Radioactive storage tank decontamination robot

Abstract

The invention relates to the technical field of decontamination robots, and particularly discloses a radioactive storage tank decontamination robot which comprises a moving part and a cleaning part, the polishing part is mounted at the front part of the moving part and is used for cleaning dirt on the inner surface of the tank; the laser pyrolysis part is mounted at the tail part of the moving part and is used for pyrolyzing and stripping stubborn stains on the tank wall according to a laser heat generation principle; the dust collection part is mounted on the moving part and is used for extracting dust particles generated when the grinding part and the laser pyrolysis part work under negative pressure; the robot can move along the side wall and the top face of the tank body, effective cleaning of stubborn stains in the tank is achieved in cooperation with physical grinding and laser pyrolysis, and the problem that cleaning cannot be achieved through manpower and a common robot is solved.

Description

Technical Field

[0001] The invention relates to the technical field of decontamination robots, in particular to a radioactive tank decontamination robot. Background Art

[0002] At present, there are a large number of radioactive waste storage tanks that need to be decommissioned. Most of these storage tanks are very old and have serious internal surface pollution. The accumulation of radioactive substances on the surface and inside will cause a significant increase in radiation levels. They are highly radioactive. Radioactive substances react with steel cladding to form substances that are difficult to remove. Due to the long time, the physical and chemical properties of the steel cladding structure may change, causing structural degradation;

[0003] Due to the complex structure of radioactive storage tanks, which are built by welding carbon steel plates on the inside and fixing high-strength concrete on the outside, there are the following difficulties in decontamination of the steel cladding of the storage tanks: First, complex types of radioactive pollutants may form difficult-to-remove compounds or sediments on the steel cladding after long-term accumulation; second, the storage tanks are large in size, and the areas on the sides and tops are difficult for ordinary decontamination robots to reach, and there are dead corners inside the storage tanks, which increases the difficulty of decontamination. In addition, the storage tanks are corroded for a long time, and the structure becomes unstable. Some steel structures may have a tendency to deteriorate, increasing the working risk of decontamination robots; third, the on-site working environment has a high radioactive irradiation dose, and operators cannot enter directly, but can only operate remotely, reducing the decontamination efficiency; fourth, the tank entry channel is small and the internal structure is complex, which is not convenient for the decontamination robot to move, and the size requirements for the decontamination equipment are high;

[0004] The existing equipment technology cannot solve the above technical difficulties at the same time, and cannot fully meet the complex and multifaceted requirements of radioactive storage tank steel surface decontamination, so it cannot complete the task of steel surface decontamination well. Summary of the invention

[0005] In view of the above-mentioned problems existing in the existing radioactive tank decontamination robot, the present invention is proposed.

[0006] Therefore, an object of the present invention is to provide a radioactive tank decontamination robot.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a radioactive tank decontamination robot, comprising:

[0008] Moving parts;

[0009] The grinding part is installed at the front of the moving part and is used to clean the dirt on the inner surface of the tank;

[0010] The laser pyrolysis part is installed at the tail of the moving part, and uses the laser heat generation principle to achieve pyrolysis and stripping of stubborn stains on the tank wall;

[0011] The dust suction part is installed on the moving part and is used to extract the smoke and dust particles generated by the grinding part and the laser pyrolysis part under negative pressure.

[0012] As a preferred solution of the radioactive tank decontamination robot described in the present invention, the moving part includes a body and a magnetic suction component symmetrically installed on the bottom of the body, and the magnetic suction component is close to the tank wall to generate an adsorption force, which is used to enable the moving part to move vertically along the tank wall.

[0013] As a preferred solution of the radioactive tank decontamination robot of the present invention, there are four groups of magnetic suction components, which are arranged at the bottom of the vehicle body and correspond to the four wheels respectively.

[0014] As a preferred solution of the radioactive tank decontamination robot described in the present invention, the magnetic attraction component includes an arc-shaped mounting plate and an arc-shaped magnetic part installed on the outside of the arc-shaped mounting plate. The arc-shaped magnetic part is mutually adsorbed by a number of fan-shaped magnets to form an arc-shaped Halbach permanent magnet array magnetic field.

[0015] As a preferred solution of the radioactive tank decontamination robot described in the present invention, the polishing part includes a mounting seat and a polishing piece, the mounting seat and the polishing piece are connected by a swinging piece, and the swinging piece realizes angle adjustment of the polishing piece through a swinging action.

[0016] As a preferred solution of the radioactive tank decontamination robot described in the present invention, the laser pyrolysis part includes a second mounting seat and a T-shaped stage, the bottom end of the T-shaped stage is rotatably connected to the second mounting seat, and a laser generator is installed on the T-shaped stage.

[0017] As a preferred solution of the radioactive tank decontamination robot of the present invention, the laser generator adopts any one of a semiconductor laser, a fixed laser or a gas laser.

[0018] As a preferred solution of the radioactive tank decontamination robot of the present invention, a horizontal displacement member is arranged on the T-shaped stage, and the horizontal displacement member is used to drive the laser generator to move back and forth horizontally.

[0019] As a preferred solution of the radioactive tank decontamination robot described in the present invention, the horizontal displacement member includes a slot opened on the T-stage, a screw rod is arranged inside the slot, a slide seat is slidably connected to the screw rod, and the screw rod is driven by a displacement motor to realize linear reciprocating displacement of the slide seat.

[0020] As a preferred solution of the radioactive tank decontamination robot of the present invention, the dust suction part includes a first dust suction fan, a second dust suction fan and a multi-stage filter for dust filtering.

[0021] Beneficial effects of the present invention: The robot of the present invention can move along the side wall and top surface of the tank body, and cooperate with physical grinding and laser pyrolysis to effectively clean the stubborn stains in the tank, solving the problem that human power and ordinary robots cannot clean. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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 work. Among them:

[0023] Figure 1 The figure is a schematic diagram of the overall structure of the radioactive tank decontamination robot of the present invention.

[0024] Figure 2 The figure is a schematic diagram of the structure of the moving part of the radioactive tank decontamination robot of the present invention.

[0025] Figure 3 It is a schematic structural diagram of the grinding part of the radioactive tank decontamination robot of the present invention.

[0026] Figure 4 It is a schematic diagram of the structure of the laser pyrolysis part of the radioactive tank decontamination robot of the present invention.

[0027] Figure 5 The figure is a schematic diagram of the structure of the horizontal displacement member in the radioactive tank decontamination robot of the present invention.

[0028] Figure 6 The figure is a schematic diagram of the structure of the dust collecting part of the radioactive tank decontamination robot of the present invention. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] 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.

[0032] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0033] Example 1

[0034] Reference Figure 1 , provides a radioactive tank decontamination robot, comprising:

[0035] Moving part 100;

[0036] The polishing part 200 is installed at the front of the moving part 100 and is used to clean the dirt on the inner surface of the tank;

[0037] The laser pyrolysis part 300 is installed at the tail end of the moving part 100, and realizes pyrolysis and stripping of stubborn stains on the tank wall through the principle of laser heat generation.

[0038] The moving part 100 has a remote control function and can transmit back real-time images inside the tank and be controlled according to the images inside the tank. The surface dirt on the inner wall of the tank is first cleaned by the grinding part 200, and then the laser pyrolysis part 300 irradiates the area with stubborn stains with laser. The laser generates heat to pyrolyze and thermally explode the stubborn stains, and finally completes effective cleaning. This design adopts a combination of physical grinding and laser pyrolysis to effectively improve the decontamination efficiency inside the tank.

[0039] Furthermore, the moving part 100 includes a body 101 and a magnetic component 102 symmetrically installed on the bottom of the body 101. The magnetic component 102 is close to the tank wall to generate an adsorption force, which is used to enable the moving part 100 to move vertically along the tank wall.

[0040] Furthermore, there are four groups of magnetic components 102, which are arranged at the bottom of the vehicle body 101 and correspond to the four wheels respectively. The four groups of magnetic components 102 are symmetrically arranged, so that the adsorption between the vehicle body 101 and the tank body is more uniform, ensuring the stability of the vehicle body 101 during driving.

[0041] Furthermore, the magnetic attraction component 102 includes an arc-shaped mounting plate 102a and an arc-shaped magnetic part 102b installed on the outside of the arc-shaped mounting plate 102a. The arc-shaped magnetic part 102b is mutually attracted by a plurality of fan-shaped magnets to form an arc-shaped Halbach permanent magnet array magnetic field. The Halbach permanent magnet array can use the least amount of magnets to generate the strongest magnetic field and achieve lightweight.

[0042] Further, the grinding part 200 includes a first mounting seat 201 and a grinding member 202. The first mounting seat 201 and the grinding member 202 are connected by a swinging member 203. The swinging member 203 adjusts the angle of the grinding member 202 through a swinging motion.

[0043] Specifically, the grinding member 202 includes a U-shaped frame 202a. A grinding roller 202b is installed on the open side of the U-shaped frame 202a. The grinding roller 202b is driven by a grinding motor 202c. During the grinding operation, the grinding roller 202b fits against the inner wall of the tank and rotates at a high speed under the action of the grinding motor 202c, and the dirt on the inner wall surface of the tank is cleaned by using the frictional force.

[0044] The swinging member includes a swing arm 203a and a swing motor 203b for driving the swing arm 203a. During the cleaning process, the swing motor 203b operates to drive the entire grinding member 202 to move in an arc through the swing arm 203a, further expanding the cleaning surface and improving the effectiveness of the cleaning.

[0045] At the same time, the swinging member drives the grinding member 202 to flip, so that when the vehicle body 101 makes a 90° right-angle transition (such as moving from the bottom surface to the side surface), it does not interfere with the 90° right-angle transition of the vehicle body 101.

[0046] Further, the laser pyrolysis part 300 includes a second mounting seat 301 and a T-shaped platform 302. The bottom end of the T-shaped platform 302 is rotatably connected to the second mounting seat 301, and a laser generator 303a is installed on the T-shaped platform 302. After the grinding is completed, the residual stains on the surface of the tank are irradiated. After the laser irradiation, heat is generated on the surface of the stains, and the heat pyrolyzes and thermally bursts the stains, and finally achieves a peeling effect to ensure the cleaning strength.

[0047] With this design, the vehicle body 101 can move along the side wall and the top surface of the tank, and cooperate with physical grinding and laser pyrolysis to effectively clean the stubborn stains in the tank, solving the problem that manpower and ordinary robots cannot clean.

[0048] Further, the laser generator adopts any one of a semiconductor laser, a fixed laser or a gas laser.

[0049] Cleaning sequence:

[0050] Grinding: First, control the vehicle body 101 to reach the top of the decontamination storage tank. First, select one side of the storage tank as the starting point, and then grind towards the other side until reaching the end of the other side. Then start grinding from the other side towards the starting point to form a "Z" - shaped route until the entire top is ground. When grinding the side surface, adopt a grinding method from top to bottom. Start from the top of the side surface and grind to the bottom of the side surface. Then the vehicle body 101 moves a certain distance to the side that needs to be ground, climbs to the top of the side surface, and then grinds towards the bottom until all side surfaces are ground. Finally, grind the bottom surface.

[0051] Laser pyrolysis controls the direction of the vehicle body in the same way as during grinding.

[0052] Example 2

[0053] Reference Figure 2 This embodiment is different from the first embodiment in that a horizontal displacement member 304 is provided on the T-stage 302, and the horizontal displacement member 304 is used to drive the laser generator 303a to move horizontally back and forth.

[0054] The horizontal displacement member 304 includes a slot 304a formed on the T-shaped stage 302. A lead screw 304b is disposed inside the slot 304a. A slide 304c is slidably connected to the lead screw 304b. The lead screw 304b is driven by a displacement motor 304d to realize linear reciprocating displacement of the slide 304c.

[0055] Specifically, a slideway is provided on the inner side of the notch 304a, and slide rails in the slideway are provided at both ends of the slide seat 304c. The slide seat 304c is threadedly connected with the screw rod 304b, and the screw rod 304b is driven by the displacement motor 304d to rotate forward and reversely. The slide seat 304c is limited by the slideway and the slide rail and cannot be turned over with the screw rod 304b. Therefore, under the thread characteristics, the slide seat 304c can only perform linear displacement along the thread rotation direction of the screw rod 304b, and finally drive the laser generator 303a to move horizontally;

[0056] The horizontal reciprocating movement of the laser generator 303a can achieve a wider irradiation area, thereby improving the cleaning efficiency.

[0057] The rest of the structure is the same as that of Example 1.

[0058] Example 3

[0059] Reference Figure 2 This embodiment is different from the above embodiment in that: this embodiment is a radioactive tank decontamination robot, and further includes:

[0060] The dust suction part 400 is installed on the moving part 100 and is used to extract the smoke and dust particles generated by the grinding part 200 and the laser pyrolysis part 300 under negative pressure when they are working;

[0061] The dust collecting part 400 includes a dust collecting fan 1 401, a dust collecting fan 2 402 and a multi-stage filter 403 for dust filtering;

[0062] Specifically, the air outlet ends of the dust suction fan I 401 and the dust suction fan II 402 and the air inlet end of the multi-stage filter 403 are all connected through a hose 404. Moreover, anti-diffusion covers are connected to the air inlet ends of the dust suction fan I 401 and the dust suction fan II 402. The two anti-diffusion covers are respectively installed outside the C-shaped frame 202a and the laser generator 303a. A large amount of soot particles will be generated during the cleaning operation of the grinding part 200 and the laser pyrolysis part 300. The dust suction fan I 401 and the dust suction fan II 402 operate to generate negative pressure, sucking a large amount of soot particles from the anti-diffusion covers, and then passing them into the multi-stage filter 403 through the hose 404 for multi-stage filtration. The air outlet end of the multi-stage filter 403 is connected to an exhaust pipe 405, and the exhaust pipe 405 is connected to an exhaust tower, which can discharge the gas after multi-stage filtration. This structure performs dust suction and cleaning while grinding, avoiding a large number of dust particles from being adsorbed on the surface of the tank body again after cleaning, and ensuring the cleaning effect.

[0063] All other structures are the same as those in Embodiment 2.

[0064] Importantly, it should be noted that the construction and arrangement of the present application shown in multiple different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who refer to this disclosure should easily understand that many modifications are possible without substantially departing from the novel teachings and advantages of the subject matter described in this application (for example, the dimensions, scales, structures, shapes and proportions of various components, and parameter values (such as temperature, pressure, etc.), installation arrangements, use of materials, color, orientation changes, etc.). For example, an 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, number or position of discrete elements can be changed or altered. Therefore, all such modifications are intended to be included within 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 "means-plus-function" clause is intended to cover the structure that performs the recited function described herein, and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present invention. Therefore, the present invention is not limited to a specific embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0065] In addition, in order to provide a concise description of the exemplary embodiments, not all features of the actual embodiments may be described (i.e., those features that are not relevant to the currently considered best mode of implementing the present invention or those features that are not relevant to the implementation of the present invention).

[0066] 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.

[0067] 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 radioactive tank decontamination robot, characterized in that: include: Moving part (100); A polishing part (200) is installed at the front of the moving part (100) and is used to clean dirt on the inner surface of the tank; The laser pyrolysis part (300) is installed at the rear of the moving part (100) and realizes pyrolysis and stripping of stubborn stains on the tank wall by the principle of laser heat generation; The dust suction part (400) is installed on the moving part (100) and is used to extract smoke and dust particles generated by the grinding part (200) and the laser pyrolysis part (300) when they are working under negative pressure.

2. The radioactive tank decontamination robot according to claim 1, characterized in that: The moving part (100) comprises a vehicle body (101) and a magnetic attraction component (102) symmetrically mounted on the bottom of the vehicle body (101). The magnetic attraction component (102) is in close contact with the tank wall to generate an adsorption force, so as to enable the moving part (100) to move vertically along the tank wall.

3. The radioactive tank decontamination robot according to claim 2, characterized in that: There are four groups of magnetic attraction components (102) in total, which are arranged at the bottom of the vehicle body (101) and correspond to the four wheels respectively.

4. The radioactive tank decontamination robot according to claim 3, characterized in that: The magnetic attraction component (102) comprises an arc-shaped mounting plate (102a) and an arc-shaped magnetic component (102b) mounted on the outside of the arc-shaped mounting plate (102a); the arc-shaped magnetic component (102b) is composed of a plurality of sector magnets that are mutually attracted to form a Halbach permanent magnet array magnetic field with an arc-shaped structure.

5. The radioactive tank decontamination robot according to claim 4, characterized in that: The grinding part (200) comprises a mounting seat (201) and a grinding piece (202); the mounting seat (201) and the grinding piece (202) are connected via a swinging piece (203); and the swinging piece (203) achieves angle adjustment of the grinding piece (202) through a swinging action.

6. The radioactive tank decontamination robot according to claim 5, characterized in that: The laser pyrolysis part (300) comprises a second mounting seat (301) and a T-shaped stage (302), the bottom end of the T-shaped stage (302) is rotatably connected to the second mounting seat (301), and a laser generator (303) is installed on the T-shaped stage (302).

7. The radioactive tank decontamination robot according to claim 6, characterized in that: The laser generator (303) is any one of a semiconductor laser, a fixed laser or a gas laser.

8. The radioactive tank decontamination robot according to claim 7, characterized in that: A horizontal displacement member (304) is disposed on the T-shaped stage (302), and the horizontal displacement member (304) is used to drive the laser generator (303) to move horizontally back and forth.

9. The radioactive tank decontamination robot according to claim 8, characterized in that: The horizontal displacement member (304) comprises a notch (304a) opened on the T-shaped stage (302), a screw rod (304b) is arranged inside the notch (304a), a slide seat (304c) is slidably connected to the screw rod (304b), and the screw rod (304b) is driven by a displacement motor (304d) to realize linear reciprocating displacement of the slide seat (304c).

10. The radioactive tank decontamination robot according to claim 9, characterized in that: The dust suction part (400) comprises a dust suction fan 1 (401), a dust suction fan 2 (402) and a multi-stage filter (403) for dust filtering.

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