Maintenance and decontamination integrated system for nuclear facility exhaust filter

Abstract

The application relates to the technical field of nuclear facility protection and maintenance, and discloses a maintenance and decontamination integrated system for a nuclear facility exhaust filter, which comprises a robot body movably arranged, a control frame arranged on the robot body, an extension mechanism arranged on the control frame, a mechanical arm arranged at one end of the extension mechanism, a control unit in communication connection with the robot body, the control frame and the extension mechanism, an isolation protection device comprising a first air bag and a first air charging and discharging assembly connected with the first air bag, the first air bag being arranged on the extension mechanism, the first air charging and discharging assembly being in communication connection with the control unit and used for controlling the first air bag to inflate and expand so that the outer peripheral wall of the first air bag is attached to the inner wall of an opening of a pit to be maintained, and a radiation shielding wrapping device comprising a second air bag and a second air charging and discharging assembly connected with the second air bag, the second air charging and discharging assembly being in communication connection with the control unit and used for controlling the second air bag to inflate and expand so that the second air bag is wrapped outside a radiation component after being dismounted.

Description

Technical Field

[0001] This invention relates to the field of nuclear facility protection and maintenance technology, specifically to an integrated system for the maintenance and decontamination of nuclear facility exhaust filters. Background Technology

[0002] Nuclear facility exhaust filters are core components of radioactive waste gas treatment systems. They are typically located in small underground pits and are susceptible to radioactive contamination after long-term operation, requiring regular maintenance, replacement, and decontamination. Currently, maintenance of these filters is primarily carried out manually with simple tools, with single-function robots used in some scenarios to assist in the operation.

[0003] However, manual maintenance is constrained by radiation dose limits, limiting the time workers can spend in high-radiation areas at one time. The limited operating space in the cramped pit makes the work difficult and inefficient. In the routine maintenance process, there is a lack of effective area isolation measures, which can easily cause radioactive materials to spread into the external space. Furthermore, there is a lack of immediate protective measures for disassembled high-radiation components, and there is a risk of radiation leakage during transportation, posing a safety hazard. Summary of the Invention

[0004] This invention provides an integrated system for the maintenance and decontamination of exhaust filters in nuclear facilities, which solves the problem that the maintenance of exhaust filters in existing nuclear facilities requires personnel to enter a small, high-radiation pit for close-range operation, which poses safety hazards and has low work efficiency.

[0005] This invention provides an integrated system for the maintenance and decontamination of exhaust filters in nuclear facilities, comprising: a robot body, movably mounted; a control frame mounted on the robot body; a telescopic mechanism mounted on the control frame; a robotic arm mounted at one end of the telescopic mechanism; a control unit communicatively connected to the robot body, the control frame, and the telescopic mechanism; and an isolation and protection device, including a first airbag and a first inflation / deflation assembly connected to the first airbag. The first airbag is mounted on the telescopic mechanism, and the first inflation / deflation assembly is communicatively connected to the control unit to control the inflation and expansion of the first airbag, so that the outer peripheral wall of the first airbag fits against the inner wall of the opening of the pit to be maintained, thereby forming a sealed protective space inside the pit; and radiation shielding. The wrapping device includes a second airbag and a second inflation / deflation assembly connected to the second airbag. The second inflation / deflation assembly is communicatively connected to a control unit and is used to control the inflation and expansion of the second airbag so that the second airbag covers the outside of the disassembled radiation component. The decontamination device includes a liquid storage tank disposed on the robot body and a spraying assembly communicating with the liquid storage tank. The spraying assembly is disposed around the robotic arm and is used to spray a peelable decontaminant onto the surface to be decontaminated. The collection device is disposed on the travel component of the telescopic mechanism and has a collection chamber that can extend or retract relative to the telescopic mechanism for accommodating the disassembled radiation component.

[0006] In one embodiment, the telescopic mechanism includes a housing with a fixing plate circumferentially mounted thereon, a first airbag and a second airbag mounted on the side of the fixing plate facing the robotic arm, and the first airbag being located inside the second airbag.

[0007] In one embodiment, the first inflation / deflation assembly includes: a blower disposed on the side of the fixed plate away from the first airbag; a first connecting pipe, one end of which is connected to the output end of the blower; a ventilation structure, one end of which is connected to the other end of the first connecting pipe; and a second connecting pipe, one end of which is connected to the other end of the ventilation structure and the other end of which is connected to the first airbag.

[0008] In one embodiment, the second inflation / deflation assembly includes a third connecting pipe, one end of which is connected to the ventilation structure and the other end of which is connected to the second airbag.

[0009] In one embodiment, the ventilation structure includes: a fixed chamber disposed on the side of the fixed plate away from the first airbag; a rotating block rotatably disposed inside the fixed chamber, with a notch on one side of the rotating block; and a first driving member disposed outside the fixed chamber, with the output end of the first driving member passing through the fixed chamber and connected to the rotating block; wherein the first connecting pipe, the second connecting pipe, and the third connecting pipe are all connected to the interior of the fixed chamber, the included angle between any two of the first connecting pipe, the second connecting pipe, and the third connecting pipe is °, and the angle formed by the notch is greater than °.

[0010] In one embodiment, the device further includes: a plurality of mounting pieces disposed on the side of the fixing plate near the first airbag, the plurality of mounting pieces being spaced apart circumferentially along the first airbag, the first airbag being able to cover the mounting pieces after expansion, and the inner diameter of the second airbag after expansion being larger than the outer diameter formed by the plurality of mounting pieces; and a plurality of guide components, the plurality of guide components being spaced apart circumferentially along the fixing plate and the second airbag, and each guide component extending axially along the second airbag.

[0011] In one embodiment, the guide assembly includes: a first threaded rod, one end of which passes through the interior of a fixed plate and is slidably disposed with respect to the fixed plate; a first gear, which is sleeved on the first threaded rod and rotatably connected to the fixed plate; a second gear, which is disposed on one side of the first gear and meshes with the first gear; a second drive member, with the second gear sleeved on the output shaft of the second drive member; a sliding plate, which is slidably sleeved on the first threaded rod; a connecting plate, which is connected to one side of the sliding plate; a guide rod, which is connected to the side of the connecting plate away from the fixed plate; a fixing block, which is slidably sleeved on the guide rod; and a blocking plate, which is disposed at the end of the guide rod away from the connecting plate.

[0012] In one embodiment, a sliding groove is provided on one circumferential side of the first threaded rod, and sliding blocks are provided inside both the sliding plate and the fixed plate, with the sliding blocks slidably connected to the sliding groove.

[0013] In one embodiment, the collection device further includes: a mounting groove disposed on the travel rod of the telescopic mechanism; a fixing plate fixed to one side of the collection chamber, with an inlet provided on the side of the collection chamber away from the fixing plate; a threaded post disposed at the bottom of the fixing plate; a second threaded rod with one end threadedly connected to the threaded post; and a second driving member disposed in the mounting groove, with the output end of the second driving member connected to the other end of the second threaded rod.

[0014] In one embodiment, the spraying assembly includes: a liquid pump disposed on the robot body; a fourth connecting pipe, one end of which is connected to the input end of the liquid pump and the other end of which is connected to a liquid storage tank; and a fifth connecting pipe, one end of which is connected to the output end of the liquid pump and the other end of which extends to one side of the robotic arm and is fixedly attached to a nozzle, the nozzle being fixedly connected to the end of the robotic arm.

[0015] This invention utilizes a robot carrying all operational modules to autonomously move to the pit to be repaired. The first airbag of the isolation and protection device inflates and fits against the inner wall of the pit opening, physically isolating the internal radiation environment from the external space throughout the repair process. A second airbag of the radiation shielding and wrapping device inflates and wraps the disassembled radiation components, providing immediate shielding protection during transport. Furthermore, the collection compartment of the collection device extends and retracts to seal and store the disassembled radiation components. Finally, after repair, the spraying component of the decontamination device sprays a peelable decontaminant onto the remaining contaminated surfaces. The system performs all the above actions remotely and unmanned, enabling a single system to complete the entire maintenance and decontamination process sequentially—isolation and shielding of the radiation environment, disassembly and collection of filters, wrapping and protection of radiation components, and surface decontamination of residual contaminants—without personnel entering the confined space of the high-radiation pit. This achieves fully remote unmanned operation, integrated maintenance and decontamination functions, effectively reduces the radiation dose to workers, and inhibits the diffusion of radioactive materials into the external environment. It solves the technical problems of high radiation dose and significant safety hazards to workers caused by the need for close-range operation in confined spaces with high radiation in existing technologies. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of an integrated maintenance and decontamination system for exhaust filters in nuclear facilities, according to an embodiment of the present invention. Figure 2This is a schematic diagram of an integrated maintenance and decontamination system for exhaust filters in nuclear facilities, according to an embodiment of the present invention. Figure 3 This is a schematic diagram of an integrated maintenance and decontamination system for exhaust filters in nuclear facilities, according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the isolation and protection device in this invention; Figure 5 This is a schematic diagram of the deployment of the first airbag in this invention; Figure 6 This is a schematic diagram of the deployment of the second airbag in this invention; Figure 7 In this invention Figure 3 Enlarged view of point A in the middle; Figure 8 This is a schematic diagram of the structure between the fixed chamber, the notch, and the rotating block in this invention; Figure 9 This is a schematic diagram of the structure between the first threaded rod, the fixing block, and the barrier plate in this invention; Figure 10 This is a schematic diagram of the structure between the sliding block and the sliding groove in this invention; Figure 11 This is a cross-sectional view of the telescopic mechanism in this invention.

[0018] Explanation of reference numerals in the attached figures: 1. Robot body; 2. Control panel; 3. Telescopic mechanism; 4. Robotic arm; 5. Isolation and protection device; 501. First airbag; 502. First inflation / deflation assembly; 5021. Fan; 5022. First connecting pipe; 5023. Ventilation structure; 50231. Fixed chamber; 50232. Rotating block; 50233. Notch; 50234. First driving component; 5024. Second connecting pipe; 6. Radiation shielding packaging device; 601. Second airbag; 602. Second inflation / deflation assembly; 6021. Third connecting pipe; 603. Folding airbag; 604. Storage bag; 7. Decontamination device; 701. Liquid storage tank; 702. Spraying assembly; 7021. Liquid pump; 7022. Fourth connecting pipe; 7023. Fifth connecting pipe; 7024. Spray nozzle; 8. Collection device; 801. Collection bin; 8011. Material inlet; 802. Mounting groove; 803. Fixing plate; 804. Threaded post; 805. Second threaded rod; 806. Second driving component; 9. Fixing plate; 10. Mounting plate; 11. Guide assembly; 1101. First threaded rod; 11011. Sliding groove; 1102. First gear; 1103. Second gear; 1104. Second driving component; 1105. Sliding plate; 11051. Sliding block; 1106. Connecting plate; 1107. Guide rod; 1108. Fixing block; 1109. Barrier plate; Detailed Implementation To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The following is combined Figures 1 to 11 The following describes embodiments of the present invention.

[0020] According to an embodiment of the present invention, an integrated system for the maintenance and decontamination of exhaust filters in nuclear facilities is provided, comprising: a robot body 1, a control frame 2, a telescopic mechanism 3, a robotic arm 4, a control unit, an isolation and protection device 5, a radiation shielding wrapping device 6, a decontamination operation device 7, and a collection device 8.

[0021] The robot body 1 is movably mounted; it is a tracked or wheeled self-propelled chassis made of radiation-resistant materials, and integrates a power battery pack, a drive motor, and a movement control unit. A mounting platform is located on top of the robot body 1 to carry various functional components required for operation. The robot body moves freely within the radiation environment of the nuclear facility's red zone via the drive motor, enabling it to navigate narrow passages around the pit. The robot body is covered with a radiation shielding layer to protect the internal electronic components from damage caused by the high radiation environment.

[0022] The control frame 2 is mounted on the robot body 1. The control frame 2 is fixedly installed on the equipment mounting platform of the robot body 1, and adopts a multi-section truss structure made of high-strength lightweight alloy material. The control frame is also provided with a mounting seat for connecting the telescopic mechanism, and the telescopic mechanism is rigidly connected to the control frame through the mounting seat.

[0023] The telescopic mechanism 3 is mounted on the control frame 2. The telescopic mechanism 3 employs a multi-stage hydraulic cylinder or electric push rod structure, including a cylinder barrel and a stroke rod slidably disposed within the cylinder barrel. Under hydraulic or electric drive, the stroke rod can extend or retract axially relative to the cylinder barrel, thereby adjusting the overall length of the telescopic mechanism 3 to adapt to the operational needs of pits of different depths. The cylinder barrel of the telescopic mechanism 3 is fixed to the mounting base of the control frame, and the end of the stroke rod is a free end used for mounting the operational actuators.

[0024] Robotic arm 4 is located at one end of the telescopic mechanism 3; it is positioned at the end of the travel lever of the telescopic mechanism and rises and falls with the extension and retraction of the travel lever. Robotic arm 4 is a multi-degree-of-freedom articulated robotic arm, comprising multiple sequentially hinged arms and drive motors located at each joint, enabling flexible multi-degree-of-freedom movement in three-dimensional space. The end of robotic arm 4 is the actuator end, used to mount various quick-change tool heads, including but not limited to grippers, wrenches, and vacuum cleaner heads. Robotic arm 4 has a quick-change interface at the actuator end, allowing for rapid replacement of corresponding tool heads according to different work processes, enabling various operations such as filter disassembly, clamping and handling, and membrane recovery.

[0025] The control unit is communicatively connected to the robot body 1, the control frame 2, and the telescopic mechanism 3. Located in the low-radiation safety zone of the nuclear facility, the control unit includes a console, a display, and an industrial control computer. The control unit establishes a communication connection with the robot body 1, the control frame 2, and the telescopic mechanism 3 via wired communication cables. It sends control commands to each actuator and receives status signals and on-site image signals from each actuator. The control unit is equipped with a remote control handle and a touchscreen display, allowing operators to remotely control the robot body 1's movement, the control frame 2's posture adjustment, the telescopic mechanism 3's extension and retraction, and the robotic arm 4's movements.

[0026] The isolation and protection device 5 includes a first airbag 501 and a first inflation / deflation assembly 502 connected to the first airbag 501. The first airbag 501 is mounted on the telescopic mechanism 3. The first inflation / deflation assembly 502 is communicatively connected to the control unit and is used to control the inflation of the first airbag 501, so that the outer peripheral wall of the first airbag 501 fits against the inner wall of the pit opening to be repaired, thereby forming a sealed protective space inside the pit. The first airbag 501 is mounted on the outside of the cylinder of the telescopic mechanism 3 and has a ring structure, the outer peripheral contour of which matches the inner peripheral contour of the pit opening to be repaired. The first inflation / deflation assembly 502 is fixedly disposed beside the first airbag 501 and is connected to the interior of the first airbag 501 through a gas pipeline. The first inflation / deflation assembly 502 is communicatively connected to the control unit. The first inflation / deflation assembly 502 is activated in response to the command of the control unit, inflating the first airbag 501 with gas, causing the first airbag 501 to expand from a deflated state. During the expansion process, the outer peripheral wall of the first airbag 501 expands radially outward until it comes into close contact with the inner peripheral wall of the pit opening, thereby separating the inside of the pit from the outside and forming a sealed protective space inside the pit.

[0027] The radiation shielding enclosure 6 includes a second airbag 601 and a second inflation / deflation assembly 602 connected to the second airbag 601. The second inflation / deflation assembly 602 is communicatively connected to a control unit and is used to control the inflation and expansion of the second airbag 601, so that the second airbag 601 covers the exterior of the disassembled radiation component. In the uninflated state, the second airbag 601 is folded and attached to the outer wall of the telescopic mechanism 3. The second inflation / deflation assembly 602 is connected to the interior of the second airbag 601 through a gas pipeline and is communicatively connected to the control unit. The second inflation / deflation assembly 602 is activated in response to a command from the control unit, inflating the second airbag 601 from its folded state and expanding it. The inflated second airbag 601 surrounds the radiation component, forming a radiation shielding layer.

[0028] The decontamination device 7 includes a liquid storage tank 701 mounted on the robot body 1 and a spraying assembly 702 connected to the liquid storage tank 701. The spraying assembly 702 is located around the robotic arm 4 and is used to spray a peelable decontaminant onto the surface to be decontaminated. The liquid storage tank 701 is fixedly mounted on the mounting platform of the robot body 1 and stores the peelable decontaminant inside.

[0029] The collection device 8 is disposed on the travel component of the telescopic mechanism 3 and has a collection chamber 801 that can extend or retract relative to the telescopic mechanism 3 for accommodating the disassembled radiation component.

[0030] The robot body 1 autonomously moves to the pit to be repaired, carrying all the work modules. The first airbag 501 of the isolation and protection device 5 inflates and fits against the inner wall of the pit opening, physically isolating the internal radiation environment from the external space throughout the repair process. The second airbag 601 of the radiation shielding and wrapping device 6 inflates and wraps the disassembled radiation components, providing immediate shielding protection during transport. The collection chamber 801 of the collection device 8 extends and retracts to seal and store the disassembled radiation components. Finally, the spraying component 702 of the decontamination device 7 removes any remaining contamination from the surface after repair. The system allows for the application of a peelable cleaning agent, with all actions controlled remotely and unmanned by the control unit. This enables a single system to sequentially complete the entire maintenance and decontamination process—including isolating and shielding the radiation environment, disassembling and collecting filters, wrapping and protecting radiation components, and removing residual contaminants from the surface—without personnel entering the confined space of a high-radiation pit. This achieves fully remote, unmanned operation, integrated maintenance and decontamination functions, effectively reduces the radiation dose to workers, and inhibits the spread of radioactive materials to the external environment. It solves the technical problems of high radiation doses and significant safety hazards caused by personnel needing to enter confined spaces with high radiation for close-range operation in existing technologies.

[0031] In one embodiment, the telescopic mechanism 3 includes a housing, a fixing plate 9 is circumferentially mounted on the housing, a first airbag 501 and a second airbag 601 are mounted on the side of the fixing plate 9 facing the robotic arm 4, and the first airbag 501 is located inside the second airbag 601.

[0032] The telescopic mechanism 3 includes a housing, which is cylindrical in shape and contains a drive element for extending and retracting the travel rod. A fixing plate 9 is fixedly mounted circumferentially on the housing. The fixing plate 9 is disc-shaped or annular and is coaxially arranged and fixedly connected to the housing. The first airbag 501 and the second airbag 601 are both mounted on the side of the fixing plate 9 facing the robotic arm 4. The first airbag 501 is located inside the second airbag 601, and the two are arranged concentrically. The first airbag 501 is closer to the axis of the telescopic mechanism 3, and the second airbag 601 is located on the outer periphery of the first airbag 501.

[0033] By adopting a concentric double-airbag layout structure, the two functions of isolation protection and radiation shielding are compactly integrated in the same installation space, improving the structural integration of the device. The first airbag 501, as an isolation barrier, is located on the inner side and directly isolates the radiation environment inside the pit. The second airbag 601 is located on the outer side to wrap the radiation components. The two do not interfere with each other and share the same installation foundation, reducing the volume and weight of a single airbag, reducing the load on the end of the telescopic mechanism 3, and improving the accessibility and operational flexibility of the integrated maintenance and decontamination system in the narrow pit space.

[0034] like Figure 4 As shown, in one embodiment, the first inflation / deflation assembly 502 includes a fan 5021, a first connecting pipe 5022, an air exchange structure 5023, and a second connecting pipe 5024.

[0035] The blower 5021 is located on the side of the fixed plate 9 away from the first airbag 501. The blower 5021 is an integrated blower that can switch between forward and reverse rotation, and can switch the air supply and exhaust directions according to control commands. One end of the first connecting pipe 5022 is connected to the output end of the blower 5021, and the other end is connected to the ventilation structure 5023. One end of the second connecting pipe 5024 is connected to the ventilation structure 5023, and the other end is connected to the internal cavity of the first airbag 501. After the blower 5021 is started, the airflow generated enters the interior of the first airbag 501 through the first connecting pipe 5022, the ventilation structure 5023, and the second connecting pipe 5024, realizing the inflation or deflation operation of the first airbag 501.

[0036] The independent inflation / deflation circuit of the first airbag 501 is formed by the fan 5021 in conjunction with the ventilation structure 5023 and the second connecting pipe 5024, realizing remote inflation / deflation control of the first airbag 501. This allows the activation and deactivation of the isolation and protection device without personnel entering the high-radiation area. At the same time, the bidirectional switchable fan structure can quickly inflate the airbag to form a seal, and can also deflate the airbag after the operation is completed, improving the ease of operation and response speed of the isolation and protection device. Furthermore, a single fan in conjunction with the ventilation structure can realize the shared control of multiple airbags, simplifying the overall air circuit structure of the machine.

[0037] In one embodiment, the second inflation / deflation assembly 602 includes a third connecting pipe 6021. One end of the third connecting pipe 6021 is connected to the ventilation structure 5023, and the other end of the third connecting pipe 6021 is connected to the internal cavity of the second airbag 601. The airflow generated by the fan 5021 enters the interior of the second airbag 601 through the first connecting pipe 5022, the ventilation structure 5023, and the third connecting pipe 6021, thereby realizing the inflation or deflation operation of the second airbag 601.

[0038] The second airbag 601 is connected to the ventilation structure 5023 via the third connecting pipe 6021, enabling independent inflation and deflation control of the second airbag 601 by a single fan, allowing the radiation shielding enclosure to be remotely started and deactivated. Since the third connecting pipe 6021 shares the ventilation structure 5023 and the fan 5021 with the inflation and deflation circuit of the first airbag 501, the number of internal pipes and power sources is effectively reduced, lowering equipment complexity and manufacturing costs, while improving the response speed and reliability of multi-airbag switching control.

[0039] like Figure 6As shown, in one embodiment, the radiation shielding packaging device 6 further includes a folding airbag 603 and a storage bag 604. The folding airbag 603 is disposed at the end of the second airbag 601 away from the fixing plate 9, that is, at the lower end of the second airbag 601. One end of the folding airbag 603 communicates with the internal cavity of the second airbag 601, and the other end of the folding airbag 603 is a free end. The folding airbag 603 is made of the same flexible radiation shielding composite material as the second airbag 601.

[0040] The folding airbag 603 folds outwards towards the outside of the second airbag 601 when not inflated, meaning that the folding airbag 603 is located on the outer periphery of the second airbag 601 after folding. The storage bag 604 is fixedly disposed on the outer wall of the second airbag 601 or the lower side of the fixing plate 9, with the open end of the storage bag 604 facing the folded position of the folding airbag 603. When folded, the folding airbag 603 is entirely stored inside the storage bag 604.

[0041] During the inflation process of the second airbag 601, airflow enters the interior of the folding airbag 603 through the second airbag 601. The folding airbag 603 gradually inflates and expands with the increase in air pressure, increasing in volume and detaching from the storage bag 604. The free end of the folding airbag 603 extends towards the end of the telescopic mechanism 3, covering the end of the travel rod of the telescopic mechanism 3 and the installation position of the robotic arm 4, thereby expanding the coverage area of ​​the radiation component. The folding airbag 603 is connected to the second airbag 601, and the two share the second inflation / deflation assembly 602. When the second airbag 601 deflates and contracts, the folding airbag 603 simultaneously deflates and collapses, and refolds and retracts into the storage bag 604 under the action of elastic restoring force or external air pressure.

[0042] like Figure 8 As shown, in one embodiment, the ventilation structure 5023 includes a fixed chamber 50231, a rotating block 50232, and a first driving member 50234.

[0043] The fixed compartment 50231 is located on the side of the fixed plate 9 away from the first airbag 501; the rotating block 50232 is rotatably disposed inside the fixed compartment 50231, and a notch 50233 is provided on one side of the rotating block 50232; the first driving member 50234 is disposed outside the fixed compartment 50231, and the output end of the first driving member 50234 passes through the fixed compartment 50231 and is connected to the rotating block 50232; wherein, the first connecting pipe 5022, the second connecting pipe 5024 and the third connecting pipe 6021 are all connected to the interior of the fixed compartment 50231, the included angle between each pair of the first connecting pipe 5022, the second connecting pipe 5024 and the third connecting pipe 6021 is 120°, and the angle formed by the notch 50233 is greater than 120°.

[0044] The fixed compartment 50231 is fixedly installed on the side of the fixed plate 9 away from the first airbag 501, that is, on the upper side of the fixed plate 9. The rotating block 50232 is rotatably disposed inside the fixed compartment 50231. The rotating block 50232 has a cylindrical structure, and its circumferential outer wall is clearance-fitted with the inner circumferential wall of the fixed compartment 50231. A notch 50233 is opened on one side of the rotating block 50232. The notch 50233 is a recessed space formed by the inward indentation of the outer circumferential wall of the rotating block 50232, and its cross-section is fan-shaped.

[0045] The first driving component 50234 is fixedly installed on the outside of the fixed chamber 50231. The output end of the first driving component 50234 passes through the side wall of the fixed chamber 50231 and is fixedly connected to the center position of the rotating block 50232. It is used to drive the rotating block 50232 to rotate around its own axis inside the fixed chamber 50231.

[0046] The ends of the first connecting pipe 5022, the second connecting pipe 5024, and the third connecting pipe 6021 all extend into the interior of the fixed chamber 50231. The angle between each pair of the first connecting pipe 5022, the second connecting pipe 5024, and the third connecting pipe 6021 on the peripheral wall of the fixed chamber 50231 is 120°. The fan-shaped angle formed by the notch 50233 is greater than 120°, so that the notch 50233 can simultaneously cover two adjacent pipe openings when the rotating block 50232 rotates.

[0047] The first driving component 50234 is communicatively connected to the controller. When the controller controls the first driving component 50234 to drive the rotating block 50232 to rotate to the first working position, the notch 50233 is simultaneously connected to the first connecting pipe 5022 and the second connecting pipe 5024, so that the air passage between the fan 5021 and the first airbag 501 is connected. When rotating to the second working position, the notch 50233 is simultaneously connected to the first connecting pipe 5022 and the third connecting pipe 6021, so that the air passage between the fan 5021 and the second airbag 601 is connected. When rotating to the third working position, the notch 50233 is not connected to either pipe opening, so that the air passage between the fan 5021 and the two airbags is disconnected.

[0048] The first driving component 50234 drives the rotating block 50232 to rotate within the fixed chamber 50231. When the notch 50233 rotates to the position between the first connecting pipe 5022 and the second connecting pipe 5024, the first connecting pipe 5022 and the second connecting pipe 5024 are connected, and the blower 5021 inflates or deflates the first airbag 501. When the notch 50233 rotates to the position between the first connecting pipe 5022 and the third connecting pipe 6021, the first connecting pipe 5022 and the third connecting pipe 6021 are connected, and the blower 5021 inflates or deflates the second airbag 601. When the notch 50233 rotates to a position where it is not connected to any pipe opening, the air passage is completely disconnected.

[0049] By setting a rotating block 50232 with a notch 50233 inside the fixed chamber 50231, and using the first driving component 50234 to control the rotating block 50232 to rotate to different angles, the selective switching control of the air paths of the two airbags is realized using a single ventilation structure. This allows the first airbag 501 and the second airbag 601 to share the same blower 5021 and the same set of control logic, eliminating the need to configure an inflation pump and reversing valve separately for each airbag. This simplifies the structure of the air path system, reduces the number of parts, lowers the weight of the equipment and manufacturing costs, and improves the reliability and ease of operation of inflation and deflation control.

[0050] like Figure 3 , Figure 4 , Figure 5 As shown, in one embodiment, the integrated maintenance and decontamination system further includes multiple mounting pieces 10 and multiple guide components 11. The multiple mounting pieces 10 are disposed on the side of the fixing plate 9 near the first airbag 501, and are spaced apart circumferentially along the first airbag 501. The first airbag 501, after expansion, can cover the mounting pieces 10. The inner diameter of the second airbag 601 after expansion is larger than the outer diameter formed by the multiple mounting pieces 10. The multiple guide components 11 are spaced apart circumferentially along the fixing plate 9 and the second airbag 601, and each guide component 11 extends axially along the second airbag 601.

[0051] Each mounting plate 10 has an L-shaped or arc-shaped sheet structure. The first airbag 501, in its uninflated state, is attached to the inner side of the mounting plate 10. After inflation, it can expand outwards beyond the obstruction of the mounting plate 10. The mounting plate 10 is used to constrain and guide the radial expansion of the first airbag 501, preventing eccentricity or irregular deformation during inflation. The inner diameter of the expanded second airbag 601 is larger than the outer diameter formed by the multiple mounting plates 10, allowing the second airbag 601 to smoothly pass over the mounting plates 10 without obstruction during inflation. Multiple guide components 11 are evenly spaced along the circumference of the fixing plate 9 and the second airbag 601. Each guide component 11 extends axially along the second airbag 601, constraining and guiding the axial extension direction of the second airbag 601 during inflation.

[0052] The radial expansion of the first airbag 501 is constrained and guided by the mounting plate 10, ensuring that the first airbag 501 can expand outward evenly along a predetermined trajectory during inflation, thereby improving the tightness of the fit and sealing reliability between the outer peripheral wall of the first airbag 501 and the inner wall of the pit opening. The axial extension of the second airbag 601 is guided by multiple guide components 11, allowing the second airbag 601 to gradually unfold along the extension direction of the radiating component during inflation, avoiding the second airbag 601 from tilting or wrinkling due to uneven inflation pressure, ensuring the complete coverage effect of the radiation shielding wrapping device on the radiating component, and improving the reliability of radiation shielding and the success rate of the wrapping operation.

[0053] like Figure 7 , Figure 9 As shown, in one embodiment, the guide assembly 11 includes a first threaded rod 1101, a first gear 1102, a second gear 1103, a second drive member 1104, a sliding plate 1105, a connecting plate 1106, a guide rod 1107, a fixing block 1108, and a blocking plate 1109.

[0054] The first threaded rod 1101 extends axially along the second airbag 601, with one end passing through the interior of the fixing plate 9 and slidably connected to the fixing plate 9 axially. The first gear 1102 is sleeved on the first threaded rod 1101 and is rotatably connected to the fixing plate 9 via a bearing. The inner wall of the central hole of the first gear 1102 is provided with an internal thread, and the first gear 1102 is threadedly engaged with the first threaded rod 1101 via the internal thread. The second gear 1103 is disposed on one side of the first gear 1102 and meshes with it.

[0055] The second driving component 1104 is fixedly mounted on the fixed plate 9, and the second gear 1103 is sleeved on the output shaft of the second driving component 1104 and rotates synchronously with the output shaft. The sliding plate 1105 is slidably sleeved on the first threaded rod 1101 and can slide freely along the axial direction of the first threaded rod 1101.

[0056] One end of the connecting piece 1106 is fixedly connected to one side of the sliding piece 1105, and the other end of the connecting piece 1106 extends away from the sliding piece 1105. One end of the guide rod 1107 is fixedly connected to the side of the connecting piece 1106 away from the fixing plate 9, and the guide rod 1107 extends in a direction parallel to the first threaded rod 1101. The fixing block 1108 is fixedly connected to the end side of the second airbag 601, and the fixing block 1108 is simultaneously slidably sleeved on the guide rod 1107, and can slide freely along the axial direction of the guide rod 1107. The barrier piece 1109 is fixedly disposed at the end of the guide rod 1107 away from the connecting piece 1106, and is used to limit the fixing block 1108 and prevent the fixing block 1108 from slipping off the end of the guide rod 1107.

[0057] When the second driving component 1104 is in operation, it drives the second gear 1103 to rotate. The second gear 1103 drives the first gear 1102 to rotate through meshing transmission. The first gear 1102 drives the first threaded rod 1101 to move axially through threaded engagement. The first threaded rod 1101 drives the sliding plate 1105 and the connecting plate 1106 to move synchronously. The connecting plate 1106 pulls the end of the second airbag 601 to move axially through the guide rod 1107 and the fixing block 1108, thereby guiding the inflation and deployment process of the second airbag 601.

[0058] Through the transmission and engagement of the second drive component 1104, the second gear 1103, the first gear 1102, and the first threaded rod 1101, the rotational motion is converted into the axial linear motion of the first threaded rod 1101. Then, through the linkage and traction of the sliding plate 1105, the connecting plate 1106, the guide rod 1107, and the fixing block 1108, controllable traction and guidance of the end of the second airbag 601 are achieved. This allows the second airbag 601 to gradually and evenly expand along the axial direction during inflation, ensuring complete coverage of the radiation components and avoiding problems such as incomplete coverage due to uneven inflation or airbag folding. At the same time, the entire guiding process is remotely and automatically controlled by the second drive component 1104 without human intervention, improving the safety and reliability of wrapping operations in high-radiation environments.

[0059] like Figure 10 As shown, in one embodiment, a sliding groove 11011 is provided on one circumferential side of the first threaded rod 1101. The sliding groove 11011 is a straight groove extending axially along the first threaded rod 1101. Sliding blocks 11051 are provided inside both the sliding plate 1105 and the fixing plate 9, and the sliding blocks 11051 are slidably connected to the sliding groove 11011. Sliding blocks 11051 are fixedly provided at positions corresponding to the sliding groove 11011 inside both the sliding plate 1105 and the fixing plate 9, and the sliding blocks 11051 protrude from the inner wall surfaces of the sliding plate 1105 and the fixing plate 9. The sliding blocks 11051 are embedded in the sliding groove 11011 and slide in cooperation with the sliding groove 11011, realizing a sliding connection between the sliding plate 1105 and the fixing plate 9 and the first threaded rod 1101.

[0060] The sliding engagement between the sliding groove 11011 and the sliding block 11051 achieves circumferential rotation limitation of the first threaded rod 1101, ensuring that the first threaded rod 1101 can only move axially without circumferential rotation when driven by the first gear 1102, thus improving the transmission accuracy and motion stability of the guide assembly 11. At the same time, this structure also provides guidance for the axial sliding of the sliding piece 1105 relative to the first threaded rod 1101, enabling the sliding piece 1105 to maintain a stable sliding posture during the movement of the first threaded rod 1101, ensuring the smoothness and reliability of the traction process at the end of the second airbag 601.

[0061] like Figure 11 As shown, in one embodiment, the collecting device 8 further includes a mounting groove 802, a fixing plate 803, a threaded post 804, a second threaded rod 805, and a second driving member 806.

[0062] The mounting groove 802 is fixedly mounted on the travel rod of the telescopic mechanism 3, extending axially along the travel rod and having an internal accommodating space. The fixing plate 803 is fixedly mounted on one side of the collection chamber 801, forming a rigid connection with it. An inlet 8011 is provided on the side of the collection chamber 801 away from the fixing plate 803. The opening size of the inlet 8011 is larger than the external dimensions of the radiating component, allowing the disassembled radiating component to be placed inside the collection chamber 801.

[0063] The threaded post 804 is fixedly mounted on the bottom of the fixing plate 803. The threaded post 804 extends vertically and has an internal threaded hole inside. One end of the second threaded rod 805 extends into the internal threaded hole of the threaded post 804 and is threadedly connected to the threaded post 804. The other end of the second threaded rod 805 extends vertically downward.

[0064] The second driving component 806 is fixedly installed in the mounting groove 802, with its output end facing upwards and connected to the other end of the second threaded rod 805. When the second driving component 806 operates, it drives the second threaded rod 805 to rotate. The second threaded rod 805 drives the threaded column 804 to move axially up and down through threaded engagement. The threaded column 804 drives the collection bin 801 to slide axially within the mounting groove 802 through the fixing plate 803, thereby enabling the collection bin 801 to extend or retract relative to the stroke rod.

[0065] Through the threaded transmission cooperation of the second driving component 806, the second threaded rod 805, the threaded column 804, and the fixing plate 803, the automatic extension and retraction control of the collection chamber 801 relative to the travel rod of the telescopic mechanism 3 is realized, so that the disassembled radiation component can be sealed and stored in the collection chamber 801 without being exposed to the external environment. When extended, the feed port 8011 is exposed to facilitate the robotic arm 4 to put the radiation component in. After retraction, the collection chamber 801 retracts to the initial position of the travel rod, and together with the radiation shielding wrapping device 6, it forms a complete enclosure of the radiation component, effectively reducing the risk of radiation leakage during the transportation process and reducing the possibility of secondary pollution.

[0066] In one embodiment, the spraying assembly 702 includes: a liquid pump 7021, disposed on the robot body 1; a fourth connecting pipe 7022, one end of which is connected to the input end of the liquid pump 7021 and the other end of which is connected to the liquid storage tank 701; and a fifth connecting pipe 7023, one end of which is connected to the output end of the liquid pump 7021 and the other end of which extends to one side of the robotic arm 4 and is fixedly attached to a nozzle 7024, the nozzle 7024 being fixedly connected to the end of the robotic arm 4.

[0067] like Figure 1 , Figure 2 , Figure 3 As shown, the spraying assembly 702 includes a liquid pump 7021, a fourth connecting pipe 7022, a fifth connecting pipe 7023, and a spray nozzle 7024. The liquid pump 7021 is fixedly mounted on the robot body 1. The liquid pump 7021 is a corrosion-resistant peristaltic pump or a diaphragm pump. Its input end is connected to one end of the fourth connecting pipe 7022, and the other end of the fourth connecting pipe 7022 extends into the liquid storage tank 701 and is connected to the interior of the liquid storage tank 701.

[0068] One end of the fifth connecting pipe 7023 is connected to the output end of the liquid pump 7021, and the other end of the fifth connecting pipe 7023 extends along the outside of the telescopic mechanism 3 and the robotic arm 4 to one side of the robotic arm 4. The nozzle 7024 is fixedly installed at the end of the fifth connecting pipe 7023, i.e., near the end of the robotic arm 4. The nozzle 7024 is fixedly connected to the end of the robotic arm 4, and the spray direction of the nozzle 7024 points towards the area in front of the end of the robotic arm 4. When the liquid pump 7021 is running, the peelable detergent in the storage tank 701 is extracted through the fourth connecting pipe 7022 and then transported to the nozzle 7024 through the fifth connecting pipe 7023. The nozzle 7024 then sprays the detergent in an atomized form onto the surface to be cleaned, as indicated by the end of the robotic arm 4.

[0069] By fixing the nozzle 7024 to the end of the robotic arm 4, the spraying position can be flexibly adjusted with the multi-degree-of-freedom movement of the robotic arm 4, realizing precise spraying of the surface to be cleaned at different positions and angles, improving the coverage and uniformity of the cleaning operation; the cooperation of the liquid pump 7021, the fourth connecting pipe 7022 and the fifth connecting pipe 7023 stably delivers the cleaning agent from the liquid storage tank 701 on the robot body 1 to the end of the robotic arm 4, realizing remote automatic supply of cleaning agent, without the need for manual replacement of spray guns or manual adjustment of spraying angle, further reducing the intervention of personnel in high radiation environments, and improving the safety and automation of the cleaning operation.

[0070] The working principle of the integrated maintenance and decontamination system for nuclear facility exhaust filters of the present invention is as follows: Before the operation, the operator controls the robot body 1 to move to the pit-type exhaust filter to be repaired through the control unit in the low-radiation safety zone, and adjusts the position of the control frame 2 and the telescopic mechanism 3 so that the axis of the telescopic mechanism 3 coincides with the axis of the pit opening.

[0071] First, isolation and protection operations are performed. The ventilation structure 5023 is switched to connect the first connecting pipe 5022 and the second connecting pipe 5024. The fan 5021 is started to inflate the first airbag 501. The first airbag 501 expands radially outwards, tightly abutting against the inner wall of the pit's upper opening, forming a sealed protective cavity. This completely isolates the maintenance area inside the pit from the external filter corridor space, preventing the spread of radioactive materials during maintenance. After the first airbag 501 is fully inflated, the fan 5021 stops operating, and the ventilation structure 5023 switches to the closed position, maintaining stable internal air pressure in the first airbag 501.

[0072] Then, the filter disassembly and collection operation is performed. The travel lever of the telescopic mechanism 3 is extended, sending the robotic arm 4 into the pit. The operator remotely controls the robotic arm 4 through the control unit to complete the disassembly of the filter element awaiting replacement. After disassembly, the collection device 8 is activated, and the collection chamber 801 extends relative to the travel lever of the telescopic mechanism 3. The robotic arm 4 places the disassembled radiating component into the collection chamber 801 through the feed port 8011. Then, the collection chamber 801 is retracted to the initial position of the travel lever, so that the radiating component is sealed and stored inside the collection chamber 801.

[0073] Subsequently, the work of wrapping and protecting the radiating components is carried out. The ventilation structure 5023 is controlled to switch the air path, so that the first connecting pipe 5022 is connected to the third connecting pipe 6021. The fan 5021 is started to inflate the second airbag 601. At the same time, the second drive component 1104 of each guide component 11 is started. The second drive component 1104 drives the first threaded rod 1101 to move axially through the meshing transmission of the second gear 1103 and the first gear 1102. The first threaded rod 1101 pulls the fixing block 1108 through the sliding plate 1105, the connecting plate 1106 and the guide rod 1107, thereby causing the end of the second airbag 601 to gradually extend axially. During the inflation process, the second airbag 601 gradually unfolds along the direction of the radiating components, and finally completely surrounds the collection chamber 801 and the radiating components inside. After the second airbag 601 is fully deployed, the fan 5021 stops operating, and the ventilation structure 5023 switches to the closed position to maintain stable air pressure inside the second airbag 601, thus forming radiation shielding protection during the transfer of the radiating components.

[0074] Next, the packaged components are transferred. The travel lever of the telescopic mechanism 3 is retracted, lifting the packaged radiation component along with the collection chamber 801 out of the sealed protective cavity of the pit and transferring it to the designated shielding container. During the transfer, the first airbag 501 remains inflated to maintain the integrity of the sealed protective cavity inside the pit and prevent residual radioactive material inside the pit from spreading outward.

[0075] Next, the decontamination work for residual contamination inside the pit is carried out. After the radiation components are removed, the position of the telescopic mechanism 3 is readjusted so that the end of the robotic arm 4 extends into the pit. The liquid pump 7021 is started, and the liquid pump 7021 extracts the self-crackable peelable membrane detergent from the storage tank 701 through the fourth connecting pipe 7022, and delivers it to the nozzle 7024 through the fifth connecting pipe 7023. The operator controls the movement of the robotic arm 4 through the control unit, so that the nozzle 7024 moves with the end of the robotic arm 4, and evenly sprays the self-crackable peelable membrane detergent onto the inner wall of the filter housing and the surface to be decontaminated in the maintenance area. After spraying, the detergent is allowed to dry naturally on the surface to form a film and crack. During the film formation process, the detergent encapsulates and fixes the radioactive contaminants attached to the surface into the membrane layer. After the film is formed, the vacuum tool head is replaced by the quick-change interface at the four ends of the robotic arm to extract and collect the cracked film layer, completing the decontamination operation. The collected cracked film layer is disposed of as radioactive solid waste.

[0076] After all operations are completed, the ventilation structure 5023 switches the air path, connecting the first connecting pipe 5022 with the second connecting pipe 5024. The fan 5021 is then activated to switch to extraction mode, drawing gas out of the first airbag 501. The first airbag 501 deflates and detaches from the inner wall of the pit opening. Subsequently, the ventilation structure 5023 switches the air path, connecting the first connecting pipe 5022 with the third connecting pipe 6021. The fan 5021 draws gas out of the second airbag 601, causing it to deflate and return to its folded state, detaching from the radiation shielding enclosure. After all airbags are retracted, the robot body 1 is controlled to leave the work area, completing the entire integrated maintenance and decontamination process.

[0077] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. An integrated system for the maintenance and decontamination of exhaust filters in nuclear facilities, characterized in that, include: The robot body (1) is movable; The control frame (2) is mounted on the robot body (1); The telescopic mechanism (3) is mounted on the control frame (2); A robotic arm (4) is disposed at one end of the telescopic mechanism (3); The control unit is communicatively connected to the robot body (1), the control frame (2), and the telescopic mechanism (3); The isolation and protection device (5) includes a first airbag (501) and a first inflation and deflation assembly (502) connected to the first airbag (501). The first airbag (501) is installed on the telescopic mechanism (3). The first inflation and deflation assembly (502) is communicatively connected to the control unit and is used to control the inflation and expansion of the first airbag (501) so that the outer peripheral wall of the first airbag (501) fits against the inner wall of the pit opening to be repaired, so as to form a sealed protective space inside the pit. The radiation shielding wrapping device (6) includes a second airbag (601) and a second inflation / deflation assembly (602) connected to the second airbag (601). The second inflation / deflation assembly (602) is communicatively connected to the control unit and is used to control the inflation and expansion of the second airbag (601) so that the second airbag (601) covers the outside of the disassembled radiation component. The decontamination device (7) includes a liquid storage tank (701) disposed on the robot body (1) and a spraying assembly (702) communicating with the liquid storage tank (701). The spraying assembly (702) is disposed around the robotic arm (4) and is used to spray a peelable decontaminant onto the surface to be decontaminated. The collection device (8) is disposed on the travel component of the telescopic mechanism (3) and has a collection chamber (801) that can extend or retract relative to the telescopic mechanism (3) for accommodating the disassembled radiation component.

2. The integrated maintenance and decontamination system for nuclear facility exhaust filters according to claim 1, characterized in that, The telescopic mechanism (3) includes a housing, on which a fixing plate (9) is circumferentially mounted. The first airbag (501) and the second airbag (601) are mounted on the side of the fixing plate (9) facing the robotic arm (4), and the first airbag (501) is located inside the second airbag (601).

3. The integrated maintenance and decontamination system for nuclear facility exhaust filters according to claim 2, characterized in that, The first inflation / deflation assembly (502) includes: A fan (5021) is disposed on the side of the fixed plate (9) away from the first airbag (501); The first connecting pipe (5022) is connected at one end to the output end of the fan (5021). The ventilation structure (5023) is connected at one end to the other end of the first connecting pipe (5022); The second connecting pipe (5024) is connected at one end to the other end of the ventilation structure (5023) and at the other end to the first airbag (501).

4. The integrated maintenance and decontamination system for nuclear facility exhaust filters according to claim 3, characterized in that, The second inflation / deflation assembly (602) includes: The third connecting pipe (6021) is connected at one end to the ventilation structure (5023) and at the other end to the second airbag (601).

5. The integrated maintenance and decontamination system for nuclear facility exhaust filters according to claim 4, characterized in that, The ventilation structure (5023) includes: The fixed compartment (50231) is located on the side of the fixed plate (9) away from the first airbag (501); A rotating block (50232) is rotatably disposed within the fixed chamber (50231), and a notch (50233) is provided on one side of the rotating block (50232). The first driving member (50234) is disposed outside the fixed chamber (50231), and the output end of the first driving member (50234) passes through the fixed chamber (50231) and is connected to the rotating block (50232); The first connecting pipe (5022), the second connecting pipe (5024), and the third connecting pipe (6021) are all connected to the interior of the fixed chamber (50231). The included angle between each pair of the first connecting pipe (5022), the second connecting pipe (5024), and the third connecting pipe (6021) is 120°, and the angle formed by the notch (50233) is greater than 120°.

6. The integrated maintenance and decontamination system for nuclear facility exhaust filters according to any one of claims 2-5, characterized in that, Also includes: Multiple mounting pieces (10) are disposed on the side of the fixing plate (9) near the first airbag (501), and the multiple mounting pieces (10) are spaced apart along the circumference of the first airbag (501). The first airbag (501) can cover the mounting pieces (10) after it expands. The inner diameter of the second airbag (601) after it expands is larger than the outer diameter formed by the multiple mounting pieces (10). Multiple guide components (11) are arranged circumferentially between the fixed plate (9) and the second airbag (601), and each guide component (11) extends axially along the second airbag (601).

7. The integrated maintenance and decontamination system for nuclear facility exhaust filters according to claim 6, characterized in that, The guiding component (11) includes: The first threaded rod (1101) has one end passing through the interior of the fixing plate (9) and is slidably disposed with the fixing plate (9); The first gear (1102) is sleeved on the first threaded rod (1101) and is rotatably connected to the fixed plate (9); The second gear (1103) is disposed on one side of the first gear (1102) and meshes with the first gear (1102); The second drive member (1104) has the second gear (1103) sleeved on the output shaft of the second drive member (1104); The sliding piece (1105) is slidably sleeved on the first threaded rod (1101); The connecting piece (1106) is connected to one side of the sliding piece (1105); The guide rod (1107) is connected to the side of the connecting piece (1106) away from the fixing plate (9); The fixing block (1108) is slidably sleeved on the guide rod (1107); A barrier plate (1109) is disposed at the end of the guide rod (1107) away from the connecting piece (1106).

8. The integrated maintenance and decontamination system for nuclear facility exhaust filters according to claim 7, characterized in that, The first threaded rod (1101) has a sliding groove (11011) on one side of its circumference. The sliding block (11051) is provided inside the sliding piece (1105) and the fixed plate (9). The sliding block (11051) is slidably connected to the sliding groove (11011).

9. The integrated maintenance and decontamination system for nuclear facility exhaust filters according to claim 1, characterized in that, The collecting device (8) further includes: The mounting slot (802) is provided on the stroke rod of the telescopic mechanism (3); A fixing plate (803) is fixed to one side of the collection bin (801), and a feed inlet (8011) is provided on the side of the collection bin (801) away from the fixing plate (803). A threaded post (804) is disposed at the bottom of the fixing plate (803); The second threaded rod (805) is threaded at one end to the threaded post (804); The second drive member (806) is disposed in the mounting groove (802), and the output end of the second drive member (806) is connected to the other end of the second threaded rod (805).

10. The integrated maintenance and decontamination system for nuclear facility exhaust filters according to claim 1, characterized in that, The spraying assembly (702) includes: A liquid pump (7021) is mounted on the robot body (1); The fourth connecting pipe (7022) is connected at one end to the input end of the liquid pump (7021) and at the other end to the liquid storage tank (701); The fifth connecting pipe (7023) is connected at one end to the output end of the liquid pump (7021) and at the other end to one side of the robotic arm (4) and is fixed with a nozzle (7024). The nozzle (7024) is fixedly connected to the end of the robotic arm (4).

Images