Cleaning machine for flange screw hole of pressure vessel of nuclear power plant

Abstract

The utility model discloses a nuclear power plant pressure vessel flange screw hole cleaning machine which comprises a vehicle body, a cleaning mechanism, a positioning and blow-drying mechanism, a polishing mechanism and a detecting mechanism. The vehicle body is provided with a moving assembly; the cleaning mechanism is installed on the vehicle body and used for cleaning flange screw holes of the pressure vessel of the nuclear power plant. The positioning and blow-drying mechanism is mounted on the vehicle body and is used for positioning and blow-drying flange screw holes of the pressure vessel of the nuclear power plant; the polishing mechanism is mounted on the vehicle body and used for polishing the flange screw hole of the pressure vessel of the nuclear power plant; the detection mechanism is installed on the vehicle body and used for detecting the flange screw hole of the pressure vessel of the nuclear power plant. By means of the nuclear power plant pressure vessel flange screw hole cleaning machine, the cleaning efficiency of the nuclear power plant pressure vessel flange screw hole can be effectively improved, workers can be effectively prevented from being radiated in the cleaning process, and the health and safety of the workers can be effectively guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of nuclear power, in particular to a flange screw hole cleaning machine for a pressure vessel in a nuclear power plant. Background Art

[0002] A nuclear power plant pressure vessel flange has about 58 screw holes. When the screw holes of the nuclear power plant pressure vessel flange need to be inspected and maintained, the inspection and maintenance method is usually for the staff to flush them with a hand-held spray gun, and then use a hand-held suction device to suck out the cleaning medium after flushing, and then use a hand-held blow-drying gun to blow dry. Sometimes it is also necessary to polish the screw holes of the nuclear power plant pressure vessel flange. The entire inspection and maintenance operation is cumbersome, the labor cost is high, and there are radiation safety issues for the staff. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a nuclear power plant pressure vessel flange screw hole cleaning machine.

[0004] The utility model solves the technical problem by adopting a technical solution: constructing a nuclear power plant pressure vessel flange screw hole cleaning machine, comprising:

[0005] A vehicle body, wherein the vehicle body is provided with a moving assembly;

[0006] A cleaning mechanism, which is installed on the vehicle body and is used to clean the screw holes of the flange of the pressure vessel of the nuclear power plant;

[0007] A positioning and blowing mechanism, which is installed on the vehicle body and is used to position and blow dry the screw holes of the flange of the pressure vessel of the nuclear power plant;

[0008] A polishing mechanism, which is mounted on the vehicle body and is used to polish the screw holes of the flange of the pressure vessel of the nuclear power plant;

[0009] A detection mechanism is installed on the vehicle body and is used to detect the flange screw holes of the pressure vessel of the nuclear power plant.

[0010] In some embodiments, the moving assembly includes a plurality of driving wheels disposed at the bottom of the vehicle body and a first driving motor connected to the driving wheels;

[0011] The moving assembly comprises a plurality of driven wheels arranged at the bottom of the vehicle body.

[0012] In some embodiments, the moving assembly further comprises a plurality of guide wheels disposed on the width side surfaces of the vehicle body.

[0013] In some embodiments, a plurality of magnetic induction sensors are disposed at the bottom of the vehicle body.

[0014] In some embodiments, the top projection of the vehicle body is arc-shaped.

[0015] In some embodiments, the vehicle body is a sheet metal part.

[0016] In some embodiments, the cleaning mechanism includes a cleaning component and a first lifting component connected to the cleaning component for driving the cleaning component to move back and forth in a height direction;

[0017] The cleaning assembly includes a bracket, a water chamber cavity, a flushing pipe, a first suction pipe, a second suction pipe, a driving assembly and a liquid storage container; the liquid storage container includes a liquid supply tank and a recovery tank;

[0018] The bracket includes a mounting plate and a first connecting plate vertically connected to the mounting plate, wherein the first connecting plate is connected to a first lifting assembly;

[0019] The mounting plate has a first surface and a second surface relative to each other, and the mounting plate is provided with a first through hole penetrating the first surface and the second surface; the water chamber cavity is mounted on the first surface of the mounting plate, and the water chamber cavity has a water cavity, and a second through hole is provided on the bottom surface of the water chamber cavity, and the second through hole is arranged opposite to the first through hole; the flushing pipe is passed through the first through hole and the second through hole, the upper end of the flushing pipe is connected to the water chamber cavity and the flushing pipe is communicated with the water cavity, the inner cavity of the flushing pipe is provided with a medium channel, the circumferential side surface of the lower end of the flushing pipe is provided with a plurality of nozzles, and the end of the lower end of the flushing pipe is provided with a suction joint;

[0020] A first mounting hole and a second mounting hole are also provided at the upper end of the water chamber cavity, the first mounting hole is communicated with the water chamber, and the first mounting hole is used to connect with the liquid supply tank; a mounting groove is provided in the water chamber cavity, the mounting groove and the second mounting hole are arranged opposite to each other and are communicated with each other; a dynamic seal mounting seat is provided in the mounting groove, the first suction pipe is located in the inner cavity of the flushing pipe, and the outer peripheral wall surface of the first suction pipe and the inner peripheral wall surface of the flushing pipe define the medium channel; the upper end of the first suction pipe is connected to the dynamic seal mounting seat, and the lower end of the first suction pipe is connected to the suction joint; one end of the second suction pipe is installed on the second mounting hole, and the second suction pipe is communicated with the first suction pipe, and the second suction pipe is connected to the recovery tank;

[0021] The driving assembly includes a second driving motor, a first gear and a second gear. The second driving motor is installed on the first surface of the mounting plate, the first gear is located on the side of the second surface of the mounting plate, the driving end of the second driving motor is fixedly connected to the first gear, the second gear is fixedly installed on the part of the flushing pipe protruding from the second surface of the mounting plate, and the second gear is meshed with the first gear.

[0022] In some embodiments, the liquid storage container includes a filter element disposed between a liquid supply tank and a recovery tank.

[0023] In some embodiments, a bearing groove is further provided in the first through hole;

[0024] The cleaning assembly also includes a first bearing, which is installed in the bearing groove and is sleeved on a portion of the outer circumference of the flushing pipe.

[0025] In some embodiments, a plurality of first sealing rings are provided between the circumferential wall surface of the upper end of the flushing tube and the circumferential inner wall surface of the second through hole.

[0026] In some embodiments, the nuclear power plant pressure vessel flange screw hole cleaning machine also includes a plurality of connecting shafts, which are arranged at intervals, and the upper ends of the connecting shafts are connected to the lower ends of the dynamic seal mounting seats, and the lower ends of the connecting shafts are connected to the upper ends of the flushing pipes.

[0027] In some embodiments, a plurality of second sealing rings are further provided between the circumferential wall surface of the dynamic seal mounting seat and the circumferential inner wall surface of the mounting groove.

[0028] In some embodiments, the nuclear power plant pressure vessel flange screw hole cleaning machine also includes a second bearing, the second bearing is located in the mounting groove, and the second bearing is sleeved on the circumferential wall surface of the upper end of the dynamic seal mounting seat.

[0029] In some embodiments, the first mounting hole is provided with a first joint, and the first joint is connected to the liquid supply tank through a connecting pipeline.

[0030] In some embodiments, a second joint is provided on the dynamic seal mounting seat, and the second joint is connected to the upper end of the first suction pipe.

[0031] In some embodiments, the second mounting hole is provided with a third joint, the third joint is connected to one end of the second suction pipe, and the other end of the second suction pipe is connected to the recovery tank.

[0032] In some embodiments, the water chamber cavity includes a first cavity and a second cavity connected to each other; the first mounting hole, the second mounting hole and the mounting groove are formed on the first cavity;

[0033] The second cavity includes a bottom wall and a peripheral wall extending from the bottom wall, the upper surface of the bottom wall and the inner surface of the peripheral wall define the water cavity, and the bottom wall is provided with the second through hole.

[0034] In some embodiments, a third sealing ring is further provided between the upper surface of the peripheral wall and the lower surface of the first cavity.

[0035] In some embodiments, the irrigation tube is a metal tube.

[0036] In some embodiments, the number of the nozzles is at least four, and the at least four nozzles are spaced apart along the circumference of the flushing pipe.

[0037] In some embodiments, a negative pressure cover is further provided on the periphery of the flushing pipe, and an elastic member is provided between the negative pressure cover and the bottom of the vehicle body.

[0038] In some embodiments, a limiting member is further provided on the outer periphery of the bottom of the flushing tube.

[0039] In some embodiments, the positioning and blowing mechanism includes a positioning and blowing component and a second lifting component connected to the positioning and blowing component to drive the positioning and blowing component to move in the height direction;

[0040] The positioning drying assembly comprises a first sleeve, a second sleeve, an air guide tube, a suction tube, an air delivery tube and a positioning fixing block; the second sleeve is installed in the first sleeve, and the outer side surface of the second sleeve and the inner side surface of the first sleeve form an air flow space; the inner cavity of the second sleeve forms a driving space; the side wall of the first sleeve is provided with a plurality of air guide holes, the air guide tube is connected to the first sleeve and the air guide tube is connected to the air flow space to introduce drying gas into the air flow space; the suction tube is passed through the first sleeve, and the suction port of the suction tube is provided at the bottom of the first sleeve;

[0041] The circumferential side wall of the first sleeve is provided with a plurality of first through grooves, and the circumferential side wall of the second sleeve is provided with a plurality of second through grooves, the first through grooves and the second through grooves are arranged opposite to each other one by one to form a limiting channel, the positioning and fixing block can be movably installed in the limiting channel, the air supply pipe is passed through the first sleeve and connected to the second sleeve, and the air supply pipe is connected to the driving space, and the air supply pipe is used to supply or exhaust air to the driving space to drive the positioning and fixing block to be tensioned outward or contracted inward.

[0042] In some embodiments, the first sleeve is coaxially disposed with the second sleeve.

[0043] In some embodiments, an axial dimension of the second sleeve is less than or equal to one-half of an axial dimension of the first sleeve.

[0044] In some embodiments, the air guide holes are arranged at intervals along the axial direction and the circumferential direction of the first sleeve.

[0045] In some embodiments, the air guide holes are at least one of round holes and elongated holes.

[0046] In some embodiments, the suction tube is inserted into the first sleeve and the second sleeve.

[0047] In some embodiments, there are multiple positioning and fixing blocks, and the multiple positioning and fixing blocks are arranged at intervals along the circumference of the first sleeve on the same plane.

[0048] In some embodiments, the plurality of positioning and fixing blocks form a positioning and fixing block group;

[0049] The number of the positioning and fixing block groups is at least two.

[0050] In some embodiments, the outer side surface of the positioning and fixing block is a plane.

[0051] In some embodiments, the first sleeve and / or the second sleeve are both metal parts.

[0052] In some embodiments, the second lifting assembly includes a first mounting frame, a third driving motor, a third gear, a fourth gear, a first screw rod, and a second connecting plate;

[0053] The first mounting frame includes a first bottom plate, a first top plate and a first supporting plate, the first bottom plate is arranged parallel to the first top plate, the first supporting plate connects the first bottom plate and the first top plate, the third driving motor is installed on the lower surface of the first top plate, the third gear and the fourth gear are installed on one side of the upper surface of the first top plate, and the third gear and the fourth gear are meshed with each other, the output end of the third driving motor is fixedly connected to the third gear, the two ends of the first screw rod are respectively installed on the first bottom plate and the first top plate, and the upper end of the first screw rod is penetrated through the first top plate to be connected with the fourth gear;

[0054] The second connecting plate is connected to the first sleeve, and a first nut seat connected to the first screw rod is provided on the second connecting plate.

[0055] In some embodiments, the second lifting assembly includes a first guide rail, the first guide rail is mounted on the first support plate, and the first guide rail is extended along the height direction of the first support plate;

[0056] A first guide groove connected to the first guide rail is provided at one end of the second connecting plate.

[0057] In some embodiments, the first bottom plate is provided with a third bearing sleeved on the lower end of the first screw rod, and the first top plate is provided with a fourth bearing sleeved on the upper end of the first screw rod.

[0058] In some embodiments, the polishing mechanism includes a polishing assembly and a third lifting assembly connected to the polishing assembly to drive the polishing assembly to move in a height direction;

[0059] The polishing assembly includes a third connecting plate, a tube body, a polishing brush, a fourth drive motor, a fifth gear, and a sixth gear. The upper end of the tube body is installed on the third connecting plate, and the lower end of the tube body is provided with the polishing brush. The fourth drive motor is installed on the upper end of the third connecting plate, and the output end of the fourth drive motor is passed through the third connecting plate. The fifth gear is located on the lower side of the third connecting plate, and the fifth gear is connected to the output end of the fourth drive motor. The sixth gear is fixedly installed on the part of the tube body located on the lower side of the third connecting plate, and the sixth gear is meshed with the fifth gear.

[0060] In some embodiments, the third lifting assembly includes a second mounting frame, a fifth drive motor, a seventh gear, an eighth gear, and a second screw rod;

[0061] The second mounting frame includes a second bottom plate, a second top plate and a second supporting plate, the second bottom plate is arranged parallel to the second top plate, the second supporting plate connects the second bottom plate and the second top plate, the fifth driving motor is installed on the lower surface of the second top plate, the seventh gear and the eighth gear are installed on one side of the upper surface of the second top plate, and the seventh gear and the eighth gear are meshed with each other, the output end of the fifth driving motor is fixedly connected to the seventh gear, the two ends of the second screw rod are respectively installed on the second bottom plate and the second top plate, and the upper end of the second screw rod is penetrated through the second top plate to be connected with the eighth gear;

[0062] The third connecting plate is provided with a second nut seat connected to the second screw rod.

[0063] In some embodiments, the third lifting assembly includes a second guide rail, the second guide rail is installed on the second support plate, and the second guide rail is extended along the height direction of the second support plate;

[0064] One end of the third connecting plate is provided with a second guide groove connected to the second guide rail.

[0065] In some embodiments, the second bottom plate is provided with a fifth bearing sleeved on the lower end of the second screw rod, and the second top plate is provided with a sixth bearing sleeved on the upper end of the second screw rod.

[0066] In some embodiments, the tube is hollow;

[0067] The detection mechanism includes a mounting rod, a camera and a fourth lifting assembly. The mounting rod passes through the tube body, the camera is provided at the bottom of the mounting rod, the fourth lifting assembly is installed on the third connecting plate, and the fourth lifting assembly is connected to the mounting rod to drive the mounting rod to move up and down along the height direction.

[0068] The implementation of the utility model has the following beneficial effects: the use of the nuclear power plant pressure vessel flange screw hole cleaning machine can effectively improve the cleaning efficiency of the nuclear power plant pressure vessel flange screw holes, can effectively prevent workers from being exposed to radiation during the cleaning process, and can effectively protect the health and safety of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solution of the utility model, the utility model will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show certain embodiments of the utility model, and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0070] Figure 1 This is one of the application schematic diagrams of the nuclear power plant pressure vessel flange screw hole cleaning machine in some embodiments of the utility model;

[0071] Figure 2 This is the second application schematic diagram of the nuclear power plant pressure vessel flange screw hole cleaning machine in some embodiments of the utility model;

[0072] Figure 3 It is one of the structural schematic diagrams of the nuclear power plant pressure vessel flange screw hole cleaning machine in some embodiments of the utility model;

[0073] Figure 4 This is the second structural schematic diagram of the nuclear power plant pressure vessel flange screw hole cleaning machine in some embodiments of the utility model;

[0074] Figure 5 It is one of the schematic diagrams of the nuclear power plant pressure vessel flange screw hole cleaning machine in some embodiments of the utility model without the body part structure;

[0075] Figure 6 This is the second schematic diagram of the nuclear power plant pressure vessel flange screw hole cleaning machine in some embodiments of the utility model without the body structure;

[0076] Figure 7 It is one of the structural schematic diagrams of the cleaning mechanism in some embodiments of the utility model;

[0077] Figure 8 This is the second structural schematic diagram of the cleaning mechanism in some embodiments of the utility model;

[0078] Fig. 9 This is the third structural schematic diagram of the cleaning mechanism in some embodiments of the utility model;

[0079] Fig.10 is a cross-sectional view of a cleaning mechanism in some embodiments of the utility model;

[0080] Fig.11 It is one of the structural schematic diagrams of the positioning drying mechanism in some embodiments of the utility model;

[0081] Fig.12 This is the second structural schematic diagram of the positioning drying mechanism in some embodiments of the utility model;

[0082] Fig.13 is a cross-sectional view of a positioning drying mechanism in some embodiments of the utility model;

[0083] Fig.14 It is a schematic structural diagram of the polishing mechanism in some embodiments of the utility model;

[0084] Fig.15 It is a schematic diagram of the structure of the detection mechanism in some embodiments of the utility model. DETAILED DESCRIPTION

[0085] See also Figure 1 to Figure 2 The utility model shows a nuclear power plant pressure vessel flange screw hole cleaning machine, which can move on the surface of the nuclear power plant pressure vessel flange 100 to perform inspection and maintenance operations on the nuclear power plant pressure vessel flange screw holes 101, such as cleaning, drying and polishing operations.

[0086] See also Figures 3 to 6 In some embodiments, the nuclear power plant pressure vessel flange screw hole cleaning machine may include: a body 10, a cleaning mechanism 20, a positioning and drying mechanism 30, a polishing mechanism 40, and a detection mechanism 50.

[0087] The vehicle body 10 is provided with a moving assembly 11 to move on the surface of the flange 100 of the nuclear power plant pressure vessel. The cleaning mechanism 20 is installed on the vehicle body 10 to clean the screw holes 101 of the flange of the nuclear power plant pressure vessel. The positioning and drying mechanism 30 is installed on the vehicle body 10 to position and dry the screw holes 101 of the flange of the nuclear power plant pressure vessel. The polishing mechanism 40 is installed on the vehicle body 10 to polish the screw holes 101 of the flange of the nuclear power plant pressure vessel. The detection mechanism 50 is installed on the vehicle body 10 to detect the screw holes 101 of the flange of the nuclear power plant pressure vessel.

[0088] In some embodiments, the cleaning mechanism 20, the positioning and drying mechanism 30, and the polishing mechanism 40 may be arranged at intervals along the length direction / travel direction of the vehicle body 10, so that when the cleaning mechanism 20 performs a cleaning operation on a nuclear power plant pressure vessel flange screw hole 101, the positioning and drying mechanism 30 may perform a positioning and drying operation on the previous nuclear power plant pressure vessel flange screw hole 101, and the polishing mechanism 40 may perform a polishing operation on the previous nuclear power plant pressure vessel flange screw hole 101. The detection mechanism 50 may be combined with the polishing mechanism 40, and may detect the nuclear power plant pressure vessel flange screw hole 101 before and after the polishing mechanism 40 performs a polishing operation on the nuclear power plant pressure vessel flange screw hole 101.

[0089] See also Figure 6 In some embodiments, the mobile assembly 11 includes a plurality of driving wheels 111 disposed at the bottom of the vehicle body 10 and a first driving motor 112 connected to the driving wheels 111, and the mobile assembly 11 includes a plurality of driven wheels 113 disposed at the bottom of the vehicle body 10. The driving wheels 111 may include but are not limited to universal wheels, and the driven wheels 113 may include but are not limited to universal wheels. The first driving motor 112 may include but are not limited to a servo motor.

[0090] See also Figure 6 In some embodiments, the moving component 11 also includes a plurality of guide wheels 114 arranged on the width side of the vehicle body 10. The plurality of guide wheels 114 can be arranged at intervals along the length direction of the vehicle body 10. The guide wheels 114 can be used to assist in fitting to the side of the nuclear power plant pressure vessel flange 100, so that the vehicle body 10 can move more smoothly.

[0091] See also Figure 6In some embodiments, a plurality of magnetic induction sensors 12 are provided at the bottom of the vehicle body 10. The plurality of magnetic induction sensors 12 can be arranged at intervals along the length direction of the vehicle body 10. The number of magnetic induction sensors 12 can be two, three, four or any other number. The magnetic induction sensor 12 can perform position detection, speed detection, direction detection, etc., so as to know the position information and movement information of the vehicle body 10. Of course, other sensors can also be selected according to actual needs, which is not specifically limited here.

[0092] In some embodiments, the top projection of the vehicle body 10 is arc-shaped, so as to facilitate walking on the surface of the nuclear power plant pressure vessel flange 100. One circle of walking can complete the cleaning of the screw holes 101 of the nuclear power plant pressure vessel flange.

[0093] In some embodiments, the vehicle body 10 is a sheet metal part. The use of sheet metal parts in the vehicle body 10 can improve the rigidity of the vehicle body. Of course, the vehicle body 10 can also be made of other metal materials, which is not specifically limited here. In some embodiments, the outer surface of the vehicle body 10 is relatively smooth, which can reduce the contamination of impurities and is easy to clean. Of course, the outer surface of the vehicle body 10 can also be provided with a nano coating to reduce the contamination of impurities.

[0094] See also Figure 5 and Figure 6 In some embodiments, the vehicle body 10 may be a roughly two-layer shell structure, and the vehicle body 10 may be provided with a plurality of through cavities, so that the cleaning mechanism 20, the positioning and drying mechanism 30, the polishing mechanism 40, and the partial structures of the detection mechanism 50 can move up and down through the through cavities. Figure 3 to Figure 4 As shown, of course, the structure of the vehicle body 10 can also be appropriately adjusted according to actual needs, and no specific limitation is made here. In some embodiments, microwave sensors can be provided at both ends of the moving direction of the vehicle body 10 to avoid collision. In addition, cameras can be provided at both ends of the moving direction of the vehicle body 10.

[0095] participate Figures 7 to 10 In some embodiments, the cleaning mechanism 20 can clean the screw hole 101 of the nuclear power plant pressure vessel flange and suck out the cleaning medium (or flushing medium or cleaning medium). The cleaning medium here can be a high-pressure cleaning medium, which can include but is not limited to pure water, deoxygenated water, desalted water or other solutions containing cleaning agents.

[0096] For details, please refer to Fig.10In some embodiments, the cleaning mechanism 20 may include a cleaning component 21 and a first lifting component 22 connected to the cleaning component 21 for driving the cleaning component 21 to move back and forth in the height direction. The first lifting component 22 may include but is not limited to a linear module, a screw lifting component, a motor guide lifting component, a pneumatic cylinder lifting component, or a hydraulic cylinder lifting component.

[0097] In some embodiments, the cleaning assembly 21 may include a bracket 211, a water chamber cavity 212, a flushing pipe 213, a first suction pipe 214, a second suction pipe 215, a driving assembly 216, and a liquid storage container 217; the liquid storage container 217 includes a liquid supply tank 2171 and a recovery tank 2172 (combined with Figure 6 As shown in the figure, the liquid storage container 217 may include a filter element between a liquid supply tank 2171 and a recovery tank 2172. The liquid supply tank 2171 may be located at the lower side of the recovery tank 2172. After the cleaning medium is recovered to the recovery tank 2172, it can enter the liquid supply tank 2171 after being filtered by the filter element. The filter element may include but is not limited to a filter. Of course, the liquid supply tank 2171 and the recovery tank 2172 may also be independently arranged, which is not specifically limited here.

[0098] The bracket 211 may be substantially L-shaped, and may include a mounting plate 2111 and a first connecting plate 2112 vertically connected to the mounting plate 2111 , wherein the first connecting plate 2112 is connected to the first lifting assembly 22 .

[0099] The mounting plate 2111 has a first surface and a second surface relative to each other, and the mounting plate 2111 is provided with a first through hole that passes through the first surface and the second surface; the water chamber cavity 212 is installed on the first surface of the mounting plate 2111, and the water chamber cavity 212 has a water cavity A, and the bottom surface of the water chamber cavity 212 is provided with a second through hole, and the second through hole is arranged opposite to the first through hole; the flushing pipe 213 is penetrated through the first through hole and the second through hole, the upper end of the flushing pipe 213 is connected to the water chamber cavity 212 and the flushing pipe 213 is connected to the water cavity A, the inner cavity of the flushing pipe 213 is provided with a medium channel B, and the circumferential side of the lower end of the flushing pipe 213 is provided with a plurality of nozzles 2131, and the end of the lower end of the flushing pipe 213 is provided with a suction joint 2132.

[0100] The upper end of the water chamber cavity 212 is also provided with a first mounting hole and a second mounting hole, the first mounting hole is connected to the water chamber A, the first mounting hole is used to connect to the liquid supply tank 2171, the first mounting hole is provided with a first joint 2118, the first joint 2118 is connected to the liquid supply tank 2171 through a connecting pipeline, and a first water pump can be provided on the connecting pipeline; a mounting groove is provided in the water chamber cavity 212, the mounting groove and the second mounting hole are arranged oppositely and the two are connected; a dynamic seal mounting seat 2113 is provided in the mounting groove, and the first suction pipe 214 is located in the flushing The inner cavity of the tube 213, the outer peripheral wall of the first suction tube 214 and the inner peripheral wall of the flushing tube 213 define a medium channel B; the upper end of the first suction tube 214 is connected to the dynamic seal mounting seat 2113, and the lower end of the first suction tube 214 is connected to the suction joint 2132; one end of the second suction tube 215 is installed on the second mounting hole, and the second suction tube 215 is connected to the first suction tube 214, and the second suction tube 215 is connected to the recovery tank 2172, and the second suction tube 215 can be provided with a second water pump.

[0101] The driving assembly 216 includes a second driving motor 2161, a first gear 2162 and a second gear 2163. The second driving motor 2161 is mounted on the first surface of the mounting plate 2111, the first gear 2162 is located on the second surface of the mounting plate 2111, the driving end of the second driving motor 2161 is fixedly connected to the first gear 2162, the second gear 2163 is fixedly mounted on the portion of the flushing pipe 213 protruding from the second surface of the mounting plate 2111, and the second gear 2163 is meshed with the first gear 2162. The second driving motor 2161 can drive the first gear 2162 to rotate, the first gear 2162 drives the second gear 2163 to rotate, and then drives the flushing pipe 213 to rotate. The second driving motor 2161 can be a servo motor, which has high precision and forward and reverse functions.

[0102] Among them, the cleaning medium enters the water chamber A and the medium channel B in turn and then flushes the inner wall surface of the screw hole 101 of the flange of the nuclear power plant pressure vessel through the nozzle 2131. The second drive motor 2161 can drive the first gear 2162 to rotate, and the first gear 2162 drives the second gear 2163 to rotate, and then drives the flushing pipe 213 to rotate, so that the water flow ejected by the nozzle 2131 can achieve flushing and cleaning in the circumferential direction.

[0103] After flushing and cleaning, the suction joint 2132 can suck the cleaning medium in the nuclear power plant pressure vessel flange screw hole 101, and draw it out of the nuclear power plant pressure vessel flange screw hole 101 through the first suction pipe 214 and the second suction pipe 215 for subsequent drying and polishing operations.

[0104] See also Fig.10In some embodiments, a bearing groove is further provided in the first through hole; the cleaning assembly 21 also includes a first bearing 218, the first bearing 218 is installed in the bearing groove, and the first bearing sleeve is arranged on a part of the outer periphery of the flushing tube 213, and the first bearing 218 can include but is not limited to a deep groove ball bearing.

[0105] See also Fig.10 In some embodiments, a plurality of first sealing rings 2114 are provided between the circumferential wall surface of the upper end of the flushing tube 213 and the circumferential inner wall surface of the second through hole. Two first sealing rings 2114 may be provided, and the two first sealing rings 2114 are spaced apart along the axial direction of the flushing tube 213, and the first sealing ring 2114 can improve the sealing performance. Furthermore, the circumferential wall surface of the upper end of the flushing tube 213 may be provided with a first sealing groove for accommodating the first sealing ring 2114, and the setting position and setting number of the first sealing groove may be selected and set according to actual needs, and are not specifically limited here. The first sealing ring 2114 may be a silicone sealing ring.

[0106] See also Fig.10 In some embodiments, the nuclear power plant pressure vessel flange screw hole cleaning machine further includes a plurality of connecting shafts 2115, the plurality of connecting shafts 2115 are arranged at intervals, and the upper end of the connecting shaft 2115 is connected to the lower end of the dynamic seal mounting seat 2113, and the lower end of the connecting shaft is connected to the upper end of the flushing pipe 213. The connecting shafts 2115 may be three, and the three connecting shafts 2115 are arranged at intervals, or the connecting shafts 2115 may be two, four or any other number. The connecting shaft 2115 plays a connecting and supporting role, and the portion of the connecting shaft 2115 located between the flushing pipe 213 and the dynamic seal mounting seat 2113 is located in the water chamber A, and will not cause significant interference to the flow of the cleaning medium.

[0107] See also Fig.10 A plurality of second sealing rings 2116 are also provided between the circumferential wall surface of the dynamic seal mounting seat 2113 and the circumferential inner wall surface of the mounting groove. The second sealing rings 2116 may be provided with two, and the two second sealing rings 2116 may be provided at intervals along the axial direction of the dynamic seal mounting seat 2113, and the second sealing rings 2116 may improve the sealing performance. Furthermore, the circumferential wall surface of the dynamic seal mounting seat 2113 may be provided with a second sealing groove for accommodating the second sealing ring 2116, and the setting position and setting number of the second sealing groove may be selected and set according to actual needs, and are not specifically limited here. The second sealing ring 2116 may be a silicone sealing ring.

[0108] See also Fig.10The nuclear power plant pressure vessel flange screw hole cleaning machine also includes a second bearing 2117, which is located in the mounting groove and sleeved on the circumferential wall surface of the upper end of the dynamic seal mounting seat 2113. The second bearing 2117 can make the dynamic seal mounting seat 2113 rotate more smoothly.

[0109] See also Fig.10 In some embodiments, the dynamic seal mounting seat 2113 is provided with a second joint 2119, and the second joint 2119 is connected to the upper end of the first suction pipe 214. The second joint 2119 may include but is not limited to a quick joint.

[0110] See also Fig.10 In some embodiments, the second mounting hole is provided with a third joint 21110, the third joint 21110 is connected to one end of the second suction pipe 215, and the other end of the second suction pipe 215 is connected to the recovery tank 2172. The third joint 21110 may include but is not limited to a quick joint.

[0111] See also Fig.10 In some embodiments, the water chamber cavity 212 may include a first cavity 2121 and a second cavity 2122 connected to each other; a first mounting hole, a second mounting hole and a mounting groove are formed on the first cavity 2121. The first cavity 2121 may be roughly a square columnar structure. The second cavity 2122 may be roughly a square columnar structure, and the second cavity 2122 includes a bottom wall and a peripheral wall extending from the bottom wall, the upper surface of the bottom wall and the inner surface of the peripheral wall define the water cavity A, and the bottom wall is provided with a second through hole.

[0112] See also Fig.10 In some embodiments, a third sealing ring is further provided between the upper surface of the peripheral wall and the lower surface of the first cavity 2121 to improve the sealing performance of the water chamber cavity 212 .

[0113] In some embodiments, the flushing tube 213 is a metal tube, for example, a stainless steel tube, such as a 316L stainless steel tube.

[0114] In some embodiments, the number of nozzles 2131 is at least four, and at least four nozzles 2131 are arranged at intervals along the circumference of the flushing pipe 213. Of course, the number of nozzles 2131 can also be three, five, six, seven, eight, etc., which is not specifically limited here.

[0115] See also Figure 7 In some embodiments, a negative pressure cover 23 is further provided on the outer periphery of the flushing pipe 213, and an elastic member 24 is provided between the negative pressure cover 23 and the bottom of the vehicle body 10. The negative pressure cover 23 can be covered on the screw hole 101 of the flange of the nuclear power plant pressure vessel to prevent the cleaning medium from splashing out of the screw hole 101 of the flange of the nuclear power plant pressure vessel during the flushing process.

[0116] See also Figure 7 In some embodiments, a limit member 25 is further provided on the outer periphery of the bottom of the flushing pipe 213. When the cleaning assembly 21 moves upward, the limit member 25 can abut against the inner surface of the top of the negative pressure cover 23, so that the negative pressure cover 23 can be separated from the screw hole 101 of the nuclear power plant pressure vessel flange. Then, when the vehicle body 10 moves, the negative pressure cover 23 will not interfere with the nuclear power plant pressure vessel flange 100.

[0117] See also Figures 11 to 13 In some embodiments, the positioning and blowing mechanism 30 includes a positioning and blowing component 31 and a second lifting component 32 connected to the positioning and blowing component 31 to drive the positioning and blowing component 31 to move in a height direction.

[0118] The positioning blow-drying assembly 31 comprises a first sleeve 311, a second sleeve 312, an air guide tube 313, a suction tube 314, an air delivery tube 315 and a positioning fixing block 316; the second sleeve 312 is installed in the first sleeve 311, and the outer side surface of the second sleeve 312 and the inner side surface of the first sleeve 311 form an air flow space; the inner cavity of the second sleeve 312 forms a driving space; the side wall of the first sleeve 311 is provided with a plurality of air guide holes 3111, the air guide tube 313 is connected to the first sleeve 311 and the air guide tube 315 is connected to the first sleeve 311. 3 is connected to the air flow space to introduce drying gas / drying gas into the air flow space, and the air guide pipe 313 can be connected to the air supply equipment / air supply system / air supply container; the suction pipe 314 is passed through the first sleeve 311, and the suction port 3141 of the suction pipe 314 is arranged at the bottom of the first sleeve 311, and the other end of the suction pipe 314 can be connected to a vacuum generator or other suction equipment to form a circulation with the drying gas / drying gas and take away the moisture in the flange screw hole 101 of the nuclear power plant pressure vessel.

[0119] The circumferential side wall of the first sleeve 311 is provided with a plurality of first through grooves, and the circumferential side wall of the second sleeve 312 is provided with a plurality of second through grooves. The first through grooves and the second through grooves are arranged one by one opposite to each other to form a limiting passage. The positioning and fixing block 316 can be movably installed in the limiting passage. The air supply pipe 315 is arranged through the first sleeve 311 and connected to the second sleeve 312, and the air supply pipe 315 is connected to the driving space. The air supply pipe 315 is used to supply or exhaust air to the driving space to drive the positioning and fixing block 316 to be stretched outward or contracted inward, so as to realize the positioning of the entire vehicle body 10. In this embodiment, the positioning and fixing can be realized first, and then the drying operation can be started. The air supply pipe 315 can be connected to a vacuum generator or other air supply and exhaust equipment.

[0120] See also Fig.13 In some embodiments, the first sleeve 311 and the second sleeve 312 are coaxially arranged, and the first sleeve 311 and the second sleeve 312 can be welded and fixed together.

[0121] See also Fig.13 In some embodiments, the axial dimension of the second sleeve 312 is less than or equal to half of the axial dimension of the first sleeve 311. Of course, the dimensions of the first sleeve 311 and the second sleeve 312 can be selected and set according to actual needs, and are not specifically limited here.

[0122] See also Fig.13 In some embodiments, the air guide holes 3111 are arranged at intervals along the axial direction and circumferential direction of the first sleeve 311 .

[0123] See also Fig.12 In some embodiments, the air guide hole 3111 is at least one of a round hole and an elongated hole. Of course, the shape and size of the air guide hole 3111 can be selected and set according to actual needs, and are not specifically limited here.

[0124] See also Fig.13 In some embodiments, the suction pipe 314 is provided through the first sleeve 311 and the second sleeve 312, or the suction pipe 314 is provided through the first sleeve 311. The installation method of the suction pipe 314 can be selected and set according to actual needs, and is not specifically limited here.

[0125] See also Fig.13 In some embodiments, the positioning and fixing block 316 may be a substantially square columnar structure, and there may be a plurality of positioning and fixing blocks 316 , which are spaced apart along the circumference of the first sleeve 311 on the same plane.

[0126] See also Fig.12 Furthermore, the plurality of positioning and fixing blocks 316 constitute a positioning and fixing block group; the number of the positioning and fixing block groups is at least two.

[0127] In some embodiments, the outer side of the positioning and fixing block 316 is a plane. The outer side of the positioning and fixing block 316 here refers to the side contacting the inner wall surface of the screw hole 101 of the flange of the nuclear power plant pressure vessel.

[0128] In some embodiments, the first sleeve 311 and / or the second sleeve 312 are both metal parts. For example, the first sleeve 311 and / or the second sleeve 312 can be made of stainless steel, such as 316L stainless steel. Of course, the first sleeve 311 and / or the second sleeve 312 can also be made of other metal materials, which are not specifically limited here.

[0129] See also Fig.11 and Fig.12In some embodiments, the second lifting assembly 32 includes a first mounting frame 321 , a third driving motor 322 , a third gear 323 , a fourth gear 324 , a first screw rod 325 , and a second connecting plate 326 .

[0130] Among them, the first mounting frame 321 includes a first bottom plate 3211, a first top plate 3212 and a first support plate 3213. The first bottom plate 3211 and the first top plate 3212 are arranged in parallel and spaced apart. The first support plate 3213 connects the first bottom plate 3211 and the first top plate 3212. The third driving motor 322 is installed on the lower surface of the first top plate 3212. The third gear 323 and the fourth gear 324 are installed on one side of the upper surface of the first top plate 3212, and the third gear 323 and the fourth gear 324 are meshed with each other. The output end of the third driving motor 322 is fixedly connected to the third gear 323. The two ends of the first screw rod 325 are respectively installed on the first bottom plate 3211 and the first top plate 3212, and the upper end of the first screw rod 325 is penetrated through the first top plate 3212 to be connected with the fourth gear 324.

[0131] The second connecting plate 326 is connected to the first sleeve 311 , and a first nut seat 3261 connected to the first screw rod 325 is disposed on the second connecting plate 326 .

[0132] The third drive motor 322 drives the third gear 323 to rotate, the third gear 323 drives the fourth gear 324 to rotate, the fourth gear 324 drives the first screw rod 325 to transmit, and then the first screw rod 325 drives the second connecting plate 326 to move back and forth along the height direction, and then the positioning and drying component 31 moves back and forth along the height direction. The third drive motor 322 can be a servo motor, which has forward and reverse functions and high driving accuracy.

[0133] See also Fig.11 and Fig.12 Furthermore, the second lifting assembly 32 also includes a first guide rail 327, which is installed on the first support plate 3213 and extends along the height direction of the first support plate 3213; one end of the second connecting plate 326 is provided with a first guide groove 3262 connected to the first guide rail 327.

[0134] See also Fig.11 and Fig.12 Further, the first bottom plate 3211 is provided with a third bearing 3214 sleeved on the lower end of the first screw rod 325, and the first top plate 3212 is provided with a fourth bearing 3215 sleeved on the upper end of the first screw rod 325. The third bearing 3214 and the fourth bearing 3215 are provided to make the transmission of the first screw rod 325 smoother.

[0135] participate Fig.14 and Fig.15 In some embodiments, the polishing mechanism 40 may include a polishing assembly 41 and a third lifting assembly 42 connected to the polishing assembly 41 to drive the polishing assembly 41 to move along the height direction.

[0136] The polishing assembly 41 includes a third connecting plate 411, a tube body 412, a polishing brush 413, a fourth driving motor 414, a fifth gear 415, and a sixth gear 416. The upper end of the tube body 412 is mounted on the third connecting plate 411, and the lower end of the tube body 412 is provided with a polishing brush 413. The fourth driving motor 414 is mounted on the upper end of the third connecting plate 411, and the output end of the fourth driving motor 414 is passed through the third connecting plate 411. The fifth gear 415 is located at the lower side of the third connecting plate 411, and the fifth gear 415 and the output end of the fourth driving motor 414 are connected. The output end is connected, the sixth gear 416 is fixedly installed on the part of the tube body 412 located on the lower side of the third connecting plate 411, and the sixth gear 416 is meshed with the fifth gear 415. The fourth driving motor 414 drives the fifth gear 415 to rotate, and the fifth gear 415 drives the sixth gear 416 to rotate, and then drives the tube body 412 to rotate, so that the polishing brush 413 polishes the flange screw hole 101 of the nuclear power plant pressure vessel. The polishing brush 413 can be roughly cylindrical, and its outer diameter can be slightly larger than the inner diameter of the flange screw hole 101 of the nuclear power plant pressure vessel.

[0137] Furthermore, the third lifting assembly 42 includes a second mounting frame 421 , a fifth driving motor 422 , a seventh gear 423 , an eighth gear 424 , and a second screw rod 425 .

[0138] Among them, the second mounting frame 421 may include a second bottom plate 4211, a second top plate 4212 and a second support plate 4213, the second bottom plate 4211 and the second top plate 4212 are arranged in parallel and spaced apart, the second support plate 4213 connects the second bottom plate 4211 and the second top plate 4212, the fifth driving motor 422 is installed on the lower surface of the second top plate 4212, the seventh gear 423 and the eighth gear 424 are installed on one side of the upper surface of the second top plate 4212, and the seventh gear 423 and the eighth gear 424 are meshed with each other, the output end of the fifth driving motor 422 is fixedly connected to the seventh gear 423, the two ends of the second screw rod 425 are respectively installed on the second bottom plate 4211 and the second top plate 4212, and the upper end of the second screw rod 425 is penetrated through the second top plate 4212 to be connected with the eighth gear 424, and the third connecting plate 411 is provided with a second nut seat 4111 connected to the second screw rod 425.

[0139] The fifth drive motor 422 drives the seventh gear 423 to rotate, the seventh gear 423 drives the eighth gear 424 to rotate, the eighth gear 424 drives the second screw rod 425 to transmit, and then the second screw rod 425 drives the third connecting plate 411 to move back and forth along the height direction, and then the polishing assembly 41 moves back and forth along the height direction to fully polish the inner wall of the flange screw hole 101 of the nuclear power plant pressure vessel. The fifth drive motor 422 can be a servo motor, which has forward and reverse functions and high driving accuracy.

[0140] Furthermore, the third lifting assembly 42 may include a second guide rail 426, which is installed on the second support plate 4213 and extends along the height direction of the second support plate 4213; one end of the third connecting plate 411 is provided with a second guide groove 4112 connected to the second guide rail 426, so that the movement of the third connecting plate 411 is more precise, avoiding the third connecting plate 411 from offset during the movement.

[0141] Further, the second bottom plate 4211 is provided with a fifth bearing 4214 sleeved on the lower end of the second screw rod 425, and the second top plate 4212 is provided with a sixth bearing 4215 sleeved on the upper end of the second screw rod 425. The fifth bearing 4214 and the sixth bearing 4215 can make the second screw rod 425 smoother during transmission.

[0142] See also Fig.14 and Fig.15 In some embodiments, the tube 412 is hollow; Fig.15 As shown, the detection mechanism 50 includes a mounting rod 51, a camera 52 and a fourth lifting assembly 53. The mounting rod 51 is inserted into the tube body 412, and the camera 52 is provided at the bottom of the mounting rod 51. The fourth lifting assembly 53 is installed on the third connecting plate 411, and the fourth lifting assembly 53 is connected to the mounting rod 51 to drive the mounting rod 51 to move up and down along the height direction. The fourth lifting assembly 53 may include but is not limited to a linear module, or a screw lifting assembly, or a motor guide rail lifting assembly, or a pneumatic cylinder lifting assembly, or a hydraulic cylinder lifting assembly.

[0143] The camera 52 can take photos and videos to detect the screw holes 101 of the flange of the nuclear power plant pressure vessel. The camera 52 can transmit data by wire or wirelessly.

[0144] In some embodiments, the vehicle body 10 may also be provided with a power supply module and a main control module. The power supply module is used to provide power to various electrical devices, and the main control module is used to send and receive control signals, etc. The main control module may include but is not limited to a PLC industrial computer.

[0145] The application of the nuclear power plant pressure vessel flange screw hole cleaning machine is as follows:

[0146] a) The vehicle body 10 moves along an arc on the surface of the flange 100 of the nuclear power plant pressure vessel by means of the moving assembly 11.

[0147] b) The magnetic induction sensor 12 can detect the position information of the vehicle body 10 .

[0148] c) The vehicle body 10 stays in place.

[0149] d) The positioning and drying mechanism 30 moves downward to achieve positioning and fixing.

[0150] e) The cleaning assembly 21 of the cleaning mechanism 20 descends, and after the nozzle 2131 descends to the bottom of the screw hole 101 of the nuclear power plant pressure vessel flange, it starts to spray high-pressure water, and the nozzle 2131 rotates under the drive of the driving assembly 216 and moves upward driven by the first lifting assembly 22. After the nozzle 2131 moves to the top threaded section, it stops spraying, and the cleaning assembly 21 descends and sucks the water in the screw hole 101 of the nuclear power plant pressure vessel flange. Through repeated rotation and lifting actions, the high-pressure water cleaning of the screw hole 101 of the nuclear power plant pressure vessel flange is completed.

[0151] f) After cleaning is completed, the nuclear power plant pressure vessel flange screw hole cleaning machine moves forward one hole position.

[0152] g) After the positioning and drying mechanism 30 completes the positioning, the drying function is started to dry the cleaning liquid on the inner surface of the nuclear power plant pressure vessel flange screw hole 101, and the detection mechanism 50 can detect the nuclear power plant pressure vessel flange screw hole 101.

[0153] h) After the drying is completed, the nuclear power plant pressure vessel flange screw hole cleaning machine continues to move forward one hole position until the maintenance and inspection of all nuclear power plant pressure vessel flange screw holes 101 are completed.

[0154] When the nuclear power plant pressure vessel flange screw hole cleaning machine is used, the false top cover of the pressure vessel is placed on the core, and the nuclear power plant pressure vessel flange screw hole cleaning machine walks on the nuclear power plant pressure vessel flange without interfering with the false top cover. The use of the nuclear power plant pressure vessel flange screw hole cleaning machine can effectively improve the cleaning efficiency of the nuclear power plant pressure vessel flange screw holes. The total cleaning time of 58 nuclear power plant pressure vessel flange screw holes is less than 4 hours, and it can effectively prevent the workers from being exposed to radiation during the cleaning process, which can effectively protect the health and safety of the workers.

[0155] It can be understood that the above embodiments only express the preferred implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the utility model. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the utility model, the above-mentioned technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the utility model. Therefore, all equivalent changes and modifications made to the scope of the claims of the utility model should fall within the scope of the claims of the utility model.

Claims

1. A nuclear power plant pressure vessel flange screw hole cleaning machine, characterized in that: include: A vehicle body (10), wherein the vehicle body (10) is provided with a moving assembly (11); A cleaning mechanism (20), the cleaning mechanism (20) being mounted on the vehicle body (10) and being used for cleaning the screw holes of the flange of the pressure vessel of the nuclear power plant; A positioning and blowing mechanism (30), the positioning and blowing mechanism (30) being mounted on the vehicle body (10) and used for positioning and blowing the screw holes of the flange of the pressure vessel of the nuclear power plant; A polishing mechanism (40), the polishing mechanism (40) being mounted on the vehicle body (10) and being used for polishing the screw holes of the flange of the pressure vessel of the nuclear power plant; A detection mechanism (50) is installed on the vehicle body (10) and is used to detect flange screw holes of a nuclear power plant pressure vessel.

2. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 1, characterized in that: The moving assembly (11) comprises a plurality of driving wheels (111) arranged at the bottom of the vehicle body (10) and a first driving motor (112) connected to the driving wheels (111); The moving assembly (11) comprises a plurality of driven wheels (113) arranged at the bottom of the vehicle body (10).

3. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 1, characterized in that: The moving assembly (11) further comprises a plurality of guide wheels (114) arranged on the width side surfaces of the vehicle body (10).

4. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 1, characterized in that: A plurality of magnetic induction sensors (12) are provided at the bottom of the vehicle body (10).

5. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 1, characterized in that: The vehicle body (10) is arc-shaped in a top view projection.

6. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 1, characterized in that: The vehicle body (10) is a sheet metal part.

7. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 1, characterized in that: The cleaning mechanism (20) comprises a cleaning component (21) and a first lifting component (22) connected to the cleaning component (21) and used for driving the cleaning component (21) to move back and forth in a height direction; The cleaning component (21) comprises a bracket (211), a water chamber cavity (212), a flushing pipe (213), a first suction pipe (214), a second suction pipe (215), a driving component (216) and a liquid storage container (217); the liquid storage container (217) comprises a liquid supply tank (2171) and a recovery tank (2172); The bracket (211) comprises a mounting plate (2111) and a first connecting plate (2112) vertically connected to the mounting plate (2111), and the first connecting plate (2112) is connected to the first lifting assembly (22); The mounting plate (2111) has a first surface and a second surface that are opposite to each other, and the mounting plate (2111) is provided with a first through hole that passes through the first surface and the second surface; the water chamber cavity (212) is mounted on the first surface of the mounting plate (2111), and the water chamber cavity (212) has a water cavity (A), and a second through hole is provided on the bottom surface of the water chamber cavity (212), and the second through hole is arranged opposite to the first through hole; the flushing pipe (213) is passed through the first through hole and the second through hole, the upper end of the flushing pipe (213) is connected to the water chamber cavity (212) and the flushing pipe (213) is communicated with the water cavity (A), the inner cavity of the flushing pipe (213) is provided with a medium channel (B), the circumferential side surface of the lower end of the flushing pipe (213) is provided with a plurality of nozzles (2131), and the end of the lower end of the flushing pipe (213) is provided with a suction joint (2132); The water chamber cavity (212) is also provided with a first mounting hole and a second mounting hole at the upper end, the first mounting hole is in communication with the water chamber (A), and the first mounting hole is used to connect with the liquid supply tank (2171); a mounting groove is provided in the water chamber cavity (212), the mounting groove and the second mounting hole are arranged opposite to each other and are in communication; a dynamic seal mounting seat (2113) is provided in the mounting groove, the first suction pipe (214) is located in the inner cavity of the flushing pipe (213), and the outer peripheral wall surface of the first suction pipe (214) is in contact with the liquid supply tank (2171). The medium channel (B) is defined between the inner circumferential wall surfaces of the flushing pipe (213); the upper end of the first suction pipe (214) is connected to the dynamic seal mounting seat (2113), and the lower end of the first suction pipe (214) is connected to the suction joint (2132); one end of the second suction pipe (215) is mounted on the second mounting hole, and the second suction pipe (215) is connected to the first suction pipe (214), and the second suction pipe (215) is connected to the recovery tank (2172); The driving assembly (216) comprises a second driving motor (2161), a first gear (2162) and a second gear (2163); the second driving motor (2161) is mounted on the first surface of the mounting plate (2111); the first gear (2162) is located on the side of the second surface of the mounting plate (2111); the driving end of the second driving motor (2161) is fixedly connected to the first gear (2162); the second gear (2163) is fixedly mounted on the portion of the flushing pipe (213) protruding from the second surface of the mounting plate (2111); and the second gear (2163) is meshed with the first gear (2162).

8. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 7, characterized in that: The liquid storage container (217) includes a liquid supply tank (2171) and a recovery tank (2172) with a filter element disposed between them.

9. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 7, characterized in that: A bearing groove is also provided in the first through hole; The cleaning assembly (21) further comprises a first bearing (218), wherein the first bearing (218) is installed in the bearing groove, and the first bearing sleeve is arranged on a part of the outer periphery of the flushing pipe (213).

10. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 7, characterized in that: A plurality of first sealing rings (2114) are provided between the circumferential wall surface of the upper end of the flushing pipe (213) and the circumferential inner wall surface of the second through hole.

11. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 7, characterized in that: The nuclear power plant pressure vessel flange screw hole cleaning machine also includes a plurality of connecting shafts (2115), wherein the plurality of connecting shafts (2115) are arranged at intervals, and the upper ends of the connecting shafts (2115) are connected to the lower ends of the dynamic seal mounting seats (2113), and the lower ends of the connecting shafts are connected to the upper ends of the flushing pipes (213).

12. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 7, characterized in that: A plurality of second sealing rings (2116) are also provided between the circumferential wall surface of the dynamic seal mounting seat (2113) and the circumferential inner wall surface of the mounting groove.

13. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 7, characterized in that: The nuclear power plant pressure vessel flange screw hole cleaning machine also includes a second bearing (2117), the second bearing (2117) is located in the mounting groove, and the second bearing (2117) is sleeved on the circumferential wall surface of the upper end of the dynamic seal mounting seat (2113).

14. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 7, characterized in that: The first mounting hole is provided with a first joint (2118), and the first joint (2118) is connected to the liquid supply tank (2171) via a connecting pipeline.

15. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 7, characterized in that: The dynamic seal mounting seat (2113) is provided with a second joint (2119), and the second joint (2119) is connected to the upper end of the first suction pipe (214).

16. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 7, characterized in that: The second mounting hole is provided with a third joint (21110), the third joint (21110) is connected to one end of the second suction pipe (215), and the other end of the second suction pipe (215) is connected to the recovery tank (2172).

17. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 7, characterized in that: The water chamber cavity (212) comprises a first cavity (2121) and a second cavity (2122) which are connected to each other; the first mounting hole, the second mounting hole and the mounting groove are formed on the first cavity (2121); The second cavity (2122) comprises a bottom wall and a peripheral wall extending from the bottom wall, the upper surface of the bottom wall and the inner surface of the peripheral wall define the water cavity (A), and the bottom wall is provided with the second through hole.

18. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 17, characterized in that: A third sealing ring is also provided between the upper surface of the peripheral wall and the lower surface of the first cavity (2121).

19. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 7, characterized in that: The flushing pipe (213) is a metal pipe.

20. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 7, characterized in that: The number of the nozzles (2131) is at least four, and at least four of the nozzles (2131) are arranged at intervals along the circumference of the flushing pipe (213).

21. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 7, characterized in that: A negative pressure cover (23) is also provided on the outer periphery of the flushing pipe (213), and an elastic member (24) is provided between the negative pressure cover (23) and the bottom of the vehicle body (10).

22. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 7, characterized in that: A limiting member (25) is also provided on the outer periphery of the bottom of the flushing pipe (213).

23. The nuclear power plant pressure vessel flange screw hole cleaning machine according to any one of claims 1 to 22, characterized in that: The positioning and drying mechanism (30) comprises a positioning and drying component (31) and a second lifting component (32) connected to the positioning and drying component (31) to drive the positioning and drying component (31) to move in a height direction; The positioning drying assembly (31) comprises a first sleeve (311), a second sleeve (312), an air guide pipe (313), a suction pipe (314), an air delivery pipe (315) and a positioning fixing block (316); the second sleeve (312) is installed in the first sleeve (311), and the outer side surface of the second sleeve (312) and the inner side surface of the first sleeve (311) form an air flow space; the inner cavity of the second sleeve (312) forms a driving space; the side wall of the first sleeve (311) is provided with a plurality of air guide holes (3111), the air guide pipe (313) is connected to the first sleeve (311), and the air guide pipe (313) is connected to the air flow space to introduce drying gas into the air flow space; the suction pipe (314) is inserted into the first sleeve (311), and the suction port (3141) of the suction pipe (314) is provided at the bottom of the first sleeve (311); The circumferential side wall of the first sleeve (311) is provided with a plurality of first through grooves, and the circumferential side wall of the second sleeve (312) is provided with a plurality of second through grooves, the first through grooves and the second through grooves are arranged opposite to each other to form a limiting channel, the positioning and fixing block (316) is movably installed in the limiting channel, the air supply pipe (315) is passed through the first sleeve (311) and connected to the second sleeve (312), and the air supply pipe (315) is connected to the driving space, and the air supply pipe (315) is used to supply air or exhaust air to the driving space to drive the positioning and fixing block (316) to be stretched outward or contracted inward.

24. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 23, characterized in that: The first sleeve (311) and the second sleeve (312) are coaxially arranged.

25. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 23, characterized in that: An axial dimension of the second sleeve (312) is less than or equal to one half of an axial dimension of the first sleeve (311).

26. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 23, characterized in that: The air guide holes (3111) are arranged at intervals along the axial direction and the circumferential direction of the first sleeve (311).

27. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 23, characterized in that: The air guide hole (3111) is at least one of a circular hole and an elongated hole.

28. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 23, characterized in that: The suction pipe (314) is inserted through the first sleeve (311) and the second sleeve (312).

29. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 23, characterized in that: There are a plurality of positioning and fixing blocks (316), and the plurality of positioning and fixing blocks (316) are arranged at intervals along the circumference of the first sleeve (311) on the same plane.

30. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 23, characterized in that: The plurality of positioning and fixing blocks (316) form a positioning and fixing block group; The number of the positioning and fixing block groups is at least two.

31. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 23, characterized in that: The outer side surface of the positioning and fixing block (316) is a plane.

32. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 23, characterized in that: The first sleeve (311) and / or the second sleeve (312) are both metal parts.

33. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 23, characterized in that: The second lifting assembly (32) comprises a first mounting frame (321), a third driving motor (322), a third gear (323), a fourth gear (324), a first screw rod (325), and a second connecting plate (326); The first mounting frame (321) comprises a first bottom plate (3211), a first top plate (3212) and a first support plate (3213); the first bottom plate (3211) and the first top plate (3212) are arranged in parallel and spaced apart; the first support plate (3213) connects the first bottom plate (3211) and the first top plate (3212); the third driving motor (322) is mounted on the lower surface of the first top plate (3212); the third gear (323) and the fourth gear (3213) are connected to each other. 4) is installed on one side of the upper surface of the first top plate (3212), and the third gear (323) and the fourth gear (324) are meshed with each other, the output end of the third drive motor (322) is fixedly connected to the third gear (323), the two ends of the first screw rod (325) are respectively installed on the first bottom plate (3211) and the first top plate (3212), and the upper end of the first screw rod (325) is passed through the first top plate (3212) to be connected with the fourth gear (324); The second connecting plate (326) is connected to the first sleeve (311), and a first nut seat (3261) connected to the first screw rod (325) is provided on the second connecting plate (326).

34. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 33, characterized in that: The second lifting assembly (32) comprises a first guide rail (327), the first guide rail (327) is installed on the first support plate (3213), and the first guide rail (327) is extended along the height direction of the first support plate (3213); One end of the second connecting plate (326) is provided with a first guide groove (3262) connected to the first guide rail (327).

35. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 33, characterized in that: The first bottom plate (3211) is provided with a third bearing (3214) sleeved on the lower end of the first screw rod (325), and the first top plate (3212) is provided with a fourth bearing (3215) sleeved on the upper end of the first screw rod (325).

36. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 1, characterized in that: The polishing mechanism (40) comprises a polishing assembly (41) and a third lifting assembly (42) connected to the polishing assembly (41) to drive the polishing assembly (41) to move in a height direction; The polishing assembly (41) comprises a third connecting plate (411), a tube (412), a polishing brush (413), a fourth driving motor (414), a fifth gear (415), and a sixth gear (416); the upper end of the tube (412) is mounted on the third connecting plate (411); the lower end of the tube (412) is provided with the polishing brush (413); the fourth driving motor (414) is mounted on the upper end of the third connecting plate (411); and the fourth The output end of the driving motor (414) is passed through the third connecting plate (411), the fifth gear (415) is located at the lower side of the third connecting plate (411), and the fifth gear (415) is connected to the output end of the fourth driving motor (414), the sixth gear (416) is fixedly mounted on the portion of the tube (412) located at the lower side of the third connecting plate (411), and the sixth gear (416) is meshed with the fifth gear (415).

37. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 36, characterized in that: The third lifting assembly (42) comprises a second mounting frame (421), a fifth driving motor (422), a seventh gear (423), an eighth gear (424), and a second screw rod (425); The second mounting frame (421) comprises a second bottom plate (4211), a second top plate (4212) and a second support plate (4213); the second bottom plate (4211) and the second top plate (4212) are arranged in parallel and spaced apart; the second support plate (4213) connects the second bottom plate (4211) and the second top plate (4212); the fifth driving motor (422) is mounted on the lower surface of the second top plate (4212); the seventh gear (423) and the eighth gear (4213) are connected to each other; 4) is installed on one side of the upper surface of the second top plate (4212), and the seventh gear (423) and the eighth gear (424) are meshed with each other, the output end of the fifth drive motor (422) is fixedly connected to the seventh gear (423), the two ends of the second screw rod (425) are respectively installed on the second bottom plate (4211) and the second top plate (4212), and the upper end of the second screw rod (425) is inserted into the second top plate (4212) to be connected with the eighth gear (424); The third connecting plate (411) is provided with a second nut seat (4111) connected to the second screw rod (425).

38. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 37, characterized in that: The third lifting assembly (42) comprises a second guide rail (426), the second guide rail (426) is installed on the second support plate (4213), and the second guide rail (426) is extended along the height direction of the second support plate (4213); One end of the third connecting plate (411) is provided with a second guide groove (4112) connected to the second guide rail (426).

39. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 38, characterized in that: The second bottom plate (4211) is provided with a fifth bearing (4214) sleeved on the lower end of the second screw rod (425), and the second top plate (4212) is provided with a sixth bearing (4215) sleeved on the upper end of the second screw rod (425).

40. The nuclear power plant pressure vessel flange screw hole cleaning machine according to claim 37, characterized in that: The tube body (412) is hollow; The detection mechanism (50) comprises a mounting rod (51), a camera (52) and a fourth lifting assembly (53); the mounting rod (51) is passed through the tube body (412); the camera (52) is provided at the bottom of the mounting rod (51); the fourth lifting assembly (53) is mounted on the third connecting plate (411); and the fourth lifting assembly (53) is connected to the mounting rod (51) to drive the mounting rod (51) to move up and down along the height direction.

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