Decontamination robot for radioactive contamination site of nuclear power station

Abstract

The utility model relates to a nuclear power station radioactive contamination site decontamination robot which comprises a chassis system, a sweeping system and a negative pressure dust collecting system, the chassis system comprises a chassis body, a chassis driving device and a road condition collecting device, the chassis driving device is used for driving the chassis body to move, and the road condition collecting device is arranged at the front end of the chassis body. The information acquisition module is used for acquiring surrounding road condition information; the sweeping system comprises a sweeping brush arranged on the chassis main body and a sweeping brush driving device, and the sweeping brush driving device is used for driving the sweeping brush to rotate; the negative-pressure dust collecting system comprises a vacuum pump and a dust collecting box, a dust collecting opening is formed in the position, close to the sweeping brush, of the chassis body, and the vacuum pump, the dust collecting box and the dust collecting opening are sequentially connected through pipelines. The decontamination robot for the radioactive contaminated site of the nuclear power station can replace manpower to clean the ground contaminated by radioactive waste liquid, so that maintainers can work in a clean and safe environment, the exposure dose of the maintainers is reduced, and pollution diffusion is prevented.

Description

Technical Field

[0001] This utility model relates to the field of lifting device technology, and in particular to a robot for decontaminating radioactive contaminated sites in nuclear power plants. Background Technology

[0002] During routine and major overhauls of nuclear power plants, radioactive waste liquids may be generated and contaminate the ground during equipment maintenance and daily operation. This could lead to contamination spread and an increase in environmental dose rate, posing a risk of unexpected surface contamination. To reduce the radiation dose to maintenance personnel and prevent the spread of contamination, ensuring that maintenance personnel work in a clean and safe environment, it is necessary to decontaminate the contaminated ground. Utility Model Content

[0003] The purpose of this invention is to provide a decontamination robot for radioactive contaminated sites in nuclear power plants, so that maintenance personnel can work in a clean and safe environment, reduce their radiation dose, and prevent the spread of contamination.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A decontamination robot for radioactive contaminated sites at nuclear power plants includes:

[0006] The chassis system includes a chassis body, a chassis drive unit, and a road condition acquisition device. The chassis drive unit is used to drive the chassis body to move, and the road condition acquisition device is located at the front end of the chassis body and is used to collect surrounding road condition information.

[0007] The cleaning system includes a sweeping brush and a sweeping brush drive device disposed on the chassis body, wherein the sweeping brush drive device is used to drive the sweeping brush to rotate;

[0008] The negative pressure dust collection system includes a vacuum pump and a dust collection box. The chassis body is provided with a dust collection port near the sweeping brush. The vacuum pump, the dust collection box, and the dust collection port are connected in sequence through pipelines.

[0009] In one embodiment of this application, the chassis drive device includes a track structure symmetrically arranged on both sides of the chassis body. The track structure includes a support roller assembly, a tension roller assembly, and a track. The support roller assembly includes a plurality of support rollers rotatably arranged on the chassis body. At least one support roller is drively connected to the chassis drive device. The two tension rollers of the tension roller assembly are rotatably arranged at both ends of the support roller assembly. The track is wrapped around the support roller assembly and the tension roller assembly. The two tension rollers of the tension roller assembly tension the track. Each support roller is in contact with the track.

[0010] In one embodiment of this application, the cleaning system includes two brushes rotatably disposed at the front end of the chassis body, and the dust collection port is located between the two brushes.

[0011] In one embodiment of this application, the brush drive device includes a brush drive motor and a speed regulating gear set. The brush drive motor is connected to the speed regulating gear set in a transmission connection, and the output gear of the speed regulating gear set is coaxially connected to the brush.

[0012] In one embodiment of this application, the chassis body is provided with a mounting shaft, the output gear of the speed regulating gear set is sleeved on the mounting shaft, and at least two bearings are coaxially arranged between the output gear of the speed regulating gear set and the mounting shaft.

[0013] In one embodiment of this application, the chassis body is provided with a flow channel extending from the front end to the rear end of the chassis body. The opening of the flow channel at the front end of the chassis body is the dust collection port, and one end of the flow channel at the rear end of the chassis body is connected to the dust collection box.

[0014] In one embodiment of this application, the dust collection box includes:

[0015] The housing has an inlet at one end and an outlet at the other end. The inlet is connected to the flow channel through a pipe, and the outlet is connected to the vacuum pump through a pipe.

[0016] A dust collection bag is disposed inside the housing, and the dust collection bag isolates the inlet from the outlet.

[0017] In one embodiment of this application, the housing and the pipeline are connected by a flange structure.

[0018] In one embodiment of this application, the traffic condition acquisition device includes a camera.

[0019] In one embodiment of this application, the road condition acquisition device further includes a lighting lamp.

[0020] As can be seen from the above technical solutions, this utility model discloses a decontamination robot for radioactive contaminated sites in nuclear power plants. This robot includes a chassis system, a sweeping system, and a negative pressure dust collection system. The chassis system includes a chassis body, a chassis drive unit, and a road condition acquisition device. The chassis drive unit drives the chassis body to move, and the road condition acquisition device is located at the front end of the chassis body and is used to collect surrounding road condition information. The sweeping system includes a sweeping brush located on the chassis body and a sweeping brush drive unit, which drives the sweeping brush to rotate. The negative pressure dust collection system includes a vacuum pump and a dust collection box. A dust collection port is located on the chassis body near the sweeping brush, and the vacuum pump, dust collection box, and dust collection port are connected sequentially via pipelines.

[0021] The aforementioned nuclear power plant radioactive contaminated site decontamination robot can be remotely controlled, thereby replacing manual cleaning of radioactive waste-contaminated ground, allowing maintenance personnel to work in a clean and safe environment, reducing their radiation dose and preventing the spread of contamination. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0023] Figure 1 A schematic diagram of the structure of the nuclear power plant radioactive contamination site decontamination robot provided in an embodiment of this utility model;

[0024] Figure 2 A schematic diagram of the chassis structure of a nuclear power plant radioactive contamination site decontamination robot provided for an embodiment of this utility model;

[0025] Figure 3 A bottom view of the sweeping brush of the nuclear power plant radioactive contaminated site decontamination robot provided in an embodiment of this utility model;

[0026] Figure 4 A front view of the sweeping brush of a nuclear power plant radioactive contaminated site decontamination robot provided in an embodiment of this utility model;

[0027] Figure 5 A front view of the dust collection system of a nuclear power plant radioactive contaminated site decontamination robot provided in an embodiment of this utility model;

[0028] Figure 6 A schematic diagram of the dust collection box of the dust collection system of the nuclear power plant radioactive contaminated site decontamination robot provided in this embodiment of the utility model;

[0029] Figure 7 A partial front-end schematic diagram of a nuclear power plant radioactive contamination site decontamination robot provided in an embodiment of this utility model.

[0030] In the picture:

[0031] 100 is the chassis system; 110 is the chassis body; 111 is the flow channel; 120 is the chassis drive unit; 121 is the track roller; 122 is the tension roller; 123 is the track; 124 is the chassis drive motor;

[0032] 200 is the sweeping system; 210 is the sweeping brush; 220 is the sweeping brush drive motor; 230 is the speed control gear set;

[0033] 300 is the negative pressure dust collection system; 310 is the vacuum pump; 320 is the dust collection box; 321 is the housing; 322 is the dust collection bag;

[0034] 400 is the mounting shaft; 500 is the bearing; 600 is the dust collection port; 700 is the camera. Detailed Implementation

[0035] The core of this utility model is to provide a decontamination robot for radioactive contaminated sites in nuclear power plants. The structural design of this robot can ensure that maintenance personnel work in a clean and safe environment, reduce the radiation dose to maintenance personnel, and prevent the spread of contamination.

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0037] Please see Figure 1 , Figure 1 A schematic diagram of the structure of the nuclear power plant radioactive contamination site decontamination robot provided in this embodiment of the utility model.

[0038] This utility model discloses a nuclear power plant radioactive contaminated site decontamination robot, which includes a chassis system 100, a cleaning system 200, and a negative pressure dust collection system 300.

[0039] The chassis system 100 includes a chassis body 110, a chassis drive unit 120, and a road condition acquisition device. The chassis drive unit 120 is used to drive the chassis body 110 to move. The road condition acquisition device is located at the front end of the chassis body 110 and is used to collect surrounding road condition information.

[0040] The cleaning system 200 includes a brush 210 disposed on the chassis body 110 and a brush drive device. The brush drive device is used to drive the brush 210 to rotate. The cleaning system 200 may include one or more brushes 210. The brushes 210 are disposed at least at one of the four locations: the front end, the rear end, and both sides of the chassis body 110. The front end of the chassis body 110 refers to the end located at the forefront in the direction of travel of the chassis system 100. The rear end of the chassis body 110 refers to the end located at the rearmost edge in the direction of travel of the chassis system 100. The two sides of the chassis body 110 refer to the two sides in the direction of travel of the chassis system 100.

[0041] The negative pressure dust collection system 300 includes a vacuum pump 310 and a dust collection box 320. The chassis body 110 is provided with a dust collection port 600 near the brush 210. The vacuum pump 310, dust collection box 320 and dust collection port 600 are connected in sequence through pipelines. In order to improve the dust collection effect, the dust collection port 600 is preferably set according to the position of the brush 210, so that the brush 210 can bring the pollutants close to the dust collection port 600.

[0042] Compared with the prior art, the nuclear power plant radioactive contaminated site decontamination robot provided in this application embodiment can be remotely controlled, thereby replacing manual cleaning of radioactive waste liquid contaminated ground, enabling maintenance personnel to work in a clean and safe environment, reducing the radiation dose to maintenance personnel, and preventing the spread of contamination.

[0043] The chassis drive unit 120 includes, but is not limited to, wheeled drive units, tracked drive units, and multi-legged drive units; specifically, such as... Figure 2 As shown, the chassis drive device 120 includes a track structure symmetrically arranged on both sides of the chassis body 110 and a chassis drive motor 124. The track structure includes a support roller assembly, a tension roller assembly, and a track 123. The support roller assembly includes multiple support rollers 121 rotatably arranged on the chassis body 110. Depending on the size and weight of the decontamination robot for radioactive contaminated sites of nuclear power plants, the support roller assembly should include 2, 3, 4, 5, or more support rollers 121. At least one support roller 121 is connected to the chassis drive motor 124 for transmission. Each support roller 121 presses the lower edge of the track 123 against the ground and makes contact with the ground. The two tension rollers 122 of the tension roller assembly are rotatably arranged at both ends of the support roller assembly. The track 123 is wrapped around the support roller assembly and the tension roller assembly. The two tension rollers 122 of the tension roller assembly tension the track 123, so that each support roller 121 is in full contact with the track 123.

[0044] To prevent slippage between the track roller 121 and the track 123, multiple grooves are evenly provided on the circumferential surface of the track roller 121. Correspondingly, multiple protrusions that fit the grooves are provided on the inner surface of the track 123. The protrusions are embedded in the grooves, thereby preventing slippage between the track roller 121 and the track 123.

[0045] like Figure 3 , Figure 4 and Figure 5 As shown, the cleaning system 200 includes two rotatably mounted brushes 210 at the front end of the chassis body 110. The dust collection port 600 is located between the two brushes 210. To avoid cleaning the four corners, the projections of the two adjacent brushes 210 on the ground partially intersect, thereby avoiding cleaning the four corners between the two brushes 210 and improving the cleaning effect of the decontamination robot for radioactive contaminated sites in nuclear power plants.

[0046] Specifically, the brush drive device includes a brush drive motor 220 and a speed regulating gear set 230. The brush drive motor 220 is connected to the speed regulating gear set 230 in a transmission connection, and the output gear of the speed regulating gear set 230 is coaxially connected to the brush 210.

[0047] To reduce the height of the chassis body 110, in one specific embodiment of this application, the output shaft of the sweeping brush drive motor 220 is arranged parallel to the ground. The output end of the sweeping brush drive motor 220 is connected to the speed regulating gear set 230 through a reversing bevel gear set. The reversing bevel gear set includes a first bevel gear and a second bevel gear. The first bevel gear is disposed at the output end of the sweeping brush drive motor 220, and the second bevel gear is rotatably disposed on the chassis body 110. The speed regulating gear set 230 includes an input end gear, an intermediate gear, and an output end gear. The input end gear and the second bevel gear are coaxially arranged, the intermediate gear meshes with the output end gear, the output end gear meshes with the intermediate gear, and the output end gear is coaxially fixedly connected to the sweeping brush 210.

[0048] In one embodiment, such as Figure 4 As shown, the chassis body 110 is provided with a mounting shaft 400, the output gear of the speed regulating gear set 230 is sleeved on the mounting shaft 400, and at least two bearings 500 are coaxially arranged between the output gear of the speed regulating gear set 230 and the mounting shaft 400, thereby improving the stability of the sweeping brush 210 during rotation, avoiding radial sway, and extending its service life.

[0049] like Figure 2As shown, in one embodiment of this application, the chassis body 110 is provided with a flow channel 111 extending from the front end to the rear end of the chassis body 110. The opening of the flow channel 111 at the front end of the chassis body 110 is a dust collection port 600. One end of the flow channel 111 at the rear end of the chassis body 110 is connected to the dust collection box 320. It should be noted that the flow channel 111 can be provided not only as one, but multiple intersecting flow channel 111 can be provided according to the number of dust collection ports 600.

[0050] like Figure 6 As shown, in one embodiment of this application, the dust collection box 320 includes a box body 321 and a dust collection bag 322. One end of the box body 321 is provided with an inlet and the other end is provided with an outlet. The inlet is connected to the flow channel 111 through a pipeline, and the outlet is connected to the vacuum pump 310 through a pipeline. The dust collection bag 322 is disposed inside the box body 321 and isolates the inlet and outlet. The vacuum pump 310 forms a negative pressure inside the box body 321 through the outlet. Debris and pollutants entering from the inlet are filtered by the dust collection bag 322 and fall to the bottom of the box body 321.

[0051] To facilitate cleaning of the box 321, the inner bottom surface of the box 321 is funnel-shaped, and an openable door is provided at the smallest end of the funnel shape. The door and the box 321 are connected by a lock that can be remotely unlocked and locked.

[0052] To facilitate replacement and maintenance, in one embodiment of this application, the housing 321 is connected to the pipeline via a flange structure, which allows the dust collection box 320 to be removed and replaced after a period of use, making operation convenient.

[0053] Preferably, in one embodiment of this application, the road condition acquisition device includes a camera 700 and a lighting lamp to acquire image information and feed it back to the control personnel. To improve the accuracy of the road condition acquisition device, the road condition acquisition device includes two cameras 700, thereby enabling accurate judgment of distance.

[0054] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0055] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A robot for decontaminating radioactive contaminated sites at nuclear power plants, characterized in that, include: The chassis system (100) includes a chassis body (110), a chassis drive unit (120), and a road condition acquisition device. The chassis drive unit (120) is used to drive the chassis body (110) to move. The road condition acquisition device is located at the front end of the chassis body (110) and is used to collect surrounding road condition information. The cleaning system (200) includes a sweeping brush (210) disposed on the chassis body (110) and a sweeping brush driving device, wherein the sweeping brush driving device is used to drive the sweeping brush (210) to rotate; The negative pressure dust collection system (300) includes a vacuum pump (310) and a dust collection box (320). The chassis body (110) is provided with a dust collection port (600) near the brush (210). The vacuum pump (310), the dust collection box (320) and the dust collection port (600) are connected in sequence through pipelines.

2. The nuclear power plant radioactive contaminated site decontamination robot according to claim 1, characterized in that, The chassis drive device (120) includes a track structure symmetrically arranged on both sides of the chassis body (110) and a chassis drive motor (124). The track structure includes a support roller group, a tension roller group and a track (123). The support roller group includes a plurality of support rollers (121) rotatably arranged on the chassis body (110). At least one of the support rollers (121) is connected to the chassis drive motor (124) for transmission. The two tension rollers (122) of the tension roller group are rotatably arranged at both ends of the support roller group. The track (123) is wrapped around the support roller group and the tension roller group. The two tension rollers (122) of the tension roller group tension the track (123). Each support roller (121) is in contact with the track (123).

3. The nuclear power plant radioactive contaminated site decontamination robot according to claim 1, characterized in that, The cleaning system (200) includes two brushes (210) rotatably disposed at the front end of the chassis body (110), and the dust collection port (600) is located between the two brushes (210).

4. The nuclear power plant radioactive contaminated site decontamination robot according to claim 3, characterized in that, The brush drive device includes a brush drive motor (220) and a speed regulating gear set (230). The brush drive motor (220) is connected to the speed regulating gear set (230) in a transmission connection. The output gear of the speed regulating gear set (230) is coaxially connected to the brush (210).

5. The nuclear power plant radioactive contaminated site decontamination robot according to claim 4, characterized in that, The chassis body (110) is provided with a mounting shaft (400), the output gear of the speed regulating gear set (230) is sleeved on the mounting shaft (400), and at least two bearings (500) are coaxially arranged between the output gear of the speed regulating gear set (230) and the mounting shaft (400).

6. The nuclear power plant radioactive contaminated site decontamination robot according to any one of claims 2-5, characterized in that, The chassis body (110) is provided with a flow channel groove (111) extending from the front end to the rear end of the chassis body (110). The opening of the flow channel groove (111) at the front end of the chassis body (110) is the dust collection port (600). One end of the flow channel groove (111) at the rear end of the chassis body (110) is connected to the dust collection box (320).

7. The nuclear power plant radioactive contaminated site decontamination robot according to claim 6, characterized in that, The dust collection box (320) includes: The housing (321) has an inlet at one end and an outlet at the other end. The inlet is connected to the flow channel (111) through a pipeline, and the outlet is connected to the vacuum pump (310) through a pipeline. A dust collection bag (322) is disposed inside the housing (321) and the dust collection bag (322) isolates the inlet from the outlet.

8. The nuclear power plant radioactive contaminated site decontamination robot according to claim 7, characterized in that, The housing (321) is connected to the pipeline via a flange structure.

9. The nuclear power plant radioactive contaminated site decontamination robot according to any one of claims 1-5, characterized in that, The road condition data collection device includes a camera (700).

10. The nuclear power plant radioactive contaminated site decontamination robot according to claim 9, characterized in that, The road condition data collection device also includes lighting.

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