Intelligent wall surface cleaning equipment for nuclear power plant

Abstract

The invention discloses nuclear power plant wall surface cleaning intelligent equipment, and relates to the technical field of cleaning equipment.The nuclear power plant wall surface cleaning intelligent equipment comprises a negative pressure adsorption structure and a cleaning structure, the cleaning structure is arranged on the negative pressure adsorption structure, the negative pressure adsorption structure is provided with walking wheels, and the negative pressure adsorption structure can achieve negative pressure adsorption on the surface to be cleaned; the cleaning structure is used for cleaning a surface to be cleaned. The intelligent equipment for cleaning the wall surface of the nuclear power plant can realize intelligent path planning and autonomous obstacle avoidance. The intelligent equipment for cleaning the wall surface of the nuclear power plant can realize intelligent cleaning of the wall surface.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to an intelligent equipment for cleaning the walls of a nuclear power plant. Background Art

[0002] The containment of a nuclear power plant is the last barrier to ensure the safety of a nuclear reactor. It has the key function of preventing the leakage of radioactive materials and ensuring nuclear safety. During the first nuclear cleaning and production operation, the surface of the containment must be cleaned as a whole to ensure that the containment meets the strict cleanliness requirements of the radiation control area. However, the surface structure of the containment is complex, with a large number of high-altitude and difficult-to-reach areas. Traditional cleaning methods mainly rely on manual operations, requiring the erection of a large number of scaffolds. The defects of this traditional operation method include: high labor costs, time-consuming and labor-intensive scaffolding erection, dismantling and maintenance processes, which increase labor costs; long operation period, complex scaffolding erection and manual step-by-step cleaning are difficult to complete efficiently, affecting the project's commissioning time; high operation risks, high-altitude operations and equipment erection have significant construction safety risks; high cleaning pollution, manual grinding will produce a large amount of harmful dust, affecting worker health and equipment safety.

[0003] Wall-climbing robots are an effective way to achieve high-altitude operations, but existing wall-climbing robot solutions are mainly magnetic-based, and their application on concrete containment walls is limited. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent device for cleaning the walls of a nuclear power plant, so as to solve the problems existing in the above-mentioned prior art and realize the cleaning of the walls.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides an intelligent equipment for cleaning the walls of nuclear power plants, comprising: a negative pressure adsorption structure and a cleaning structure, wherein the cleaning structure is arranged on the negative pressure adsorption structure, the negative pressure adsorption structure is provided with walking wheels, the negative pressure adsorption structure can realize negative pressure adsorption on the surface to be cleaned, the cleaning structure is used to clean the surface to be cleaned, and the intelligent equipment for cleaning the walls of nuclear power plants can realize intelligent path planning and autonomous obstacle avoidance.

[0007] Preferably, the negative pressure adsorption structure includes a negative pressure shell and a negative pressure structure, there is a gap between the side of the negative pressure shell facing the surface to be cleaned and the surface to be cleaned, the negative pressure shell is provided with an air flow outlet, the negative pressure structure is used to form negative pressure, and the fluid between the negative pressure adsorption structure and the surface to be cleaned is discharged through the air flow outlet.

[0008] Preferably, a flexible structure arranged in an annular shape is provided on a side of the negative pressure housing facing the surface to be cleaned, and a gap exists between the side of the flexible structure facing the surface to be cleaned and the surface to be cleaned.

[0009] Preferably, the flexible structure is made of rubber.

[0010] Preferably, the negative pressure structure includes fan blades and a first driving structure, the fan blades are located in the negative pressure housing, and the first driving structure is used to drive the fan blades to rotate to form negative pressure.

[0011] Preferably, the cleaning structure comprises a disc brush and a second driving structure, and the second driving structure is used for driving the disc brush to rotate.

[0012] Preferably, the bristles on the disc brush are made of rubber.

[0013] Preferably, the cleaning structure further comprises a fan and a dust bag, one end of the fan is used to be connected to the disc brush, and the other end of the fan is used to be connected to the dust bag, and a filter is arranged in the dust bag.

[0014] Preferably, the disc brush comprises a rotating disc and a fixed disc, the rotating disc can rotate relative to the fixed disc, the rotating disc is provided with bristles, and the fixed disc is provided with dust removal holes, and the dust removal holes are used to be connected to one end of the fan.

[0015] Preferably, it also includes a control system, which can intelligently plan the cleaning path according to the three-dimensional model of the nuclear power plant and GPS location information, and control the walking route of the walking wheels.

[0016] Compared with the prior art, the present invention has achieved the following technical effects:

[0017] The negative pressure adsorption structure of the present invention can realize negative pressure adsorption on the surface to be cleaned, and the cleaning structure cleans the surface to be cleaned. It can perform cleaning operations on concrete walls and adapt to various wall shapes and types of pollutants, and can realize unmanned cleaning operations on complex containment surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. 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 paying creative work.

[0019] Figure 1 This is an axonometric schematic diagram of the intelligent equipment for cleaning the walls of a nuclear power plant according to the present invention;

[0020] Figure 2 It is a schematic diagram of the interior of the negative pressure adsorption structure of the present invention;

[0021] Figure 3 It is a schematic diagram of the cleaning structure of the present invention.

[0022] In the figure: 10-negative pressure adsorption structure, 20-cleaning structure, 1-negative pressure shell, 2-air flow outlet, 3-flexible structure, 4-fan blades, 5-disc brush, 6-fan, 7-dust bag, 8-travel wheel. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] The purpose of the present invention is to provide an intelligent device for cleaning the walls of a nuclear power plant, so as to solve the problems existing in the above-mentioned prior art and realize the cleaning of the walls.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figures 1 to 3 As shown, this embodiment provides an intelligent device for cleaning the walls of nuclear power plants, including: a negative pressure adsorption structure 10 and a cleaning structure 20, the cleaning structure 20 is arranged on the negative pressure adsorption structure 10, the negative pressure adsorption structure 10 is provided with walking wheels 8, the negative pressure adsorption structure 10 can realize negative pressure adsorption on the surface to be cleaned (wall), and the cleaning structure 20 is used to clean the surface to be cleaned. The intelligent device for cleaning the walls of nuclear power plants in this embodiment can realize intelligent path planning and autonomous obstacle avoidance. In this embodiment, a stable negative pressure is formed between the intelligent device for cleaning the walls of nuclear power plants and the wall through the negative pressure adsorption structure 10 to realize the wall climbing function.

[0027] Specifically, in this embodiment, the negative pressure adsorption structure 10 includes a negative pressure shell 1 and a negative pressure structure. The projection of the negative pressure shell 1 on the surface to be cleaned is circular. The negative pressure shell 1 is provided with a flexible structure 3 in a ring shape extending toward the surface to be cleaned on one side of the surface to be cleaned. The flexible structure 3 is made of rubber. There is a gap between the flexible structure 3 and the surface to be cleaned on the side facing the surface to be cleaned. The negative pressure shell 1 is provided with an air flow outlet 2. The negative pressure structure is used to form negative pressure. The fluid between the negative pressure adsorption structure 10 and the surface to be cleaned is discharged through the air flow outlet 2. The present embodiment adopts a negative pressure adsorption structure 10 to fix the device to the wall, and has strong adaptability to walls of different roughness and materials. There is a gap between the flexible structure 3 and the surface to be cleaned, and the negative pressure adsorption structure 10 and the surface to be cleaned are in a zero wear state. The negative pressure adsorption structure 10 will not suffer any wear due to the movement of the walking wheel 8, which greatly improves the durability and stability. It can also enable the nuclear power plant wall cleaning intelligent equipment of the present embodiment to cross obstacles of a certain height when walking, and can move freely on the curved wall within a certain curvature range. In addition, in the process of the fan blades 4 rotating to generate negative pressure, the airflow can take away pollutants such as dust and stains on the wall and discharge them from the airflow outlet 2.

[0028] In this embodiment, the negative pressure structure includes fan blades 4 and a first driving structure. The fan blades 4 are located in the negative pressure shell 1. The first driving structure is a motor. There are several fan blades 4. The first driving structure drives the fan blades 4 to rotate to form negative pressure, and the fluid is discharged through the air flow outlet 2.

[0029] In this embodiment, the cleaning structure 20 includes a disc brush 5, a second driving structure, a fan 6 and a dust bag 7. The second driving structure is a motor, and the fan 6 is an axial flow fan. The second driving structure is used to drive the disc brush 5 to rotate. The disc brush 5 includes a turntable and a fixed disc. The turntable is used to be connected to the second driving structure in a transmission manner. The turntable is provided with bristles. The bristles on the disc brush 5 are made of rubber. The power output end of the second driving structure passes through the center hole of the fixed disc. The fixed disc and the power output end of the second driving structure are rotatably connected through a bearing. A hollow area is provided on the turntable, and a dust removal hole is provided on the fixed disc. The dust removal hole is used to be connected to one end of the fan 6, and the other end of the fan 6 is used to be connected to the dust bag 7. A filter is provided in the dust bag 7.

[0030] In this embodiment, the second driving structure drives the rotating disk of the disc brush 5 to rotate, and the bristles clean the wall surface. The fan 6 works, and the pollutants cleaned by the bristles enter the dust removal holes through the hollow area, and then enter the dust bag 7, and are adsorbed by the filter in the dust bag 7. When the pollutants accumulate to a certain extent, the filter can be replaced regularly. In this embodiment, the dust, pollutants and possible tiny particles on the wall surface can be quickly and effectively removed through the rotation of the disc brush 5 and the suction of the fan 6.

[0031] The present embodiment also includes a control system, which can control the walking route of the walking wheel 8. The walking control of the walking wheel 8 adopts the existing technology. The control system is responsible for intelligently planning the path according to the three-dimensional model of the nuclear power plant, receiving the information sent back by the sensor and GPS, and controlling the movement of the walking wheel 8 accordingly. The control system usually includes a controller and a program, which can process data from the sensor and GPS, and determine the next action of the walking wheel 8 according to a preset algorithm. The intelligent equipment for cleaning the walls of nuclear power plants in this embodiment can be equipped with a variety of sensors to sense the surrounding environment, such as ultrasonic sensors, infrared sensors, etc. These sensors can help the intelligent equipment for cleaning the walls of nuclear power plants detect obstacles so that they can avoid obstacles and walk along a predetermined path. Through communication with the terminal, the three-dimensional model of the nuclear power plant can be input into the intelligent equipment for cleaning the walls of the nuclear power plant. When working, the control system intelligently plans the path, and the walking wheel 8 walks along the predetermined path.

[0032] This embodiment has the advantages of strong adaptability to walls of different roughness or materials, strong adaptability to dirty walls, strong obstacle-crossing ability, and good durability and stability. It effectively solves the problem that traditional cleaning wall-climbing robots can only clean flat surfaces and surfaces with large curvatures, and broadens the application scenarios of cleaning intelligent equipment in nuclear power plant wall cleaning. The disc brush 5 of this embodiment realizes polishing cleaning, and the fan 6 and dust bag 7 collect pollutants efficiently to avoid environmental pollution during wall cleaning. The bristles of the disc brush 5 of this embodiment are made of flexible rubber, so that it can automatically adjust according to the curvature of the wall to ensure that the bristles are always in good contact with the wall. During use, the bristle strength and the suction wind force of the fan 6 can be adjusted to meet the cleaning needs of different types of pollutants.

[0033] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An intelligent device for cleaning the walls of a nuclear power plant, characterized in that: include: A negative pressure adsorption structure and a cleaning structure, wherein the cleaning structure is arranged on the negative pressure adsorption structure, the negative pressure adsorption structure is provided with walking wheels, the negative pressure adsorption structure can realize negative pressure adsorption on the surface to be cleaned, the cleaning structure is used to clean the surface to be cleaned, and the nuclear power plant wall cleaning intelligent equipment can realize intelligent path planning and autonomous obstacle avoidance.

2. The intelligent equipment for cleaning the walls of nuclear power plants according to claim 1 is characterized by: The negative pressure adsorption structure includes a negative pressure shell and a negative pressure structure. There is a gap between the side of the negative pressure shell facing the surface to be cleaned and the surface to be cleaned. The negative pressure shell is provided with an air flow outlet. The negative pressure structure is used to form negative pressure, and the fluid between the negative pressure adsorption structure and the surface to be cleaned is discharged through the air flow outlet.

3. The intelligent equipment for cleaning the walls of nuclear power plants according to claim 2 is characterized by: A flexible structure arranged in an annular shape is arranged on the side of the negative pressure housing facing the surface to be cleaned, and a gap exists between the side of the flexible structure facing the surface to be cleaned and the surface to be cleaned.

4. The intelligent equipment for cleaning the walls of nuclear power plants according to claim 3 is characterized by: The flexible structure is made of rubber.

5. The intelligent equipment for cleaning the walls of nuclear power plants according to claim 2 is characterized by: The negative pressure structure includes fan blades and a first driving structure. The fan blades are located in the negative pressure housing. The first driving structure is used to drive the fan blades to rotate to form negative pressure.

6. The intelligent equipment for cleaning the walls of nuclear power plants according to claim 1 is characterized by: The cleaning structure includes a disc brush and a second driving structure, wherein the second driving structure is used for driving the disc brush to rotate.

7. The intelligent equipment for cleaning the walls of nuclear power plants according to claim 6 is characterized by: The bristles on the disc brush are made of rubber.

8. The intelligent equipment for cleaning the walls of nuclear power plants according to claim 6 is characterized by: The cleaning structure also includes a fan and a dust bag. One end of the fan is used to be connected to the disc brush, and the other end of the fan is used to be connected to the dust bag. A filter is arranged in the dust bag.

9. The intelligent equipment for cleaning the walls of nuclear power plants according to claim 8 is characterized by: The disc brush comprises a rotating disc and a fixed disc. The rotating disc can rotate relative to the fixed disc. The rotating disc is provided with bristles. The fixed disc is provided with dust removal holes, and the dust removal holes are used to be connected to one end of the fan.

10. The intelligent equipment for cleaning the walls of nuclear power plants according to claim 1 is characterized by: It also includes a control system, which can intelligently plan a cleaning path according to the three-dimensional model of the nuclear power plant and GPS location information, and control the walking route of the walking wheels.

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