Movable surface Po-210 pollution treatment device and testing method thereof

Abstract

The invention relates to the technical field of radioactive pollutant removal, in particular to a movable surface Po-210 pollution treatment device and a testing method thereof.The pollution treatment device comprises a movable vehicle body capable of automatically moving; the positioning assembly is arranged on the mobile vehicle body and can automatically identify and identify a pollution object with the surface Po-210 pollution needing to be treated; 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, a dirty film clamp and a coating film raw material spray head; a spraying raw material supply system; wherein the film forming raw material spray head and the coating film raw material spray head are connected with a spraying raw material supply system, the film uncovering scraper knife can be driven by the multi-axis mechanical arm to shovel up a dirty film formed by film forming raw materials on a polluted object, and the dirty film clamp can clamp the dirty film shoveled up by the film uncovering scraper knife. The testing method is used for testing the pollution treatment device.

Description

Technical Field

[0001] The invention relates to the technical field of radioactive pollutant removal, and in particular to a movable surface Po-210 contamination treatment device and a testing method thereof. 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.

[0004] At present, the common method of dealing with radioactive contamination is for workers to enter the decontamination site and use certain physical or chemical decontamination methods to treat the contamination on the surface of the object to be decontaminated, or for workers to carry contamination treatment equipment and mechanical decontamination tools to treat the pollutants on the surface of the object to be decontaminated. This increases the construction risks of workers and also brings radiation safety risks to workers, and has certain limitations and risks. Summary of the invention

[0005] Aiming at the technical problem that the current common radioactive contamination treatment method is used to treat Po-210 and other volatile nuclides generated by the fourth-generation advanced fast reactor system, there is a risk of introducing radiation toxicity and chemical toxicity to operators. The present invention provides a movable surface Po-210 contamination treatment device and a testing method thereof, which can automatically identify and mark the contaminated parts of the nuclear reactor system and supporting facilities, and can remove radioactive contamination under a typical radioactive contamination system, thereby preventing and reducing the internal exposure risk of personnel and protecting the radiation safety of the reactor system environment and the stable operation of the equipment.

[0006] The present invention is achieved through the following technical solutions:

[0007] In the first aspect, the present invention provides a movable surface Po-210 pollution treatment device, 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 surface Po-210 contaminated contaminated object 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, a dirty film clamp and a coating film raw material nozzle; a spraying raw material supply system, which is installed on the mobile body and can provide corresponding raw materials to the film-forming raw material nozzle and the coating film raw material nozzle respectively; wherein, 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.

[0008] The movable surface Po-210 pollution treatment device provided by the present invention comprises a mobile body, a positioning component, a multi-axis mechanical arm, a decontamination component and a spraying raw material supply system. The positioning component and the multi-axis mechanical arm are both installed on the mobile body, and the decontamination component is installed 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 pollution that needs to be treated. The decontamination component comprises a film-forming raw material nozzle, a film-removing scraper, a dirty film clamp and a coating film raw material nozzle. The spraying raw material supply system is installed on the mobile body and can provide corresponding raw materials to the film-forming raw material nozzle and the coating film raw material nozzle respectively. 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.

[0009] 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 polluted object removal station, the polluted object is identified and marked by the positioning component to mark the spraying area as a warning, and the multi-axis robotic arm moves the film-forming raw material nozzle and the coating film raw material nozzle to the spraying station.

[0010] 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 solidifies to form a dirty film, the film-peeling scraper is moved to the film-peeling point by a multi-axis robotic arm to scoop up the dirty film, and then the dirty film scooped up by the film-peeling scraper is clamped by the dirty film clamp. Finally, the multi-axis robotic arm drives the dirty film clamp to move and peel off the dirty film from the contaminated object to automatically complete the film peeling and decontamination operation.

[0011] Alternatively, the film-forming raw material nozzle is used to spray the film-forming raw material onto the surface of the polluted object, and the surface of the metal equipment serving in the process plant is decontaminated, sealed or protected.

[0012] Therefore, the movable surface Po-210 contamination treatment device provided by the present invention can remove radioactive contamination under a typical radioactive contamination system, which can not only prevent and reduce the internal exposure risk of personnel, but also protect the radiation safety of the reactor system environment and the stable operation of the equipment.

[0013] In an optional embodiment, the mobile vehicle body includes: a vehicle body frame; a shield plate, which is arranged at the front end of the vehicle body frame; a driving wheel, which is arranged in the middle of the lower side of the vehicle body frame; a driven wheel, which is arranged at both ends of the lower side of the vehicle body frame; a power supply, which is installed on the vehicle body frame and electrically connected to the driver of the driven wheel; and an inverter, which is electrically connected to the driver of the driven wheel.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] In an optional embodiment of the present application, the spraying raw material supply system includes: an air compressor; a first pneumatic spray pump, the first pneumatic spray pump is connected to the film-forming raw material nozzle, and the first pneumatic spray pump can spray the film-forming raw material from the film-forming raw material nozzle under the action of the air pressure output by the air compressor; a second pneumatic spray pump, the second pneumatic spray pump is connected to the coating film raw material nozzle, and the second pneumatic spray pump can spray the coating film raw material from the coating film raw material nozzle under the action of the air pressure output by the air compressor; wherein the compression ratios of the first pneumatic spray pump and the second pneumatic spray pump are different.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] In an optional embodiment of the present application, the negative pressure dust removal assembly also includes: a first vacuum pump, wherein the air inlet end of the first vacuum pump is connected to the negative pressure adsorption port on the dust removal baffle frame; a first multi-stage filter, wherein the first multi-stage filter is connected to the air outlet end of the first vacuum pump; a second vacuum pump, wherein the air inlet end of the second vacuum pump is connected to the negative pressure adsorption port on the mobile vehicle body; and a second multi-stage filter, wherein the second multi-stage filter is connected to the air outlet end of the second vacuum pump.

[0024] In an optional embodiment of the present application, it also includes a paint supply vehicle, which is equipped with an electronic scale, a two-component paint tank, a stirring tank, a single-component paint tank and a paint quick-packing tank, and the paint quick-packing tank is used to store the paint after being stirred by the stirring tank.

[0025] In a second aspect, the present invention provides a method for testing a movable surface Po-210 contamination treatment device, which is used to test the movable surface Po-210 contamination treatment device, comprising the following steps:

[0026] By detecting the voltage at the output end of the inverter, a discharge test of the inverter power supply is performed using a resistor with a fixed resistance value, and the capacitance of the inverter power supply is calculated based on the discharge time;

[0027] The mobile vehicle is driven to a test section, which includes a slope of 10° or more, a deep ditch with a width of ≥50mm and a depth of ≥50mm, and a shallow ditch with a width of ≥100mm and a depth of ≤10mm, and the vehicle is tested in forward, backward, in-situ rotation, climbing and descending reciprocating driving in each test section;

[0028] Use colored solvents to fill each paint tank of the paint supply vehicle, and fill the clean tank with clean water to switch the spray pipelines for paint spraying and clean the pipelines to test the spray material supply system;

[0029] A set experimental area is defined on the horizontal ground, and a coating spray test is performed on the ground through a film-forming raw material nozzle or a coating film raw material nozzle;

[0030] After the paint spraying operation is completed, the film peeling scraper is moved to the film peeling point by the multi-axis robot arm to scrape up the dirty film, the dirty film scraped up by the film peeling scraper is clamped by the dirty film fixture, and the dirty film fixture is driven to move by the multi-axis robot arm to perform the dirty film peeling test;

[0031] A smoke-generating device is placed in the experimental area, and a negative pressure dust removal component is turned on to perform a smoke removal test on the negative pressure dust removal component;

[0032] Field spraying is carried out in the experimental area, and the negative pressure dust removal component is turned on to carry out a negative pressure dust removal component anti-aerosol diffusion test.

[0033] The testing method of the movable surface Po-210 contamination treatment device provided by the present invention respectively performs an inverter power supply capacitance test, a mobile vehicle driving performance test, a raw material supply system feeding test, a paint spraying test, a dirt film peeling test, a negative pressure dust removal component smoke removal test and a negative pressure dust removal component anti-aerosol diffusion test, which meets the requirements of GJB9001C-2017 "Quality Management System Requirements" on the reliability, maintainability, security, testability, safety, environmental adaptability and other six properties of the device, so as to ensure that the movable surface Po-210 contamination treatment device can prevent and reduce the internal exposure risk of personnel, and protect the radiation safety of the reactor system environment and the stable operation of the equipment.

[0034] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0035] 1. The movable surface Po-210 pollution treatment device provided by the present invention comprises a mobile body, a positioning component, a multi-axis mechanical arm, a decontamination component and a spraying raw material supply system. The positioning component and the multi-axis mechanical arm are both installed on the mobile body, and the decontamination component is installed on the mobile end of the multi-axis mechanical arm. The positioning component can automatically identify and mark the surface Po-210 pollution-contaminated object to be treated. The decontamination component comprises a film-forming raw material nozzle, a film-removing scraper, a dirty film clamp and a coating film raw material nozzle. The spraying raw material supply system is installed on the mobile body and can provide corresponding raw materials to the film-forming raw material nozzle and the coating film raw material nozzle respectively. 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. The pollution object is identified and marked by the positioning component to spray the area The marking serves as a warning, and the multi-axis robotic arm moves the film-forming raw material nozzle and the coating film raw material nozzle to the spraying station, and sprays the film-forming raw material nozzle onto the surface of the contaminated object through the film-forming raw material nozzle, 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 multi-axis robotic arm moves the film-removing scraper to the film-removing point to shovel up the contaminated film, and then the contaminated film shoveled up by the film-removing scraper is clamped by the contaminated film clamp, and finally the contaminated film clamp is driven by the multi-axis robotic arm to move, and the contaminated film is peeled off the contaminated object to automatically complete the film removal and decontamination operation, and the coating film raw material nozzle is sprayed onto the surface of the contaminated object, and the surface of the metal equipment in service in the process plant is decontaminated, sealed or protected. Radioactive contamination can be removed under a typical radioactive contamination system, which can not only prevent and reduce the internal exposure risk of personnel, but also protect the radiation safety of the reactor system environment and the stable operation of equipment.

[0036] 2. The testing method of the movable surface Po-210 contamination treatment device provided by the present invention respectively conducts inverter power supply capacity test, mobile vehicle driving performance test, raw material supply system feeding test, paint spraying test, dirt film stripping test, negative pressure dust removal component smoke removal test and negative pressure dust removal component anti-aerosol diffusion test, which meets the requirements of GJB9001C-2017 "Quality Management System Requirements" on the reliability, maintainability, security, testability, safety, environmental adaptability and other six properties of the device, so as to ensure that the movable surface Po-210 contamination treatment device can not only prevent and reduce the internal exposure risk of personnel, but also protect the radiation safety of the reactor system environment and the stable operation of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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.

[0038] In the attached picture:

[0039] Figure 1 This is a schematic diagram of the three-dimensional model structure of a movable surface Po-210 pollution treatment device according to an embodiment of the present invention;

[0040] Figure 2 It is a schematic diagram of the three-dimensional structure of the mobile body of the movable surface Po-210 pollution treatment device according to an embodiment of the present invention;

[0041] 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;

[0042] 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;

[0043] Figure 5 It is a three-dimensional structural schematic diagram 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;

[0044] Figure 6 A schematic diagram of the extension process of the dust removal component of the movable surface Po-210 pollution treatment device according to an embodiment of the present invention;

[0045] Figure 7 A schematic diagram of the working process of the positioning component of the movable surface Po-210 pollution treatment device according to an embodiment of the present invention;

[0046] Figure 8 A schematic diagram of the working process of the decontamination component of the movable surface Po-210 contamination treatment device according to an embodiment of the present invention;

[0047] Fig. 9 It is a three-dimensional structural schematic diagram of the spraying raw material supply system of the movable surface Po-210 pollution treatment device according to an embodiment of the present invention;

[0048] Fig.10 This is a control principle diagram of the spraying raw material supply system of the movable surface Po-210 pollution treatment device according to an embodiment of the present invention;

[0049] Fig.11 It is a schematic structural diagram of a paint supply vehicle according to an embodiment of the present invention.

[0050] Reference numerals:

[0051] 100-mobile vehicle body, 101-vehicle body frame, 102-shield plate, 103-driving wheel, 104-driven wheel, 105-power source, 106-inverter;

[0052] 200 - positioning assembly, 210 - laser transmitter, 220 - mounting track, 230 - mounting frame, 240 - adjustment mechanism, 241 - adjustment frame, 242 - adjustment ball;

[0053] 300-multi-axis robotic arm, 310-decontamination mounting parts;

[0054] 400-decontamination component, 410-film forming raw material nozzle, 420-film peeling scraper, 430-dirty film fixture, 440-coating film raw material nozzle;

[0055] 500-negative pressure dust removal component, 510-dust removal baffle frame, 511-ground pressure plate, 512-ground lifting drive, 520-negative pressure adsorption port, 531-first vacuum pump, 532-first multi-stage filter, 533-second vacuum pump, 534-second multi-stage filter;

[0056] 600-spraying material supply system, 601-air compressor, 602-first pneumatic spraying pump, 603-second pneumatic spraying pump;

[0057] 700-Paint supply vehicle, 701-electronic scale, 702-two-component paint tank, 703-mixing tank, 704-single-component paint tank, 705-paint quick-loading tank. DETAILED DESCRIPTION

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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 it can be indirectly connected 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.

[0063] Example 1

[0064] Combination Figure 1The present embodiment provides a movable surface Po-210 pollution treatment device, comprising: a mobile body 100, the mobile body 100 being able to move by itself; a positioning component 200, the positioning component 200 being arranged on the mobile body 100, and the positioning component 200 being able to automatically identify and mark the surface Po-210 pollution pollution object to be treated; a multi-axis mechanical arm 300, the multi-axis mechanical arm 300 being mounted on the mobile body 100; a decontamination component 400, the decontamination component 400 being mounted on the mobile end of the multi-axis mechanical arm 300, the decontamination component 400 It includes a film-forming raw material nozzle 410, a film-removing scraper 420, a dirty film clamp 430 and a coating film raw material nozzle 440; a spraying raw material supply system 600, which is installed on the mobile vehicle 100, and the spraying raw material supply system 600 can provide corresponding raw materials to the film-forming raw material nozzle 410 and the coating film raw material nozzle 440 respectively; wherein, the film-removing scraper 420, driven by the multi-axis robot 300, can scrape up the dirty film formed by the film-forming raw material on the contaminated object, and the dirty film clamp 430 can clamp the dirty film scraped up by the film-removing scraper 420.

[0065] Combination Figure 2 It is understood that the mobile vehicle 100 is responsible for loading other functional components and moving within the process site. It only needs to be able to move by itself, and can be a remote-controlled wheeled vehicle or a crawler vehicle. In this embodiment, the mobile vehicle 100 includes a vehicle frame 101, a shield plate 102, a driving wheel 103, a driven wheel 104, a power supply 105 and an inverter 106, and the overall dimensions are approximately 1619.5mm×1119mm×338mm. That is, the mobile body 100 includes: a body frame 101; a shield plate 102, wherein the shield plate 102 is arranged at the front end of the body frame 101; a driving wheel 103, wherein the driving wheel 103 is arranged in the middle of the lower side of the body frame 101; a driven wheel 104, wherein the driven wheel 104 is arranged at both ends of the lower side of the body frame 101; a power supply 105, wherein the power supply 105 is installed on the body frame 101, and the power supply 105 is electrically connected to the driver of the driven wheel 104; and an inverter 106, wherein the inverter 106 is electrically connected to the driver of the driven wheel 104.

[0066] Specific:

[0067] The vehicle body frame 101 is made of stainless steel, with a stainless steel shield plate 102 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 urgently through the emergency stop switch to avoid the occurrence of safety accidents), and is designed with a lifting ring to facilitate the lifting of the pollution treatment test device to high-rise spaces and work sites.

[0068] The driving wheel 103 is driven by a large-load DC motor, with a single wheel load of ≥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 103 adopts a symmetrical layout in the middle, which can realize on-site steering, convenient for 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).

[0069] The driven wheel 104 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 wheel 104 is arranged at the four corners of the mobile body 100, and relies on the structural characteristics of the coaxial double wheels to assist the driving wheel 103 in rotating in place.

[0070] The power supply 105 is a lithium battery with a total power of not less than 270Ah and an output voltage of >48V. It can provide mobile power for the mobile body 100 and provide driving power for the upper functional module under the action of the inverter 106. A 10kW high-power inverter 106 is used as an auxiliary power source for the mobile body 100. 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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 600 usually includes two air compressors 601, two pneumatic spray pumps (pneumatic high-pressure airless pumps), an air-liquid processing system, a cleaning pump (diaphragm pump for cleaning) and a spray pipeline. The screw air compressor 601 provides compressed air power. According to the different on-site decontamination and protection treatment goals, pneumatic 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 peelable polyurethane coatings are independently set up, thereby reducing the load pressure of cleaning switching.

[0077] Combination Fig. 9 The spraying material supply system 600 includes: an air compressor 601; a first pneumatic spray pump 602, wherein the first pneumatic spray pump 602 is connected to the film-forming material nozzle 410, and the first pneumatic spray pump 602 can spray the film-forming material from the film-forming material nozzle 410 under the action of the output air pressure of the air compressor 601; a second pneumatic spray pump 603, wherein the second pneumatic spray pump 603 is connected to the coating film raw material nozzle 440, and the second pneumatic spray pump 603 can spray the coating film raw material from the coating film raw material nozzle 440 under the action of the output air pressure of the air compressor 601; wherein the compression ratios of the first pneumatic spray pump 602 and the second pneumatic spray pump 603 are different.

[0078] Combination Fig.10 It should be understood that the coatings for protective treatment of process plant floors, walls, ceilings, etc. have the characteristics of high viscosity and easy solidification, and a pneumatic high-pressure airless pump with a ratio of 20:1 is used for spraying; the coatings for decontamination, sealing or protection of existing polluted plant floors and stainless steel equipment and valves, pipes, instruments and other parts have the characteristics of low viscosity and can form a coating film after solidification, and 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] It can be understood that the negative pressure dust removal component 500 also includes: a first vacuum pump 531, the air inlet end of the first vacuum pump 531 is connected to the negative pressure adsorption port 520 on the dust removal baffle frame 510; a first multi-stage filter 532, the first multi-stage filter 532 is connected to the air outlet end of the first vacuum pump 531; a second vacuum pump 533, the air inlet end of the second vacuum pump 533 is connected to the negative pressure adsorption port 520 on the mobile body 100; a second multi-stage filter 534, the second multi-stage filter 534 is connected to the air outlet end of the second vacuum pump 534.

[0084] That is, 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 filters 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-contacting 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-contacting 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. 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 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 for pulse backwashing and dust removal.

[0085] Combination Fig.11 In order to facilitate the provision of paint, the present embodiment further includes a paint supply vehicle 700, which is equipped with an electronic scale 701, a two-component paint tank, a stirring tank 703, a single-component paint tank and a paint quick-packing tank 705. The paint quick-packing tank 705 is used to store the paint stirred by the stirring tank 703.

[0086] Recombination Fig.10 The paint supply vehicle 700 can be manually pushed outside the workplace, and after pre-treating the paint, the paint quick-loading tank 705 can be quickly installed on the mobile vehicle body 100 to assist in the decontamination operation. Specifically:

[0087] The paint supply vehicle 700 is composed of a manual cart, a control cabinet, an operation screen, an electronic scale 701, a two-component paint tank, a stirring tank 703, a single-component paint tank, a paint quick-loading tank 705, etc. When paint is needed for operation, the paint quick-loading tank 705 is mounted on the manual cart mounting frame, the valves of the stirring tank 703 and the single-component paint tank are opened, and the paint in the tank can be filled into the paint quick-loading tank 705. There is a switch valve and a quick-loading joint under the paint quick-loading tank 705, which can realize the paint switching and filling of the paint quick-loading tank 705 in this embodiment.

[0088] In this embodiment, the paint supply vehicle 700 is loaded with five kinds of ingredients and paints, such as "composite epoxy resin", "amine curing agent", "decontamination paint", "sealing paint" and "protective paint", which are numbered A, B, C, D and E respectively. According to the process requirements, the A and B paints in the two-component paint tank 702 need to be mixed and configured in a mass ratio of 1:1. The proportioning system consists of an electronic scale 701 and a control cabinet. The operating screen of the control cabinet is used to set the proportion of the paint proportion and monitor the real-time change of the mass during the proportioning process. The weighed A and B paints are added to the stirring tank 703. The tank is equipped with an electric stirrer with an adjustable stirring speed. The A and B paints can be fully stirred and homogenized to prevent the paint from stratifying. The homogenization speed can be set by program on the operating screen of the control cabinet. The C, D and E paints of the single-component paint tank can be used directly. The tank bodies for temporary storage of various types of paints are made of stainless steel. The barrel cover and barrel body are equipped with sealing rings to prevent the paint from being exposed to the air for a long time and causing oxidation and coagulation. The tank body is provided with a cleaning port and a sewage outlet for easy cleaning.

[0089] In addition, the present embodiment is also provided with a power programmable control module, which can select various operating functions of the device with one key, and compile and store the process parameter operation.

[0090] In general:

[0091] The power programmable control module is composed of a control cabinet, buttons and an operable touch screen. The control cabinet plays the role of assembling and protecting the entire control system of this embodiment and is made of stainless steel; the buttons include a main power switch, a power indicator light, a start button, an emergency stop button, a reset button, a manual / automatic program switching button, an air machine manual start / stop button, a dust suction pump manual start / stop button, a spray pump manual start / stop button, a power switching button, and a standby button, etc., which serve the operating functions of this embodiment; the operable touch screen enters the user interface to modify, edit, and store the device operation mode and process parameters, and process the alarm information, for example: control the air supply pressure during the spraying process, monitor the spraying flow rate, clean and control the pipeline after spraying, compile and store the process parameters such as the spray target type, spray distance, spray travel speed, number of spray layers, film stripping method, and film stripping speed in the "mechanical assisted decontamination and film stripping module", and control the process parameters such as the dust removal power and recoil method in the "negative pressure dust removal module", etc., to achieve the automation and programmable control of this embodiment.

[0092] In summary, the movable surface Po-210 pollution treatment device provided in this embodiment includes a mobile body 100, a positioning component 200, a multi-axis robot arm 300, a decontamination component 400 and a spraying raw material supply system 600. 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 pollution that needs to be treated. The decontamination component 400 includes a film-forming raw material nozzle 410, a film-removing scraper 420, a dirty film clamp 430 and a coating film raw material nozzle 440. The spraying raw material supply system 600 is installed on the mobile body 100 and can provide corresponding raw materials to the film-forming raw material nozzle 410 and the coating film raw material nozzle 440 respectively. 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.

[0093] When in use, the remote-controlled mobile body 100 moves within the Po-210 cleaning operation range. 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 to mark the spraying area and serve as a warning. The multi-axis robotic arm 300 moves the film-forming raw material nozzle 410 and the coating film raw material nozzle 440 to the spraying station.

[0094] The film-forming raw material nozzle 410 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 dirty film, the film-peeling scraper 420 is moved to the film-peeling point by the multi-axis robot 300 to scoop up the dirty film, and then the dirty film scooped up by the film-peeling scraper 420 is clamped by the dirty film clamp 430. Finally, the multi-axis robot 300 drives the dirty film clamp 430 to move to peel off the dirty film from the contaminated object to automatically complete the film peeling and decontamination operation.

[0095] Alternatively, the film forming raw material nozzle 410 is sprayed onto the surface of the polluted object through the coating film raw material nozzle 440 to decontaminate, seal or protect the surface of the metal equipment serving in the process plant.

[0096] In summary, the movable surface Po-210 contamination treatment device provided in this embodiment can remove radioactive contamination under a typical radioactive contamination system, which can not only prevent and reduce the internal exposure risk of personnel, but also protect the radiation safety of the reactor system environment and the stable operation of the equipment.

[0097] Example 2

[0098] This embodiment provides a method for testing a movable surface Po-210 contamination treatment device, which is used to test the movable surface Po-210 contamination treatment device described in Example 1, and includes the following steps:

[0099] Inverter power supply capacity test: by detecting the voltage at the output end of the inverter 106, a discharge test of the inverter power supply is performed using a resistor with a fixed resistance value, and the inverter power supply capacity is calculated based on the discharge time.

[0100] Driving performance test of mobile body 100: the mobile body 100 is driven to a test section, which includes a ramp greater than or equal to 10°, a deep ditch with a width ≥50mm and a depth ≥50mm, and a shallow ditch with a width ≥100mm and a depth ≤10mm. The mobile body 100 is tested for moving forward, backward, turning on the spot, climbing and descending reciprocating driving in each test section. The device shall not get stuck or slip during the test.

[0101] Feed test of the raw material supply system: Use colored solvents to fill them into each paint tank of the paint supply vehicle 700, and fill the cleaning tank with clean water, switch the spray pipeline for paint spraying, and clean the pipeline to test the spray raw material supply system 600.

[0102] Combination Fig.10 Specifically, use a colored solvent with a viscosity similar to that of the actual paint and fill it into the corresponding tube body A / B respectively, fill the cleaning tank C with clean water, and replace the spray pipeline with a transparent hose to facilitate observation by personnel. During the test, first use the first pneumatic spray pump 602 to spray the paint. After the first pneumatic spray pump 602 completes the spraying, the clean water in tank C is introduced into the spray pipeline through the switching system, and the waste liquid is discharged into the waste liquid tank to complete the pipeline cleaning. After the cleaning is completed, the solvent in tank B is introduced into the spray pipeline through the switching system to complete the paint switching process. During the test, the flow phenomenon of liquids of different colors in the pipeline should be able to be intuitively observed to determine the operability and stability of the switching system.

[0103] Among them, in this embodiment, an AC-driven air compressor 601 is used as a power source to drive the air compressor 601, and the compressed air is correspondingly distributed to the spray pump (30:1), the spray pump (20:1) and the diaphragm pump through the air source processing system. The spray pump (30:1) extracts the light finish paint in the paint tank and sprays it through an airless spray gun. After the spraying of the light finish paint is completed, the paint switching system will stop the spraying operation of the airless pump A, control the air source processor to drive the diaphragm pump to extract the cleaning liquid in the cleaning tank, and introduce the cleaning liquid into the spraying circuit. The cleaning liquid is introduced into the waste liquid tank of the device through the quick exhaust valve. The whole process can be completed in the system pipeline, without the spraying treatment of waste paint, which can effectively meet the zero generation of pollutants in the process plant. The test data is shown in Table 1.

[0104] Table 1

[0105]

[0106] Therefore, through the parameter measurement of the screw air compressor and the pneumatic high-pressure airless sprayer, it was confirmed that the use of the screw air compressor under the working conditions of 0.8MPa, 250L / min can efficiently and stably drive the pneumatic high-pressure airless sprayer with a compression ratio of 46:1 of the Po-210 pollution protection and treatment device to carry out the spraying process; through the parameter measurement of the screw air compressor and the pneumatic diaphragm pump, it was confirmed that the use of the screw air compressor under the working conditions of 0.8MPa, 250L / min can stably drive the pneumatic diaphragm pump with a compression ratio of 1:1 of the Po-210 pollution protection and treatment device to carry out the cleaning process of the spray pipeline.

[0107] Paint spraying test: A set experimental area is demarcated on the horizontal ground, and a paint spraying test is performed on the ground through the film forming raw material nozzle 410 or the coating film raw material nozzle 440.

[0108] Specifically, a 1000mm×1000mm area is demarcated on the horizontal ground, the decontamination mode is set to "plane", the system is started, and the multi-axis robot 300 drives the corresponding nozzle to spray paint on the horizontal ground; then a 1000mm×1000mm area is demarcated on the vertical wall, the decontamination mode is set to "wall", the system is started, and the multi-axis robot 300 drives the corresponding nozzle to spray paint on the vertical wall; select a three-dimensional object with a volume size of ≤400mm×400mm×500mm, set the decontamination mode to "three-dimensional", start the system, and the multi-axis robot 300 drives the corresponding nozzle to spray paint on each side of the three-dimensional object. In this example, the entire spraying process is smooth and smooth, the spraying pressure value is adjustable, the spraying height distance is adjustable, the spraying action speed is adjustable, and the spraying flow rate can be monitored.

[0109] Dirt film stripping test: After the paint spraying operation is completed, the film stripping scraper 420 is moved to the film stripping point by the multi-axis robot arm 300 to scrape up the dirty film, and the dirty film scraped up by the film stripping 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 perform the dirty film stripping test.

[0110] Specifically, an area of ​​1000mm×1000mm is demarcated on the horizontal ground. After the paint spraying operation is completed, the multi-axis robot arm 300 drives the pneumatic clamp to hook a corner of the film stripping net with the clamp under manual assistance, and starts the switch to clamp the film stripping net with the clamp. According to the set program, the film stripping net and the solidified coating film are peeled off from the sprayed target. In this example, the film stripping process is smooth and the film stripping speed and height are adjustable.

[0111] Smoke removal test of negative pressure dust removal assembly 500: a smoke generating device is placed in the experimental area, and the negative pressure dust removal assembly 500 is turned on to perform a smoke removal test of the negative pressure dust removal assembly 500.

[0112] Specifically, in the negative pressure dust removal area with a designated size of 1000mm×1000mm, a smoke-generating device is artificially placed and the negative pressure system is turned on. There should be no visible smoke overflowing outside the dust hood.

[0113] Aerosol diffusion prevention test of negative pressure dust removal component 500: Field spraying is carried out in the experimental area, and the negative pressure dust removal component 500 is turned on to carry out aerosol diffusion prevention test of the negative pressure dust removal component 500.

[0114] Specifically, field spraying is carried out in a ground spraying area with a designated size of 1000mm×1000mm. During the simulated working condition construction process, no splashing and diffused aerosol flying outside the negative pressure dust hood should be observed.

[0115] Among them, in this embodiment, the dust cover of the negative pressure dust removal module is designed to be integrated with the vehicle-mounted module and is in a retractable state. Under normal conditions, the dust cover is stored in the vehicle body and does not take up too much space. When spraying-dust removal work is required, the system will control the dust cover to extend from both sides and the front of the vehicle body. The lower slide of the dust cover is lowered by the cylinder to fit the ground, and the baffle plate above is driven by the cylinder to form a semi-closed cover with an opening. The opening size allows the robot arm to enter and carry out spraying operations. The upper opening of the dust cover is equipped with a small air curtain nozzle, which can introduce airflow from the outside to the inside. The side panel below the dust cover is equipped with a negative pressure dust removal adsorption port, which can adsorb paint particles and aerosols into the filter barrel. The dust removal device introduces an active airflow unidirectional working mode to adaptively close the spraying work area, so that the internal aerosol cannot diffuse outward, reduce the degree of pollution in the entire working environment and ensure personnel safety. The performance test data of the negative pressure dust removal component is shown in Table 2.

[0116] Table 2

[0117]

[0118] By measuring the negative pressure parameters of the air ring vacuum pump, it can be confirmed that the use of a 0.85kw air ring vacuum pump to exhaust / absorb diffuse aerosols can meet the dust removal process requirements of the Po-210 pollution protection and treatment device.

[0119] In addition, it also includes the paint supply vehicle test: according to the required proportion of paint, the mass ratio is carried out. The paint in the paint tank A / B is pumped into the stirring tank through the pump, and the paint is stirred and homogenized in the stirring tank. The stirring speed is adjustable. During the paint extraction process, the electronic scale equipped with the A / B tank monitors the paint extraction quality.

[0120] In summary, the testing method for the movable surface Po-210 contamination treatment device provided in this embodiment respectively conducts inverter power supply capacity test, mobile vehicle driving performance test, raw material supply system feeding test, paint spraying test, dirt film stripping test, negative pressure dust removal component smoke removal test, negative pressure dust removal component anti-aerosol diffusion test and paint supply vehicle test, which meets the requirements of GJB9001C-2017 "Quality Management System Requirements" on the reliability, maintainability, security, testability, safety, environmental adaptability and other six properties of the device, so as to ensure that the movable surface Po-210 contamination treatment device can not only prevent and reduce the internal exposure risk of personnel, but also protect the radiation safety of the reactor system environment and the stable operation of the equipment.

[0121] 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 movable surface Po-210 pollution treatment device, 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 assembly (400), the decontamination assembly (400) being mounted on the moving end of the multi-axis robotic arm (300), the decontamination assembly (400) comprising a film forming raw material nozzle (410), a film peeling scraper (420), a dirty film fixture (430) and a coating film raw material nozzle; A spraying raw material supply system (600), wherein the spraying raw material supply system (600) is installed on the mobile vehicle (100), and the spraying raw material supply system (600) can respectively provide corresponding raw materials to the film forming raw material nozzle (410) and the coating film raw material nozzle; Wherein, 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 movable surface Po-210 pollution treatment device according to claim 1 is characterized in that: The mobile vehicle (100) comprises: Vehicle body frame (101); A shield plate (102), the shield plate (102) being arranged at the front end of the vehicle body frame (101); A driving wheel (103), the driving wheel (103) being arranged in the middle of the lower side of the vehicle body frame (101); Driven wheels (104), the driven wheels (104) being arranged at both ends of the lower side of the vehicle body frame (101); A power source (105), the power source (105) being mounted on the vehicle body frame (101), and the power source (105) being electrically connected to a driver of the driven wheel (104); An inverter (106), wherein the inverter (106) is electrically connected to a driver of the driven wheel (104).

3. The movable surface Po-210 pollution treatment device according to claim 1 is 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).

4. The movable surface Po-210 pollution treatment device according to claim 3 is 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).

5. The movable surface Po-210 pollution treatment device according to claim 1 is 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 movable surface Po-210 pollution treatment device according to claim 1 is characterized in that: The spraying raw material supply system (600) comprises: Air compressor (601); A first pneumatic spray pump (602), the first pneumatic spray pump (602) is connected to the film-forming raw material nozzle (410), and the first pneumatic spray pump (602) is capable of spraying the film-forming raw material from the film-forming raw material nozzle (410) under the action of the air pressure output by the air compressor (601); A second pneumatic spray pump (603), the second pneumatic spray pump (603) is connected to the coating film raw material nozzle, and the second pneumatic spray pump (603) is capable of spraying the coating film raw material from the coating film raw material nozzle under the action of the air pressure output by the air compressor (601); The compression ratios of the first pneumatic spray pump (602) and the second pneumatic spray pump (603) are different.

7. The movable surface Po-210 pollution treatment device 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 material nozzle (410) during operation. The negative pressure dust removal component (500) includes: 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).

8. The movable surface Po-210 pollution treatment device according to claim 7 is characterized in that: The negative pressure dust removal assembly (500) further comprises: A first vacuum pump (531), wherein an air inlet end of the first vacuum pump (531) is connected to a negative pressure adsorption port (520) on the dust removal baffle frame (510); A first multi-stage filter (532), wherein the first multi-stage filter (532) is connected to an air outlet end of the first vacuum pump (531); A second vacuum pump (533), wherein an air inlet end of the second vacuum pump (533) is connected to a negative pressure adsorption port (520) on the mobile vehicle body (100); A second multi-stage filter (534), wherein the second multi-stage filter (534) is connected to the gas outlet end of the second vacuum pump (533).

9. The movable surface Po-210 pollution treatment device according to claim 1 is characterized in that: The invention also comprises a paint supply vehicle (700), wherein the paint supply vehicle (700) is equipped with an electronic scale (701), a two-component paint tank, a stirring tank (703), a single-component paint tank and a paint quick-packing tank (705), wherein the paint quick-packing tank (705) is used to store the paint after being stirred by the stirring tank (703).

10. A testing method for a movable surface Po-210 pollution treatment device, characterized in that: The method for testing the movable surface Po-210 pollution treatment device according to any one of claims 1 to 9 comprises the following steps: By detecting the voltage at the output end of the inverter (106), a discharge test of the inverter power supply is performed using a resistor with a fixed resistance value, and the capacitance of the inverter power supply is calculated based on the discharge time; The mobile vehicle (100) is driven to a test section, wherein the test section includes a slope greater than or equal to 10°, a deep groove with a width of ≥50 mm and a depth of ≥50 mm, and a shallow groove with a width of ≥100 mm and a depth of ≤10 mm, and a forward, backward, in-situ rotation, climbing and descending reciprocating driving test is performed in each test section; Using colored solvent, filling each paint tank of the paint supply vehicle (700) and filling the cleaning tank with clean water, switching the spraying pipeline for paint spraying and cleaning the pipeline to test the spraying raw material supply system (600); A set experimental area is demarcated on a horizontal ground, and a coating material spraying test is performed on the ground through a film forming material spraying head (410) or a coating film material spraying head; After the coating spraying operation is completed, the film peeling scraper (420) is moved to the film peeling point by the multi-axis robot arm (300) to scrape up the dirty film, the dirty film scraped up by the film peeling 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 perform a dirty film peeling test; A smoke-generating device is placed in the experimental area, and a negative pressure dust removal component (500) is turned on to conduct a smoke removal test of the negative pressure dust removal component; Field spraying is carried out in the experimental area, and the negative pressure dust removal component (500) is turned on to carry out a negative pressure dust removal component aerosol diffusion prevention test.

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