Operation and maintenance robot for disposing radioactive waste
By designing an operation and maintenance robot with adjustable support module and movable wheel set, the problem of pipe robots being easily stuck and cleaned in complex pipes in the prior art is solved, and efficient cleaning of complex pipes is achieved .
Patent Information
- Application Number
- CN202411860869.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-17
- Publication Date
- 2025-02-07
AI Technical Summary
When facing pipes with complex shapes and sizes, existing pipe robots are prone to being stuck or difficult to fit with the inner wall of the pipe, resulting in cleaning blind spots and difficulty in meeting the cleaning needs of complex pipes.
An operation and maintenance robot is designed, including support modules, movable wheel modules, cleaning modules, vision sensors and control modules. The support module can move or rotate along the axial direction of the pipe through multiple articulated support beams and movable wheels, and adjusts its own size and rotation angle to fit the inner wall of the pipe according to the inner diameter and structural information obtained by the visual sensor.
The operation and maintenance robot can flexibly move in complex pipes, effectively avoid cleaning dead corners, meet the cleaning needs of complex pipes and equipment, and improve cleaning efficiency and accuracy through the cooperation of visual sensors and control modules.
Smart Images
Figure CN119393630A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of pipeline cleaning equipment, and in particular to an operation and maintenance robot for disposing of radioactive waste. Background Art
[0002] With the continuous development of nuclear power in my country, the total amount of radioactive waste generated by the operation and decommissioning of nuclear power plants in the future will continue to increase. The safe and reliable radioactive waste disposal technology has become one of the main driving forces and challenges of nuclear safety. There are many types of radioactive waste, and it is difficult to handle them. At present, incineration technology has become the main means of radioactive waste treatment in the market. Among them, the inorganic matter (slag and ash, etc.) produced by incineration is usually safely disposed of by high-temperature molten glass solidification.
[0003] Fly ash generated by the incineration of radioactive waste will remain in the flue gas ducts and tail gas treatment system equipment (such as bag dust removal, quench tower, ash unloading system, etc.). The nuclear element enrichment rate in the fly ash is very high, reaching the medium level or even higher standards, and the risk is relatively high. These towers or pipelines have complex structures, and maintenance and repair are difficult and costly. In addition, sometimes they even need to be repaired online under hot test conditions to perform related cleaning tasks, which has very high maintenance requirements.
[0004] Putting pipeline robots into pipelines or equipment is a common method used to inspect and clean radioactive fly ash in pipelines and towers (mainly pipelines). When faced with pipelines with many bends, frequently changing inner diameters, and complex or irregular internal shapes, conventional pipeline robots are easily stuck in the pipeline or have difficulty fitting with the inner wall of the pipeline, resulting in cleaning dead corners, making it difficult to meet the cleaning needs of complex pipelines and equipment. Summary of the invention
[0005] The purpose of this application is to address the above-mentioned problems and provide an operation and maintenance robot for disposing of radioactive waste, which can meet the cleaning needs of complex pipelines and equipment and improve the above-mentioned problems.
[0006] This application is achieved through the following technical solutions:
[0007] The present application provides an operation and maintenance robot for disposing of radioactive waste, which is used for cleaning radioactive waste in a pipeline. The operation and maintenance robot for disposing of radioactive waste includes a support module, a movable wheel group, a cleaning module, a visual sensor and a control module; the support module includes a plurality of support beams hinged in sequence, and adjacent support beams are connected end to end; a movable wheel group is respectively provided at the head end and the tail end of the support module, and a movable wheel group is provided at the connection between any two adjacent support beams, and the two ends of the support beam are abutted against the opposite sides of the inner wall of the pipeline through the movable wheel group, and the movable wheel group includes a universal wheel, which guides the support module to move or rotate along the axial direction of the pipeline; the cleaning module is used to scrub the inner wall of the pipeline; the visual sensor is used to obtain an internal image of the pipeline, and determine the inner diameter size and internal structure of the pipeline based on an image detection algorithm; the control module controls the spacing between any two adjacent movable wheel groups based on the inner diameter size of the pipeline determined by the visual sensor to change the size of the support module in the inner diameter direction of the pipeline; the control module also controls the rotation of the support module based on the internal structure of the pipeline to fit the inner wall of the pipeline.
[0008] In the technical solution of the embodiment of the present application, the support module includes a plurality of support beams hinged in sequence, and adjacent support beams are connected end to end; a movable wheel group is provided at the connection of any two adjacent support beams, and the two ends of the support beam are abutted against the opposite sides of the inner wall of the pipeline through the movable wheel group, so that the operation and maintenance robot can fit the inner wall of the pipeline in the pipeline, and the inner wall of the pipeline can support and limit the movement of the operation and maintenance robot, so that the cleaning module on the operation and maintenance robot can move driven by the support module and the movable wheel group, avoiding the self-rotation or shaking of the cleaning module, and reducing the risk of missing positions or cleaning dead corners during cleaning; the universal wheel guides the support module to move or rotate along the axial direction of the pipeline; the visual sensor is used to obtain the internal image of the pipeline, and determine the inner diameter size and internal structure of the pipeline based on the image detection algorithm; the control module controls the spacing between any two adjacent movable wheel groups based on the inner diameter size of the pipeline determined by the visual sensor to change the support module in the inner diameter direction of the pipeline. size; the change in the spacing between two adjacent movable wheel groups can change the inclination angle of multiple support beams of the support module, so that any two adjacent supports can change their own sizes in time according to the local size of the inner diameter of the pipeline, reducing the risk of the support module being blocked or colliding with the local pipeline, allowing the support module to be smoothly in various complex pipelines. The control module also controls the rotation of the support module based on the internal structure of the pipeline to fit the inner wall of the pipeline and avoid the special-shaped structure inside the pipeline, reducing the risk of the support module being stuck by the structure or bend inside the pipeline; the support module of the operation and maintenance robot for disposing of radioactive waste provided in the present application is hinged by multiple support beams, can bend along the bending angle of the pipeline, and can change its own size and avoid the internal structure of the pipeline according to the internal size and shape of the pipeline, so that the operation and maintenance robot can move flexibly inside the pipeline and can keep in contact with the inner wall of the pipeline, meeting the cleaning needs of pipelines and equipment with complex structures.
[0009] In some embodiments, the visual sensor determines the location and thickness information of the radioactive waste in the pipe based on the internal image of the pipe, and the control module controls the support module to move faster or slower along the axial direction of the pipe based on the location and thickness information of the radioactive waste in the pipe.
[0010] In the technical solution of the embodiment of the present application, the visual sensor determines the position and thickness information of the radioactive waste in the pipeline based on the internal image of the pipeline, and the control module controls the support module to move faster or slower along the axial direction of the pipeline based on the position and thickness information of the radioactive waste in the pipeline, so that the movable wheel group slows down the movement speed in places where the amount of radioactive waste is accumulated or attached is large, so that the cleaning module can scrub the places with more radioactive waste for a longer time, so that all places on the inside of the pipeline can be effectively cleaned; the movable wheel group speeds up the movement speed in places where the amount of radioactive waste is accumulated or attached is small, reducing the time that the operation and maintenance robot stays in areas with less cleaning needs, allowing the operation and maintenance robot to adjust the cleaning time according to the cleanliness of various parts of the pipeline, thereby improving the overall cleaning effect of the pipeline while saving the total cleaning time as much as possible.
[0011] In some embodiments, the cleaning module includes multiple scrubbing components and a first driving member, the first driving member is connected to the head end of the supporting module, the multiple scrubbing components are connected to the output end of the first driving member, and the first driving member drives the scrubbing components to rotate reciprocatingly to scrub the inner wall of the pipe; wherein the scrubbing component includes a brush and a telescopic arm, the brush is connected to the first driving member through the telescopic arm, and the control module controls the telescopic arm to extend and retract based on the inner diameter size of the pipe determined by the visual sensor so that the brush fits the inner wall of the pipe.
[0012] In the technical solution of the embodiment of the present application, the first driving member is connected to the head end of the supporting module, and multiple scrubbing components are connected to the output end of the first driving member. The first driving member drives the scrubbing component to rotate back and forth to scrub the inner wall of the pipe. Radioactive waste attached to the inner wall of the pipe can be removed by scrubbing. The scrubbing component includes a brush and a telescopic arm. The brush is connected to the first driving member through the telescopic arm. The control module controls the telescopic arm to extend and retract based on the inner diameter of the pipe determined by the visual sensor so that the brush fits the inner wall of the pipe. On the one hand, the brush and the telescopic arm are not easily blocked by the inner wall of the pipe and other special-shaped structures. On the other hand, the telescopic arm can keep the brush in contact with the pipe, thereby effectively cleaning various parts of the pipe.
[0013] In some embodiments, the cleaning module also includes a recovery module, which is arranged at the output end of the first driving member. Part of the telescopic arm is inserted into the recovery module, and the telescopic arm moves relative to the recovery module along its own length direction to drive the brush to move toward or away from the inner wall of the pipe. The recovery module is used to recover the energy generated when the telescopic arm moves relative to the recovery module and provide the energy to the first driving member.
[0014] In the technical solution of the embodiment of the present application, the recovery module is used to recover the energy generated when the telescopic arm moves relative to the recovery module and provide the energy to the first driving member, so that the energy generated by the extension and retraction of the telescopic arm is recovered and reused, which can reduce the total amount of energy consumed by the operation and maintenance robot when moving in the pipeline and improve the endurance of the operation and maintenance robot.
[0015] In some embodiments, there are multiple brushes and telescopic arms, the number of brushes is not less than the number of telescopic arms, the multiple telescopic arms are axially arranged around the output end of the first driving member, and the visual sensor is arranged at the output end of the first driving member.
[0016] In the technical solution of the embodiment of the present application, multiple telescopic arms are axially arranged around the output end of the first driving member, so that the multiple telescopic arms can simultaneously scrub multiple inner walls of the pipe when the first driving member rotates, thereby accelerating the cleaning efficiency of the cleaning module on the inner wall of the pipe. The visual sensor is arranged at the output end of the first driving member, so that the visual sensor can obtain information such as the inner diameter size and internal shape of the pipe to be cleaned before the cleaning module and the support module, so that the cleaning module and the support module can respond to the situation of the pipe in advance, thereby reducing the probability of collision caused by the cleaning module and the support module failing to respond to environmental changes inside the pipe in a timely manner.
[0017] In some embodiments, the movable wheel group includes a pair of connecting components, which are respectively arranged on both sides of the support beam, adjacent support beams are hinged to the pair of connecting components, adjacent support beams among multiple support beams are connected by the connecting components, and the connecting components are connected to the universal wheel.
[0018] In the technical solution of the embodiment of the present application, a pair of connecting components are respectively arranged on both sides of the support beam, adjacent support beams are hinged to a pair of connecting components, and adjacent support beams among a plurality of support beams are connected by connecting components. The connecting components allow the movable range of the plurality of support beams to be limited to a plane perpendicular to the rotation axis of the support beam, thereby reducing the size of the support module in the rotation axis of the support beam, allowing the operation and maintenance robot to enter a narrower pipe for cleaning operations, thereby increasing the scope of application of the operation and maintenance robot for disposing of radioactive waste provided by the present application.
[0019] In some embodiments, the support beam at the head end of the support module is connected to the cleaning module via a connecting assembly, and the cleaning module is rotatably connected to the connecting assembly.
[0020] In the technical solution of the embodiment of the present application, the cleaning module can be rotatably connected to the connecting component, so that the cleaning module can change its own angle and rotate its own angle to match the internal shape of the pipeline, thereby reducing the risk of missing areas or cleaning dead corners on the inside of the pipeline and improving the cleaning effect of the operation and maintenance robot on pipelines with complex structures.
[0021] In some embodiments, the connecting assembly includes a connecting member, a movable member and an elastic member. The connecting member is connected to the supporting module. The movable member is located on the side of the connecting member away from the supporting module. The movable member is connected to a second driving member for driving the universal wheel to rotate. The movable member and the connecting member are connected by an elastic member.
[0022] In the technical solution of the embodiment of the present application, the connecting part is connected to the supporting module, the movable part is connected to the second driving part for driving the universal wheel to rotate, and the movable part and the connecting part are connected by an elastic part. When the supporting module enters a relatively narrow pipe, the pressure applied by the inner wall of the pipe to the universal wheel can push the movable part to squeeze the elastic part, causing the elastic part to contract, while maintaining the mutual contact between the universal wheel and the inner wall of the pipe, avoiding excessive pressure between the universal wheel and the inner wall of the pipe causing damage to both, thereby improving the service life of the universal wheel and the pipe.
[0023] In some embodiments, a plurality of limiting shafts are provided on the surface of the connecting member facing the movable member, and a plurality of limiting holes are provided on the movable member to allow the limiting shafts to pass through, and the plurality of limiting shafts correspond one-to-one to the plurality of limiting holes; one of the plurality of limiting shafts is located at the center of the connecting member, and the elastic member is sleeved on the limiting shaft located at the center of the connecting member.
[0024] In the technical solution of the embodiment of the present application, a plurality of limiting shafts are arranged on the surface of the connecting part facing the movable part, and the movable part is provided with a plurality of limiting holes for allowing the limiting shafts to pass through. The plurality of limiting shafts can limit the rotation of the movable part under the pressure of the inner wall of the pipe on the one hand, and guide the movable part to move along the length of the limiting shafts on the other hand. The elastic part is sleeved on the limiting shaft located at the center of the connecting part. The limiting shaft located at the center of the connecting part can limit the expansion and contraction direction of the elastic part, thereby avoiding the risk of the elastic part bending or deviating from the direction of the limiting shaft under repeated expansion and contraction.
[0025] In some embodiments, it also includes a power module, which is electrically connected to the support module, the movable wheel group, the cleaning module, the visual sensor and the control module. The power module is arranged in the middle of the support beam located at the head end among the multiple support beams, and the control module is arranged in the middle of any support beam among the multiple support beams; the power module and the control module are both covered with a shielding cover on the outside.
[0026] In the technical solution of the embodiment of the present application, when the support module is on the inside of the pipeline, the two ends of the support beam will respectively abut against the opposite sides of the inner wall of the pipeline, so that the middle part of the support beam can always be at the axis of the pipeline, the power module is arranged in the middle part of the support beam located at the head end among the multiple support beams, and the control module is arranged in the middle part of any support beam among the multiple support beams, so that the power module and the control module can always be located at the axis of the pipeline, reducing the risk of collision between the power module and the control module and the inner wall of the pipeline, and allowing the power module and the control module to maintain a certain distance from the inner wall of the pipeline at various locations, reducing the impact of radiation from radioactive waste that may remain on the inner wall of the pipeline on the power module and the control module; shielding covers are provided on the outside of the power module and the control module to protect the power module and the control module at the key parts of the operation of the operation and maintenance robot from being easily affected by the radiation of radioactive waste in the pipeline.
[0027] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0029] Figure 1 A schematic diagram of the structure of an operation and maintenance robot for disposing of radioactive waste provided in some embodiments of the present application;
[0030] Figure 2 A schematic diagram of the structure of an operation and maintenance robot for disposing of radioactive waste provided in other embodiments of the present application;
[0031] Figure 3 A bottom view of an operation and maintenance robot for disposing of radioactive waste provided in some embodiments of the present application;
[0032] Figure 4 A schematic diagram of the structure of a cleaning module provided in some embodiments of the present application;
[0033] Figure 5 A schematic diagram of the structure of a movable wheel group provided in some embodiments of the present application.
[0034] Icons: 1-support module; 10-support beam; 2-movable wheel group; 20-universal wheel; 21-connecting assembly; 210-connecting part; 2100-limiting shaft; 211-movable part; 212-elastic part; 22-second driving part; 3-cleaning module; 30-scrubbing assembly; 300-brush; 301-telescopic arm; 31-first driving part; 32-recovery module; 4-visual sensor; 5-control module; 6-power module; 7-shielding cover. DETAILED DESCRIPTION
[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0036] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.
[0037] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.
[0038] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "attached" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0039] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.
[0040] The term "multiple" as used in this application refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple sheets" refers to more than two sheets (including two sheets).
[0041] The operation and maintenance robot for disposing of radioactive waste provided in the present application can be applied to various types of pipelines and tubular structure equipment. The present application is described using pipelines as an example.
[0042] According to some embodiments of the present application, optionally, Figure 1 to Figure 3 As shown, the present application provides an operation and maintenance robot for disposing of radioactive waste, which is used for cleaning radioactive waste in a pipeline. The operation and maintenance robot for disposing of radioactive waste includes a support module 1, a movable wheel group 2, a cleaning module 3, a visual sensor 4 and a control module 5; the support module 1 includes a plurality of support beams 10 hinged in sequence, and adjacent support beams 10 are connected end to end; a movable wheel group 2 is respectively provided at the head end and the tail end of the support module 1, and a movable wheel group 2 is provided at the connection between any two adjacent support beams 10, and the two ends of the support beam 10 are abutted against the opposite sides of the inner wall of the pipeline through the movable wheel group 2. The movable wheel group 2 includes a universal wheel 20, which guides the support module 1 to move or rotate along the axial direction of the pipeline; the cleaning module 3 is used to scrub the inner wall of the pipeline; the visual sensor 4 is used to obtain the internal image of the pipeline, and determine the inner diameter size and internal structure of the pipeline based on the image detection algorithm; the control module 5 controls the distance between any two adjacent movable wheel groups 2 based on the inner diameter size of the pipeline determined by the visual sensor 4 to change the size of the support module 1 in the inner diameter direction of the pipeline; the control module 5 also controls the support module 1 to rotate to fit the inner wall of the pipeline based on the internal structure of the pipeline.
[0043] The radioactive waste handled by the operation and maintenance robot for disposing of radioactive waste provided in the present application is radioactive fly ash attached to the inner wall of the pipeline or accumulated on the inner side of the pipeline after the incineration of radioactive waste generated during the operation and decommissioning of nuclear power plants.
[0044] The number of the plurality of support beams 10 may be two, three, four, five, six, seven, eight, nine, ten or more.
[0045] The support beam 10 may be made of a material that is resistant to high temperatures, radiation, and has high strength. The material of the support beam 10 may be, but is not limited to, titanium alloy, aluminum alloy, composite ceramic, high-strength and high-plasticity steel, and the like.
[0046] The universal wheel 20 can be a Mecanum wheel. A Mecanum wheel is a highly flexible wheel that can move in all directions. This all-round movement is based on the principle of a central wheel with many axles located around the wheel. These angled peripheral axles convert part of the wheel steering force into a wheel normal force. Depending on the direction and speed of each wheel, the final synthesis of these forces produces a resultant force vector in any required direction, thereby ensuring that the platform can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself. Many small rollers are distributed obliquely on its rim, so the wheel can slide laterally. The generatrix of the small rollers is very special. When the wheel rotates around the fixed wheel axis, the envelope of each small roller is a cylindrical surface, so the wheel can roll forward continuously. The Mecanum wheel has a compact structure and flexible movement, and is a very successful all-round wheel.
[0047] Each movable wheel set 2 includes two universal wheels 20 respectively arranged on two sides of the supporting module 1 .
[0048] The operation and maintenance robot for disposing of radioactive waste mentioned in this application will move unidirectionally along the length direction of the pipeline when working in the pipeline. The head end of the support module 1 is the end of the support module 1 facing its own forward direction, and the tail end of the support module 1 is the end of the support module 1 away from its own forward direction.
[0049] The support module 1 includes a plurality of support beams 10 hinged in sequence, and adjacent support beams 10 are connected end to end; a movable wheel set 2 is provided at the connection of any two adjacent support beams 10, and the two ends of the support beam 10 are abutted against the opposite sides of the inner wall of the pipeline through the movable wheel set 2, so that the operation and maintenance robot can fit the inner wall of the pipeline in the pipeline, and the inner wall of the pipeline can support and limit the movement of the operation and maintenance robot, so that the cleaning module 3 on the operation and maintenance robot can move driven by the support module 1 and the movable wheel set 2, avoiding the cleaning module 3 from rotating or shaking by itself, and reducing the risk of missing positions or cleaning dead corners during cleaning; the universal wheel 20 guides the support module 1 to move or rotate along the axial direction of the pipeline; the visual sensor 4 is used to obtain the internal image of the pipeline, and determine the inner diameter size and internal structure of the pipeline based on the image detection algorithm; the control module 5 controls the spacing between any two adjacent movable wheel sets 2 based on the inner diameter size of the pipeline determined by the visual sensor 4 to change the support module 1 in the inner diameter direction of the pipeline. Size; the change in the spacing between two adjacent movable wheel groups 2 can change the inclination angle of the multiple support beams 10 of the support module 1, so that any two adjacent supports can change their own sizes in time according to the local size of the inner diameter of the pipeline, reducing the risk of the support module 1 being blocked or colliding with the local pipeline, allowing the support module 1 to be smoothly in various complex pipelines. The control module 5 also controls the support module 1 to rotate based on the internal structure of the pipeline to fit the inner wall of the pipeline and avoid the special-shaped structure inside the pipeline, reducing the risk of the support module 1 being stuck by the structure or bend inside the pipeline; the support module 1 of the operation and maintenance robot for disposing of radioactive waste provided in the present application is hinged by multiple support beams 10, can bend along the bending angle of the pipeline, and can change its own size and avoid the internal structure of the pipeline according to the internal size and shape of the pipeline, so that the operation and maintenance robot can move flexibly on the inside of the pipeline and can keep in contact with the inner wall of the pipeline, meeting the cleaning needs of pipelines and equipment with complex structures.
[0050] According to some embodiments of the present application, optionally, the visual sensor 4 determines the position and thickness information of the radioactive waste in the pipeline based on the internal image of the pipeline, and the control module 5 controls the axial movement speed of the support module 1 along the pipeline to speed up or slow down based on the position and thickness information of the radioactive waste in the pipeline.
[0051] The operation and maintenance robot may also include a memory for storing the internal image of the pipeline before use. The visual sensor 4 determines the accumulation location and amount of radioactive waste in various areas of the pipeline by comparing the captured internal image of the pipeline with the internal image of the pipeline before use.
[0052] The visual sensor 4 determines the position and thickness information of the radioactive waste in the pipeline based on the internal image of the pipeline. The control module 5 controls the support module 1 to move faster or slower along the axial direction of the pipeline based on the position and thickness information of the radioactive waste in the pipeline, so that the movable wheel group 2 slows down the movement speed in the area where the amount of radioactive waste is accumulated or attached is large, so that the cleaning module 3 can scrub the area with more radioactive waste for a longer time, so that all places on the inside of the pipeline can be effectively cleaned; the movable wheel group 2 speeds up the movement speed in the area where the amount of radioactive waste is accumulated or attached is small, reducing the time that the operation and maintenance robot stays in the area with less cleaning demand, allowing the operation and maintenance robot to adjust the cleaning time according to the cleanliness of various parts of the pipeline, and improving the overall cleaning effect of the pipeline while saving the total cleaning time as much as possible.
[0053] According to some embodiments of the present application, optionally, Figure 1 to Figure 4 As shown, the cleaning module 3 includes a plurality of scrubbing components 30 and a first driving member 31, the first driving member 31 is connected to the head end of the supporting module 1, and the plurality of scrubbing components 30 are connected to the output end of the first driving member 31, and the first driving member 31 drives the scrubbing components 30 to rotate reciprocatingly to scrub the inner wall of the pipe; wherein, the scrubbing component 30 includes a brush 300 and a telescopic arm 301, the brush 300 is connected to the first driving member 31 via the telescopic arm 301, and the control module 5 controls the telescopic arm 301 to extend and retract based on the inner diameter size of the pipe determined by the visual sensor 4 so that the brush 300 fits the inner wall of the pipe.
[0054] The cleaning module 3 may further include a water gun, the water outlet of which may be directly facing the brush 300, so as to spray water onto the inner wall of the pipe in a timely manner, thereby improving the cleaning effect of the brush 300 on the inner wall of the pipe.
[0055] The first driving member 31 is connected to the head end of the supporting module 1, and a plurality of scrubbing assemblies 30 are connected to the output end of the first driving member 31. The first driving member 31 drives the scrubbing assemblies 30 to reciprocate to scrub the inner wall of the pipe. Radioactive waste attached to the inner wall of the pipe can be removed by scrubbing. The scrubbing assemblies 30 include a brush 300 and a telescopic arm 301. The brush 300 is connected to the first driving member 31 via the telescopic arm 301. The control module 5 controls the telescopic arm 301 to extend and retract based on the inner diameter of the pipe determined by the visual sensor 4 so that the brush 300 and the telescopic arm 301 are fitted to the inner wall of the pipe. On the one hand, the brush 300 and the telescopic arm 301 are not easily blocked by the inner wall of the pipe and other special-shaped structures. On the other hand, the brush 300 can maintain contact with the pipe through the telescopic arm 301, thereby effectively cleaning various parts of the pipe.
[0056] According to some embodiments of the present application, optionally, Figure 1 to Figure 4As shown, the cleaning module 3 also includes a recovery module 32, which is arranged at the output end of the first driving member 31. Part of the telescopic arm 301 is inserted into the recovery module 32, and the telescopic arm 301 moves relative to the recovery module 32 along its own length direction to drive the brush 300 to move toward or away from the inner wall of the pipe. The recovery module 32 is used to recover the energy generated when the telescopic arm 301 moves relative to the recovery module 32 and provide the energy to the first driving member 31.
[0057] The recovery module 32 is used to recover energy generated by friction between the telescopic arm 301 and the recovery module 32 when the telescopic arm 301 moves relative to the recovery module 32 .
[0058] The recovery module 32 is used to recover the energy generated when the telescopic arm 301 moves relative to the recovery module 32 and provide the energy to the first driving member 31. The energy generated by the extension and retraction of the telescopic arm 301 is recovered and reused, which can reduce the total amount of energy consumed by the operation and maintenance robot when moving in the pipeline and improve the endurance of the operation and maintenance robot.
[0059] According to some embodiments of the present application, optionally, Figure 1 to Figure 4 As shown, there are multiple brushes 300 and telescopic arms 301 , the number of brushes 300 is not less than the number of telescopic arms 301 , multiple telescopic arms 301 are axially arranged around the output end of the first driving member 31 , and the visual sensor 4 is arranged at the output end of the first driving member 31 .
[0060] The number of the brushes 300 may be two, three, four, five, six, seven, eight, nine, ten or more.
[0061] The number of the telescopic arms 301 may be two, three, four, five, six, seven, eight, nine, ten or more.
[0062] The number of the brushes 300 is not less than the number of the telescopic arms 301 , and at least one brush 300 is connected to one end of each telescopic arm 301 facing the inner wall of the pipe.
[0063] Multiple telescopic arms 301 are axially arranged around the output end of the first driving member 31, so that the multiple telescopic arms 301 can scrub multiple inner walls in the pipeline at the same time when the first driving member 31 rotates, thereby accelerating the cleaning efficiency of the cleaning module 3 on the inner wall of the pipeline. The visual sensor 4 is arranged at the output end of the first driving member 31, so that the visual sensor 4 can obtain information such as the inner diameter size and internal shape of the pipeline to be cleaned before the cleaning module 3 and the support module 1, so that the cleaning module 3 and the support module 1 can respond to the situation of the pipeline in advance, thereby reducing the probability of collision caused by the cleaning module 3 and the support module 1 failing to respond to the environmental changes inside the pipeline in a timely manner.
[0064] According to some embodiments of the present application, optionally, Figure 1 to Figure 3 As shown, the movable wheel group 2 includes a pair of connecting components 21, and the pair of connecting components 21 are respectively arranged on both sides of the support beam 10, and adjacent support beams 10 in a plurality of support beams 10 are hinged to the pair of connecting components 21. The connecting components 21 are connected to the universal wheel 20.
[0065] There is a gap between two support beams 10 connected to the same connection assembly 21 to prevent the support beams 10 from affecting each other when rotating.
[0066] A pair of connection components 21 are arranged along the axial direction of rotation of the support beam 10 .
[0067] A pair of connecting components 21 are respectively arranged on both sides of the support beam 10, and adjacent support beams 10 are hinged to a pair of connecting components 21. Adjacent support beams 10 among a plurality of support beams 10 are connected by the connecting components 21. The connecting components 21 allow the movable range of the plurality of support beams 10 to be limited to a plane perpendicular to the rotation axis of the support beam 10, thereby reducing the size of the support module 1 in the rotation axis of the support beam 10, allowing the operation and maintenance robot to enter a narrower pipe for cleaning operations, thereby increasing the scope of application of the operation and maintenance robot for disposing of radioactive waste provided in the present application.
[0068] According to some embodiments of the present application, optionally, Figure 1 to Figure 3 As shown, the support beam 10 located at the head end of the support module 1 is connected to the cleaning module 3 through the connecting component 21, and the cleaning module 3 is rotatably connected to the connecting component 21.
[0069] The rotation direction of the cleaning module 3 may be parallel to the rotation axis of the support beam 10 .
[0070] The cleaning module 3 is rotatably connected to the connecting component 21, so that the cleaning module 3 can change its own angle and rotate according to the internal shape of the pipeline, thereby reducing the risk of missing areas or cleaning dead corners on the inside of the pipeline and improving the cleaning effect of the operation and maintenance robot on pipelines with complex structures.
[0071] According to some embodiments of the present application, optionally, Figure 1 to Figure 3 and Figure 5 As shown, the connecting component 21 includes a connecting member 210, a movable member 211 and an elastic member 212. The connecting member 210 is connected to the supporting module 1. The movable member 211 is located on the side of the connecting member 210 away from the supporting module 1. The movable member 211 is connected to the second driving member 22 for driving the universal wheel 20 to rotate. The movable member 211 and the connecting member 210 are connected via the elastic member 212.
[0072] The elastic member 212 may be, but is not limited to, rubber, resin, spring, etc.
[0073] The connecting member 210 is connected to the supporting module 1, the movable member 211 is connected to the second driving member 22 for driving the universal wheel 20 to rotate, and the movable member 211 and the connecting member 210 are connected by the elastic member 212. When the supporting module 1 enters a relatively narrow pipe, the pressure applied by the inner wall of the pipe to the universal wheel 20 can push the movable member 211 to squeeze the elastic member 212, causing the elastic member 212 to contract, while keeping the universal wheel 20 and the inner wall of the pipe in contact with each other, avoiding excessive pressure between the universal wheel 20 and the inner wall of the pipe causing damage to both, thereby increasing the service life of the universal wheel 20 and the pipe.
[0074] According to some embodiments of the present application, optionally, Figure 1 to Figure 3 and Figure 5 As shown, a plurality of limiting shafts 2100 are provided on the surface of the connecting member 210 facing the movable member 211, and a plurality of limiting holes are provided on the movable member 211 to allow the limiting shafts 2100 to pass through, and the plurality of limiting shafts 2100 correspond one to one to the plurality of limiting holes; one limiting shaft 2100 among the plurality of limiting shafts 2100 is located at the center of the connecting member 210, and the elastic member 212 is sleeved on the limiting shaft 2100 located at the center of the connecting member 210.
[0075] The diameter of the limiting axis 2100 located at the center of the connecting member 210 may be greater than the diameters of the other limiting axis 2100 , and the other limiting axis 2100 are arranged around the limiting axis 2100 located at the center of the connecting member 210 .
[0076] A plurality of limiting shafts 2100 are arranged on the surface of the connecting member 210 facing the movable member 211, and a plurality of limiting holes are arranged on the movable member 211 for allowing the limiting shafts 2100 to pass through. The plurality of limiting shafts 2100 can limit the rotation of the movable member 211 under the pressure of the inner wall of the pipe on the one hand, and guide the movable member 211 to move along the length of the limiting shafts 2100 on the other hand. The elastic member 212 is sleeved on the limiting shaft 2100 located at the center of the connecting member 210. The limiting shaft 2100 located at the center of the connecting member 210 can limit the extension and contraction direction of the elastic member 212, thereby avoiding the risk of the elastic member 212 bending or deviating from the direction of the limiting shaft 2100 due to repeated extension and contraction.
[0077] According to some embodiments of the present application, optionally, Figure 1 to Figure 3 As shown, it also includes a power module 6, which is electrically connected to the support module 1, the movable wheel group 2, the cleaning module 3, the visual sensor 4 and the control module. The power module 6 is arranged in the middle of the support beam 10 located at the head end among the multiple support beams 10, and the control module 5 is arranged on any support beam 10 among the multiple support beams 10; the power module 6 and the control module 5 are both covered with a shielding cover 7 on the outside.
[0078] The shielding cover 7 can be made of lead or gadolinium-rich material, which can shield the radiation of the radioactive waste inside the pipe and protect the inside of the robot from radiation.
[0079] When the support module 1 is on the inner side of the pipeline, the two ends of the support beam 10 will respectively abut against the opposite sides of the inner wall of the pipeline, so that the middle part of the support beam 10 can always be at the axis of the pipeline, and the power module 6 is arranged in the middle part of the support beam 10 located at the head end among the multiple support beams 10, and the control module 5 is arranged in the middle part of any support beam 10 among the multiple support beams 10, so that the power module 6 and the control module 5 can always be located at the axis of the pipeline, reducing the risk of collision between the power module 6 and the control module 5 and the inner wall of the pipeline, and allowing the power module 6 and the control module 5 to maintain a certain distance from the inner wall of the pipeline, reducing the impact of the radiation of radioactive waste that may remain on the inner wall of the pipeline on the power module 6 and the control module 5; the outer sides of the power module 6 and the control module 5 are covered with a shielding cover 7 to protect the power module 6 and the control module 5 at the key parts of the operation of the operation and maintenance robot from being easily affected by the radiation of radioactive waste in the pipeline.
[0080] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.
Claims
1. A radioactive waste disposal operation and maintenance robot, used for cleaning radioactive waste in pipelines, characterized in that: include: A support module comprising a plurality of support beams hinged in sequence, wherein adjacent support beams are connected end to end; Multiple movable wheel groups, one at each of the head and tail ends of the support module, and one at the connection between any two adjacent support beams. The two ends of the support beams abut against opposite sides of the inner wall of the pipe through the movable wheel groups. The movable wheel groups include universal wheels, which guide the support module to move or rotate along the axial direction of the pipe. A cleaning module, used for scrubbing the inner wall of the pipeline; A visual sensor, configured to acquire an internal image of the pipeline and determine the inner diameter and internal structure of the pipeline based on an image detection algorithm; The control module controls the spacing between any two adjacent movable wheel groups to change the size of the support module in the inner diameter direction of the pipe based on the inner diameter size of the pipe determined by the visual sensor; the control module also controls the rotation of the support module to fit the inner wall of the pipe based on the internal structure of the pipe.
2. The operation and maintenance robot for disposing of radioactive waste according to claim 1, characterized in that: The visual sensor determines the position and thickness information of the radioactive waste in the pipeline based on the internal image of the pipeline, and the control module controls the support module to move faster or slower along the axial direction of the pipeline based on the position and thickness information of the radioactive waste in the pipeline.
3. The operation and maintenance robot for disposing of radioactive waste according to claim 1, characterized in that: The cleaning module includes a plurality of scrubbing components and a first driving member, wherein the first driving member is connected to the head end of the supporting module, and the plurality of scrubbing components are connected to the output end of the first driving member, and the first driving member drives the scrubbing components to rotate back and forth to scrub the inner wall of the pipe; Among them, the scrubbing assembly includes a brush and a telescopic arm, the brush is connected to the first driving member through the telescopic arm, and the control module controls the telescopic arm to extend and retract based on the inner diameter of the pipe determined by the visual sensor so that the brush fits the inner wall of the pipe.
4. The operation and maintenance robot for disposing of radioactive waste according to claim 3, characterized in that: The cleaning module also includes a recovery module, which is arranged at the output end of the first driving member. Part of the telescopic arm is inserted into the recovery module. The telescopic arm moves relative to the recovery module along its own length direction to drive the brush to move toward or away from the inner wall of the pipe. The recovery module is used to recover the energy generated when the telescopic arm moves relative to the recovery module and provide the energy to the first driving member.
5. The operation and maintenance robot for disposing of radioactive waste according to claim 3, characterized in that: There are multiple brushes and multiple telescopic arms, and the number of the brushes is not less than the number of the telescopic arms. The multiple telescopic arms are axially arranged around the output end of the first driving member, and the visual sensor is arranged at the output end of the first driving member.
6. The operation and maintenance robot for disposing of radioactive waste according to claim 1, characterized in that: The movable wheel group includes a pair of connecting components, which are respectively arranged on both sides of the support beam, and adjacent support beams are hinged to a pair of connecting components. Adjacent support beams among the multiple support beams are connected through the connecting components, and the connecting components are connected to the universal wheel.
7. The operation and maintenance robot for disposing of radioactive waste according to claim 6, characterized in that: The support beam located at the head end of the support module is connected to the cleaning module through the connecting assembly, and the cleaning module is rotatably connected to the connecting assembly.
8. The operation and maintenance robot for disposing of radioactive waste according to claim 6, characterized in that: The connecting assembly includes a connecting part, a movable part and an elastic part. The connecting part is connected to the supporting module. The movable part is located on the side of the connecting part away from the supporting module. The movable part is connected to the second driving part for driving the universal wheel to rotate. The movable part and the connecting part are connected via the elastic part.
9. The operation and maintenance robot for disposing of radioactive waste according to claim 8, characterized in that: The surface of the connecting member facing the movable member is provided with a plurality of direction-limiting shafts, and the movable member is provided with a plurality of direction-limiting holes for allowing the direction-limiting shafts to pass through, and the plurality of direction-limiting shafts correspond to the plurality of direction-limiting holes in a one-to-one manner; One of the plurality of limiting shafts is located at the center of the connecting member, and the elastic member is sleeved on the limiting shaft located at the center of the connecting member.
10. The operation and maintenance robot for disposing of radioactive waste according to claim 1, characterized in that: The system further comprises a power supply module, the power supply module being electrically connected to the support module, the movable wheel assembly, the cleaning module, the visual sensor, and the control module, the power supply module being disposed in the middle of the support beam located at the head end among the plurality of support beams, and the control module being disposed in the middle of any one of the plurality of support beams; The power supply module and the control module are both covered with shielding covers on their outer sides.