Remotely-driven long-distance high-radioactivity micro pipeline blockage dredging robot

Abstract

The invention belongs to the field of specialized robots in the nuclear industry, and relates to a remotely-driven long-distance high-radioactivity micro pipeline blockage dredging robot which comprises a pushing and pulling device, a conveying mechanism and a dredging device. The tail end of the carrying mechanism is connected with an execution tail end tool, and the head end of the carrying mechanism sequentially penetrates through the dirt removing device and the push-pull device and then is connected with the storage device; the tail end of the decontamination device is detachably clamped at a pipe opening of the pipeline, and the decontamination device is used for decontaminating and collecting waste on the surface of the carrying mechanism when the carrying mechanism is pulled out; the storage device is used for storing the carrying mechanism pulled out of the pipeline; the driving equipment is used for providing power for the push-pull device, the decontamination device and the storage device; and the remote control system is electrically connected with each electric component through a cable and is used for remotely controlling each electric component. According to the invention, the long-distance dredging of the spent fuel post-treatment micro pipeline blockages is realized, and the safety and the production efficiency of spent fuel post-treatment are ensured.

Description

Technical Field

[0001] This invention relates to the field of special robots in the nuclear industry, and in particular to a remotely driven, long-distance, high-radioactivity micro-pipe blockage clearing robot for clearing blockages in high-radioactivity micro-pipes during spent fuel reprocessing. Background Technology

[0002] Spent fuel reprocessing is a crucial step in achieving a closed nuclear fuel cycle. Spent fuel reprocessing plants primarily transport highly radioactive liquids through pipelines. Due to the complex chemical reactions of spent fuel within the pipelines and the extremely high radiation doses, problems such as pipeline corrosion and blockages are unavoidable during the spent fuel reprocessing process.

[0003] In terms of pipeline dredging, oil pipelines, urban drainage pipelines, and sewage pipe networks have a relatively large application base. Oil pipelines mainly employ passive dredging using PIG-based pipeline pigs propelled by fluid. Urban drainage pipelines utilize a variety of dredging methods. For example, Saenz et al. used a high-pressure water jet method with a trolley carrying multiple high-pressure water nozzles for dredging; Dhananchezhiyan et al. used a mechanical method with a wheeled pipeline robot carrying a rotating scraper for dredging; Cui Xiyuan et al. designed a non-powered pipeline robot that uses a motor to drive a threaded drill bit for dredging; and Beijing Jiaotong University and Tianjin University have also developed wheeled pipeline robots with cutting mechanisms for dredging.

[0004] However, spent fuel reprocessing pipelines have the following characteristics: radiation doses as high as 1000 rad / h; complex structures with bends and diameter changes; tiny inner diameters, typically 10-60 mm; and unique blockage composition, including zirconium alloy debris. Existing pipeline dredging tools suffer from the following technical deficiencies, making them unsuitable for dredging these small spent fuel reprocessing pipelines, posing a significant threat to the safety and production efficiency of spent fuel reprocessing: Poor radiation resistance: Existing pipeline robots mostly adopt a design with electronic components placed at the front, which makes it difficult to resist the extremely high dose of gamma rays in spent fuel reprocessing pipelines, causing electronic components to fail and preventing them from working properly.

[0005] Poor size adaptability: Existing pipeline robots and their drive units are too large to enter spent fuel reprocessing pipelines with small inner diameters.

[0006] Limited unblocking capacity: Tools designed for unblocking oil and sewage pipelines cannot effectively break down and retrieve special blockages with a certain degree of hardness and toughness, such as zirconium alloy fragments. Therefore, there is an urgent need for a unblocking robot specifically designed for the characteristics of the micro-pipelines used in spent fuel reprocessing. Summary of the Invention

[0007] The purpose of this invention is to solve the problems of extremely high radiation dose, small inner diameter, complex structure, and difficulty in clearing blockages in the micro-pipes of spent fuel reprocessing. It provides a remotely driven, long-distance high-radioactivity micro-pipe blockage clearing robot. This robot can be remotely driven, operate over long distances, and effectively clear and retrieve various types of blockages, realizing remote clearing of blockages in the micro-pipes of spent fuel reprocessing, and ensuring the safety and production efficiency of spent fuel reprocessing.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A remotely driven, long-distance, highly radioactive micro-pipe blockage clearing robot, comprising: A push-pull device, located outside the pipe, is used to push the transport mechanism into the pipe or pull it out of the pipe. The transport mechanism is a flexible long pipe / cable / shaft, the end of which is connected to an end tool for clearing blockages inside the pipe, and its head passes through a decontamination device and a push-pull device in sequence before being connected to a storage device. A decontamination device is installed outside the pipe and at one end of the push-pull device near the pipe. Its end is detachably clamped to the pipe opening. It is used to decontaminate and collect waste on the surface of the transport mechanism when the transport mechanism is pulled out. A receiving device, located outside the pipe at the end away from the pushing device, is used to receive the transport mechanism pulled out of the pipe. The drive device, located outside the pipeline, is connected to the pushing device, the decontamination device, and the collection device respectively, and is used to provide power to the pushing device, the decontamination device, and the collection device. The remote control system is located outside the pipeline and is electrically connected to the various electrical components of the pushing device, the carrying mechanism, the end effector, the decontamination device, the storage device, and the drive equipment via cables. It is used to remotely control the pushing device, the carrying mechanism, the end effector, the decontamination device, the storage device, and the drive equipment.

[0009] Furthermore, the pushing and pulling device includes a linear module, a front clamping cylinder, a rear clamping cylinder, a driven wheel, and an encoder; The front-end clamping cylinder and the rear-end clamping cylinder are arranged back and forth along the advancing or retracting direction of the transport mechanism. The front-end clamping cylinder is mounted on the slider of the linear module, while the rear-end clamping cylinder is not mounted on the slider of the linear module. The transport mechanism passes through the grippers of the front-end clamping cylinder and the rear-end clamping cylinder. The front-end clamping cylinder and the rear-end clamping cylinder alternately clamp or release the carrier mechanism, which, in conjunction with the reciprocating linear motion of the linear module, achieves the step-by-step advancement or retraction of the carrier mechanism. The driven wheel presses against the carrier mechanism and is coaxially connected to the encoder to monitor the length and speed of the carrier mechanism's advance or retraction in real time. The drive equipment includes a module servo drive motor and a compressed air source; the module servo drive motor is connected to the linear module to provide power for the linear motion of the linear module; the compressed air source is connected to the front clamping cylinder and the rear clamping cylinder through pipelines to provide power for the clamping or releasing actions of the front clamping cylinder and the rear clamping cylinder.

[0010] Furthermore, polyurethane clamping blocks are installed on the pneumatic grippers on the left and right sides of the front and rear clamping cylinders; the clamping blocks have a HALF structure, and their inner surfaces are arc-shaped surfaces that match the outer contour of the transport mechanism, and grooves are evenly spaced on the arc-shaped surfaces, forming a fitting structure with the surface of the transport mechanism.

[0011] Furthermore, the transport mechanism includes: a composite cable for conveying compressed air or high-pressure water and suctioning blockages; a cleaning flexible shaft for transmitting mechanical rotational torque; and a high-pressure hose for conveying high-pressure water. The end-effector tools include: a composite tool for use with the composite cable, a drill bit for use with the cleaning flexible shaft, and a high-pressure nozzle for use with the high-pressure hose.

[0012] Furthermore, the composite cable includes a corrugated tube made of polymer material, multiple functional channels inside the corrugated tube, and a protective layer filling the space between each functional channel and the inner wall of the corrugated tube. The drive equipment also includes: high-pressure cleaning equipment for providing high-pressure water, compressed air or high-pressure cleaning agents; vacuum suction pump for suctioning suspended blockages; and airbag air source for providing airbag air supply. Functional channels include: One or more airbag air supply channels are connected to the airbag air source through pipelines to control the inflation or release of the airbag, thereby enabling the end-effector to be steered. One or more blockage-breaking fluid channels are connected to high-pressure cleaning equipment through pipelines to deliver compressed air or high-pressure water. The compressed air flow or high-pressure water jet breaks up and loosens the blockage, thereby creating turbulence that suspends the loosened blockage. At least one suction channel is connected to a vacuum pump via a pipeline for suctioning suspended blockages; At least one beam guide channel for mounting the beam guide; At least one image beam channel for mounting a flexible image beam; The flexible image transmission beam and the guide beam work together to enable real-time observation of the internal conditions of the pipeline.

[0013] Furthermore, the composite tool includes active guidance structures and passive guidance structures; An active guidance structure is set at the end of the composite cable, with multiple airbags evenly arranged along its circumference. The number of airbags and airbag air source channels are the same and matched one by one. Each airbag is connected to the airbag air source of the drive device through the corresponding airbag air source channel inside the composite cable. The remote control system inflates one or more designated airbags to control the end tool to actively turn so as to pass through complex bends. The passive guidance structure is a section of bellows connected to the front end of the active guidance structure. It is used to guide the end effector to adapt to the inner wall of the pipe when it is in passive contact with the inner wall of the pipe, and to protect the airbag. The blockage inside the composite cable breaks the fluid channel, suction channel, beam guide channel, and image beam channel, extending to the end tool head.

[0014] Furthermore, the cleaning flexible shaft includes a shaft core and a sheath; the shaft core is woven from stainless steel wire; the shaft core is rotatably inserted into the sheath, and the gap between the two forms a water flow channel; The drive equipment also includes a rotary drive mechanism; the first end of the shaft is hydraulically pressed with a square rotary drive joint, which is used to connect to the output end of the rotary drive mechanism through a lock nut, so as to transmit the torque output by the rotary drive mechanism to the shaft and provide power for the rotation of the shaft; a sealed bearing is provided between the rotary drive joint and the lock nut to prevent water from flowing back into the rotary drive mechanism; The sheath is equipped with a water pump connector at the front end for connecting to high-pressure cleaning equipment to deliver high-pressure water into the water flow channel; the shaft core is crimped with an actuator end connector for connecting the drill bit.

[0015] Furthermore, drill bits include straight-rotating drill bits, serrated cutting drill bits, four-flute shovel-tooth cutting drill bits, and carbide drill bits.

[0016] Furthermore, one end of the high-pressure hose is connected to the high-pressure cleaning equipment, and the other end is connected to the high-pressure nozzle; the high-pressure nozzle is a self-feeding nozzle; the self-feeding nozzle is equipped with one forward nozzle and multiple oblique backward nozzles.

[0017] Furthermore, the storage device includes a shielding layer and three independent reels within the shielding layer, which are used to wind and store the composite cable, the cleaning flexible shaft, and the high-pressure hose, respectively, so as to achieve independent storage of the composite cable, the cleaning flexible shaft, and the high-pressure hose. The drive equipment also includes three independent reel drive mechanisms; each reel corresponds to a reel drive mechanism, and each reel is driven by an independent reel drive mechanism to realize the winding and unwinding actions; an electro-hydraulic slip ring is set at the rotation center of the reel to prevent the carrier mechanism from winding during the rotation of the reel. A rotary drive mechanism is installed on the outside of the reel for storing the cleaning flexible shaft, providing torque for the rotation of the shaft core of the cleaning flexible shaft.

[0018] Furthermore, the decontamination device includes a shielding cylinder made of lead plate wrapped with stainless steel plate for radiation protection; Inside the shielding cylinder, an annular high-pressure nozzle and a cleaning cloth are arranged sequentially along the direction of the transport mechanism's pull-out. The annular high-pressure nozzle has a hollow structure that encloses the passing transport mechanism; the annular high-pressure nozzle is connected to the high-pressure cleaning equipment through a pipeline; multiple nozzles are arranged on the inner circumference of the annular high-pressure nozzle to spray high-pressure water or high-pressure cleaning agent into the enclosed area to clean the surface of the transport mechanism; a cleaning cloth is used to wipe and clean the retrieved transport mechanism. The bottom of the shielding cylinder is equipped with a liquid guiding funnel, which is connected to a vacuum suction pump through a wastewater collection pipe; the vacuum suction pump is connected to the shielding container and is used to draw radioactive wastewater into the shielding container.

[0019] Compared with the prior art, the present invention has the following beneficial technical effects: By placing all sensitive electronic components such as drive equipment and control systems outside the pipeline, and in conjunction with remote control technology, the robot was able to operate stably for a long time in a high-irradiation environment, solving the problem of poor radiation resistance in existing technologies.

[0020] By using a push-pull device to push the flexible transport mechanism in a step-by-step manner, and designing a composite cable integrating multiple functional channels as the transport mechanism, the robot can flexibly pass through complex pipe structures with small inner diameters and bends, achieving accessibility to long-distance pipe interiors and solving the problem of poor size adaptability of existing robots.

[0021] By designing three different types of transport mechanisms—composite cable, cleaning flexible shaft, and high-pressure hose—and corresponding end-effectors, it is possible to effectively break up and retrieve various blockages, such as debris accumulation, hardened sand, and soft viscous substances. In particular, for zirconium alloy debris, the combination of compressed air agitation and a large-diameter suction channel has achieved effective unblocking, solving the problem of handling special blockages.

[0022] By installing a decontamination device, the carrier mechanism is subjected to online high-pressure cleaning and wiping during the recovery process, and the cleaning wastewater is collected in a shielded container. This effectively prevents the release of highly radioactive materials from the inside of the pipeline and thus avoids environmental pollution, achieving safe isolation of radioactive materials.

[0023] By setting up a storage device that is linked to the pushing and pulling device, the long-distance transport mechanism can be automatically and neatly stored, improving the integration of the equipment and the convenience of operation. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of a remotely driven, long-distance, highly radioactive micro-pipe blockage clearing robot in an embodiment of the present invention. Figure 2 This is a schematic diagram of the push-pull device in an embodiment of the present invention. Figure 3 This is a cross-sectional structural diagram of the clamping block of the pushing device in an embodiment of the present invention. Figure 4 This is a schematic diagram of the composite cable structure in an embodiment of the present invention.

[0025] Figure 5 This is a schematic diagram of the internal structure of the composite cable in an axial cross-section according to an embodiment of the present invention.

[0026] Figure 6 This is a schematic diagram of the cross-section of the composite cable in an embodiment of the present invention.

[0027] Figure 7 This is a schematic diagram of the structure of the composite cable-equipped end-effector tool in an embodiment of the present invention.

[0028] Figure 8 This is a schematic diagram of the structure of the composite cable-equipped end-effector tool in an embodiment of the present invention.

[0029] Figure 9 This is a schematic diagram of the cross-section of the active guidance mechanism in an embodiment of the present invention.

[0030] Figure 10 This is a schematic diagram of the internal structure of the execution end tool in an embodiment of the present invention.

[0031] Figure 11 This is a schematic diagram of the overall structure of the stain removal device and the storage device in an embodiment of the present invention. Figure 12 This is a schematic diagram of the structure of the reel in an embodiment of the present invention. Figure 13 This is a partial schematic diagram of the reel drive mechanism in an embodiment of the present invention. Figure 14 This is a schematic diagram of the structure of the cleaning flexible shaft reel in an embodiment of the present invention. Figure 15 This is a schematic diagram of the decontamination device in an embodiment of the present invention.

[0032] In the diagram, 1. Push-pull device; 11. Linear module; 12. Front-end clamping cylinder; 13. Rear-end clamping cylinder; 14. Driven wheel; 15. Encoder; 16. Guide sleeve; 2. Carrying mechanism; 21. Composite cable; 211. Airbag air source channel; 212. Beam guide channel; 213. Image beam channel; 214. Blockage breaking fluid channel; 215. Suction channel; 3. End effector; 31. Composite tool; 311. Active guidance structure; 3111. Airbag; 312. Passive guidance structure; 313. Beam guide; 314. Image beam; 4. Decontamination device; 41. Shielding cylinder; 5. Storage device; 51. Reel; 52. Electro-hydraulic slip ring; 6. Drive equipment; 62. Rotary drive mechanism; 61. Reel drive mechanism; 7. Remote control system. Detailed Implementation

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0034] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0035] In the description of this invention, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0036] The terms “upper,” “lower,” “left,” “right,” “front,” “back,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are only for the convenience of description and simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0037] The terms “include,” “comprising,” or any other variation thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0038] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments.

[0039] This embodiment provides a remotely driven, long-distance, high-radioactivity micro-pipe blockage clearing robot, comprising: Pushing device 1, located outside the pipe, is used to push the carrying mechanism 2 into the pipe or pull it out of the pipe; The transport mechanism 2 is a flexible long pipe / cable / shaft, with an end tool 3 for clearing blockages inside the pipe connected to its end. Its head passes through the decontamination device 4 and the push-pull device 1 in sequence and is then connected to the storage device 5. The decontamination device 4 is located outside the pipe and at one end of the push-pull device 1 near the pipe. Its end is detachably clamped to the pipe opening. It is used to decontaminate and collect waste on the surface of the transport mechanism 2 when the transport mechanism 2 is pulled out. The storage device 5 is located outside the pipe, at the end of the pushing device 1 away from the pipe, and is used to store the transport mechanism 2 pulled out from the pipe. The drive device 6 is located outside the pipeline and is connected to the push-pull device 1, the decontamination device 4 and the collection device 5 respectively, and is used to provide power to the push-pull device 1, the decontamination device 4 and the collection device 5. The remote control system 7 is located outside the pipeline and is electrically connected to the electrical components of the pushing device 1, the carrying mechanism 2, the end effector 3, the decontamination device 4, the storage device 5, and the drive device 6 via cables. It is used to remotely control the pushing device 1, the carrying mechanism 2, the end effector 3, the decontamination device 4, the storage device 5, and the drive device 6.

[0040] In this embodiment, the push-pull device 1 includes a linear module 11, a front clamping cylinder 12, a rear clamping cylinder 13, a driven wheel 14, an encoder 15, and a guide sleeve. The front clamping cylinder 12 and the rear clamping cylinder 13 are arranged back and forth along the pushing or pulling direction of the transport mechanism 2. The front clamping cylinder 12 is installed on the slider of the linear module 11, while the rear clamping cylinder 13 is not installed on the slider of the linear module 11. The transport mechanism 2 passes through the pneumatic grippers of the front clamping cylinder 12 and the rear clamping cylinder 13. The front clamping cylinder 12 and the rear clamping cylinder 13 alternately clamp or release the carrier mechanism 2, which, in conjunction with the reciprocating linear motion of the linear module 11, realizes the step-by-step pushing or pulling back of the carrier mechanism 2. Driven wheel 14 presses against the carrier mechanism 2 and is coaxially connected to encoder 15 to monitor the length and speed of the carrier mechanism 2 when it is pushed forward or pulled back in real time. The drive device 6 includes a module servo drive motor and a compressed air source; the module servo drive motor is connected to the linear module 11 and provides power for the linear motion of the linear module 11; the compressed air source is connected to the front clamping cylinder 12 and the rear clamping cylinder 13 through pipelines and provides power for the clamping or releasing action of the front clamping cylinder 12 and the rear clamping cylinder 13. The guide sleeve is installed on the push-pull device 1; the push-pull device 1 has a dustproof design, and a dustproof sealing ring is installed at the contact point between the guide sleeve and the carrier mechanism 2.

[0041] The operating mechanism of the push-pull device 1 is as follows: During the push-pull action, the front clamping cylinder 12 clamps the transport mechanism 2, and the rear clamping cylinder 13 releases the transport mechanism 2. The linear module 11 drives the slider to move forward towards the inside of the pipe, causing the front clamping cylinder 12 to clamp the transport mechanism 2 and move it forward towards the inside of the pipe. After the linear module 11 reaches its position, the rear clamping cylinder 13 clamps the transport mechanism 2, and the front clamping cylinder 12 releases the transport mechanism 2. The linear module 11 drives the slider to return to its initial position, causing the front clamping cylinder 12 to return to its initial position. At this time, the rear clamping cylinder 13 clamps the transport mechanism 2 to prevent it from retracting. This process is repeated to achieve the step-by-step push-pull of the transport mechanism 2. The push-pull speed of the transport mechanism 2 is controlled by the module servo drive motor 61, and the push-pull speed is adjustable. The pull-back action is the reverse. Throughout the process, the driven wheel 14 rotates as the carrier mechanism 2 moves, and the encoder 15 records the number of rotations in real time, thereby accurately measuring the length and speed of the carrier mechanism 2's advance or retraction, and feeding the data back to the remote control system 7.

[0042] In this embodiment, in order to improve the stability and friction of clamping, polyurethane clamping blocks are installed on the pneumatic claws on the left and right sides of the front clamping cylinder 12 and the rear clamping cylinder 13. The clamping blocks have a HALF structure, and their inner side is an arc-shaped surface that matches the outer contour of the transport mechanism 2. The arc-shaped surface is provided with grooves arranged at equal intervals. These grooves can form a fitting structure with the surface of the transport mechanism 2, which significantly increases the friction and prevents slippage.

[0043] In this embodiment, depending on the method of clearing blockages inside the pipe, the transport mechanism 2 includes: a composite cable 21 for transporting compressed air or high-pressure water and sucking up blockages; a cleaning flexible shaft for transmitting mechanical rotation torque; and a high-pressure hose for transporting high-pressure water. The end-effector 3 includes: a composite tool 31 that is paired with the composite cable 21, a drill bit that is paired with the cleaning flexible shaft, and a high-pressure nozzle that is paired with the high-pressure hose.

[0044] There are three main methods for breaking up blockages inside pipes: high-pressure water jet breaking, mechanical breaking, and air crushing. High-pressure water jet breaking method uses high-pressure water jet to generate impact force to break up blockages inside pipes. With the help of a decontamination device, it can effectively break up and unclog soft and viscous blockages. Mechanical crushing involves using a drill bit to physically break up the blockage, effectively breaking up hard, solidified sand-like blockages. The compressed air crushing method uses high-pressure airflow to impact the blockage. The blockage is suspended under the action of high-pressure airflow, which facilitates the simultaneous suction and removal of the blockage. The generated exhaust gas can be connected to the plant's gas after-treatment system to effectively crush and suction the blockage of debris accumulation. To prevent the blockage from redepositing and causing further blockage, it is necessary to remove the blockage from the pipe by suction to ensure the effectiveness and efficiency of the dredging process.

[0045] In this embodiment, for debris-type blockages, such as zirconium alloy debris, compressed air is used to break and suck up the blockage. The transport mechanism 2 is a composite cable 21 that integrates breaking, sucking and detection, and the end tool 3 is a composite tool 31.

[0046] In this embodiment, the composite cable 21 includes a corrugated tube made of polymer material, multiple functional channels inside the corrugated tube, and a protective layer filling the space between each functional channel and the inner wall of the corrugated tube. The corrugated pipe provides flexibility over long distances and, over short distances, utilizes the corrugated structure on its outer surface to form multi-point support between itself and the inner wall of the pipe, thereby improving the buckling resistance of the composite cable 21 and ensuring that the pushing force output by the pushing device 1 can be smoothly transmitted to the end-effector 3 to achieve forward and / or backward movements. The protective layer is used to protect each functional channel from damage by the inner wall of the corrugated pipe, adjust the overall rigidity and flexibility of the composite cable 21 to ensure that the end-effector 3 can push to the position of the blockage, and at the same time isolate the functional channels to prevent entanglement between the functional channels during the pushing process. Drive device 6 also includes: a high-pressure cleaning device for providing high-pressure water, compressed air or high-pressure cleaning agent; a vacuum suction pump for suctioning suspended blockages; and an airbag air source for providing airbag air. Functional channels include: One or more airbag air supply channels 211 are connected to the airbag air source through pipelines to control the inflation or release of the airbag, thereby enabling the end-effector 3 to be steered; One or more blockage breaking fluid channels 214 are connected to high-pressure cleaning equipment through pipelines to deliver compressed air or high-pressure water. The compressed air flow or high-pressure water jet breaks and loosens the blockage, thereby forming turbulence to suspend the loosened blockage, which is convenient for subsequent suction to remove the blockage. At least one suction channel 215 is connected to a vacuum pump via a pipeline for suctioning suspended blockages; At least one beam guide channel 212 is provided for mounting the beam guide 313; At least one image beam channel 213 is used to mount a flexible image beam 314; The flexible image transmission beam 314 and the guide beam 313 work together to enable real-time observation of the internal conditions of the pipeline, such as pre-dredging exploration and post-dredging inspection for high-pressure water jet dredging and mechanical crushing dredging; guide the end-effector 3 to change direction to improve bending performance; determine whether the blockage point has been reached and assist in adjusting the dredging strategy; during the dredging stage, it is used to observe the shape of the blockage, accurately locate the blockage point, monitor the dredging process in real time, ensure the accuracy and safety of the operation, avoid blind operation and improve work efficiency; after dredging, it is used to confirm the dredging effect, avoid repeated construction due to failure to meet expectations, and shorten the investigation and re-inspection time.

[0047] In this embodiment, the maximum size of the blockage debris is 10mm×3mm×0.5mm, and the inner diameter of the suction channel 215 is ≥10mm, to ensure that the blockage debris will not block the suction channel 215 during the suction process.

[0048] In this embodiment, the composite tool 31 includes an active guiding structure 311 and a passive guiding structure 312; An active guidance structure 311 is located at the end of the composite cable 21, and multiple airbags 3111 are evenly arranged along its circumference. The number of airbags 3111 and airbag air source channels are the same and matched one by one. Each airbag 3111 is connected to the airbag air source of the drive device 6 through the corresponding airbag air source channel inside the composite cable 21. By inflating one or more designated airbags 3111 through the remote control system 7, the end tool 3 can be actively steered to pass through complex bends. The passive guiding structure 312 is a section of corrugated pipe connected to the front end of the active guiding structure 311. It is used to guide the end tool 3 to adapt to the inner wall of the pipe when it is in passive contact with the inner wall of the pipe, and to protect the airbag 3111. The blockage inside the composite cable 21 breaks the fluid channel, suction channel, beam guide channel and image beam channel, extending to the head of the execution end tool 3.

[0049] In this embodiment, mechanical crushing is used to clear the blockage caused by hard, solidified sand. The conveying mechanism 2 is a cleaning flexible shaft, and the end tool 3 is a drill bit.

[0050] In this embodiment, the cleaning flexible shaft includes a core and a sheath; the core is woven from stainless steel wire; the core is rotatably inserted into the sheath, and the gap between the two forms a water flow channel; The drive device 6 also includes a rotary drive mechanism 62; the first end of the shaft core is hydraulically pressed with a square rotary drive joint, which is used to connect to the output end of the rotary drive mechanism 62 through a locking nut, so as to transmit the torque output by the rotary drive mechanism 62 to the shaft core and provide power for the rotation of the shaft core; a sealed bearing is provided between the rotary drive joint and the locking nut to prevent water from flowing back into the rotary drive mechanism 62; The sheath is equipped with a water pump connector at the front end for connecting to high-pressure cleaning equipment to deliver high-pressure water into the water flow channel; An actuator end connector is crimped to the end of the spindle core for connecting the drill bit; During operation, the rotary drive mechanism 62 provides power for the rotation of the shaft core. The high-speed rotation of the shaft core drives the drill bit to break up the blockage and form loose dirt. The high-pressure water output by the high-pressure cleaning equipment is transported to the drill bit through the water flow channel to dilute the loose dirt and retrieve it through the water flow channel.

[0051] In this embodiment, different drill bits are used to clear blockages, including straight rotary drill bits, serrated cutting drill bits, four-flute scraper cutting drill bits, and carbide drill bits. Straight rotary drill bits are used to remove blockages in pipes; serrated cutting drill bits are used to clean severely blocked pipes; four-flute scraper cutting drill bits are used to clear hard substances; and carbide drill bits are used to clean hard blockages in pipes.

[0052] In this embodiment, for soft and viscous blockages, high-pressure water jet is used to unclog the pipes. The transport mechanism 2 is a high-pressure hose, and the end tool is a high-pressure nozzle. One end of the high-pressure hose is connected to the high-pressure cleaning equipment, and the other end is connected to the high-pressure nozzle. The high-pressure nozzle is a self-feeding nozzle; the self-feeding nozzle is equipped with one forward nozzle and multiple oblique backward nozzles; The forward nozzle sprays high-pressure water jets to impact and clear blockages in the pipes; the oblique rear nozzle sprays high-pressure water jets to impact blockages on the pipe walls, and the reaction force pushes the high-pressure nozzle forward, achieving self-advancing of the high-pressure nozzle. This avoids excessive forward pushing force on the high-pressure hose, which could cause the pipe to yield and soften, making it difficult to push the high-pressure hose forward. High-pressure water jetting is a technology that converts pressure energy into kinetic energy through pressurization equipment to impact and peel blockages off the surface. It can effectively carry out pipe cleaning operations, and the flushing medium is water, which will not corrode the surface of parts and will not cause environmental pollution. High-pressure cleaning equipment uses a high-pressure pump to output high-pressure water, which is then delivered to a high-pressure nozzle via a high-pressure hose. The nozzle sprays a jet of high-pressure water to impact and clear blockages in the pipes. Because the pipe's inner diameter is small, the high-pressure water quickly submerges during the cleaning process, causing the jet to be submerged and significantly reducing its impact force, thus affecting the cleaning effect. Therefore, an intermittent jetting mode is used, where residual water is pumped out during pauses in the high-pressure water jetting to create a better environment for efficient pipe clearing.

[0053] In this embodiment, the storage device 5 includes a shielding layer and three independent reels 51 within the shielding layer, which are respectively used to wind and store the composite cable 21, the cleaning flexible shaft and the high-pressure hose, so as to realize the independent storage of the composite cable 21, the cleaning flexible shaft and the high-pressure hose. The drive device 6 also includes three independent reel drive mechanisms 61; the reels 51 correspond one-to-one with the reel drive mechanisms 61, and each reel 51 is driven by an independent reel drive mechanism 61 to realize the winding and unwinding action; an electro-hydraulic slip ring 52 is provided at the rotation center position of the reel 51 to prevent the carrier mechanism 2 from winding during the rotation of the reel 51. Specifically, when the cleaning flexible shaft is used for pipe dredging operations, its internal spindle needs to rotate. A rotary drive mechanism 62 is installed on the outside of the reel 51 where the cleaning flexible shaft is stored to provide torque for the rotation of the spindle of the cleaning flexible shaft.

[0054] In this embodiment, to ensure that the transport mechanism 2 remains as straight as possible during transmission and to reduce the impact of bending on the transport mechanism 2, three sets of decontamination devices 4 are configured to decontaminate the three types of transport mechanisms 2 respectively. The outlet of the decontamination device 4 is equipped with a sealing structure and is connected to a vacuum absorption pump through a pipeline. The vacuum negative pressure in the pipeline is used to collect sewage and exhaust gas, ensuring that sewage and gas in the internal chamber do not overflow into the surrounding environment.

[0055] During the process of retracting the transport mechanism 2 to the reel 51 after the pipeline dredging operation is completed, surface cleaning and decontamination treatment is required. High-pressure water or high-pressure cleaning agent is used to clean and decontaminate the surface of the transport mechanism 2.

[0056] like Figure 11 As shown, in this embodiment, the decontamination device 4 includes a shielding cylinder 41 made of a stainless steel plate wrapped with a lead plate, which is used for radiation protection. Inside the shielding cylinder 41, an annular high-pressure nozzle and a cleaning cloth are arranged sequentially along the pull-out direction of the transport mechanism 2. The annular high-pressure nozzle has a hollow structure and forms a wrap around the passing transport mechanism 2; the annular high-pressure nozzle is connected to the high-pressure cleaning equipment through a pipeline; multiple nozzles are arranged on the inner circumference of the annular high-pressure nozzle for spraying high-pressure water or high-pressure cleaning agent into the wrapped area to clean the surface of the transport mechanism 2; a cleaning cloth is used to wipe and clean the returned transport mechanism 2. The bottom of the shielding cylinder 41 is equipped with a liquid guiding funnel and is connected to a vacuum suction pump through a wastewater collection pipe; the vacuum suction pump is connected to the shielding container and is used to suction radioactive wastewater into the shielding container. When the radioactive transport mechanism 2 is pulled out, a ring-shaped high-pressure nozzle sprays high-pressure water or high-pressure cleaning agent onto its surface for cleaning, followed by wiping with a cleaning cloth; the cleaned radioactive wastewater is sucked into a shielded container connected to a vacuum pump through a liquid funnel and wastewater collection pipe. The shielded container is also made of stainless steel plate wrapped with lead plate to prevent secondary radioactive contamination; in order to facilitate the subsequent treatment of radioactive wastewater, the bottom of the shielded container is fixed on a transfer trolley for easy transfer of radioactive wastewater. The cleaning device 4 can also serve as a storage location for the end-effector tool 3.

[0057] Working principle: Before the pipeline dredging operation, according to the nature of the blockage inside the pipeline, a suitable carrier mechanism 2 and its corresponding end effector tool 3 are selected and installed into the robot.

[0058] The remote control system 7 activates the pushing device 1 and the receiving device 5 to slowly push the transport mechanism 2 and its end-effector 3 into the pipeline. When the end-effector 3 reaches the location of the blockage, the corresponding drive device 6 is activated according to the selected scheme to break and loosen the blockage through the end-effector 3.

[0059] Simultaneously, a vacuum pump can be connected to the suction channel inside the transport mechanism 2 to retrieve the broken blockage debris back into the shielding container. After unblocking, the push-pull device 1 reverses its action, pulling the transport mechanism 2 out of the pipe. During the pulling process, the transport mechanism 2 passes through the decontamination device 4, and the highly radioactive contaminants on its surface are cleaned. The cleaned radioactive wastewater is then sucked into the shielding container by the vacuum pump. Finally, the cleaned transport mechanism 2 is wound and stored by the storage device 5.

[0060] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A remotely driven, long-distance, highly radioactive micro-pipe blockage clearing robot, characterized in that, include: A push-pull device (1) is installed outside the pipe and is used to push the transport mechanism (2) into the pipe or pull it out of the pipe. The transport mechanism (2) is a flexible long pipe / cable / shaft, with an execution end tool (3) for clearing blockages inside the pipe connected to its end. Its head passes through the decontamination device (4) and the push-pull device (1) in sequence and is then connected to the storage device (5). The decontamination device (4) is located outside the pipe and the push-pull device (1) is located near one end of the pipe. Its end is detachably clamped to the pipe opening. It is used to decontaminate and collect waste on the surface of the transport mechanism (2) when the transport mechanism (2) is pulled out. A receiving device (5) is located outside the pipe and at the end away from the pushing device (1) of the pipe, for receiving the transport mechanism (2) pulled out of the pipe. The drive device (6) is located outside the pipe and is connected to the push-pull device (1), the decontamination device (4) and the collection device (5) respectively, and is used to provide power to the push-pull device (1), the decontamination device (4) and the collection device (5); The remote control system (7) is located outside the pipeline and is electrically connected to the electrical components of the push-pull device (1), the transport mechanism (2), the end effector (3), the decontamination device (4), the storage device (5), and the drive device (6) via cables. It is used to remotely control the push-pull device (1), the transport mechanism (2), the end effector (3), the decontamination device (4), the storage device (5), and the drive device (6).

2. The remotely driven, long-distance, highly radioactive micro-pipe blockage clearing robot according to claim 1, characterized in that, The push-pull device (1) includes a linear module (11), a front clamping cylinder (12), a rear clamping cylinder (13), a driven wheel (14), and an encoder (15). The front clamping cylinder (12) and the rear clamping cylinder (13) are arranged in front and back along the pushing or pulling direction of the transport mechanism (2). The front clamping cylinder (12) is installed on the slider of the linear module (11), and the rear clamping cylinder (13) is not installed on the slider of the linear module (11). The transport mechanism (2) passes through the grippers of the front clamping cylinder (12) and the rear clamping cylinder (13). The front clamping cylinder (12) and the rear clamping cylinder (13) alternately clamp or release the carrier mechanism (2), which, in conjunction with the reciprocating linear motion of the linear module (11), realizes the step-by-step pushing or pulling back of the carrier mechanism (2); The driven wheel (14) presses against the carrier mechanism (2) and is coaxially connected with the encoder (15) for real-time monitoring of the length and speed of the carrier mechanism (2) advancing or retracting; The drive device (6) includes a module servo drive motor and a compressed air source; the module servo drive motor is connected to the linear module (11) to provide power for the linear motion of the linear module (11); the compressed air source is connected to the front clamping cylinder (12) and the rear clamping cylinder (13) through pipelines to provide power for the clamping or releasing action of the front clamping cylinder (12) and the rear clamping cylinder (13).

3. The remotely driven, long-distance, highly radioactive micro-pipe blockage clearing robot according to claim 2, characterized in that, Polyurethane clamping blocks are installed on the gas claws on the left and right sides of the front clamping cylinder (12) and the rear clamping cylinder (13). The clamping blocks have a HALF structure, and their inner side is an arc surface that matches the outer contour of the transport mechanism (2). The arc surface is provided with grooves arranged at equal intervals, and the grooves form an interlocking structure with the surface of the transport mechanism (2).

4. The remotely driven, long-distance, highly radioactive micro-pipe blockage clearing robot according to claim 2, characterized in that, The transport mechanism (2) includes: a composite cable (21) for conveying compressed air or high-pressure water and suctioning blockages; a cleaning flexible shaft for transmitting mechanical rotation torque; and a high-pressure hose for conveying high-pressure water. The end-effector (3) includes: a composite tool (31) for use with the composite cable (21), a drill bit for use with the cleaning flexible shaft, and a high-pressure nozzle for use with the high-pressure hose; The drive device (6) also includes: a high-pressure cleaning device for providing high-pressure water, compressed air or high-pressure cleaning agent; a vacuum suction pump for suctioning suspended blockages; and an airbag air source for providing airbag air.

5. The remotely driven, long-distance, highly radioactive micro-pipeline blockage clearing robot according to claim 4, characterized in that, The composite cable (21) includes a corrugated tube made of polymer material, multiple functional channels inside the corrugated tube, and a protective layer filling between each functional channel and the inner wall of the corrugated tube. Functional channels include: One or more airbag air source channels (211) are connected to the airbag air source through pipelines to control the inflation or release of the airbag, thereby enabling the end-effector (3) to be steered; One or more blockage-breaking fluid channels (214) are connected to a high-pressure cleaning device through a pipeline to deliver compressed air or high-pressure water. The compressed air flow or high-pressure water jet breaks and loosens the blockage, thereby creating turbulence that suspends the loosened blockage. At least one suction channel (215) is connected to a vacuum pump via a pipeline for suctioning suspended blockages; At least one beam guide channel (212) is used to mount the beam guide (313). At least one image beam channel (213) is used to mount a flexible image beam (314). The flexible image transmission beam (314) and the guide beam (313) work together to enable real-time observation of the internal conditions of the pipeline.

6. The remotely driven, long-distance, highly radioactive micro-pipeline blockage clearing robot according to claim 4, characterized in that, The composite tool (31) includes an active guidance structure (311) and a passive guidance structure (312). An active guidance structure (311) is set at the end of the composite cable (21), and multiple airbags (3111) are evenly arranged along its circumference. The number of airbags (3111) and airbag air source channels are the same and matched one by one. Each airbag (3111) is connected to the airbag air source of the drive device (6) through the corresponding airbag air source channel inside the composite cable (21). The remote control system (7) inflates one or more designated airbags (3111) to control the end tool (3) to actively turn so as to pass through the complex bend. The passive guiding structure (312) is a section of bellows connected to the front end of the active guiding structure (311) to guide the end tool (3) to adapt to the inner wall of the pipe when it is in passive contact with the inner wall of the pipe and to protect the airbag (3111). The blockage inside the composite cable (21) breaks the fluid channel, suction channel, beam guide channel and image beam channel, which extend to the head of the end tool (3).

7. The remotely driven, long-distance, highly radioactive micro-pipe blockage clearing robot according to claim 4, characterized in that, The cleaning flexible shaft consists of a shaft core and a sheath; the shaft core is woven from stainless steel wire; the shaft core is rotatably inserted into the sheath, and the gap between the two forms a water flow channel; The drive device (6) also includes a rotary drive mechanism (62); the first end of the shaft core 221 is hydraulically pressed with a square rotary drive joint, which is used to connect to the output end of the rotary drive mechanism (62) through a locking nut, and transmit the torque output by the rotary drive mechanism (62) to the shaft core to provide power for the rotation of the shaft core; a sealed bearing is provided between the rotary drive joint and the locking nut to prevent water from flowing back into the rotary drive mechanism (62); The sheath is equipped with a water pump connector at the front end for connecting to high-pressure cleaning equipment to deliver high-pressure water into the water flow channel; the shaft core is crimped with an actuator end connector for connecting the drill bit. Drill bits include straight-rotating drill bits, serrated cutting drill bits, four-flute shovel-tooth cutting drill bits, and carbide drill bits.

8. The remotely driven, long-distance, highly radioactive micro-pipe blockage clearing robot according to claim 4, characterized in that, One end of the high-pressure hose is connected to the high-pressure cleaning equipment, and the other end is connected to the high-pressure nozzle; the high-pressure nozzle is a self-feeding nozzle; the self-feeding nozzle is equipped with one forward nozzle and multiple oblique backward nozzles.

9. The remotely driven, long-distance, highly radioactive micro-pipe blockage clearing robot according to claim 4, characterized in that, The storage device (5) includes a shielding layer and three independent reels (51) within the shielding layer, which are used to wind and store the composite cable (21), the cleaning flexible shaft and the high-pressure hose respectively, so as to realize the independent storage of the composite cable (21), the cleaning flexible shaft and the high-pressure hose. The drive device (6) also includes three independent reel drive mechanisms (61); the reels (51) correspond one-to-one with the reel drive mechanisms (61), and each reel (51) is driven by an independent reel drive mechanism (61) to realize the winding and unwinding action; an electro-hydraulic slip ring (52) is provided at the rotation center position of the reel (51) to prevent the carrier mechanism (2) from winding during the rotation of the reel (51).

10. The remotely driven, long-distance, highly radioactive micro-pipe blockage clearing robot according to claim 4, characterized in that, The decontamination device (4) includes a shielding cylinder (41) made of lead plate wrapped with stainless steel plate for radiation protection; Inside the shielding cylinder (41), an annular high-pressure nozzle and a cleaning cloth are arranged sequentially along the pulling direction of the transport mechanism (2); The annular high-pressure nozzle has a hollow structure and forms a wrap around the passing transport mechanism (2); the annular high-pressure nozzle is connected to the high-pressure cleaning equipment through a pipeline; multiple nozzles are arranged on the inner circumference of the annular high-pressure nozzle to spray high-pressure water or high-pressure cleaning agent into the wrapped area to clean the surface of the transport mechanism (2); the cleaning cloth wipes and cleans the returned transport mechanism (2); The bottom of the shielding cylinder (41) is provided with a liquid guiding funnel and is connected to a vacuum suction pump through a wastewater collection pipe; the vacuum suction pump is connected to the shielding container and is used to draw radioactive wastewater into the shielding container.

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