Reactor pool cleaning robot and reactor pool cleaning method

Abstract

The invention provides a reactor pool cleaning robot and a reactor pool cleaning method.The reactor pool cleaning robot is applied to cleaning a reactor pool of a reactor and comprises a vehicle body and a cleaning mechanism, and the vehicle body is used for moving in the reactor pool of the reactor; the cleaning mechanism is connected with the vehicle body and provided with a spray head, and the spray head is used for spraying cleaning liquid to the inner wall of the pile pool. The vehicle body of the reactor pool cleaning robot can drive the whole reactor pool cleaning robot to move in the reactor pool, so that the position of the reactor pool cleaning robot in the reactor pool can be changed, the cleaning mechanism of the reactor pool cleaning robot can replace manual work to clean different positions in the reactor pool, and the cleaning efficiency is improved. And in the cleaning operation process, a worker does not need to enter the pile pool, so that the radiation suffered by the worker in the operation process can be reduced, and the improvement of the operation safety is facilitated.

Description

Technical Field

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

[0002] As the core equipment of a nuclear power plant, the reactor of a nuclear power plant undertakes the key task of maintaining a controllable self-sustaining chain nuclear fission reaction to realize the utilization of nuclear energy. During the continuous operation of the reactor of a nuclear power plant, foreign matter such as metal chips and chemical deposits will inevitably be generated. Therefore, it is necessary to regularly clean the foreign matter in the reactor.

[0003] The traditional cleaning method mainly relies on workers to enter the pile with cleaning tools such as flushing pipes to carry out manual flushing operations. However, this manual cleaning method has extremely significant disadvantages. The inside of the pile is in a strong radiation environment. When workers perform long-term cleaning operations, their bodies will be exposed to a large amount of radiation. Long-term exposure to high-intensity radiation will cause irreversible and serious damage to the health of workers. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a reactor pool cleaning robot and a reactor pool cleaning method to solve the technical problem in the prior art that the pool radiation causes serious harm to the health of workers during the cleaning operation.

[0005] To achieve the above purpose, the technical solution adopted in this application is:

[0006] In a first aspect, a reactor pool cleaning robot is provided, which is used for cleaning a reactor pool, and comprises:

[0007] A vehicle body, the vehicle body being used for moving in the stack pool;

[0008] A cleaning mechanism is connected to the vehicle body and is provided with a nozzle for spraying cleaning liquid onto the inner wall of the stacking pool.

[0009] In some embodiments, the vehicle body includes a main body and a driving assembly arranged on the main body, the driving assembly includes a driving wheel, a driven wheel and a track mounted outside the driving wheel and the driven wheel, the driving wheel and the driven wheel are respectively movably connected to the main body, the driving wheel can rotate relative to the main body to drive the track and the driven wheel to rotate synchronously, so that the track rolls on the ground of the pile to drive the vehicle body to move.

[0010] In some embodiments, the drive assembly also includes a support wheel located between the driving wheel and the driven wheel, the support wheel is movably connected to the main body, and the outer periphery of the support wheel abuts against the inner side of the track so that the side of the track facing the ground of the pile pit is in contact with the ground of the pile pit.

[0011] In some embodiments, the drive assembly also includes a first mounting member rotatably disposed on the main body, the first mounting member can rotate relative to the main body around a first axis, the first mounting member includes a first mounting portion and a second mounting portion, the first mounting portion and the second mounting portion are respectively rotatably disposed with the support wheel, and the first axis is parallel to the rotation axis of the support wheel, the first mounting member can rotate relative to the main body so that at least one of the support wheels mounted on the first mounting portion and the second mounting portion is against the track.

[0012] In some embodiments, the first mounting member is provided with a first slide groove, the length direction of the first slide groove is arranged around the first axis, and the main body is provided with a first sliding block slidably adapted to the first slide groove.

[0013] In some embodiments, the drive assembly also includes a second mounting member slidably disposed on the main body, and the second mounting member can slide relative to the main body along an arrangement direction parallel to the driving wheel and the driven wheel to increase or decrease the distance between the driving wheel and the driven wheel.

[0014] In some embodiments, the drive assembly further includes a baffle disposed at an interval from the outer side surface of the main body, and a first connecting member connecting the main body and the baffle, and the driving wheel and the driven wheel are disposed between the interval area between the baffle and the main body.

[0015] In some embodiments, the reactor pool cleaning robot also includes a communication interface connected to the vehicle body and the cleaning mechanism, and the communication interface is used for plugging a communication cable connected to a control center to connect the vehicle body and the cleaning mechanism to the control center, so that the vehicle body moves according to the instructions of the control center and the cleaning mechanism cleans the inner wall of the pool according to the instructions of the control center.

[0016] In some embodiments, the vehicle body and / or the cleaning mechanism is provided with a sensing component, and the sensing component is connected to the communication interface, and the sensing component is used to detect environmental information around the reactor pool cleaning robot and send the environmental information to the controller so that the controller can generate the control instruction according to the environmental information.

[0017] In some embodiments, the cleaning mechanism includes a robotic arm and a cleaning assembly installed at one end of the robotic arm, the end of the robotic arm facing away from the cleaning assembly is connected to the vehicle body, the robotic arm drives the cleaning assembly to move relative to the vehicle body, the cleaning assembly includes a first nozzle and a second nozzle installed on the robotic arm, the first nozzle is used to be connected to a cleaning agent pipe to spray cleaning agent onto the inner wall of the stack pool, and the second nozzle is used to be connected to a clean water pipe to spray clean water onto the inner wall of the stack pool.

[0018] In some embodiments, the cleaning assembly further comprises a first quick-connect fitting connected to the first nozzle, wherein the first quick-connect fitting is used for detachably connecting to the cleaning agent pipe; and / or,

[0019] The cleaning assembly also includes a second quick-connect connector connected to the second nozzle, and the second quick-connect connector is used for detachably connecting to the clean water pipe.

[0020] In some embodiments, the robotic arm includes a mounting base, an arm body assembly, and a first driving member connecting the mounting base and the arm body assembly, the mounting base is used to be connected to the vehicle body, the mounting base has a mounting surface facing the vehicle body, the cleaning assembly is installed on the arm body assembly, the first base and the first output shaft of the first driving member are respectively connected to the mounting base and the arm body assembly, the first output shaft can rotate relative to the first base to drive the arm body assembly to rotate around a second axis relative to the mounting base to drive the cleaning assembly to rotate synchronously, and the second axis is perpendicular to the mounting surface.

[0021] In a second aspect, a reactor pool cleaning method is provided, providing the above-mentioned reactor pool cleaning robot, comprising the following steps:

[0022] Allowing the reactor pool cleaning robot to enter the reactor pool;

[0023] The reactor pool cleaning robot is moved along a first preset path, and a cleaning mechanism of the reactor pool cleaning robot is sprayed with a cleaning agent toward an inner wall of the pool, so that the cleaning agent adheres to the inner wall of the pool;

[0024] The reactor pool cleaning robot is moved along a second preset path, and the cleaning mechanism is sprayed with clean water toward the inner wall of the pool to wash the inner wall of the pool.

[0025] The beneficial effect of the reactor pool cleaning robot provided by the present application is that the body of the reactor pool cleaning robot can drive the reactor pool cleaning robot to move as a whole in the pool, so that the position of the reactor pool cleaning robot in the pool can be changed, so that the cleaning mechanism of the reactor pool cleaning robot can replace manual cleaning of different positions in the pool. In this way, during the cleaning operation, the staff does not need to enter the interior of the pool, which can reduce the radiation to which the staff is exposed during the operation and help improve the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0027] Figure 1 A schematic diagram of a reactor pool cleaning robot provided in an embodiment of the present application;

[0028] Figure 2 A schematic diagram of a vehicle body provided in an embodiment of the present application;

[0029] Figure 3 An exploded schematic diagram of a drive assembly provided in an embodiment of the present application;

[0030] Figure 4 A schematic diagram of the assembly of the support wheel, the first mounting member, the second mounting member and the driven wheel provided in an embodiment of the present application;

[0031] Figure 5 A schematic diagram of a subject provided in an embodiment of the present application;

[0032] Figure 6 for Figure 2 A schematic diagram of the vehicle body shown (with the floor hidden);

[0033] Figure 7 for Figure 2 A schematic cross-sectional view of a vehicle body shown;

[0034] Figure 8 A schematic diagram of a cleaning mechanism provided in an embodiment of the present application;

[0035] Fig. 9 for Figure 8 Another perspective schematic diagram of the cleaning mechanism shown;

[0036] Fig.10A schematic diagram of the assembly of the second arm, the third driving member, the first driving member and the mounting seat provided in an embodiment of the present application;

[0037] Fig.11 for Figure 8 Another schematic diagram of the cleaning mechanism shown;

[0038] Fig.12 for Figure 8 Another assembly schematic diagram of the cleaning mechanism shown;

[0039] Fig.13 A schematic diagram of the assembly of the first arm body, the second driving member and the second arm body provided in an embodiment of the present application;

[0040] Fig.14 A schematic diagram of the assembly of the cleaning component, the fourth driving member and the first arm provided in an embodiment of the present application;

[0041] Fig.15 A schematic diagram of the steps of the reactor pool cleaning method provided in an embodiment of the present application.

[0042] Among them, the reference numerals in the figure are:

[0043] 100, second axis; 200, third axis; 300, fourth axis; 400, fifth axis; 500, first axis;

[0044] 1. Cleaning assembly; 11. First nozzle; 12. Second nozzle; 13. First quick-connect fitting; 14. Second quick-connect fitting;

[0045] 2. Robotic arm; 21. Mounting seat; 211. Mounting surface; 212. First communication interface; 22. Arm assembly; 221. First arm; 222. Second arm; 223. Second driving member; 2231. Second base; 2232. Second output shaft; 224. Third driving member; 2241. Third base; 2242. Third output shaft; 225. Fourth driving member; 2251. Fourth base; 2252. Fourth output shaft; 23. First driving member; 231. First base; 232. First output shaft; 24. Sensing assembly; 241. Second communication interface; 242. Laser sensor; 243. Ultrasonic sensor; 244. Visual sensor;

[0046] 3. Vehicle body; 31. Main body; 310. Accommodating cavity; 311. Chassis; 312. Shell; 313. Mounting groove; 314. First slider; 315. First connecting member; 32. Driving assembly; 321. Driving wheel; 322. Driven wheel; 323. Track; 324. Support wheel; 325. First mounting member; 3251. First mounting portion; 3252. Second mounting portion; 3253. First slide groove; 3254. Second slider; 326. Second mounting member; 3261. Second slide groove; 3262. Third slider; 327. Baffle; 3271. Third slide groove; 328. Second connecting member; 33. Driving motor. DETAILED DESCRIPTION

[0047] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0049] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" means two or more, "multiple groups" means two or more groups, "multiple pieces" means two or more pieces, and "several" means one or more, unless otherwise clearly and specifically defined.

[0051] As the core equipment of a nuclear power plant, the reactor of a nuclear power plant undertakes the key task of maintaining a controllable self-sustaining chain nuclear fission reaction to realize the utilization of nuclear energy. The core area is the core of the nuclear reaction, and the reactor pool provides a safe accommodation space for the core, which not only ensures that the core is in the proper position during operation, but also effectively withstands the heat and radiation generated by the core.

[0052] During the continuous operation of the nuclear power plant reactor, foreign matter such as metal shavings and chemical deposits will inevitably be generated. Some of these foreign matter will be deposited at the bottom of the reactor pool, and the other part will be attached to the inner wall of the reactor pool. When the amount of foreign matter attached to the inner wall of the reactor pool is large, these foreign matter will fall off and form floating foreign matter in the reactor pool water. Due to the connectivity between the reactor pool and the reactor core in the coolant circulation system, foreign matter is very likely to enter the reactor core with the coolant. Once foreign matter enters the core, it will have serious interference and adverse effects on the nuclear fission reaction process, such as changing the reaction rate, affecting the neutron flux distribution, etc., thereby endangering the safe and stable operation of the reactor. Therefore, regular cleaning of foreign matter in the reactor has become an important part of the operation and maintenance of nuclear power plants.

[0053] The traditional cleaning method mainly relies on workers to enter the pile pool with cleaning tools such as flushing pipes to carry out manual flushing operations. During the operation, it is necessary to first use a foam flushing pipe to spray cleaning foam on the inner wall of the pile pool, and then use a clean water flushing pipe to spray and flush the inner wall of the pile pool, so as to achieve the cleaning of the inner wall of the pile pool. However, this manual cleaning method has extremely significant disadvantages. The inside of the pile pool is in a strong radiation environment, and the workers will be exposed to a large amount of radiation when performing long-term cleaning operations in it. Long-term exposure to high-intensity radiation will cause irreversible and serious damage to the health of the workers. This not only poses a huge threat to the life safety of the workers, but also greatly limits the duration and efficiency of the cleaning operation, which is not conducive to the improvement of overall operation safety and the efficient implementation of operation and maintenance work.

[0054] Based on this, an embodiment of the present application provides a reactor pool cleaning robot and a reactor pool cleaning method to solve the above problems.

[0055] Please refer to Figure 1 The reactor pool cleaning robot provided in the present application includes a vehicle body 3 and a cleaning mechanism, wherein the vehicle body 3 is used to move in the reactor pool; the cleaning mechanism is connected to the vehicle body 3, and the cleaning mechanism is provided with a nozzle, which is used to spray cleaning liquid onto the inner wall of the reactor pool.

[0056] It should be noted that the vehicle body 3 is the physical main structure of the reactor pool cleaning robot, which can support and accommodate other components. In addition, the vehicle body 3 is also the basic structure for realizing the mobile function of the reactor pool cleaning robot. For some movable robots, the bottom of the vehicle body 3 is usually equipped with mobile power components such as power wheels and steering wheels, so as to realize the forward, backward and steering of the reactor pool cleaning robot as a whole.

[0057] It should be noted that the cleaning mechanism is a mechanical structure used to clean the surface or interior of an object. It mainly relies on the nozzle to spray the cleaning liquid (such as water, cleaning agent, etc.), and removes dirt, impurities, etc. through the impact force and covering force of the liquid. There are many types of cleaning mechanism nozzles. For example, they can be divided into direct nozzles and atomizing nozzles according to the spraying method. The direct nozzle can produce a concentrated water flow with a strong impact force. It is suitable for washing block dirt or occasions requiring a large washing force, such as washing large pieces of oil on industrial equipment or thick mud on car tires. The atomizing nozzle disperses the liquid into tiny particles and covers a wide area. It is suitable for scenes where detergents need to be sprayed evenly, such as spraying cleaning liquid evenly in car interior cleaning, or spraying rust inhibitors on the surface of industrial equipment. Therefore, the type of nozzle of the cleaning mechanism can be selected according to actual needs.

[0058] The body 3 of the reactor pool cleaning robot can drive the reactor pool cleaning robot to move as a whole in the pool, so that the position of the reactor pool cleaning robot in the pool can be changed, so that the cleaning mechanism of the reactor pool cleaning robot can replace manual cleaning of different positions in the pool. In this way, during the cleaning operation, the staff does not need to enter the interior of the pool, which can reduce the radiation received by the staff during the operation and help improve the safety of the operation.

[0059] Reference Figure 2 In some embodiments, the vehicle body 3 includes a main body 31 and a driving assembly 32 arranged on the main body 31, the driving assembly 32 includes a driving wheel 321, a driven wheel 322, and a track 323 mounted outside the driving wheel 321 and the driven wheel 322, the driving wheel 321 and the driven wheel 322 are respectively movably connected to the main body 31, the driving wheel 321 can rotate relative to the main body 31 to drive the track 323 and the driven wheel 322 to rotate synchronously, so that the track 323 rolls on the ground of the pile pool to drive the vehicle body 3 to move forward.

[0060] Tracks 323 are arranged outside the driving wheel 321 and the driven wheel 322. When the driving wheel 321 rotates, the track 323 and the driven wheel 322 can be driven to rotate synchronously, so that the track 323 can roll on the ground of the pile pool to drive the vehicle body 3 to move forward. In this way, the driving wheel 321 does not need to directly contact the ground of the pile pool, which can reduce the impact of radioactive materials on the ground of the pile pool on the driving wheel 321. In addition, the setting of the track 323 can increase the contact area between the vehicle body 3 and the ground of the pile pool, which helps to improve the stability of the vehicle body 3 when moving.

[0061] In some embodiments, the material of the track 323 may be rubber, so that the track 323 and the floor of the reactor pool can generate greater friction to reduce the slipping of the reactor pool cleaning robot during operation.

[0062] Reference Figures 2 to 4 In some embodiments, the driving assembly 32 also includes a supporting wheel 324 located between the driving wheel 321 and the driven wheel 322. The supporting wheel 324 is movably connected to the main body 31, and the outer periphery of the supporting wheel 324 abuts against the inner side of the track 323 so that the side of the track 323 facing the ground of the pile pool is in contact with the ground of the pile pool.

[0063] A support wheel 324 is arranged between the driving wheel 321 and the driven wheel 322. The outer periphery of the support wheel 324 can be against the inner side of the track 323, so that the track 323 fits with the ground of the reactor pool. In this way, the track 323 can adapt to the terrain changes of the ground of the reactor pool, increase the contact area between the track 323 and the ground of the reactor pool, and help to improve the stability of the reactor pool cleaning robot during movement; in addition, the ground of the reactor pool can also provide a structure for the reactor pool cleaning robot as a whole through the support wheel 324, which helps to further improve the stability of the reactor pool cleaning robot during movement.

[0064] Continue to refer to Figures 2 to 4 In some embodiments, the driving assembly 32 also includes a first mounting member 325 rotatably disposed on the main body 31, the first mounting member 325 can rotate relative to the main body 31 around a first axis 500, the first mounting member 325 includes a first mounting portion 3251 and a second mounting portion 3252, the first mounting portion 3251 and the second mounting portion 3252 are respectively rotatably provided with support wheels 324, and the first axis 500 is parallel to the rotation axis of the support wheel 324, the first mounting member 325 can rotate relative to the main body 31 so that at least one of the support wheels 324 installed on the first mounting portion 3251 and the second mounting portion 3252 is against the track 323.

[0065] It should be noted that in some embodiments, the first mounting member 325 can be connected to the main body 31 through a first rotating shaft, and the first axis 500 can be aligned with the central axis of the first rotating shaft, so that the first mounting member 325 can rotate relative to the main body 31 around the central axis of the first rotating shaft.

[0066] The first mounting member 325 is rotatably set on the main body 31, and the support wheel 324 is installed on the first mounting member 325. When the ground of the reactor pool is uneven, the first mounting member 325 can rotate relative to the main body 31 to adjust the position of the support wheel 324. In this way, the driving component 32 can drive the reactor pool cleaning robot to move smoothly on the uneven ground, reduce the possibility of the reactor pool cleaning robot tipping over, and thus ensure the safety of the operation; in addition, the support wheels 324 are respectively arranged on the first mounting part 3251 and the second mounting part 3252 of the first mounting member 325. When the first mounting member 325 rotates relative to the main body 31, at least one of the support wheel 324 installed on the first mounting part 3251 and the support wheel 324 installed on the second mounting part 3252 can be against the track 323, thereby maintaining its supporting effect on the main body 31. In this way, the stability of the movement of the reactor pool cleaning robot can be further improved.

[0067] Reference Figure 4 and Figure 5 In some embodiments, the first mounting member 325 is provided with a first slide groove 3253 , the length direction of the first slide groove 3253 is arranged around the first axis 500 , and the main body 31 is provided with a first slider 314 slidably adapted to the first slide groove 3253 .

[0068] A first slide groove 3253 is provided on the first mounting member 325, and a first slider 314 slidably adapted to the first slide groove 3253 is provided on the main body 31. When the first slider 314 slides in the first slide groove 3253, it can provide guidance for the rotation of the first mounting member 325 relative to the main body 31, thereby reducing the possibility of deviation in the rotation direction of the first mounting member 325 and the possibility of deviation in the position of the support wheel 324, thereby improving the stability of the movement of the reactor pool cleaning robot.

[0069] In some embodiments, limited surfaces are provided at both ends of the first slide groove 3253, and the first slider 314 can be abutted against the limited surfaces, thereby limiting the rotation angle of the first mounting member 325. In this way, the swing amplitude of the support wheel 324 around the first axis 500 can be limited, thereby reducing the situation where the stability of the movement of the reactor cleaning robot is reduced due to the excessive swing amplitude of the support wheel 324.

[0070] In some embodiments, the driving assembly 32 may include two first mounting members 325, and the first mounting portion 3251 and the second mounting portion 3252 of the two first mounting members 325 may be installed with support wheels 324. In this way, more support wheels 324 can provide support for the reactor pool cleaning robot, which helps to further improve the stability of the movement of the reactor pool cleaning robot.

[0071] In some embodiments, the two first mounting members 325 can be connected via a second connecting member 328, and the two ends of the second mounting member 326 can be hinged to the two first mounting members 325 respectively. In this way, when one of the first mounting members 325 rotates, the second connecting member 328 can push or pull the other first mounting member 325 to rotate, so that the first mounting member 325 can adjust its position synchronously to adapt to the uneven ground.

[0072] In some embodiments, the second connecting member 328 may include a spring, so that the second connecting member 328 has a shock-absorbing effect, that is, the second connecting member 328 may be a shock absorber, and the vibration generated by the collision of the support wheel 324 of one of the first mounting members 325 can be absorbed by the second connecting member 328 to reduce the vibration transmitted to the other first mounting member 325, thereby further improving the smoothness of the movement of the reactor pool cleaning robot.

[0073] Reference Figure 3 and 4 The driving assembly 32 also includes a second mounting member 326 slidably disposed on the main body 31. The second mounting member 326 can slide relative to the main body 31 along an arrangement direction parallel to the driving wheel 321 and the driven wheel 322 to increase or decrease the distance between the driving wheel 321 and the driven wheel 322.

[0074] It can be understood that when the ground becomes uneven, the track 323 bends to adapt to changes in the terrain. A second mounting member 326 is provided on the main body 31 and can slide relative to the main body 31 in a direction parallel to the arrangement of the driving wheel 321 and the driven wheel 322, and the driven wheel 322 is mounted on the second mounting member 326. Then, the driven wheel 322 can slide to adjust the distance between it and the driving wheel. When the ground becomes uneven and the track 323 bends, the driven wheel 322 can move toward the driving wheel 321. When the reactor pool cleaning robot moves on a flat ground, the driven wheel 322 can move away from the driving wheel 321 so that the track 323 can remain taut.

[0075] In some embodiments, an elastic member may be provided between the second mounting member 326 and the main body 31, and the elastic member may respectively resist the second mounting member 326 and the main body 31, and the elastic member pushes the second mounting member 326 to move so that the driven wheel 322 can move in a direction away from the driving wheel 321, so that the track 323 can remain tensioned.

[0076] In some embodiments, the second mounting member 326 can be slidably connected to the first mounting member 325, and the second mounting member 326 can be provided with a second slide groove 3261, the length of the second slide groove 3261 extends along the arrangement direction of the driving wheel 321 and the driven wheel 322, and the first mounting member 325 can be provided with a second slider 3254 that is slidably adapted to the second slide groove 3261. In this way, a support can be formed between the first mounting member 325 and the second mounting member 326, which helps to improve the stability of the structure of the reactor pool cleaning robot.

[0077] Reference Figures 1 to 3 In some embodiments, the driving assembly 32 also includes a baffle 327 spaced apart from the outer side of the main body 31, and a first connecting member 315 connecting the main body 31 and the baffle 327, and the driving wheel 321 and the driven wheel 322 are arranged between the spacing area between the baffle 327 and the main body 31.

[0078] The driving wheel 321 and the driven wheel 322 are arranged between the spacing area between the baffle 327 and the main body 31, that is, the baffle 327 is arranged on the side of the driving wheel 321 and the driven wheel 322 away from the main body 31. In this way, the baffle 327 can provide shielding for the driving wheel 321 and the driven wheel 322, thereby reducing the corrosion of the driving wheel 321 and the driven wheel 322 by radioactive substances in the reactor pool.

[0079] In some embodiments, the first connecting member 315 can be a first rotating shaft connecting the first mounting member 325 and the main body 31 , so that both ends of the first connecting member 315 can be fixed to the main body 31 and the baffle 327 , and the first mounting member 325 can be rotatably set on the first connecting member 315 .

[0080] In some embodiments, a third slide groove 3271 can be further provided on the baffle 327, and the length of the third slide groove 3271 extends along the arrangement direction of the driving wheel 321 and the driven wheel 322. A third slider 3262 slidably adapted to the third slide groove 3271 is provided on the second mounting member 326. In this way, a support can be formed between the baffle 327 and the second mounting member 326, which helps to improve the stability of the structure of the reactor pool cleaning robot.

[0081] Reference Figure 6 and Figure 7In some embodiments, the main body 31 may include a chassis 311 and a shell 312 connected to the chassis 311. The chassis 311 and the shell 312 may enclose a receiving cavity 310. A driving motor 33 connected to a driving wheel 321 may be disposed in the receiving cavity 310. The shell 312 may be provided with a mounting hole. The output shaft of the driving motor 33 may extend into the receiving cavity 310 through the mounting hole and be connected to the driving wheel 321. When the driving motor 33 is started, the driving wheel 321 may rotate.

[0082] The drive motor 33 is arranged in a accommodating cavity 310 formed by the chassis 311 and the shell 312. The chassis 311 and the shell 312 can shield the drive motor 33, reduce the corrosion of the drive motor 33 by radioactive substances in the reactor pool, and thus protect the drive motor 33, which helps to ensure the performance of the reactor pool cleaning robot.

[0083] In some embodiments, the chassis 311 and the shell 312 can be combined into one by welding, so that the gap between the chassis 311 and the shell 312 can be filled with the weld, which can further reduce the probability of radioactive substances entering the accommodating cavity 310 and help improve the protection effect of the drive motor 33.

[0084] In some embodiments, the driving motor 33 can be a servo motor, a servo motor, etc., and the power of the driving motor 33 can be 400W.

[0085] In some embodiments, driving components 32 are disposed on both sides of the main body 31 , so as to balance the force on the main body 31 and improve the stability of the movement of the reactor cleaning robot.

[0086] In some embodiments, the chassis 311 and the housing 312 may be made of radiation-resistant metal materials such as stainless steel and aluminum.

[0087] In some embodiments, the reactor pool cleaning robot also includes a communication interface connected to the vehicle body 3 and the cleaning mechanism, the communication interface is used for plugging in a communication cable, and the end of the communication cable facing away from the communication interface can be connected to a control center so that the vehicle body 3 and the cleaning mechanism can be connected to the control center, thereby enabling the vehicle body 3 to move according to the instructions of the control center, and enabling the cleaning mechanism to clean the inner wall of the pool according to the instructions of the control center.

[0088] It should be noted that the control center can be located outside the reactor pool, and the control center can include control elements such as controllers and communicators. The staff can remotely control the reactor pool cleaning robot through the control center.

[0089] It should be noted that the communication interface can be set on the vehicle body 3 or on the cleaning mechanism, and the setting position of the communication interface can be selected according to actual needs; the communication interface is connected to the vehicle body 3 and the cleaning mechanism, and the communication interface can be connected to the vehicle body 3 and the cleaning mechanism by a signal line.

[0090] The communication interface is connected to the control center through a communication cable, and the instructions issued by the control center can be transmitted to the reactor pool cleaning robot through the communication cable, so that remote control of the reactor pool cleaning robot can be realized; in addition, the reactor pool cleaning robot and the control center are connected by a wired communication connection method using a communication cable, which can reduce the interference of radiation in the pool on signal transmission, so that the reactor pool cleaning robot can accurately receive instructions from the control center.

[0091] Reference Figure 1 , Figure 2 , Figure 8 and Fig. 9 The vehicle body 3 and / or the cleaning mechanism is provided with a sensing component 24, which is communicatively connected to the communication interface. The sensing component 24 is used to detect environmental information around the reactor pool cleaning robot and send the environmental information to the controller so that the controller can generate control instructions according to the environmental information.

[0092] It should be noted that the sensing component 24 can be used to detect the environment around the reactor pool cleaning robot to determine the situation of obstacles. The sensing component 24 can include one or more of an ultrasonic sensor 243, a laser sensor 242, a visual sensor 244, an infrared sensor, and a radar. Among them, the ultrasonic sensor 243 detects obstacles by emitting ultrasonic waves and receiving reflected waves. After the ultrasonic waves are emitted at a certain frequency, they will be reflected back when encountering an obstacle. The ultrasonic sensor calculates the time difference between the emission and reception of the ultrasonic waves, and then combines the propagation speed of the ultrasonic waves in the medium to calculate the distance to the obstacle; the infrared sensor includes an active infrared sensor and a passive infrared sensor. The active infrared sensor is composed of an infrared transmitting tube and a receiving tube. The transmitting tube emits infrared rays. When encountering an obstacle, the infrared rays are reflected back and received by the receiving tube, thereby detecting the obstacle. The passive infrared sensor The external sensor detects the infrared rays emitted by the object itself, and finds obstacles by sensing the changes in the intensity of infrared radiation; the visual sensor 244 can obtain images of the surrounding environment through an optical lens, and then use image processing technology to identify obstacles. It can be a monocular camera, or a binocular or multi-camera camera. Among them, the binocular camera calculates the depth information of the object through the principle of parallax, which is similar to the human binocular vision system; when the laser sensor 242 is working, the laser emitting diode first emits a laser pulse at the target. After being reflected by the target, the laser is scattered in all directions. Part of the scattered light returns to the sensor receiver and is received by the optical system and imaged onto the avalanche photodiode. The avalanche photodiode can detect extremely weak light signals and convert them into corresponding electrical signals. Common laser ranging sensors can measure the target distance by recording and processing the time from the emission of the light pulse to the return and reception.

[0093] The sensing component 24 is installed on the reactor pool cleaning robot, which can detect the surrounding environment of the reactor pool cleaning robot, so as to obtain environmental information around the reactor pool cleaning robot, and can send the environmental information to the control center so that the staff can timely obtain the environmental information around the reactor pool cleaning robot, and thus timely adjust the control instructions of the reactor pool cleaning robot.

[0094] It is understandable that the increase in power consumption of digital circuits means an increase in current, so under the influence of radiation photoelectric effect, a larger photocurrent will be generated, causing irreversible damage to the device. At the same time, the increase in current will cause the internal temperature of the device to rise, which will speed up the movement of photoelectrons or holes and accelerate radiation damage. The higher the clock frequency, the shorter the single clock cycle. The system will sample within the clock cycle to determine the current logic level. Nuclear radiation can cause instantaneous logic flips or logic locks in digital circuits, although this is temporary. However, if the sampling period is shortened to a certain extent, the system will not be able to correct this logic error, and will obtain an incorrect logic value, which will bring unexpected consequences.

[0095] Reference Figure 2 In some embodiments, the communication interface may include a first communication interface 212 and a second communication interface 241, wherein the first communication interface 212 may be installed on the mounting base 21, and the second communication interface 241 may be installed on the sensing component 24. In this way, the sensing component 24 and the control center may be connected using a communication cable, and the environmental information detected by the sensing component 24 may be collected and analyzed by the control center. The reactor pool cleaning robot may not need to analyze and process the information, thereby reducing the power consumption of the reactor pool cleaning robot and reducing the impact of radiation on the performance of the reactor pool cleaning robot.

[0096] In some embodiments, the control center can construct map information of the reactor pool based on the information detected by the sensing component 24, and can autonomously plan a cleaning path based on the constructed map information, and send control information to the reactor pool cleaning robot to realize the autonomous cleaning operation of the reactor pool cleaning robot and ensure the obstacle avoidance effect of the reactor pool cleaning robot during the cleaning process.

[0097] In some embodiments, the camera of the sensing component 24 may include a radiation-resistant housing, a zoom lens disposed in the radiation-resistant housing, an image processor, a signal processor and a drive transmitter, wherein the signal processor is respectively connected to the zoom lens, the image processor and the drive transmitter, the signal processor can perform magnification and zoom control on the zoom lens so that the zoom lens can obtain a clear image, the image processor can process the obtained image and generate original image coding data in combination with the timing control information from the signal processor, after receiving the original image coding data, the signal processor can process the data into standard interface data and send it to the drive transmitter, after receiving the data, the drive transmitter can generate a video signal, and the video signal can be sent to the control center through the communication interface and the communication cable.

[0098] Reference Figure 1 , Figure 8 and Fig. 9In some embodiments, the cleaning mechanism includes a robotic arm 2 and a cleaning component 1 installed at one end of the robotic arm 2, the end of the robotic arm 2 facing away from the cleaning component 1 is connected to the vehicle body 3, the robotic arm 2 drives the cleaning component 1 to move relative to the vehicle body 3, the nozzle includes a first nozzle 11 and a second nozzle 12, that is, the cleaning component 1 includes a first nozzle 11 and a second nozzle 12 installed on the robotic arm 2, the first nozzle 11 is used to be connected to a cleaning agent pipe to spray cleaning agent onto the inner wall of the stack pool, and the second nozzle 12 is used to be connected to a clean water pipe to spray clean water onto the inner wall of the stack pool.

[0099] It should be noted that the robot arm 2 is a mechanical structure that can imitate the movements of human arms. It can perform precise motion control within a certain spatial range, and is usually composed of multiple joints and connecting rods. The rotation or extension of each joint is achieved through a motor, hydraulic pressure or pneumatic drive, thereby completing various complex operation tasks.

[0100] It should be noted that the cleaning agent pipe can be connected to the cleaning agent storage component, the cleaning agent in the cleaning agent storage component can enter the cleaning agent pipe and be sprayed out from the first nozzle 11, and the clean water pipe can be connected to the clean water storage component, the clean water in the clean water storage component can enter the clean water pipe and be sprayed out from the second nozzle 12, so as to achieve the cleaning of the inner wall of the stack pool.

[0101] A cleaning component 1 is provided on the robot arm 2, and a first nozzle 11 and a second nozzle 12 of the cleaning component 1 can be connected to a cleaning agent pipe and a clean water pipe, respectively. Thus, during the cleaning operation, it is not necessary to disassemble the cleaning agent pipe and the clean water pipe from the robot arm 2, which is beneficial to improving the efficiency of the cleaning operation. In addition, the first nozzle 11 and the second nozzle 12 can spray cleaning agent and clean water, respectively, onto the inner wall of the stack pool, and the coordinated operation of the first nozzle 11 and the second nozzle 12 helps to improve the cleaning effect of the stack pool.

[0102] In some embodiments, the cleaning assembly 1 further includes a first quick-connect connector 13 connected to the first nozzle 11, and the first quick-connect connector 13 is used for detachably connecting to the cleaning agent pipe.

[0103] The first quick-plug connector 13 is a mechanical structure for quickly connecting and disconnecting fluid (liquid or gas) pipelines. It can quickly connect or disconnect the cleaning agent tube and the first nozzle 11 without the need for tools or with only simple operations, thereby facilitating the connection and installation of the two and improving the installation efficiency. In addition, the first quick-plug connector 13 can be detachably connected to the cleaning agent tube. In this way, when the cleaning mechanism completes the cleaning operation, the cleaning agent tube can be separated from the first quick-plug connector 13, thereby realizing rapid disassembly of the cleaning agent tube and the cleaning mechanism.

[0104] In some embodiments, the cleaning assembly 1 further includes a second quick-connect connector 14 connected to the second nozzle 12, and the second quick-connect connector 14 is used to be detachably connected to the clean water pipe. The second quick-connect connector 14 is a mechanical structure for quickly connecting and disconnecting a fluid (liquid or gas) pipeline, which can quickly connect or separate the clean water pipe and the second nozzle 12 without the need for tools or with only simple operations, thereby facilitating the connection and installation of the two and improving the installation efficiency; in addition, the second quick-connect connector 14 can be detachably connected to the clean water pipe, so that when the cleaning mechanism completes the cleaning operation, the clean water pipe can be separated from the second quick-connect connector 14, thereby realizing the quick disassembly of the clean water pipe and the cleaning mechanism.

[0105] Reference Figure 7 In some embodiments, the vehicle body 3 is provided with a mounting groove 313, and a part of the robotic arm 2 can be inserted into the mounting groove 313. This can help improve the connection stability between the robotic arm 2 and the vehicle body 3, thereby improving the stability of the movement of the robotic arm 2.

[0106] Reference Fig. 9 In some embodiments, the robotic arm 2 includes a mounting seat 21, an arm body assembly 22, and a first driving member 23 connecting the mounting seat 21 and the arm body assembly 22, the mounting seat 21 is connected to the vehicle body 3, the mounting seat 21 has a mounting surface 211 facing the vehicle body 3, the cleaning component 1 is installed on the arm body assembly 22, the first base 231 and the first output shaft 232 of the first driving member 23 are respectively connected to the mounting seat 21 and the arm body assembly 22, the first output shaft 232 can rotate relative to the first base 231 to drive the arm body assembly 22 to rotate relative to the mounting seat 21 around the second axis 100, so as to drive the cleaning component 1 to rotate synchronously, and the second axis 100 is perpendicular to the mounting surface 211.

[0107] It should be noted that, in some embodiments, the first output shaft 232 of the first driving member 23 can be connected to the arm body assembly 22, and the first base 231 of the first driving member 23 can be connected to the mounting seat 21; in other embodiments, the first output shaft 232 can be connected to the mounting seat 21, and the first base 231 can be connected to the arm body assembly 22; the above two connection methods can realize that the first driving member 23 drives the arm body assembly 22 to rotate relative to the mounting seat 21; the second axis 100 can be the rotation axis of the first output shaft 232.

[0108] By setting the arm body assembly 22 to be movably connected with the mounting seat 21, the first driving member 23 drives the arm body assembly 22 to rotate relative to the mounting seat 21. In this way, the arm body assembly 22 can drive the cleaning assembly 1 to rotate synchronously to change the position of the cleaning assembly 1 in a direction parallel to the mounting surface 211, so that the first nozzle 11 and the second nozzle 12 can clean different areas of the pool; in addition, the mounting seat 21 and the arm body assembly 22 are connected through the first driving member 23, which can increase the rotation angle of the arm body assembly 22 relative to the mounting seat 21, thereby improving the cleaning range of the cleaning assembly 1.

[0109] In some embodiments, the mounting surface 211 is horizontally arranged. Then, when the first driving member 23 drives the arm body assembly 22 to rotate relative to the mounting seat 21 to drive the cleaning assembly 1 to rotate synchronously, the horizontal position of the cleaning assembly 1 can be changed; in other embodiments, the mounting surface 211 is vertically arranged. Then, when the first driving member 23 drives the arm body assembly 22 to rotate relative to the mounting seat 21 to drive the cleaning assembly 1 to rotate synchronously, the vertical height of the cleaning assembly 1 can be changed.

[0110] In some embodiments, the first driving member 23 may include a first hollow torque motor, which may include a first base 231 and a first output shaft 232 . The first driving member 23 may drive the arm assembly 22 to rotate 360° around the second axis 100 relative to the mounting base 21 .

[0111] Continue to refer to Fig. 9 In some embodiments, the sensing component 24 can be installed on the first driving member 23. When the first driving member 23 drives the arm body component 22 to rotate relative to the mounting base 21, it can synchronously drive the sensing component 24 to rotate relative to the mounting base 21, so that the arm body component 22 is always located within the detection range of the sensing component 24.

[0112] When the first output shaft 232 is connected to the mounting base 21 and the first base 231 is connected to the arm assembly 22, the sensing assembly 24 can be arranged on the first base 231. When the first output shaft 232 is connected to the arm assembly 22 and the first base 231 is connected to the mounting base 21, the reaction assembly can be arranged on the first output shaft 232. In this way, when the first output shaft 232 rotates relative to the first base 231 to drive the arm assembly 22 to rotate synchronously, the sensing assembly 24 can rotate with the arm assembly 22. When the sensing assembly 24 rotates, the lens of the sensing assembly 24 will also rotate, so that the detection range of the sensing assembly 24 changes, and the sensing assembly 24 and the arm assembly 22 rotate synchronously, and there may be no position change between the sensing assembly 24 and the arm assembly 22. In this way, the arm assembly 22 can always be located within the detection range of the sensing assembly 24. The sensing assembly 24 can use the environment around the detection arm assembly 22 to reduce the possibility of the arm assembly 22 colliding with an obstacle.

[0113] In some embodiments, the front and rear of the vehicle body 3 may also be equipped with sensing components 24, so that the sensing components 24 installed at different positions can detect different ranges, which helps to improve the accuracy of the environmental information obtained by the reaction component.

[0114] Reference Figures 9 to 13 In some embodiments, the arm assembly 22 includes a first arm body 221, a second arm body 222, and a second driving member 223 connecting the first arm body 221 and the second arm body 222. The end of the first arm body 221 away from the second arm body 222 is provided with a cleaning assembly 1, and the end of the second arm body 222 away from the first arm body 221 is connected to the first driving member 23. The first driving member 23 drives the second arm body 222 to rotate around the second axis 100 to drive the cleaning assembly 1 to rotate synchronously. The second base 2231 and the second output shaft 2232 of the second driving member 223 are respectively connected to the first arm body 221 and the second arm body 222. The second output shaft 2232 can rotate relative to the second base 2231 to drive the first arm body 221 to rotate relative to the second arm body 222 around the third axis 200. The third axis 200 is parallel to the mounting surface 211 to drive the cleaning assembly 1 to approach or move away from the mounting surface 211.

[0115] It should be noted that the second base 2231 of the second driving member 223 can be connected to the first arm body 221, and the second output shaft 2232 of the second driving member 223 can be connected to the second arm body 222, or the second base 2231 is connected to the second arm body 222, and the second output shaft 2232 is connected to the first arm body 221; the above two connection methods can realize that the second driving member 223 drives the first arm body 221 to rotate around the third axis 200 relative to the second arm body 222; the third axis 200 can be the rotation axis of the second output shaft 2232.

[0116] When the first arm 221 rotates around the third axis 200 relative to the second arm 222, the cleaning component 1 can be driven to rotate synchronously, and the third axis 200 is parallel to the mounting surface 211, so that the cleaning component 1 can be moved closer to or away from the mounting surface 211, that is, the position of the cleaning component 1 can be adjusted in a direction perpendicular to the mounting surface 211, thereby increasing the movement range of the cleaning component 1, thereby improving the cleaning range of the cleaning component 1; in addition, the first arm 221 and the second arm 222 are connected by the second driving member 223, which can increase the rotation angle of the first arm 221 relative to the second arm 222, thereby improving the cleaning range of the cleaning component 1.

[0117] In some embodiments, the mounting surface 211 is horizontally arranged. Then, when the second driving member 223 drives the first arm body 221 to rotate relative to the second arm body 222, the vertical height of the cleaning component 1 can be changed. In other embodiments, the mounting surface 211 is vertically arranged. Then, when the second driving member 223 drives the first arm body 221 to rotate relative to the second arm body 222, the horizontal position of the cleaning component 1 can be changed.

[0118] In some embodiments, the mounting surface 211 is horizontally arranged, and the angle between the first arm 221 and the horizontal direction can be in the range of -175° to 175°; the second driving member 223 can include a second hollow torque motor, and the second hollow torque motor can include a second base 2231 and a second output shaft 2232.

[0119] In some embodiments, the arm assembly 22 also includes a third driving member 224 connecting the second arm body 222 and the first driving member 23. The third base 2241 and the third output shaft 2242 of the third driving member 224 are respectively connected to the second arm body 222 and the first driving member 23. The third output shaft 2242 can rotate relative to the third base 2241 to drive the second arm body 222 to rotate around a fourth axis 300 relative to the first driving member 23. The fourth axis 300 is parallel to the mounting surface 211 to drive the first arm body 221 to approach or move away from the mounting surface 211.

[0120] It should be noted that the third base 2241 of the third driving member 224 can be connected to the second arm body 222, and the third output shaft 2242 of the third driving member 224 can be connected to the first driving member 23, or the third base 2241 can be connected to the first driving member 23, and the third output shaft 2242 can be connected to the second arm body 222. The above two connection methods can both enable the third driving member 224 to drive the second arm body 222 to rotate around the fourth axis 300 relative to the first driving member 23; the fourth axis 300 can be the rotation axis of the third output shaft 2242.

[0121] It should be noted that when the first base 231 of the first driving member 23 is connected to the mounting seat 21, the third driving member 224 can be connected to the first output shaft 232 of the first driving member 23; when the first output shaft 232 of the first driving member 23 is connected to the mounting seat 21, the third driving member 224 can be connected to the first base 231 of the first driving member 23.

[0122] When the second arm 222 rotates around the fourth axis 300 relative to the first driving member 23, it can drive the first arm 221 to rotate synchronously, and then drive the cleaning component 1 to rotate, and the fourth axis 300 is parallel to the mounting surface 211, so that the position of the cleaning component 1 can be adjusted in a direction perpendicular to the mounting surface 211, so that the movement range of the cleaning component 1 can be increased, thereby improving the cleaning range of the cleaning component 1; in addition, the second arm 222 and the first driving member 23 are connected through the third driving member 224, which can increase the rotation angle of the second arm 222 relative to the first driving member 23, thereby improving the cleaning range of the cleaning component 1.

[0123] In some embodiments, the mounting surface 211 is horizontally arranged. Then, when the third driving member 224 drives the second arm body 222 to rotate relative to the first driving member 23, the vertical height of the first arm body 221 and the cleaning component 1 can be changed. In other embodiments, the mounting surface 211 is vertically arranged. Then, when the third driving member 224 drives the second arm body 222 to rotate relative to the first driving member 23, the horizontal position of the first arm body 221 and the cleaning component 1 can be changed.

[0124] In some embodiments, the mounting surface 211 is horizontally arranged, and the angle between the second arm 222 and the horizontal direction can range from -85° to 265°; the third driving member 224 can include a third hollow torque motor, and the third hollow torque motor can include a third base 2241 and a third output shaft 2242.

[0125] In some embodiments, the third driving member 224 may be communicatively connected to the sensing component 24 , and the sensing component 24 may send a control instruction to the third driving member 224 based on the detected information, so that the third driving member 224 drives the second arm 222 to rotate relative to the first driving member 23 .

[0126] In some embodiments, the arm assembly 22 further includes a first angle sensor and a second angle sensor, wherein the first sensing portion and the second sensing portion of the first angle sensor are respectively connected to the first arm 221 and the second arm 222, and the first angle sensor is communicatively connected to the second driving member 223. The first angle sensor detects the relative position of the first sensing portion and the second sensing portion to detect the relative position between the first arm 221 and the second arm 222. When the relative position between the first arm 221 and the second arm 222 deviates from the first preset position, the first angle sensor sends a control instruction to the second driving member 223 so that the second driving member 223 drives the first arm 221 rotates relative to the second arm body 222; the third sensing part and the fourth sensing part of the second angle sensor are respectively connected to the second arm body 222 and the first driving member 23, and the second angle sensor is communicatively connected to the third driving member 224. The second angle sensor detects the relative position of the third sensing part and the fourth sensing part to detect the relative position between the second arm body 222 and the first driving member 23. When the relative position between the second arm body 222 and the first driving member 23 deviates from the second preset position, the second angle sensor sends a control instruction to the third driving member 224, so that the third driving member 224 drives the second arm body 222 to rotate relative to the first driving member 23.

[0127] It should be noted that an angle sensor is a device for measuring the rotation angle of an object. It can convert the angular displacement of a mechanical component into an electrical signal output. This electrical signal can be an analog signal (such as voltage, current) or a digital signal, so that the measurement system can sense and process the angle information. Angle sensors can be divided into many types according to different measurement principles, such as potentiometer type, photoelectric type, magnetoelectric type and Hall effect type. The angle sensor can include a sensitive element, a rotating component connected to the sensitive element and a signal processing unit. The rotating component can be connected to the object to be measured and transmit the angular displacement of the object to be measured to the sensitive element. The sensitive element can be a potentiometer type sensitive element, a photoelectric type sensitive element, a magnetoelectric type sensitive element, or a Hall effect type sensitive element. The sensitive element can transmit the acquired angle information to the signal processing unit, and the signal processing unit analyzes and processes this information. In this embodiment, one of the first sensing part and the second sensing part can be the above-mentioned sensitive element, and the other of the two is the above-mentioned rotating part. One of the third sensing part and the fourth sensing part can be the above-mentioned sensitive element, and the other of the two is the above-mentioned rotating part.

[0128] It should be noted that the information of the first preset position may be information pre-stored in the first angle sensor. As the cleaning operation progresses, the first preset position may continue to change. For example, in the early stage of the cleaning operation, the first preset position may indicate a 90° angle formed between the first arm 221 and the second arm 222. For example, in the middle stage of the cleaning operation, the first preset position may indicate a 180° angle formed between the first arm 221 and the second arm 222. The second preset position is similar, and this embodiment will not be elaborated here.

[0129] By using a first angle sensor to detect the relative position of the first arm 221 and the second arm 222, the position information of the first arm 221 and the second arm 222 can be obtained in real time, thereby achieving precise position control of the first arm 221, so that the first arm 221 can drive the cleaning component 1 to clean the corresponding position; by using a second angle sensor to detect the relative position of the second arm 222 and the first driving member 23, the position information of the second arm 222 in the current state can be obtained in real time, thereby achieving precise position control of the second arm 222, so that the second arm 222 can drive the cleaning component 1 to clean the corresponding position line through the first arm 221.

[0130] Reference Figure 8 and Fig. 9 In some embodiments, the arm assembly 22 also includes a fourth driving member 225 connecting the cleaning assembly 1 and the first arm body 221, the fourth base 2251 and the fourth output shaft 2252 of the fourth driving member 225 are respectively connected to the first arm body 221 and the cleaning assembly 1, the fourth output shaft 2252 of the fourth driving member 225 can rotate relative to the fourth base 2251 of the fourth driving member 225 to drive the cleaning assembly 1 to rotate synchronously around the fifth axis 400 relative to the first arm body 221, and the fifth axis 400 is set at an angle to the central axis direction of the first nozzle 11 and the second nozzle 12.

[0131] It should be noted that the fourth base 2251 of the fourth driving member 225 can be connected to the first arm body 221, and the fourth output shaft 2252 of the fourth driving member 225 can be connected to the cleaning component 1, or the fourth output shaft 2252 of the fourth driving member 225 is connected to the first arm body 221, and the fourth base 2251 of the fourth driving member 225 is connected to the cleaning component 1. The above two connection methods can realize that the fourth driving member 225 drives the cleaning component 1 to rotate around the fifth axis 400 relative to the first arm body 221; the fifth axis 400 can be the rotation axis of the fourth output shaft 2252.

[0132] It should be noted that the central axis direction of the first nozzle 11 is the opening direction of the first nozzle 11, and the cleaning agent sprayed by the first nozzle 11 can be ejected along the central axis direction of the first nozzle 11; the central axis direction of the second nozzle 12 is the opening direction of the second nozzle 12, and the clean water sprayed by the second nozzle 12 can be ejected along the central axis direction of the second nozzle 12.

[0133] Since the fifth axis 400 is set at an angle to the central axis direction of the first nozzle 11 and the second nozzle 12, when the cleaning component 1 rotates around the fourth output shaft 2252 relative to the first arm body 221, the opening direction of the first nozzle 11 and the second nozzle 12 can be changed, so that the first nozzle 11 and the second nozzle 12 can spray and clean more areas, thereby increasing the cleaning range of the cleaning component 1; in addition, connecting the cleaning component 1 and the first arm body 221 through the fourth driving member 225 can increase the rotation angle of the cleaning component 1 relative to the first arm body 221, thereby improving the cleaning range of the cleaning component 1.

[0134] In some embodiments, the fourth driving member 225 may include a fourth hollow torque motor, which may include a fourth base 2251 and a fourth output shaft 2252. The angle between the central axis of the first nozzle 11 and the second nozzle 12 and the horizontal direction may be in the range of -175° to 175°.

[0135] In some embodiments, the cleaning assembly 1 includes a mounting portion connected to the fourth driving member 225, and the first nozzle 11 and the second nozzle 12 are installed on the mounting portion. The fourth driving member 225 drives the mounting portion to rotate around the fifth axis 400 to drive the first nozzle 11 and the second nozzle 12 to rotate synchronously.

[0136] Reference Figure 8 and Fig.14 In some embodiments, the fourth driving member 225 is a dual-rotor motor, and the fourth driving member 225 includes two fourth output shafts 2252, which are respectively connected to the first nozzle 11 and the second nozzle 12, and the two fourth output shafts 2252 respectively drive the first nozzle 11 and the second nozzle 12 to rotate around the fifth axis 400.

[0137] The fourth driving member 225 is configured as a dual-rotor motor, and the fourth driving member 225 may have two fourth output shafts 2252. Thus, the first nozzle 11 and the second nozzle 12 may be respectively installed on the two fourth output shafts 2252, and the first nozzle 11 and the second nozzle 12 may be respectively driven to rotate by the two fourth output shafts 2252, thereby realizing flexible control of the positions of the first nozzle 11 and the second nozzle 12.

[0138] In some embodiments, the first driving member 23 may further include a first thermistor, which may be connected to the first base 231 and the first output shaft 232, respectively. The first thermistor may detect the temperature inside the first driving member 23. When it is detected that the temperature inside the first driving member 23 is too high, the first thermistor may stop the relative rotation between the first output shaft 232 and the first base 231 to protect the first driving member 23 and reduce the risk of damage to the first driving member 23 due to overload.

[0139] In some embodiments, the second driving member 223 may also include a second thermistor, the third driving member 224 may also include a third thermistor, and the fourth driving member 225 may also include a fourth thermistor. The second thermistor, the third thermistor and the fourth thermistor may respectively detect the temperature inside the corresponding driving member to reduce the risk of damage due to overload of the driving member.

[0140] In some embodiments, the first driving member 23 may further include a first harmonic reducer. The first base 231 may be connected to the first output shaft 232 through the first harmonic reducer. The first harmonic reducer may limit the rotation of the first output shaft 232. This may reduce the rotation speed of the arm body assembly 22 relative to the mounting base 21 to ensure the stability of the rotation of the arm body assembly 22.

[0141] In some embodiments, the angular velocity of the arm assembly 22 relative to the mounting base 21 may range from 0 to 120° / s.

[0142] In some embodiments, the second driving member 223 may include a second harmonic reducer, and the second base 2231 may be connected to the second output shaft 2232 through the second harmonic reducer, so that the rotational speed of the second output shaft 2232 relative to the second base 2231 can be limited; the third driving member 224 may include a third harmonic reducer, and the third base 2241 may be connected to the third output shaft 2242 through the third harmonic reducer, so that the rotational speed of the third output shaft 2242 relative to the third base 2241 can be limited; the fourth driving member 225 may include a fourth harmonic reducer, and the fourth base 2251 may be connected to the third output shaft 2242 through the fourth harmonic reducer, so that the rotational speed of the fourth output shaft 2252 relative to the fourth base 2251 can be limited.

[0143] In some embodiments, the angular velocity of the first arm 221 relative to the second arm 222 can range from 0 to 120° / s, the angular velocity of the second arm 222 relative to the first driving member 23 can range from 0 to 120° / s, and the angular velocity of the cleaning component 1 relative to the first arm 221 can range from 0 to 120° / s.

[0144] In some embodiments, the first driving member 23, the second driving member 223, the third driving member 224, and the fourth driving member 225 may also include a low-voltage DC driver, which may be connected to the corresponding motor. The low-voltage DC driver is a device for controlling the operation of a low-voltage DC motor. It mainly receives a control signal and converts it into a drive signal for the DC motor, thereby achieving precise control of the motor's operating parameters such as speed, direction, and torque.

[0145] In this embodiment, the cleaning mechanism comprises a first driving member 23, a second driving member 223, a third driving member 224, and a fourth driving member 225. The cleaning mechanism has four degrees of freedom, so that the cleaning mechanism can have a larger range of motion.

[0146] In some embodiments, the first driving member 23, the second driving member 223, the third driving member 224 and the fourth driving member 225 can be connected to the control center via communication cables, so that the staff can control the robot arm 2 at the control center.

[0147] In some embodiments, the protection level of the reactor pool cleaning robot is IP67, which can ensure the waterproof ability of the reactor pool cleaning robot, thereby facilitating the flushing and cleaning of the reactor pool cleaning robot after the cleaning operation is completed.

[0148] In some embodiments, the first arm body 221 and the second arm body 222 may be made of carbon fiber material, and the lengths of the first arm body 221 and the second arm body 222 may be designed according to actual needs.

[0149] In some embodiments, the cleaning agent pipe and the clean water pipe can be installed on the arm assembly 22 by a clamp, which can reduce the pulling between the cleaning agent pipe and the clean water pipe and the first quick-connect connector 13 and the second quick-connect connector 14 during the cleaning process, and reduce the risk of separation of the cleaning agent pipe and the clean water pipe from the first quick-connect connector 13 and the second quick-connect connector 14.

[0150] In some embodiments, the water pressure sprayed from the second interface is 10 MPa to 25 MPa.

[0151] In some embodiments, the deadweight of the robotic arm 2 is 15 kg, the effective load of the robotic arm 2 may be 12 kg, the maximum arm span length may be 1780 mm, and the total mass of the reactor pool cleaning robot may be 50 kg.

[0152] In some embodiments, the rated powers of the first driving member 23 , the second driving member 223 , the third driving member 224 and the fourth driving member 225 may be 750 W, 300 W, 750 W and 150 W, respectively.

[0153] In some embodiments, after the arm assembly 22 is unfolded, the dimension extending outside the vehicle body 3 is not less than 1.5 m.

[0154] In some embodiments, the components in the vehicle body 3 and the cleaning mechanism may be radiation-resistant components, which can enhance the radiation resistance of the vehicle body 3 and the cleaning mechanism and ensure the performance of the reactor pool cleaning robot during operation.

[0155] Reference Fig.15 The embodiment of the present application also provides a reactor pool cleaning method, providing a reactor pool cleaning robot in any of the above embodiments, comprising the following steps:

[0156] S100, enabling the reactor pool cleaning robot to enter the reactor pool;

[0157] S200, moving the reactor pool cleaning robot along a first preset path, and causing the cleaning mechanism of the reactor pool cleaning robot to spray a cleaning agent onto an inner wall of the pool, so that the cleaning agent adheres to the inner wall of the pool;

[0158] S300, moving the reactor pool cleaning robot along a second preset path, and causing the cleaning mechanism to spray clean water toward the inner wall of the pool to rinse the inner wall of the pool.

[0159] It should be noted that the first preset path can be a cleaning path defined before the cleaning operation starts according to the stack pool conditions, or it can be a forward path of the reactor stack pool cleaning robot gradually formed during the cleaning process; correspondingly, the second preset path can be a cleaning path defined before the cleaning operation starts according to the stack pool conditions, or it can be a forward path of the reactor stack pool cleaning robot gradually formed during the cleaning process; the first preset path and the second preset path can be the same or different.

[0160] It should be noted that in some embodiments, the starting point and end point of the first preset path may be the same, and the starting point and end point of the second preset path may also be the same. When the starting point and end point of the first preset path are the same, and the starting point and end point of the second preset path are also the same, the starting point of the first preset path may be the same as the starting point of the second preset path.

[0161] The reactor pool cleaning robot is moved in the pool according to a first preset path, and during the movement, cleaning agent is sprayed onto the inner wall of the pool, which helps to spray the cleaning agent evenly onto the inner wall of the pool, helps the cleaning agent to fully react chemically with the stains on the inner wall of the pool, and reduces the binding force between the stains and the inner wall of the pool; the reactor pool cleaning robot is moved in the pool according to a second preset path, and during the movement, clean water is sprayed onto the inner wall of the pool, and the pressure of the clean water can flush the inner wall of the pool, and during the flushing process, the stains and cleaning agent attached to the inner wall of the pool can be flushed away from the inner wall of the pool, so as to achieve the cleaning of the inner wall of the pool.

[0162] In some embodiments, clean water with a pressure of 10 MPa to 25 MPa may be used to flush the inner wall of the stack.

[0163] In some embodiments, the reactor pool cleaning method can be performed according to the following steps:

[0164] S10, using a hanging basket to hoist the reactor pool cleaning robot into the reactor pool, and positioning the reactor pool cleaning robot at the pool airlock door;

[0165] S20, moving the reactor pool cleaning robot along a first preset path, and causing the cleaning mechanism of the reactor pool cleaning robot to spray cleaning agent onto the side wall of the pool; the starting point and the end point of the first preset path are at the same position;

[0166] S30, moving the reactor pool cleaning robot along a first preset path, and causing the cleaning mechanism of the reactor pool cleaning robot to spray cleaning agent onto the floor of the pool;

[0167] S40, moving the reactor pool cleaning robot along a second preset path, and causing the cleaning mechanism of the reactor pool cleaning robot to spray clean water toward the side wall of the pool; the starting point and the end point of the second preset path are at the same position;

[0168] S50, moving the reactor pool cleaning robot along a second preset path, and causing the cleaning mechanism of the reactor pool cleaning robot to spray clean water onto the floor of the pool;

[0169] S60: Use a hanging basket to lift the reactor pool cleaning robot away from the reactor pool, and the cleaning is completed.

[0170] In some embodiments, during the processes of S20, S30, S40 and S50, the robot arm 2 of the cleaning mechanism of the reactor pool cleaning robot can drive the cleaning assembly 1 to move up and down to ensure the cleaning effect on various areas of the side wall of the pool.

[0171] In some embodiments, during S20 and S40, the first nozzle 11 and the second nozzle 12 of the cleaning mechanism of the reactor pool cleaning robot may always be directed toward the side wall of the reactor, and during S30 and S50, the first nozzle 11 and the second nozzle 12 of the cleaning mechanism of the reactor pool cleaning robot may always be directed toward the ground of the reactor.

[0172] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A reactor pool cleaning robot, used for cleaning the reactor pool, characterized in that: include: A vehicle body, the vehicle body being used for moving in the stack pool; A cleaning mechanism is connected to the vehicle body and is provided with a nozzle for spraying cleaning liquid onto the inner wall of the stacking pool.

2. The reactor pool cleaning robot according to claim 1, characterized in that: The vehicle body includes a main body and a driving assembly arranged on the main body, the driving assembly includes a driving wheel, a driven wheel and a track mounted outside the driving wheel and the driven wheel, the driving wheel and the driven wheel are respectively movably connected to the main body, the driving wheel can rotate relative to the main body to drive the track and the driven wheel to rotate synchronously, so that the track rolls on the ground of the pile pool to drive the vehicle body to move forward.

3. The reactor pool cleaning robot according to claim 2, characterized in that: The driving assembly also includes a supporting wheel located between the driving wheel and the driven wheel, the supporting wheel being movably connected to the main body, the outer periphery of the supporting wheel abutting against the inner side of the track so that the side of the track facing the ground of the pile pit is in contact with the ground of the pile pit.

4. The reactor pool cleaning robot according to claim 3, characterized in that: The drive assembly also includes a first mounting member rotatably arranged on the main body, the first mounting member can rotate relative to the main body around a first axis, the first mounting member includes a first mounting portion and a second mounting portion, the first mounting portion and the second mounting portion are respectively rotatably arranged with the support wheel, and the first axis is parallel to the rotation axis of the support wheel, the first mounting member can rotate relative to the main body so that at least one of the support wheels installed on the first mounting portion and the second mounting portion is against the track.

5. The reactor pool cleaning robot according to claim 4, characterized in that: The first mounting member is provided with a first slide groove, the length direction of the first slide groove is arranged around the first axis, and the main body is provided with a first sliding block slidably adapted to the first slide groove.

6. The reactor pool cleaning robot according to claim 2, characterized in that: The driving assembly also includes a second mounting member slidably disposed on the main body, and the second mounting member can slide relative to the main body along an arrangement direction parallel to the driving wheel and the driven wheel to increase or decrease the distance between the driving wheel and the driven wheel.

7. The reactor pool cleaning robot according to claim 2, characterized in that: The driving assembly further comprises a baffle plate spaced apart from the outer side surface of the main body, and a first connecting member connecting the main body and the baffle plate. The driving wheel and the driven wheel are arranged between the spaced area between the baffle plate and the main body.

8. The reactor pool cleaning robot according to any one of claims 1 to 7, characterized in that: The reactor pool cleaning robot also includes a communication interface connected to the vehicle body and the cleaning mechanism, and the communication interface is used for plugging in a communication cable connected to a control center so that the vehicle body and the cleaning mechanism are connected to the control center, so that the vehicle body moves according to the control instructions of the control center and the cleaning mechanism cleans the inner wall of the pool according to the instructions of the control center.

9. The reactor pool cleaning robot according to claim 8, characterized in that: The vehicle body and / or the cleaning mechanism is provided with a sensing component, which is connected to the communication interface. The sensing component is used to detect environmental information around the reactor pool cleaning robot and send the environmental information to the controller so that the controller can generate the control instruction according to the environmental information.

10. The reactor pool cleaning robot according to any one of claims 1 to 7, characterized in that: The cleaning mechanism includes a mechanical arm and a cleaning component installed at one end of the mechanical arm, the end of the mechanical arm facing away from the cleaning component is connected to the vehicle body, the mechanical arm drives the cleaning component to move relative to the vehicle body, the cleaning component includes a first nozzle and a second nozzle installed on the mechanical arm, the first nozzle is used to be connected to a cleaning agent pipe to spray cleaning agent onto the inner wall of the stack pool, and the second nozzle is used to be connected to a clean water pipe to spray clean water onto the inner wall of the stack pool.

11. The reactor pool cleaning robot according to claim 10, characterized in that: The cleaning assembly further comprises a first quick-connect fitting connected to the first nozzle, wherein the first quick-connect fitting is used for detachably connecting to the cleaning agent pipe; and / or, The cleaning assembly also includes a second quick-connect connector connected to the second nozzle, and the second quick-connect connector is used for detachably connecting to the clean water pipe.

12. The reactor pool cleaning robot according to claim 10, characterized in that: The robotic arm includes a mounting seat, an arm body assembly, and a first driving member connecting the mounting seat and the arm body assembly, the mounting seat is used to be connected to the vehicle body, the mounting seat has a mounting surface facing the vehicle body, the cleaning assembly is installed on the arm body assembly, the first base and the first output shaft of the first driving member are respectively connected to the mounting seat and the arm body assembly, the first output shaft can rotate relative to the first base to drive the arm body assembly to rotate around a second axis relative to the mounting seat, so as to drive the cleaning assembly to rotate synchronously, and the second axis is perpendicular to the mounting surface.

13. A reactor pool cleaning method, characterized in that: A reactor pool cleaning robot according to any one of claims 1 to 12 is provided, comprising the following steps: Allowing the reactor pool cleaning robot to enter the reactor pool; The reactor pool cleaning robot is moved along a first preset path, and a cleaning mechanism of the reactor pool cleaning robot is sprayed with a cleaning agent toward an inner wall of the pool, so that the cleaning agent adheres to the inner wall of the pool; The reactor pool cleaning robot is moved along a second preset path, and the cleaning mechanism is sprayed with clean water toward the inner wall of the pool to wash the inner wall of the pool.

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