Radioactive storage tank slurry cleaning operation vehicle and control system

Abstract

The invention provides a radioactive storage tank slurry cleaning operation vehicle and a control system. The radioactive storage tank slurry cleaning operation vehicle comprises a vehicle body bearing plate; the operation unit is fixedly connected with the vehicle body bearing plate; the driving units are fixedly connected with the two ends of the vehicle body bearing plate; wherein the driving unit drives the vehicle body bearing plate to move, and when the vehicle body bearing plate moves to a target position, the driving unit controls the operation unit to clean the radioactive slurry storage tank. The radioactive storage tank slurry cleaning operation vehicle can be placed in a radioactive storage tank, and the operation efficiency and the safety coefficient of radioactive storage tank slurry cleaning are improved.

Description

Technical Field

[0001] The invention relates to the technical field of remote treatment of radioactive storage tanks, in particular to a radioactive storage tank mud cleaning operation vehicle and a control system. Background Art

[0002] In the nuclear industry production system, radioactive waste liquid is generated during the operation of nuclear facilities, and the generated radioactive waste liquid is usually stored in large storage tanks. The waste liquid is stored in the tank for a long time, and a certain thickness of sediment is produced under the effects of irradiation, sedimentation, crystallization, etc. The radioactive waste liquid in this type of tank can be transferred and processed by pumping. However, the mud, crystals, agglomerates and other materials in the sediment at the bottom of the tank cannot be pumped directly, and due to the high radioactivity level of the sediment, manual cleaning is also impossible. Most of these tanks are approaching the design life or are in an over-service state and need to be dismantled and decommissioned. The presence of mud at the bottom of the tank seriously hinders the dismantling and decommissioning of the tank, so it is necessary to clean the mud in the tank from a distance. However, the existing operating equipment is expensive, complex in structure, and has poor mud retrieval effect, and does not consider the problem of placing the operating equipment in the tank. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a radioactive tank mud cleaning operation vehicle and a control system, which can be placed in a radioactive tank to improve the operation efficiency and safety factor of the radioactive tank mud cleaning operation.

[0004] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0005] A radioactive tank mud cleaning operation vehicle, comprising:

[0006] Car body load-bearing plate;

[0007] An operating unit fixedly connected to the vehicle body bearing plate;

[0008] A driving unit fixedly connected to the vehicle body bearing plate;

[0009] The driving unit drives the vehicle body supporting plate 5 to move, and when the vehicle body supporting plate moves to a target position, controls the operation unit to clean the radioactive mud storage tank.

[0010] Optionally, the operation unit includes:

[0011] Working DC motor;

[0012] A right-angle reducer fixedly connected to the output shaft of the operating DC motor;

[0013] A bevel gear right-angle commutator fixedly connected to the output shaft of the right-angle reducer;

[0014] An operating drive shaft fixedly connected to the bevel gear right-angle commutator;

[0015] A cleaning assembly fixedly connected to the operating drive shaft;

[0016] A bearing seat fixedly connected to the cleaning assembly;

[0017] A bearing mounting block fixedly connected to the bearing seat;

[0018] A height adjustment screw rod is fixedly connected to the bearing mounting block, and the height adjustment screw rod is fixedly connected to the vehicle body bearing plate.

[0019] Optionally, the cleaning assembly is a steel brush assembly or a scraper assembly.

[0020] Optionally, the cleaning assembly further comprises: a bowl-shaped steel brush fixedly connected to the end of the operating drive shaft.

[0021] Optionally, the right-angle reducer is fixedly connected to the bevel gear right-angle commutator via a plum blossom elastic coupling.

[0022] Optionally, the driving unit includes:

[0023] Motor bearing plate;

[0024] At least two drive motors fixedly connected to the motor bearing plate;

[0025] A motor reducer fixedly connected to the shaft ends of the at least two drive motors;

[0026] A power drive shaft fixedly connected to the output end of the motor reducer;

[0027] A driving wheel fixedly connected to the end of the power driving shaft;

[0028] A crawler track fixedly connected to the driving wheel;

[0029] At least two guide wheels are contacted and connected with the crawler track, and the at least two guide wheels are fixedly connected via a wheel axle.

[0030] Optional, radioactive tank slurry cleaning vehicle, also includes:

[0031] A chassis guard plate fixedly connected to the vehicle body load-bearing plate;

[0032] A lateral restraint plate fixedly connected to the chassis guard plate;

[0033] A lifting cylinder fixedly connected to the chassis guard plate;

[0034] A longitudinal anti-collision beam fixedly connected to the vehicle body load-bearing plate;

[0035] A transverse anti-collision beam fixedly connected to the vehicle body load-bearing plate;

[0036] A guide wheel fixedly connected to the end of the transverse anti-collision beam;

[0037] A guide rail bearing plate fixedly connected to the lifting cylinder, wherein the guide rail bearing plate is fixedly connected to the chassis guard plate;

[0038] A mud and water collecting plate fixedly connected to the vehicle body bearing plate;

[0039] A filter fixedly connected to the mud and water collecting plate.

[0040] Optionally, the mud and water collecting plate is provided with a clean water inlet.

[0041] The embodiment of the present invention further provides a control system for a radioactive tank mud cleaning vehicle, which is used to control the radioactive tank mud cleaning vehicle described in this solution; it includes:

[0042] Programmable logic controller;

[0043] A first frequency converter in communication with the programmable logic controller;

[0044] a drive motor controller communicatively connected to the first frequency converter;

[0045] a second frequency converter in communication with the programmable logic controller;

[0046] an operating DC motor controller in communication with the second frequency converter;

[0047] a lift cylinder controller in communication with the programmable logic controller;

[0048] Among them, the programmable logic controller controls the drive motor controller through the first frequency converter to send a first control instruction to the drive unit, and the first control instruction is used to control the drive unit to drive the vehicle body load-bearing plate to move. When the vehicle body load-bearing plate moves to the target position, the programmable logic controller controls the operating DC motor controller through the second frequency converter to send a second control instruction to the operating unit, and the second control instruction is used to control the operating unit to clean the radioactive mud storage tank.

[0049] Optionally, the programmable logic controller includes: a digital input module and a digital output module; wherein the digital input module receives working status signals of the drive unit and the operating unit; the digital output module processes the working status signals and controls the working status of the drive unit and the operating unit according to the processing results.

[0050] The above technical solution of the present invention has at least the following technical effects:

[0051] The above-mentioned radioactive tank mud cleaning operation vehicle of the present invention comprises: a vehicle body load plate; an operation unit fixedly connected to the vehicle body load plate; a driving unit fixedly connected to the vehicle body load plate; wherein the driving unit drives the vehicle body load plate to move, and when the vehicle body load plate moves to a target position, controls the operation unit to clean the radioactive mud tank. The radioactive tank can be placed, thereby improving the operation efficiency and safety factor of the radioactive tank mud cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a three-dimensional schematic diagram of a radioactive storage tank mud cleaning operation vehicle of the present invention;

[0053] Figure 2 It is a top view of the radioactive tank mud cleaning operation vehicle of the present invention;

[0054] Figure 3 It is a bottom view of the radioactive tank mud cleaning operation vehicle of the present invention;

[0055] Figure 4 It is a side view of the radioactive tank mud cleaning operation vehicle of the present invention;

[0056] Figure 5 It is a front view of the radioactive tank mud cleaning operation vehicle of the present invention;

[0057] Figure 6 It is a schematic diagram of the driving wheel and guide wheel of the radioactive tank mud cleaning operation vehicle of the present invention;

[0058] Figure 7 It is a schematic diagram of a scraper assembly of a radioactive tank mud cleaning vehicle of the present invention;

[0059] Figure 8 It is a schematic diagram of a fender of a radioactive tank mud cleaning vehicle of the present invention;

[0060] Fig. 9 It is a schematic diagram of the control system of the radioactive tank mud cleaning operation vehicle of the present invention;

[0061] Fig.10 The present invention is a schematic diagram of a programmable logic controller of a control system of a radioactive tank mud cleaning operation vehicle.

[0062] Description of reference numerals:

[0063] 1-lateral anti-collision beam; 2-guide wheel; 3-longitudinal anti-collision beam; 4-crawler; 5-body bearing plate; 6-clean water inlet; 7-right-angle reducer; 8-operating DC motor; 9-motor reducer; 10-motor bearing plate; 11-wheel axle; 12-chassis guard plate; 13-power drive shaft; 14-filter; 15-bevel gear right-angle commutator; 16-bearing mounting block; 17-bearing seat; 18-bowl-shaped steel brush; 19-driving wheel; 20-guide wheel; 21-guide rail bearing plate; 22-mud and water collecting plate; 23-plum blossom elastic coupling; 24-heightening screw; 25-lifting cylinder; 26-steel brush group; 27-driving motor; 28-operating drive shaft; 29-lateral restraint plate; 30-mudguard; 31-scraper group. DETAILED DESCRIPTION

[0064] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0065] like Figure 1 As shown, an embodiment of the present invention provides a radioactive tank mud cleaning operation vehicle, comprising:

[0066] Car body bearing plate 5;

[0067] An operating unit fixedly connected to the vehicle body bearing plate 5;

[0068] A driving unit fixedly connected to both ends of the vehicle body bearing plate 5;

[0069] The driving unit drives the vehicle body supporting plate 5 to move, and when the vehicle body supporting plate 5 moves to a target position, the operating unit is controlled to clean the radioactive mud storage tank.

[0070] In this embodiment, Figure 1 , Figure 2 As shown, the radioactive tank mud cleaning vehicle can enter the radioactive tank and retrieve the mud left at the bottom of the radioactive tank from a long distance when the size is limited to a preset range.

[0071] The radioactive tank mud cleaning operation vehicle comprises a body load-bearing plate 5, an operation unit and a driving unit. The body load-bearing plate 5 is the main structure of the operation vehicle and provides a support platform for the operation vehicle. The operation unit and the driving unit are both fixedly connected to the body load-bearing plate 5. Preferably, the operation unit is located in the middle of the body load-bearing plate 5, and the driving unit is located at both ends of the body load-bearing plate 5. The operation unit is used to perform cleaning operations inside the radioactive tank and can clean the sediment in the tank and discharge it from the tank. The driving unit is used to control the movement of the operation vehicle in the tank so that the operation vehicle can move to various positions of the tank for cleaning operations. The radioactive tank mud cleaning operation vehicle of the scheme of the present invention has a small body and can be placed from the manhole of the tank. Without the need for additional water supply, the supernatant on the sediment layer is mixed and stirred with the mud to reach a state that can be pumped by a sewage suction pump, and the mud-water mixture is pumped out of the tank, effectively solving the problem of cleaning and retrieving the mud at the bottom of a large radioactive waste liquid storage tank.

[0072] like Figure 2 , Figure 3 As shown, in an optional embodiment of the present invention, the operation unit includes:

[0073] Operation DC motor 8;

[0074] A right-angle reducer 7 fixedly connected to the output shaft of the operating DC motor 8;

[0075] A bevel gear right-angle commutator 15 fixedly connected to the output shaft of the right-angle reducer 7;

[0076] An operating drive shaft 28 fixedly connected to the bevel gear right angle commutator 15;

[0077] A cleaning assembly fixedly connected to the operating drive shaft 28;

[0078] A bearing seat 17 fixedly connected to the cleaning assembly;

[0079] A bearing mounting block 16 fixedly connected to the bearing seat 17;

[0080] The height adjustment screw rod 24 is fixedly connected to the bearing mounting block 16 , and the height adjustment screw rod 24 is fixedly connected to the vehicle body bearing plate 5 .

[0081] In this embodiment, Figure 2 , Figure 3As shown, the working DC motor 8 provides power for the working unit, and the output shaft of the DC motor 8 is connected to the input end of the right-angle reducer 7 and transmits power through a flat key; the output shaft of the right-angle reducer 7 is connected to the one-input and two-output bevel gear right-angle commutator 15, and the left and right output ends of the bevel gear commutator 15 are connected to the working drive shaft 28; the cleaning component is installed on the bearing and rotates under the constraint of the bearing seat 17; the bearing seat 17 is installed on the bearing mounting block 16, and the bearing mounting block 16 is connected to the height adjustment screw 24, and the bearing mounting block is fastened by a nut to constrain the screw axially; the working unit transmits the power of the working DC motor 8 to the cleaning component through the transmission device, and the cleaning component cleans the sediment in the storage tank.

[0082] like Figure 5 , Figure 7 As shown, in an optional embodiment of the present invention, the cleaning assembly is a steel brush assembly 26 or a scraper assembly 31.

[0083] In this embodiment, Figure 5 , Figure 7 As shown, the cleaning component is a steel brush group 26 or a scraper group 31. The steel brush group 26 or the scraper group 31 can be replaced selectively, and one is installed at a time, and they cannot be installed at the same time. Before the cleaning operation, observe the mud at the bottom of the sampling tank. If the bottom of the tank is a supernatant plus a hardened layer, the scraper group 31 is used for crushing and stirring. If the mud at the bottom of the tank does not have a hardened layer and only contains a solution crystallization layer and a supernatant, the steel brush group 26 is used as the cleaning component.

[0084] like Figure 1 , Figure 5 As shown, in an optional embodiment of the present invention, the cleaning component further includes:

[0085] A cup-shaped steel brush 18 is fixedly connected to the end of the working drive shaft 28 .

[0086] In this embodiment, Figure 1 , Figure 5 As shown, a bowl-shaped steel brush 18 is fixedly arranged at the end of the working drive shaft 28 as a side cleaning component. During the rotation of the steel brush group 26, the side bowl-shaped steel brush 18 also rotates accordingly. When the working vehicle moves to the side wall of the storage tank, the bowl-shaped steel brush 18 cooperates with the clean water nozzle to clean the side wall, and at the same time plays a flexible buffering role to avoid direct rigid contact between the working vehicle and the side wall of the storage tank.

[0087] like Figure 3 , Figure 4 As shown, in an optional embodiment of the present invention, the right-angle reducer 7 is fixedly connected to the bevel gear right-angle commutator 15 via a plum blossom elastic coupling 23.

[0088] In this embodiment, Figure 3 , Figure 4 As shown, the output shaft of the right-angle reducer 7 is connected to the one-input and two-output bevel gear right-angle commutator 15 through a plum blossom elastic coupling 23. The plum blossom elastic coupling 23 is tightly meshed through two half-couplings with convex teeth, and transmits torque through radial extrusion by elastic elements. When the two axes are relatively offset, the elastic element will undergo elastic deformation, thereby automatically compensating for the offset and ensuring stable transmission of torque. At the same time, when there is a deviation between the two axes, the elastic deformation of the elastic element can absorb the deviation, ensuring the normal operation of the coupling 23 and reducing mechanical damage caused by the offset. In addition, the plum blossom-shaped elastic coupling 23 achieves vibration reduction and buffering effects through the elastic deformation of the elastic element. This feature enables the coupling 23 to maintain a good working state under various working conditions, reduce the vibration and impact of mechanical equipment during operation, and extend the service life of the equipment.

[0089] like Figure 4 , Figure 5 As shown, in an optional embodiment of the present invention, the driving unit includes:

[0090] Motor bearing plate 10;

[0091] At least two drive motors 27 fixedly connected to the motor carrier plate 10;

[0092] A motor reducer 9 fixedly connected to the shaft ends of the at least two drive motors 27;

[0093] A power drive shaft 13 fixedly connected to the output end of the motor reducer 9;

[0094] A driving wheel 19 fixedly connected to the end of the power driving shaft;

[0095] A crawler track 4 fixedly connected to the driving wheel 19;

[0096] At least two guide wheels 20 are in contact with and connected to the crawler track 4 , and the at least two guide wheels 20 are fixedly connected via a wheel axle 11 .

[0097] In this embodiment, Figure 4 , Figure 5As shown, the drive unit includes a drive motor 27, a motor reducer 9, a motor bearing plate 10, a lateral restraint plate 29, a drive wheel 19, a guide wheel 20, a power drive shaft 13, an axle 11, a crawler track 4, a drive shaft sleeve, a guide wheel shaft sleeve, and a hexagonal sleeve. The at least two drive motors 27 are installed on the motor carrier plate 10 of the work vehicle; the motor carrier plate 10 is connected to the lateral constraint plate 29; the output shaft ends of the at least two drive motors 27 are connected to the input end of the motor reducer 9; the output end of the motor reducer 9 is connected to the power drive shaft 13; the power drive shaft 13 is connected to the drive wheel 19; the drive wheel 19 is spaced apart from another drive wheel 19 through a drive shaft sleeve; the drive shaft sleeve and the power drive shaft 13 are clearance-matched; the drive wheel 19 is connected to a hexagonal sleeve to fix the drive wheel 19; the power drive shaft 13 is connected to the lateral constraint plate 29; the lateral constraint plate 29 is connected to the wheel axle 11; the wheel axle 11 is connected to the guide wheel 20; the guide wheel 20 is connected to the The guide shaft sleeve is spaced apart from another guide wheel 20; the guide shaft sleeve is clearance-matched with the wheel axle 11; the guide wheel 20 is connected to the hexagonal sleeve to fix the guide wheel; the driving wheel 19 is in contact with the track 4; the driving wheel 19 utilizes its own special ratchet structure to drive the track 4 to translate; the guide wheel 20 is in contact with the track 4 and plays a guiding role, and the side of the track 4 can also be equipped with a mudguard 30 for preventing mud from entering the body of the work vehicle; the crawler method adopted in the scheme of the present invention can increase the contact area with the ground, disperse the weight of the work vehicle, thereby reducing the pressure on the ground, and can improve traction. It can maintain good grip on various terrains, and when driving on uneven terrain, it can better maintain stability and improve the passability of the work vehicle.

[0098] like Figure 2 , Figure 3 , Figure 4 , Figure 6 As shown, in an optional embodiment of the present invention, the radioactive tank mud cleaning operation vehicle further includes:

[0099] A chassis guard plate 12 fixedly connected to the vehicle body bearing plate 5;

[0100] A lateral restraining plate 29 fixedly connected to the chassis guard plate 12;

[0101] A lifting cylinder 25 fixedly connected to the chassis guard plate 12;

[0102] A longitudinal anti-collision beam 3 fixedly connected to the vehicle body load-bearing plate 5;

[0103] A transverse anti-collision beam 1 fixedly connected to the vehicle body load-bearing plate 5;

[0104] A guide wheel 2 fixedly connected to the end of the transverse anti-collision beam 1;

[0105] A guide rail bearing plate 21 fixedly connected to the lifting cylinder 25, wherein the guide rail bearing plate 21 is fixedly connected to the chassis guard plate 12;

[0106] A mud and water collecting plate 22 fixedly connected to the vehicle body bearing plate 5;

[0107] The filter 14 is fixedly connected to the muddy water collecting plate 22 .

[0108] In this embodiment, Figure 2 , Figure 3 , Figure 4 , Figure 6 As shown, the chassis guard plate 12 of the radioactive tank mud cleaning operation vehicle is fixedly connected to the lateral restraint plate 29; Figure 8 As shown, a mud guard 30 is fixedly arranged between the chassis guard plate 12 and the lateral restraining plate 29, which can prevent the mud brought by the crawler 4 from entering the body of the work vehicle; the cylinder barrel of the lifting cylinder 25 is installed on the chassis guard plate 12, and the piston of the lifting cylinder 25 is connected to the body bearing plate 5. The lifting cylinder 25 can move up and down, thereby driving the cleaning component to move up and down. The cleaning components located at different heights can clean the sediments at different heights; the body bearing plate 5 is installed with a mud and water collecting plate 22, a longitudinal anti-collision beam 3, and a guide rail bearing plate 21; the mud and water collecting plate 22 collects and restrains the mud and water mixture pipeline, the cleaning Water pipeline; the guide rail bearing plate 21 is connected to the aluminum alloy guide rail, and the upper and lower ends of the guide rail bearing plate 21 are respectively fixed between the vehicle body bearing plate 5 and the drive unit; the aluminum alloy guide rail is slidably matched with the aluminum alloy slider; the aluminum alloy slider is connected to the bottom plate guard plate 12, and when the lifting cylinder 25 moves up and down, the aluminum alloy guide rail plays a role of restraint, guidance and protection; the mud and water collecting plate 22 reserves a clean water inlet 6 and a clean water nozzle installation hole; the mud and water collecting plate 22 is equipped with a filter 14 at the sewage suction port; the longitudinal anti-collision beam 3 is connected to the transverse anti-collision beam 1; the transverse anti-collision beam 1 is equipped with a guide wheel 2.

[0109] like Figure 1 , Figure 2 As shown, in an optional embodiment of the present invention, the muddy water collecting plate 22 is provided with a clean water inlet 6.

[0110] In this embodiment, Figure 1 , Figure 2 As shown, after the mud-water mixture is treated outside the storage tank, the separated clean water is sprayed out through the clean water inlet 6 of the clean water pipeline of the trolley to improve the viscosity of the mud mixture and dilute the mud to a level that can be discharged by a pump. At the same time, the recycled separated clean water is utilized, no new water source is used, and no new radioactive wastewater is generated.

[0111] The use process of the radioactive tank mud cleaning operation vehicle of the present invention is as follows:

[0112] Before cleaning, observe the mud at the bottom of the sampling tank. If the bottom of the tank contains a supernatant and a hardened layer, use the scraper group 31 to break and stir. If the mud at the bottom of the tank does not contain a hardened layer and only contains a solution crystal layer and a supernatant, use the steel brush group 26. Since the mud at the bottom of the tank mainly contains a crystal layer of a sedimentary layer and a clear liquid, the steel brush group 26 works as follows:

[0113] First, the mud cleaning operation trolley is placed in the radioactive waste liquid storage tank to be cleaned by hoisting. After the operation trolley reaches the bottom of the storage tank, the lifting cylinder 25 is raised, and the drive motor 27 is started to make the trolley move linearly. After the lifting cylinder 25 is adjusted to a suitable position, the operation DC motor 8 is turned on, and the working motor rotates. Through the right-angle reducer 7 and the plum blossom elastic coupling 23, the input end of the one-input and two-output bevel gear right-angle commutator 15 will rotate. Under the meshing of the bevel gears, the left and right output shafts begin to rotate, driving the steel brush group 26 to start rotating. The steel brush group 26 rotates at a certain speed. The supernatant and the crystal layer are mixed quickly to form a mud-water mixture. Under the action of inertia, the mud-water mixture is thrown to the middle and upper part of the mud-water collection plate 22 by the steel brush. Under the action of gravity, it quickly falls to the sewage collection hole along the guide groove of the collection plate. Under the action of the sewage suction pump, the mud-water mixture rises along the sewage pipeline until it reaches the outside of the storage tank for the next step of treatment. After the mud-water mixture is treated externally, the clean water is sprayed from the clean water nozzle through the trolley clean water pipeline to improve the viscosity of the mud-water mixture. At the same time, clean water nozzles are reserved around the vehicle body for cleaning the side walls of the storage tank and self-cleaning of the vehicle body. During the rotation of the steel brush group 26, the side bowl-shaped steel brush 18 rotates. When the trolley moves to the side wall of the storage tank, the bowl-shaped steel brush 18 cooperates with the clean water nozzle to clean the side wall, and at the same time plays a flexible buffering role to avoid direct rigid contact between the trolley and the side wall of the storage tank. During the operation, if there are non-mud obstacles inside the storage tank, the trolley needs to turn to avoid them. As the thickness of the mud layer continues to decrease, the lifting cylinder 25 is gradually retracted, and the construction depth of the steel brush group 26 is increased until the mud inside the storage tank is cleaned and pumped. The trolley is then lifted out and put into storage after cleaning.

[0114] The small-sized mud retrieval vehicle at the bottom of the radioactive mud storage tank of the present invention comprises an operation unit capable of stirring and crushing the mud, a trolley driving mechanism for driving the vehicle body, and a vehicle body auxiliary mechanism for realizing the auxiliary function of the mud retrieval trolley.

[0115] The working unit includes a steel brush group 26 / scraper group 31, a working DC motor 8, a right-angle reducer 7, a plum blossom elastic coupling, a one-in-two-out bevel gear right-angle commutator 15, a drive shaft, a side bowl-shaped steel brush 18, a bearing mounting block 16, a height adjustment screw 24, a roller bearing bearing, etc. The working DC motor 8 is connected to the input end of the right-angle reducer 7 and the motor output shaft and transmits power through a flat key; the output shaft of the right-angle reducer 7 is connected to the one-in-two-out bevel gear right-angle commutator 15 through a plum blossom elastic coupling 23; the left and right output ends of the one-in-two-out bevel gear right-angle commutator 15 are connected to the working drive shaft 28; the complex assembly is installed on the bearing block and rotates under the constraint of the bearing seat; the side bowl-shaped steel brush 18 is installed at the end of the working drive shaft 28; the bearing seat 17 is installed on the bearing mounting block 16, the bearing mounting block 16 is connected to the height adjustment screw 24, and the bearing mounting block 16 is constrained by the nut to constrain the screw axially.

[0116] The trolley driving mechanism for driving the vehicle body comprises a driving motor 27, a motor reducer 9, a motor bearing plate 10, a lateral restraining plate 29, a driving wheel 19, a guide wheel 20, a power drive shaft 13, a driven shaft, a crawler track 4, a driving shaft sleeve, a guide wheel shaft sleeve, and a hexagonal sleeve. The driving motor 27 is mounted on the trolley motor bearing plate 10; the motor bearing plate 10 is connected to the lateral restraining plate 29; the end of the power drive shaft 13 is connected to the input end of the motor reducer 9; the output end of the motor reducer 9 is connected to the trolley driving shaft 13; the trolley driving shaft 13 is connected to the driving wheel 19; the driving wheel 19 is spaced apart from another driving wheel through the driving shaft sleeve; the driving shaft sleeve is clearance-matched with the power drive shaft 13; the driving wheel 19 is connected to the hexagonal sleeve to realize the driving wheel 19 The power drive shaft 13 is connected to the lateral constraint plate 29; the lateral constraint plate 29 is connected to the guide wheel shaft; the guide wheel shaft is connected to the guide wheel 20; the guide wheel 20 is spaced apart from another guide wheel by a guide shaft sleeve; the guide shaft sleeve and the guide shaft are clearance-matched; the guide wheel 20 is connected to the hexagonal sleeve to fix the guide wheel 20; the driving wheel 19 is in contact with the track 4; the driving wheel 19 uses its own special ratchet structure to drive the track 4 to translate; the guide wheel 20 is in contact with the track 4 and plays a guiding role.

[0117] The vehicle body auxiliary mechanism comprises a chassis guard plate 12, a lifting cylinder 25, a muddy water collecting plate 22, a muddy water mixture pipeline, a clean water pipeline, a filter 14, a longitudinal anti-collision beam 3, a transverse anti-collision beam 1, a guide wheel 19, a guide rail bearing plate 21, an aluminum alloy guide rail, and an aluminum alloy slider; the chassis guard plate 12 is connected to the lateral restraint plate 29; the cylinder barrel of the lifting cylinder 25 is installed on the chassis guard plate 12; the piston of the lifting cylinder 25 is connected to the vehicle body bearing plate 5; the vehicle body bearing plate 5 is installed with the muddy water collecting plate 2 2. Operating DC motor 8, right-angle reducer 7, longitudinal anti-collision beam 3, guide rail bearing plate 21; the mud and water collecting plate 22 constrains the mud and water mixture pipeline and the clean water pipeline; the guide rail bearing plate 21 is connected to the aluminum alloy guide rail; the aluminum alloy guide rail and the aluminum alloy slider are slidably matched; the aluminum alloy slider is connected to the bottom plate guard plate; the mud and water collecting plate 22 is reserved with a clean water inlet and a clean water nozzle installation hole; the longitudinal anti-collision beam 3 is connected to the transverse anti-collision beam 1; the transverse anti-collision beam 1 is installed with a guide wheel 19.

[0118] The present invention is more suitable for the retrieval of mud at the bottom of radioactive waste liquid storage tanks that are very old and have small equipment hole sizes. According to the actual situation of the mud at the bottom of the storage tank, the mud cleaning trolley is specifically designed. The trolley body can walk in a straight line in mud with a thickness of less than 400mm, the front and rear crawlers turn synchronously, can bear a certain load, can break the hardened layer, stir the sediment layer, and clean the side wall of the storage tank. The cutting / stirring depth can be adjusted according to the thickness of the mud layer and the complex situation at the bottom. It can adapt well to the internal environment of the storage tank, complete the task of retrieving the mud at the bottom of the storage tank, and solve practical engineering problems.

[0119] like Fig. 9 As shown, in an embodiment of the present invention, a control system for a radioactive tank mud cleaning vehicle is provided, which is used to control the radioactive tank mud cleaning vehicle, and the system further includes:

[0120] Programmable logic controller;

[0121] A first frequency converter in communication with the programmable logic controller;

[0122] a drive motor controller communicatively connected to the first frequency converter;

[0123] a second frequency converter in communication with the programmable logic controller;

[0124] an operating DC motor controller in communication with the second frequency converter;

[0125] a lift cylinder controller in communication with the programmable logic controller;

[0126] Among them, the programmable logic controller controls the drive motor controller through the first frequency converter to send a first control instruction to the drive unit, and the first control instruction is used to control the drive unit to drive the vehicle body load-bearing plate 5 to move. When the vehicle body load-bearing plate 5 moves to the target position, the programmable logic controller controls the operating DC motor controller through the second frequency converter to send a second control instruction to the operating unit, and the second control instruction is used to control the operating unit to clean the radioactive mud storage tank.

[0127] In this embodiment, Fig. 9 As shown, the control system of the radioactive tank mud cleaning operation vehicle includes: a programmable logic controller, a first frequency converter, a second frequency converter, and a lifting cylinder controller;

[0128] Among them, the programmable logic controller, the first frequency converter, the second frequency converter, and the lifting cylinder controller are all equipped with circuit breakers, and the lifting cylinder controller is connected to the programmable logic controller for communication, receives control instructions sent by the programmable logic controller, and controls the lifting cylinder;

[0129] The first frequency converter and the second frequency converter have input terminals connected to the programmable logic controller for communication, and output terminals connected to the motor for communication. The voltage and frequency of the output power supply are adjusted by switching on and off the internal insulated gate bipolar transistor, and the power supply voltage required by the motor is provided according to the actual needs of the motor, thereby achieving the purpose of energy saving and speed regulation.

[0130] In this embodiment, the work vehicle has two front-wheel drive motors and two rear-wheel drive motors, and one working DC motor, wherein the first frequency converter is communicatively connected to four drive motor controllers to realize control of the drive motors, and the second frequency converter is communicatively connected to one working DC motor controller to realize control of the working DC motor; both the first frequency converter and the second frequency converter are equipped with circuit breakers.

[0131] like Fig.10 As shown, in an optional embodiment of the present invention, the programmable logic controller includes: a digital input module and a digital output module; wherein the digital input module receives the working status signal of the drive unit and the operating unit; the digital output module processes the working status signal and controls the working status of the drive unit and the operating unit according to the processing result.

[0132] In this embodiment, Fig.10As shown, the programmable logic controller of the control system of the radioactive tank mud cleaning operation vehicle includes a digital input module and a digital output module; wherein the digital input module is responsible for receiving the forward, reverse, forward, backward, left and right turn signals of all drive motors, the forward signal of the operating DC motor, and the pneumatic valve switch signal of the lifting cylinder; the digital output module is responsible for outputting the forward relay and reverse relay signals of all drive motors, the forward relay signal of the operating DC motor, and the pneumatic valve switch relay signal of the lifting cylinder; the programmable logic controller realizes the status monitoring of the drive motor, the operating DC motor and the lifting cylinder of the radioactive tank mud cleaning operation vehicle through the digital input module, and realizes the working status control of the drive motor, the operating DC motor and the lifting cylinder of the radioactive tank mud cleaning operation vehicle through the digital output module.

[0133] When the size of the device placement device is limited to a 500mm×500mm round hole, the retrieval of the mud left at the bottom of the radioactive storage tank can be completed at a long distance, and a control system for a radioactive storage tank mud cleaning operation vehicle is provided, which can effectively realize the remote control operation of the operation vehicle.

[0134] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A radioactive tank mud cleaning vehicle, characterized in that: include: Car body load-bearing plate (5); An operating unit fixedly connected to the vehicle body bearing plate (5); A drive unit fixedly connected to the vehicle body bearing plate (5); The driving unit drives the vehicle body supporting plate (5) to move, and when the vehicle body supporting plate (5) moves to a target position, controls the operation unit to clean the radioactive mud storage tank.

2. The radioactive tank mud cleaning vehicle according to claim 1, characterized in that: The operation unit comprises: Operation DC motor (8); A right-angle reducer (7) fixedly connected to the output shaft of the operating DC motor (8); A bevel gear right-angle commutator (15) fixedly connected to the output shaft of the right-angle reducer (7); an operating drive shaft (28) fixedly connected to the bevel gear right-angle commutator (15); a cleaning assembly fixedly connected to the operating drive shaft (28); A bearing seat (17) fixedly connected to the cleaning assembly; a bearing mounting block (16) fixedly connected to the bearing seat (17); A height adjustment screw rod (24) is fixedly connected to the bearing mounting block (16), and the height adjustment screw rod (24) is fixedly connected to the vehicle body bearing plate (5).

3. The radioactive tank mud cleaning vehicle according to claim 2, characterized in that: The cleaning assembly is a steel brush assembly (26) or a scraper assembly (31).

4. The radioactive tank mud cleaning vehicle according to claim 2, characterized in that: The cleaning component also includes: A bowl-shaped steel brush (18) is fixedly connected to the end of the operating drive shaft (28).

5. The radioactive tank mud cleaning vehicle according to claim 2, characterized in that: The right-angle reducer (7) is fixedly connected to the bevel gear right-angle commutator (15) via a plum blossom elastic coupling (23).

6. The radioactive tank mud cleaning vehicle according to claim 2, characterized in that: The driving unit comprises: Motor bearing plate (10); At least two drive motors (27) fixedly connected to the motor carrier plate (10); A motor reducer (9) fixedly connected to the shaft ends of the at least two drive motors (27); A power drive shaft (13) fixedly connected to the output end of the motor reducer (9); A driving wheel (19) fixedly connected to the end of the power driving shaft (13); A crawler belt (4) fixedly connected to the driving wheel (19); At least two guide wheels (20) are in contact with and connected to the crawler belt (4), and the at least two guide wheels (20) are fixedly connected via a wheel axle (11).

7. The radioactive tank mud cleaning vehicle according to claim 1, characterized in that: Also includes: A chassis guard plate (12) fixedly connected to the vehicle body bearing plate (5); A lateral restraining plate (29) fixedly connected to the chassis guard plate (12); A lifting cylinder (25) fixedly connected to the chassis guard plate (12); A longitudinal anti-collision beam (3) fixedly connected to the vehicle body load-bearing plate (5); A transverse anti-collision beam (1) fixedly connected to the vehicle body load-bearing plate (5); A guide wheel (2) fixedly connected to the end of the transverse anti-collision beam (1); A guide rail bearing plate (21) fixedly connected to the lifting cylinder (25), wherein the guide rail bearing plate (21) is fixedly connected to the chassis guard plate (12); A mud and water collecting plate (22) fixedly connected to the vehicle body bearing plate (5); A filter (14) fixedly connected to the muddy water collecting plate (22).

8. The radioactive tank mud cleaning vehicle according to claim 6, characterized in that: The muddy water collecting plate (22) is provided with a clean water inlet (6).

9. A control system for a radioactive tank mud cleaning vehicle, characterized in that: Used to control the radioactive tank mud cleaning operation vehicle according to any one of claims 1 to 8; comprising: Programmable logic controller; A first frequency converter in communication with the programmable logic controller; a drive motor controller communicatively connected to the first frequency converter; a second frequency converter in communication with the programmable logic controller; an operating DC motor controller in communication with the second frequency converter; a lift cylinder controller in communication with the programmable logic controller; The programmable logic controller controls the drive motor controller through the first frequency converter to send a first control instruction to the drive unit, the first control instruction is used to control the drive unit to drive the vehicle body load plate (5) to move, and when the vehicle body load plate (5) moves to a target position, the programmable logic controller controls the operating DC motor controller through the second frequency converter to send a second control instruction to the operating unit, the second control instruction is used to control the operating unit to clean the radioactive mud storage tank.

10. The control system of the radioactive tank mud cleaning vehicle according to claim 9, characterized in that: The programmable logic controller comprises: a digital input module and a digital output module; The digital input module receives the working status signals of the driving unit and the operating unit; the digital output module processes the working status signals and controls the working status of the driving unit and the operating unit according to the processing results.

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