Storage tank steel covering surface dismantling method and storage tank steel covering surface dismantling system

Abstract

The invention discloses a dismantling method of a large radioactive storage tank steel cladding, which comprises a wall climbing mechanical module, a cutting module, a vibration module and a mechanical arm module, and is characterized in that a to-be-cut area on the surface of a steel cladding main body is subjected to plasma cutting until the to-be-cut area is separated from the steel cladding main body; and the to-be-cut area is subjected to high-frequency vibration till the to-be-cut area is separated from the steel cladding body. By calculating the magnetic attraction force needed by the attraction moving assembly, the wall-climbing mechanical module can cross obstacles and climb by 90 degrees in the steel cladding tank body, a plasma cutting tool head is arranged to cut the steel cladding through specific parameters, the cut steel cladding is vibrated and stripped through a vibration exciter, and the steel cladding can be cut by 90 degrees. And the steel covering surface of the storage tank can be more efficiently disassembled.

Description

Technical Field

[0001] The invention relates to the technical field of radioactive storage tank removal, in particular to a storage tank steel cladding removal method and a storage tank steel cladding removal system. Background Art

[0002] During the decommissioning of nuclear facilities, the removal of the steel coverings of large radioactive storage tanks is a difficult problem. Large radioactive storage tanks are deep underground. Due to the complex building structure of radioactive storage tanks, the inner side of the steel covering is covered with carbon steel plates welded, and the outer side is built with high-strength concrete. There is almost no gap between the concrete behind the steel covering of the storage tank, which makes it difficult to use conventional steel plate removal methods. In addition, due to the long service life of the storage tanks, the steel plate covering is under the long-term pressure of the waste liquid in the tank, and the degree of adhesion between the steel plate covering and the concrete wall continues to increase, further increasing the difficulty of stripping the steel plate. The radioactive environment of the steel covering underground cannot be removed manually, making the removal of the steel covering extremely difficult.

[0003] The present invention designs a steel cladding removal wall-climbing robot, which uses a small-sized wall-climbing robot with a thermal cutting tool head and an auxiliary high-pressure nozzle to realize the removal operation of the steel cladding, thereby solving the problem of steel cladding cutting and removal. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above-mentioned problem or the problem in the prior art that it is difficult to cut the steel covering of the radioactive storage tank, the present invention is proposed.

[0006] Therefore, an object of the present invention is to provide a method for removing steel cladding from a storage tank, the object of which is to make the removal of steel cladding more efficient in a specific manner.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] In the first aspect, a method for removing the steel cladding of a large radioactive storage tank is characterized by: comprising: using plasma cutting on the area to be cut on the surface of the steel cladding body to separate the area to be cut from the steel cladding body, wherein the laser is 40 to 60 degrees to the surface of the steel cladding, the cutting speed is 6 to 17 mm / s, the distance between the cutting head and the cutting surface is 5 to 8 mm, and the air pressure is 7 kg;

[0009] The area to be cut is subjected to high-frequency vibration until the area to be cut is separated from the steel covering body; wherein the high-frequency vibration is 43 to 146 times per second, and the vibration force is 150 to 2039 Newtons.

[0010] In a second aspect, the present invention provides a storage tank steel cladding removal system, comprising: a wall climbing mechanical module, the wall climbing mechanical module comprising a frame, an adsorption moving assembly arranged at the bottom of the frame, a clamping assembly arranged at the upper side of the frame, a camera and an auxiliary hook, the camera is arranged at the side of the clamping assembly, and the auxiliary hook is arranged away from the clamping assembly and the camera;

[0011] A cutting module, the cutting module comprising a cutting tool head and a nozzle, the nozzle being arranged on a side of the cutting tool head;

[0012] A vibration module, the vibration module comprising a vibration exciter, and the vibration exciter is arranged on the clamping assembly;

[0013] The robotic arm module comprises a multi-axis robotic arm and a quick-change assembly, the quick-change assembly is arranged at one end of the multi-axis robotic arm, the robotic arm module is arranged on the frame, the cutting module is arranged on the robotic arm module, the vibration module is arranged on the wall-climbing mechanical module, and the vibration module and the cutting module are used alternately.

[0014] As a preferred solution of the tank steel cladding removal system of the present invention, the adsorption moving component adopts four-wheel independent drive and the adsorption moving component adopts permanent magnet adsorption.

[0015] As a preferred solution of the tank steel covering removal system described in the present invention, the adsorption moving component provides adsorption force to support the multi-axis robotic arm in an unextended state, a multi-axis robotic arm in a longitudinal maximum bending moment state, and a multi-axis robotic arm in a lateral maximum bending moment state.

[0016] As a preferred solution of the tank steel cladding removal system of the present invention, the cutting tool head adopts plasma cutting.

[0017] As a preferred solution of the tank steel cladding removal system of the present invention, the cutting angle between the cutting tool head and the steel cladding surface is 40-60°, the cutting speed is 6-17 mm / s, the cutting head is 5-8 mm away from the cutting surface, and the air pressure is 7 kg.

[0018] As a preferred solution of the tank steel cladding removal system of the present invention, the nozzle is purged during the cutting process.

[0019] As a preferred solution of the tank steel covering removal system of the present invention, the vibration frequency of the exciter is 43 to 146 times / second, and the vibration force is 150 to 2039 Newtons.

[0020] As a preferred solution of the tank steel covering removal system of the present invention, the multi-axis robotic arm is a six-degree-of-freedom robotic arm.

[0021] As a preferred solution of the tank steel covering removal system of the present invention, the cutting module further comprises a dynamic distance regulator, which is arranged on one side of the cutting tool head and sets the vertical cutting surface height to 6 mm.

[0022] Beneficial effects of the present invention: The present invention calculates the magnetic attraction force required for the adsorption moving component, so that the wall-climbing mechanical module can overcome obstacles and climb 90 degrees in the steel-clad tank body, and a plasma cutting tool head is arranged to cut the steel cladding according to specific parameters, and the cut steel cladding is vibrated and peeled off by an exciter, so as to achieve more efficient disassembly of the steel cladding of the storage tank. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0024] Figure 1 This is a diagram showing the overall structure of the tank steel cladding removal system.

[0025] Figure 2 This is a diagram showing the structure of the wall-climbing robot for the tank steel cladding removal system.

[0026] Figure 3 A partial enlarged view of the cutting module of the tank steel cladding removal system.

[0027] Figure 4 This is a diagram showing the frame structure of the tank steel cladding removal system.

[0028] Figure 5 The robotic arm of the tank steel cladding removal system is in the unextended state.

[0029] Figure 6 The maximum longitudinal bending moment when the manipulator arm of the tank steel cladding removal system is fully extended.

[0030] Figure 7 The maximum lateral bending moment when the manipulator arm of the tank steel cladding removal system is fully extended. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0032] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0034] Example 1

[0035] Reference Figure 1 , which is the first embodiment of the present invention, and provides a method for removing the steel cladding of a large radioactive storage tank, comprising plasma cutting the area to be cut on the surface of the steel cladding body until the area to be cut is separated from the steel cladding body, wherein the laser is 40 to 60 degrees to the surface of the steel cladding, the cutting speed is 6 to 17 mm / s, the cutting head is 5 to 8 mm away from the cutting surface, the air pressure is 7 kg, and the area to be cut is vibrated at a high frequency until the area to be cut is separated from the steel cladding body; wherein the high-frequency vibration is 43 to 146 times / second, and the vibration force is 150 to 2039 Newtons.

[0036] Specifically, steel cladding cutting technologies include oxygen cutting, plasma cutting, laser cutting, water jet cutting and CNC cutting. Among them, plasma arc cutting technology can be used for cutting and processing non-ferrous metals such as low-carbon steel, low-alloy steel, stainless steel, aluminum and its alloys. It is widely used in high-speed, high-quality cutting of 1-50mm low-carbon steel and 1-80mm stainless steel plates. It is the main means of steel cutting with the same huge application volume as oxygen cutting. Plasma cutting has experienced a long period of development since it was put into industrial application. Low-current plasma cutting, non-high-frequency arc plasma cutting, water recompression plasma cutting, underwater plasma cutting, fine plasma cutting, etc. According to the preliminary investigation, comprehensive cost and cutting effect, the plasma cutting method was finally selected, etc. Plasma cutting is a technology that uses high-temperature plasma gas flow to cut metal or other materials. The plasma cutting machine compresses air or inert gas (such as argon) and heats it to a high temperature to form a plasma gas flow. The temperature of this gas flow can reach over 10,000°C, which is enough to melt most metals. The temperature of the plasma gas flow is very high, and it can quickly melt the metal, so the cutting speed is relatively fast. Plasma cutting can provide higher cutting accuracy, especially when using fine plasma cutting technology. Plasma cutting machines can be used in conjunction with computer numerical control (CNC) systems to achieve automated cutting, improve production efficiency and cutting quality. Compared with other cutting technologies, plasma cutting is more cost-effective, especially in large-scale production.

[0037] Preferably, the laser is at 40-60° to the steel cladding surface, the cutting speed is 6-17 mm / s, the cutting head is 5-8 mm away from the cutting surface, and the air pressure is 7 kg. The preferred data is derived from the following experimental data:

[0038] The simulation experiment (1m*1m*0.1m steel plate concrete simulation body, steel plate thickness 10mm, the back of the steel plate is poured with concrete), industrial robot arm, Hypertherm plasma equipment (model MAXPRO200) and air pump (air pressure 7kg) were used to test the influence of different tilt angles and gun nozzle heights on the plasma gouging effect, in order to select appropriate gouging parameters for the operation.

[0039] Experiment 1:

[0040] First cut: air pressure 7kg, tilt angle 42°, nozzle height 10mm, movement speed 8mm / s, gouging thickness about 2mm, no slag accumulation in the gouging seam;

[0041] Second knife: air pressure 7kg, tilt angle 45°, nozzle height 5mm, movement speed 8mm / s, gouging thickness about 3mm, no slag accumulation in the gouging seam;

[0042] The third knife: air pressure 7kg, tilt angle 52°, gun nozzle height 5mm, movement speed 6mm / s, gouging thickness is about 4mm, and there is no slag accumulation in the gouging seam;

[0043] Fourth cut: Continue to gouge with the above parameters, with air pressure of 7kg, tilt angle of 52°, nozzle height of 5mm, movement speed of 6mm / s, gouge through the steel plate, and no slag accumulation in the gouging seam;

[0044] Preliminary conclusion of Experiment 1: Using an air pressure of 7kg, an inclination angle of 52°, a nozzle height of 5mm, and a movement speed of 6mm / s, the gouging effect is good and there is no slag accumulation in the gouging seams.

[0045] Experiment 2:

[0046] The process parameters obtained from the above experimental conclusions were continued to be used for experiments. A total of 2 cuts were needed to plane through the steel plate. During the experiment, there was slag around the planing seam. The degree of adhesion between the slag and the steel plate was low and the slag could be easily removed.

[0047] Preliminary conclusion of Experiment 2: There was a problem in the arc starting stage, and low power could not cut through. The problem was subsequently solved by adjusting the delay in the arc starting stage or slowing down the speed.

[0048] Experiment 3:

[0049] The purpose of experiment 3 is to cut a closed loop shape and comprehensively check the cutting and peeling effects. The experimental process still uses the parameters of experiment 1 (air pressure 7kg, tilt angle 52°, gun nozzle height 5mm, movement speed 6mm / s).

[0050] After experiments, the steel plate can be cut through with one knife, but there is slag return. The slag has not been cleaned up yet. It is planned to cut a closed loop shape and then comprehensively analyze the peeling effect. It is analyzed that the reason why the steel plate can be cut through with one knife is that the heat conduction temperature of the steel plate increases due to continuous operation, which causes the steel plate material to soften and can be planed through with one knife.

[0051] The relationship between the slag backflow and the speed was analyzed, and the movement speed was increased. The closed-loop shape cutting experiment was carried out again using an air pressure of 7kg, a tilt angle of 52°, a nozzle height of 5mm, and a movement speed of 10mm / s. Under the same effect of other parameters, a movement speed of 10mm / s required 2 knives to plan through. After planing through, the planing seam was clean and there was no slag backflow. Then, an attempt was made to peel off the closed-loop triangle, and the peeling was very easy. The slag adhesion generated in the second experiment was negligible.

[0052] Optimization results: In terms of cutting: plasma gouging can be used to remove the concrete steel cladding of the simulated body. Whether 120A or 200A plasma equipment is used, it is recommended to use the cutting process. The optimal range is 40-60° between the laser and the steel cladding surface, the cutting speed is 6-17mm / s, the cutting head is 5-8mm away from the cutting surface, and the air pressure is 7kg; In terms of stripping: when the planing seam is clean, the concrete will explode and shatter due to the high temperature of plasma, and easy glass can be achieved. According to the selected exciter data, the optimal range is high-frequency vibration 43-146 times / second, and the vibration force is 150-2039 Newtons.

[0053] Example 2

[0054] Reference Figure 1 , which is the second embodiment of the present invention, provides a tank steel covering removal system, which includes: a wall climbing module 100, a cutting module 200, a vibration module 300 and a robotic arm module 400.

[0055] Preferably, the wall climbing module 100 includes a frame 101, an adsorption and movement component 102 arranged at the bottom of the frame 101, a clamping component 103 arranged on the upper side of the frame 101, a camera 104 and an auxiliary hook 105. The camera 104 is arranged on the side of the clamping component 103, and the auxiliary hook 105 is arranged away from the clamping component 103 and the camera 104. The frame 101 is mainly used to realize the rigid connection and wrapping protection of various components, and realizes the radiation protection and lightweight design of the system through structural hollow design, material optimization, and surface coating measures. The adsorption and movement component 102 is used for adsorption, wall climbing and movement in the steel-clad tank body, the clamping component 103 is used to place the vibrator 301 or the cutting tool head 201 on the frame 101 after replacement, the camera 104 is used to collect images inside the tank body, which is convenient for operators to operate, and the auxiliary hook 105 is used to cooperate with the tank entry and exit auxiliary device to lift the wall climbing robot 100 in and out of the tank body.

[0056] Preferably, the cutting module 200 includes a cutting tool head 201 and a nozzle 202 , and the nozzle 202 is arranged on the side of the cutting tool head 201 .

[0057] Preferably, the vibration module 300 includes an exciter 301, which is disposed on the clamping assembly 103. The exciter 301 loosens and detaches the attachments or coatings on the surface of the target object through high-frequency vibration, thereby achieving the purpose of stripping.

[0058] Preferably, the robot module 400 includes a multi-axis robot 401 and a quick-change assembly 402. The quick-change assembly 402 is arranged at one end of the multi-axis robot 401. The robot module 400 is arranged on the frame 101, the cutting module 200 is arranged on the robot module 400, and the vibration module 300 is arranged on the wall climbing module 100. The vibration module 300 and the cutting module 200 are used alternately. The multi-axis robot 401 can complete complex work tasks in a confined space. The quick-change assembly 402 is designed with a standard quick-change interface for a variety of different end actuators of the robot in concrete steel covering cutting and stripping tasks to adapt to various work scenarios and needs. It is quickly connected to the end of the robot arm and has the characteristics of easy replacement. It can be easily switched according to work requirements, thereby improving work efficiency and flexibility.

[0059] When in use, the frame 101 and the adsorption moving component 102 cooperate to enable the wall climbing module 100 to overcome obstacles, climb walls at a 90° right angle, etc. The operator operates the adsorption moving component 102 through the image feedback from the camera 104, and moves it in the steel cladding tank body through magnetic attraction. When it moves to the operating position, the steel cladding is cut by the cutting tool head 201 set at the end of the multi-axis robot arm 401, and the nozzle 202 is purged at the same time to avoid the backflow of molten metal generated by the cutting and the secondary adhesion of metal slag to cement. After the cutting tool head 201 cuts into quadrilateral blocks, the cutting tool head 201 and the vibrator 301 are switched through the quick-change component 402, and the replaced cutting tool head 201 is placed on the clamping component 103, and the vibrator 301 is used to vibrate the cut quadrilateral blocks at high frequency to make the cut steel cladding fall off, completing the cutting process.

[0060] Example 3

[0061] Reference Figure 1-2 , Figure 4 , which is the third embodiment of the present invention, is different from the first embodiment in that the adsorption moving component 102 adopts four-wheel independent drive and the adsorption moving component 102 adopts permanent magnet adsorption.

[0062] Preferably, the adsorption moving component 102 adopts four-wheel drive, and realizes forward, backward, left and right movement and rotation on the spot through motor drive. The ability of four-wheel independent drive and differential control can adapt to the movement requirements of complex walls. In this embodiment, the drive module adopts the Titanium Tiger integrated joint module CRA-RI180-110-NH-B-IP65, the module motor power is 750W, the power supply supports 48V voltage, the module outer diameter is 110mm, the weight is 2.6Kg, the reduction ratio is 101, the rated output torque is 27Nm, and supports CAN communication.

[0063] Preferably, the adsorption moving component 102 adopts permanent magnet adsorption, and the permanent magnet adsorption adopts permanent magnet, which provides a stable and reliable supporting force for the system by adsorbing on the wall. The adsorption force is large enough to resist the external disturbance force and the weight of the robot itself.

[0064] When in use, the adsorption moving component 102 is driven by a motor to realize forward, backward, left and right movement, and rotation on the spot. It has the ability of four-wheel independent drive and differential control, and can adapt to the movement requirements of complex walls. At the same time, it is adsorbed on the wall to provide stable and reliable support for the system. The adsorption force is large enough to resist external disturbance forces and the weight of the robot itself.

[0065] Example 4

[0066] Reference Figure 5 to Figure 7 , which is the fourth embodiment of the present invention, and is different from the first embodiment in that the adsorption moving component 102 provides an adsorption force that can support the multi-axis robot 401 in an unextended state, the multi-axis robot 401 in a longitudinal maximum bending moment state, and the multi-axis robot 401 in a lateral maximum bending moment state.

[0067] Preferably, the weight of the climbing module 100 is estimated to be Akg, the vehicle size is: Xmm×Ymm×Zmm, the arm span of the robot is Lmm, the weight is Bkg, and the weight of the end effector is estimated to be Ckg (the weight of the cutting tool head 201 and the exciter 301), which is divided into three situations: the unemployed state, the longitudinal maximum bending moment state and the lateral maximum bending moment state, in order to measure the maximum magnetic force required for the robot to work

[0068] General magnetic force requirements in standby state (robot arm not extended):

[0069] like Figure 5 As shown, when the robot arm is in the idle state, the friction force generated by the total gravity and the magnetic force is equal, and the friction coefficient is 0.5.

[0070] The calculation process is as follows:

[0071] G=mg=(A+B+C)*9.8=(A+B+C)N

[0072] F=G=(A+B+C)N

[0073] B=F / f=(A+B+C) / 0.5=2(A+B+C)N

[0074] Maximum longitudinal bending moment state (mechanical arm fully extended)

[0075] like Figure 6As shown, the robot arm is fully extended at this time, and the direction of gravity is parallel to the line connecting the wheels on the same side. The gravity of the robot arm will produce a large bending moment, which will produce two reaction forces. The direction of the reaction force generated on the front wheel is opposite to the magnetic force, and the direction of the reaction force on the rear wheel is the same. Therefore, the front wheel is the key to our verification. Assume that the installation position of the robot arm is at the center of the two wheels, the center of mass after extension is taken at the center of the total arm span, and the friction coefficient is 0.5.

[0076] The calculation process is as follows:

[0077] G1=mg=(D+E)*9.8=(D+E)N (D is the required maximum load of the robot arm, and E is the redundant weight)

[0078] From the arm span Lmm of the robot and the height dimension Zmm of the mobile robot, we can get:

[0079] Lever d1 = L / 2 + Z = (L / 2 + Z) mm

[0080] Bending moment W = G1*d1 = (D+E)*(L / 2+Z)*0.001NM

[0081] The length dimension Xmm of the mobile robot can be estimated:

[0082] Arm d2 = X / 2mm

[0083] F1=W / d2=(D+E)*(L / 2+Z)*0.001 / X / 2N

[0084] The maximum magnetic force B1 that the two front wheels need to provide cannot be less than (D+E)*(L / 2+Z)*0.001 / X / 2N

[0085] From the average distribution of magnetic force on the four wheels of the mobile robot, we can conclude that:

[0086] The magnetic force required for a single wheel is B2 = B1 / 2 = (D+E)*(L / 2+Z)*0.001 / X / 4N

[0087] Total magnetic force B = 2*B1 = (D+E)*(L / 2+Z)*0.001 / XN

[0088] Take the safety factor as 2

[0089] B2max=B2*2=(D+E)*(L / 2+Z)*0.001 / X / 2N

[0090] Bmax=B*2=(D+E)*(L / 2+Z)*0.001 / X*2N

[0091] Maximum lateral bending moment state (mechanical arm fully extended)

[0092] like Figure 7 As shown, the robot arm is fully extended at this time, and the direction of gravity is perpendicular to the line connecting the wheels on the same side. Similarly, the gravity of the robot arm will produce a large bending moment, which will produce two reaction forces. The direction of the reaction force generated by the upper wheel is opposite to the magnetic force, and the lower wheel is the same. Therefore, the upper wheel is still the key to our verification. Assume that the installation position of the robot arm is at the center of the two wheels, the center of mass after extension is taken at the center of the total arm span, and the friction coefficient is 0.5.

[0093] The calculation process is as follows:

[0094] G1=mg=(D+E)*9.8=(D+E)N (D is the required maximum load of the robot arm, and E is the redundant weight)

[0095] From the arm span Lmm of the robot and the height dimension Zmm of the mobile robot, we can get:

[0096] Lever d1 = L / 2 + Z = (L / 2 + Z) mm

[0097] Bending moment W = G1*d1 = (D+E)*(L / 2+Z)*0.001NM

[0098] The width dimension Ymm of the mobile robot can be estimated:

[0099] Arm d2 = Y / 2mm

[0100] F1=W / d2=(D+E)*(L / 2+Z)*0.001 / Y / 2N

[0101] The maximum magnetic force B1 that the two front wheels need to provide cannot be less than (D+E)*(L / 2+Z)*0.001 / Y / 2N

[0102] That is: B1>(D+E)*(L / 2+Z)*0.001 / Y / 2N

[0103] From the average distribution of magnetic force on the four wheels of the mobile robot, we can conclude that:

[0104] The magnetic force required for a single wheel is B2 = B1 / 2 = (D+E)*(L / 2+Z)*0.001 / Y / 4N

[0105] Total magnetic force B = 2*B1 = (D+E)*(L / 2+Z)*0.001 / YN

[0106] Take the safety factor as 2

[0107] B2max=B2*2=B1 / 2=(D+E)*(L / 2+Z)*0.001 / Y / 2N

[0108] Bmax=B*2=2*B1=(D+E)*(L / 2+Z)*0.001 / Y*2N

[0109] In summary, from the magnetic calculation analysis, it can be obtained that the required total magnetic force is (D+E)*(L / 2+Z)*0.001 / Y*2N.

[0110] When in use, the total magnetic force of the permanent magnetic adsorption drive wheel 102 is calculated by the size of the bottom of the frame 101 and the working radius m of the multi-axis robotic arm 401, and after taking the safety multiple, is (D+E)*(L / 2+Z)*0.001 / Y*2N, which can make the wall-climbing robot 100 adsorb on the wall to provide stable and reliable support for the robot.

[0111] Example 5

[0112] Reference Figure 1 to Figure 3 , which is the fifth embodiment of the present invention, which is different from the first embodiment in that the cutting tool head 201 is plasma cutting. Because the steel cladding of the nuclear decommissioning pool is composed of solid steel plates and pressure-resistant concrete, they are tightly combined to form a solid structure. The overall structure of the pool is rectangular, with a wall height of 8 meters, a bottom plate thickness of 10 mm, a side wall thickness of 6 / 8 mm, and a top plate thickness of 5 mm. In order to remove the entire large steel plate from the bonded concrete, it is first necessary to locally divide the steel plate into small pieces, and then use the stripping technology to strip the steel plate from the bonded concrete. There are tie rod structures inside the steel plate. The positions of these tie rods are fixed. During the demolition process, the robot can be positioned to avoid the tie rods. Steel cladding cutting technologies include oxygen cutting, plasma cutting, laser cutting, water jet cutting, and CNC cutting. Based on cutting effect, weight, secondary pollution and other considerations, plasma cutting is preferred. The preferred model is Hypertherm air and oxygen plasma system MAXPRO200, which can achieve almost slag-free cutting capability for 20mm low-carbon steel. The consumable parts can meet continuous cutting of hundreds of meters, which can meet the cutting needs in wall operations.

[0113] Preferably, in this embodiment, after experimental measurement, the specific measurement experiment is shown in Example 1. The cutting parameters of the cutting tool head 201 are a cutting angle of 37°, a cutting speed of 16.7 mm / s, a distance of 5 to 8 mm between the cutting tool head 201 and the cutting surface, and an air pressure of 7 kg. In terms of cutting: plasma air planing can realize the removal of the concrete steel covering of the simulated body. Whether 120A or 200A plasma equipment is used, it is recommended to use the cutting process. The planing seam is cleaner. The specific operation process needs to be debugged according to the actual use of plasma equipment. For example, using 200A equipment can slightly increase the speed, the first knife can be 6 to 8 mm, and the second knife can achieve penetration. In terms of stripping: when the planing seam is clean, the concrete will be cracked and shattered by the high temperature of plasma, and easy stripping can be achieved.

[0114] Preferably, the nozzle 202 performs purging during the cutting process. The nozzle 202 works in conjunction with a robot or other automated equipment to perform purging during the cutting process to prevent the backflow of molten metal generated by the cutting and the adhesion of metal slag to cement.

[0115] Preferably, the vibration frequency of the vibrator 301 is 43 to 146 times / second, and the vibration force is 150 to 2039 Newtons. The operating principle of the vibrator 301 relies on the vibration effect to achieve the peeling of the target object. The vibrator 301 uses high-frequency vibration to loosen and detach the attachments or coatings on the surface of the target object, thereby achieving the peeling purpose. In this embodiment, the piston reciprocating impact vibrator NTP of Shanghai Shuozhou Electronic Technology Co., Ltd. is preferably used. The vibrator has an aluminum shell, is corrosion-resistant, has high power, requires a small amount of lubrication, has a nominal frequency of 43 to 146 times / second, and a vibration force of 150 to 2039 Newtons. The frequency and amplitude are continuously adjustable (adjusting the air pressure), the maximum operating temperature is 150°C, and can be customized to 200°C. In extremely harsh environments, it is suitable for use in radiation tanks. Through the quick-change component 402, the quick-change component 402 in this embodiment uses the LTC-0020D model quick-change device of Zhengzhou Linghang Robot Co., Ltd., which has a locking force of 2514N, allowable bending moment: 58.6N·m (static), allowable torque: 80N·m static, with 12-way M5 gas circuit, 4 module expansion installation surface, meet 20Kg load, gas pressure loss self-locking, even if the main disk is accidentally cut off, the main disk and the tool disk will not be separated; optional main disk locking / relaxation sensor, tool disk in-place detection sensor, after cutting by the cutting tool head 201, replace it with the vibrator 301 to vibrate and peel the cut steel covering.

[0116] When in use, the cutting parameters of the cutting tool head 201 are a cutting angle of 37°, a cutting speed of 16.7 mm / s, a distance of 5 to 8 mm between the cutting tool head 201 and the cutting surface, and an air pressure of 7 kg. At this time, the cutting effect on the steel-clad tank body is optimal. At the same time, under this cutting parameter, stripping after cutting can be achieved more easily. While the cutting tool head 201 is plasma cutting, the nozzle 202 performs high-pressure blowing to prevent the backflow of molten metal generated by the cutting and the adhesion of metal slag to cement, which affects the cutting effect. The vibrator 301 uses high-frequency vibration to loosen and detach the attachments or coatings on the surface of the target object, thereby stripping the steel cladding after cutting.

[0117] Example 6

[0118] Reference Figure 1 , which is the sixth embodiment of the present invention, and is different from the first embodiment in that the multi-axis robot arm 401 is a six-degree-of-freedom robot arm. This embodiment preferably uses a six-degree-of-freedom robot arm of Shanghai Robot Co., Ltd. The robot arm has a payload of 18Kg, a deadweight of 35Kg, and a working radius of 1073mm

[0119] When in use, the multi-axis robot arm 401 is a six-degree-of-freedom robot arm that is more convenient for completing complex tasks in a confined space.

[0120] Example 7

[0121] Reference Figure 1 to Figure 7 , which is the sixth embodiment of the present invention, is different from the first embodiment in that: the cutting module 200 also includes a distance dynamic regulator 203, and the distance dynamic regulator 203 is arranged on one side of the cutting tool head 201, and the height of the distance dynamic regulator 203 from the cutting surface is set to 6 mm.

[0122] When in use, the dynamic distance regulator 203 can measure the distance between the plasma cutting tool head and the steel cladding, and then adjust the distance between the plasma cutting tool head 201 and the steel cladding, so that the distance between the two is always maintained at 6mm to prevent the plasma cutting tool head 201 from being too close to the steel cladding and damaging the gun head.

[0123] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0124] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0125] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0126] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for removing steel cladding of a storage tank, characterized in that: include, Plasma cutting is used for the area to be cut on the surface of the steel cladding body until the area to be cut is separated from the steel cladding body, wherein the laser is 40-60° to the surface of the steel cladding, the cutting speed is 6-17 mm / s, the distance between the cutting head and the cutting surface is 5-8 mm, and the air pressure is 7 kg; The area to be cut is subjected to high-frequency vibration until the area to be cut is separated from the steel cladding body; wherein the high-frequency vibration is 43 to 146 times per second, and the vibration force is 150 to 2039 Newtons.

2. A storage tank steel cladding removal system, comprising: The wall climbing mechanical module (100), the cutting module (200), the vibration module (300) and the mechanical arm module (400) are characterized in that: plasma cutting is performed on the area to be cut on the surface of the steel cladding body until the area to be cut is separated from the steel cladding body, wherein the laser is 40 to 60 degrees to the steel cladding surface, the cutting speed is 6 to 17 mm / s, the distance between the cutting head and the cutting surface is 5 to 8 mm, and the air pressure is 7 kg; high-frequency vibration is performed on the area to be cut until the area to be cut is separated from the steel cladding body, the high-frequency vibration is 43 to 146 times / second, and the vibration force is 150 to 2039 Newtons. The wall climbing mechanical module (100) comprises a frame (101), an adsorption moving component (102) arranged at the bottom of the frame (101), a clamping component (103) arranged at the upper side of the frame (101), a camera (104) and an auxiliary hook (105), wherein the camera (104) is arranged at the side of the clamping component (103), and the auxiliary hook (105) is arranged away from the clamping component (103) and the camera (104); A cutting module (200), the cutting module (200) comprising a cutting tool head (201) and a nozzle (202), the nozzle (202) being arranged on a side of the cutting tool head (201); A vibration module (300), the vibration module (300) comprising a vibration exciter (301), the vibration exciter (301) being arranged on the clamping assembly (103); A robotic arm module (400), the robotic arm module (400) comprising a multi-axis robotic arm (401) and a quick-change assembly (402), the quick-change assembly (402) being arranged at one end of the multi-axis robotic arm (401), the robotic arm module (400) being arranged on the frame (101), the cutting module (200) being arranged on the robotic arm module (400), the vibration module (300) being arranged on the wall-climbing mechanical module (100), and the vibration module (300) and the cutting module (200) being used alternately.

3. The tank steel cladding removal system according to claim 2, characterized in that: The adsorption moving component (102) adopts four-wheel independent drive, and the adsorption moving component (102) adopts permanent magnet adsorption.

4. The tank steel cladding removal system according to claim 3, characterized in that: The adsorption moving component (102) provides an adsorption force capable of supporting the multi-axis mechanical arm (401) in an unextended state, a longitudinal maximum bending moment state of the multi-axis mechanical arm (401), and a transverse maximum bending moment state of the multi-axis mechanical arm (401).

5. The tank steel cladding removal system according to claim 2, characterized in that: The cutting tool head (201) adopts plasma cutting.

6. The tank steel cladding removal system according to claim 5, characterized in that: The cutting angle between the cutting tool head (201) and the steel cladding surface is 40-60°, the cutting speed is 6-17 mm / s, the distance between the cutting head and the surface to be cut is 5-8 mm, and the air pressure is 7 kg.

7. The tank steel cladding removal system according to claim 5 or 6, characterized in that: The nozzle (202) performs purging during the cutting process.

8. The tank steel cladding removal system according to claim 2, characterized in that: The vibration exciter (301) has a vibration frequency of 43 to 146 times per second and a vibration force of 150 to 2039 Newtons.

9. The tank steel cladding removal system according to claim 2, characterized in that: The multi-axis robotic arm (401) is a six-degree-of-freedom robotic arm.

10. The tank steel cladding removal system according to claim 2, characterized in that: The cutting module (200) further comprises a dynamic distance adjuster (203), wherein the dynamic distance adjuster (203) is arranged on one side of the cutting tool head (201), and the dynamic distance adjuster (203) sets the vertical cutting surface height to 6 mm.

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