Nuclear decommissioning pipeline cutting equipment and cutting method

Abstract

The invention discloses nuclear decommissioning pipeline cutting equipment and a cutting method, and belongs to the technical field of pipeline cutting. The equipment comprises a walking device, a driving device, a cutting device, a trepanning device and a positioning belt. And the cutting device and the tapping device are independently driven by the driving device. The positioning belt is fixed to the outer wall of the pipeline in a surrounding mode, the circular ring part on the positioning belt is used for being adsorbed to a corrugated pipe of the tapping device in a sealed mode, and the strip-shaped part is provided with a containing groove used for collecting chippings. The cutting method comprises the steps of installing the positioning belt; equipment is automatically positioned; the trepanning device performs sealed trepanning and negative pressure exhaust; a cutting device is switched, and a cutting saw head extends into the pipeline through the open hole to conduct annular cutting along the inner wall of the pipeline; in the cutting process, chippings fall into the containing groove and the pipeline, and the two sections of the pipeline are kept in butt joint through the positioning belt after cutting. According to the nuclear decommissioning pipeline cutting device, cutting from the interior of the pipeline is achieved, negative pressure exhaust and scrap collection are matched, combustible gas explosion and radioactive contamination diffusion are effectively prevented, and the safety of nuclear decommissioning pipeline cutting is improved.

Description

Technical Field

[0001] This application relates to the field of pipeline cutting technology, and in particular to a cutting device and method for nuclear decommissioning pipelines. Background Technology

[0002] During the decommissioning of nuclear facilities, the safe cutting and dismantling of pipelines is a crucial and challenging operation. These decommissioned pipelines typically carry or contain radioactive materials, corrosive chemicals, or flammable and explosive gases (such as hydrogen) for extended periods. Traditional cutting methods, such as flame cutting, manual mechanical cutting, or laser cutting, pose several significant risks: first, the heat source or static electricity from the cutting may ignite flammable gases accumulated inside the pipeline, leading to a deflagration accident; second, radioactive debris generated during cutting can splash and spread, severely contaminating the working environment and endangering personnel health and subsequent cleanup efforts.

[0003] To address these risks, some remotely controlled or automated cutting devices have emerged in the existing technology. These devices are typically mounted on mobile platforms and attempt to integrate localized ventilation or debris collection devices (such as small vacuum cleaners). However, these solutions reveal new shortcomings when facing continuous, high-volume pipe cutting operations. First, the built-in debris collection containers (slag boxes) have limited capacity, requiring frequent shutdowns for cleaning or replacement during continuous cutting operations that generate large amounts of metal debris, severely limiting operational efficiency. More seriously, in a nuclear decommissioning environment, these debris are radioactive. When they accumulate in large quantities in the collection containers on the equipment, they create a continuous radiation field on the equipment itself. This could not only interfere with the normal operation of the equipment's mobile communication modules and electronic control circuit boards, leading to control failures or data errors, but could also turn the equipment itself into a secondary source of pollution requiring subsequent treatment, increasing the complexity of decommissioning work.

[0004] Therefore, there is an urgent need for a nuclear decommissioning pipeline cutting solution that can completely solve the above problems. This solution must not only achieve unmanned and safe operation and effectively prevent the spread of pollution, but also have efficient and sustainable waste disposal capabilities, be able to adapt to continuous operation needs, and avoid the adverse accumulation of radioactive materials on the operating equipment, ensuring the safety, efficiency and cleanliness of the entire decommissioning process. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a cutting device and method for nuclear decommissioning pipelines.

[0006] A cutting device and method for cutting nuclear decommissioning pipelines, the device comprising a traveling device, a driving device mounted on the traveling device, and a cutting device and an opening device, each independently driven by the driving device.

[0007] Compared with existing technologies, the above-mentioned technical solution integrates walking, driving, drilling, and cutting functions into one unit, constructing an unmanned operation platform that can be remotely or automatically controlled. The drilling device can pre-drill holes in the pipeline and vent air before cutting, and the cutting device can penetrate deep into the pipeline through small holes to perform operations. This fundamentally avoids direct contact between external heat sources or sparks and potentially flammable gases inside the pipeline, and effectively controls the spread of radioactive debris, significantly improving the inherent safety and environmental pollution controllability of nuclear decommissioning pipeline cutting operations.

[0008] Furthermore, the walking device is a tracked chassis; the driving device includes a lifting mechanism and a robotic arm; the lifting mechanism includes a plurality of first hydraulic cylinders; the robotic arm is configured to move in three-dimensional space; the drilling device and the cutting device are respectively connected to the robotic arm.

[0009] Compared with existing technologies, the tracked chassis enhances the equipment's passability and stability in complex terrain by adopting the above-mentioned technical solutions. The combination of the lifting mechanism and the multi-degree-of-freedom robotic arm enables high-precision positioning and attitude adjustment of the end effector for drilling and cutting in three-dimensional space, allowing it to adapt to protruding structures such as flanges on pipelines and accurately align with the work point, laying the foundation for automated continuous operation.

[0010] Furthermore, the cutting device also includes an adjustment mechanism; the adjustment mechanism includes a second hydraulic cylinder, a U-shaped connector, a rotary joint, and an adjustment seat, used to adjust the spatial position and posture of the cutting saw head.

[0011] Compared with existing technologies, by adopting the above technical solution, the adjustment mechanism provides multiple degrees of freedom for adjustment, enabling the cutting saw head to accurately enter the pipe through the small hole and accurately position itself at the cutting starting point on the inner wall of the pipe, thus providing the necessary motion guarantee for circumferential ring cutting from inside the pipe.

[0012] Furthermore, a third hydraulic cylinder is provided inside the adjusting seat; a saw head mounting seat is fixed to the driving end of the third hydraulic cylinder; and the cutting saw head is installed inside the saw head mounting seat.

[0013] Compared with existing technologies, by adopting the above technical solution, the third hydraulic cylinder can drive the cutting saw head to feed radially, ensuring that the saw head can closely contact the inner wall of the pipe and complete the cutting. At the same time, this structure allows for fine-tuning during the cutting process to compensate for the pipe's non-roundness or ensure complete cutting through the pipe wall.

[0014] Furthermore, a first rotary motor is provided at the rotary joint for driving the adjustment seat to rotate; a second rotary motor is provided at the saw head mounting seat for driving the cutting saw head to rotate.

[0015] Compared with existing technologies, by adopting the above technical solution, the first rotary motor can drive the cutting saw head to revolve around the central axis of the pipe, completing a circular cutting trajectory; the second rotary motor drives the cutting saw head to rotate at high speed, realizing the cutting action. The coordinated work of the two enables efficient and complete cutting of the pipe wall from the inside.

[0016] Furthermore, the drilling device includes a fourth hydraulic cylinder, a drilling bit, and a third rotary motor; the fourth hydraulic cylinder is fixed to the Z-axis drive end of the robotic arm; the third rotary motor is used to drive the drilling bit to rotate.

[0017] Compared with existing technologies, the above-mentioned technical solution provides an independent and powerful drilling function. The fourth hydraulic cylinder provides axial feed pressure, and the third rotary motor provides drilling torque. The two work together to quickly open small holes in the pipeline for venting and cutting inlets, and their drive is independent of the cutting device, allowing for flexible arrangement of processes.

[0018] Furthermore, the drill bit is provided with a protective shell; the protective shell is connected to a negative pressure pipe and a negative pressure device; a corrugated pipe is connected to one end of the protective shell, and a permanent magnet is provided at the end of the corrugated pipe away from the protective shell.

[0019] Compared with existing technologies, by adopting the above technical solution, the protective shell and corrugated pipe can form a relatively sealed cavity with the outer wall of the pipe during the drilling operation. Combined with a negative pressure device, dangerous gases and drill cuttings generated inside the pipe can be forcefully extracted during drilling, greatly reducing the risk of flammable gas accumulation and explosion, and enabling immediate collection of drilling debris to prevent primary contamination.

[0020] Furthermore, it also includes a positioning strip; the positioning strip includes a circular portion and a strip portion; the strip portion has a storage groove; the positioning strip is made of flexible magnetic material.

[0021] Compared with existing technologies, by adopting the above technical solution, the flexible magnetic positioning strip is easy to install and firmly attached to the outer wall of the pipe. Its circular part provides a highly identifiable docking target and sealing adsorption surface for the opening device; the collection groove of the strip part can collect some of the falling radioactive debris during the cutting process, which together with the inside of the pipe forms a debris-containing space, effectively limiting the spread of pollution.

[0022] Furthermore, a method for cutting a nuclear decommissioning pipeline, using the aforementioned equipment, includes steps such as installing a positioning belt, positioning the equipment, sealing the opening and venting, switching the device, preparing for cutting, internal annular cutting, completing the cutting, and recycling.

[0023] Compared with existing technologies, the above-mentioned technical solution forms a complete, orderly, and automated safe cutting process. This method first safely releases the internal pressure of the pipeline through negative pressure opening, and then uses a circular cutting method from the inside out to confine most of the radioactive debris within a closed or semi-closed space. Combined with the fixing and collection function of the positioning belt, it achieves effective control of safety risks and pollution diffusion throughout the entire process before, during, and after cutting.

[0024] Furthermore, during the drilling process, a negative pressure device is continuously used to suction out the combustible gas until it is discharged; the cutting trajectory is controlled so that the debris falls into the collection tank or pipe.

[0025] Compared with existing technologies, the above-mentioned technical solution ensures complete safety during the drilling stage, minimizing the risk of explosion through continuous negative pressure. Simultaneously, it actively guides cutting debris to a designated collection area, minimizing secondary pollution during the operation and simplifying subsequent cleanup.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. By first opening holes for negative pressure venting, the risk of igniting flammable gases inside the pipeline during cutting is eliminated; the internal cutting method effectively suppresses the splashing pollution of radioactive debris, ensuring the safety of personnel and the environment.

[0027] 2. The equipment has a high degree of integration and automation, enabling automatic positioning and continuous operation along the pipeline. The lifting mechanism and robotic arm work together to cross pipeline protrusions without frequent manual intervention or equipment reconfiguration, greatly improving cutting efficiency.

[0028] 3. The main radioactive debris generated during cutting is confined inside the pipes and in the collection tanks of the positioning zone, preventing the equipment itself from accumulating highly radioactive waste and avoiding it becoming a secondary source of pollution. The centralized containment of debris also facilitates subsequent overall recycling and processing. Attached Figure Description

[0029] Figure 1 It is a three-dimensional view of the equipment; Figure 2 and Figure 3 Show the structure of the device from two different perspectives; Figure 4 It mainly showcases the overall structure of the cutting device; Figure 5 The main focus is on showcasing the specific structure of the cutting device; Figure 6 and Figure 7 These are two perspective views of the opening device; Figure 8 The main focus is on showcasing the specific structure of the positioning belt.

[0030] Explanation of reference numerals in the attached drawings: 1. Walking device; 21. First hydraulic cylinder; 3. Mechanical arm; 41. Rotary joint; 42. Adjustment seat; 43. Second hydraulic cylinder; 44. Third hydraulic cylinder; 45. Saw head mounting seat; 451. Cutting saw head; 452. Second rotary motor; 46. U-shaped part; 51. Drill bit; 52. Fourth hydraulic cylinder; 6. Protective shell; 61. Negative pressure pipe; 62. Corrugated pipe; 63. Permanent magnet; 7. Positioning belt; 71. Strip part; 72. Circular part; 73. Storage groove. Detailed Implementation

[0031] The present application will be further described in detail below with reference to the accompanying drawings.

[0032] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0033] This invention discloses a nuclear decommissioning pipeline cutting device, aiming to achieve unmanned, safe, and low-pollution cutting of pipelines containing radioactive or hazardous gases. The device mainly includes a traveling device 1, a drive device mounted on the traveling device 1, and a cutting device and an opening device independently driven by the drive device.

[0034] The walking device 1 adopts a tracked chassis to adapt to the complex ground environment at the nuclear decommissioning site and to move smoothly along the pipeline direction.

[0035] Reference Figure 1 , Figure 2 and Figure 3The drive unit is used to carry and precisely position the cutting and drilling devices. It includes a lifting mechanism and a robotic arm 3. The lifting mechanism consists of multiple first hydraulic cylinders 21 vertically mounted on a tracked chassis, used to adjust the height of the drive unit and subsequent actuators as a whole, enabling them to cross protruding structures such as flanges on the pipeline. The robotic arm 3 is connected to the lifting mechanism and is configured to perform precise transfer movements along the X, Y, and Z axes in three-dimensional space, thereby independently driving the drilling and cutting devices to their predetermined working positions. When the equipment travels along the pipeline, if it encounters a flange protrusion at a pipeline connection, the control system will control multiple first hydraulic cylinders 21 to extend synchronously, pushing the lifting mechanism, along with the robotic arm 3 and the drilling and cutting devices it carries, to rise vertically until the height of the end effector of the robotic arm 3 exceeds the highest point of the flange. Alternatively, it can move the drilling and cutting devices directly onto the track, thereby avoiding the pipeline path. Subsequently, the tracked chassis continues to move, smoothly crossing the flange area. After the chassis has completely crossed the flange, the first hydraulic cylinder 21 retracts synchronously, causing the robotic arm 3 to slowly descend to the preset working height, thereby ensuring that the opening device and the cutting device can be accurately re-aligned with the subsequent cutting positions on the pipeline.

[0036] Reference Figure 1 , Figure 2 and Figure 3 The cutting device is used to perform the main cutting operation on the pipe. It includes a cutting saw head 451 and an adjustment mechanism for adjusting the posture and position of the cutting saw head 451. The adjustment mechanism specifically includes a second hydraulic cylinder 43, a U-shaped connector, a rotary joint 41, and an adjustment seat 42. The second hydraulic cylinder 43 is located at the Z-axis drive end of the robotic arm 3, and the extension and retraction of its piston rod can achieve coarse adjustment of the initial height of the cutting device. The drive end of the second hydraulic cylinder 43 is connected to the U-shaped connector. The U-shaped connector is connected to the adjustment seat 42 through the rotary joint 41, which integrates a first rotary motor, allowing the adjustment seat 42, together with the cutting component on it, to rotate around a vertical axis. A third hydraulic cylinder 44 is installed inside the adjustment seat 42, and a saw head mounting seat 45 is fixed at the drive end of the third hydraulic cylinder 44. The cutting saw head 451 is installed in this saw head mounting seat 45. A second rotary motor 452 is provided on the saw head mounting seat 45 for driving the cutting saw head 451 to rotate at high speed. By extending and retracting the second hydraulic cylinder 43, rotating the first rotary motor, and extending and retracting the third hydraulic cylinder 44, the depth of the cutting saw head 451 inserted into the pipe, the radius of rotation around the pipe axis, and its own rotational cutting action can be controlled in a coordinated manner.

[0037] Reference Figure 4 and Figure 5To address the impact of cutting debris, in this embodiment, the cutting saw head 451 is made of a high-hardness, wear-resistant material (such as cemented carbide), and its specifications are selected according to the pipe size. The drive rod of the third hydraulic cylinder 44 and the rotary joint 41 are equipped with dust seals. While ensuring cutting efficiency, a higher saw head rotation speed is used to obtain smaller chip size. Fine chips are more easily controlled; some fall into the collection groove 73 due to gravity, while others are thrown towards the far end of the pipe cavity due to centrifugal force, thereby significantly reducing splash accumulation near the cutting point and direct impact on the saw head body.

[0038] Reference Figure 4 and Figure 5 After the robotic arm 3 positions the cutting device above the pre-drilled hole, the second hydraulic cylinder 43 drives the adjusting mechanism to descend, allowing the cutting saw head 451 to enter the pipe through the small hole. Subsequently, based on the pipe's inner diameter data, the rotating joint 41 is positioned at the pipe's center by adjusting the extension length of the second hydraulic cylinder 43, and the third hydraulic cylinder 44 extends to bring the cutting saw head 451 into contact with the pipe's inner wall. During cutting, the second rotary motor 452 drives the saw head to rotate, while the first rotary motor drives the adjusting seat 42 and the saw head to rotate uniformly around the axis of the rotating joint 41. The third hydraulic cylinder 44 can perform radial fine-tuning during rotation to ensure complete cutting through the pipe wall. Throughout the process, the control system centrally controls the extension and retraction timing and speed of each of the first hydraulic cylinder 21, second hydraulic cylinder 43, third hydraulic cylinder 44, and fourth hydraulic cylinder 52, the start / stop and speed of the first rotary motor, second rotary motor 452, and third rotary motor, as well as the movement trajectory and speed of each axis of the robotic arm 3, ensuring that the processes of drilling, venting, cutting, and debris collection are completed continuously, precisely, and automatically.

[0039] Reference Figure 6 and Figure 7The perforation device is used to pre-perforate the pipe before cutting to release internal pressure and create a cutting entry point. It includes a fourth hydraulic cylinder 52, a perforation drill bit 51, a protective shell 6, and a negative pressure system. The fourth hydraulic cylinder 52 is fixed to the Z-axis drive end of the robotic arm 3, and the perforation drill bit 51 and a third rotary motor for driving the drill bit's rotation are mounted at the end of its piston rod. The perforation drill bit 51 and the third rotary motor are covered by the protective shell 6, forming a partially sealed space. A bellows 62 is connected to the end of the protective shell 6, and a permanent magnet 63 is located at the end of the bellows 62 away from the protective shell 6. The bellows 62 is made of a flexible material, and its wall has a continuous pleated structure. This pleated design gives the bellows 62 good flexibility and elastic deformation capability in the axial direction. When the drilling device is pressed down, the fourth hydraulic cylinder 52 drives the protective shell 6 and the drilling bit 51 to move downwards. At this time, the bellows 62, due to its axial compressibility, can elastically contract along the axial direction under pressure, thereby adapting to the feed displacement of the drilling bit 51. The protective shell 6 is also connected to a negative pressure pipe 61, which leads to a negative pressure device (such as a vacuum pump) mounted on the tracked chassis. This structure allows the drilling operation to be carried out in a relatively sealed environment, and the generated debris and extracted gas can be effectively collected.

[0040] Reference Figure 6 and Figure 7 This equipment also includes a conventional vision camera. During the cutting operation, the various actuators of the drive unit work collaboratively according to a preset program. Specifically, the robotic arm 3 is responsible for large-scale movement and coarse positioning in three-dimensional space, transporting the drilling or cutting device to the vicinity of the target position with the assistance of the vision camera. Subsequently, the first hydraulic cylinder 21 of the lifting mechanism performs initial height adjustment, while the Z-axis drive of the robotic arm 3 performs fine height compensation. After the robotic arm 3 is precisely positioned, the fourth hydraulic cylinder 52 drives the drilling bit 51 to feed downwards, while the third rotary motor starts and drives the drill bit to rotate at high speed. The negative pressure device is also activated simultaneously, realizing the simultaneous drilling, gas extraction from the pipe, and collection of drilling debris.

[0041] Reference Figure 1 and Figure 8In addition, the device is used in conjunction with a positioning belt 7. The positioning belt 7 is made of a flexible magnetic material (such as rubber mixed with magnetic metal powder) and includes a circular portion 72 and an integrally connected strip portion 71. The shape of the circular portion 72 matches the opening of the bellows 62. The strip portion 71 has grooves along its length, forming a receiving groove 73. In use, the positioning belt 7 is wrapped around and fixed to the outer wall of the pipe to be cut, and both ends are mechanically secured by teeth and latches to prevent any displacement or loosening during operation. Its circular portion 72 faces upward and is aligned with the predetermined cutting line, while the receiving groove 73 of the strip portion 71 faces the pipe surface. The circular portion 72 serves as a receiving interface for the opening device, while the receiving groove 73 is used to collect some of the cutting debris that falls during subsequent cutting.

[0042] A method for cutting nuclear decommissioning pipelines, using the aforementioned equipment, includes the following steps: S1. Preliminary preparation: At the predetermined position of the pipe to be cut, the positioning belt 7 is wrapped around the pipe manually or with auxiliary machinery and locked in place, ensuring that its circular part 72 faces upward and the storage groove 73 of the strip part 71 faces the pipe.

[0043] S2. Automatic Positioning and Movement: Controls the tracked chassis to move along the pipeline. The equipment uses a vision camera mounted on the robotic arm 3 to identify the positioning belt 7 ring 72 on the pipeline and automatically navigates and positions itself, stopping the equipment at the cutting station.

[0044] The annular portion 72 is pre-designed as a specific circle. This specific shape enables the vision camera to quickly and accurately identify the precise center position and planar orientation of the annular portion 72 in complex on-site environments through pattern recognition and color filtering algorithms.

[0045] S3. Sealing and Venting: The robotic arm 3 drives the opening device to move, aligning the permanent magnet 63 at the end of the bellows 62 with and attracting it onto the annular portion 72 of the positioning band 7. At this time, the protective shell 6, the bellows 62, and the annular portion 72 together form a relatively sealed working chamber. The negative pressure device is activated, and simultaneously the fourth hydraulic cylinder 52 presses down, driving the third rotary motor to rotate the opening drill bit 51, drilling a small hole at the top of the pipe. During the drilling process, the negative pressure device continuously suctions, first expelling any flammable gases (such as hydrogen) that may be present in the pipe to a safe area for treatment, while simultaneously sucking in the drilling debris into the collection device to prevent it from scattering.

[0046] Within the relatively sealed working chamber, the continuous suction of the negative pressure device maintains a negative pressure state below atmospheric pressure, creating a high-speed airflow from the inside of the pipe through small holes into the protective shell 6. This high-speed gas flow rapidly dilutes and reduces the concentration of combustible gas within the working chamber, making it difficult to reach the lower explosive limit. The negative pressure environment restricts the large-scale infiltration of external air (including oxygen), resulting in a relatively low actual oxygen concentration within the chamber, insufficient to support vigorous combustion. Even if static electricity generated by the drilling bit 51 accidentally ignites localized gas, the high-speed airflow formed by the negative pressure suction immediately and rapidly removes and cools the ignited flame or high-temperature products, simultaneously cutting off the continuous supply of the gas mixture required for combustion, preventing the flame from propagating or being maintained stably, thus effectively preventing deflagration.

[0047] S4. Device switching: After the hole is opened, the robotic arm 3 moves the hole opening device back to a safe position, and then drives the cutting device to move above the hole.

[0048] S5. Cutting Preparation and Internal Positioning: The robotic arm 3 adjusts the posture of the cutting device, and the second hydraulic cylinder 43 drives the adjustment mechanism to descend, allowing the cutting saw head 451 to enter the pipe through the pre-drilled hole. Based on the known pipe inner diameter data, the rotary joint 41 is adjusted to the center position of the inner circle of the pipe by controlling the extension length of the second hydraulic cylinder 43. Subsequently, the third hydraulic cylinder 44 extends, driving the cutting saw head 451 to move radially to the position of contact with the inner wall of the pipe.

[0049] S6. Internal Circular Cutting: The second rotary motor 452 is started to drive the cutting saw head 451 to rotate at high speed. Then, the first rotary motor is controlled to rotate slowly, driving the adjusting seat 42 and the cutting saw head 451 to make circular motion around the axis of the rotating joint 41 (i.e., the center of the pipe). At the same time, the extension amount of the third hydraulic cylinder 44 can be finely adjusted as needed to ensure that the cutting saw head 451 can completely cut through the pipe wall. During the cutting process, the starting end of the trajectory cut by the saw head on the inner wall of the pipe is directly aligned with the receiving groove 73 of the positioning band 7 strip 71, so that a portion of the large amount of metal debris generated by cutting falls into the inside of the pipe, while the other portion falls directly into the receiving groove 73 and is intercepted.

[0050] S7. Cutting Completion and Retrieval: After the cutting saw head 451 completes a full circle of cutting, the pipe is completely severed. Due to the encircling constraint of the positioning belt 7, the two severed pipe sections maintain their original docking posture, preventing leakage of residual internal liquid or pipe misalignment. Finally, the third hydraulic cylinder 44 and the second hydraulic cylinder 43 are retracted in sequence, withdrawing the cutting device from the hole and being moved back to the initial position by the robotic arm 3.

[0051] S8. Continuous operation: The equipment moves along the pipeline to the next positioning zone 7 and repeats steps S2 to S7 to achieve automated continuous cutting operation.

[0052] S9. Waste Recycling and On-site Cleanup: After the pipe cutting operation is completed, waste is recycled. Since the waste exists inside the pipe or in the collection tank 73, it can be further processed using specialized equipment with waste collection bins or manually. The positioning belt 7 has a simple structure and low manufacturing cost, and can be used for single-use and is not recycled. It is processed together with the pipe, which avoids additional sorting.

[0053] The implementation principle of this application is as follows: By integrating a walking chassis, a multi-degree-of-freedom robotic arm 3, and independently driven opening and cutting modules, a remotely controllable or automatically operating unmanned work platform was constructed, ensuring the safety of personnel in radioactive or hazardous environments. Utilizing an opening device with sealing adsorption and negative pressure collection functions, the closed pipe is opened and forced to vent air before cutting, effectively eliminating the risk of cutting heat sources or electrostatic ignition of flammable gases, while simultaneously collecting initial opening debris. The cutting device is designed to perform ring-shaped cuts by penetrating deep into the pipe through small holes. This inside-out cutting method, combined with a magnetic positioning band 7 pre-installed below the pipe with a collection groove 73, confines most of the radioactive high-temperature debris generated during cutting within the pipe or the collection groove 73, reducing the splashing pollution of toxic and harmful debris into the surrounding environment. The flexible magnetic positioning band 7 not only provides a highly recognizable positioning mark for the vision system, guiding the equipment to precise alignment, but its circumferential structure also temporarily fixes the two pipe sections after cutting, maintaining system stability. The collection groove 73 on it directly participates in debris collection. The permanent magnet 63 at the end of the bellows 62 of the perforation device and the circular part 72 of the positioning belt 7 are attracted to each other, achieving a fast and reliable sealing connection. Through visual positioning and program-controlled movement of the robotic arm 3, the equipment can automatically complete the entire process of positioning, perforation, cutting, and recycling, adapting to pipes of different diameters and lengths, with high work efficiency and reduced uncertainty and risk caused by human intervention.

[0054] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A nuclear decommissioning pipeline cutting apparatus, characterised in that, The walking device (1) is provided with a driving device, a cutting device and a hole opening device connected to the driving device; The cutting device comprises a cutting saw head (451); The hole opening device comprises a hole opening drill bit (51); The hole opening drill bit (51) and the cutting saw head (451) are independently driven by the driving device.

2. A nuclear decommissioning pipe cutting apparatus according to claim 1, wherein, The walking device (1) is a tracked chassis; The driving device comprises a lifting mechanism and a mechanical arm (3); The lifting mechanism comprises a plurality of first hydraulic cylinders (21) fixedly installed on the tracked chassis; The mechanical arm (3) is configured to move in the X, Y and Z axis directions in three-dimensional space; The hole opening device and the cutting device are respectively connected to the mechanical arm (3) and independently driven by the mechanical arm (3).

3. A nuclear decommissioning pipe cutting apparatus according to claim 1, wherein, The cutting device further comprises an adjusting mechanism; The adjusting mechanism comprises a second hydraulic cylinder (43) provided at the Z-axis driving end of the mechanical arm (3); The driving end of the second hydraulic cylinder (43) is connected with a U-shaped connecting piece; The side of the U-shaped connecting piece away from the second hydraulic cylinder (43) is connected with an adjusting seat (42) through a rotating joint (41).

4. A nuclear decommissioning pipe cutting apparatus according to claim 3, wherein, The adjusting seat (42) is internally provided with a third hydraulic cylinder (44); The driving end of the third hydraulic cylinder (44) is fixed with a saw head mounting seat (45); The cutting saw head (451) is mounted in the saw head mounting seat (45).

5. A nuclear decommissioning pipe cutting apparatus according to claim 4, wherein, A first rotating motor is provided at the rotating joint (41) for driving the adjusting seat (42) to rotate around the axis of the rotating joint (41); A second rotating motor (452) is provided at the saw head mounting seat (45) for driving the cutting saw head (451) to rotate.

6. A nuclear decommissioning pipe cutting apparatus according to claim 1, wherein, The hole opening device comprises a fourth hydraulic cylinder (52) fixed to the Z-axis driving end of the mechanical arm (3); The driving end of the fourth hydraulic cylinder (52) is mounted with the hole opening drill bit (51); The driving end of the fourth hydraulic cylinder (52) is further provided with a third rotating motor for driving the hole opening drill bit (51) to rotate.

7. A nuclear decommissioning pipe cutting apparatus according to claim 6, wherein, The hole opening drill bit (51) is externally provided with a protective shell (6) which encloses the hole opening drill bit (51) and the third rotating motor; The protective shell (6) is connected with a negative pressure pipeline (61) connected to a negative pressure device; The negative pressure device is mounted on the tracked chassis; The end of the protective shell (6) is connected with a bellows (62), and the end of the bellows (62) away from the protective shell (6) is provided with a permanent magnet (63).

8. A nuclear decommissioning pipe cutting apparatus according to claim 7, wherein, Further comprising a positioning belt (7); The positioning belt (7) comprises a circular ring part (72) and a strip-shaped part (71) integrally connected with the circular ring part (72); The shape of the circular ring part (72) matches the shape of the port of the bellows (62); The strip-shaped part (71) is provided with a recess along its length direction, forming a receiving groove (73) for accommodating cutting debris; The positioning belt (7) is made of a flexible magnetic material.

9. A method for nuclear decommissioning pipeline cutting, the method comprising: The nuclear decommissioning pipeline cutting device according to any one of claims 1-8, characterized in that it comprises the following steps: S1, installing a positioning belt (7) at a predetermined position on the outer wall of the pipeline to be cut, with the annular part (72) of the positioning belt (7) facing upwards and the receiving groove (73) of the strip-shaped part (71) facing the surface of the pipeline; S2, controlling the walking device (1) to move along the pipeline and positioning the annular part (72) of the positioning belt (7) through a visual recognition system; S3, driving the drilling device to move above the annular part (72) so that the permanent magnet (63) at the end of the bellows (62) is in abutting connection with the annular part (72) to form a sealed working cavity; S4, starting the negative pressure device and drilling an exhaust hole on the pipeline through the drilling bit (51) while pumping out the gas in the pipeline and the debris generated by drilling; S5, after drilling is completed, moving away the drilling device and driving the cutting device to move above the annular part (72); S6, extending the cutting saw head (451) into the pipeline through the exhaust hole and adjusting the cutting saw head (451) to the cutting starting point on the inner wall of the pipeline; S7, starting the cutting saw head (451) to rotate and controlling the adjusting mechanism to move the cutting saw head (451) along the circumference of the pipeline to complete the annular cutting of the pipeline from the inside, with part of the debris generated during cutting falling into the receiving groove (73); S8, after cutting is completed, retracting the cutting saw head (451) and the positioning belt (7) continuing to maintain the abutting connection of the two sections of the pipeline; S9, waste recycling and site cleaning.

10. The nuclear decommissioning pipeline cutting method according to claim 9, characterized in that, in step S4, continuously pumping through the negative pressure device during drilling until the combustible gas in the pipeline is exhausted; in step S7, controlling the cutting trajectory of the cutting saw head (451) to correspond to the position of the receiving groove (73) so that the debris generated by cutting is confined inside the pipeline or in the receiving groove (73).

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