Nuclear power plant radioactive metal waste cutting volume reduction system and cutting method

Abstract

The invention discloses a nuclear power plant radioactive metal waste cutting volume reduction system and a cutting method. The system comprises a negative pressure sealed cabin, a cutting machine tool and an operation table. The cutting machine tool and the operation table are both arranged in the negative-pressure sealed cabin, and the negative-pressure sealed cabin is used for preventing smoke generated when metal waste is cut from diffusing out of the negative-pressure sealed cabin. The cutting machine tool comprises a moving platform and a cutting assembly. The cutting assembly is arranged on the moving platform, and the moving platform is used for controlling the cutting machine tool to move in the negative-pressure sealed cabin; the cutting assembly comprises a multi-axis mechanical arm and a cutting piece, and the cutting piece is arranged at the moving end of the multi-axis mechanical arm; the operation table comprises a rolling supporting assembly, the rolling supporting assembly is used for supporting and rotating the metal waste and assisting the cutting machine tool in conducting radial cutting on the metal waste, through flexible movement of combination of the multi-axis mechanical arm and the movable platform, high-speed and high-precision dynamic response and posture fine adjustment of the cutting assembly are achieved, and cutting of the metal waste of different sizes is met.

Description

Technical Field

[0001] This invention relates to the field of cutting device technology, and in particular to a cutting and volume reduction system and method for radioactive metal waste from nuclear power plants. Background Technology

[0002] During the operation and decommissioning of nuclear power plants, a large amount of radioactive metal waste is generated. This waste takes various forms, including large equipment and containers that are bulky, heavy, and have thick walls, as well as various small and medium-sized metal components such as pipes, pumps, and valves. Among them, large equipment and containers require cutting due to their structural characteristics and the large wall thickness; while components such as pipes, pumps, and valves have various shapes, significant size differences, and uneven distribution of radioactivity levels. Some also have complex and precision structures, which places stringent requirements on cutting accuracy. At the same time, some waste may be bent, deformed, or have surface contaminants, further increasing the difficulty of cutting.

[0003] While existing cutting methods using gantry-type thermal cutting devices can meet the cutting needs of large equipment, they are limited by their rectangular coordinate motion system. They can only adjust their position through linear motion along the X / Y / Z axes, resulting in high mechanical inertia, making it difficult to achieve high-frequency fine-tuning. Their instantaneous positioning accuracy is insufficient, and they cannot flexibly change the angle of the workpiece. They can only achieve planar or regular three-dimensional cutting, which easily leads to cutting dead angles and cannot meet the cutting requirements of precision structures. Summary of the Invention

[0004] This invention provides a cutting and volume reduction system and method for radioactive metal waste from nuclear power plants, which solves the problems of difficulty in achieving high-frequency fine-tuning, insufficient instantaneous positioning accuracy, inability to flexibly change the angle of the cutting part, easy occurrence of cutting dead angles, and inability to meet the cutting requirements of precision structures.

[0005] This invention provides a nuclear power plant radioactive metal waste cutting and volume reduction system, comprising a negative pressure sealed chamber, cutting tools, and an operating table;

[0006] The cutting tool and the operating table are both located inside the negative pressure sealed chamber. The negative pressure sealed chamber is used to prevent the smoke and dust generated when cutting metal waste from spreading outside the negative pressure sealed chamber.

[0007] The cutting tool includes a moving platform and a cutting assembly; the cutting assembly is mounted on the moving platform, and the moving platform is used to control the movement of the cutting tool within the negative pressure sealed chamber; the cutting assembly includes a multi-axis robotic arm and a cutting component, and the cutting component is mounted on the moving end of the multi-axis robotic arm.

[0008] The operating table includes a rolling support assembly, which supports and rotates the metal waste to assist the cutting tool in radially cutting the metal waste.

[0009] Furthermore, the cutting element includes a plasma cutting head or a circular saw.

[0010] Furthermore, the cutting tool includes a dust collection component, which is disposed on one side of the cutting workpiece and is used to absorb the smoke and dust generated when the metal waste is cut. A metal filter is provided at the inlet of the dust collection component.

[0011] Furthermore, the cutting tool also includes a scanning camera, which is disposed at the moving end of the multi-axis robotic arm and on one side of the workpiece to be cut.

[0012] Furthermore, the operating table also includes a base plate, a first quick-release component, a fixing component, and a second quick-release component. The base plate includes multiple plates sequentially spliced ​​along a first direction. The multiple plates are spliced ​​together by the first quick-release component. Fixing components are provided on both sides of the base plate in the first direction. The fixing components are used to restrict the movement of metal waste along the first direction. Rolling support components are provided on both sides of the base plate in a second direction. The rolling support components are mounted on the plates by the second quick-release component and are used to restrict the movement of metal waste along the second direction. The first direction is perpendicular to the second direction.

[0013] Furthermore, the negative pressure sealing chamber includes a frame, a first inlet door, a second inlet door, a first power assembly, and a second power assembly. The first inlet door is located on the top of the frame, and the second inlet door is located on the side of the frame. The first and second inlet doors are arranged adjacent to each other. The ends of the first and second inlet doors that are connected to each other are detachably connected to the frame, while the ends of the first and second inlet doors that are far apart from each other are fixedly connected to the frame. The first power assembly is connected to the first inlet door and is used to control the opening or closing of the first inlet door. The second power assembly is connected to the second inlet door and is used to control the opening or closing of the second inlet door.

[0014] Furthermore, the first feed gate is connected to the first power assembly, which includes a belt drive structure, and the second feed gate is connected to the second power assembly, which includes an electric cylinder.

[0015] Furthermore, it also includes a collection device and a mobile conveying device. The side of the negative pressure sealed chamber is provided with a discharge door, which is movably connected to the frame. The collection device is located outside the negative pressure sealed chamber, and the mobile conveying device is used to transport the cut metal waste inside the negative pressure sealed chamber to the collection device.

[0016] Furthermore, it includes an intelligent remote control console, which is wirelessly connected to the mobile platform, robotic arm, scanning camera, and negative pressure sealed chamber.

[0017] A cutting method for the radioactive metal waste cutting and volume reduction system of a nuclear power plant, comprising:

[0018] Metal waste is fed into the negative pressure sealed chamber: The intelligent remote control console controls the opening of the first and second feed doors, and the metal waste is hoisted from above the negative pressure sealed chamber into the negative pressure sealed chamber and placed on the operating table for fixation.

[0019] The scanning camera scans the metal waste to generate a cutting path: The scanning camera scans the starting position of the cutting of the metal waste to be cut, scans the entire metal waste to be cut to obtain a three-dimensional scan image, and synthesizes the three-dimensional scan images to generate a cutting path, which is then transmitted to the intelligent remote control console.

[0020] Assemble the cutting parts: Select a plasma cutting head or circular saw and install it onto the rotating end of the multi-axis robotic arm, based on the material, thickness and structure of the radioactive metal waste to be cut.

[0021] Remote control: The mobile platform can be moved by the remote control console. Once the mobile platform reaches the target position, the multi-axis robotic arm can be remotely driven by the remote control console to perform cutting operations according to the cutting path.

[0022] Cleaning the cut pieces: During the cutting process, the cut metal waste is cleaned by a moving transport device and transported out through the discharge gate to a collection device for temporary storage.

[0023] As can be seen from the above technical solutions, the present invention has the following advantages:

[0024] On the one hand, this embodiment uses a multi-axis robotic arm and a mobile platform to work together to control the cutting component. The multi-degree-of-freedom of the multi-axis robotic arm can flexibly adjust the spatial posture of the cutting component, resulting in high cutting and movement efficiency and high positioning accuracy. The mobile platform expands the working range, enabling the multi-axis robotic arm to reach different locations of the metal waste, resulting in a larger cutting coverage area and avoiding cutting dead angles. It can meet the cutting needs of metal waste of different sizes. Therefore, the combination of the multi-axis robotic arm and the mobile platform in this embodiment is flexible and enables high-speed and high-precision dynamic response and posture fine-tuning of the cutting component, meeting the cutting needs of metal waste of different sizes.

[0025] On the other hand, the entire cutting system operates within a negative pressure sealed chamber to prevent radioactive dust from spreading to the external environment, ensuring the safety of operators and preventing environmental pollution. Thanks to the compactness of the multi-axis robotic arm-mobile platform structure, its space occupation within the sealed chamber is far less than that of the massive gantry frame structure, which greatly facilitates the design, construction, and layout of the sealed chamber.

[0026] On the other hand, in response to the high-precision radial cutting requirements of cylindrical components such as pipes, the multi-axis linkage capability of the multi-axis robotic arm is fully utilized to adjust the posture of the cutting part in real time and ensure that the cutting direction remains perpendicular at any contact point on the cylindrical surface. The operating table drives the cylinder to rotate, which, combined with the radial feed motion controlled by the multi-axis robotic arm, effectively achieves efficient radial stripping of metal waste. This solves the problem that the gantry system cannot flexibly adjust the cutting angle and thus cannot meet the requirements of high-precision radial cutting. Attached Figure Description

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

[0028] Figure 1 This is a schematic diagram of the overall structure of a nuclear power plant radioactive metal waste cutting and volume reduction system provided in an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the cutting tool structure in a nuclear power plant radioactive metal waste cutting and volume reduction system, provided by an embodiment of the present invention.

[0030] Figure 3 This is a schematic diagram of the operating table structure in a nuclear power plant radioactive metal waste cutting and volume reduction system, provided by an embodiment of the present invention.

[0031] Figure 4 This is a schematic diagram of a rotating support assembly structure in a nuclear power plant radioactive metal waste cutting and volume reduction system, provided by an embodiment of the present invention.

[0032] Figure 5 This is a schematic diagram of a negative pressure sealed chamber structure in a nuclear power plant radioactive metal waste cutting and volume reduction system, provided by an embodiment of the present invention.

[0033] Figure 6 This is a schematic diagram of the first feed gate structure in a nuclear power plant radioactive metal waste cutting and volume reduction system provided in an embodiment of the present invention;

[0034] Figure 7This is a schematic diagram of the second feed gate structure in a nuclear power plant radioactive metal waste cutting and volume reduction system provided in an embodiment of the present invention;

[0035] Explanation of reference numerals in the attached figures:

[0036] 1. Negative pressure sealed chamber; 11. Frame; 12. First inlet door; 13. Second inlet door; 14. First power unit; 141. Servo motor; 142. Belt drive structure; 143. First folding part; 144. Second folding part; 145. Guide rail; 146. Rotating rod; 15. Second power unit; 16. Hinge; 17. Discharge door; 18. Observation window; 2. Cutting tool; 21. Moving platform; 22. Multi-axis robotic arm; 23. Plasma cutting head; 24. Circular saw; 25. 1. Dust collection assembly; 26. Metal filter; 27. Scanning camera; 28. Plasma tube; 29. ​​Fixed base; 3. Operating table; 31. Rolling support assembly; 311. Drive roller; 312. L-shaped frame; 313. Base plate; 32. First quick release piece; 33. Fixing assembly; 34. Second quick release piece; 35. Plate; 36. Base plate; 37. Positioning groove; 38. Protective plate; 39. Handle; 4. Moving and transporting device; 5. Intelligent remote control console; 6. Collection device; 7. Metal waste. Detailed Implementation

[0037] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0038] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the present application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0039] Please see Figure 1-7The present invention provides a nuclear power plant radioactive metal waste cutting and volume reduction system, including a negative pressure sealed chamber 1, a cutting tool 2 and an operating table 3;

[0040] Both the cutting tool 2 and the operating table 3 are set inside the negative pressure sealed chamber 1. The negative pressure sealed chamber 1 is used to prevent the smoke and dust generated when the metal waste 7 is cut from spreading outside the negative pressure sealed chamber 1.

[0041] The cutting machine 2 includes a moving platform 21 and a cutting assembly; the cutting assembly is mounted on the moving platform 21, which is used to control the movement of the cutting machine 2 within the negative pressure sealed chamber 1; the cutting assembly includes a multi-axis robotic arm 22 and a cutting component, which is mounted at the moving end of the multi-axis robotic arm 22.

[0042] The operating table 3 includes a rolling support assembly 31, which supports and rotates the metal waste 7, and assists the cutting tool 2 in radially cutting the metal waste 7.

[0043] Understandably, in specific implementation, on the one hand, this embodiment uses a multi-axis robotic arm 22 and a mobile platform 21 working together to control the cutting component. The multi-degree-of-freedom of the multi-axis robotic arm 22 can flexibly adjust the spatial posture of the cutting component, resulting in high cutting movement efficiency and high positioning accuracy. The mobile platform 21 expands the working range, enabling the multi-axis robotic arm 22 to reach different positions of the metal waste 7, resulting in a larger cutting coverage area. It can adapt to complex workpiece shapes for conformal cutting, avoid cutting dead angles, and meet the cutting needs of metal waste 7 of different sizes. Therefore, the combination of the multi-axis robotic arm 22 and the mobile platform 21 in this embodiment is flexible in movement, realizing high-speed and high-precision dynamic response and posture fine adjustment of the cutting component, and meeting the cutting needs of metal waste 7 of different sizes.

[0044] On the other hand, the entire cutting system operates within the negative pressure sealed chamber 1 to prevent radioactive dust from spreading to the external environment, ensuring the safety of operators and preventing environmental pollution. Thanks to the compact structure of the multi-axis robotic arm 22-moving platform 21, its space occupation within the sealed chamber is far less than that of the massive gantry frame structure, which greatly facilitates the design, construction, and layout of the sealed chamber.

[0045] On the other hand, in response to the high-precision radial cutting requirements of cylindrical components such as pipes, the multi-axis linkage capability of the multi-axis robotic arm 22 is fully utilized to adjust the posture of the cutting part in real time and ensure that the cutting direction remains perpendicular at any contact point on the cylindrical surface. The operating table 3 drives the cylinder to rotate, which, combined with the radial feed motion controlled by the multi-axis robotic arm 22, effectively achieves efficient radial stripping of metal waste 7, solving the problem that the gantry system cannot flexibly adjust the cutting angle and thus cannot meet the requirements of high-precision radial cutting.

[0046] In a more specific embodiment, the multi-axis robotic arm 22 is a six-axis robotic hand.

[0047] In a more specific embodiment, the cutting assembly includes a thermal cutting head or a mechanically rotating cutting head.

[0048] Understandably, a thermal cutting head is a "thermal breaking" cutting device that relies on heat energy converted from electrical energy. The heat source energy is rapidly absorbed, scattered, and dissipated through conduction during the metal penetration process. Its cutting thickness is limited by the thermal energy. For thinner metals (20-50mm), the heat source can penetrate quickly and maintain a stable cut, resulting in good cut quality. A mechanical rotating cutting head, on the other hand, is a "force-breaking" mechanical cutting device. For thicker metals (e.g., exceeding 50mm), it directly squeezes and shears the metal with a hard cutting edge, forcibly removing the material to form chips. This mechanism does not rely on heat conduction and is not affected by energy attenuation caused by material thickness. Therefore, in practical implementation, the choice between a thermal cutting head and a mechanical rotating cutting head should be made based on the thickness of the metal waste material to improve the adaptability of the nuclear power plant's radioactive metal waste cutting and volume reduction device to different metal waste thicknesses.

[0049] In a more specific embodiment, the thermal cutting head uses a plasma cutting head 23. It is understood that, in practical implementation, one of the core advantages of the plasma cutting head 23 is its "constraint capability" for the plasma arc—through nozzle structure design, it can focus the high-temperature plasma arc into a "fine beam" with extremely high energy density. The arc diameter can be controlled within 0.5-3mm. For three-dimensional complex path cutting driven by a six-axis robotic arm, the focused arc can act more precisely on the cutting point, reducing accuracy errors caused by path deviation. Simultaneously, the concentrated arc energy of the plasma cutting head 23, compared to flame cutting, makes the heat input to the workpiece relatively controllable, and the cutting speed is fast, significantly shortening the workpiece's exposure time in the high-temperature region. Combined with the high-speed movement of the robotic arm, the cutting head can complete the cutting before the material undergoes significant deformation, further ensuring dimensional accuracy.

[0050] In a more specific embodiment, the plasma cutting head 23 is connected to the multi-axis robotic arm 22 via a plasma conduit 28. The plasma conduit 28 provides power to the plasma cutting head 23.

[0051] In a more specific embodiment, the mechanically rotating cutting head employs a circular saw 24. It is understood that, in practice, the circular saw 24 achieves continuous cutting through high-speed rotation (linear speeds reaching tens of m / s), and the rotational trajectory of its circular blade ensures that the contact with the workpiece is always "line contact," rather than point contact or intermittent contact (such as the linear reciprocating motion of a reciprocating saw). This characteristic allows the circular saw 24 to remove a significantly higher amount of material per unit time when cutting thick metal than other tools: for metal waste 7 with a thickness exceeding 50 mm, the continuous cutting action of the circular saw 24 avoids efficiency losses caused by "stop-start" cycles. The inertia of the rotary cutting maintains a stable feed rate, and combined with the stable pushing of the robotic arm, it can quickly penetrate thick metal sections, significantly shortening the cutting time for a single workpiece.

[0052] In a more specific embodiment, the cutting tool 2 includes a dust collection assembly 25 disposed on one side of the cutting workpiece for adsorbing the dust generated when the metal waste 7 is cut, and a metal filter 26 is provided at the inlet of the dust collection assembly 25.

[0053] Understandably, the dust collection assembly 25 is used to absorb the fumes generated during metal cutting. By installing a metal filter 26 at the inlet of the dust collection assembly 25, metal debris generated during cutting can be filtered out, preventing metal debris from entering the interior of the dust collection assembly 25. The dust collection assembly 25 is generally connected to the fan impeller through a conveying pipe to form negative pressure dust collection. If metal debris enters the interior of the dust collection assembly 25, it may be carried by the airflow and impact components such as the fan impeller and the inner wall of the pipe, causing impeller wear, pipe scratches, and even fan jamming or burnout, shortening the service life of the equipment.

[0054] In a more specific embodiment, the vacuuming assembly 25 includes a vacuuming pipe, a metal filter 26 is disposed at the inlet of the vacuuming pipe, and the front end of the vacuuming pipe is fixed to the multi-axis robotic arm 22 by a tubing package, so that the front end of the vacuuming pipe moves synchronously with the multi-axis robotic arm 22 without affecting the cutting assembly operation.

[0055] In a more specific embodiment, the cutting tool 2 further includes a scanning camera 27, which is disposed at the moving end of the multi-axis robotic arm 22 and on one side of the workpiece to be cut.

[0056] Understandably, in practice, the scanning camera 27 is used to scan the image of the metal waste 7 to be cut and generate the cutting path. The scanning camera 27 and the cutting component are fixedly synchronized with the moving end of the robotic arm. The movement of the two is completely synchronized and they share the same coordinate system, avoiding the positional deviation between the vision and the execution end caused by separate mechanisms.

[0057] In a more specific embodiment, the scanning camera 27 includes a CCD camera, which has advantages such as high image quality, low noise, wide dynamic range, strong stability and global shutter. It can accurately capture the image features of the metal waste 7, provide high-quality raw data for cutting path planning, and ultimately help improve the efficiency and accuracy of cutting the metal waste 7.

[0058] In a more specific embodiment, the mobile platform 21 is an AGV (Automated Guided Vehicle). The AGV can autonomously identify paths and avoid obstacles within a preset area using magnetic navigation, laser navigation, or visual navigation. It can precisely deliver the robotic arm to the target position without manual driving, reducing reliance on manual operation, lowering labor costs, and avoiding human error, such as deviations in robotic arm operation due to inaccurate positioning. Industrial-grade AGVs can achieve positioning accuracy of ±1mm or even higher, enabling the multi-axis robotic arm 22 to be stably parked beside the metal waste 7 to be cut. This ensures precise matching between the working range of the multi-axis robotic arm 22 and the workpiece position, avoiding problems such as cutting misalignment and collisions caused by positioning deviations of the mobile platform 21. The AGV's drive system is precisely controlled, including servo motors 141 and steering wheels, resulting in low vibration and uniform speed during movement, reducing swaying of the multi-axis robotic arm 22 during operation and ensuring the stability of the cutting path.

[0059] In a more specific embodiment, a fixed base 29 is provided on the mobile platform 21, which is used to provide installation positioning and position fixation for the multi-axis robotic arm 22.

[0060] In a more specific embodiment, the mobile platform 21 is also equipped with a shelf, which is located on one side of the fixed base 29 and is used to place replacement cutting components. It is understood that, in specific implementation, when cutting thicker metal waste 7, the circular saw 24 is mounted on the end of the multi-axis robotic arm 22 for cutting, and the plasma cutting head 23 is placed on the shelf; when cutting thinner metal waste 7, the plasma cutting head 23 is mounted on the end of the multi-axis robotic arm 22, and the circular saw 24 is placed on the shelf. This allows for flexible switching.

[0061] In a more specific embodiment, the workflow of the cutting tool 2 includes:

[0062] S11. First, manually locate any point on the container of the metal waste to be cut.

[0063] S12. Set the shape to be cut, either a circle or a rectangle, set the radius or side length, and set the offset distance;

[0064] S13. Click the start button, and the AGV will start moving, driving the multi-axis robotic arm 22 to move synchronously to the appropriate position.

[0065] S14. The CCD camera begins taking pictures and obtaining the cutting path;

[0066] S15, Begin cutting;

[0067] S16, the AGV trolley moves the offset distance again;

[0068] S17. The CCD camera takes another picture to obtain the cutting path of the second point.

[0069] S18, Begin cutting;

[0070] Repeat steps S16-S18 until the entire piece of metal waste 7 to be cut is completely cut.

[0071] In a more specific embodiment, the operating table 3 further includes a base plate 36, a first quick-release component 32, a fixing component 33, and a second quick-release component 34. The base plate 36 includes a plurality of plates 35 sequentially spliced ​​along a first direction. The plurality of plates 35 are spliced ​​together by the first quick-release component 32. Fixing components 33 are provided on both sides of the base plate 36 in the first direction. The fixing components 33 are used to restrict the movement of the metal waste 7 along the first direction. Rolling support components 31 are provided on both sides of the base plate 36 in the second direction. The rolling support components 31 are mounted on the plates 35 by the second quick-release component 34 and are used to restrict the movement of the metal waste 7 along the second direction. The first direction is perpendicular to the second direction.

[0072] Understandably, in specific implementation, based on the shape and size of the metal waste 7 to be cut, multiple plates 35 are sequentially spliced ​​together along the first direction using the first quick-release piece 32 to form the base plate 36 of the operating table 3, in order to adapt to the size of the metal waste 7 in the first direction. Furthermore, fixing components 33 are provided on both sides of the base plate 36 in the first direction to restrict the movement of the metal waste 7 along the first direction. Rolling support components 31 are provided on both sides of the base plate 36 in the second direction, which is perpendicular to the first direction. The rolling support components 31 are used to restrict the movement of the metal waste 7 along the second direction. The rolling support components 31 are mounted on the plates 35 through the second quick-release piece 34, which facilitates the adjustment of the position of the rolling support components 31 on the plates 35 to adapt to the size of the metal waste 7 in the second direction. Therefore, this embodiment achieves flexible splicing of multiple panels 35 along the first direction through the first quick-release component 32, and adjusts the position of the rolling support component 31 in the second direction with the second quick-release component 34, which can efficiently adapt to metal waste 7 of different sizes and has strong versatility; at the same time, the fixed component 33 and the rolling support component 31 reliably restrict the movement of metal waste 7 from the first and second directions respectively, so that the operating table 3 stably supports metal waste 7, improves the stability of cutting operation, and the quick-release component design makes assembly and adjustment convenient and fast, greatly improving the efficiency of operation. In addition, the flexible and disassembleable structure can save space and adapt to diverse cutting scenarios.

[0073] In a more specific embodiment, plate 35 is a channel steel structure.

[0074] In a more specific embodiment, a positioning groove 37 parallel to the second direction is provided on the plate 35, the positioning groove 37 passes through the plate 35, a base plate 313 is provided at the bottom of the rolling support assembly 31, the base plate 313 covers the positioning groove 37, and the second quick-release component 34 is a quick-release screw, which passes through the base plate 313 and the positioning groove 37 in sequence and slides with the positioning groove 37 to realize quick adjustment of the position of the rolling support component in the second direction on the plate 35. The quick-release screw can be implemented using the bicycle quick-release tool in the existing patent document CN2210756Y.

[0075] It should be noted that the rolling support components 31 need to be arranged in pairs on opposite sides of the base plate 36 to restrict the movement of the metal waste 7 along the second direction. Therefore, a positioning groove 37 parallel to the second direction is provided on the base to facilitate quick alignment of the paired rolling support components 31 during installation, ensuring the stability of the rolling support components 31 in supporting the metal waste 7. The quick-release screws pass through the base plate 313 and the positioning groove 37 in sequence and slide relative to the positioning groove 37, which facilitates the movement, adjustment and fixation of the base plate 313 and the plate 35 driven by the quick-release screws, realizing quick adjustment of the position of the rolling support component in the second direction on the plate 35.

[0076] In a more specific embodiment, the rolling support assembly 31 includes an L-shaped frame 312, with drive rollers 311 at both ends of the L-shaped frame 312. The turning point of the L-shaped frame 312 is rotatably connected to the base plate 313. It can be understood that, in specific implementation, the L-shaped frame 312 supports the metal waste 7, restricting its movement along the second direction, and the rollers drive the metal waste 7 to rotate to achieve radial cutting.

[0077] In a more specific embodiment, the bottom of the fixing component 33 is provided with a clip that matches the positioning groove 37. The positioning groove 37, which is parallel to the second direction, restricts the fixing component 33 from moving along the first direction through the clip, thereby enabling the fixing component 33 to restrict the metal waste 7 from moving along the first direction.

[0078] In a more specific embodiment, the fixing component includes a baffle, a base, and a threaded adjusting component. The baffle is slidably disposed with the base, and one end of the threaded adjusting component is movably connected to the base and the other end is connected to the baffle. By rotating the threaded adjusting component, the baffle is moved to achieve contact between the two ends of the cylindrical container, thereby preventing the metal waste 7 from moving axially.

[0079] In a more specific embodiment, the substrate 36 is provided with guard plates 38 on both sides along the second direction to prevent the L-shaped frame 312 and the base plate 313 from rotating too much. The guard plates 38 are provided with handles 39 for moving the panels 35 for splicing.

[0080] It should be noted that the operating table 3 in this embodiment is mainly used for positioning, rotating and fixing cylindrical workpieces. When the cylindrical workpiece is fixed on the operating table 3, the axis of the cylindrical workpiece is parallel to the first direction, so that when the drive roller 311 rotates, the cylindrical workpiece rotates around its own axis, and cooperates with the cutting part to cut the cylindrical workpiece in the circumferential direction.

[0081] In a more specific embodiment, the negative pressure sealing chamber 1 includes a frame 11, a first inlet door 12, a second inlet door 13, a first power assembly 14, and a second power assembly 15. The first inlet door 12 is disposed on the top of the frame 11, and the second inlet door 13 is disposed on the side of the frame 11. The first inlet door 12 and the second inlet door 13 are arranged adjacent to each other. The ends of the first inlet door 12 and the second inlet door 13 that are connected to each other are detachable from the frame 11, while the ends of the first inlet door 12 and the second inlet door 13 that are far apart from each other are fixedly connected to the frame 11. The first power assembly 14 is connected to the first inlet door 12 and is used to control the opening or closing of the first inlet door 12. The second power assembly 15 is connected to the second inlet door 13 and is used to control the opening or closing of the second inlet door 13.

[0082] Understandably, in practice, the first inlet gate 12 and the second inlet gate 13 are opened simultaneously by the first power assembly 14 and the second power assembly 15 to carry out the hoisting operation, thereby expanding the range of the material inlet space of the negative pressure sealed chamber 1 and enhancing the flexibility and adaptability of the hoisting operation.

[0083] It should be noted that the primary function of the negative pressure sealed chamber 1 is to prevent fumes from escaping into the factory workshop during the cutting process, preventing radioactive fumes from polluting the surrounding environment, and simultaneously protecting personnel in the surrounding environment. The working process of the negative pressure sealed chamber 1 is as follows:

[0084] S21. When the door is opened manually by clicking the button, the first feed door 12 and the second feed door 13 will open automatically.

[0085] S22. Wait for the object to be cut to be hoisted to completion;

[0086] S23. When the staff clicks the close door button, the first feed door 12 and the second feed door 13 will close automatically.

[0087] In a more specific embodiment, the first inlet gate 12 includes a first folding part 143 and a second folding part 144. The first folding part 143 and the second folding part 144 are rotatably connected. The two ends of the first folding part 143 away from the second folding part 144 are slidably connected to the guide rail 145 by sliders. One side of the slider is rotatably connected to the end of the first folding part 143, and the other side is connected to the first power assembly 14. The first power assembly 14 drives the slider to move on the guide rail 145, thereby realizing the opening and closing of the first inlet gate 12. The two ends of the second folding part 144 away from the first folding part 143 are fixed on the negative pressure sealing chamber 1 and rotatably connected to the negative pressure sealing chamber 1.

[0088] In a more specific embodiment, the first power assembly 14 includes a servo motor 141, a rotating rod, a belt, and a positioning wheel. The rotating rod is located on the side of the second feed gate 13 away from the first feed gate 12, and the positioning wheel is located on the side of the first feed gate 12 away from the second feed gate 13. The belt is sleeved on the rotating rod and the positioning wheel. The servo motor 141 is connected to the rotating rod 146, and the slider is fixedly connected to the belt. It is understood that, in specific implementation, the servo motor 141 drives the rotating rod to rotate, which in turn drives the belt to rotate. The belt then drives the slider to move along the guide rail 145 to control the opening and closing of the first feed gate 12.

[0089] It should be noted that a large amount of dust is generated during metal cutting, which may overflow from the negative pressure sealed chamber 1. The structural characteristics of belt drive can reduce the interference of dust on the transmission system: belt drive has no "tooth gaps" of gear meshing or "chain link gaps" of chain, which can avoid dust jamming (gears / chains are prone to jamming and accelerated wear due to the accumulation of debris); the surface of the belt is smooth, and even if it is contaminated with a small amount of dust, it can be cleaned by its own friction or simple wiping, without affecting the operation of the transmission system.

[0090] In a more specific embodiment, the side of the second inlet gate 13 away from the first inlet gate 12 is rotatably connected to the frame 11 via a hinge 16. The side of the second inlet gate 13 is connected to the frame 11 via a second power assembly 15, which includes an electric cylinder. The electric cylinder drives the gate to rotate and unfold around the hinge. The electric cylinder adopts a "fully enclosed cylinder" design, completely enclosing the lead screw and guide rail inside the cylinder. Only the protruding end of the piston rod is sealed by a sealing ring, physically isolating dust and ensuring the working stability of the second power assembly.

[0091] In a more specific embodiment, the negative pressure sealed chamber 1 also includes an observation window 18.

[0092] In a more specific embodiment, it also includes a collection device 6 and a mobile conveying device 4. A discharge door 17 is provided on the side of the negative pressure sealed chamber 1. The discharge door 17 is movably connected to the frame 11. The collection device 6 is located outside the negative pressure sealed chamber 1. The mobile conveying device 4 is used to transport the cut metal waste 7 inside the negative pressure sealed chamber 1 to the collection device 6.

[0093] In a more specific embodiment, an intelligent remote control console 5 is included, which is wirelessly connected to a mobile platform 21, a multi-axis robotic arm 22, a scanning camera 27, and a negative pressure sealed chamber 1.

[0094] A cutting method based on a cutting and volume reduction device for radioactive metal waste from nuclear power plants includes:

[0095] Metal waste 7 enters negative pressure sealed chamber 1: The intelligent remote control console controls the opening of the first inlet door 12 and the second inlet door 13, and the metal waste 7 is hoisted from above the negative pressure sealed chamber 1 into the negative pressure sealed chamber 1 and placed on the operating table 3 for fixation.

[0096] Scanning camera 27 scans metal waste 7 to generate cutting path: Scanning camera 27 scans the starting position of cutting metal waste 7 to be cut, then scans the entire metal waste 7 to be cut to obtain a three-dimensional scan image, and synthesizes the three-dimensional scan image to generate a cutting path, which is then transmitted to the intelligent remote control console 3.

[0097] Assemble the cutting tool: Select the plasma cutter head 23 or circular saw 24 and install it onto the rotating end of the multi-axis robotic arm 22 according to the material, thickness and structure of the radioactive metal waste 7 to be cut;

[0098] Remote control: The movement of the mobile platform 21 is controlled by the remote control console 3. When the mobile platform 21 moves to the target position, the multi-axis robotic arm 22 is remotely driven by the remote control console 3 to perform cutting operations according to the cutting path.

[0099] Cleaning the cut pieces: During the cutting process, the metal waste 7 after cutting is cleaned by the moving and conveying device 4 and transported out through the discharge gate 17 to the collection device 6 for temporary storage.

[0100] In summary, the present invention provides an intelligent remote cutting device and method for cutting and reducing the volume of radioactive metal waste 7 generated by nuclear power plants, thereby reducing the volume occupied by radioactive metal waste 7 within the nuclear power plant and achieving the effect of volume reduction. The multi-functional negative pressure sealed chamber 1 ensures that radioactive cutting fumes do not diffuse into the environment, posing no radiation risk to the environment or operators. The mobile composite cutting trolley, composed of an AGV trolley, a multi-axis robotic arm 22, a plasma cutting head 23, a three-dimensional scanning camera 27, and a circular saw 24, can achieve multiple uses, meeting the centralized cutting operation of radioactive metal waste 7 of different materials, thicknesses, and structural shapes generated by nuclear power plants, thus improving equipment utilization. The intelligent remote control operating console 3 adopts a remote control system, reducing the number of operators involved and lowering the risk of radioactive radiation exposure to operators.

[0101] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A system for cutting and reducing the volume of radioactive metal waste from nuclear power plants, characterized in that, Includes a negative pressure sealed chamber, cutting tools, and an operating table; The cutting tool and the operating table are both located inside the negative pressure sealed chamber. The negative pressure sealed chamber is used to prevent the smoke and dust generated when cutting metal waste from spreading outside the negative pressure sealed chamber. The cutting tool includes a moving platform and a cutting assembly; the cutting assembly is mounted on the moving platform, and the moving platform is used to control the movement of the cutting tool within the negative pressure sealed chamber; the cutting assembly includes a multi-axis robotic arm and a cutting component, and the cutting component is mounted on the moving end of the multi-axis robotic arm. The operating table includes a rolling support assembly, which supports and rotates the metal waste to assist the cutting tool in radially cutting the metal waste.

2. The nuclear power plant radioactive metal waste cutting and volume reduction system according to claim 1, characterized in that, The cutting components include a plasma cutting head or a circular saw.

3. The nuclear power plant radioactive metal waste cutting and volume reduction system according to claim 1, characterized in that, The cutting tool includes a dust collection component, which is disposed on one side of the cutting workpiece and is used to absorb the smoke and dust generated when the metal waste is cut. A metal filter is provided at the inlet of the dust collection component.

4. A nuclear power plant radioactive metal waste cutting and volume reduction system according to claim 3, characterized in that, The cutting tool also includes a scanning camera, which is disposed at the moving end of the multi-axis robotic arm and on one side of the workpiece to be cut.

5. A nuclear power plant radioactive metal waste cutting and volume reduction system according to claim 1, characterized in that, The operating table further includes a base plate, a first quick-release component, a fixing component, and a second quick-release component. The base plate includes multiple plates sequentially spliced ​​along a first direction. The multiple plates are spliced ​​together by the first quick-release component. Fixing components are provided on both sides of the base plate in the first direction. The fixing components are used to restrict the movement of metal waste along the first direction. Rolling support components are provided on both sides of the base plate in a second direction. The rolling support components are installed on the plates by the second quick-release component and are used to restrict the movement of metal waste along the second direction. The first direction is perpendicular to the second direction.

6. A nuclear power plant radioactive metal waste cutting and volume reduction system according to claim 1, characterized in that, The negative pressure sealing chamber includes a frame, a first inlet door, a second inlet door, a first power assembly, and a second power assembly. The first inlet door is located on the top of the frame, and the second inlet door is located on the side of the frame. The first and second inlet doors are arranged adjacent to each other. The ends of the first and second inlet doors that are connected to each other are detachable from the frame, while the ends of the first and second inlet doors that are far apart from each other are fixedly connected to the frame. The first power assembly is connected to the first inlet door and is used to control the opening or closing of the first inlet door. The second power assembly is connected to the second inlet door and is used to control the opening or closing of the second inlet door.

7. A nuclear power plant radioactive metal waste cutting and volume reduction system according to claim 6, characterized in that, The first feed gate is connected to the first power assembly, which includes a belt drive structure. The second feed gate is connected to the second power assembly, which includes an electric cylinder.

8. A nuclear power plant radioactive metal waste cutting and volume reduction system according to claim 6, characterized in that, It also includes a collection device and a mobile conveying device. The side of the negative pressure sealed chamber is provided with a discharge door, which is movably connected to the frame. The collection device is located outside the negative pressure sealed chamber, and the mobile conveying device is used to transport the cut metal waste in the negative pressure sealed chamber to the collection device.

9. A nuclear power plant radioactive metal waste cutting and volume reduction system according to claim 4, characterized in that, It includes an intelligent remote control console, which is wirelessly connected to the mobile platform, robotic arm, scanning camera, and negative pressure sealed chamber.

10. A cutting method based on the nuclear power plant radioactive metal waste cutting and volume reduction system according to any one of claims 1-9, characterized in that, include: Metal waste is fed into the negative pressure sealed chamber: The intelligent remote control console controls the opening of the first and second feed doors, and the metal waste is hoisted from above the negative pressure sealed chamber into the negative pressure sealed chamber and placed on the operating table for fixation. The scanning camera scans the metal waste to generate a cutting path: The scanning camera scans the starting position of the cutting of the metal waste to be cut, scans the entire metal waste to be cut to obtain a three-dimensional scan image, and synthesizes the three-dimensional scan images to generate a cutting path, which is then transmitted to the intelligent remote control console. Assemble the cutting parts: Select a plasma cutting head or circular saw and install it onto the rotating end of the multi-axis robotic arm, based on the material, thickness and structure of the radioactive metal waste to be cut. Remote control: The mobile platform can be moved by the remote control console. Once the mobile platform reaches the target position, the multi-axis robotic arm can be remotely driven by the remote control console to perform cutting operations according to the cutting path. Cleaning the cut pieces: During the cutting process, the cut metal waste is cleaned by a moving transport device and transported out through the discharge gate to a collection device for temporary storage.

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