Reactor pool cleaning robot

Abstract

The application provides a reactor pool cleaning robot applied to cleaning a reactor pool of a reactor, which comprises a vehicle body, an absorption mechanism and a cleaning mechanism, the vehicle body being capable of moving in the reactor pool; the absorption mechanism is installed on the vehicle body, the absorption mechanism being used for absorbing foreign matters in the reactor pool; the cleaning mechanism is installed on the vehicle body, the cleaning mechanism being installed on the vehicle body and being arranged in a spaced manner with the absorption mechanism, and the cleaning mechanism being used for cleaning a surface to be cleaned of the reactor pool. The absorption mechanism of the reactor pool cleaning robot can collect foreign matters such as sewage, metal scraps and fragments in the reactor pool, and the cleaning mechanism of the reactor pool cleaning robot can also wipe and clean the inner wall of the reactor pool, so that the reactor pool cleaning robot can replace manual cleaning operation on the inside of the reactor, so that the influence of radiation in the reactor on the health of the workers can be reduced, and the safety of the operation can be improved.

Description

Technical Field

[0001] This application belongs to the field of cleaning equipment technology, and more specifically, relates to a reactor pool cleaning robot. Background Technology

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

[0003] During the continuous operation of a nuclear power plant reactor, foreign objects such as metal shavings and debris are inevitably generated, and these objects gradually accumulate in the reactor pool. Therefore, it is necessary to clean these foreign objects from the reactor regularly.

[0004] Traditional cleaning methods primarily rely on workers manually scrubbing the interior of the storage pit using hand-held cloths and mops. However, the inside of the storage pit is a highly radioactive environment. When workers perform cleaning work there for extended periods, they are exposed to significant amounts of radiation, which can cause irreversible and serious damage to their health and negatively impact overall operational safety. Summary of the Invention

[0005] The purpose of this application is to provide a reactor pool cleaning robot to solve the technical problem that reactor pool radiation poses a significant health hazard to workers during cleaning operations in the prior art.

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

[0007] A reactor pool cleaning robot is provided for cleaning reactor pools, including:

[0008] The vehicle body is capable of moving within the stack pool;

[0009] An absorption mechanism is installed on the vehicle body and is used to absorb foreign objects in the pile pool.

[0010] A cleaning mechanism is installed on the vehicle body and is arranged at intervals with the absorption mechanism. The cleaning mechanism is used to clean the surface of the pool to be cleaned.

[0011] In some embodiments, the reactor pool cleaning robot further includes a first mounting assembly, through which the absorption mechanism is movably connected to the vehicle body, 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 sequentially to the first mounting member. 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 in 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 in 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 shaft perpendicular to the first direction, the second mounting member is provided with a first hole, the plug shaft is disposed in the first hole, and the second mounting member is capable of rotating about the plug 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 support portion connected to the plug shaft, one end of the support portion being connected to the chassis, and the opposite end of the support portion abutting against the second mounting member to support the second mounting member.

[0015] In some embodiments, the support portion is sleeved outside the plug shaft, the third mounting member is rotatably connected to the support portion, the support portion has a first support surface parallel to the chassis on the side opposite to the chassis, the second mounting member has a second support surface parallel to the chassis, and the first support surface and the second support surface abut against each other to support the second mounting member.

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

[0017] In some embodiments, the reactor pool cleaning robot further includes a dose detection component and a controller disposed 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 in a preset area of ​​the reactor pool and send the radiation dose information to the controller. When the radiation dose is greater than a preset value, the controller sends a control command to the vehicle body to make the vehicle body move the cleaning mechanism and the absorption mechanism 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 travels in a direction from the rear of the vehicle body toward the front of the vehicle body.

[0019] In some embodiments, the cleaning mechanism includes a wiping cloth connected to the vehicle body, the cleaning mechanism having a cleaning area, the wiping cloth located in the cleaning area being used to wipe the surface to be cleaned, the cleaning mechanism further including a second mounting component and a tensioning component, the tensioning component being movably connected to the vehicle body via the second mounting component, the tensioning component being movable 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 being connected to the vehicle body, and the fifth mounting member being connected to the tensioning assembly. The fifth mounting member is oscillating relative to the fourth mounting member to drive the tensioning assembly to oscillate 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 rod-shaped third part and a fourth part, the third part and the fourth part being arranged in parallel, one end of the third part and the fourth part being rotatably connected to the fourth mounting member, and the other end of the third part and the fourth part being rotatably connected to the tensioning assembly. When the third part and the fourth part of 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 component further includes a fifth part, which is rotatably connected to the end of the third part opposite to the fourth mounting component via a second rotating shaft. The fifth part is provided with a first sliding groove, the length direction of which is arranged around the central axis of the second rotating shaft. The end of the fourth part opposite to the third part is provided with a first slider that is slidably adapted to the first sliding groove. The fifth part is connected to the tensioning assembly, and the first slider slides along the first sliding groove so that the tensioning assembly can rotate around the central axis of the second rotating shaft.

[0023] In some embodiments, the cleaning mechanism further includes a first storage roller and a second storage roller that are rotatably connected to the vehicle body, the two ends of the wiping cloth are respectively wound around the first storage roller and the second storage roller, and the second storage roller is capable of winding the wiping cloth released by the first storage roller. Along the conveying direction of the wiping cloth, the cleaning area is disposed between the first storage roller and the second storage roller.

[0024] In some embodiments, the vehicle body is provided with a receiving cavity, the first receiving roller is disposed inside the receiving cavity, the second receiving roller and the tensioning assembly are disposed outside the receiving cavity, and the vehicle body is also provided with a first opening communicating with the receiving cavity for the wiping cloth to pass through.

[0025] In some embodiments, the cleaning mechanism further includes a spray assembly connected to the vehicle body. The spray assembly includes a first liquid reservoir and a nozzle connected to the first liquid reservoir. The first liquid reservoir is provided with cleaning liquid that can be sprayed from the nozzle. The outlet of the nozzle is disposed toward the wiping cloth located between the first receiving roller and the tensioning assembly.

[0026] The beneficial effects of the reactor pool cleaning robot provided in this application are as follows: the absorption mechanism of the reactor pool cleaning robot can collect foreign objects such as sewage, metal shavings, and debris 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 labor to clean the inside of the reactor, which can reduce the impact of radiation inside the reactor on the health of workers and help improve the safety of the operation. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0029] Figure 2 for Figure 1 A cross-sectional schematic diagram of the reactor pool cleaning robot shown;

[0030] Figure 3 A schematic diagram of the first mounting component provided in an embodiment of this application;

[0031] Figure 4 for Figure 3 A cross-sectional view of the first mounting component is shown.

[0032] Figure 5 for Figure 1 A schematic diagram of a reactor pool cleaning robot (without housing shown);

[0033] Figure 6An assembly diagram of the absorbent squeegee, the first adhesive strip, and the second adhesive strip provided in an embodiment of this application;

[0034] Figure 7 for Figure 6 The diagram shows a cross-sectional view of the assembly of the absorbent squeegee, the first adhesive strip, and the second adhesive strip.

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

[0036] Figure 9 for Figure 8 A cross-sectional schematic diagram of the reactor pool cleaning robot shown;

[0037] Figure 10 A cross-sectional schematic diagram of the cleaning mechanism provided in the embodiments of this application;

[0038] Figure 11 A cross-sectional view of the cleaning mechanism provided in an embodiment of this application (with the wiping cloth hidden);

[0039] Figure 12 for Figure 11 Enlarged diagram of point A in the diagram;

[0040] Figure 13 A schematic diagram of a cleaning mechanism provided in one embodiment of this application;

[0041] Figure 14 for Figure 13 Enlarged diagram of point B in the diagram;

[0042] Figure 15 for Figure 1 A schematic diagram of a reactor pool cleaning robot (cleaning mechanism hidden);

[0043] Figure 16 This is a schematic diagram of a cleaning mechanism provided in yet another embodiment of this application.

[0044] The following are the labeling elements in the figure:

[0045] 1. First mounting component; 11. Second mounting component; 111. Sleeve; 1111. Limiting part; 112. First partition; 1121. Second support surface; 113. Bracket; 114. First steering component; 12. First mounting component; 121. Insertion shaft; 122. Support part; 1221. First support surface; 13. Third mounting component; 131. First part; 132. Second part; 14. First drive assembly; 141. First drive component; 142. First connecting rope;

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

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

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

[0049] 5. Dosage detection component;

[0050] 6. Spray assembly; 61. First liquid storage unit; 62. Spray head. Detailed Implementation

[0051] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

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

[0053] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, "multiple sets" means two or more sets, "multiple pieces" means two or more pieces, and "several" means one or more, unless otherwise explicitly specified.

[0055] As the core equipment of a nuclear power plant, the reactor plays a crucial role in maintaining a controlled, self-sustaining chain nuclear fission reaction to achieve nuclear energy utilization. Its core region is the heart of the nuclear reaction, while the reactor pool provides a safe containment space for the core, ensuring it is in the correct position during operation and effectively withstanding the heat and radiation generated by the core.

[0056] During the continuous operation of a nuclear power plant reactor, foreign matter such as metal shavings and debris is inevitably generated, gradually accumulating 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 highly likely to enter the reactor core with the coolant. Once foreign matter enters the reactor core, it will seriously interfere with and adversely affect the nuclear fission reaction process, such as altering the reaction rate and affecting the neutron flux distribution, thereby jeopardizing the safe and stable operation of the reactor. Therefore, regularly cleaning foreign matter from the reactor has become a crucial part of nuclear power plant operation and maintenance.

[0057] Traditional cleaning methods primarily rely on workers manually scrubbing the interior of the storage tank using hand-held cloths and mops. However, this manual cleaning method has significant drawbacks. The storage tank is located in a high-radiation environment, and workers exposed to substantial amounts of radiation during prolonged cleaning operations suffer irreversible and serious damage to their health. This not only poses a significant threat to their lives but also greatly limits the duration and efficiency of cleaning operations, hindering overall operational safety and efficient maintenance.

[0058] Based on this, embodiments of this application provide a reactor pool cleaning robot to solve the above-mentioned problems.

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

[0060] It should be noted that the vehicle body 3 is the main physical structure of the reactor pool cleaning robot, serving to support and accommodate other components. Furthermore, the vehicle body 3 is the fundamental structure enabling the reactor pool cleaning robot's mobility. For some mobile robots, the bottom of the vehicle body 3 typically houses drive wheels, steering wheels, and other propulsion components, enabling the overall forward, backward, and turning movements of the reactor pool cleaning robot.

[0061] It should be noted that the absorption mechanism 2 can be used to absorb sewage, impurities, and other foreign objects. It can form a negative pressure inside to collect liquid and solid foreign objects in the environment, thereby achieving the purpose of cleaning the environment. For example, the absorption mechanism 2 can include a water inlet, a water suction pipe, a water suction motor, and a water storage device. The water suction pipe is a channel connecting the water inlet and the water storage device. 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. By generating negative pressure, it draws foreign objects from the water inlet into the absorption mechanism 2, and then sucks them into the water storage device through the water suction pipe. The water storage device is a container for storing the absorbed foreign objects.

[0062] It should be noted that the cleaning mechanism 4 refers to the collection of components of the reactor pool cleaning robot used for wiping away dust, stains, and other dirt. It may include wiping materials (such as wiping cloths 45, wiping pads, etc.), mounting brackets 113, and other parts. Among them, the wiping materials are the parts that come into direct contact with the surface to be cleaned. They are made of various materials, commonly including cotton and fiber materials. In addition, these wiping materials are usually removable and replaceable, making it convenient for users to clean or replace them after a period of use.

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

[0064] The reactor pool cleaning robot provided in this application has an absorption mechanism 2 that can collect foreign objects such as sewage, metal shavings, and debris in the reactor pool, and a cleaning mechanism 4 that can wipe and clean the inner wall of the pool. In this way, the reactor pool cleaning robot can replace manual labor to clean the inside of the reactor, which can reduce the impact of radiation inside the reactor on the health of workers and help improve the safety of the operation.

[0065] In some embodiments, the reactor pool cleaning robot may also include a controller mounted on the vehicle body 3. The controller may be communicatively connected to the absorption mechanism 2 and the cleaning mechanism 4 respectively. The absorption mechanism 2 may absorb foreign objects in the reactor 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 and the core component of the reactor pool cleaning robot. It is a device that can precisely control the various actions and behaviors of the reactor pool cleaning robot. The controller typically includes a processor (such as a Central Processing Unit (CPU) or Digital Signal Processor (DSP), a storage unit (for storing programs and data), and input / output interfaces (for connecting sensors and actuators). The controller communicates with both the absorption mechanism 2 and the cleaning mechanism 4. This communication can be achieved via wired connections such as electrical wires or wireless connections such as Bluetooth, Wi-Fi, or mobile networks. The absorption mechanism 2 and the cleaning mechanism 4 can both be connected to the controller via wired connections, both via wireless connections, or one can be wired while the other is 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. The vehicle body 3 moves in the direction from the rear to the front. In this way, during the movement of the vehicle body 3, the reactor pool cleaning robot can first collect foreign objects in the front area of ​​the direction of movement, and then wipe and clean them, which can help improve the efficiency of the operation.

[0068] Reference Figures 2 to 4 In some embodiments, the reactor pool cleaning robot further includes a first mounting assembly 1, and an absorption mechanism 2 is movably connected to the vehicle body 3 via the first mounting assembly 1, so that the absorption mechanism 2 can move relative to the vehicle body 3. By movably connecting the absorption mechanism 2 to the vehicle body 3 via the first mounting assembly 1, the absorption mechanism 2 can move relative to the vehicle body 3. Therefore, during the cleaning operation, the absorption mechanism 2 can change its relative position to the vehicle body 3 by moving relative to it, thereby allowing the absorption mechanism 2 to conform to the contour of the cleaning area 40. This improves the collection effect of the absorption mechanism 2 on foreign objects such as sewage and metal shavings, thus enhancing the cleaning effect of the reactor pool cleaning robot.

[0069] In some embodiments, the first mounting component 1 includes a first mounting member 12 and a second mounting member 11 and a third mounting member 13 connected sequentially to the first mounting member 12. 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 relative to the first mounting member 12 in a first direction to drive the absorption mechanism 2 to move synchronously in 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 relative to the second mounting member 11 in a second direction to drive the absorption mechanism 2 to move synchronously in 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. 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 both the first mounting member 12 and the third mounting member 13, the absorption mechanism 2 has motion components in both the first and second directions. At this time, the direction of movement of the absorption mechanism 2 can be a direction located between the angle between the first and second directions. The absorption mechanism 2 has relative positional changes with the vehicle body 3 in both the first and second directions.

[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. 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 can be the direction parallel to the plane formed by the X-axis and Z-axis in the figure, and the second direction can be the direction parallel to the Y-axis in the figure.

[0073] By connecting the absorption mechanism 2 to the vehicle body 3 using the first mounting assembly 1, when the second mounting member 11 and the first mounting member 12 of the first mounting assembly 1 move relative to each other, the absorption mechanism 2 can move relative to the vehicle body 3 in the first direction. This allows adjustment of the relative position between the absorption mechanism 2 and the vehicle body 3 in the first direction. When the second mounting member 11 and the third mounting member 13 move relative to each other, the absorption mechanism 2 can move relative to the vehicle body 3 in the second direction. This allows adjustment of the relative position between the absorption mechanism 2 and the vehicle body 3 in the second direction. In other words, the relative position between the absorption mechanism 2 and the vehicle body 3 can be adjusted from both directions, thus improving the flexibility of the absorption mechanism 2. During operation, the chassis 31 of the reactor pool cleaning robot is usually parallel to the ground or at a small angle to the ground. When the absorption mechanism 2 moves relative to the chassis 31 in a direction perpendicular to the chassis 31, the height of the absorption mechanism 2 can be raised or lowered. This allows the absorption mechanism 2 to adapt to different road conditions. When the absorption mechanism 2 moves relative to the chassis 31 in a direction parallel to the chassis 31, the absorption mechanism 2 can adjust its position laterally so that it can conform to the contour of the wall. This can improve the collection effect of the absorption mechanism 2 on sewage and metal scraps, 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 shaft 121 perpendicular to the first direction, and the second mounting member 11 is provided with a first hole, and the plug shaft 121 is disposed in the first hole. The second mounting member 11 can rotate around the plug shaft relative to the first mounting member 12 to drive the absorption mechanism 2 to rotate synchronously.

[0075] By rotatably inserting the insertion shaft 121 of the first mounting member 12 into the first hole of the second mounting member 11, that is, by sleeve of the second mounting member 11 on the outer periphery of the insertion shaft 121 of the first mounting member 12, the third mounting member 13 will not obstruct 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. This allows the absorption mechanism 2 to have a larger range of rotation and improves the flexibility of the absorption mechanism 2. Conversely, the first mounting member 12 will not affect the relative movement between the third mounting member 13 and the second mounting member 11. This allows the absorption mechanism 2 to have a larger range of swing and further improves the flexibility of the absorption mechanism 2.

[0076] In some embodiments, the first mounting member 12 is provided with a support portion 122 connected to the plug shaft 121. One side of the support portion 122 is connected to the chassis 31, and the side of the support portion 122 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 part 122 are connected to the chassis 31 and the first mounting part 12 respectively. The support part 122 can serve as a support structure for the first mounting part 12, so that the chassis 31 can provide support for the first mounting component 1, and then provide support for the absorption mechanism 2, which helps to improve the stability of the absorption mechanism 2 during operation.

[0078] Reference Figure 3 and Figure 4 The support part 122 is sleeved on the outside of the plug shaft 121. The third mounting part 13 is rotatably connected to the support part 122. The support part 122 has a first support surface 1221 parallel to the chassis 31 on the side away from the chassis 31. The second mounting part 11 has a second support surface 1121 parallel to the chassis 31. The first support surface 1221 and the second support surface 1121 abut against each other to support the second mounting part 11.

[0079] By setting the first support surface 1221 to abut against the second support surface 1121, the supporting force of the vehicle body 3 on the first mounting part 12 can be transmitted through the first support surface 1221 to the second support surface 1121, thereby supporting the second mounting part 11 and then supporting the absorption mechanism 2, thus improving the stability of the absorption mechanism 2.

[0080] In some embodiments, the insertion shaft 121 of the first mounting member 12 and the support portion 122 disposed on the outer periphery of the insertion shaft 121 are two separate components. The insertion 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, the chassis 31 may be provided with a second hole, and a part of the plug shaft 121 may be plugged into the second hole. In this case, the plug shaft 121 and the second hole can serve as positioning structures for the first mounting component 1 and the vehicle body 3, reducing the installation difficulty of the first mounting component 1 and the vehicle body 3.

[0082] Continue to refer to Figure 4 In some embodiments, a first partition 112 is provided on the wall of the first hole, and the first partition 112 abuts against the insertion shaft 121. The hardness of the first partition 112 is less than that of the insertion shaft 121. By providing the first partition 112 on the wall of the first hole, when the second mounting member 11 and the first mounting member 12 rotate relative to each other, 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 insertion shaft 121 of the first mounting member 12. Since the hardness of the first partition 112 is less than that of the insertion shaft 121, the wear on the insertion shaft 121 can be reduced, which helps to extend the service life of the first mounting member 12.

[0083] For example, 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 ceramic, silicon nitride ceramic, silicon carbide ceramic, etc.

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

[0085] In some embodiments, the third mounting member 13 can 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 provided around the periphery of the insertion shaft 121. The second partition abuts against the wall of the first hole, and the hardness of the second partition is less than that of the wall of the first hole. By providing the second partition around the periphery of the insertion shaft 121, 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 occur between the second partition and the wall of the first hole of the second mounting member 11. Since the hardness of the second partition is less than that of the wall of the first hole, wear on the wall of the first hole can be reduced, thus helping to extend the service life of the second mounting member 11.

[0087] For example, 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 ceramic, silicon nitride ceramic, silicon carbide ceramic, etc.

[0088] In some embodiments, the first mounting assembly 1 further includes a bearing mounted between the plug shaft 121 and the wall of the first hole. Providing a bearing between the plug shaft 121 and the wall of the first hole reduces friction caused by the rotation of the plug shaft 121 and the wall of the first hole, thereby reducing wear on both 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 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 element (not shown in the figure). The elastic element is connected to the second mounting member 11 and the first mounting member 12 respectively. When the absorption mechanism 2 rotates from the initial position to a non-initial position, the second mounting member 11 squeezes or stretches the elastic element to make the elastic element elastically contract or elastically stretch. The second mounting member 11 can rotate relative to the first mounting member 12 under the elastic force of the elastic element 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 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 contour of objects such as walls. During this process, the elastic member can generate 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, so as to ensure that the cleaning range of the reactor pool cleaning robot is small or does not deviate from the forward direction of the reactor pool cleaning robot.

[0091] For example, the elastic element can be a torsion spring, spring or other elastic structural component.

[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 parts 131. All the first parts 131 are arranged in parallel. One end of each of the first parts 131 facing the second mounting member 11 is rotatably connected to the second mounting member 11, and the other end of each of the first parts 131 is rotatably connected to the absorption mechanism 2. When all the first parts 131 rotate relative to the second mounting member 11, the absorption mechanism 2 can swing relative to the chassis 31. Taking the example of having two first parts 131: the second mounting member 11, the absorption mechanism 2, and the two first parts 131 can form a parallelogram-like structure. In this way, the angular deflection of the absorption mechanism 2 relative to the vehicle body 3 can be reduced when the first parts 131 rotate relative to the second mounting member 11, which is beneficial to maintaining the water absorption effect of the absorption mechanism 2. Correspondingly, with three or more first parts 131, the second mounting member 11, the absorption mechanism 2, and any two first parts 131 can also form a parallelogram-like structure.

[0093] Reference Figure 4 and Figure 5 The reactor pool cleaning robot also includes a first drive assembly 14, the base of which is mounted on a second mounting member 11, and the output shaft of the first drive assembly 14 is connected to a 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 drive component 14, the second mounting component 11 and the third mounting component 13 can be driven 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 mounted on the vehicle body 3. The sensing component 32 is communicatively connected to the first drive component 14. The sensing component 32 is used to detect environmental information around the vehicle body 3 and send control commands to the first drive component 14 so that the first drive 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 presence of obstacles. The sensing component 32 may include one or more of the following: ultrasonic sensor 322, laser sensor 323, vision sensor 321, infrared sensor, and radar. The ultrasonic sensor 322 detects obstacles by emitting ultrasonic waves and receiving reflected waves. Ultrasonic waves are emitted at a certain frequency and reflected back when they encounter obstacles. The ultrasonic sensor calculates the distance to the obstacle by calculating the time difference between the emitted and received ultrasonic waves and combining this with the speed of sound in the medium. The infrared sensor includes active and passive infrared sensors. An active infrared sensor consists of an infrared emitter and a receiver. The emitter emits infrared light, which is reflected back and received by the receiver when it encounters an obstacle, thus detecting the obstacle. A passive infrared sensor... External sensors detect infrared radiation emitted by objects themselves, identifying obstacles by sensing changes in infrared radiation intensity. Visual sensors 321 acquire images of the surrounding environment through optical lenses and then use image processing technology to identify obstacles. These can be monocular, binocular, or multi-view cameras. Binocular cameras calculate the depth information of objects using the parallax principle, similar to the human binocular vision system. When laser sensors 323 are working, a laser emitting diode first emits a laser pulse at the target. After being reflected by the target, the laser scatters in all directions, and some of the scattered light returns to the sensor receiver. After being received by the optical system, it is imaged onto an avalanche photodiode. The avalanche photodiode can detect extremely weak light signals and convert them into corresponding electrical signals. Common laser rangefinders can determine the target distance by recording and processing the time elapsed from the emission of the light pulse to its return and reception.

[0097] A sensing component 32 is installed on the vehicle body 3 to detect the environment around the reactor pool cleaning robot, thereby obtaining environmental information around the reactor pool cleaning robot. When the sensing component 32 detects that the road surface is tilted, the first drive component 14 can drive the third mounting component 13 to rotate relative to the second mounting component 11 in time, thereby causing the absorption mechanism 2 to swing in a direction perpendicular to the chassis 31 of the vehicle body 3, thereby adjusting the height of the absorption mechanism 2 so that the absorption mechanism 2 can adapt to changes in terrain and 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 work area before the cleaning operation, thereby enabling the reactor pool cleaning robot to move automatically during the cleaning operation.

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

[0100] In some embodiments, the third mounting member 13 further includes a second part 132 and at least two rod-shaped first parts 131. The second part 132 is connected to the absorption mechanism 2. All the first parts 131 are arranged in parallel. One end of each of the first parts 131 is rotatably connected to the second mounting member 11, and the end of each of the first parts 131 facing away from the second mounting member 11 is rotatably connected to the second part 132. The first drive assembly 14 is connected to the second part 132 to drive all the first parts 131 to rotate relative to the second mounting member 11. By rotatably connecting the end of each of the first parts 131 facing away from the second mounting member 11 to the second part 132, the second part 132 effectively integrates the ends of all the first parts 131 facing away from the second mounting member 11. This facilitates the installation and connection of the third mounting member 13 to the absorption mechanism 2. In addition, it also facilitates the connection between the first drive assembly 14 and the third mounting member 13, reducing the assembly difficulty of the reactor pool cleaning robot.

[0101] In some embodiments, the first drive assembly 14 includes a first drive member 141 disposed on the second mounting member 11 and a first connecting rope 142 with one end connected to the output shaft of the first drive member 141. The base of the first drive member 141 is connected to the second mounting member 11, and the end of the first connecting rope 142 opposite to the first drive member 141 is connected to a third mounting member 13. The second mounting member 11 is provided with a first steering member 114, which abuts against the non-end region of the first connecting rope 142 to bend the first connecting rope 142. By abutting the first steering member 114 against the first connecting rope 142 and bending the first connecting rope 142, the power direction of the first drive member 141 can be changed. This allows for flexible adjustment of the installation position of the first drive member 141 to facilitate the assembly of the first mounting assembly 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 component 114 is a reversing wheel rotatably mounted on the second mounting component 11. During the process of the first driving component 141 driving the third mounting component 13 to rotate relative to the second mounting component 11, the frictional force of the first connecting rope 142 acting on the reversing wheel will cause the reversing wheel to rotate relative to the second mounting component 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 wire rope, nylon rope, etc.

[0105] In some embodiments, the output shaft of the first drive member 141 can perform linear motion, and the first drive 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 adhesive strip 22 and a second adhesive strip 23 connected to the squeegee 21, wherein the first adhesive strip 22 and the second adhesive strip 23 are spaced apart on the side of the squeegee 21 facing the ground, and the first adhesive strip 22, the second adhesive strip 23 and the squeegee 21 together form an absorption chamber 20. The squeegee 21 is also provided with a third hole 211. The absorption mechanism 2 also includes a second liquid storage component 33 provided on the vehicle body 3 and a connecting pipe connecting the second liquid storage component 33 and the third hole 211. The third hole 211 is connected to the second liquid storage component 33 of the vehicle body 3 through the connecting pipe. The second liquid storage component 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 component 33. Foreign objects that enter the absorption chamber 20 from the gap between the adhesive strip and the ground are collected inside the second liquid storage component 33 under the action of air pressure through the third hole 211 and the connecting pipe.

[0107] In some embodiments, the squeegee 21 is arc-shaped, and the third hole 211 can be located in the middle region of the squeegee 21.

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

[0109] In some embodiments, the filter assembly 36 can be replaced after prolonged use, thereby improving the separation effect of liquid and solid foreign matter.

[0110] In some embodiments, the second liquid storage device 33 may be provided with a drain outlet, so that when there is a large amount of sewage in the second liquid storage device 33, the sewage can be drained through the drain outlet.

[0111] In some embodiments, the drain outlet may be equipped with a quick-connect plug, which facilitates the connection of the drain outlet to external pipelines.

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

[0113] In some embodiments, the absorption mechanism 2 is disposed on one side of the vehicle body 3, and the first adhesive strip 22 is disposed on the side of the second adhesive strip 23 away from the vehicle body 3. The first adhesive strip 22 is provided with a notch 221, and 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 part 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 can pass through the fourth hole and be screwed with a nut to fix the absorption mechanism 2 to the first mounting component 1.

[0115] In some embodiments, the absorption mechanism 2 further includes a support roller 24, which is rotatably mounted on the squeegee 21. The support roller 24 is used to roll on the ground and can serve as a support structure for 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 sewage on the ground can enter the absorption chamber 20 through the gap between the rubber strip and the ground.

[0116] In some embodiments, the end of the squeegee 21 is also provided with a rotatable anti-collision wheel 25. The first axis of rotation of the anti-collision wheel 25 is perpendicular to the chassis 31 of the vehicle body 3, and the edge of the anti-collision wheel 25 protrudes from the edge of the squeegee 21 in a direction parallel to the chassis 31 of the vehicle body 3. When the absorption mechanism 2 collides with an obstacle located around it, the anti-collision wheel 25 can abut against the obstacle to reduce the probability of the squeegee 21 directly colliding with the obstacle, thus 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, thus reducing 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 also includes a housing 34 and a drive wheel 35. The drive wheel 35 is movably connected to the chassis 31. The housing 34 is connected to the chassis 31 and surrounds the chassis 31 to form a receiving cavity 30. The second liquid storage component 33 and the filter assembly 36 can be disposed in the receiving cavity 30.

[0118] In some embodiments, a servo motor is installed inside the vehicle body 3. The servo motor can be connected to the drive wheel 35. When the servo motor is started, the drive wheel 35 can rotate to drive the reactor robot to move as a whole.

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

[0120] In some embodiments, the vehicle body 3 also includes driven rollers, which are rotatably mounted on the chassis 31 of the vehicle body 3. When the reactor pool cleaning robot moves, the driven rollers can roll on the ground. For example, four driven rollers can be provided, and the four driven rollers can be spaced apart.

[0121] Reference Figure 2 and Figure 9 In some embodiments, the reactor pool cleaning robot also includes a dose detection component 5 and a controller disposed on the vehicle body 3. The dose detection component 5 is communicatively connected to the controller. The dose detection component 5 is used to detect the radiation dose in a preset area of ​​the reactor pool and sends the radiation dose information to the controller. When the radiation dose is greater than the preset value, the controller sends a control command to the vehicle body to make the vehicle body drive 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 assembly of components used to measure radiation dose. It can quantitatively detect various types of radiation (such as alpha rays, beta rays, gamma rays, X-rays, etc.) to determine the amount of radiation energy received at a specific point or area within the radiation field. Structurally, the dose detection component 5 typically includes a detector and a related signal processing unit. The detector is the core component, and its operating principle is based on different physical effects. For example, an ionization chamber detector uses radiation to ionize gas, generating ion pairs, and collects these ion pairs to measure the radiation dose; a scintillation detector uses the interaction between radiation and a scintillator to generate fluorescence, and then converts the optical signal into an electrical signal for measurement via a photoelectric conversion device; a semiconductor detector detects radiation based on the interaction between radiation and semiconductor materials to generate electron-hole pairs. The signal processing unit is mainly responsible for amplifying, shaping, and filtering 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 pool can refer to the area of ​​the surface to be cleaned in the pool. For example, the dose detection component 5 can 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 understood that foreign objects within a reactor are typically radioactive, and areas with higher foreign object content will exhibit stronger radioactivity. The dose detection component 5 can detect radiation doses in a preset area of ​​the reactor pool and send the detected radiation dose information to the controller, enabling the controller to determine the status of foreign objects in the current area. The controller can then plan the travel path of the reactor pool cleaning robot based on these radiation doses, thereby achieving reactor cleaning. In some embodiments, the dose detection component 5 can detect radiation doses on both wiped and unwiped surfaces to be cleaned. In other embodiments, the dose detection component 5 can specifically detect radiation doses on wiped surfaces to be cleaned. Furthermore, the controller can optimize the travel path of the reactor pool cleaning robot based on the received radiation doses to ensure the effective cleaning of the reactor by the reactor pool cleaning robot.

[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 located 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 located in the cleaning area 40 against the surface to be cleaned.

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

[0127] The tensioning component 42 is movably connected to the vehicle body 3 via the second mounting component 41. The tensioning component 42 can move relative to the vehicle body 3. When the tensioning component 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. This can change the positional relationship between the wiping cloth 45 and the surface to be cleaned, so that the wiping cloth 45 can conform to 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 Figure 10 and Figure 11The second mounting assembly 41 includes a fourth mounting member 411 and a fifth mounting member 412 movably connected to the fourth mounting member 411. The fourth mounting member 411 is connected to the vehicle body 3, and the fifth mounting member 412 is connected to the tensioning assembly 42. The fifth mounting member 412 is oscillating relative to the fourth mounting member 411 to drive the tensioning assembly 42 to oscillate relative to the vehicle body 3, so that the tensioning assembly 42 can move toward and push the wiping cloth 45 located in the cleaning area 40.

[0129] By setting up a movable connection between the fourth mounting member 411 and the fifth mounting member 412, when the fifth mounting member 412 swings relative to the fourth mounting member 411, it can cause the tensioning component 42 to swing relative to the vehicle body 3. In this way, the relative position of the tensioning component 42 and the vehicle body 3 can be adjusted, thereby adjusting the relative position of the tensioning component 42 and the wiping cloth 45 located in the cleaning area 40. This allows the tensioning component 42 to push the wiping cloth 45 located in the cleaning area 40 to come into contact with the surface to be cleaned. In addition, setting the tensioning component 42 to swing relative to the vehicle body 3 can reduce the angular deflection of the tensioning component 42 during the position adjustment process. This helps to keep the contact range between the wiping cloth 45 and the surface to be cleaned constant or change little, thus maintaining the wiping and cleaning effect of the wiping cloth 45.

[0130] Reference Figure 11 and Figure 12 The fifth mounting member 412 includes a rod-shaped third part 4121 and a fourth part 4122, which are arranged in parallel. One end of the third part 4121 and the fourth part 4122 is rotatably connected to the fourth mounting member 411, and the other end of the third part 4121 and the fourth part 4122 is rotatably connected to the tensioning assembly 42. When the third part 4121 and the fourth part 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 third part 4121 and the fourth part 4122, which are rod-shaped, are arranged in parallel. The fourth mounting part 411, the tensioning component 42, the third part 4121 and the fourth part 4122 can form a quadrilateral-like structure. This can enhance the stability of the tensioning component 42 during the swing process and reduce the angular deflection of the tensioning component 42 during the swing process, thus ensuring the cleaning effect of the wiping cloth 45.

[0132] Reference Figure 12The fifth mounting component 412 also includes a fifth part 4123, which is rotatably connected to the end of the third part 4121 opposite to the fourth mounting component 411 via a second rotating shaft 4126. The fifth part 4123 is provided with a first sliding groove 4124, the length direction of which is arranged around the central axis of the second rotating shaft 4126. The end of the fourth part 4122 opposite to the third part 4121 is provided with a first slider 4125 that is slidably adapted to the first sliding groove 4124. The fifth part 4123 is connected to the tensioning component 42, and the first slider 4125 slides along the first sliding groove 4124 so that the tensioning component 42 can rotate around the central axis of the second rotating shaft 4126.

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

[0134] Reference Figure 11 In some embodiments, the cleaning robot also includes a second drive assembly 46 disposed on the vehicle body 3 or the fourth mounting member 411. The second drive assembly 46 is also connected to the fifth mounting member 412 and 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. This can change the pushing force of the tensioning assembly 42 on the wiping cloth 45 located in the cleaning area 40, and thus change the pressure of the wiping cloth 45 on the surface to be cleaned. For example, for some surfaces with weaker material properties, the second drive assembly 46 can drive the tensioning assembly 42 to move away from the wiping cloth 45 located in the cleaning area 40 to reduce the pressure of the tensioning assembly 42 on the wiping cloth 45, thereby reducing the pressure of the wiping cloth 45 on the surface to be cleaned and reducing the friction between it and the surface to be cleaned. For some surfaces with stronger material properties or more stubborn stains, the second drive assembly 46 can drive the tensioning assembly 42 to move towards the wiping cloth 45 located in the cleaning area 40 to increase the pressure of the tensioning assembly 42 on the wiping cloth 45, thereby increasing the pressure of the wiping cloth 45 on the surface to be cleaned and increasing the friction between it 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. The second drive assembly 46 includes a second drive member 461 and a second connecting rope 462 connected to the output shaft of the second drive member 461. The second drive member 461 can be mounted on the chassis 31 of the vehicle body 3. The end of the second connecting rope 462 away from the second drive member 461 can be connected to the fifth mounting member 412. When the output shaft of the second drive member 461 pulls the second connecting rope 462, the second connecting rope 462 can drive the fifth mounting member 412 to swing, causing the tensioning assembly 42 to move in the direction away from the ground. In this way, the cleaning speed can be reduced. The tensioning component 42 compresses the wiping cloth 45, thereby reducing the pressure of the wiping cloth 45 on the ground. When the output shaft of the second drive component 461 releases the second connecting rope 462, the fifth mounting component 412 can swing relative to the fourth mounting component 411 under the action of the gravity of the tensioning component 42, so that the tensioning component 42 can move towards the ground to increase the compression of the tensioning component 42 on the wiping cloth 45, thereby increasing the pressure of the wiping cloth 45 on the surface to be cleaned, increasing the friction between it and the surface to be cleaned, and thus enhancing the wiping and cleaning effect of the wiping cloth 45.

[0136] In some embodiments, the second drive element 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 can abut against the second connecting rope 462 to make the second connecting rope 462 bend, thereby changing the direction of the tension of the second connecting rope 462. This makes it easier to design 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, with one part of the reversing wheel rotatably mounted on the fourth mounting member 411 and the other part of the reversing wheel rotatably mounted 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 and connected to the second drive component 46. The sensing component 32 is used to detect environmental information around the cleaning robot and send control commands to the second drive component 46 so that the second drive 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 commands to the second driving component 46 through the controller. For example, the environmental information detected by the sensing component 32 can be sent to the controller. After receiving this environmental information, the controller can send control commands to the second driving component 46 to make the second driving component 46 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 commands to the second driving 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 commands.

[0141] When the sensing component 32 detects that the ground is tilted, the sensing component 32 can send a command to the second drive component 46, so that the second drive component 46 can drive the fifth mounting component 412 to swing in time, thereby adjusting the position of the tensioning component 42 so that the wiping cloth 45 has a suitable friction force with the surface to be cleaned.

[0142] Reference Figure 10 The wiping cloth 45 is long and narrow. The cleaning mechanism 4 also includes a first storage roller 43 and a second storage roller 44 that are rotatably connected to the vehicle body 3. The two ends of the wiping cloth 45 are respectively wound up by the first storage roller 43 and the second storage roller 44. The second storage roller 44 can wind up the wiping cloth 45 released by the first storage roller 43. Along the conveying direction of the wiping cloth 45, the cleaning area 40 is disposed between the first storage roller 43 and the second storage roller 44.

[0143] It should be noted that the wiping cloth 45 is elongated, meaning its length is much greater than its width, so that both ends of the wiping cloth 45 can be wound up by the first take-up roller 43 and the second take-up roller 44 respectively. Furthermore, during the wiping operation, the portion of the wiping cloth 45 located within the cleaning zone 40 can be used to wipe the surface to be cleaned, while the portion outside the cleaning zone 40 can be spaced apart from the surface to be wiped. That is, during the wiping operation, only the portion of the wiping cloth 45 located within the cleaning zone 40 is used to wipe the surface to be cleaned; the remaining portion is not used. When the first take-up roller 43 and the second take-up roller 44 rotate to adjust the wiping cloth 45 located in the cleaning zone 40, the portion of the wiping cloth 45 newly entering the cleaning zone 40 can be used to wipe the surface to be cleaned, and the portion of the wiping cloth 45 leaving the cleaning zone 40 can be wound up by the second take-up roller 44.

[0144] It should be noted that during the wiping operation, the first receiving roller 43 can be used to roll up the unused portion of the wiping cloth 45, while the used portion of the wiping cloth 45 can be rolled up by the second receiving roller 44. In some embodiments, the first receiving roller 43 can rotate continuously to gradually release the wiping cloth 45 it has rolled up, and the second receiving roller 44 can rotate continuously to continuously receive the wiping cloth 45. In this way, the wiping cloth 45 is always in a state of being conveyed 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 rotate intermittently, so that the wiping cloth 45 is in a state of being conveyed from the first receiving roller 43 to the second receiving roller 44 for a certain period of time. At this time, the wiping cloth 45 located in the cleaning area 40 can be replaced. At other times, the first receiving roller 43 and the second receiving roller 44 are both in a stationary state. At this 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 can come from the second receiving roller 44. For example, when the second receiving roller 44 rotates to pull the wiping cloth 45, the tension on the wiping cloth 45 acts on the first receiving roller 43, which can drive the first receiving roller 43 to rotate, so that the first receiving roller 43 can release the wiping cloth 45 it has wound up. In this embodiment, the first receiving roller 43 can be a damping shaft, that is, there is a certain resistance when the first receiving roller 43 rotates. 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 can include a first roller body and a first power member connected to the first roller body. The first power member provides the power for the first roller body to rotate to release the wiping cloth 45. Alternatively, a second power member connected to the first receiving roller 43 can be provided, which provides the power for the first receiving roller 43 to rotate to release the wiping cloth 45.

[0146] It should be noted that in some embodiments, the second receiving roller 44 may include a second roller body and a third power member connected to the second roller body, wherein the third power member provides power for the second roller body to rotate in order to wind up the wiping cloth 45. Alternatively, a fourth power member connected to the second receiving roller 44 may be provided, wherein the fourth power member provides power for the second receiving roller 44 to rotate in order to wind up the wiping cloth 45.

[0147] By setting the wiping cloth 45 to be elongated, which is equivalent to increasing the size of the wiping cloth 45, the reactor pool cleaning robot can continuously wipe and clean the surface to be cleaned by replacing a portion of the wiping cloth 45 located in the cleaning area 40. This reduces the frequency of replacing and washing the wiping cloth 45, thus helping to improve the efficiency of the cleaning operation. By winding both ends of the wiping cloth 45 into the first collection roller 43 and the second collection roller 44, the unused portion of the wiping cloth 45 and the used portion of the wiping cloth 45 can be collected. The unused portion of the wiping cloth 45 can be released in an orderly manner, and the used portion of the wiping cloth 45 can be collected in an orderly manner. This can improve the continuity of the cleaning operation and help to further improve the efficiency of the cleaning operation. Furthermore, during the process of the tensioning assembly 42 moving to push the wiping cloth 45 located in the cleaning area 40, the first collection roller 43 and the second collection roller 44 do 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, without reserving the space required for the movement of the first collection roller 43 and the second collection roller 44. This reduces the space occupied by the cleaning mechanism 4 on the cleaning robot, helps to reduce the overall size of the cleaning robot, realizes the miniaturization and compact design of the cleaning robot, and helps to expand the application range of the cleaning robot.

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

[0149] The first collection roller 43 and the second collection roller 44 are connected to the vehicle body 3 via the fourth mounting component 411. That is, the second mounting component 41 can be used to install the first collection roller 43 and the second collection roller 44. In this way, the first collection roller 43, the second collection roller 44 and the tensioning component 42 can all be installed on the second mounting component 41 for integration, which makes it convenient to connect the cleaning mechanism 4 to the vehicle body 3.

[0150] Reference Figure 9 and Figure 15 The vehicle body 3 is provided with a receiving cavity 30, a first receiving roller 43 is provided inside the receiving cavity 30, a second receiving roller 44 is provided outside the receiving cavity 30, and the vehicle body 3 is also provided with a first opening 301 that communicates with the receiving cavity 30 to allow the wiping cloth 45 to pass through.

[0151] The first collecting roller 43 is placed inside the receiving cavity 30, which means that the unused wiping cloth 45 wound on the first collecting roller 43 can be placed inside the receiving cavity 30. This can reduce the contamination of this part of the wiping cloth 45 by the external environment. The second collecting roller 44 is placed outside the receiving cavity 30, which means that the used wiping cloth 45 wound on the second collecting roller 44 is placed outside the receiving cavity 30. This can reduce the contamination of the receiving cavity 30 by this part of the wiping cloth 45, thereby reducing the contamination of the wiping cloth 45 inside the receiving cavity 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 housing 34 connected to the chassis 31. The housing 34 and the chassis 31 enclose a receiving cavity 30, and a first opening 301 is provided in the housing 34.

[0153] In some embodiments, the housing 34 and the chassis 31 may be made of radiation-resistant materials, which may include aluminum alloys, stainless steel, lead, etc.

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

[0155] Continue to refer to Figure 13 and Figure 14 The tensioning assembly 42 includes a support frame 423 and a first tensioning roller 421 and a second tensioning roller 422 disposed 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 respectively abut against the wiping cloth 45 located in the cleaning area 40 to push the wiping cloth 45 located in the cleaning area 40 to abut against the surface to be cleaned.

[0156] By setting a first tension roller 421 and a second tension roller 422, and when the first tension roller 421 and the second tension 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 and 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. For example, the support frame 423 may be connected to the fifth part 4123 of the fifth mounting member 412.

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

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

[0160] Reference Figure 14 In some embodiments, a second slide groove 4231 can be provided in the support frame 423. The length direction of the second slide groove 4231 can be arranged along the arrangement direction of the first tension roller 421 and the second tension roller 422. A second slider 4211 is provided in the first tension roller 421 to slide and adapt to the second slide groove 4231. When the second slider 4211 slides along the second slide groove 4231, the relative distance between the first tension roller 421 and the second tension roller 422 can be changed.

[0161] In some embodiments, the tensioning assembly 42 further includes a tensioning belt 424. A first tensioning roller 421 and a second tensioning roller 422 are disposed inside the annular area of ​​the tensioning belt 424 and abut against the inner surface of the tensioning belt 424 to tension it. One side of the tensioning belt 424 facing away from the first and second tensioning rollers 421 and 422 abuts against the wiping cloth 45 located in the cleaning area 40 to push the wiping cloth 45 within the cleaning area 40 against the surface to be cleaned. The tensioning belt 424 is sleeved around the outer periphery of the first and second tensioning rollers 421 and 422, allowing the first and second tensioning rollers 421 and 422 to abut against the wiping cloth 45 via the tensioning belt 424. The tensioning belt 424 effectively increases the contact area between the tensioning assembly 42 and the wiping cloth 45, helping to balance the external forces acting on the wiping cloth 45 and thus improving the flatness of the wiping cloth 45 within the cleaning area 40.

[0162] Reference Figure 10 and Figure 13In some embodiments, the cleaning mechanism 4 further includes a first pressing roller 471 and a second pressing roller 472. The first pressing roller 471 and the second pressing roller 472 are rotatably disposed on the fourth mounting member 411. Along the conveying direction of the wiping cloth 45, the first pressing roller 471 can abut against the wiping cloth 45 located between the first receiving roller 43 and the tensioning component 42 to increase the contact area between the wiping cloth 45 and the tensioning component 42. The second pressing roller 472 can abut against the wiping cloth 45 located between the second receiving roller 44 and the tensioning component 42 to increase the contact area between the wiping cloth 45 and the tensioning component 42. A first pressing roller 471 and a second pressing roller 472 are provided. 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 component 42. This can further disperse the force between the wiping cloth 45 and the tensioning component 42 and improve the flatness of the wiping cloth 45.

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

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

[0165] A spray assembly 6 is provided, which can spray cleaning liquid onto the wiping cloth 45 located between the first receiving roller 43 and the tensioning assembly 42. That is, the spray assembly 6 can spray cleaning liquid onto the unused part of the wiping cloth 45. In this way, the wiping cloth 45 can carry the cleaning liquid into the cleaning area 40. During the wiping process of the wiping cloth 45 on the surface to be cleaned, the cleaning liquid can effectively assist in cleaning the stains on the surface to be cleaned, thus improving the wiping and cleaning effect of the cleaning mechanism 4 on the surface to be cleaned.

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

[0167] In some embodiments, the spray assembly 6 may be disposed within the receiving cavity 30, so that the shell 34 can protect the spray assembly 6 and reduce the contamination of the spray assembly 6 by radioactive materials in the reactor.

[0168] In some embodiments, the reactor pool cleaning robot also includes a power supply assembly, which includes a power source disposed within the vehicle body 3 and a charging interface 37 connected to the power source. The power source 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 source can provide power 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 replenish the power source, the charging interface 37 can be connected to an external power supply line to charge the power source.

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

[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 housing 34. The indicator light 381 and the switch button 382 can be communicated with the controller respectively. 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 button 382 is pressed to turn off the reactor pool cleaning robot, the indicator light 381 can be turned off. When the reactor pool cleaning robot malfunctions, the indicator light 381 can flash or change its display color to provide a warning, so that the staff can promptly detect the malfunction of the reactor pool cleaning robot.

[0171] In some embodiments, the controller of the reactor pool cleaning robot can also be connected to a control center. For example, the reactor pool cleaning robot can be connected to the control center via a cable, and 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 approximately 50 kg.

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

Claims

1. A reactor vessel cleaning robot applied to clean a reactor vessel, characterized by, The reactor vessel cleaning robot comprises a vehicle body capable of moving in the reactor pool, an absorbing mechanism mounted on the vehicle body for absorbing foreign matters in the reactor pool, and a cleaning mechanism mounted on the vehicle body and spaced apart from the absorbing mechanism, for cleaning a surface to be cleaned of the reactor pool. The cleaning mechanism comprises a wiping cloth connected to the vehicle body, and is provided with a cleaning area, wherein the wiping cloth in the cleaning area is used for wiping the surface to be cleaned, and the cleaning mechanism further comprises a second mounting assembly and a tensioning assembly, the tensioning assembly is movably connected to the vehicle body through the second mounting assembly, and the tensioning assembly is movable relative to the vehicle body to push the wiping cloth in the cleaning area against the surface to be cleaned. The second mounting assembly comprises 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 is capable of swinging relative to the fourth mounting member to drive the tensioning assembly to swing relative to the vehicle body, so that the tensioning assembly is movable towards the wiping cloth in the cleaning area and pushes the wiping cloth in the cleaning area. The cleaning mechanism further comprises a first storage roller and a second storage roller rotatably connected to the vehicle body, two ends of the wiping cloth are wound on the first storage roller and the second storage roller respectively, and the second storage roller is capable of winding the wiping cloth released from the first storage roller, and the cleaning area is arranged between the first storage roller and the second storage roller in the conveying direction of the wiping cloth. 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 is capable of rotating relative to the first mounting member about the plug-in shaft to drive the absorbing mechanism to rotate synchronously. ​ ​ ​ 2. The reactor pit cleaning robot of claim 1, wherein, ​ 3. The reactor pit cleaning robot of claim 2, wherein, The first mounting member comprises a support part connected with the plug-in shaft, one end of the support part is connected with the bottom disc, and the other end of the support part abuts against the second mounting member to support the second mounting member.

4. The reactor pit cleaning robot of claim 3, wherein, The support part is sleeved outside the plug-in shaft, the third mounting member is rotationally connected with the support part, a first support surface parallel to the bottom disc is arranged on the side of the support part away from the bottom disc, the second mounting member is provided with a second support surface parallel to the bottom disc, and the first support surface abuts against the second support surface to support the second mounting member.

5. The reactor pit cleaning robot of claim 1, wherein, The reactor pool cleaning robot further comprises a first driving assembly, a base of the first driving assembly is mounted on the second mounting member, an output shaft of the first driving assembly is connected with the third mounting member, and the output shaft of the first driving assembly is movable relative to the base of the first driving assembly to drive the third mounting member to rotate synchronously relative to the second mounting member.

6. The reactor pit cleaning robot of any one of claims 1-5, wherein, The reactor pool cleaning robot further comprises a dose detection assembly arranged on the vehicle body and a controller, the controller is in communication connection with the dose detection assembly, the dose detection assembly is used for detecting a radiation dose of a preset area of the pool and sending information of 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 to drive the vehicle body to drive the cleaning mechanism and the absorption mechanism to move to the preset area and clean the preset area.

7. The reactor pit cleaning robot of any one of claims 1-5, wherein, The absorption mechanism is arranged at a front end of the vehicle body, the cleaning mechanism is arranged at a rear end of the vehicle body, and the vehicle body travels in a direction from the rear end to the front end.

8. The reactor pit cleaning robot according to any one of claims 1 to 5, characterized in that The fifth mounting member comprises a third part and a fourth part in the shape of a rod, the third part and the fourth part are arranged in parallel, one end of the third part and the fourth part is rotationally connected with the fourth mounting member, and the other end of the third part and the fourth part is rotationally connected with the tensioning assembly, and when the third part and the fourth part of the fifth mounting member rotate relative to the fourth mounting member, the third part and the fourth part can drive the tensioning assembly to swing relative to the vehicle body.

9. The reactor pit cleaning robot of claim 8, wherein, The fifth mounting member further comprises a fifth part, the fifth part is rotationally connected with one end of the third part away from the fourth mounting member through a second rotation shaft, the fifth part is provided with a first sliding groove, a length direction of the first sliding groove is arranged around a central axis of the second rotation shaft, one end of the fourth part away from the third part is provided with a first sliding block slidingly matched with the first sliding groove, the fifth part is connected with the tensioning assembly, and the first sliding block slides along the first sliding groove to enable the tensioning assembly to rotate around the central axis of the second rotation shaft.

10. The reactor pit cleaning robot of any one of claims 1-5, wherein, The vehicle body is provided with a containing cavity, the first receiving roller is arranged in the containing cavity, the second receiving roller and the tensioning assembly are arranged outside the containing cavity, and the vehicle body is further provided with a first opening in communication with the containing cavity for the wiping cloth to pass through.

11. The reactor pit cleaning robot of any one of claims 1-5, wherein, The cleaning mechanism further comprises a spraying assembly connected to the vehicle body, the spraying assembly comprising a first liquid storage member and a spray head connected to the first liquid storage member, the first liquid storage member being provided with a cleaning liquid capable of being sprayed from the spray head, and an outlet of the spray head being directed towards the wiping cloth located between the first receiving roller and the tensioning assembly.

Images