Marine organism cleaning equipment for nuclear power water intake tunnel

Abstract

The utility model relates to tunnel cleaning equipment, in particular to nuclear power water intake tunnel marine organism cleaning equipment which comprises an equipment body, a mechanical arm, a cutter assembly and a collecting assembly. The equipment body comprises a walking mechanism, a shell and a rotating shaft, the rotating shaft penetrates through the shell, and the mechanical arm is arranged on the rotating shaft and rotates around the axis of the rotating shaft along with the rotating shaft. The walking mechanism is used for driving the shell and the rotating shaft to advance; the cutter assembly comprises a cutter and a driving motor, the driving motor is arranged on the mechanical arm, the cutter is connected with an output shaft of the driving motor, and the cutter rotates around the output shaft of the driving motor; the collecting assembly comprises an elastic collecting cover, the collecting cover is provided with a collecting bin with a one-way opening, the collecting cover is arranged on the mechanical arm, and the collecting cover covers the cutter, so that when the opening of the collecting cover abuts against the inner wall of the tunnel, the cutter is arranged in the collecting bin. Chopped marine organisms are placed in the collecting bin, so that the probability that the marine organisms fall off is reduced, and the situation that the equipment body swings up and down in the walking process is reduced.

Description

Technical Field

[0001] This utility model relates to the field of tunnel cleaning equipment, and in particular to a marine organism cleaning equipment for nuclear power plant water intake tunnels. Background Technology

[0002] During the operation of nuclear power plant water intake tunnels, a large amount of marine life accumulates over time. This marine life affects the tunnel's cross-sectional area, leading to reduced water intake capacity and lower efficiency, thus impacting the overall operation of the nuclear power plant. Therefore, it is necessary to regularly clean the marine life inside the nuclear power plant water intake tunnels to ensure unobstructed water intake.

[0003] Currently, common cleaning devices include a main body, a blade located in front of the main body, and a collection mechanism located behind the main body. The main body is equipped with wheels, and the cleaning device moves forward in the tunnel via the wheels. During the movement, the blade cuts and cleans along the inner wall of the tunnel, and the shredded marine life falls to the bottom of the tunnel, where it is collected by a collection mechanism similar to a bulldozer.

[0004] Marine organisms that fall to the bottom of the tunnel can cause the main body of the existing cleaning device to move up and down during its movement, which in turn causes the blades on the main body to damage the inner wall of the tunnel. Summary of the Invention

[0005] This utility model provides a marine organism cleaning device for nuclear power plant water intake tunnels to solve the problem that marine organisms falling to the bottom of the tunnel can cause the main body of existing cleaning devices to rise and fall during movement, which in turn causes the blades on the main body to damage the inner wall of the tunnel.

[0006] This utility model provides a marine organism cleaning device for nuclear power plant water intake tunnels, including a device body, a robotic arm, a cutting tool assembly, and a collection assembly;

[0007] The main body of the device includes a walking mechanism, a driving mechanism, and a rotating shaft. The driving mechanism is used to drive the rotating shaft to rotate. The robotic arm is mounted on the rotating shaft, and the robotic arm and the rotating shaft rotate together around the axis of the rotating shaft.

[0008] The walking mechanism is used for the movement of the marine organism cleaning equipment in the nuclear power plant water intake tunnel;

[0009] The tool assembly includes a tool and a drive motor. The drive motor is mounted on the robotic arm. The tool is connected to the output shaft of the drive motor, and the tool rotates following the output shaft of the drive motor.

[0010] The collection assembly includes a resilient collection cover with a one-way opening collection chamber, the collection cover being mounted on the robotic arm and covering the cutter.

[0011] The robotic arm can move the cutting tool assembly and the collecting assembly closer to or away from the tunnel wall, so that the opening of the collecting cover can be in close contact with or away from the tunnel wall.

[0012] Optionally, the drive mechanism includes a housing, and the main body of the device further includes a collection chamber and a rotary joint, wherein the collection chamber is disposed within the housing; the collection assembly further includes an inlet pipe and an outlet pipe, one end of the inlet pipe is connected to the collection chamber, and the other end of the inlet pipe is connected to the rotary joint, one end of the outlet pipe is connected to the collection chamber, and the other end of the outlet pipe is connected to the rotary joint;

[0013] The rotary joint is sleeved outside the rotating shaft. The rotary joint includes a first housing and a second housing. The second housing is fixed on the outer housing. The first housing and the second housing enclose a transfer cavity. The transfer cavity is arranged around the rotating shaft. The first housing rotates relative to the second housing around the rotating shaft. The discharge pipe is connected to the second housing, and the inlet pipe is connected to the first housing, so that the first housing can rotate around the rotating shaft with the inlet pipe.

[0014] Optionally, the rotary joint further includes a rotary ring plate and a plurality of rotary balls. The rotary ring plate is connected to the outer peripheral surface of the first housing. The rotary ring plate is provided with a plurality of receiving holes that extend through its thickness direction, and each rotary ball is disposed in one of the receiving holes.

[0015] The second housing is provided with an annular groove along its circumference. The annular groove has a first opposing surface and a second opposing surface on opposite sides along the axial direction of the rotation axis. The rotating ring plate is disposed in the annular groove and between the first opposing surface and the second opposing surface. The rotating ball abuts against the first opposing surface and the second opposing surface respectively.

[0016] Optionally, the diameter of the rotating ball is greater than the thickness of the rotating ring plate;

[0017] A first annular groove is provided on the first opposing surface, and a second annular groove is provided on the second opposing surface. A portion of the rotating ball rolls in the first annular groove, and another portion of the rotating ball rolls in the second annular groove.

[0018] Optionally, the inlet tube is a metal tube, and the outer wall of the inlet tube is fixedly connected to the robotic arm, the rotating shaft and the first housing, respectively.

[0019] Optionally, a negative pressure fan is provided on the collection chamber, the negative pressure fan is connected to the inner cavity of the collection chamber, and the negative pressure fan is used to keep the collection chamber in a negative pressure state.

[0020] Optionally, the robotic arm can extend and retract radially along the rotation axis to drive the tool assembly and the collection cover to reciprocate radially along the rotation axis.

[0021] Optionally, multiple robotic arms and multiple cutting tool assemblies are provided, with the multiple robotic arms evenly arranged around the rotation axis, and each cutting tool assembly and each collection cover being disposed on one robotic arm.

[0022] Optionally, when the robotic arm moves radially outward along the rotation axis, the minimum depth of the compressed collection cover is greater than the length of the cutter along the output shaft of the drive motor, so that the cutter is always spaced apart from the inner wall of the tunnel.

[0023] Optionally, the difference between the minimum depth of the compressed collection cover and the length of the cutter along the output shaft of the drive motor is 1-2 mm.

[0024] This invention provides a marine organism cleaning device for nuclear power plant water intake tunnels. The opening of the collection hood abuts against the inner wall of the tunnel or the surface of the marine organisms, thus sealing the collection chamber. A drive motor powers a blade located inside the collection chamber, which rotates and breaks up the marine organisms adhering to the inner wall of the tunnel. The broken marine organisms fall into the collection chamber of the collection hood. This reduces the amount of marine organisms falling into the tunnel, thereby reducing the likelihood of the walking mechanism becoming uneven due to the impact of fallen marine organisms. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is an overall schematic diagram of a marine organism cleaning device for a nuclear power plant water intake tunnel according to one embodiment of the present invention;

[0027] Figure 2 This is a partial explosion diagram of a marine organism cleaning device for a nuclear power plant water intake tunnel according to one embodiment of the present invention;

[0028] Figure 3 This is a partial schematic diagram of the collection component of a marine organism cleaning device for a nuclear power plant water intake tunnel according to one embodiment of the present invention;

[0029] Figure 4This is a schematic diagram of a rotary joint for a marine organism cleaning device in a nuclear power plant water intake tunnel according to one embodiment of this utility model.

[0030] Figure Descriptions: 10. Base plate; 11. Housing; 12. Camera; 13. Hydraulic station; 14. Rotating shaft; 15. Sliding seat; 16. Second connecting rod; 17. Second support arm; 18. Power assembly; 19. Walking wheel; 21. First support arm; 22. First connecting rod; 31. Drive motor; 32. Cutting tool; 41. Collection hood; 42. Inlet pipe; 43. Outlet pipe; 5. Rotary joint; 51. First housing; 52. Rotating ball; 53. Rotating ring plate; 54. Second housing; 541. Ring column; 542. Pressing plate; 543. First opposing surface; 544. Second opposing surface; 55. Transfer cavity; 56. First annular groove; 57. Second annular groove; 58. Annular groove. Detailed Implementation

[0031] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0032] In the description of this utility model, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0033] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0034] Reference Figures 1 to 3This utility model provides a marine organism cleaning device for a nuclear power plant water intake tunnel, including a main body, a robotic arm, a blade 32 assembly, and a collection assembly. The main body includes a walking mechanism, a drive mechanism, and a rotating shaft 14. The drive mechanism includes a housing 11, through which the rotating shaft 14 passes. The robotic arm is mounted on the rotating shaft 14 and rotates around its axis. The walking mechanism drives the housing 11 and the rotating shaft 14 forward. The blade 32 assembly includes a blade 32 and a drive motor 31. The drive motor 31 is mounted on the robotic arm, and the blade 32 is connected to the output shaft of the drive motor 31, rotating around its output shaft. The collection assembly includes a resilient collection cover 41 with a one-way opening collection chamber. The collection cover 41 is mounted on the robotic arm and covers the blade 32 so that when the opening of the collection cover 41 abuts against the inner wall of the tunnel, the blade 32 is positioned within the collection chamber.

[0035] The walking mechanism serves as the power source for forward movement, driving the main body of the equipment forward. The drive mechanism also includes a rotary motor installed inside the housing 11, which drives the rotating shaft 14 to rotate around its axis, thereby driving the robotic arm, the tool 32 assembly on the robotic arm, and the collection cover 41 to move forward synchronously.

[0036] When cleaning marine life inside the tunnel, the walking mechanism remains stationary. The robotic arm moves its blade assembly 32 and collection assembly closer to the marine life adhering to the tunnel wall. The collection hood 41 is elastic; its opening abuts against the tunnel wall or the surface of the marine life, thus closing the collection chamber. The drive motor 31 supplies power, causing the blade 32 inside the collection chamber to rotate. The rotating blade 32 breaks up the marine life adhering to the tunnel wall, and the broken marine life falls into the collection chamber of the collection hood 41. This reduces the amount of marine life falling into the tunnel, thereby reducing the likelihood of the walking mechanism becoming uneven due to the falling marine life.

[0037] In this embodiment, the main body of the device includes a hydraulic station 13, a visual monitoring system, and a base plate 10. The hydraulic station 13 and the outer shell 11 are disposed on the base plate 10. The hydraulic station 13 is located behind the outer shell 11. The visual inspection system includes a camera 12, which is fixed to the top of the outer shell 11 and faces forward.

[0038] The visual inspection device collects information about marine life on the inner wall of the tunnel through a camera and transmits the information to the control device. The control device analyzes and controls the movement of the robotic arm based on the detection results transmitted back by the camera, thereby achieving automated monitoring and control.

[0039] As an example, the robotic arm is capable of radial extension and retraction along the rotation axis 14 to drive the cutter 32 assembly and the collection cover 41 to reciprocate radially along the rotation axis 14.

[0040] The robotic arm in this embodiment includes a first arm 21, a first link 22, and a sliding seat 15. The walking mechanism includes a power assembly 18, a second arm 17, and a second link 16. The first arm 21 is rotatably connected to a rotating shaft 14. One end of the first link 22 is connected to the first arm 21, and the other end is rotatably connected to the sliding seat 15. A tool assembly 32 and a collection cover 41 are mounted on the end of the first arm 21 away from the rotating shaft 14. The sliding seat 15 is slidably connected to the rotating shaft 14. The sliding seat 15 is annular and is sleeved on the rotating shaft 14. The sliding seat 15 reciprocates along the axial direction of the rotating shaft 14. The second arm 17 is rotatably connected to the rotating shaft 14. One end of the second link 16 is rotatably connected to the second arm 17, and the other end of the second link 16 is connected to the sliding seat 15. A walking wheel 19 is mounted on the end of the second arm 17 away from the rotating shaft 14. The walking wheel 19 is used to walk on the inner wall of the tunnel. The first arm 21 is located in front of the second arm 17, the first connecting rod 22 is located in front of the second arm, the power assembly 18 is a hydraulic jack, the hydraulic jack is fixed inside the housing 11, the hydraulic jack is connected to the hydraulic station 13, the hydraulic station 13 controls the movement of the hydraulic jack, the piston rod of the hydraulic jack is located in front of the main body of the equipment, the piston rod extends and retracts in front of the housing 11, and the end of the piston rod away from the housing 11 is fixedly connected to the sliding seat 15.

[0041] As an example, multiple robotic arms and multiple cutter assemblies are provided. The multiple robotic arms are evenly arranged around the rotation axis 14, and each cutter assembly and each collection cover 41 are provided on one robotic arm. In this embodiment, three robotic arms are provided, each of which is provided with a cutter 32 assembly and a collection cover 41. Three inlet pipes 42 are provided, with the inlet end of each inlet pipe 42 connected to a collection cover 41. The outlet ends of the three inlet pipes 42 are connected to the first housing 51. Only one outlet pipe 43 and one collection chamber are required.

[0042] In this embodiment, three second arms 17 and three second connecting rods 16 are provided, and a traveling wheel 19 is installed on each second arm 17. The three second arms 17 are evenly arranged around the rotation axis 14.

[0043] In this embodiment, a traction rope can be provided at the front of the base plate 10, and personnel can pull the traction rope to move the main body of the equipment as a whole. In other embodiments, a waterproof motor can be provided on each of the second arms 17, and the waterproof motor is connected to the drive wheel. The waterproof motor is used to drive the walking wheel 19 to move forward.

[0044] In this embodiment, the sliding seat 15 slides forward, driving the first connecting rod 22 to push the first arm 21 forward, so that the first arm 21 gradually moves outward along the radial direction of the rotation axis 14, realizing the extension effect of the robotic arm along the rotation axis 14. The sliding seat 15 slides backward in the walking direction, driving the first connecting rod 22 to approach the rotation axis 14, so that the end of the first arm 21 with the blade 32 gradually approaches the rotation axis 14, realizing the retraction effect of the robotic arm. The extension and retraction effect of the robotic arm is realized through the principle of the connecting rod, so as to deal with marine organisms of different thicknesses protruding from the inner wall of the tunnel.

[0045] Similarly, in this embodiment, the traveling wheel 19 also uses the same principle to achieve radial extension and retraction along the rotation axis 14, so that the traveling mechanism can adapt to tunnels with different inner diameters.

[0046] In other embodiments, the robotic arm is a cylinder, and the tool 32 is mounted on the end of the piston rod of the cylinder. The extension and retraction of the cylinder can also realize the radial reciprocating motion of the tool 32 along the rotation axis 14.

[0047] Reference Figure 3 and Figure 4 As an example, the main body of the device also includes a collection chamber and a rotary joint 5, the collection chamber being disposed within the outer casing 11; the collection assembly also includes an inlet pipe 42 and an outlet pipe 43, one end of the inlet pipe 42 being connected to the collection chamber and the other end of the inlet pipe 42 being connected to the rotary joint 5, one end of the outlet pipe 43 being connected to the collection chamber and the other end of the outlet pipe 43 being connected to the rotary joint 5;

[0048] The rotary joint 5 includes a first housing 51 and a second housing 54. The second housing 54 is fixed on the outer shell 11. The first housing 51 and the second housing 54 enclose a transfer cavity 55. The transfer cavity 55 is arranged around the rotation axis 14. The first housing 51 rotates relative to the second housing 54 around the rotation axis 14. The discharge pipe 43 is connected to the second housing 54, and the inlet pipe 42 is connected to the first housing 51 so that the first housing 51 can rotate around the rotation axis 14 with the inlet pipe 42.

[0049] In this embodiment, the first housing 51 is annular, and the second housing 54 includes an annular post 541 and a clamping plate 542. The annular post 541 is arranged around the rotation shaft 14, and an annular groove is provided inside the annular post 541, which surrounds the rotation shaft 14. The outer wall of the end of the annular post 541 near the first housing 51 extends outward to form a second opposing plate. One side of the first housing 51 closes the groove on the annular post 541, so that the first housing 51 and the second housing 54 form a transfer cavity 55. The clamping plate 542 is annular, and the outer edge of the clamping plate 542 is bent towards the annular post and connected to the second opposing plate. The bent portion of the clamping plate 542, the clamping plate 542, and the annular post 541 form an annular groove 58. The opposing surfaces of the clamping plate 542 and the annular post 541 are spaced apart, and the side surface of the clamping plate 542 near the annular post 541 is the first opposing surface 5. 43. The side surface of the ring column 541 near the pressure plate 542 is the second opposing surface 544. The rotating ring plate 53 is disposed between the pressure plate 542 and the ring column 541. The pressure plate 542 and the first housing 51 are in contact, and the ring column 541 and the first housing 51 are in contact to seal the transfer cavity 55. The above arrangement allows the first housing 51 to rotate relative to the second housing 54. The rotary joint 5 enables the collection cover 41 and the inlet pipe 42 to rotate synchronously with the rotating shaft 14. The marine organisms in the inlet pipe 42 are transported to the transfer cavity 55 in the rotary joint 5. The discharge pipe 43 is fixed on the second housing 54.

[0050] The shredded marine organisms pass through the collection hood 41, inlet pipe 42, rotary joint 5, and outlet pipe 43 in sequence before finally entering the collection chamber, ensuring that the collection hood 41 always has space to accommodate the marine organisms, thus achieving the effect of shredding and collecting simultaneously.

[0051] Reference Figure 4 As an example, the rotary joint 5 further includes a rotary ring plate 53 and a plurality of rotary balls 52. The rotary ring plate 53 is connected to the outer peripheral surface of the first housing 51. The rotary ring plate 53 is provided with a plurality of receiving holes extending along its thickness direction, and each rotary ball 52 is disposed in one of the receiving holes. In this embodiment, the rotary ring plate 53 is integrally formed with the first housing 51, and the rotary ring plate 53 is disposed on the outer ring of the first housing 51.

[0052] As described above, the annular column 541 and the clamping plate 542 constitute the annular groove 58. That is, the second housing 54 is provided with an annular groove 58 along its circumference. The annular groove 58 has a first opposing surface 543 and a second opposing surface 544 on opposite sides along the axial direction of the rotation axis 14. The rotating ring plate 53 is disposed in the annular groove 58 and is disposed between the first opposing surface 543 and the second opposing surface 544. The rotating ball 52 abuts against the first opposing surface 543 and the second opposing surface 544 respectively.

[0053] In this embodiment, a rotating ring plate 53 and a rotating ball 52 are provided between the first housing 51 and the second housing 54 to reduce the friction between the first housing 51 and the second housing 54, thereby making the rotation of the first housing 51 relative to the second housing 54 smoother.

[0054] As an example, the diameter of the rotating ball 52 is greater than the thickness of the rotating ring plate 53; a first annular groove 56 is provided on the first opposing surface 543, and a second annular groove 57 is provided on the second opposing surface 544; a part of the rotating ball 52 rolls in the first annular groove 56, and another part of the rotating ball 52 rolls in the second annular groove 57.

[0055] In this embodiment, during installation, the rotating ball 52 is aligned with the first annular groove 56 and the second annular groove 57 to quickly position the rotating ball 52 and the rotating ring plate 53. Furthermore, during rotation, the first annular groove 56 and the second annular groove 57 can also restrict the rolling path of the rotating ball 52.

[0056] In this embodiment, the sum of the thickness of the rotating ring plate 53, the depth of the first annular groove 56, and the depth of the second annular groove 57 is equal to the diameter of the rotating ball 52.

[0057] Reference Figure 3 As an example, the inlet pipe 42 is a metal pipe, and its outer wall is fixedly connected to the robotic arm, the rotating shaft 14, and the first housing 51. In this embodiment, the inlet pipe 42 is made of hard metal, which, compared to plastic pipes, prevents marine crustaceans from tearing or damaging the pipe. Furthermore, compared to flexible pipes, the metal inlet pipe 42 can be stably fixed to components such as the robotic arm and the rotating shaft 14, preventing pipe entanglement.

[0058] As an example, when the robotic arm moves radially outward along the rotation axis 14, the minimum depth of the compressed collection cover 41 is greater than the length of the cutter 32 along the output shaft of the drive motor 31, so that the cutter 32 is always spaced apart from the inner wall of the tunnel. To prevent the cutter 32 from scratching the inner wall of the tunnel, the depth of the collection cover 41 along the output shaft of the drive motor 31 is limited, so that the depth of the protective cover is always greater than the length of the cutter 32.

[0059] As an example, the difference between the minimum depth of the compressed collection cover 41 and the length of the cutter 32 along the output shaft of the drive motor 31 is 1-2 mm. In this embodiment, the difference between the minimum depth of the collection cover 41 and the length of the cutter 32 is optimally limited to 1-2 mm. Even when the collection cover is compressed to its limit, the cutter 32 will not tear the tunnel, while simultaneously cutting up marine life on the inner wall of the tunnel as much as possible.

[0060] As an example, the collection chamber is equipped with a negative pressure fan, which is connected to the inner cavity of the collection chamber and is used to keep the collection chamber under negative pressure.

[0061] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.

Claims

1. A marine organism cleaning device for nuclear power plant water intake tunnels, characterized in that, Includes the main body of the equipment, the robotic arm, the cutting tool assembly, and the collection assembly; The main body of the device includes a walking mechanism, a driving mechanism, and a rotating shaft. The driving mechanism is used to drive the rotating shaft to rotate. The robotic arm is mounted on the rotating shaft, and the robotic arm and the rotating shaft rotate together around the axis of the rotating shaft. The walking mechanism is used for the movement of the marine organism cleaning equipment in the nuclear power plant water intake tunnel; The tool assembly includes a tool and a drive motor. The drive motor is mounted on the robotic arm. The tool is connected to the output shaft of the drive motor, and the tool rotates following the output shaft of the drive motor. The collection assembly includes a resilient collection cover with a one-way opening collection chamber, the collection cover being mounted on the robotic arm and covering the cutter. The robotic arm is capable of moving the cutting tool assembly and the collecting assembly closer to or away from the tunnel wall.

2. The marine organism cleaning equipment for nuclear power plant water intake tunnels according to claim 1, characterized in that, The drive mechanism includes a housing, and the main body of the device also includes a collection chamber and a rotary joint. The collection chamber is disposed inside the housing. The collection assembly also includes an inlet pipe and an outlet pipe. One end of the inlet pipe is connected to the collection chamber, and the other end of the inlet pipe is connected to the rotary joint. One end of the outlet pipe is connected to the collection chamber, and the other end of the outlet pipe is connected to the rotary joint. The rotary joint is sleeved outside the rotating shaft. The rotary joint includes a first housing and a second housing. The second housing is fixed on the outer housing. The first housing and the second housing enclose a transfer cavity. The transfer cavity is arranged around the rotating shaft. The first housing rotates relative to the second housing around the rotating shaft. The discharge pipe is connected to the second housing, and the inlet pipe is connected to the first housing, so that the first housing and the inlet pipe can rotate around the rotating shaft.

3. The marine organism cleaning equipment for nuclear power plant water intake tunnels according to claim 2, characterized in that, The rotary joint further includes a rotary ring plate and a plurality of rotary balls. The rotary ring plate is connected to the outer peripheral surface of the first housing. The rotary ring plate is provided with a plurality of receiving holes that extend through its thickness direction. Each rotary ball is disposed in one of the receiving holes. The second housing is provided with an annular groove along its circumference. The annular groove has a first opposing surface and a second opposing surface on opposite sides along the axial direction of the rotation axis. The rotating ring plate is disposed in the annular groove so that the rotating ring plate is disposed between the first opposing surface and the second opposing surface. The rotating ball abuts against the first opposing surface and the second opposing surface respectively.

4. The marine organism cleaning equipment for nuclear power plant water intake tunnels according to claim 3, characterized in that, The diameter of the rotating sphere is greater than the thickness of the rotating ring plate; A first annular groove is provided on the first opposing surface, and a second annular groove is provided on the second opposing surface. A portion of the rotating ball rolls in the first annular groove, and another portion of the rotating ball rolls in the second annular groove.

5. The marine organism cleaning equipment for nuclear power plant water intake tunnels according to claim 2, characterized in that, The inlet tube is a metal tube, and the outer wall of the inlet tube is fixedly connected to the robotic arm, the rotating shaft and the first housing respectively.

6. The marine organism cleaning equipment for nuclear power plant water intake tunnels according to claim 1, characterized in that, The collection chamber is equipped with a negative pressure fan, which is connected to the inner cavity of the collection chamber and is used to keep the collection chamber under negative pressure.

7. The marine organism cleaning equipment for nuclear power plant water intake tunnels according to claim 1, characterized in that, The robotic arm is capable of radial extension and retraction along the rotation axis to drive the tool assembly and the collection cover to reciprocate radially along the rotation axis.

8. The marine organism cleaning equipment for nuclear power plant water intake tunnels according to claim 1, characterized in that, Multiple robotic arms are provided, and multiple cutting tool assemblies are provided. The multiple robotic arms are evenly arranged around the rotation axis, and each cutting tool assembly and each collection cover are provided on one robotic arm.

9. The marine organism cleaning equipment for nuclear power plant water intake tunnels according to claim 1, characterized in that, As the robotic arm moves radially outward along the rotation axis, the minimum depth of the compressed collection hood is greater than the length of the cutter along the output shaft of the drive motor, so that the cutter is always spaced apart from the inner wall of the tunnel.

10. The marine organism cleaning equipment for nuclear power plant water intake tunnels according to claim 9, characterized in that, The difference between the minimum depth of the compressed collection cover and the length of the cutter along the output shaft of the drive motor is 1-2 mm.

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