Reactor pool cleaning robot

Abstract

The invention provides a reactor pool cleaning robot which is applied to cleaning a reactor pool of a reactor and comprises a vehicle body, an absorption mechanism and a cleaning mechanism, and the vehicle body can move in the reactor pool of the reactor; the absorption mechanism is mounted on the vehicle body, and the absorption mechanism is used for absorbing foreign matters in the pile pool; the cleaning mechanism is mounted on the vehicle body, the cleaning mechanism and the absorption mechanism are arranged at intervals, and the cleaning mechanism is used for cleaning the to-be-cleaned surface of the pile pool. The absorption mechanism of the reactor pool cleaning robot can collect foreign matters such as sewage, metal filings and fragments in the reactor pool, and the cleaning mechanism of the reactor pool cleaning robot can wipe and clean the inner wall of the reactor pool, so that the reactor pool cleaning robot can replace manual work to clean the interior of a reactor, and the cleaning efficiency is improved. Therefore, the influence of radiation in the reactor on the health of workers can be reduced, and the safety of operation can be improved.

Description

Technical Field

[0001] The present application belongs to the technical field of cleaning equipment, and more specifically, to a reactor pool cleaning robot. Background Art

[0002] As the core equipment of a nuclear power plant, the reactor of a nuclear power plant undertakes the key task of maintaining a controllable and self-sustaining chain nuclear fission reaction to achieve nuclear energy utilization.

[0003] During the continuous operation of the nuclear power plant reactor, foreign matter such as metal shavings and debris will inevitably be generated, which will gradually settle in the reactor pool. Therefore, it is necessary to regularly clean the foreign matter in the reactor.

[0004] The traditional cleaning method mainly relies on workers to enter the pile with cleaning tools such as wiping cloths and mops to carry out manual scrubbing operations to clean the inner wall of the pile. However, the inside of the pile is in a strong radiation environment. When workers perform long-term cleaning operations, their bodies will be exposed to a large amount of radiation, which will cause irreversible and serious damage to their health and is not conducive to improving the overall safety of the operation. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a reactor pool cleaning robot to solve the technical problem in the prior art that the radiation from the reactor pool causes serious harm to the health of workers during the cleaning operation.

[0006] To achieve the above purpose, the technical solution adopted in this application is:

[0007] A reactor pool cleaning robot is provided, which is used for cleaning the reactor pool, and comprises:

[0008] A vehicle body, the vehicle body being movable in the stack;

[0009] An absorption mechanism, the absorption mechanism is installed on the vehicle body, and the absorption mechanism is used to absorb foreign matter in the stacking pool;

[0010] A cleaning mechanism is installed on the vehicle body, and the cleaning mechanism and the absorbing mechanism are arranged at intervals, and the cleaning mechanism is used to clean the surface to be cleaned of the stack pool.

[0011] In some embodiments, the reactor pool cleaning robot further comprises a first mounting assembly, and the absorption mechanism is movably connected to the vehicle body via the first mounting assembly so that the absorption mechanism can move relative to the vehicle body.

[0012] In some embodiments, the first mounting assembly includes a first mounting member and a second mounting member and a third mounting member connected to the first mounting member in sequence, the first mounting member is connected to the vehicle body, the second mounting member is movably mounted on the first mounting member and can move relative to the first mounting member in a first direction to drive the absorption mechanism to move synchronously along the first direction, the third mounting member is movably mounted on the second mounting member and connected to the absorption mechanism, the third mounting member can move relative to the second mounting member in a second direction to drive the absorption mechanism to move synchronously along the second direction, the first direction is parallel to the chassis of the vehicle body, and the second direction is perpendicular to the first direction.

[0013] In some embodiments, the first mounting member is provided with a plug-in shaft perpendicular to the first direction, the second mounting member is provided with a first hole, the plug-in shaft is arranged in the first hole, and the second mounting member can rotate around the plug-in shaft relative to the first mounting member to drive the absorption mechanism to rotate synchronously.

[0014] In some embodiments, the first mounting member includes a supporting portion connected to the plug-in shaft, one end of the supporting portion is connected to the chassis, and the other opposite end of the supporting portion abuts against the second mounting member to support the second mounting member.

[0015] In some embodiments, the support portion is sleeved on the outside of the plug-in shaft, the third mounting member is rotatably connected to the support portion, a first supporting surface parallel to the chassis is provided on the side of the support portion facing away from the chassis, and the second mounting member is provided with a second supporting surface parallel to the chassis, and the first supporting surface and the second supporting surface are abutted against each other to support the second mounting member.

[0016] In some embodiments, the reactor pool cleaning robot also includes a first drive assembly, the base of the first drive assembly is mounted on the second mounting member, the output shaft of the first drive assembly is connected to the third mounting member, and the output shaft of the first drive assembly can move relative to the base of the first drive assembly to drive the third mounting member to rotate synchronously relative to the second mounting member.

[0017] In some embodiments, the reactor pool cleaning robot also includes a dose detection component and a controller arranged on the vehicle body, the controller is communicatively connected to the dose detection component, the dose detection component is used to detect the radiation dose of a preset area of ​​the pool and send information about the radiation dose to the controller, when the radiation dose is greater than a preset value, the controller sends a control instruction to the vehicle body so that the vehicle body drives the cleaning mechanism and the absorption mechanism to move to the preset area and clean the preset area.

[0018] In some embodiments, the absorption mechanism is disposed at the front of the vehicle body, the cleaning mechanism is disposed at the rear of the vehicle body, and the vehicle body moves in a direction from the rear to the front of the vehicle body.

[0019] In some embodiments, the cleaning mechanism includes a wiping cloth connected to the vehicle body, and the cleaning mechanism is provided with a cleaning area. The wiping cloth located in the cleaning area is used to wipe the surface to be cleaned. The cleaning mechanism also includes a second mounting component and a tensioning component. The tensioning component is movably connected to the vehicle body through the second mounting component, and the tensioning component can move relative to the vehicle body to push the wiping cloth located in the cleaning area against the surface to be cleaned.

[0020] In some embodiments, the second mounting assembly includes a fourth mounting member and a fifth mounting member movably connected to the fourth mounting member, the fourth mounting member is connected to the vehicle body, the fifth mounting member is connected to the tensioning assembly, and the fifth mounting member can swing relative to the fourth mounting member to drive the tensioning assembly to swing relative to the vehicle body, so that the tensioning assembly can move toward the wiping cloth located in the cleaning area and push the wiping cloth located in the cleaning area.

[0021] In some embodiments, the fifth mounting member includes a third portion and a fourth portion in the shape of a rod, the third portion and the fourth portion are arranged in parallel, one end of the third portion and the fourth portion are rotatably connected to the fourth mounting member, and the other end of the third portion and the fourth portion are rotatably connected to the tensioning assembly, and when the third portion and the fourth portion in the fifth mounting member rotate relative to the fourth mounting member, they can drive the tensioning assembly to swing relative to the vehicle body.

[0022] In some embodiments, the fifth mounting member also includes a fifth part, which is rotatably connected to the end of the third part facing away from the fourth mounting member through a second rotating shaft, and the fifth part is provided with a first slide groove, and the length direction of the first slide groove is arranged around the central axis of the second rotating shaft, and the end of the fourth part facing away from the third part is provided with a first slider that is slidably adapted to the first slide groove, and the fifth part is connected to the tensioning assembly, and the first slider slides along the first slide groove to enable the tensioning assembly to rotate around the central axis of the second rotating shaft.

[0023] In some embodiments, the cleaning mechanism also includes a first receiving roller and a second receiving roller respectively rotatably connected to the vehicle body, the two ends of the wiping cloth are respectively rolled up on the first receiving roller and the second receiving roller, and the second receiving roller can roll up the wiping cloth released by the first receiving roller, and along the conveying direction of the wiping cloth, the cleaning area is arranged between the first receiving roller and the second receiving roller.

[0024] In some embodiments, the vehicle body is provided with a accommodating cavity, the first storage roller is arranged in the accommodating cavity, the second storage roller and the tensioning assembly are arranged outside the accommodating cavity, and the vehicle body is also provided with a first opening connected to the accommodating cavity for the wiping cloth to pass through.

[0025] In some embodiments, the cleaning mechanism also includes a spray assembly connected to the vehicle body, the spray assembly includes a first liquid storage member and a spray head connected to the first liquid storage member, the first liquid storage member is provided with a cleaning liquid that can be sprayed from the spray head, and the outlet of the spray head is arranged toward the wiping cloth located between the first storage roller and the tensioning assembly.

[0026] The beneficial effects of the reactor pool cleaning robot provided by the present application are: the absorption mechanism of the reactor pool cleaning robot can collect sewage, metal filings, debris and other foreign matter in the reactor pool, and the cleaning mechanism of the reactor pool cleaning robot can also wipe and clean the inner wall of the pool. In this way, the reactor pool cleaning robot can replace manual cleaning operations on the interior of the reactor, which can reduce the impact of radiation inside the reactor on the health of workers and help improve the safety of operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0028] Figure 1 A schematic diagram of a reactor pool cleaning robot provided in an embodiment of the present application;

[0029] Figure 2 for Figure 1 A schematic cross-sectional view of a reactor pool cleaning robot is shown;

[0030] Figure 3 A schematic diagram of a first installation assembly provided in an embodiment of the present application;

[0031] Figure 4 for Figure 3 A schematic cross-sectional view of a first mounting assembly shown;

[0032] Figure 5 for Figure 1 A schematic diagram of a reactor pool cleaning robot is shown (housing hidden);

[0033] Figure 6A schematic diagram of assembling the squeegee, the first rubber strip and the second rubber strip provided in an embodiment of the present application;

[0034] Figure 7 for Figure 6 The schematic cross-sectional view of the assembly of the squeegee, the first rubber strip and the second rubber strip shown;

[0035] Figure 8 for Figure 1 Another perspective schematic diagram of the reactor pool cleaning robot shown (wiping cloth hidden);

[0036] Fig. 9 for Figure 8 A schematic cross-sectional view of a reactor pool cleaning robot is shown;

[0037] Fig.10 A schematic cross-sectional view of a cleaning mechanism provided in an embodiment of the present application;

[0038] Fig.11 A cross-sectional schematic diagram of a cleaning mechanism provided in an embodiment of the present application (with the wiping cloth hidden);

[0039] Fig.12 for Fig.11 A is an enlarged schematic diagram;

[0040] Fig.13 A schematic diagram of a cleaning mechanism provided in one embodiment of the present application;

[0041] Fig.14 for Fig.13 The enlarged schematic diagram of point B in FIG.

[0042] Fig.15 for Figure 1 A schematic diagram of a reactor pool cleaning robot is shown (with the cleaning mechanism hidden);

[0043] Fig.16 A schematic diagram of a cleaning mechanism provided in yet another embodiment of the present application.

[0044] Among them, the reference numerals in the figure are:

[0045] 1. First mounting assembly; 11. Second mounting member; 111. Sleeve; 1111. Position limiting portion; 112. First partition; 1121. Second supporting surface; 113. Bracket; 114. First steering member; 12. First mounting member; 121. Connecting shaft; 122. Supporting portion; 1221. First supporting surface; 13. Third mounting member; 131. First portion; 132. Second portion; 14. First driving assembly; 141. First driving member; 142. First connecting rope;

[0046] 2. Absorption mechanism; 20. Water absorption chamber; 21. Squeegee; 211. Third hole; 22. First rubber strip; 221. Notch; 23. Second rubber strip; 24. Support roller; 25. Anti-collision wheel;

[0047] 3. Vehicle body; 30. Accommodating cavity; 301. First opening; 31. Chassis; 32. Sensing component; 321. Visual sensor; 322. Ultrasonic sensor; 323. Laser sensor; 33. Second liquid storage component; 34. Housing; 35. Driving wheel; 36. Filter component; 37. Charging interface; 381. Indicator light; 382. Switch button;

[0048] 4. Cleaning mechanism; 40. Cleaning area; 41. Second mounting assembly; 411. Fourth mounting member; 412. Fifth mounting member; 4121. Third part; 4122. Fourth part; 4123. Fifth part; 4124. First chute; 4125. First slider; 4126. Second rotating shaft; 42. Tensioning assembly; 421. First tensioning roller; 4211. Second slider; 422. Second tensioning roller; 423. Support frame; 4231. Second chute; 424. Tensioning belt; 43. First receiving roller; 44. Second receiving roller; 45. Wiping cloth; 46. Second driving assembly; 461. Second driving member; 462. Second connecting rope; 471. First pressing roller; 472. Second pressing roller; 48. Second steering member;

[0049] 5. Dose detection component;

[0050] 6. Spray assembly; 61. First liquid storage component; 62. Spray head. DETAILED DESCRIPTION

[0051] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0053] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do 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 should not be understood as a limitation on the present application.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" means two or more, "multiple groups" means two or more groups, "multiple pieces" means two or more pieces, and "several" means one or more, unless otherwise clearly and specifically defined.

[0055] As the core equipment of a nuclear power plant, the reactor of a nuclear power plant undertakes the key task of maintaining a controllable self-sustaining chain nuclear fission reaction to realize the utilization of nuclear energy. The core area is the core of the nuclear reaction, and the reactor pool provides a safe accommodation space for the core, which not only ensures that the core is in the proper position during operation, but also effectively withstands the heat and radiation generated by the core.

[0056] During the continuous operation of the nuclear power plant reactor, foreign matter such as metal shavings and debris will inevitably be generated, and these foreign matter will gradually settle in the reactor pool. Due to the connectivity between the reactor pool and the reactor core in the coolant circulation system, foreign matter deposited in the reactor pool is very likely to enter the reactor core along with the coolant. Once foreign matter enters the core, it will have serious interference and adverse effects on the nuclear fission reaction process, such as changing the reaction rate, affecting the neutron flux distribution, etc., thereby endangering the safe and stable operation of the reactor. Therefore, regular cleaning of foreign matter in the reactor has become an important part of the operation and maintenance of nuclear power plants.

[0057] The traditional cleaning method mainly relies on workers to enter the pile with cleaning tools such as wiping cloths and mops to carry out manual scrubbing operations to clean the inner wall of the pile. However, this manual cleaning method has extremely significant disadvantages. The inside of the pile is in a strong radiation environment, and when workers perform long-term cleaning operations in it, their bodies will be exposed to a large amount of radiation. Long-term exposure to high-intensity radiation will cause irreversible and serious damage to the health of workers. This not only poses a huge threat to the life safety of workers, but also greatly limits the duration and efficiency of cleaning operations, which is not conducive to improving the overall operation safety and the efficient implementation of operation and maintenance work.

[0058] Based on this, an embodiment of the present application provides a reactor pool cleaning robot to solve the above problems.

[0059] Reference Figure 1 and Figure 2 The reactor pool cleaning robot provided in the embodiment of the present application is used to clean the reactor pool, and includes a vehicle body 3, an absorption mechanism 2 and a cleaning mechanism 4. The vehicle body 3 can move in the reactor pool; the absorption mechanism 2 is installed on the vehicle body 3, and the absorption mechanism 2 is used to absorb foreign matter in the reactor pool; the cleaning mechanism 4 is installed on the vehicle body 3, and the cleaning mechanism 4 is used to wipe the surface to be cleaned of the reactor pool.

[0060] It should be noted that the vehicle body 3 is the physical main structure of the reactor pool cleaning robot, which can support and accommodate other components. In addition, the vehicle body 3 is also the basic structure for realizing the mobile function of the reactor pool cleaning robot. For some movable robots, the bottom of the vehicle body 3 is usually equipped with mobile power components such as power wheels and steering wheels, so as to realize the forward, backward and steering of the reactor pool cleaning robot as a whole.

[0061] It should be noted that the absorption mechanism 2 can be used to absorb foreign matter such as sewage and impurities, and negative pressure can be formed inside it to collect liquid foreign matter and solid foreign matter in the environment, so as to achieve the purpose of cleaning the environment; illustratively, the absorption mechanism 2 may include a water suction port, a water suction pipe, a water suction motor and a water storage device; wherein the water suction pipe is a channel connecting the water suction port and the water storage device, and its material generally has good sealing and flexibility to ensure that the liquid can be smoothly sucked in; the water suction motor is the power core of the absorption mechanism 2, and by generating negative pressure, foreign matter enters the absorption mechanism 2 from the water suction port, and then is sucked into the water storage device through the water suction pipe, and the water storage device is a container for storing absorbed foreign matter.

[0062] It should be noted that the cleaning mechanism 4 refers to a collection of components of the reactor pool cleaning robot for wiping dust, stains and other dirt, which may include wiping materials (such as wiping cloth 45, wiping pad, etc.), mounting bracket 113 and other parts. Among them, the wiping material is the part that directly contacts the surface to be cleaned, and its material is varied, and the common ones are cotton, fiber material, etc. In addition, these wiping materials are usually detachable and replaceable, which is convenient for users to clean or replace after a period of use.

[0063] It should be noted that the absorption mechanism 2 can be set at the front of the vehicle body 3, and the cleaning mechanism 4 can be set at the rear of the vehicle body 3, that is, the reactor pool cleaning robot can first collect foreign objects in the area in the direction of travel and then wipe and clean it during the movement. The absorption mechanism 2 can also be set at the rear of the vehicle body 3 and the absorption mechanism 4 can be set at the front of the vehicle body 3. In this way, the reactor pool cleaning robot can first wipe and clean the area in the direction of travel and then collect foreign objects during the movement. In other embodiments, the absorption mechanism 2 and the cleaning mechanism 4 can also be respectively set on the left and right sides of the direction of travel of the vehicle body 3. In this way, the reactor pool cleaning robot can collect foreign objects and wipe and clean the left and right areas respectively during the movement.

[0064] The reactor pool cleaning robot provided in the present application has an absorption mechanism 2 which can collect sewage, metal filings, debris and other foreign matters in the reactor pool, and a cleaning mechanism 4 of the reactor pool cleaning robot can also wipe and clean the inner wall of the pool. In this way, the reactor pool cleaning robot can replace manual cleaning of the interior of the reactor, thereby reducing the impact of radiation inside the reactor on the health of workers and helping to improve the safety of operations.

[0065] In some embodiments, the reactor pool cleaning robot may further include a controller disposed on the vehicle body 3, and the controller may be communicatively connected to the absorption mechanism 2 and the cleaning mechanism 4 respectively. The absorption mechanism 2 may absorb foreign matter in the pool according to the control instructions of the controller, and the cleaning mechanism 4 may clean the surface to be cleaned according to the control instructions of the controller.

[0066] The controller is a hardware device, which is the core component of the reactor pool cleaning robot and is a device that can accurately control the various actions and behaviors of the reactor pool cleaning robot. The controller usually includes a processor (such as a central processing unit (CPU), (digital signal processing, Digital Signal Process) DSP, etc.), a storage unit (can be used to store programs and data), and an input and output interface (can be used to connect sensors and actuators). The controller is respectively connected to the absorption mechanism 2 and the cleaning mechanism 4 for communication. The communication connection can be achieved through a wired method such as a wire, or through a wireless method such as Bluetooth, Wi-Fi, a mobile network, etc. The absorption mechanism 2 and the cleaning mechanism 4 can be connected to the controller by wire, or they can be connected by wireless, or one of them can be connected by wire, and the other can be connected by wireless.

[0067] In some embodiments, the absorption mechanism 2 can be installed at the front of the vehicle body 3, and the cleaning mechanism 4 can be installed at the rear of the vehicle body 3, and the vehicle body 3 moves in the direction from the rear to the front of the vehicle; in this way, during the movement of the vehicle body 3, the reactor pool cleaning robot can first collect foreign matter in the front area in the direction of travel, and then wipe and clean it, which can help improve the efficiency of the operation.

[0068] Reference Figures 2 to 4 In some embodiments, the reactor pool cleaning robot further comprises a first mounting assembly 1, and the absorption mechanism 2 is movably connected to the vehicle body 3 through the first mounting assembly 1, so that the absorption mechanism 2 can move relative to the vehicle body 3. The absorption mechanism 2 is movably connected to the vehicle body 3 through the first mounting assembly 1, so that the absorption mechanism 2 can move relative to the vehicle body 3. Then, during the cleaning operation, the absorption mechanism 2 can change its relative position with the vehicle body 3 by moving relative to the vehicle body 3, so that the absorption mechanism 2 can fit the contour of the cleaning area 40, so that the collection effect of the absorption mechanism 2 on foreign matter such as sewage and metal chips can be improved, that is, the cleaning effect of the reactor pool cleaning robot can be improved.

[0069] In some embodiments, the first mounting assembly 1 includes a first mounting member 12 and a second mounting member 11 and a third mounting member 13 which are connected to the first mounting member 12 in sequence, the first mounting member 12 is connected to the vehicle body 3, the second mounting member 11 is movably mounted on the first mounting member 12 and can move in a first direction relative to the first mounting member 12 to drive the absorption mechanism 2 to move synchronously along the first direction, the third mounting member 13 is movably mounted on the second mounting member 11 and connected to the absorption mechanism 2, the third mounting member 13 can move in a second direction relative to the second mounting member 11 to drive the absorption mechanism 2 to move synchronously along the second direction, the first direction is parallel to the chassis 31 of the vehicle body 3, and the second direction is perpendicular to the first direction.

[0070] It should be noted that when the second mounting member 11 moves relative to the first mounting member 12, the absorption mechanism 2 can move relative to the vehicle body 3 in a direction parallel to the chassis 31 of the vehicle body 3, and when the third mounting member 13 moves relative to the second mounting member 11, the absorption mechanism 2 can move relative to the vehicle body 3 in a direction perpendicular to the chassis 31 of the vehicle body 3; in addition, when the second mounting member 11 moves relative to the first mounting member 12 and the third mounting member 13 at the same time, the absorption mechanism 2 has movement components in both the first direction and the second direction. At this time, the moving direction of the absorption mechanism 2 can be a direction located between the angles between the first direction and the second direction, and the absorption mechanism 2 has a relative position change with the vehicle body 3 in both the first direction and the second direction.

[0071] It should be noted that, during the operation of the reactor pool cleaning robot, the chassis 31 of the vehicle body 3 is usually parallel to the ground, and when the absorption mechanism 2 moves relative to the vehicle body 3 in a direction perpendicular to the chassis 31 , the height of the absorption mechanism 2 can be increased.

[0072] It should be noted that the X-axis and Z-axis in the figure are parallel to the chassis 31 of the vehicle body 3, the first direction may be a direction parallel to the plane formed by the X-axis and Z-axis in the figure, and the second direction may be a direction parallel to the Y-axis in the figure.

[0073] The absorption mechanism 2 is connected to the vehicle body 3 by setting the first mounting component 1. When the second mounting member 11 and the first mounting member 12 of the first mounting component 1 move relative to each other, the absorption mechanism 2 can be moved relative to the vehicle body 3 in the first direction, so that the relative position between the absorption mechanism 2 and the vehicle body 3 in the first direction can be adjusted. When the second mounting member 11 and the third mounting member 13 move relative to each other, the absorption mechanism 2 can be moved relative to the vehicle body 3 in the second direction, so that the relative position between the absorption mechanism 2 and the vehicle body 3 in the second direction can be adjusted. That is, the relative position between the absorption mechanism 2 and the vehicle body 3 can be adjusted from two directions respectively, which can improve the flexibility of the absorption mechanism 2. ; During the operation of the reactor pool cleaning robot, the chassis 31 of the vehicle body 3 is usually parallel to the ground or forms a small inclination angle with the ground. When the absorption mechanism 2 moves relative to the vehicle body 3 in a direction perpendicular to the chassis 31, the height of the absorption mechanism 2 can be raised or lowered, so that the absorption mechanism 2 can adapt to road surfaces under different working conditions. When the absorption mechanism 2 moves relative to the vehicle body 3 in a direction parallel to the chassis 31, the absorption mechanism 2 can adjust its position laterally so that it can fit the contour of the wall. This can improve the collection effect of the absorption mechanism 2 on sewage and metal chips, that is, improve the cleaning effect of the reactor pool cleaning robot.

[0074] Reference Figure 4 The first mounting member 12 is provided with a plug-in shaft 121 perpendicular to the first direction, and the second mounting member 11 is provided with a first hole. The plug-in shaft 121 is arranged in the first hole. The second mounting member 11 can rotate around the plug-in shaft relative to the first mounting member 12 to drive the absorption mechanism 2 to rotate synchronously.

[0075] By rotating and inserting the plug-in shaft 121 of the first mounting member 12 into the first hole of the second mounting member 11, that is, the second mounting member 11 is sleeved on the outer periphery of the plug-in shaft 121 of the first mounting member 12, the third mounting member 13 will not block the first mounting member 12, and the third mounting member 13 will not affect the relative movement between the second mounting member 11 and the first mounting member 12, so that the absorption mechanism 2 can have a larger rotation range and the flexibility of the absorption mechanism 2 is improved; conversely, the first mounting member 12 will not affect the relative movement between the third mounting member 13 and the second mounting member 11, so that the absorption mechanism 2 can have a larger swing range and the flexibility of the absorption mechanism 2 is further improved.

[0076] In some embodiments, the first mounting member 12 is provided with a support portion 122 connected to the plug-in shaft 121 , one side of the support portion 122 is connected to the chassis 31 , and the side of the support portion 122 facing away from the chassis 31 abuts against the first mounting member 12 to support the second mounting member 11 .

[0077] The two sides of the support portion 122 are respectively connected to the chassis 31 and the first mounting member 12. The support portion 122 can serve as a supporting structure for the first mounting member 12, so that the chassis 31 can provide support for the first mounting assembly 1, and then provide support for the absorption mechanism 2, which helps to improve the stability of the operation of the absorption mechanism 2.

[0078] Reference Figure 3 and Figure 4 The support portion 122 is sleeved on the outside of the plug-in shaft 121, the third mounting member 13 is rotatably connected to the support portion 122, and a first supporting surface 1221 parallel to the chassis 31 is provided on the side of the support portion 122 away from the chassis 31, and the second mounting member 11 is provided with a second supporting surface 1121 parallel to the chassis 31, and the first supporting surface 1221 and the second supporting surface 1121 are abutted against each other to support the second mounting member 11.

[0079] By setting the first supporting surface 1221 to counteract the second supporting surface 1121, the supporting force of the vehicle body 3 on the first mounting member 12 can be transmitted to the second supporting surface 1121 through the first supporting surface 1221, thereby forming support for the second mounting member 11 and further forming support for the absorption mechanism 2, thereby improving the stability of the absorption mechanism 2.

[0080] In some embodiments, the plug-in shaft 121 of the first mounting member 12 and the support portion 122 arranged on the outer periphery of the plug-in shaft 121 are two separate components. The plug-in shaft 121 and the support portion 122 can be processed separately and then combined to form the first mounting member 12. This can reduce the processing difficulty of the first mounting member 12 and help reduce costs.

[0081] In some embodiments, a second hole can be set in the chassis 31, and a part of the plug-in shaft 121 can be inserted into the second hole. At this time, the plug-in shaft 121 and the second hole can serve as positioning structures between the first installation component 1 and the vehicle body 3, reducing the difficulty of installing the first installation component 1 and the vehicle body 3.

[0082] Continue to refer to Figure 4 In some embodiments, a first partition 112 is disposed on the hole wall of the first hole, the first partition 112 abuts against the plug shaft 121, and the hardness of the first partition 112 is less than the hardness of the plug shaft 121. The first partition 112 is disposed on the hole wall of the first hole, and when the second mounting member 11 and the first mounting member 12 rotate relatively, the first partition 112 can rotate with the second mounting member 11. At this time, friction will be generated between the first partition 112 and the plug shaft 121 of the first mounting member 12, and the hardness of the first partition 112 is less than the hardness of the plug shaft 121, so that the wear on the plug shaft 121 can be reduced, which helps to extend the service life of the first mounting member 12.

[0083] Exemplarily, the material of the first separator 112 can be a polymer wear-resistant material, such as polyurethane (PU), polytetrafluoroethylene (PTFE), ultra-high molecular weight polyethylene (UHMWPE), etc., or it can be a ceramic wear-resistant material, such as alumina ceramics, silicon nitride ceramics, silicon carbide ceramics, etc.

[0084] In some embodiments, the first partition 112 may be a part of the second mounting member 11, and the second mounting member 11 also includes a sleeve 111 provided with a first hole, and the hole wall of the first hole at one end away from the support portion 122 extends toward the center of the first hole to form a limiting portion 1111, and the upper end surface of the first partition 112 may be abutted against the limiting portion 1111, and the lower end surface of the first partition 112 may be a second supporting surface 1121.

[0085] In some embodiments, the third mounting member 13 may be rotatably connected to the sleeve 111 of the second mounting member 11 via a first rotating shaft.

[0086] In other embodiments, a second partition is disposed around the plug shaft 121, the second partition abuts against the hole wall of the first hole, and the hardness of the second partition is less than the hardness of the hole wall of the first hole. The second partition is disposed around the plug shaft 121, and when the second mounting member 11 and the first mounting member 12 rotate relative to each other, the second partition can rotate with the first mounting member 12. At this time, friction will be generated between the second partition and the first hole wall of the second mounting member 11, and the hardness of the second partition is less than the hardness of the first hole wall, so that the wear on the first hole wall can be reduced, which helps to extend the service life of the second mounting member 11.

[0087] Exemplarily, the material of the second separator can be a polymer wear-resistant material, such as polyurethane, polytetrafluoroethylene, ultra-high molecular weight polyethylene, etc., or a ceramic wear-resistant material, such as alumina ceramics, silicon nitride ceramics, silicon carbide ceramics, etc.

[0088] In some other embodiments, the first mounting assembly 1 further includes a bearing, which is installed between the plug-in shaft 121 and the hole wall of the first hole. The bearing is arranged between the plug-in shaft 121 and the hole wall of the first hole to reduce the friction generated by the rotation of the plug-in shaft 121 and the hole wall of the first hole, thereby reducing the wear on the plug-in shaft 121 and the hole wall of the first hole and extending the service life of the first mounting assembly 1.

[0089] In some embodiments, when the absorption mechanism 2 is in the initial position, the direction of the line connecting the center of the absorption mechanism 2 and the center of the vehicle body 3 is parallel to the direction from the rear of the vehicle body 3 to the front of the vehicle. The first mounting assembly 1 also includes an elastic member (not shown in the figure), and the elastic member is respectively connected to the second mounting member 11 and the first mounting member 12. When the absorption mechanism 2 rotates from the initial position to the non-initial position, the second mounting member 11 squeezes or stretches the elastic member to elastically contract or elastically stretch the elastic member. The second mounting member 11 can rotate relative to the first mounting member 12 under the action of the elastic force of the elastic member to drive the absorption mechanism 2 to reset from the non-initial position to the initial position.

[0090] When the absorption mechanism 2 is squeezed or collides with objects such as walls, the external force exerted on the absorption mechanism 2 can drive the second mounting member 11 relative to the first mounting member 12, so that the absorption mechanism 2 can rotate to adjust the angle, thereby allowing the reactor pool cleaning robot to adapt to the contours of objects such as walls. During this process, the elastic member can produce elastic deformation to store elastic potential energy. When the external force disappears, the elastic member can release the stored elastic potential energy, so that the second mounting member 11 can rotate in the opposite direction relative to the first mounting member 12, thereby allowing the absorption mechanism 2 to reset, thereby ensuring that the cleaning range of the reactor pool cleaning robot is smaller or does not deviate from the forward direction of the reactor pool cleaning robot.

[0091] Exemplarily, the elastic member may be a torsion spring, a spring or other elastic structural member.

[0092] Continue to refer to Figure 3 and Figure 4 In some embodiments, the third mounting member 13 includes at least two rod-shaped first portions 131, all of which are arranged in parallel, and one end of all of which faces the second mounting member 11 is respectively connected to the second mounting member 11 for rotation, and the other end of all of which is connected to the absorption mechanism 2 for rotation, and when all of the first portions 131 rotate relative to the second mounting member 11, the absorption mechanism 2 can swing relative to the chassis 31. Take the case where two first portions 131 are provided as an example for explanation: a parallelogram-like structure can be formed between the second mounting member 11, the absorption mechanism 2 and the two first portions 131, so that the angle deflection of the absorption mechanism 2 relative to the vehicle body 3 can be reduced when the first portion 131 rotates relative to the second mounting member 11, which is conducive to maintaining the water absorption effect of the absorption mechanism 2; accordingly, when three or more first portions 131 are provided, a parallelogram-like structure can also be formed between the second mounting member 11, the absorption mechanism 2 and any two first portions 131.

[0093] Reference Figure 4 and Figure 5 The reactor pool cleaning robot also includes a first drive assembly 14, the base of the first drive assembly 14 is installed on the second mounting member 11, the output shaft of the first drive assembly 14 is connected to the third mounting member 13, and the output shaft of the first drive assembly 14 is connected to the third mounting member 13. The output shaft of the first drive assembly 14 can rotate relative to the base of the first drive assembly 14 to drive the third mounting member 13 to rotate synchronously relative to the second mounting member 11.

[0094] By setting the first driving component 14, the second mounting member 11 and the third mounting member 13 can be driven by the first driving component 14 to rotate relative to each other. In this way, the reactor pool cleaning robot can actively drive the absorption mechanism 2 to move along the second direction, so that the reactor pool cleaning robot can actively adjust the relative distance between the absorption mechanism 2 and the chassis 31 in the direction perpendicular to the chassis 31, that is, it can actively adjust the distance between the absorption mechanism 2 and the ground, so that the absorption mechanism 2 can operate on the ground under different working conditions.

[0095] In some embodiments, the reactor pool cleaning robot also includes a sensing component 32 installed on the vehicle body 3, the sensing component 32 is communicatively connected to the first driving component 14, and the sensing component 32 is used to detect environmental information around the vehicle body 3 and send control instructions to the first driving component 14 so that the first driving component 14 can drive all the first parts 131 to rotate relative to the second mounting member 11.

[0096] It should be noted that the sensing component 32 can be used to detect the environment around the reactor pool cleaning robot to determine the situation of obstacles. The sensing component 32 can include one or more of an ultrasonic sensor 322, a laser sensor 323, a visual sensor 321, an infrared sensor, and a radar. Among them, the ultrasonic sensor 322 detects obstacles by emitting ultrasonic waves and receiving reflected waves. After the ultrasonic waves are emitted at a certain frequency, they will be reflected back when encountering an obstacle. The ultrasonic sensor calculates the time difference between the emission and reception of the ultrasonic waves, and then combines the propagation speed of the ultrasonic waves in the medium to calculate the distance to the obstacle; the infrared sensor includes an active infrared sensor and a passive infrared sensor. The active infrared sensor is composed of an infrared transmitting tube and a receiving tube. The transmitting tube emits infrared rays. When encountering an obstacle, the infrared rays are reflected back and received by the receiving tube, thereby detecting the obstacle. The passive infrared sensor The external sensor detects the infrared rays emitted by the object itself and finds obstacles by sensing the changes in the intensity of infrared radiation. The visual sensor 321 can obtain images of the surrounding environment through an optical lens, and then use image processing technology to identify obstacles. It can be a monocular camera, or a binocular or multi-camera camera. Among them, the binocular camera calculates the depth information of the object through the principle of parallax, which is similar to the human binocular vision system. When the laser sensor 323 is working, the laser emitting diode first emits a laser pulse at the target. After being reflected by the target, the laser is scattered in all directions. Part of the scattered light returns to the sensor receiver and is received by the optical system and imaged onto the avalanche photodiode. The avalanche photodiode can detect extremely weak light signals and convert them into corresponding electrical signals. Common laser ranging sensors can measure the target distance by recording and processing the time from the emission of the light pulse to the return and reception.

[0097] The sensing component 32 is installed on the vehicle body 3 to detect the surrounding environment of the reactor pool cleaning robot, so as to obtain environmental information around the reactor pool cleaning robot. When the sensing component 32 detects that the road surface is tilted, the first driving component 14 can promptly drive the third mounting member 13 to rotate relative to the second mounting member 11, thereby prompting the absorption mechanism 2 to swing in a direction perpendicular to the chassis 31 of the vehicle body 3, and then adjust the height of the absorption mechanism 2, so that the absorption mechanism 2 can adapt to changes in terrain, so as to improve the cleaning effect of the reactor pool cleaning robot.

[0098] In some embodiments, the sensing component 32 can also be used to scan and map the operation area before the cleaning operation, so that the reactor pool cleaning robot can move automatically during the cleaning operation.

[0099] In some embodiments, the front and rear of the vehicle body 3 may be provided with sensing components 32, which can enhance the detection range of the reactor pool cleaning robot to the surrounding environment, so that the reactor pool cleaning robot can avoid obstacles during movement.

[0100] In some embodiments, the third mounting member 13 further includes a second portion 132 and at least two rod-shaped first portions 131, the second portion 132 is connected to the absorption mechanism 2, all the first portions 131 are arranged in parallel, one end of all the first portions 131 is rotatably connected to the second mounting member 11, and one end of all the first portions 131 away from the second mounting member 11 is rotatably connected to the second portion 132, and the first driving assembly 14 is connected to the second portion 132 to drive all the first portions 131 to rotate relative to the second mounting member 11. The ends of all the first portions 131 away from the second mounting member 11 are rotatably connected to the second portion 132, and the second portion 132 is equivalent to integrating the ends of all the first portions 131 away from the second mounting member 11, so that the installation connection between the third mounting member 13 and the absorption mechanism 2 can be facilitated. In addition, the connection between the first driving assembly 14 and the third mounting member 13 can also be facilitated, thereby reducing the difficulty of assembling the reactor pool cleaning robot.

[0101] In some embodiments, the first driving component 14 includes a first driving component 141 disposed on the second mounting component 11 and a first connecting rope 142 having one end connected to the output shaft of the first driving component 141, the base of the first driving component 141 is connected to the second mounting component 11, one end of the first connecting rope 142 away from the first driving component 141 is connected to the third mounting component 13, and the second mounting component 11 is provided with a first steering component 114, and the first steering component 114 is abutted against the non-end region of the first connecting rope 142 to bend the first connecting rope 142. The first steering component 114 is abutted against the first connecting rope 142, and the first connecting rope 142 is bent to change the power direction of the first driving component 141, so that the installation position of the first driving component 141 can be flexibly adjusted to facilitate the assembly of the first mounting component 1.

[0102] In some embodiments, the second mounting member 11 includes a sleeve 111 , a first partition 112 disposed on the sleeve 111 , and a bracket 113 , wherein the first driving member 141 and the first steering member 114 may be disposed on the bracket 113 , respectively.

[0103] In some embodiments, the first steering member 114 is a reversing wheel rotatably arranged on the second mounting member 11; in the process of the first driving member 141 driving the third mounting member 13 and the second mounting member 11 to rotate relative to each other, the friction force of the first connecting rope 142 acting on the reversing wheel will cause the reversing wheel to rotate relative to the second mounting member 11. In this way, the friction between the first connecting rope 142 and the reversing wheel can be reduced, and the wear on the first connecting rope 142 can be reduced, thereby improving the service life of the first mounting component 1.

[0104] In some embodiments, the first connecting rope 142 may be a steel rope, a nylon rope, or the like.

[0105] In some embodiments, the output shaft of the first driving member 141 can perform linear motion, and the first driving member 141 can be an electric push rod, a cylinder, etc.

[0106] Reference Figures 5 to 7 In some embodiments, the absorption mechanism 2 includes a squeegee 21, a first rubber strip 22 and a second rubber strip 23 connected to the squeegee 21, wherein the first rubber strip 22 and the second rubber strip 23 are spaced apart on the side of the squeegee 21 facing the ground, the first rubber strip 22, the second rubber strip 23 and the squeegee 21 together enclose a water absorption chamber 20, the squeegee 21 is also provided with a third hole 211, the absorption mechanism 2 also includes a second liquid storage member 33 provided on the vehicle body 3 and a connecting pipe connecting the second liquid storage member 33 and the third hole 211, the third hole 211 is connected to the second liquid storage member 33 of the vehicle body 3 through the connecting pipe, the second liquid storage member 33 may be provided with a pump body, under the action of the pump body, a negative pressure environment is formed inside the second liquid storage member 33, and foreign matter entering the water absorption chamber 20 from the gap between the rubber strip and the ground enters the interior of the second liquid storage member 33 through the third hole 211 and the connecting pipe under the action of air pressure and is collected.

[0107] In some embodiments, the squeegee 21 is arc-shaped, and the third hole 211 may be disposed in a middle area of ​​the squeegee 21 .

[0108] In some embodiments, the absorption mechanism 2 may further include a filter assembly 36 installed on the vehicle body 3. The water absorption chamber 20 may be connected to the second liquid storage component 33 through the filter assembly 36. That is, the foreign matter in the water absorption chamber 20 first enters the filter assembly 36 under the action of the pressure difference, and after being filtered by the filter assembly 36, it enters the second liquid storage component 33 for storage. In this way, liquid foreign matter and solid foreign matter can be separated, which is convenient for subsequent cleaning operations.

[0109] In some embodiments, after long-term use, the filter assembly 36 can be replaced to improve the separation effect of liquid foreign matter and solid foreign matter.

[0110] In some embodiments, the second liquid storage member 33 may be provided with a drain outlet. When the amount of sewage in the second liquid storage member 33 is large, the sewage may be drained through the drain outlet.

[0111] In some embodiments, a quick-connect plug may be provided at the drain outlet, so as to facilitate the connection between the drain outlet and an external pipeline.

[0112] In some embodiments, the drain outlet may also be provided with a solenoid valve, which may control the opening and closing of the drain outlet, thereby facilitating drainage operations.

[0113] In some embodiments, the absorption mechanism 2 is arranged on one side of the vehicle body 3, the first rubber strip 22 is arranged on the side of the second rubber strip 23 away from the vehicle body 3, and the first rubber strip 22 is provided with a notch 221. Foreign objects located in the forward direction of the reactor pool cleaning robot can enter the water absorption chamber 20 through the notch 221.

[0114] In some embodiments, the second portion 132 of the third mounting member 13 may be provided with a fourth hole, and the squeegee 21 may be provided with a bolt, which may pass through the fourth hole and be screwed with a nut to fix the absorbing mechanism 2 and the first mounting assembly 1 .

[0115] In some embodiments, the absorption mechanism 2 also includes a support roller 24, which is rotatably disposed on the squeegee 21. The support roller 24 is used to roll on the ground. The support roller 24 can serve as a supporting structure of the absorption mechanism 2, thereby reducing the squeezing of the first rubber strip 22 and the second rubber strip 23 by the squeegee 21, so that the sewage on the ground can enter the water absorption chamber 20 from the gap between the rubber strips and the ground.

[0116] In some embodiments, a rotatable anti-collision wheel 25 is further provided at the end of the squeegee 21, and a first rotation axis of the anti-collision wheel 25 is perpendicular to the chassis 31 of the vehicle body 3, and in a direction parallel to the chassis 31 of the vehicle body 3, the edge of the anti-collision wheel 25 protrudes from the edge of the squeegee 21. When the absorption mechanism 2 collides with an obstacle located at its periphery, the anti-collision wheel 25 can be against the obstacle to reduce the probability of the squeegee 21 directly colliding with the obstacle, thereby reducing damage to the squeegee 21; in addition, when the anti-collision wheel 25 collides with an obstacle, the anti-collision wheel 25 can rotate relative to the squeegee 21, thereby reducing the friction between it and the obstacle, thereby reducing the obstruction of the obstacle to the reactor pool cleaning robot.

[0117] In some embodiments, the vehicle body 3 further includes a shell 34 and a driving wheel 35, the driving wheel 35 is movably connected to the chassis 31, the shell 34 is connected to the chassis 31 and is enclosed with the chassis 31 to form a accommodating cavity 30, and the second liquid storage component 33 and the filter assembly 36 can be arranged in the accommodating cavity 30.

[0118] In some embodiments, a servo motor is disposed in the vehicle body 3 , and the servo motor may be connected to the driving wheel 35 . When the servo motor is started, the driving wheel 35 may rotate to drive the reactor robot to move as a whole.

[0119] In some embodiments, two driving wheels 35 and two servo motors can be respectively provided, and the two servo motors can respectively drive the two driving wheels 35 to rotate. When the two driving wheels 35 rotate at the same speed, the reactor pool cleaning robot can move in a straight line. When the two driving wheels 35 rotate at different speeds, the reactor pool cleaning robot can turn.

[0120] In some embodiments, the vehicle body 3 further includes a driven roller, which can be rotatably disposed on the chassis 31 of the vehicle body 3, and when the reactor pool cleaning robot moves, the driven roller can roll on the ground; illustratively, four driven rollers can be provided, and the four driven rollers can be arranged at intervals.

[0121] Reference Figure 2 and Fig. 9 In some embodiments, the reactor pool cleaning robot also includes a dose detection component 5 and a controller arranged on the vehicle body 3. The dose detection component 5 is communicatively connected to the controller. The dose detection component 5 is used to measure the radiation dose of a preset area of ​​the pool and send radiation dose information to the controller. When the radiation dose is greater than the preset value, the controller sends a control instruction to the vehicle body so that the vehicle body drives the cleaning mechanism and the absorption mechanism to move to the preset area and clean the preset area.

[0122] It should be noted that the dose detection component 5 is a device or component combination for measuring radiation dose. It can quantitatively detect various types of radiation (such as α rays, β rays, γ rays, X-rays, etc.) and determine the amount of radiation energy received by a certain point or a certain area in the radiation field. Structurally, the dose detection component 5 usually includes a detector and a related signal processing unit, wherein the detector is the core part, and its working principle is based on different physical effects. For example, the ionization chamber detector uses rays to ionize the gas to produce ion pairs, and measures the radiation dose by collecting these ion pairs; the scintillation detector uses the interaction between rays and scintillators to produce fluorescence, and then converts the optical signal into an electrical signal for measurement through a photoelectric conversion device; the semiconductor detector detects radiation based on the interaction between rays and semiconductor materials to produce electron-hole pairs. The signal processing unit is mainly responsible for amplifying, shaping, filtering, and other processing of the weak signal output by the detector, converting it into a digital or analog signal that can be read and recorded, thereby obtaining an accurate radiation dose value.

[0123] It should be noted that the preset area of ​​the stack pool may refer to the area of ​​the surface to be cleaned of the stack pool. For example, the dose detection component 5 may perform radiation dose detection on the area of ​​the surface to be cleaned, thereby determining the distribution of foreign matter in the area of ​​the surface to be cleaned.

[0124] It is understandable that foreign matter in the reactor is usually radioactive, and the more foreign matter an area contains, the stronger the radioactivity will be. The dose detection component 5 can perform radiation dose detection on a preset area of ​​the pool, and send the information of the detected radiation dose to the controller so that the controller can determine the situation of foreign matter in the current area, so that the controller can plan the travel path of the reactor pool cleaning robot according to these radiation doses, thereby achieving the cleaning of the reactor; in some embodiments, the dose detection component 5 can perform radiation dose detection on wiped and unwiped surfaces to be cleaned, and in other embodiments, the dose detection component 5 can perform targeted radiation dose detection on wiped surfaces to be cleaned, and the controller can optimize the travel path of the reactor pool cleaning robot according to the received radiation dose to ensure the cleaning effect of the reactor pool cleaning robot on the reactor.

[0125] Reference Figures 8 to 10 The cleaning mechanism 4 includes a wiping cloth 45 connected to the vehicle body 3. The cleaning mechanism 4 is provided with a cleaning area 40. The wiping cloth 45 in the cleaning area 40 is used to wipe the surface to be cleaned. The cleaning mechanism 4 also includes a second mounting component 41 and a tensioning component 42. The tensioning component 42 is movably connected to the vehicle body 3 through the second mounting component 41. The tensioning component 42 can move relative to the vehicle body 3 to push the wiping cloth 45 in the cleaning area 40 against the surface to be cleaned.

[0126] It should be noted that the tensioning assembly 42 can push the wiping cloth 45 in the cleaning area 40 to contact the surface to be cleaned. Then, the tensioning assembly 42 can be located on the side of the wiping cloth 45 away from the surface to be cleaned. When the tensioning assembly 42 moves toward the surface to be cleaned, the tensioning assembly 42 can push the wiping cloth 45. After being squeezed by the tensioning assembly 42, the wiping cloth 45 can move toward the surface to be cleaned, thereby contacting the surface to be cleaned.

[0127] The tensioning assembly 42 is movably connected to the vehicle body 3 via the second mounting assembly 41. The tensioning assembly 42 can move relative to the vehicle body 3. When the tensioning assembly 42 moves, it can abut against the wiping cloth 45 located in the cleaning area 40 and push the wiping cloth 45 against the surface to be cleaned. In this way, the positional relationship between the wiping cloth 45 and the surface to be cleaned can be changed so that the wiping cloth 45 can fit the contour of the surface to be cleaned, which helps to improve the cleaning effect of the cleaning mechanism 4 on the surface to be cleaned.

[0128] Reference Fig.10 and Fig.11The second mounting component 41 includes a fourth mounting component 411 and a fifth mounting component 412 movably connected to the fourth mounting component 411, the fourth mounting component 411 is connected to the vehicle body 3, the fifth mounting component 412 is connected to the tensioning component 42, and the fifth mounting component 412 can swing relative to the fourth mounting component 411 to drive the tensioning component 42 to swing relative to the vehicle body 3, so that the tensioning component 42 can move toward the wiping cloth 45 located in the cleaning area 40 and push the wiping cloth 45 located in the cleaning area 40.

[0129] By providing a fourth mounting member 411 and a fifth mounting member 412 which are movably connected, when the fifth mounting member 412 swings relative to the fourth mounting member 411, the tensioning assembly 42 can be prompted to swing relative to the vehicle body 3, so that the relative position of the tensioning assembly 42 and the vehicle body 3 can be adjusted, and then the relative position of the tensioning assembly 42 and the wiping cloth 45 located in the cleaning area 40 can be adjusted, so that the tensioning assembly 42 can push the wiping cloth 45 located in the cleaning area 40 to contact the surface to be cleaned; in addition, the tensioning assembly 42 is provided to be able to swing relative to the vehicle body 3, so as to reduce the angular deflection of the tensioning assembly 42 during the position adjustment process, which is conducive to keeping the contact range between the wiping cloth 45 and the surface to be cleaned unchanged or with a small change, thereby maintaining the wiping and cleaning effect of the wiping cloth 45.

[0130] Reference Fig.11 and Fig.12 The fifth mounting member 412 includes a rod-shaped third portion 4121 and a fourth portion 4122, the third portion 4121 and the fourth portion 4122 are arranged in parallel, one end of the third portion 4121 and the fourth portion 4122 are rotatably connected to the fourth mounting member 411, and the other end of the third portion 4121 and the fourth portion 4122 are rotatably connected to the tensioning assembly 42, and when the third portion 4121 and the fourth portion 4122 in the fifth mounting member 412 rotate relative to the fourth mounting member 411, they can drive the tensioning assembly 42 to swing relative to the vehicle body 3.

[0131] The rod-shaped third part 4121 and the fourth part 4122 are arranged in parallel, and a quadrilateral-like structure can be formed among the fourth mounting member 411, the tensioning assembly 42, the third part 4121 and the fourth part 4122. This can enhance the stability of the tensioning assembly 42 during the swinging process and reduce the angular deflection of the tensioning assembly 42 during the swinging process, thereby ensuring the cleaning effect of the wiping cloth 45.

[0132] Reference Fig.12The fifth mounting member 412 also includes a fifth part 4123, which is rotatably connected to the end of the third part 4121 away from the fourth mounting member 411 through the second rotating shaft 4126, and the fifth part 4123 is provided with a first slide groove 4124, and the length direction of the first slide groove 4124 is arranged around the central axis of the second rotating shaft 4126, and the end of the fourth part 4122 away from the third part 4121 is provided with a first slider 4125 that is slidably adapted to the first slide groove 4124, and the fifth part 4123 is connected to the tensioning assembly 42, and the first slider 4125 slides along the first slide groove 4124 to enable the tensioning assembly 42 to rotate around the central axis of the second rotating shaft 4126.

[0133] The third part 4121 is rotationally connected to the fifth part 4123 via the second rotating shaft 4126, and the fourth part 4122 is slidingly connected to the fifth part 4123 via the first slider 4125 and the first slide groove 4124. The fifth part 4123 can rotate around the central axis of the second rotating shaft 4126, so that the tensioning assembly 42 can rotate around the central axis of the second rotating shaft 4126. In this way, the inclination angle of the tensioning assembly 42 relative to the vehicle body 3 can be adjusted. When the surface to be cleaned is undulating, the inclination angle of the tensioning assembly 42 can be adjusted so that the wiping cloth 45 pushed by the tensioning assembly 42 can fit the contour of the surface to be cleaned, thereby ensuring the wiping and cleaning effect of the wiping cloth 45.

[0134] Reference Fig.11 In some embodiments, the cleaning robot also includes a second drive component 46 arranged on the vehicle body 3 or the fourth mounting member 411, and the second drive component 46 is also connected to the fifth mounting member 412, and the second drive component 46 is used to drive the fifth mounting member 412 to swing relative to the fourth mounting member 411. The second drive assembly 46 can drive the fifth mounting member 412 to swing, thereby driving the tensioning assembly 42 to swing, so as to change the thrust of the tensioning assembly 42 on the wiping cloth 45 located in the cleaning area 40, and further change the pressure of the wiping cloth 45 on the surface to be cleaned. For example, for some surfaces to be cleaned with weaker material properties, the tensioning assembly 42 can be driven by the second drive assembly 46 to move in a direction away from the wiping cloth 45 located in the cleaning area 40, so as to reduce the squeezing of the wiping cloth 45 by the tensioning assembly 42, and further reduce the pressure of the wiping cloth 45 on the surface to be cleaned, and reduce the friction between the wiping cloth 45 and the surface to be cleaned. For some surfaces to be cleaned with stronger material properties or with more stubborn surface stains, the second drive assembly 46 can drive the tensioning assembly 42 to move in the direction of the wiping cloth 45 located in the cleaning area 40, so as to increase the squeezing of the wiping cloth 45 by the tensioning assembly 42, and further increase the pressure of the wiping cloth 45 on the surface to be cleaned, and increase the friction between the wiping cloth 45 and the surface to be cleaned, thereby enhancing the wiping and cleaning effect of the wiping cloth 45.

[0135] In this embodiment, the surface to be cleaned is the ground, and the second driving assembly 46 includes a second driving member 461 and a second connecting rope 462 connected to the output shaft of the second driving member 461. The second driving member 461 can be installed on the chassis 31 of the vehicle body 3, and the end of the second connecting rope 462 away from the second driving member 461 can be connected to the fifth mounting member 412. When the output shaft of the second driving member 461 pulls the second connecting rope 462, the second connecting rope 462 can drive the fifth mounting member 412 to swing so that the tensioning assembly 42 moves in a direction away from the ground. In this way, the tensioning assembly 42 can be reduced. The tensioning assembly 42 squeezes the wiping cloth 45, thereby reducing the pressure of the wiping cloth 45 on the ground. When the output shaft of the second driving member 461 releases the second connecting rope 462, under the action of the gravity of the tensioning assembly 42, the fifth mounting member 412 can swing relative to the fourth mounting member 411, so that the tensioning assembly 42 can move toward the ground to increase the squeezing of the wiping cloth 45 by the tensioning assembly 42, thereby increasing the pressure of the wiping cloth 45 on the surface to be cleaned, increasing the friction between the wiping cloth 45 and the surface to be cleaned, thereby enhancing the wiping and cleaning effect of the wiping cloth 45.

[0136] In some embodiments, the second driving member 461 may be an electric push rod, a cylinder, etc.; the second connecting rope 462 may be a steel wire rope, a nylon rope, etc.

[0137] In some embodiments, the fourth mounting member 411 and the vehicle body 3 may also be provided with a second steering member 48, which may abut against the second connecting rope 462 to bend the second connecting rope 462, thereby changing the pulling direction of the second connecting rope 462. This facilitates the design of the installation position of the second driving member 461, and helps to further reduce the size of the cleaning mechanism 4.

[0138] In some embodiments, the second steering member 48 may be a reversing wheel, a portion of which may be rotatably disposed on the fourth mounting member 411 , and another portion of which may be rotatably disposed on the vehicle body 3 .

[0139] In some embodiments, the cleaning robot also includes a sensing component 32, which is disposed on the vehicle body 3. The sensing component 32 is connected to the second driving component 46. The sensing component 32 is used to detect environmental information around the cleaning robot and send control instructions to the second driving component 46 so that the second driving component 46 drives the fifth mounting member 412 to swing relative to the fourth mounting member 411.

[0140] It should be noted that, in some embodiments, the sensing component 32 can send control instructions to the second drive component 46 through the controller. For example, the environmental information detected by the sensing component 32 can be sent to the controller. After receiving the environmental information, the controller can send control instructions to the second drive component 46 to enable the second drive component 46 to drive the fifth mounting member 412 to swing relative to the fourth mounting member 411; in other embodiments, the sensing component 32 can directly send control instructions to the second drive component 46. In this embodiment, the sensing component 32 can be provided with a control component, which can analyze and process the environmental information detected by the sensing component 32 and generate corresponding control instructions.

[0141] When the sensing component 32 detects that the ground is tilted, the sensing component 32 can send an instruction to the second driving component 46, so that the second driving component 46 can promptly drive the fifth mounting member 412 to swing, and then adjust the position of the tensioning component 42 to ensure that there is appropriate friction between the wiping cloth 45 and the surface to be cleaned.

[0142] Reference Fig.10 The wiping cloth 45 is in the shape of a long strip, and the cleaning mechanism 4 also includes a first receiving roller 43 and a second receiving roller 44 which are respectively rotatably connected to the vehicle body 3. Both ends of the wiping cloth 45 are respectively rolled up on the first receiving roller 43 and the second receiving roller 44, and the second receiving roller 44 can roll up the wiping cloth 45 released by the first receiving roller 43. Along the conveying direction of the wiping cloth 45, the cleaning area 40 is arranged between the first receiving roller 43 and the second receiving roller 44.

[0143] It should be noted that the wiping cloth 45 is in the shape of a long strip as a whole, that is, the length of the wiping cloth 45 is much larger than its width, so that the two ends of the wiping cloth 45 can be respectively rolled up on the first and second receiving rollers 43 and 44; in addition, during the wiping operation, the part of the wiping cloth 45 located in the cleaning area 40 can be used to wipe the surface to be cleaned, and the part of the wiping cloth 45 located outside the cleaning area 40 can be separated from the surface to be wiped, that is, during the wiping operation, only the part of the wiping cloth 45 located in the cleaning area 40 is used to wipe the surface to be cleaned, and the remaining part of the wiping cloth 45 may not be used for wiping, and when the first and second receiving rollers 43 and 44 rotate to adjust the wiping cloth 45 located in the cleaning area 40, the part of the wiping cloth 45 newly entering the cleaning area 40 can be used to wipe the surface to be cleaned, and the part of the wiping cloth 45 leaving the cleaning area 40 can be rolled up by the second receiving roller 44.

[0144] It should be noted that, during the wiping operation, the first receiving roller 43 can be used to roll up the portion of the wiping cloth 45 that has not been used, and the portion of the wiping cloth 45 that has been used can be rolled up on the second receiving roller 44. In some embodiments, the first receiving roller 43 can continuously rotate to gradually release the rolled up wiping cloth 45, and the second receiving roller 44 can continuously rotate to continuously receive the wiping cloth 45, so that the wiping cloth 45 is always in a state of being transported from the first receiving roller 43 to the second receiving roller 44; in other embodiments, the first receiving roller 43 and the second receiving roller 44 can intermittently rotate so that within a certain period of time, the wiping cloth 45 is in a state of being transported from the first receiving roller 43 to the second receiving roller 44, at which time the wiping cloth 45 located in the cleaning area 40 can be replaced, and within other time periods, the first receiving roller 43 and the second receiving roller 44 are both in a stationary state, at which time the wiping cloth 45 and the first receiving roller 43 and the second receiving roller 44 can remain relatively stationary.

[0145] It should be noted that, in some embodiments, the power for the first receiving roller 43 to release the wiping cloth 45 may come from the second receiving roller 44. For example, when the second receiving roller 44 rotates to pull the wiping cloth 45, the pulling force on the wiping cloth 45 acts on the first receiving roller 43 to drive the first receiving roller 43 to rotate, so that the first receiving roller 43 can release the rolled wiping cloth 45. In this embodiment, the first receiving roller 43 may be a damping shaft, that is, there is a certain resistance when the first receiving roller 43 rotates, and this resistance can reduce the rotation of the first receiving roller 43 when it is not driven by the wiping cloth 45; in other embodiments, the first receiving roller 43 may include a first roller body and a first power member connected to the first roller body, the first power member provides the first roller body with power to rotate to release the wiping cloth 45, and a second power member connected to the first receiving roller 43 may also be provided, and the second power member provides the first receiving roller 43 with power to rotate to release the wiping cloth 45.

[0146] It should be noted that, in some embodiments, the second storage roller 44 may include a second roller body and a third power member connected to the second roller body, and the third power member provides power for the second roller body to rotate to reel in the wiping cloth 45. A fourth power member connected to the second storage roller 44 may also be provided, and the fourth power member provides power for the second storage roller 44 to rotate to reel in the wiping cloth 45.

[0147] The wiping cloth 45 is configured to be in a long strip shape, which is equivalent to increasing the size of the wiping cloth 45. The reactor pool cleaning robot can realize continuous wiping and cleaning operations on the surface to be cleaned by replacing part of the wiping cloth 45 located in the cleaning area 40. In this way, the replacement and cleaning frequency of the wiping cloth 45 can be reduced, which helps to improve the efficiency of the cleaning operation; the two ends of the wiping cloth 45 are rolled up on the first storage roller 43 and the second storage roller 44, so that the part of the wiping cloth 45 that has not been used and the part of the wiping cloth 45 that has been used can be stored, and the part of the wiping cloth 45 that has not been used can be released in an orderly manner, and the part of the wiping cloth 45 that has been used can be collected in an orderly manner, which can improve the continuity of the cleaning operation and help to further improve the efficiency of the cleaning operation. In addition, during the process of the tensioning assembly 42 moving to push the wiping cloth 45 located in the cleaning area 40, the first storage roller 43 and the second storage roller 44 may not need to move with the tensioning assembly 42. In this way, the cleaning robot only needs to reserve the corresponding space for the movement of the tensioning assembly 42, and does not need to reserve the space required for the movement of the first storage roller 43 and the second storage roller 44. In this way, the space occupied by the cleaning mechanism 4 of the cleaning robot can be reduced, which helps to reduce the overall size of the cleaning robot, realize the miniaturization and compact design of the cleaning robot, and help expand the scope of application of the cleaning robot.

[0148] Reference Fig.11 and Fig.13 In some embodiments, the first receiving roller 43 and the second receiving roller 44 are connected to the vehicle body 3 through the fourth mounting member 411, and the first receiving roller 43 and the second receiving roller 44 are rotatably connected to the fourth mounting member 411, respectively.

[0149] The first storage roller 43 and the second storage roller 44 are connected to the vehicle body 3 through the fourth mounting component 411, that is, the second mounting component 41 can be used to install the first storage roller 43 and the second storage roller 44. In this way, the first storage roller 43, the second storage roller 44 and the tensioning component 42 can all be installed on the second mounting component 41 for integration, so that the cleaning mechanism 4 can be conveniently connected to the vehicle body 3.

[0150] Reference Fig. 9 and Fig.15 The vehicle body 3 is provided with a receiving chamber 30, a first receiving roller 43 is provided in the receiving chamber 30, a second receiving roller 44 is provided outside the receiving chamber 30, and the vehicle body 3 is further provided with a first opening 301 which is connected with the receiving chamber 30 for the wiping cloth 45 to pass through.

[0151] The first receiving roller 43 is arranged in the accommodating chamber 30, that is, the unused wiping cloth 45 rolled up on the first receiving roller 43 can be arranged in the accommodating chamber 30, so that the pollution of the external environment to this part of the wiping cloth 45 can be reduced; the second receiving roller 44 is arranged outside the accommodating chamber 30, that is, the used wiping cloth 45 rolled up on the second receiving roller 44 is arranged outside the accommodating chamber 30, which can reduce the pollution of this part of the wiping cloth 45 to the accommodating chamber 30, and further reduce the pollution of the wiping cloth 45 in the accommodating chamber 30, so as to ensure the wiping cleaning effect of the wiping cloth 45 on the surface to be cleaned.

[0152] In some embodiments, the vehicle body 3 includes a chassis 31 and a shell 34 connected to the chassis 31 . The shell 34 and the chassis 31 are combined to form a receiving cavity 30 . The first opening 301 is disposed in the shell 34 .

[0153] In some embodiments, the housing 34 and the chassis 31 may be made of radiation-resistant materials, such as aluminum alloy, stainless steel, lead material, and the like.

[0154] In some embodiments, the second mounting component 41 may be provided with two fourth mounting members 411, both of which are plate-shaped and arranged in parallel, and both ends of the first storage roller 43 and the second storage roller 44 are respectively installed on the two fourth mounting members 411, so that the second mounting component 41 can be supported from both ends of the first storage roller 43 and the second storage roller 44.

[0155] Continue to refer to Fig.13 and Fig.14 The tensioning assembly 42 includes a support frame 423 and a first tensioning roller 421 and a second tensioning roller 422 arranged on the support frame 423. The support frame 423 is connected to the second mounting assembly 41. The first tensioning roller 421 and the second tensioning roller 422 are arranged at intervals along the conveying direction of the wiping cloth 45. The first tensioning roller 421 and the second tensioning roller 422 are respectively abutted against the wiping cloth 45 located in the cleaning area 40 to push the wiping cloth 45 located in the cleaning area 40 against the surface to be cleaned.

[0156] By setting the first tensioning roller 421 and the second tensioning roller 422, when the first tensioning roller 421 and the second tensioning roller 422 are spaced apart and abut against the wiping cloth 45 located in the cleaning area 40, the wiping cloth 45 located in the cleaning area 40 can form a larger wiping surface, thereby increasing the wiping cleaning range of the wiping cloth 45.

[0157] In some embodiments, the support frame 423 may be connected to the fifth mounting member 412 of the second mounting assembly 41 . Exemplarily, the support frame 423 may be connected to the fifth portion 4123 of the fifth mounting member 412 .

[0158] In some embodiments, the first tensioning roller 421 is slidably connected to the support frame 423, and the sliding direction of the first tensioning roller 421 is set along the arrangement direction of the first tensioning roller 421 and the second tensioning roller 422. The tensioning assembly 42 also includes a third driving member, which is connected to the support frame 423 and the first tensioning roller 421 respectively, and the third driving member drives the first tensioning roller 421 to move relative to the support frame 423 to adjust the relative distance between the first tensioning roller 421 and the second tensioning roller 422. When the third driving member drives the first tensioning roller 421 to slide relative to the support frame 423, the first tensioning roller 421 can change the relative distance between it and the second tensioning roller 422, so that the area of ​​the wiping surface formed by the wiping cloth 45 when the first tensioning roller 421 and the second tensioning roller 422 are against the wiping cloth 45 located in the cleaning area 40 can be changed, so that the wiping surface of the wiping cloth 45 can adapt to different environmental conditions.

[0159] In some embodiments, the third driving member may be a linear motor, an electric push rod, a cylinder, etc.

[0160] Reference Fig.14 In some embodiments, a second slide groove 4231 can be set on the support frame 423, and the length direction of the second slide groove 4231 can be set along the arrangement direction of the first tensioning roller 421 and the second tensioning roller 422. A second slider 4211 that is slidably adapted to the second slide groove 4231 is set on the first tensioning roller 421. When the second slider 4211 slides along the second slide groove 4231, the relative distance between the first tensioning roller 421 and the second tensioning roller 422 can be changed.

[0161] In some embodiments, the tensioning assembly 42 further includes a tensioning belt 424. The first tensioning roller 421 and the second tensioning roller 422 are disposed on the inner side of the annular region of the tensioning belt 424 and respectively abut against the inner side surface of the tensioning belt 424 to tension the tensioning belt 424. The side of the tensioning belt 424 that is away from the first tensioning roller 421 and the second tensioning roller 422 abuts against the wiping cloth 45 located in the cleaning area 40 to push the wiping cloth 45 located in the cleaning area 40 against the surface to be cleaned. The tensioning belt 424 is sleeved on the outer periphery of the first tensioning roller 421 and the second tensioning roller 422, so that the first tensioning roller 421 and the second tensioning roller 422 abut against the wiping cloth 45 through the tensioning belt 424. The provision of the tensioning belt 424 is equivalent to increasing the contact area between the tensioning assembly 42 and the wiping cloth 45, which helps to balance the external force on the wiping cloth 45 at various locations, thereby helping to improve the flatness of the wiping cloth 45 located in the cleaning area 40.

[0162] Reference Fig.10 and Fig.13In some embodiments, the cleaning mechanism 4 further includes a first pressing roller 471 and a second pressing roller 472, which are rotatably disposed on the fourth mounting member 411, respectively. Along the conveying direction of the wiping cloth 45, the first pressing roller 471 can be pressed against the wiping cloth 45 located between the first receiving roller 43 and the tensioning assembly 42 to increase the contact area between the wiping cloth 45 and the tensioning assembly 42, and the second pressing roller 472 can be pressed against the wiping cloth 45 located between the second receiving roller 44 and the tensioning assembly 42 to increase the contact area between the wiping cloth 45 and the tensioning assembly 42. A first pressing roller 471 and a second pressing roller 472 are provided, and the first pressing roller 471 and the second pressing roller 472 can abut against the wiping cloth 45 so that the wiping cloth 45 can bend, thereby increasing the contact area between the wiping cloth 45 and the tensioning assembly 42, thereby further dispersing the force between the wiping cloth 45 and the tensioning assembly 42 and improving the flatness of the wiping cloth 45.

[0163] Reference Fig.16 In some embodiments, the cleaning mechanism 4 also includes a spray assembly 6 connected to the vehicle body 3, the spray assembly 6 includes a first liquid storage member 61 and a nozzle 62 connected to the first liquid storage member 61, the first liquid storage member 61 is provided with a cleaning liquid that can be sprayed from the nozzle 62, and the outlet of the nozzle 62 is arranged toward the wiping cloth 45 located between the first storage roller 43 and the tensioning assembly 42.

[0164] It should be noted that the first liquid storage member 61 can be installed on the housing 34 . In addition, the first liquid storage member 61 can also be installed on the fourth installation member 411 , that is, the first liquid storage member 61 can be connected to the vehicle body 3 through the second installation component 41 .

[0165] A spray assembly 6 is provided, and the spray assembly 6 can spray cleaning liquid on the wiping cloth 45 located between the first storage roller 43 and the tensioning assembly 42, that is, the spray assembly 6 can spray cleaning liquid on the part of the wiping cloth 45 that has not been used, so that this part of the wiping cloth 45 can carry the cleaning liquid into the cleaning area 40, and in the process of the wiping cloth 45 wiping the surface to be cleaned, the cleaning liquid can effectively assist in cleaning the stains on the surface to be cleaned, so that the wiping cleaning effect of the cleaning mechanism 4 on the surface to be cleaned can be improved.

[0166] In some embodiments, the nozzle 62 is provided with a second opening for the cleaning liquid to flow out, and the second opening may be provided with a valve, which may control the opening and closing of the second opening of the nozzle 62. When it is necessary to spray the cleaning liquid onto the wiping cloth 45, the valve may be opened, and when it is not necessary to spray the cleaning liquid onto the wiping cloth 45, the valve may be closed.

[0167] In some embodiments, the spray assembly 6 may be disposed in the accommodating chamber 30 , so that the shell 34 may provide protection for the spray assembly 6 and reduce the contamination of the spray assembly 6 by radioactive substances in the reactor.

[0168] In some embodiments, the reactor pool cleaning robot also includes a power supply assembly, which includes a power supply arranged in the vehicle body 3 and a charging interface 37 connected to the power supply. The power supply can be electrically connected to the controller, the first drive assembly 14, the second drive assembly 46 and the third drive component respectively. In this way, the power supply can provide electrical energy to the controller, the first drive assembly 14, the second drive assembly 46 and the third drive component; in addition, when it is necessary to supplement the power supply with electrical energy, the charging interface 37 can be connected to an external power supply line to charge the power supply.

[0169] In some embodiments, the reactor pool cleaning robot also includes a lighting assembly that is communicatively connected to the controller. The lighting assembly includes a plurality of lighting lamps that can be installed on the outer side of the shell 34. The lighting lamps can be used to illuminate the environment around the reactor pool cleaning robot to facilitate the cleaning operation.

[0170] In some embodiments, the reactor pool cleaning robot also includes an indicator light 381 and a switch button 382 installed on the outer side of the shell 34. The indicator light 381 and the switch button 382 can be respectively connected to the controller for communication. When the switch button 382 is pressed to turn on the reactor pool cleaning robot, the indicator light 381 can be turned on. When the switch is pressed to turn off the reactor pool cleaning robot, the indicator light 381 can be turned off. When the reactor pool cleaning robot fails, the indicator light 381 can flash or change the display color to warn, so that the staff can promptly discover the failure of the reactor pool cleaning robot.

[0171] In some embodiments, the controller of the reactor pool cleaning robot can also be connected to the control center for communication. For example, the reactor pool cleaning robot can be connected to the control center for communication via a cable, and the staff can remotely control the reactor pool cleaning robot through the control center.

[0172] In some embodiments, the total mass of the reactor pool cleaning robot is about 50 kg.

[0173] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A reactor pool cleaning robot, used for cleaning the reactor pool, characterized in that: include: A vehicle body, the vehicle body being movable in the stack; An absorption mechanism, the absorption mechanism is installed on the vehicle body, and the absorption mechanism is used to absorb foreign matter in the stacking pool; A cleaning mechanism is installed on the vehicle body, and the cleaning mechanism and the absorbing mechanism are arranged at intervals, and the cleaning mechanism is used to clean the surface to be cleaned of the stack pool.

2. The reactor pool cleaning robot according to claim 1, characterized in that: The reactor pool cleaning robot further comprises a first mounting assembly, and the absorption mechanism is movably connected to the vehicle body via the first mounting assembly so that the absorption mechanism can move relative to the vehicle body.

3. The reactor pool cleaning robot according to claim 2, characterized in that: The first mounting assembly includes a first mounting member and a second mounting member and a third mounting member which are connected to the first mounting member in sequence, the first mounting member is connected to the vehicle body, the second mounting member is movably mounted on the first mounting member and can move relative to the first mounting member in a first direction to drive the absorption mechanism to move synchronously along the first direction, the third mounting member is movably mounted on the second mounting member and is connected to the absorption mechanism, the third mounting member can move relative to the second mounting member in a second direction to drive the absorption mechanism to move synchronously along the second direction, the first direction is parallel to the chassis of the vehicle body, and the second direction is perpendicular to the first direction.

4. The reactor pool cleaning robot according to claim 3, characterized in that: The first mounting member is provided with a plug-in shaft perpendicular to the first direction, the second mounting member is provided with a first hole, the plug-in shaft is arranged in the first hole, and the second mounting member can rotate around the plug-in shaft relative to the first mounting member to drive the absorption mechanism to rotate synchronously.

5. The reactor pool cleaning robot according to claim 4, characterized in that: The first mounting member includes a supporting portion connected to the plug-in shaft, one end of the supporting portion is connected to the chassis, and the other opposite end of the supporting portion abuts against the second mounting member to support the second mounting member.

6. The reactor pool cleaning robot according to claim 5, characterized in that: The support portion is sleeved on the outside of the plug-in shaft, the third mounting member is rotatably connected to the support portion, a first supporting surface parallel to the chassis is provided on the side of the support portion facing away from the chassis, the second mounting member is provided with a second supporting surface parallel to the chassis, and the first supporting surface and the second supporting surface are abutted against each other to support the second mounting member.

7. The reactor pool cleaning robot according to claim 3, characterized in that: The reactor pool cleaning robot also includes a first drive assembly, the base of which is mounted on the second mounting member, the output shaft of the first drive assembly is connected to the third mounting member, and the output shaft of the first drive assembly can move relative to the base of the first drive assembly to drive the third mounting member to rotate synchronously relative to the second mounting member.

8. The reactor pool cleaning robot according to any one of claims 1 to 7, characterized in that: The reactor pool cleaning robot also includes a dose detection component and a controller arranged on the vehicle body. The controller is communicatively connected to the dose detection component. The dose detection component is used to detect the radiation dose of a preset area of ​​the pool and send information about the radiation dose to the controller. When the radiation dose is greater than a preset value, the controller sends a control instruction to the vehicle body so that the vehicle body drives the cleaning mechanism and the absorption mechanism to move to the preset area and clean the preset area.

9. The reactor pool cleaning robot according to any one of claims 1 to 7, characterized in that: The absorption mechanism is arranged at the front of the vehicle body, the cleaning mechanism is arranged at the rear of the vehicle body, and the vehicle body moves in a direction from the rear to the front of the vehicle body.

10. The reactor pool cleaning robot according to any one of claims 1 to 7, characterized in that: The cleaning mechanism includes a wiping cloth connected to the vehicle body, and the cleaning mechanism is provided with a cleaning area. The wiping cloth located in the cleaning area is used to wipe the surface to be cleaned. The cleaning mechanism also includes a second mounting component and a tensioning component. The tensioning component is movably connected to the vehicle body through the second mounting component, and the tensioning component can move relative to the vehicle body to push the wiping cloth located in the cleaning area against the surface to be cleaned.

11. The reactor pool cleaning robot according to claim 10, characterized in that: The second mounting assembly includes a fourth mounting member and a fifth mounting member movably connected to the fourth mounting member, the fourth mounting member is connected to the vehicle body, the fifth mounting member is connected to the tensioning assembly, and the fifth mounting member can swing relative to the fourth mounting member to drive the tensioning assembly to swing relative to the vehicle body, so that the tensioning assembly can move toward the wiping cloth located in the cleaning area and push the wiping cloth located in the cleaning area.

12. The reactor pool cleaning robot according to claim 11, characterized in that: The fifth mounting member includes a third portion and a fourth portion in the shape of a rod, the third portion and the fourth portion are arranged in parallel, one end of the third portion and the fourth portion are rotatably connected to the fourth mounting member, and the other end of the third portion and the fourth portion are rotatably connected to the tensioning assembly, and when the third portion and the fourth portion in the fifth mounting member rotate relative to the fourth mounting member, they can drive the tensioning assembly to swing relative to the vehicle body.

13. The reactor pool cleaning robot according to claim 12, characterized in that: The fifth mounting member also includes a fifth part, which is rotatably connected to the end of the third part away from the fourth mounting member through a second rotating shaft, the fifth part is provided with a first slide groove, the length direction of the first slide groove is arranged around the central axis of the second rotating shaft, the end of the fourth part away from the third part is provided with a first slider that is slidably adapted to the first slide groove, the fifth part is connected to the tensioning assembly, and the first slider slides along the first slide groove to enable the tensioning assembly to rotate around the central axis of the second rotating shaft.

14. The reactor pool cleaning robot according to claim 10, characterized in that: The cleaning mechanism also includes a first receiving roller and a second receiving roller respectively connected to the vehicle body for rotation, two ends of the wiping cloth are respectively rolled up on the first receiving roller and the second receiving roller, and the second receiving roller can roll up the wiping cloth released by the first receiving roller, and along the conveying direction of the wiping cloth, the cleaning area is arranged between the first receiving roller and the second receiving roller.

15. The reactor pool cleaning robot according to claim 14, characterized in that: The vehicle body is provided with a accommodating cavity, the first receiving roller is arranged in the accommodating cavity, the second receiving roller and the tensioning assembly are arranged outside the accommodating cavity, and the vehicle body is further provided with a first opening connected with the accommodating cavity for the wiping cloth to pass through.

16. The reactor pool cleaning robot according to claim 14, characterized in that: The cleaning mechanism also includes a spray assembly connected to the vehicle body, the spray assembly includes a first liquid storage part and a spray head connected to the first liquid storage part, the first liquid storage part is provided with a cleaning liquid that can be sprayed from the spray head, and the outlet of the spray head is arranged toward the wiping cloth located between the first storage roller and the tensioning assembly.

Images