body 10 moves, the drying assembly 11 can be moved along the cleaning surface of the top cover 7 of the nuclear reaction pressure vessel to wipe away the residual cleaning waste liquid on the top cover 7 of the nuclear reaction pressure vessel, thus preventing the residual cleaning waste liquid on the top cover 7 of the nuclear reaction pressure vessel from affecting its normal use.

[0109] In one embodiment, reference is made to Figure 8 The drying assembly 11 includes a telescopic mounting rod 111, a spring 112, a collection box 113, a drying cloth, and a fastener 114. The first end of the telescopic mounting rod 111 is mounted on the vehicle body mechanism 10, and the spring 112 and the collection box 113 are sequentially fitted onto the second end of the telescopic mounting rod 111. The drying cloth is installed in the collection box 113 through the fastener 114 and is used to wipe the top cover 7 of the nuclear reaction pressure vessel.

[0110] As an example, the drying assembly 11 includes a telescopic mounting rod 111, a spring 112, a collection box 113, a drying cloth, and a fixing member 114. In use, the first end of the telescopic mounting rod 111 is mounted on the vehicle body mechanism 10, specifically on the uppermost vehicle body plate 101 of the vehicle body mechanism 10. The spring 112 and the collection box 113 are sequentially fitted onto the second end of the telescopic mounting rod 111. Utilizing the elasticity of the spring 112, the collection box 113 tends to move along the axial direction of the telescopic mounting rod 111, ensuring that the collection box 113 remains in contact with the cleaning surface of the nuclear reaction pressure vessel top cover 7. The drying cloth is installed inside the collection box 113 via the fixing member 114. When the vehicle body mechanism 10 moves, it can carry the drying assembly 11 along the cleaning surface of the nuclear reaction pressure vessel top cover 7 to wipe away residual cleaning waste liquid on the nuclear reaction pressure vessel top cover 7 using the drying cloth. The spring 112 is a rectangular spring, which provides better stability.

[0111] In one embodiment, reference is made to Figure 8 The fastener 114 includes a pole 1141 and a clamping plate 1142; two poles 1141 are spaced apart inside the collection box 113, and the size of the poles 1141 matches the top cover 7 of the nuclear reaction pressure vessel; a drying cloth is fitted on the poles 1141, and the clamping plate 1142 is installed on the poles 1141 and presses the drying cloth.

[0112] As an example, the fixing component 114 includes a vertical rod 1141 and a clamping plate 1142. Two vertical rods 1141 are arranged at intervals inside the collection box 113. The size of the vertical rods 1141 matches the top cover 7 of the nuclear reaction pressure vessel. A drying cloth is fitted onto the vertical rod 1141, and the drying cloth is in contact with the cleaning surface of the top cover 7 of the nuclear reaction pressure vessel. When the vehicle body mechanism 10 moves, it can move the drying assembly 11 along the cleaning surface of the top cover 7 of the nuclear reaction pressure vessel, so as to wipe away the residual cleaning waste liquid on the top cover 7 of the nuclear reaction pressure vessel. The clamping plate 1142 is installed on the vertical rod 1141 to fix the drying cloth. The vertical rod 1141 is an L-shaped vertical rod, which facilitates the installation and removal of the drying cloth.

[0113] In one embodiment, reference is made to Figure 4 and Figure 5 The cleaning device also includes an inspection component 12, which includes a gimbal camera 121 and a binocular camera 122. The gimbal camera 121 is located on one side of the cleaning mechanism and is used to monitor the condition of the top cover 7 of the nuclear reaction pressure vessel before and after cleaning. The binocular camera 122 is located on the other side of the cleaning mechanism and is used to monitor the scratches and defects of the top cover 7 of the nuclear reaction pressure vessel.

[0114] As an example, the cleaning device also includes an inspection component 12, which includes a pan-tilt camera 121 and a binocular camera 122. The pan-tilt camera 121 is located on one side of the cleaning mechanism and can monitor the condition of the top cover 7 of the nuclear reaction pressure vessel before and after cleaning. The binocular camera 122 is located on the other side of the cleaning mechanism and can monitor the scratches and defects of the top cover 7 of the nuclear reaction pressure vessel. This setup allows for defect detection of the top cover 7 of the nuclear reaction pressure vessel and video inspection before and after cleaning during the cleaning process, greatly improving the efficiency of cleaning and inspection.

[0115] In one embodiment, reference is made to Figure 4 , Figure 5 and Figure 9 The cleaning device also includes a circulation and recovery component 13, which includes a cleaning fluid tank 131, a diaphragm pump 132, and a filter 133. The cleaning fluid tank 131 and the diaphragm pump 132 are both mounted on the vehicle body structure 10. The inlet of the cleaning fluid tank 131 is connected to the outlet of the waste fluid collection tank 1 of the cleaning mechanism through a pipe. The inlet of the high-pressure cleaning component 5 of the cleaning mechanism is connected to the outlet of the diaphragm pump 132 through a pipe. The inlet of the diaphragm pump 132 is connected to the outlet of the cleaning fluid tank 131 through a pipe. The filter 133 is installed in the cleaning fluid tank 131 and is used to filter the cleaning fluid in the cleaning fluid tank 131.

[0116] As an example, the cleaning device also includes a recycling component 13, which can recycle the cleaning waste liquid after the cleaning process, enabling reuse and improving the equipment's practicality. The recycling component 13 includes a cleaning fluid tank 131, a diaphragm pump 132, and a filter 133. In use, both the cleaning fluid tank 131 and the diaphragm pump 132 are mounted on the vehicle body 10. The inlet of the cleaning fluid tank 131 is connected to the outlet of the waste liquid collection tank 1 via a pipe, facilitating the recycling of the cleaning waste liquid from the waste liquid collection tank 1 back into the cleaning fluid tank 131. The inlet of the high-pressure cleaning component 5 of the cleaning mechanism is connected to the outlet of the diaphragm pump 132 via a pipe, and the inlet of the diaphragm pump 132 is connected to the outlet of the cleaning fluid tank 131 via a pipe. The diaphragm pump 132 can transport the cleaning fluid from the cleaning fluid tank 131 to the high-pressure cleaning component 5, ensuring sufficient cleaning fluid for cleaning the top cover 7 of the nuclear reaction pressure vessel. By placing the filter 133 inside the cleaning fluid tank 131, the recovered cleaning waste fluid can be filtered and reused.

[0117] In one embodiment, reference is made to Figure 9 The recycling component 13 also includes a heating tube 134 and a temperature sensor 135; the cleaning fluid tank 131 is equipped with a heating tube 134 for heating the cleaning fluid; the cleaning fluid tank 131 is equipped with a temperature sensor 135 for measuring the temperature of the cleaning fluid.

[0118] As an example, the recycling assembly 13 also includes a heating element 134 and a temperature sensor 135; the heating element 134 is provided in the cleaning fluid tank 131 to heat the cleaning fluid and improve its activity. The temperature sensor 135 is provided in the cleaning fluid tank 131 to measure the temperature of the cleaning fluid, ensuring that the cleaning fluid is stored in an environment with optimal activity.

[0119] This invention provides a maintenance system for inspecting the top cover of a nuclear reactor pressure vessel, as described in the following embodiment. Figure 4 , Figure 5 and Figure 10 It includes a support base 14, an annular guide rail 15, and a cleaning device; the support base 14 is located around the annular guide rail 15 and is used to support the top cover 7 of the nuclear reaction pressure vessel; the vehicle body mechanism 10 of the cleaning device is movably mounted on the annular guide rail 15.

[0120] As an example, the maintenance system for the top cover of the nuclear reactor pressure vessel includes a support base 14, an annular guide rail 15, and a cleaning device. During installation, the support base 14 is set around the annular guide rail 15 with the annular guide rail 15 as a reference to support the top cover 7 of the nuclear reactor pressure vessel. The vehicle body mechanism 10 of the cleaning device is movably mounted on the annular guide rail 15.

[0121] The cleaning device includes a vehicle body 10 and a cleaning mechanism. The cleaning mechanism is used to clean the top cover 7 of the nuclear reaction pressure vessel and includes a waste liquid collection tank 1, a sealing strip 2, a first guide rail 3, a walking assembly 4, a high-pressure cleaning assembly 5, and a first drive assembly 6. In use, the top of the waste liquid collection tank 1 is sealed to the top cover of the nuclear reaction pressure vessel to collect the waste liquid from cleaning the top cover 7, effectively preventing splashing of the cleaning liquid during the cleaning process. The first guide rail 3 is horizontally positioned inside the waste liquid collection tank 1 for guidance, and the walking assembly 4 is movably mounted on the first guide rail 3. The high-pressure cleaning assembly 5 is mounted on the walking assembly 4 and is used to clean the top cover 7 of the nuclear reaction pressure vessel. The first drive assembly 6 is connected to the walking assembly 4 and is used to control the walking assembly 4 to move along the first guide rail 3, thereby moving the high-pressure cleaning assembly 5 to clean different areas of the top cover 7 of the nuclear reaction pressure vessel. The waste liquid collection tank 1 is used to collect the waste liquid from cleaning the top cover 7 of the nuclear reaction pressure vessel. The cleaning mechanism is installed on the vehicle body 10, and the vehicle body 10 can move with the cleaning mechanism to achieve cleaning of the entire area of ​​the top cover 7 of the nuclear reaction pressure vessel.

[0122] In this example, the maintenance system for the top cover of the nuclear reactor pressure vessel is operated by first rotating the locking nut on the side sliding guide wheel 107 in the vehicle body mechanism 10, causing the side sliding guide wheel 107 to slide inward along the direction of the annular guide rail 15, thereby reducing the wheel track between the inner and outer sides of the vehicle body mechanism 10. The cleaning device is then moved onto the annular guide rail 15, and the locking nut on the side sliding guide wheel 107 is rotated again to fix the side sliding guide wheel 107 against the inner side of the annular guide rail 15. Then, the push rod of the control cylinder 93 of the lifting assembly 9 is extended or retracted, which can drive the lifting plate 92 to move axially along the guide support rod 91, thereby moving the waste liquid collection tank 1 vertically. This ensures that the sealing strip 2 on its upper part fits well against the sealing surface and C-ring groove of the top cover 7 of the nuclear reactor pressure vessel, effectively preventing the splashing of cleaning fluid during the cleaning process. The first motor 62 of the first drive assembly 6 can drive the gear 63 to rotate. The gear 63 meshes with the rack 64. The rack 64 is a fixed part, which can enable the gear 63 to move along the arrangement direction of the rack 64. This enables the first motor 62 to drive the walking assembly 4 to move along the arrangement direction of the first guide rail 3, so that the high-pressure cleaning assembly 5 can clean different areas of the top cover 7 of the nuclear reaction pressure vessel and improve the cleaning effect. The high-pressure cleaning component 5 moves at a certain speed on the first guide rail 3 from its initial position under the drive of the first motor 62. It stops after moving to the extreme position at one end inside the waste liquid collection tank 1. The stroke of the high-pressure cleaning component 5 during one cleaning process is the arc length between the two extreme positions on the inner side of the waste liquid collection tank 1, denoted as s. The cleaning wastewater generated during the cleaning process is recycled to the cleaning liquid tank 131 of the recycling component 13 through the bottom of the waste liquid collection tank 1. At the same time, the defects of the top cover 7 of the nuclear reaction pressure vessel can be detected and video inspections before and after cleaning can be completed through the pan-tilt camera 121 and the binocular camera 122 during the cleaning process, which greatly improves the cleaning inspection efficiency. The cleaning device moves along the annular guide rail 15 for an arc length of s to reach the next uncleaned area. This cycle continues until the C-ring groove area of ​​the top cover 7 of the nuclear reaction pressure vessel is cleaned.

[0123] The cleaning device in this example uses a high-pressure cleaning method, which, compared to existing grinding and polishing methods, reduces the risk of accidental scratches to the C-ring groove of the nuclear reaction pressure vessel top cover 7. Furthermore, the waste liquid collection tank 1 can collect the used cleaning waste liquid, preventing splashing during the cleaning process and enabling its recycling. During major overhauls at nuclear power plants, the O-ring seal inside the nuclear reaction pressure vessel top cover 7 needs to be replaced. Before replacement, the C-ring groove of the top cover 7 needs to be cleaned and inspected. The cleaning device in this example provides an automated cleaning and inspection method, facilitating maintenance work. It automates the cleaning of the C-ring groove of the nuclear reaction pressure vessel top cover 7, reducing the workload and radiation exposure of on-site operators.

[0124] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A cleaning mechanism, characterized in that, Used for cleaning the top cover of a nuclear reaction pressure vessel, including a waste liquid collection tank, a first guide rail, a walking assembly, a high-pressure cleaning assembly, and a first drive assembly; The top of the waste liquid collection tank is used to seal and connect with the top cover of the nuclear reaction pressure vessel to collect the waste liquid used to clean the top cover of the nuclear reaction pressure vessel. The top of the waste liquid collection tank is provided with a sealing protrusion structure and a sealing strip. The sealing protrusion structure matches the sealing groove of the top cover of the nuclear reaction pressure vessel. The sealing strip is set on the sealing protrusion structure to seal the top of the waste liquid collection tank to the top cover of the nuclear reaction pressure vessel. The waste liquid collection tank has a circular arc shape in the horizontal direction, which is consistent with the circumferential direction of the top cover of the nuclear reaction pressure vessel. The cross-sectional shape of the first guide rail in the horizontal direction is the same as the cross-sectional shape of the waste liquid collection box in the horizontal direction; The first guide rail is arranged horizontally inside the waste liquid collection tank; The walking component is movably mounted on the first guide rail; The high-pressure cleaning assembly is installed on the walking assembly and is used to clean the top cover of the nuclear reaction pressure vessel. The first drive component is connected to the walking component and is used to control the walking component to move along the first guide rail; The cleaning mechanism further includes a lifting assembly; the lifting assembly is located on the outside of the waste liquid collection tank; the lifting assembly is used to move the waste liquid collection tank vertically; the lifting assembly includes a guide support rod, a lifting plate, and an electric cylinder; the guide support rod is located on the outside of the waste liquid collection tank and is arranged along the height direction of the waste liquid collection tank; the lifting plate is connected to the waste liquid collection tank and is movably mounted on the guide support rod; the electric cylinder is located below the lifting plate and is used to move the lifting plate along the height direction of the waste liquid collection tank.

2. The cleaning mechanism according to claim 1, characterized in that, The walking assembly includes a slider, a bracket, and walking wheels; The slider is movably mounted on the first guide rail and connected to the first drive assembly; The bracket is fixed on the slider, and the high-pressure cleaning assembly is mounted on the bracket; The traveling wheels are located at the bottom of the slider and are in contact with the inner bottom wall of the waste liquid collection tank.

3. The cleaning mechanism according to claim 2, characterized in that, The walking assembly also includes guide wheels, which are disposed on the slider and contact the inner wall of the waste liquid collection tank.

4. The cleaning mechanism according to claim 1, characterized in that, The high-pressure cleaning assembly includes a water chamber, a high-pressure pipeline, a water pump, and a high-pressure nozzle; The water chamber is mounted on the walking assembly. The first end of the high-pressure pipe is connected to the cleaning fluid source. The second end of the high-pressure pipe passes through the waste liquid collection tank and is connected to the bottom of the water chamber. The water pump is mounted on the water chamber. The first end of the high-pressure nozzle is connected to the water pump. The second end of the high-pressure nozzle faces the top cover of the nuclear reaction pressure vessel.

5. The cleaning mechanism according to claim 1, characterized in that, The first drive assembly includes a support plate, a first motor, a gear, and a rack; The support plate is fixed to the walking assembly, the first motor is fixed to the support plate, and the gear is installed at the output end of the first motor; The rack is installed on the inner wall of the waste liquid collection tank and meshes with the gear.

6. The cleaning mechanism according to claim 1, characterized in that, The cleaning mechanism also includes two position sensors; The two position sensors are respectively installed on two opposite inner sidewalls inside the waste liquid collection tank, and the two position sensors correspond to the two ends of the first guide rail.

7. The cleaning mechanism according to claim 1, characterized in that, The lifting assembly also includes a limiting plate; the limiting plate is fixed on the shaft end of the guide support rod and is used to limit the lifting plate.

8. A cleaning device, characterized in that, The device is used for cleaning the top cover of a nuclear reaction pressure vessel, comprising a vehicle body and a cleaning mechanism as described in any one of claims 1-7; the cleaning mechanism is mounted on the vehicle body.

9. The cleaning apparatus according to claim 8, characterized in that, The vehicle body structure includes at least two vehicle body plates, support columns, and a second drive assembly; At least two of the vehicle body panels have a horizontal cross-sectional shape that is arc-shaped, consistent with the circumferential direction of the top cover of the nuclear reaction pressure vessel; At least two of the vehicle body panels are arranged at intervals along the height direction of the waste liquid collection tank, and two adjacent vehicle body panels are connected by the support column and at least partially overlap to form at least two placement areas, and the cleaning mechanism is placed in the placement area; The second drive component is disposed on the lowest layer of the vehicle body plate and is used to drive the vehicle body mechanism to move.

10. The cleaning apparatus according to claim 9, characterized in that, The second drive assembly includes a drive wheel, a driven wheel, a second motor, a side-fixed guide wheel, and a side-sliding guide wheel; The drive wheel and the driven wheel are arranged at intervals below the lowest layer of the vehicle body plate, and the second motor is connected to the drive wheel; The side fixed guide wheel is located on the inner side of the bottommost vehicle body plate, and the side sliding guide wheel is located on the outer side of the bottommost vehicle body plate. The side fixed guide wheel and the side sliding guide wheel cooperate to provide guidance for the movement of the vehicle body mechanism.

11. The cleaning apparatus according to claim 8, characterized in that, The cleaning device also includes a drying assembly, which is mounted on the vehicle body structure and located on one side of the cleaning mechanism, for wiping the top cover of the nuclear reaction pressure vessel.

12. The cleaning apparatus according to claim 11, characterized in that, The drying assembly includes a telescopic mounting rod, a spring, a collection box, a drying cloth, and a fixing component; The first end of the retractable mounting rod is mounted on the vehicle body mechanism, and the spring and the collection box are sequentially fitted onto the second end of the retractable mounting rod; The drying cloth is installed inside the collection box via the fastener and is used to wipe the top cover of the nuclear reaction pressure vessel.

13. The cleaning apparatus according to claim 12, characterized in that, The fastener includes a vertical pole and a clamping plate; Two of the uprights are arranged at intervals inside the collection box, and the size of the uprights matches the top cover of the nuclear reaction pressure vessel; The drying cloth is fitted onto the upright, and the clamping plate is installed on the upright.

14. The cleaning apparatus according to claim 8, characterized in that, The cleaning device also includes an inspection component, which includes a pan-tilt camera and a binocular camera. The PTZ camera is installed on one side of the cleaning mechanism to monitor the condition of the top cover of the nuclear reaction pressure vessel before and after cleaning. The binocular camera is located on the other side of the cleaning mechanism and is used to monitor scratches and defects on the top cover of the nuclear reaction pressure vessel.

15. The cleaning apparatus according to claim 8, characterized in that, The cleaning device also includes a circulation and recovery component, which includes a cleaning fluid tank, a diaphragm pump, and a filter. The cleaning fluid tank and the diaphragm pump are both mounted on the vehicle body structure. The inlet of the cleaning fluid tank is connected to the outlet of the waste liquid collection tank of the cleaning mechanism through a pipe. The inlet of the high-pressure cleaning component of the cleaning mechanism is connected to the outlet of the diaphragm pump through a pipe. The inlet of the diaphragm pump is connected to the outlet of the cleaning fluid tank through a pipe. The filter is installed inside the cleaning fluid tank and is used to filter the cleaning fluid in the tank.

16. The cleaning apparatus according to claim 15, characterized in that, The recycling assembly also includes a heating element and a temperature sensor; The heating element is installed inside the cleaning fluid tank for heating the cleaning fluid; The temperature sensor is installed inside the cleaning fluid tank to measure the temperature of the cleaning fluid.

17. A maintenance system, characterized in that, For maintenance of the top cover of a nuclear reaction pressure vessel, including a support base, an annular guide rail, and a cleaning device as described in any one of claims 8-16; The support base is disposed around the annular guide rail and is used to support the top cover of the nuclear reaction pressure vessel; The vehicle body mechanism of the cleaning device is movably mounted on the annular guide rail.

Images