Cleaning mechanism and method for cleaning Po-210 pollution on surface

Abstract

The invention relates to the technical field of radioactive pollutant removing, in particular to a removing mechanism and method for removing Po-210 pollution on the surface, and the removing mechanism comprises a moving vehicle body which can move automatically; the positioning assembly is arranged on the mobile vehicle body, and the positioning assembly can automatically recognize and identify pollution objects, needing to be treated, of which the surfaces are subjected to Po-210 pollution; the multi-shaft mechanical arm is mounted on the movable vehicle body; the decontamination assembly is installed at the moving end of the multi-axis mechanical arm, and the decontamination assembly comprises a film forming raw material spray head, a film uncovering scraper knife and a dirty film clamp; wherein the film-forming raw material spray head is used for being connected with a film-forming raw material supply system, so that the film-forming raw material spray head can spray film-forming raw materials to a polluted object, and the film uncovering scraper knife can be driven by the multi-axis mechanical arm to shovel up a dirty film formed by the film-forming raw materials on the polluted object. And the dirty film clamp can clamp the dirty film shoveled by the film uncovering scraper knife. The clearing method is based on the clearing mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of radioactive pollutant removal, and in particular to a removal mechanism and method for removing surface Po-210 contamination. Background Art

[0002] During the operation of the fourth-generation advanced fast reactor, the lead-bismuth coolant will produce the extremely toxic nuclide Po-210 under neutron irradiation conditions. The half-life of Po-210 is 138.4 days and the specific activity is 1.66×10 14 Bq / g, decays by emitting 5.30MeV alpha particles, accompanied by emitting 0.001% of 0.803MeV gamma rays. According to the toxicity grouping of radionuclides in Appendix D of GB18871-2002 "Basic Standards for Ionizing Radiation Protection and Radiation Source Safety", Po-210 ranks second in the extremely toxic group when all kinds of chemical poisons are equal.

[0003] At the same time, Po-210 is extremely volatile. Once it comes into contact with the air, it will form radioactive aerosols and diffuse and migrate with the non-directional movement of aerosol suspended particle carriers, attaching and settling on the walls, ground and metal equipment surfaces of the structures in the fourth-generation advanced fast reactor system space, eventually forming radioactive contamination. It is necessary to reasonably and effectively handle the walls, ground and metal equipment of the reactor structures. Summary of the invention

[0004] Aiming at the technical problem that Po-210 and other volatile nuclides generated by the fourth-generation advanced fast reactor system introduce the risk of radiation toxicity and chemical toxicity to the operating environment and operators of the reactor system and supporting facilities of this type of reactor, the present invention provides a cleaning mechanism and method for cleaning surface Po-210 contamination, which can automatically identify and mark the contaminated parts of the nuclear reactor system and supporting facilities, and automatically perform decontamination operations such as spraying film formation and peeling film for Po-210 and other pollutants on the surface of the contaminated parts, so as to shorten the working time of operators in the process of surface radioactive contamination treatment operations and keep operators away from radiation sources.

[0005] The present invention is achieved through the following technical solutions:

[0006] In the first aspect, the present invention provides a cleaning mechanism for removing surface Po-210 contamination, comprising: a mobile body, which can move by itself; a positioning component, which is arranged on the mobile body and can automatically identify and mark the contaminated object with surface Po-210 contamination that needs to be treated; a multi-axis robotic arm, which is installed on the mobile body; a decontamination component, which is installed on the mobile end of the multi-axis robotic arm, and the decontamination component includes a film-forming raw material nozzle, a film-removing scraper and a dirty film clamp; wherein the film-forming raw material nozzle is used to be connected to a film-forming raw material supply system, so that the film-forming raw material nozzle can spray the film-forming raw material onto the contaminated object, and the film-removing scraper can shovel up the dirty film formed by the film-forming raw material on the contaminated object under the drive of the multi-axis robotic arm, and the dirty film clamp can clamp the dirty film shoveled up by the film-removing scraper.

[0007] The cleaning mechanism for cleaning surface Po-210 contamination provided by the present invention comprises a mobile body, a positioning component, a multi-axis mechanical arm and a decontamination component. The positioning component and the multi-axis mechanical arm are both mounted on the mobile body, while the decontamination component is mounted on the mobile end of the multi-axis mechanical arm. The positioning component can automatically identify and mark the contaminated object with surface Po-210 contamination that needs to be treated. The decontamination component comprises a film-forming raw material nozzle, a film-removing scraper and a contaminated film clamp. The film-forming raw material nozzle is used to be connected to a film-forming raw material supply system, the film-removing scraper can shovel up the contaminated film under the drive of the multi-axis mechanical arm, and the contaminated film clamp can clamp the contaminated film.

[0008] When in use, the remote-controlled mobile body moves within the Po-210 pollution cleaning operation range. When the mobile body moves to the corresponding pollution object removal station, the pollution object is identified and marked by the positioning component to mark the spraying area and serve as a warning. The multi-axis robotic arm moves the film-forming raw material nozzle to the spraying station, and the film-forming raw material nozzle is sprayed onto the surface of the polluted object through the film-forming raw material nozzle, so that the film-forming raw material covers the polluted area. After the film-forming raw material is solidified to form a dirty film, the multi-axis robotic arm moves the film-removing scraper to the film-removing point to shovel up the dirty film, and then the dirty film clamp is used to clamp the dirty film shoveled up by the film-removing scraper. Finally, the multi-axis robotic arm drives the dirty film clamp to move and peels off the dirty film from the polluted object to automatically complete the film-removing and pollution removal operation.

[0009] Therefore, the cleaning mechanism for removing surface Po-210 contamination provided by the present invention can automatically identify and mark the contaminated parts of the nuclear reactor system and its supporting facilities, and automatically perform decontamination operations such as spraying and peeling of Po-210 and other pollutants on the surface of the contaminated parts, so as to shorten the working time of operators in the process of surface radioactive contamination treatment, keep operators away from radiation sources, and have the characteristics of high degree of automation and less manual intervention.

[0010] In an optional embodiment of the present application, the positioning component includes multiple laser emitters, and the light emitted by the multiple laser emitters can form a closed positioning light area at the front end of the moving direction of the mobile vehicle body to ensure that the positioning component can automatically identify and mark the contaminated area.

[0011] In an optional embodiment of the present application, the positioning assembly further includes: a mounting track, the mounting track being laterally mounted on the upper front end side in the moving direction of the mobile vehicle body; a mounting frame, the mounting frame being mounted on the mounting track, and the mounting frame being capable of sliding along the length direction of the mounting track; an adjustment mechanism, the adjustment mechanism being mounted on the mounting frame, and the laser emitter being mounted on the adjustment mechanism, so as to adjust the corresponding light emission angle of the laser emitter through the adjustment mechanism, so as to ensure that the light emission position and emission angle of the laser emitter of the positioning assembly can be adjusted, and to ensure that the light emitted by the laser emitter can form a closed positioning light area at the front end in the moving direction of the mobile vehicle body.

[0012] In an optional embodiment of the present application, the adjustment mechanism is a universal ball adjustment mechanism to ensure that the light emission angle of the laser transmitter can be continuously adjusted and has a large angle adjustment range.

[0013] In an optional embodiment of the present application, a dirt removal mounting piece is installed on the movable end of the multi-axis robotic arm, the film-forming material nozzle is installed on one side of the execution mounting piece, the film-removing scraper is installed on the end of the dirt removal mounting piece away from the multi-axis robotic arm, the dirty film clamp is installed on the side wall of the dirt removal mounting piece, and the clamping section of the dirty film clamp is located outside the end of the film-removing scraper in the length direction of the cutting edge, so as to integrate the film-forming material nozzle, the film-removing scraper and the dirty film clamp on the multi-axis robotic arm, so as to automatically complete the decontamination operations of film-forming material spraying and film removal in the positioning area through program control.

[0014] In an optional embodiment of the present application, the film peeling blade is a flexible blade to avoid damaging the ground when the film peeling blade is working.

[0015] In an optional embodiment of the present application, a negative pressure dust removal component is further included, which is arranged on the mobile vehicle body. The negative pressure dust removal component is used to absorb the atomized aerosol dispersed by the film-forming raw material nozzle during operation to avoid the introduction of excess organic matter to cause pollution to the typical environmental space.

[0016] In an optional embodiment of the present application, the negative pressure dust removal assembly includes: a dust removal baffle frame, which is slidably connected to the mobile vehicle body. When the dust removal baffle frame slides out to the front end of the moving direction of the mobile vehicle body, the dust removal baffle frame and the mobile vehicle body can enclose a closed dust removal working area, and the dust removal working area can cover the spraying range of the film-forming raw material nozzle; a negative pressure adsorption port, which is used to connect to a negative pressure source, and the negative pressure adsorption port is arranged at the front end of the mobile vehicle body, and the negative pressure adsorption port is located between the mobile vehicle and the dust removal baffle frame to ensure that the negative pressure dust removal assembly can absorb the atomized aerosol dispersed by the film-forming raw material nozzle during operation.

[0017] In an optional embodiment of the present application, a ground pressure plate is provided on each side of the dust removal baffle frame. The ground pressure plate can move vertically and is used to block the gap between the storage baffle frame and the ground to further prevent the atomized aerosol from polluting the environmental space.

[0018] In a second aspect, the present invention provides a method for removing surface Po-210 contamination, based on the aforementioned removal mechanism for removing surface Po-210 contamination, comprising the following steps:

[0019] Driving the mobile vehicle to move within the Po-210 pollution cleaning operation range;

[0020] When the mobile vehicle moves to the corresponding polluted object removal station, the dust removal baffle frame is moved out to cover the spraying range of the film-forming raw material nozzle;

[0021] Identifying the polluted object by means of the positioning component;

[0022] The multi-axis robot arm moves the film-forming raw material nozzle to the spraying station, sprays the film-forming raw material nozzle onto the surface of the polluted object, and absorbs the atomized aerosol dispersed by the film-forming raw material nozzle during operation through the negative pressure dust removal component;

[0023] After the film-forming raw material is solidified to form a dirty film, the film-removing scraper is moved to the film-removing point by the multi-axis mechanical arm to scrape up the dirty film;

[0024] The dirty film scraped up by the film stripping blade is clamped by the dirty film clamp, and the dirty film clamp is driven to move by the multi-axis mechanical arm to peel off the dirty film from the contaminated object.

[0025] The surface Po-210 pollution removal method provided by the present invention is based on the aforementioned cleaning mechanism for removing surface Po-210 pollution. The mobile body is first driven to move within the Po-210 pollution removal operation range, and when the mobile body moves to the corresponding pollution object removal station, the dust removal baffle frame is moved out to cover the spraying range of the film-forming raw material nozzle, and then the pollution object is marked by the positioning component, the film-forming raw material nozzle is moved to the spraying station by a multi-axis mechanical arm, and the film-forming raw material nozzle is sprayed onto the surface of the pollution object by the film-forming raw material nozzle, and the atomized aerosol dispersed by the film-forming raw material nozzle during operation is absorbed by the negative pressure dust removal component, and after the film-forming raw material is solidified to form a pollution film, the film stripping scraper is moved to the film stripping point by the multi-axis mechanical arm to scrape up the pollution film, the pollution film scraped up by the film stripping scraper is clamped by the pollution film clamp, and the pollution film clamp is driven to move by the multi-axis mechanical arm to peel off the pollution film from the pollution object.

[0026] Therefore, the surface Po-210 contamination removal method provided by the present invention can automatically identify and mark the contaminated parts of the nuclear reactor system and its supporting facilities, and automatically perform decontamination operations such as spraying and peeling of Po-210 and other pollutants on the surface of the contaminated parts, so as to shorten the working time of operators in the process of surface radioactive contamination treatment, and keep operators away from radiation sources, and has the characteristics of high degree of automation and less manual intervention.

[0027] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0028] 1. The cleaning mechanism for cleaning surface Po-210 pollution provided by the present invention comprises a mobile body, a positioning component, a multi-axis mechanical arm and a decontamination component. The positioning component and the multi-axis mechanical arm are both mounted on the mobile body, and the decontamination component is mounted on the mobile end of the multi-axis mechanical arm. The positioning component can automatically identify and mark the polluted object with surface Po-210 pollution that needs to be treated. The decontamination component comprises a film-forming raw material nozzle, a film-removing scraper and a dirty film clamp. The film-forming raw material nozzle is used to be connected to the film-forming raw material supply system, the film-removing scraper can shovel up the dirty film under the drive of the multi-axis mechanical arm, and the dirty film clamp can clamp the dirty film. When the mobile body moves to the corresponding pollution object cleaning station, the pollution object is identified and marked by the positioning component to mark the spraying area to serve as a warning. The multi-axis mechanical arm can remove the film-forming raw material. The material nozzle moves to the spraying station, and the film-forming raw material nozzle is used to spray the film-forming raw material onto the surface of the contaminated object, so that the film-forming raw material covers the contaminated area. After the film-forming raw material is solidified to form a contaminated film, the film-peeling scraper is moved to the film-peeling point by the multi-axis robotic arm to shovel up the contaminated film. The contaminated film shoveled up by the film-peeling scraper is clamped by the contaminated film clamp, and the contaminated film clamp is driven to move by the multi-axis robotic arm, so as to peel off the contaminated film from the contaminated object, so as to automatically complete the film peeling and decontamination operation. Therefore, it can automatically identify and mark the contaminated parts of the nuclear reactor system and supporting facilities, and automatically perform spray film forming and film peeling decontamination operations on the contaminated surface of the Po-210 and other pollutants, so as to shorten the working time of the operators in the process of surface radioactive contamination treatment, and keep the operators away from the radiation source, and has the characteristics of high degree of automation and less manual intervention.

[0029] 2. The surface Po-210 pollution removal method provided by the present invention is based on the aforementioned cleaning mechanism for removing surface Po-210 pollution. The mobile vehicle is first driven to move within the Po-210 pollution removal operation range, and when the mobile vehicle moves to the corresponding pollution object removal station, the dust removal baffle is moved out to cover the spraying range of the film-forming raw material nozzle, and then the pollution object is marked by the positioning component, the film-forming raw material nozzle is moved to the spraying station by the multi-axis mechanical arm, and the film-forming raw material nozzle is sprayed onto the surface of the pollution object by the film-forming raw material nozzle, and the atomized gas solution dispersed by the film-forming raw material nozzle during operation is absorbed by the negative pressure dust removal component. Glue, and after the film-forming raw materials are solidified to form a dirty film, the multi-axis robotic arm moves the film-removing scraper to the film-removing point to scrape up the dirty film, the dirty film scraped up by the film-removing scraper is clamped by the dirty film clamp, and the dirty film clamp is driven to move by the multi-axis robotic arm to peel off the dirty film from the contaminated object. Therefore, the contaminated parts of the nuclear reactor system and supporting facilities can be automatically identified and marked, and the contaminated parts of the contaminated parts such as Po-210 on the surface of the contaminated parts can be automatically sprayed for film formation and film removal operations, so as to shorten the working time of the operators in the process of surface radioactive contamination treatment, and keep the operators away from the radiation source, and it has the characteristics of high degree of automation and less manual intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can also be obtained based on these drawings without creative work.

[0031] In the attached picture:

[0032] Figure 1 A schematic diagram of a three-dimensional model structure of a cleaning mechanism for removing surface Po-210 contamination according to an embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of the three-dimensional structure of the mobile vehicle body of the cleaning mechanism for cleaning surface Po-210 contamination according to an embodiment of the present invention;

[0034] Figure 3 It is a three-dimensional structural schematic diagram of a positioning component of a cleaning mechanism for removing surface Po-210 contamination according to an embodiment of the present invention;

[0035] Figure 4 A schematic diagram of the three-dimensional structure of a decontamination component of a removal mechanism for removing surface Po-210 contamination according to an embodiment of the present invention;

[0036] Figure 5 It is a schematic diagram of the three-dimensional structure of the execution end of the decontamination component of the cleaning mechanism for removing surface Po-210 contamination according to an embodiment of the present invention;

[0037] Figure 6 A schematic diagram of the extension process of the dust removal component of the cleaning mechanism for removing surface Po-210 contamination according to an embodiment of the present invention;

[0038] Figure 7 A schematic diagram of the working process of the positioning component of the cleaning mechanism for cleaning surface Po-210 contamination according to an embodiment of the present invention;

[0039] Figure 8 The figure is a schematic diagram of the working process of the decontamination component of the cleaning mechanism for removing Po-210 contamination on the surface according to an embodiment of the present invention.

[0040] Reference numerals:

[0041] 100-mobile body, 200-positioning assembly, 210-laser transmitter, 220-mounting track, 230-mounting frame, 240-adjusting mechanism, 241-adjusting frame, 242-adjusting ball, 300-multi-axis robotic arm, 310-pollution removal mounting, 400-pollution removal assembly, 410-film forming raw material nozzle, 420-film peeling blade, 430-dirty film clamp, 500-negative pressure dust removal assembly, 510-dust removal baffle frame, 511-ground pressure plate, 512-ground lifting drive, 520-negative pressure adsorption port. DETAILED DESCRIPTION

[0042] 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, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0044] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0045] In the description of the embodiments of the present application, the indicated orientation or position relationship is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the application is conventionally placed when in use, or is the orientation or position relationship conventionally understood by those skilled in the art. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0046] In the description of this application, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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 mechanical connection or an electrical 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.

[0047] Example 1

[0048] Combination Figure 1 The present embodiment provides a cleaning mechanism for cleaning surface Po-210 contamination, comprising: a mobile body 100, the mobile body 100 being able to move by itself; a positioning assembly 200, the positioning assembly 200 being arranged on the mobile body 100, and the positioning assembly 200 being able to automatically identify and mark the contaminated object with surface Po-210 contamination to be treated; a multi-axis mechanical arm 300, the multi-axis mechanical arm 300 being mounted on the mobile body 100; a decontamination assembly 400, the decontamination assembly 400 being mounted on the multi-axis mechanical arm 300; and a cleaning assembly 400, the cleaning assembly 400 being mounted on the multi-axis mechanical arm 300. On the mobile end of the robotic arm 300, the decontamination component 400 includes a film-forming raw material nozzle 410, a film-removing scraper 420 and a dirty film clamp 430; wherein, the film-forming raw material nozzle 410 is used to be connected to a film-forming raw material (film-removable polyurethane coating) supply system, so that the film-forming raw material nozzle 410 can spray the film-forming raw material onto the contaminated object, and the film-removing scraper 420 can scrape up the dirty film formed by the film-forming raw material on the contaminated object under the drive of the multi-axis robotic arm 300, and the dirty film clamp 430 can clamp the dirty film scraped up by the film-removing scraper 420.

[0049] Combination Figure 2 It is understood that the mobile vehicle 100 is responsible for loading other functional components and moving them within the process site. It only needs to be able to move by itself, and can be a remote-controlled wheeled vehicle or a tracked vehicle. In this embodiment, the mobile vehicle 100 includes a vehicle frame, a shield plate, a driving wheel, a driven wheel, a power supply and an inverter, and its overall dimensions are approximately 1619.5mm×1119mm×338mm. Specifically:

[0050] The vehicle frame is made of stainless steel, with a stainless steel shield plate attached to the outside. The overall surface is sturdy and durable, and is equipped with an emergency stop switch and an audible and visual alarm, which can realize early warning and alarm of the operating status (in the event of an emergency, it is convenient for personnel to stop the vehicle through the emergency stop switch to avoid safety accidents). It is also designed with a lifting ring to facilitate the lifting of the pollution treatment test device to high-rise spaces and work sites.

[0051] The driving wheel is driven by a large-load DC motor, and the single-wheel load is ≥400kg, which can effectively carry the various working modules on the upper part of the mobile body 100 for processing operations. At the same time, the driving wheel adopts a symmetrical layout in the middle, which can realize on-the-spot steering, facilitating processing operations in a small space, and can drive the mobile body 100 to run on a slope of up to 10°, and self-lock and fix, and also has the function of not self-locking when power is off (when the test device needs to be moved or encounters an emergency that causes power off, the processing device can still be moved and transported through external intervention).

[0052] The driven wheel is a single-axis double-wheel structure with a shock-absorbing spring, which has shock-absorbing passability and can smoothly pass through the factory floor rail door, ramp door and other areas. The driven wheels are arranged at the four corners of the mobile body 100, and rely on the structural characteristics of the coaxial double wheels to assist the driving wheel in rotating on the spot.

[0053] The power source is a lithium battery with a total power of not less than 270Ah and an output voltage of >48V, which can provide mobile power for the mobile body 100 and provide driving power for the upper functional module under the action of the inverter; a 10kW high-power inverter is used as the auxiliary power source of the mobile body 100, and the power supply mode of the upper functional module can be freely switched between external power supply and power battery power supply through program control to increase the operating time of the cleaning mechanism in the working area.

[0054] Combination Figure 3 The positioning assembly 200 includes a plurality of laser emitters 210. The light emitted by the plurality of laser emitters 210 can form a closed positioning light zone at the front end of the moving direction of the mobile vehicle 100, so as to ensure that the positioning assembly 200 can automatically identify and mark the polluted area. The laser emitter 210 is usually a cross laser emitter 210. As the mobile vehicle 100 moves in the workplace, the auxiliary cleaning mechanism automatically identifies and limits the surface Po-210 pollutant objects that need to be processed in special environments, and assists the operator in carrying out the fixed-point cleaning task of the surface Po-210 pollutants.

[0055] Specifically, the positioning component 200 also includes: a mounting rail 220, which is laterally mounted on the upper side of the front end of the moving direction of the mobile body 100; a mounting frame 230, which is mounted on the mounting rail 220, and the mounting frame 230 can slide along the length direction of the mounting rail 220; an adjustment mechanism 240, which is mounted on the mounting frame 230, and the laser emitter 210 is mounted on the adjustment mechanism 240, so as to adjust the corresponding light emission angle of the laser emitter 210 through the adjustment mechanism 240, so as to ensure that the light emission position and emission angle of the laser emitter 210 of the positioning component 200 can be adjusted, and ensure that the light emitted by the laser emitter 210 can form a closed positioning light area at the front end of the moving direction of the mobile body 100.

[0056] In this embodiment, the adjustment mechanism 240 is a universal ball adjustment mechanism 240 to ensure that the light emission angle of the laser emitter 210 can be continuously adjusted and has a large angle adjustment range. In addition, the positioning component 200 is installed at the front end of the mobile vehicle 100, which is convenient for the staff to install, debug, observe and adjust, and conforms to the design concept of ergonomics.

[0057] Combination Figure 4 and Figure 5 A dirt removal mounting part 310 is installed on the moving end of the multi-axis robot arm 300, the film-forming raw material nozzle 410 is installed on one side of the execution mounting part, the film-removing scraper 420 is installed at the end of the dirt removal mounting part 310 away from the multi-axis robot arm 300, and the dirty film clamp 430 is installed on the side wall of the dirt removal mounting part 310, and the clamping section of the dirty film clamp 430 is located outside the end of the film-removing scraper 420 in the length direction of the cutting edge, so as to integrate the film-forming raw material nozzle 410, the film-removing scraper 420 and the dirty film clamp 430 on the multi-axis robot arm 300, so as to automatically complete the decontamination operations of film-forming raw material spraying and film removal in the positioning area through program control.

[0058] It should be understood that the film peeling blade 420 is a flexible blade to prevent the film peeling blade 420 from damaging the ground when working.

[0059] The film-forming raw material nozzle 410 is a high-pressure airless spray gun, which is connected to the film-forming raw material supply system. It should be noted that the spraying raw material supply system usually includes two air compressors, two spray pumps (pneumatic high-pressure airless pumps), an air-liquid treatment system, a cleaning pump (diaphragm pump for cleaning) and a spray pipeline. The screw air compressor provides compressed air power. According to the different on-site decontamination and protection treatment goals, spray pumps with different compression ratios are required to switch and spray different coatings. As a result, the film-forming raw material nozzle 410 and the cleaning and protection matching form two independent systems, so that the spraying systems of the anti-fouling light-cover epoxy resin coating and the sealing, decontamination, and protective film-peeling polyurethane coatings are independently set up, thereby reducing the load pressure of cleaning switching.

[0060] The coatings for protective treatment of process plant floors, walls, ceilings, etc. have the characteristics of high viscosity and easy solidification, so a pneumatic high-pressure airless pump with a ratio of 20:1 is used for spraying; the coatings for decontamination, sealing or protection of the existing polluted plant floors and the surfaces of stainless steel equipment and valves, pipes, instruments and other parts have the characteristics of low viscosity and can form a coating film after solidification, so a pneumatic high-pressure airless pump with a ratio of 10:1 is used for spraying. Depending on the working conditions, there may be process requirements for spraying multiple coatings in the same workplace, and the gas-liquid treatment system with intelligent control and self-circulation can control and monitor the air power, spraying air compressor power, and coating flow required in the coating spraying process, as well as the cleaning function. When the coating needs to be switched, the gas-liquid treatment system extracts the cleaning liquid from the cleaning tank through the cleaning diaphragm pump for the first process, automatically cleans and automatically discharges the waste liquid into the waste liquid tank to avoid the solidification of multiple coatings in the liquid system due to mixing.

[0061] The dirty film clamp 430 is usually a pneumatic clamp with hooks, and the clamp is made of hard polymer material to ensure that it will not cause damage to the equipment or the floor of the process plant. One side of the hook has a right-angle intrusion angle, which can be inserted obliquely into the edge of the film stripping grid. The opposite side of the hook has spikes to ensure that the film stripping grid will not slip after clamping.

[0062] On this basis, this embodiment also includes a negative pressure dust removal component 500, which is arranged on the mobile body 100. The negative pressure dust removal component 500 is used to absorb the atomized aerosol dispersed by the film-forming raw material nozzle 410 during operation to avoid introducing excess organic matter to cause pollution to the typical environmental space.

[0063] Combine again Figure 1 and Figure 2 The negative pressure dust removal component 500 includes: a dust removal baffle frame 510, which is slidably connected to the mobile body 100. When the dust removal baffle frame 510 slides out to the front end of the moving direction of the mobile body 100, the dust removal baffle frame 510 and the mobile body 100 can enclose a closed dust removal work area, and the dust removal work area can cover the spraying range of the film-forming raw material nozzle 410; a negative pressure adsorption port 520, which is used to connect to a negative pressure source. The negative pressure adsorption port 520 is arranged at the front end of the mobile body 100, and the negative pressure adsorption port 520 is located between the mobile vehicle and the dust removal baffle frame 510 to ensure that the negative pressure dust removal component 500 can absorb the atomized aerosol dispersed by the film-forming raw material nozzle 410 during operation.

[0064] Furthermore, each side of the dust removal baffle frame 510 is provided with a ground pressure plate 511, and the ground pressure plate 511 can move vertically. The ground pressure plate 511 is used to block the gap between the storage baffle frame and the ground, further preventing the atomized aerosol from polluting the environmental space.

[0065] It can be understood that the negative pressure dust removal assembly 500 also includes two vacuum pumps, an anti-dispersion telescopic plate, a vehicle-mounted positive suction port, a vehicle-mounted side suction port, a mechanical arm suction port, two multi-stage filter barrels and a dust suction pipeline. When it is necessary to spray and decontaminate the surface pollutants in the ground calibration area, the mobile body 100 automatically moves to the target area, unfolds the dust removal block, and lowers the ground pressure plate 511 (generally driven by a cylinder, of course, other linear drives or linear drive mechanisms can also be used to drive the ground pressure plate 511 to rise and fall), surrounding the target area to block the atomized aerosol dispersed by the spray paint. When the robot arm starts spraying, immediately open the vehicle-mounted front suction port, vehicle-mounted side suction port and robot arm suction port. The vehicle-mounted suction port vacuums the atomized aerosol diffused in the near space on the ground, and the robot arm suction port vacuums the dispersed aerosol of dust. The aerosols sucked by the vacuum pump first enter the multi-stage filter barrel. Using the cyclone separation principle, high-density particles sink into the dust collection tank under the action of gravity, and medium-density particles are blocked by the isolation filter during the rising process. The low-density particles are sucked by another vacuum pump into another multi-stage filter barrel and adsorbed by the fiber filter. The purified gas passes through the filter element through the exhaust pipe and the fan to the atmosphere. When the adsorption operation runs for a specified time, the gas storage tank releases high-pressure gas to fill the filter barrel for pulse backwashing and dust removal.

[0066] In summary, the cleaning mechanism for removing surface Po-210 contamination provided in this embodiment includes a mobile body 100, a positioning component 200, a multi-axis robot arm 300 and a decontamination component 400. The positioning component 200 and the multi-axis robot arm 300 are both installed on the mobile body 100, and the decontamination component 400 is installed on the mobile end of the multi-axis robot arm 300. The positioning component 200 can automatically identify and mark the contaminated object with surface Po-210 contamination that needs to be treated. The decontamination component 400 includes a film-forming raw material nozzle 410, a film-removing scraper 420 and a dirty film clamp 430. The film-forming raw material nozzle 410 is used to be connected to the film-forming raw material supply system, the film-removing scraper 420 can shovel up the dirty film under the drive of the multi-axis robot arm 300, and the dirty film clamp 430 can clamp the dirty film.

[0067] When in use, the remote control mobile body 100 moves within the scope of the Po-210 pollution removal operation. When the mobile body 100 moves to the corresponding polluted object removal station, the polluted object is identified and marked by the positioning component 200 ( Figure 1 ) to mark the spraying area and serve as a warning, and the multi-axis robot arm 300 moves the film-forming raw material nozzle 410 to the spraying station, and sprays the film-forming raw material nozzle 410 onto the surface of the contaminated object through the film-forming raw material nozzle 410 ( Figure 8 a), so that the film-forming material covers the contaminated area. After the film-forming material solidifies to form a contaminated film, the film-removing scraper 420 is moved to the film-removing point by the multi-axis robot arm 300 to scrape up the contaminated film ( Figure 8b and Figure 8 c), and then the dirty film scooped up by the film peeling blade 420 is clamped by the dirty film clamp 430 ( Figure 8 d), finally, the multi-axis robot arm 300 drives the dirty film fixture 430 to move, and the dirty film is peeled off the contaminated object, so as to automatically complete the film peeling and decontamination operation.

[0068] In summary, the cleaning mechanism for removing surface Po-210 contamination provided in this embodiment can automatically identify and mark the contaminated parts of the nuclear reactor system and its supporting facilities, and automatically perform decontamination operations such as spraying and peeling of Po-210 and other pollutants on the surface of the contaminated parts, so as to shorten the working time of operators in the process of surface radioactive contamination treatment, and keep operators away from radiation sources, and has the characteristics of high degree of automation and less manual intervention.

[0069] Example 2

[0070] This embodiment provides a method for removing surface Po-210 contamination, based on the removal mechanism for removing surface Po-210 contamination recorded in Embodiment 1, comprising the following steps:

[0071] S10, driving the mobile vehicle 100 to move within the Po-210 pollution cleaning operation range.

[0072] Generally speaking, the movement of the mobile body 100 is controlled by a remote controller so that the mobile body 100 moves along a corresponding travel route.

[0073] S20 . When the mobile vehicle 100 moves to the corresponding polluted object removal station, the dust removal baffle frame 510 is moved out to cover the spraying range of the film forming material nozzle 410 .

[0074] Specifically, when the dust removal baffle 510 is moved out and the enclosure is extended from the storage state, the grounding pressure plate is lowered and fits with the ground to define the maximum range of the positioning area, so that the dust removal component can quickly determine the working range. In this embodiment, the working range is a negative pressure dust removal area of ​​1000mm×1000mm.

[0075] S30, identifying the polluted object by using the positioning component 200.

[0076] Specifically, the laser emitter 210 of the positioning assembly 200 is in a long-on state, that is, two cross laser lines are emitted from the laser emitter 210, illuminating a wireframe area in front of the mobile vehicle 100 for positioning. The laser emitter 210 is adjusted in the up-and-down direction by using the adjustment ball 242, and the laser emitter 210 is adjusted in the left-and-right direction by using the mounting rail, so that the positioning area is slightly smaller than the closed range of the dust removal baffle 510 of the negative pressure dust removal assembly 500, 1000mm×1000mm, for identifying and alerting the working area.

[0077] The data of the test adjustment process are shown in Table 1.

[0078]

[0079]

[0080] Table 1

[0081] At the same time, the left and right directions of the laser emitter 210 are adjusted by using the mounting slide rail so that the positioning area of ​​the emitted laser meets the requirement of being slightly smaller than the closed range of the dust removal baffle frame 510 of the negative pressure dust removal assembly 500, which is 1000mm×1000mm.

[0082] That is to say, by adjusting the emission angle of the adjusting ball 242 and the position of the laser emitter 210 on the mounting rail, it is confirmed that the two cross laser lines emitted from the laser emitter 210 can efficiently and quickly locate the Po-210 contaminated area, meeting the spraying, film stripping, decontamination, dust removal and other process requirements of the Po-210 contamination protection and treatment device.

[0083] S40, the multi-axis robot arm 300 moves the film-forming material nozzle 410 to the spraying station, and sprays the film-forming material nozzle 410 onto the surface of the contaminated object through the film-forming material nozzle 410 ( Figure 8 a), and absorb the atomized aerosol dispersed by the film-forming raw material nozzle 410 during operation through the negative pressure dust removal component 500.

[0084] S50, after the film-forming raw material is solidified to form a dirty film, the film-removing scraper 420 is moved to the film-removing point by the multi-axis robot arm 300 to scrape up the dirty film ( Figure 8 b and Figure 8 c).

[0085] S60, the dirty film scraped up by the film stripping blade 420 is clamped by the dirty film clamp 430 ( Figure 8 d), and the multi-axis robot arm 300 drives the dirty film fixture 430 to move, so as to peel the dirty film off the contaminated object.

[0086] It is understood that after the film-forming coating is sprayed by the spray system, the coating will adhere to the surface of the target object, and after a certain period of time, the coating will condense into a coating film, which adheres to and seals the pollutants. The solidified coating film is removed by an air gripper driven by a multi-axis robot 300 (generally a six-axis robot) and discarded in a designated storage container.

[0087] In this embodiment, the multi-axis robot arm 300 drives the dirty film clamp 430 to insert and close from one corner of the film stripping grid to complete a clamping operation, and then the system automatically controls the film stripping operation to be completed obliquely upward. When the film stripping area reaches about 1 / 2 of the coating area, the dirty film clamp 430 is released. The multi-axis robot arm 300 drives the hook claw to insert and close from another corner of the same side of the grid to perform clamping, and then starts the film stripping operation from the other side. At this time, the coating film can be completely stripped from the ground, completing the decontamination operation.

[0088] The data of the film peeling process are shown in Table 2.

[0089]

[0090] Table 2

[0091] In other words, by setting the parameters of the six-axis robotic arm and measuring the wet film thickness of the coating film, it is confirmed that the use of a robotic arm to drive an airless spray gun can efficiently complete the spraying operations of anti-fouling, decontamination, sealing and protective coatings, and can meet the decontamination process requirements of the Po-210 pollution protection and treatment device.

[0092] The above process is repeated in each film peeling position until the film is completely peeled off from the ground. Finally, the program controls the multi-axis mechanical arm 300 to drive the dirty film clamp 430 to transfer the film to the waste tank installed on the mobile vehicle 100 for compression and temporary storage.

[0093] During operation, it is usually necessary to manually determine a number of symmetrically distributed film peeling sites on the edge of the coating film in the positioning area.

[0094] In summary, the surface Po-210 pollution removal method provided in this embodiment is based on the removal mechanism for removing surface Po-210 pollution recorded in Example 1. The mobile vehicle 100 is first driven to move within the Po-210 pollution removal operation range, and when the mobile vehicle 100 moves to the corresponding pollution object removal station, the dust removal baffle frame 510 is moved out to cover the spraying range of the film-forming raw material nozzle 410, and then the pollution object is marked by the positioning component 200, and the film-forming raw material nozzle 410 is moved by the multi-axis robot arm 300. 10 is moved to the spraying station, the film-forming raw material nozzle 410 is sprayed onto the surface of the polluted object through the film-forming raw material nozzle 410, and the atomized aerosol dispersed by the film-forming raw material nozzle 410 during operation is absorbed by the negative pressure dust removal component 500, and after the film-forming raw material is solidified to form a dirty film, the film-removing scraper 420 is moved to the film-removing point by the multi-axis robot arm 300 to scrape up the dirty film, the dirty film scraped up by the film-removing scraper 420 is clamped by the dirty film clamp 430, and the dirty film clamp 430 is driven to move by the multi-axis robot arm 300 to peel off the dirty film from the polluted object.

[0095] Therefore, the surface Po-210 contamination removal method provided in this embodiment can automatically identify and mark the contaminated parts of the nuclear reactor system and supporting facilities, and automatically spray film formation and film peeling for the contaminated parts and other contaminants, so as to shorten the working time of operators in the process of surface radioactive contamination treatment, and keep operators away from radiation sources, with the characteristics of high degree of automation and less manual intervention. It meets the requirements of GJB9001C-2017 "Quality Management System Requirements" for the reliability, maintainability, security, testability, safety, environmental adaptability and other six characteristics of the device.

[0096] It should be understood that the above description is only a specific implementation mode of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A cleaning mechanism for removing surface Po-210 contamination, characterized in that: include: A mobile vehicle body (100), wherein the mobile vehicle body (100) is capable of moving on its own; A positioning component (200), the positioning component (200) being arranged on the mobile vehicle body (100), and the positioning component (200) being capable of automatically identifying and marking a contaminated object with surface Po-210 contamination that needs to be treated; A multi-axis mechanical arm (300), wherein the multi-axis mechanical arm (300) is mounted on the mobile vehicle body (100); A decontamination component (400), the decontamination component (400) being mounted on the moving end of the multi-axis mechanical arm (300), the decontamination component (400) comprising a film-forming material nozzle (410), a film-removing scraper (420) and a dirty film fixture (430); Among them, the film-forming raw material nozzle (410) is used to be connected to the film-forming raw material supply system, so that the film-forming raw material nozzle (410) can spray the film-forming raw material onto the contaminated object, and the film-removing scraper (420) can scrape up the dirty film formed by the film-forming raw material on the contaminated object under the drive of the multi-axis robot arm (300), and the dirty film clamp (430) can clamp the dirty film scraped up by the film-removing scraper (420).

2. The cleaning mechanism for removing surface Po-210 contamination according to claim 1, characterized in that: The positioning assembly (200) comprises a plurality of laser emitters (210), and the light emitted by the plurality of laser emitters (210) can form a closed positioning light zone at the front end of the moving direction of the moving vehicle body (100).

3. The cleaning mechanism for removing surface Po-210 contamination according to claim 2, characterized in that: The positioning assembly (200) further comprises: A mounting rail (220), the mounting rail (220) being laterally mounted on the upper front end of the moving direction of the moving vehicle body (100); A mounting frame (230), the mounting frame (230) being mounted on the mounting track (220), and the mounting frame (230) being able to slide along the length direction of the mounting track (220); An adjustment mechanism (240), wherein the adjustment mechanism (240) is mounted on the mounting frame (230), and the laser emitter (210) is mounted on the adjustment mechanism (240), so that the light emission angle of the corresponding laser emitter (210) can be adjusted through the adjustment mechanism (240).

4. The cleaning mechanism for removing surface Po-210 contamination according to claim 3, characterized in that: The adjustment mechanism (240) is a universal ball adjustment mechanism (240).

5. The cleaning mechanism for removing surface Po-210 contamination according to claim 1, characterized in that: A dirt removal mounting part (310) is installed on the movable end of the multi-axis robot arm (300), the film-forming material nozzle (410) is installed on one side of the execution mounting part, the film-removing scraper (420) is installed on the end of the dirt removal mounting part (310) away from the multi-axis robot arm (300), the dirty film clamp (430) is installed on the side wall of the dirt removal mounting part (310), and the clamping section of the dirty film clamp (430) is located outside the end of the film-removing scraper (420) in the length direction of the cutting edge.

6. The cleaning mechanism for removing surface Po-210 contamination according to claim 1, characterized in that: The film peeling scraper (420) is a flexible scraper.

7. The cleaning mechanism for removing surface Po-210 contamination according to any one of claims 1 to 6, characterized in that: It also includes a negative pressure dust removal component (500), which is arranged on the mobile vehicle body (100) and is used to absorb the atomized aerosol dispersed by the film-forming raw material nozzle (410) during operation.

8. The cleaning mechanism for removing surface Po-210 contamination according to claim 7, characterized in that: The negative pressure dust removal assembly (500) comprises: a dust removal baffle frame (510), the dust removal baffle frame (510) being slidably connected to the mobile body (100); when the dust removal baffle frame (510) slides out to the front end of the moving direction of the mobile body (100), the dust removal baffle frame (510) and the mobile body (100) can enclose a closed dust removal work area, and the dust removal work area can cover the spraying range of the film forming material nozzle (410); A negative pressure adsorption port (520) is used to connect to a negative pressure source, the negative pressure adsorption port (520) is arranged at the front end of the mobile vehicle body (100), and the negative pressure adsorption port (520) is located between the mobile vehicle and the dust removal baffle frame (510).

9. The cleaning mechanism for removing surface Po-210 contamination according to claim 7, characterized in that: Each side of the dust removal baffle frame (510) is provided with a ground-contacting pressure plate (511), and the ground-contacting pressure plate (511) can move vertically. The ground-contacting pressure plate (511) is used to block the gap between the storage baffle frame and the ground.

10. A method for removing surface Po-210 contamination, characterized in that: The cleaning mechanism for removing surface Po-210 contamination according to any one of claims 1 to 9 comprises the following steps: Driving the mobile vehicle (100) to move within the Po-210 pollution cleaning operation range; When the mobile vehicle (100) moves to the corresponding polluted object removal station, the dust removal baffle frame (510) is moved out to cover the spraying range of the film-forming raw material nozzle (410); Using the positioning component (200) to identify and warn the polluted object; The multi-axis robot arm moves the film-forming raw material nozzle (410) to a spraying station, sprays the film-forming raw material nozzle (410) onto the surface of the polluted object through the film-forming raw material nozzle (410), and absorbs the atomized aerosol dispersed by the film-forming raw material nozzle (410) during operation through a negative pressure dust removal component (500); After the film-forming raw material is solidified to form a dirty film, the film-removing scraper (420) is moved to the film-removing point by the multi-axis mechanical arm to scrape up the dirty film; The dirty film scooped up by the film-removing scraper (420) is clamped by the dirty film clamp (430), and the dirty film clamp (430) is driven to move by the multi-axis mechanical arm to peel the dirty film off the contaminated object.

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