A cleaning mechanism and method for removing surface Po-210 contamination

Abstract

The present invention relates to the technical field of radioactive pollutant removal, and specifically to a removal mechanism and method for removing surface Po-210 contamination, wherein the removal mechanism comprises: 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 mechanical arm, which is installed on the mobile body; a decontamination component, which is installed on the mobile end of the multi-axis mechanical arm, and the decontamination component comprises a film-forming raw material nozzle, a film-removing blade and a contaminated 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, the film-removing blade can shovel up the contaminated film formed by the film-forming raw material on the contaminated object under the drive of the multi-axis mechanical arm, and the contaminated film clamp can clamp the contaminated film shoveled up by the film-removing blade. The removal method is based on the aforementioned removal mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of radioactive pollutant removal, and particularly relates 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 generate the extremely toxic radionuclide 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, and it decays by emitting 5.30 MeV α particles, and also emits 0.001% of 0.803 MeV γ rays. According to the toxicity grouping content 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 under the condition of equal amounts of various chemical poisons.

[0003] At the same time, Po-210 has extremely strong volatility. Once it comes into contact with air, it will form radioactive aerosols, and diffuse and migrate with the random movement of the aerosol suspension particle carriers, attaching and settling on the walls, floors and metal equipment surfaces of the structures in the space of the fourth-generation advanced fast reactor system, and finally forming radioactive contamination, which requires reasonable and effective treatment of the reactor structure walls, floors and metal equipment. Summary of the Invention

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

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

[0006] In a first aspect, the present invention provides a cleaning mechanism for removing surface Po-210 contamination, comprising: a mobile vehicle body capable of self-movement; a positioning assembly provided on the mobile vehicle body and capable of automatically identifying and marking a contaminated object with surface Po-210 contamination to be treated; a multi-axis robotic arm mounted on the mobile vehicle body; and a decontamination assembly mounted on the mobile end of the multi-axis robotic arm, the decontamination assembly including a film-forming raw material spray head, a film peeling blade, and a contaminated film clamp; wherein the film-forming raw material spray head is used to be connected to a film-forming raw material supply system so that the film-forming raw material spray head can spray a film-forming raw material onto the contaminated object, the film peeling blade can shovel up the contaminated film formed by the film-forming raw material on the contaminated object under the drive of the multi-axis robotic arm, and the contaminated film clamp can clamp the contaminated film shoveled up by the film peeling blade.

[0007] The cleaning mechanism for removing surface Po-210 contamination provided by the present invention includes a mobile vehicle body, a positioning assembly, a multi-axis robotic arm, and a decontamination assembly. The positioning assembly and the multi-axis robotic arm are both mounted on the mobile vehicle body, and the decontamination assembly is mounted on the mobile end of the multi-axis robotic arm. The positioning assembly can automatically identify and mark a contaminated object with surface Po-210 contamination to be treated. The decontamination assembly includes a film-forming raw material spray head, a film peeling blade, and a contaminated film clamp. The film-forming raw material spray head is used to be connected to a film-forming raw material supply system, the film peeling blade can shovel up the contaminated film under the drive of the multi-axis robotic arm, and the contaminated film clamp can clamp the contaminated film.

[0008] During use, the remote-controlled mobile vehicle body moves within the Po-210 decontamination operation range. When the mobile vehicle body moves to the corresponding contaminated object cleaning station, the contaminated object is identified and marked through the positioning assembly to mark the spraying area for warning purposes. Then, the multi-axis robotic arm moves the film-forming raw material spray head to the spraying station, and the film-forming raw material is sprayed onto the surface of the contaminated object through the film-forming raw material spray head, so that the film-forming raw material covers the contaminated area. After the film-forming raw material solidifies to form a contaminated film, the multi-axis robotic arm moves the film peeling blade to the film peeling point to shovel up the contaminated film, and then the contaminated film clamp clamps the contaminated film shoveled up by the film peeling blade. Finally, the multi-axis robotic arm drives the contaminated film clamp to move to peel the contaminated film from the contaminated object, thereby automatically completing the film peeling and decontamination 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 of spraying film formation and film peeling for pollutants such as surface Po-210 on the contaminated parts. During the surface radioactive contamination treatment operation, it can shorten the operation time of the operators and enable the operators to stay away from the radiation source, with the characteristics of high automation degree 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 dirt removal 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 alternative embodiment of the present application, the negative pressure dust removal assembly includes: a dust removal retaining frame, which is slidably connected to the moving vehicle body. When the dust removal retaining frame slides out to the front end in the moving direction of the moving vehicle body, the dust removal retaining frame and the moving 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 suction port, which is used to connect a negative pressure source. The negative pressure suction port is arranged at the front end of the moving vehicle body and is located between the moving vehicle and the dust removal retaining frame to ensure that the negative pressure dust removal assembly can absorb the atomized aerosol dispersed during the operation of the film-forming raw material nozzle.

[0017] In an alternative embodiment of the present application, floor pressing plates are arranged on each side of the dust removal retaining frame. The floor pressing plates can move vertically and are used to block the gap between the dust removal retaining frame and the ground, further preventing 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 cleaning mechanism for removing surface Po-210 contamination, it includes the following steps:

[0019] Drive the moving vehicle body to move within the Po-210 decontamination operation range;

[0020] When the moving vehicle body moves to the corresponding contamination object cleaning station, move out the dust removal retaining frame to cover the spraying range of the film-forming raw material nozzle;

[0021] Identify the contamination object through the positioning component;

[0022] Move the film-forming raw material nozzle to the spraying station by the multi-axis robotic arm, spray the film-forming raw material onto the surface of the contamination object through the film-forming raw material nozzle, and absorb the atomized aerosol dispersed during the operation of the film-forming raw material nozzle through the negative pressure dust removal assembly;

[0023] After the film-forming raw material is cured to form a contaminated film, move the film peeling blade to the film peeling point by the multi-axis robotic arm to shovel up the contaminated film;

[0024] Clamp the contaminated film shoveled up by the film peeling blade through the contaminated film clamp, and drive the contaminated film clamp to move by the multi-axis robotic arm to peel the contaminated film from the contamination object.

[0025] The surface Po-210 pollution removal method provided by the present invention is based on the aforementioned removal mechanism for removing surface Po-210 pollution. First, drive the mobile vehicle body to move within the Po-210 decontamination operation range. When the mobile vehicle body moves to the corresponding pollution object removal work station, move out the dust removal frame to cover the spraying range of the film-forming raw material spray head. Then, identify the pollution object through the positioning component, move the film-forming raw material spray head to the spraying work station by the multi-axis robotic arm, spray the film-forming raw material onto the surface of the pollution object through the film-forming raw material spray head, and absorb the atomized aerosol dispersed during the working hours of the film-forming raw material spray head through the negative pressure dust removal component. After the film-forming raw material is cured to form a pollution film, successively move the film peeling blade to the film peeling point by the multi-axis robotic arm to shovel up the pollution film, clamp the pollution film shoveled up by the film peeling blade through the pollution film clamp, and drive the pollution film clamp to move by the multi-axis robotic arm to peel the pollution film from the pollution object.

[0026] Therefore, the surface Po-210 pollution removal method provided by the present invention can automatically identify and mark the polluted parts of the nuclear reactor system and its supporting facilities, and automatically perform decontamination operations such as spraying and film peeling on the surface Po-210 and other pollutants on the polluted parts, so as to shorten the operation time of the operators and keep the operators away from the radiation source during the surface radioactive pollution treatment operation, with the characteristics of high 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] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the attached drawings required for the embodiments. It should be understood that the following attached drawings only show some embodiments of the present invention, and thus should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other related attached drawings can also be obtained based on these attached drawings.

[0031] In the attached drawings:

[0032] Figure 1 It is a schematic three-dimensional model structure diagram of the cleaning mechanism for removing surface Po-210 contamination in the embodiments of the present invention;

[0033] Figure 2 It is a schematic three-dimensional structure diagram of the moving vehicle body of the cleaning mechanism for removing surface Po-210 contamination in the embodiments of the present invention;

[0034] Figure 3 It is a schematic three-dimensional structure diagram of the positioning component of the cleaning mechanism for removing surface Po-210 contamination in the embodiments of the present invention;

[0035] Figure 4 It is a schematic three-dimensional structure diagram of the decontamination component of the cleaning mechanism for removing surface Po-210 contamination in the embodiments of the present invention;

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

[0037] Figure 6 It is a schematic diagram of the process of the dust removal component of the cleaning mechanism for removing surface Po-210 contamination in the embodiments of the present invention extending;

[0038] Figure 7 It is a schematic diagram of the working process of the positioning component of the cleaning mechanism for removing surface Po-210 contamination in the embodiments of the present invention;

[0039] Figure 8 It is a schematic diagram of the working process of the decontamination component of the cleaning mechanism for removing surface Po-210 contamination in the embodiments of the present invention.

[0040] Reference numerals:

[0041] 100 - Mobile vehicle body, 200 - Positioning component, 210 - Laser emitter, 220 - Installation track, 230 - Mounting bracket, 240 - Adjusting mechanism, 241 - Adjusting frame, 242 - Adjusting ball, 300 - Multi - axis robotic arm, 310 - Decontamination mounting part, 400 - Decontamination component, 410 - Film - forming raw material spray head, 420 - Film - removing scraper, 430 - Contaminated film clamp, 500 - Negative - pressure dust - removal component, 510 - Dust - removal retaining frame, 511 - Floor - adhering pressure plate, 512 - Floor - adhering lifting driver, 520 - Negative - pressure adsorption port. Detailed implementation manners

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the accompanying 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 that is claimed, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts fall within the scope of protection of the present application.

[0044] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0045] In the description of the embodiments of the present application, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is usually placed during use, or the orientation or positional relationship commonly understood by those skilled in the art. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present application.

[0046] In the description of the present application, unless otherwise clearly defined and limited, the terms "set", "install", "connect", and "couple" 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 directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0047] Example 1

[0048] Combined with Figure 1 , this embodiment provides a cleaning mechanism for removing surface Po-210 contamination, including: a mobile vehicle body 100 capable of self-movement; a positioning component 200 disposed on the mobile vehicle body 100 and capable of automatically identifying and marking the contaminated object with surface Po-210 contamination to be processed; a multi-axis robotic arm 300 mounted on the mobile vehicle body 100; a decontamination component 400 mounted on the mobile end of the multi-axis robotic arm 300, and the decontamination component 400 includes a film-forming raw material spray head 410, a film-removing spatula 420, and a contaminated film clamp 430; wherein, the film-forming raw material spray head 410 is used to connect to a film-forming raw material (removable polyurethane coating) supply system, so that the film-forming raw material spray head 410 can spray the film-forming raw material onto the contaminated object, the film-removing spatula 420 can shovel up the contaminated film formed by the film-forming raw material on the contaminated object under the drive of the multi-axis robotic arm 300, and the contaminated film clamp 430 can clamp the contaminated film shoveled up by the film-removing spatula 420.

[0049] Combined with Figure 2 , it can be understood that the mobile vehicle body 100 is responsible for loading other functional components and moving within the process site, and only needs to be able to move by itself, which can be a remotely controlled wheeled vehicle body or a tracked vehicle body. In this embodiment, the mobile vehicle body 100 includes a vehicle body frame, a shield plate, driving wheels, driven wheels, a power supply, and an inverter, and the external dimensions are approximately 1619.5mm × 1119mm × 338mm. Specifically:

[0050] The vehicle body frame is made of stainless steel, with a stainless steel shield plate attached to the outside. The overall surface is firm and durable, and is equipped with an emergency stop switch and a sound and light alarm, which can realize the early warning and alarm of the operating state (when encountering unexpected situations, it is convenient for personnel to stop urgently through the emergency stop switch to avoid the occurrence of safety accidents), and is designed with a lifting ring, which is convenient for lifting the pollution treatment test device to high-rise spaces and working places.

[0051] The driving wheels are driven by high-load DC motors, and the single-wheel load ≥ 400kg, which can effectively carry the working modules on the upper part of the mobile vehicle body 100 for processing operations. At the same time, the driving wheels are symmetrically arranged in the middle, which can realize in-situ turning, facilitate processing operations in narrow spaces, can drive the mobile vehicle body 100 to run on slopes with a maximum of 10°, and self-lock and fix, and also have the function of not self-locking when the power is off (when the test device needs to be transported or encounters unexpected situations resulting in power off, the processing device can still be moved and transported through external intervention).

[0052] The driven wheel has a single-shaft double-wheel structure with shock-absorbing springs, which has shock-absorbing passability itself and can smoothly pass through areas such as the factory floor rail gate and ramp gate. Moreover, the driven wheels are arranged at the four corners of the mobile vehicle body 100. Relying on the structural characteristics of the coaxial double wheels, they can assist the driving wheels in performing the function of in-situ rotation.

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

[0054] Combined Figure 3 , the positioning assembly 200 includes a plurality of laser emitters 210. The light rays emitted by the plurality of laser emitters 210 can form a closed positioning light area at the front end in the moving direction of the mobile vehicle body 100, so as to ensure that the positioning assembly 200 can automatically identify and mark the contaminated area. Among them, the laser emitter 210 is usually a cross laser emitter 210. As the mobile vehicle body 100 travels in the working place, it assists the cleaning mechanism to automatically identify and define the surface Po-210 pollutant objects that need to be processed in a special environment, and assists the operators to carry out the fixed-point cleaning task of the surface Po-210 pollutants.

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

[0056] In this embodiment, the adjusting mechanism 240 is a universal ball adjusting 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. Moreover, the positioning assembly 200 is mounted at the front end of the mobile vehicle body 100, which is beneficial 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 dirt removal 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 blade 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] Recombination 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 dust removal baffle frame and the ground, so as to further prevent 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 clamp the contaminated film shoveled up by the film removal shovel 420 through the contaminated film clamp 430 ( Figure 8 d), and finally drive the contaminated film clamp 430 to move through the multi-axis robotic arm 300 to peel the contaminated film from the contaminated object, so as to automatically complete the film removal 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 film removal on the surface Po-210 and other contaminants at the contaminated parts, so as to shorten the operation time of the operators and keep the operators away from the radiation source during the surface radioactive contamination treatment operation, with the characteristics of high automation and less manual intervention.

[0069] Embodiment 2

[0070] This embodiment provides a method for removing surface Po-210 contamination. Based on the cleaning mechanism for removing surface Po-210 contamination described in Embodiment 1, it includes the following steps:

[0071] S10. Drive the mobile vehicle body 100 to move within the range of Po-210 decontamination operation.

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

[0073] S20. When the mobile vehicle body 100 moves to the corresponding contaminated object cleaning station, move out the dust removal baffle 510 to cover the spraying range of the film-forming raw material spray head 410.

[0074] Specifically, when the dust removal baffle 510 moves out and extends the enclosure panel from the storage state, lower the grounding pressure plate to fit with the ground to enclose 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 1000 mm × 1000 mm.

[0075] S30. Identify the contaminated object through 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 can be understood that after the film-forming coating is sprayed through the spraying system, the coating will adhere to the surface of the target object. After a certain period of time, the coating will condense into a coating film, bonding and sealing the pollutants. The cured coating film is picked up by the air gripper driven by the multi-axis robotic arm 300 (usually a six-axis robotic arm) and discarded into the designated containment container.

[0087] In this embodiment, the multi-axis robotic arm 300 drives the contaminated film fixture 430 to insert and close from a corner of the film removal grid close to the ground to complete one clamping. Subsequently, the system controls the automatic upward-slanting film removal action. When the film removal area reaches about 1 / 2 of the coating area, the contaminated film fixture 430 is released. The multi-axis robotic arm 300 drives the hook to insert and close from another corner on the same side of the grid to perform clamping and start the film removal action from the other side. At this time, the coating film can be completely lifted from the ground to complete the decontamination operation.

[0088] The data of the film removal process is shown in Table 2.

[0089]

[0090] Table 2

[0091] That is to say, by setting the parameters of the six-axis robotic arm and measuring the wet film thickness of the coating film, it is confirmed that using the robotic arm to drive the airless spray gun can efficiently complete the spraying operations of anti-pollution, decontamination, solid sealing, and protection coatings, meeting the decontamination process requirements of the Po-210 pollution protection and treatment device.

[0092] In the above process, it is sequentially and repeatedly cycled at each film removal site until the film body is completely peeled off from the ground. Finally, the program controls the multi-axis robotic arm 300 to drive the contaminated film fixture 430 to transfer the film body to the waste tank installed on the mobile vehicle body 100 for compression and temporary storage.

[0093] Among them, during operation, it is usually necessary for manual workers to determine several symmetrically distributed film removal sites at the edge of the coating film within the positioning area.

[0094] In summary, the surface Po-210 contamination removal method provided in this embodiment is based on the removal mechanism for removing surface Po-210 contamination described in Embodiment 1. First, drive the mobile vehicle body 100 to move within the range of Po-210 decontamination operation. When the mobile vehicle body 100 moves to the corresponding contamination object removal station, move out the dust removal retaining frame 510 to cover the spraying range of the film-forming raw material spray head 410. Then, identify the contamination object through the positioning component 200, move the film-forming raw material spray head 410 to the spraying station by the multi-axis robotic arm 300, spray the film-forming raw material onto the surface of the contamination object through the film-forming raw material spray head 410, and absorb the atomized aerosol dispersed during the operation of the film-forming raw material spray head 410 through the negative pressure dust removal component 500. After the film-forming raw material solidifies to form a contaminated film, sequentially move the film peeling shovel 420 to the film peeling point by the multi-axis robotic arm 300 to shovel up the contaminated film, clamp the contaminated film shoveled up by the film peeling shovel 420 by the contaminated film clamp 430, and drive the contaminated film clamp 430 to move by the multi-axis robotic arm 300 to peel the contaminated film from the contamination 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 its supporting facilities, and automatically perform decontamination operations such as spraying film formation and film peeling on the surface Po-210 and other pollutants at the contaminated parts. During the surface radioactive contamination treatment operation, it can shorten the operation time of the operators and keep the operators away from the radiation source, with the characteristics of high automation and less manual intervention. It meets the requirements of the six properties of reliability, maintainability, supportability, testability, safety, and environmental adaptability of the device in GJB9001C-2017 "Quality Management System Requirements".

[0096] It should be understood that the above are only specific embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cleaning mechanism for removing surface Po-210 contamination, characterized in that, Comprising: A mobile vehicle body (100) capable of self - movement; A positioning component (200) provided on the mobile vehicle body (100), and the positioning component (200) can automatically identify and mark pollution objects with surface Po - 210 pollution to be treated; A multi - axis robotic arm (300) installed on the mobile vehicle body (100); A decontamination component (400) installed on the mobile end of the multi - axis robotic arm (300), and the decontamination component (400) includes a film - forming raw material spray head (410), a film - removing spatula (420) and a contaminated film clamp (430); Wherein, the film - forming raw material spray head (410) is used to be connected to a film - forming raw material supply system, so that the film - forming raw material spray head (410) can spray film - forming raw materials onto the pollution object, the film - removing spatula (420) can shovel up the contaminated film formed by the film - forming raw materials on the pollution object driven by the multi - axis robotic arm (300), and the contaminated film clamp (430) can clamp the contaminated film shoveled up by the film - removing spatula (420).

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

3. The cleaning mechanism for removing surface Po-210 contamination according to claim 2, wherein, The positioning component (200) further includes: An installation track (220) transversely installed on the upper side of the front end in the moving direction of the mobile vehicle body (100); An installation frame (230) installed on the installation track (220), and the installation frame (230) can slide along the length direction of the installation track (220); An adjustment mechanism (240) installed on the installation frame (230), and the laser emitter (210) is installed on the adjustment mechanism (240) to adjust the light emission angle of the corresponding laser emitter (210) through the adjustment mechanism (240).

4. The decontamination 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 decontamination mechanism for removing surface Po-210 contamination according to claim 1, characterized in that, An anti - pollution installation part (310) is installed on the mobile end of the multi - axis robotic arm (300), the film - forming raw material spray head (410) is installed on one side of the anti - pollution installation part (310), the film - removing spatula (420) is installed at the end of the anti - pollution installation part (310) far from the multi - axis robotic arm (300), the contaminated film clamp (430) is installed on the side wall of the anti - pollution installation part (310), and the clamping section of the contaminated film clamp (430) is located outside the end of the cutting edge length direction of the film - removing spatula (420).

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

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

8. The cleaning mechanism for removing surface Po-210 contamination according to claim 7, characterized in that, The negative pressure dust removal assembly (500) includes: A dust removal retaining frame (510), which is slidably connected to the moving vehicle body (100). When the dust removal retaining frame (510) slides out to the front end in the moving direction of the moving vehicle body (100), the dust removal retaining frame (510) and the moving vehicle body (100) 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 spray head (410); A negative pressure adsorption port (520), which is used to connect a negative pressure source. The negative pressure adsorption port (520) is arranged at the front end of the moving vehicle body (100), and the negative pressure adsorption port (520) is located between the moving vehicle and the dust removal retaining frame (510).

9. The decontamination mechanism for removing surface Po-210 contamination according to claim 8, characterized in that, Ground pressing plates (511) are arranged on each side of the dust removal retaining frame (510). The ground pressing plates (511) can move vertically, and the ground pressing plates (511) are used to block the gap between the dust removal retaining frame (510) and the ground.

10. A method for removing surface Po-210 contamination, characterized in that, Based on the cleaning mechanism for removing surface Po-210 contamination described in 9 claims, it includes the following steps: Drive the moving vehicle body (100) to move within the Po-210 decontamination operation range; When the moving vehicle body (100) moves to the corresponding pollution object cleaning station, move out the dust removal retaining frame (510) to cover the spraying range of the film-forming raw material spray head (410); Identify and alert the pollution object through the positioning assembly (200); Move the film-forming raw material spray head (410) to the spraying station by the multi-axis robotic arm, spray the film-forming raw material through the film-forming raw material spray head (410) onto the surface of the pollution object, and absorb the atomized aerosol dispersed during the operation of the film-forming raw material spray head (410) through the negative pressure dust removal assembly (500); After the film-forming raw material is cured to form a contaminated film, move the film peeling shovel (420) to the film peeling point by the multi-axis robotic arm to shovel up the contaminated film; Clamp the contaminated film shoveled up by the film peeling shovel (420) through the contaminated film clamp (430), and drive the contaminated film clamp (430) to move by the multi-axis robotic arm to peel the contaminated film from the pollution object.

Images