Reactor pool cleaning mechanism

Abstract

The utility model provides a reactor pool cleaning mechanism which comprises a mechanical arm and a cleaning assembly installed at one end of the mechanical arm, the end, away from the cleaning assembly, of the mechanical arm is used for being connected with an external supporting piece, and the mechanical arm is used for driving the cleaning assembly to move relative to the external supporting piece. The cleaning assembly comprises a first spray head and a second spray head which are mounted on the mechanical arm, the first spray head is used for being connected with a cleaning agent pipe to spray a cleaning agent to the inner wall of a reactor pool of the reactor, and the second spray head is used for being connected with a water purification pipe to spray purified water to the inner wall of the reactor pool. A first spray head and a second spray head of the cleaning assembly can be connected with a cleaning agent pipe and a water purifying pipe correspondingly, in this way, in the cleaning operation process, the cleaning agent pipe and the water purifying pipe do not need to be detached from the mechanical arm, and the cleaning operation efficiency can be improved; in addition, the first spray head and the second spray head can spray a cleaning agent and purified water to the inner wall of the reactor pool, and the cooperative operation of the first spray head and the second spray head is beneficial to improving the cleaning effect of the reactor pool.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cleaning equipment, and more particularly to a reactor pool cleaning mechanism. BACKGROUND

[0002] The nuclear power plant reactor is the core equipment of the nuclear power plant, and undertakes the key task of maintaining controllable self-sustaining chain nuclear fission reaction to realize nuclear energy utilization.

[0003] During the continuous operation of the nuclear power plant reactor, metal chips, chemical deposits and other foreign matters will inevitably be produced. Part of the foreign matters will be deposited at the bottom of the reactor pool, and the other part will be attached to the inner wall of the reactor pool. When the amount of foreign matters attached to the inner wall of the reactor pool is large, the foreign matters will fall off to form floating foreign matters in the water stored in the reactor pool. Therefore, it is necessary to clean the foreign matters in the reactor regularly. However, the existing cleaning method has low work efficiency. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the embodiment of the application is to provide a reactor pool cleaning mechanism to solve the technical problem of low work efficiency of the existing cleaning method.

[0005] To achieve the above purpose, the technical solution adopted by the application is:

[0006] A reactor pool cleaning mechanism is provided, which comprises a mechanical arm and a cleaning assembly installed at one end of the mechanical arm. The end of the mechanical arm away from the cleaning assembly is used to be connected with an external support. The mechanical arm is used to drive the cleaning assembly to move relative to the external support. The cleaning assembly comprises a first spray head and a second spray head installed on the mechanical arm. The first spray head is used to be connected with a cleaning agent pipe to spray cleaning agent to the inner wall of the reactor pool. The second spray head is used to be connected with a clean water pipe to spray clean water to the inner wall of the reactor pool.

[0007] In some embodiments, the cleaning assembly further comprises a first quick plug connector in communication with the first spray head, which is used to be detachably connected with the cleaning agent pipe; and / or,

[0008] The cleaning assembly further comprises a second quick plug connector in communication with the second spray head, which is used to be detachably connected with the clean water pipe.

[0009] In some embodiments, the mechanical arm comprises a mounting base, an arm body assembly, and a first driving member connecting the mounting base and the arm body assembly, the mounting base is configured to be connected to the external support, the mounting base has a mounting surface facing the external support, the cleaning assembly is mounted on the arm body assembly, a first base and a first output shaft of the first driving member are connected to the mounting base and the arm body assembly respectively, the first output shaft is rotatable relative to the first base to drive the arm body assembly to rotate relative to the mounting base about a first axis to drive the cleaning assembly to rotate synchronously, and the first axis is perpendicular to the mounting surface.

[0010] In some embodiments, the mechanical arm further comprises a sensing assembly connected to the mounting base, the sensing assembly is communicatively connected to the first driving member, and the sensing assembly is configured to detect environmental information around the arm body assembly and send a control instruction to the first driving member to drive the arm body assembly to rotate relative to the mounting base.

[0011] In some embodiments, the sensing assembly is mounted on the first driving member, and the first driving member is configured to drive the sensing assembly to rotate relative to the mounting base synchronously when driving the arm body assembly to rotate relative to the mounting base, so that the arm body assembly is always located within the detection range of the sensing assembly.

[0012] In some embodiments, the arm body assembly comprises a first arm body, a second arm body, and a second driving member connecting the first arm body and the second arm body, the first arm body is provided with the cleaning assembly at one end away from the second arm body, the second arm body is connected to the first driving member at one end away from the first arm body, and the first driving member is configured to drive the second arm body to rotate about the first axis to drive the cleaning assembly to rotate synchronously; a second base and a second output shaft of the second driving member are connected to the first arm body and the second arm body respectively, the second output shaft is rotatable relative to the second base to drive the first arm body to rotate relative to the second arm body about a second axis, the second axis is parallel to the mounting surface, and the second driving member is configured to drive the cleaning assembly to move closer to or away from the mounting surface.

[0013] In some embodiments, the arm body assembly further comprises a third driving member connecting the second arm body and the first driving member, a third base and a third output shaft of the third driving member are connected to the second arm body and the first driving member respectively, the third output shaft is rotatable relative to the third base to drive the second arm body to rotate relative to the first driving member about a third axis, the third axis is parallel to the mounting surface, and the third driving member is configured to drive the first arm body to move closer to or away from the mounting surface.

[0014] In some embodiments, the arm body assembly further comprises a first angle sensor and a second angle sensor, a first sensing part and a second sensing part of the first angle sensor are connected to the first arm body and the second arm body respectively, the first angle sensor is in communication connection with the second driving member, the first angle sensor detects the relative position between the first arm body and the second arm body by detecting the relative position of the first sensing part and the second sensing part, when the relative position between the first arm body and the second arm body deviates from a first preset position, the first angle sensor sends a control instruction to the second driving member, so that the second driving member drives the first arm body to rotate relative to the second arm body.

[0015] A third sensing part and a fourth sensing part of the second angle sensor are connected to the second arm body and the first driving member respectively, the second angle sensor is in communication connection with the third driving member, the second angle sensor detects the relative position between the second arm body and the first driving member by detecting the relative position of the third sensing part and the fourth sensing part, when the relative position between the second arm body and the first driving member deviates from a second preset position, the second angle sensor sends a control instruction to the third driving member, so that the third driving member drives the second arm body to rotate relative to the first driving member.

[0016] In some embodiments, the arm body assembly further comprises a fourth driving member connecting the cleaning assembly and the first arm body, a fourth base and a fourth output shaft of the fourth driving member are connected to the first arm body and the cleaning assembly respectively, the fourth output shaft can rotate relative to the fourth base to drive the cleaning assembly to synchronously rotate relative to the first arm body around a fourth axis, the fourth axis is arranged at an angle with the central axis direction of the first nozzle and the second nozzle.

[0017] In some embodiments, the mounting seat is further provided with a first communication interface connected to the first driving member, the first communication interface is used for being connected to a control center through a communication wire, so that the first driving member drives the arm body assembly to rotate relative to the mounting seat according to the instruction of the control center.

[0018] The reactor pool cleaning mechanism provided by the present application has the advantages that: the cleaning assembly is arranged on the mechanical arm, the first nozzle and the second nozzle of the cleaning assembly can be connected to the cleaning agent pipe and the clean water pipe respectively, so that the cleaning agent pipe and the clean water pipe do not need to be disassembled from the mechanical arm during the cleaning operation, which is beneficial to improving the efficiency of the cleaning operation; in addition, the first nozzle and the second nozzle can spray the cleaning agent and the clean water to the inner wall of the pool respectively, and the cooperation of the first nozzle and the second nozzle helps to improve the cleaning effect of the pool. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0020] Figure 1 A perspective view of the reactor pool cleaning mechanism provided by the embodiments of the present application is shown in the figure.

[0021] Figure 2 A perspective view of the reactor pool cleaning mechanism provided by the embodiments of the present application is shown in the figure. Figure 1 A perspective view of the reactor pool cleaning mechanism provided by the embodiments of the present application is shown in the figure.

[0022] Figure 3 An assembly view of the second arm body, the third driving member, the first driving member and the mounting seat provided by the embodiments of the present application is shown in the figure.

[0023] Figure 4 A perspective view of the reactor pool cleaning mechanism provided by the embodiments of the present application is shown in the figure. Figure 1 A perspective view of the reactor pool cleaning mechanism provided by the embodiments of the present application is shown in the figure.

[0024] Figure 5 A perspective view of the reactor pool cleaning mechanism provided by the embodiments of the present application is shown in the figure. Figure 1 A perspective view of the reactor pool cleaning mechanism provided by the embodiments of the present application is shown in the figure.

[0025] Figure 6 An assembly view of the first arm body, the second driving member and the second arm body provided by the embodiments of the present application is shown in the figure.

[0026] Figure 7 An assembly view of the cleaning assembly, the fourth driving member and the first arm body provided by the embodiments of the present application is shown in the figure.

[0027] Figure 8 An assembly view of the reactor pool cleaning mechanism and the vehicle body provided by the embodiments of the present application is shown in the figure.

[0028] In the figure, various reference signs are as follows:

[0029] 100, first axis; 200, second axis; 300, third axis; 400, fourth axis;

[0030] 1, cleaning assembly; 11, first spray head; 12, second spray head; 13, first quick connector; 14, second quick connector;

[0031] 2, mechanical arm; 21, mounting seat; 211, mounting surface; 212, first communication interface; 22, arm body assembly; 221, first arm body; 222, second arm body; 223, second driving member; 2231, second base; 2232, second output shaft; 224, third driving member; 2241, third base; 2242, third output shaft; 225, fourth driving member; 2251, fourth base; 2252, fourth output shaft; 23, first driving member; 231, first base; 232, first output shaft; 24, sensing assembly; 241, second communication interface;

[0032] 3, vehicle body. DETAILED DESCRIPTION

[0033] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects clearer, the present application will be further described in detail below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0034] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0035] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0036] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, the meaning of "multiple groups" is two groups or more, the meaning of "multiple pieces" is two pieces or more, and the meaning of "several" is one or more, unless otherwise specifically limited.

[0037] The reactor of a nuclear power plant is the core equipment of the nuclear power plant, which undertakes the key task of maintaining a controllable self-sustaining chain nuclear fission reaction to realize nuclear energy utilization. The core region of the reactor is the core of the nuclear reaction, and the reactor pool provides a safe accommodation space for the reactor core, not only ensuring that the reactor core is in the right position during operation, but also effectively bearing the heat and radiation generated by the reactor core.

[0038] During the continuous operation of the reactor of the nuclear power plant, metal chips, chemical deposits and other foreign matters will inevitably be generated. Part of these foreign matters will be deposited at the bottom of the reactor pool, and the other part will be attached to the inner wall of the reactor pool. When the amount of foreign matters attached to the inner wall of the reactor pool is large, these foreign matters will fall off to form floating foreign matters in the water stored in the reactor pool. Due to the connectivity of the reactor pool and the reactor core in the coolant circulation system, the foreign matters are likely to enter the reactor core along with the coolant. Once the foreign matters enter the reactor core, they will seriously interfere with and adversely affect the progress of the nuclear fission reaction, such as changing the reaction rate, affecting the neutron flux distribution, and thus endangering the safe and stable operation of the reactor. Therefore, regular cleaning of foreign matters in the reactor has become an important part of the operation and maintenance of the nuclear power plant.

[0039] In the related art, a worker can install a mechanical arm beside the reactor pool, fix the end of a flushing water pipe to the mechanical arm, and the mechanical arm can replace manual work to drive the flushing water pipe to move in the reactor pool, thereby cleaning the inner wall of the reactor pool. However, during the operation, the inner wall of the reactor pool needs to be sprayed with cleaning foam first, and then the inner wall of the reactor pool needs to be flushed with clean water. Therefore, the worker needs to first fix the foam flushing water pipe to the mechanical arm, drive the foam flushing water pipe to move by the mechanical arm to spray the cleaning foam on the inner wall of the reactor pool, and then remove the foam flushing water pipe from the mechanical arm and replace it with a clean water flushing water pipe after the cleaning foam spraying is completed. The mechanical arm drives the clean water flushing water pipe to move to spray and flush the inner wall of the reactor pool. This operation mode needs to manually disassemble and replace the flushing water pipe during cleaning, which affects the efficiency of the cleaning operation.

[0040] Based on this, the embodiments of the present application provide a reactor pool cleaning mechanism to solve the above problems.

[0041] Reference Figure 1 and Figure 2 The reactor pool cleaning mechanism provided by the present application includes a mechanical arm 2 and a cleaning assembly 1 installed at one end of the mechanical arm 2. The end of the mechanical arm 2 away from the cleaning assembly 1 is used to be connected to an external support. The mechanical arm 2 is used to drive the cleaning assembly 1 to move relative to the external support. The cleaning assembly 1 includes a first spray head 11 and a second spray head 12 installed on the mechanical arm 2. The first spray head 11 is used to be connected to a cleaning agent pipe to spray a cleaning agent on the inner wall of the reactor pool. The second spray head 12 is used to be connected to a clean water pipe to spray clean water on the inner wall of the reactor pool.

[0042] It should be noted that the mechanical arm 2 is a mechanical structure that can imitate the action of a human arm. It can perform precise motion control within a certain spatial range, and is usually composed of multiple joints and connecting rods. Rotation or extension of each joint is achieved through motor, hydraulic or pneumatic driving, thereby completing various complex operation tasks.

[0043] It should be noted that the cleaning assembly 1 is a mechanical structure for cleaning the surface or interior of an object. It mainly relies on the spray head to realize the spraying of cleaning liquid (such as water, cleaning agent, etc.), and removes dirt, impurities, etc. through the impact force, covering force, etc. of the liquid. The spray head of the cleaning assembly 1 has various types, for example, according to the spraying mode, it can be divided into direct spray head and atomizing spray head. The direct spray head can produce concentrated water flow with strong impact force, and is suitable for washing blocky dirt or occasions requiring large washing force, such as washing large oil stains on industrial equipment or thick mud on car tires. The atomizing spray head disperses the liquid into small particles, has a wide coverage area, and is suitable for scenarios that require uniform spraying of cleaning agent, such as uniformly spraying cleaning liquid in car interior cleaning, or spraying rust inhibitor on the surface of industrial equipment. Therefore, the types of the first spray head 11 and the second spray head 12 can be selected according to actual needs.

[0044] It should be noted that the cleaning agent pipe can be connected to the cleaning agent storage, and the cleaning agent in the cleaning agent storage can enter the cleaning agent pipe and be sprayed out of the first spray head 11, and the clean water pipe can be connected to the clean water storage, and the clean water in the clean water storage can enter the clean water pipe and be sprayed out of the second spray head 12, to realize cleaning of the inner wall of the reactor pool.

[0045] It should be noted that in some embodiments, the end of the mechanical arm 2 away from the cleaning assembly 1 can be mounted on a fixed support beside the reactor pool, so that the end of the mechanical arm 2 can be fixed in the reactor pool, and in other embodiments, the end of the mechanical arm 2 away from the cleaning assembly 1 can also be mounted on a movable device, and the reactor pool cleaning mechanism as a whole can be moved by the movable device, so that the reactor pool cleaning mechanism can clean all areas in the reactor pool.

[0046] The reactor pool cleaning mechanism provided by the embodiments of the present application sets the cleaning assembly 1 on the mechanical arm 2, and the first spray head 11 and the second spray head 12 of the cleaning assembly 1 can be connected to the cleaning agent pipe and the clean water pipe respectively. In this way, during the cleaning operation, the cleaning agent pipe and the clean water pipe do not need to be detached from the mechanical arm 2, which is conducive to improving the efficiency of the cleaning operation. In addition, the first spray head 11 and the second spray head 12 can spray cleaning agent and clean water respectively to the inner wall of the reactor pool, and the cooperation of the first spray head 11 and the second spray head 12 helps to improve the cleaning effect of the reactor pool.

[0047] In some embodiments, the cleaning assembly 1 further comprises a first quick connector 13 in communication with the first spray head 11, the first quick connector 13 being configured to detachably connect with the cleaning agent pipe.

[0048] The first quick connector 13 is a mechanical structure for quickly connecting and disconnecting fluid (liquid or gas) pipes, which can quickly connect or disconnect the cleaning agent pipe and the first spray head 11 without the need of tools or only with simple operations, thus facilitating the connection and installation of the two and improving the installation efficiency; in addition, the first quick connector 13 can be detachably connected with the cleaning agent pipe, thus when the reactor pool cleaning mechanism finishes the cleaning operation, the cleaning agent pipe can be separated from the first quick connector 13, thereby realizing the quick disassembly of the cleaning agent pipe and the reactor pool cleaning mechanism.

[0049] In some embodiments, the cleaning assembly 1 further comprises a second quick connector 14 in communication with the second spray head 12, the second quick connector 14 being configured to detachably connect with the clean water pipe. The second quick connector 14 is a mechanical structure for quickly connecting and disconnecting fluid (liquid or gas) pipes, which can quickly connect or disconnect the clean water pipe and the second spray head 12 without the need of tools or only with simple operations, thus facilitating the connection and installation of the two and improving the installation efficiency; in addition, the second quick connector 14 can be detachably connected with the clean water pipe, thus when the reactor pool cleaning mechanism finishes the cleaning operation, the clean water pipe can be separated from the second quick connector 14, thereby realizing the quick disassembly of the clean water pipe and the reactor pool cleaning mechanism.

[0050] Referring to Figure 2 In some embodiments, the mechanical arm 2 comprises a mounting base 21, an arm body assembly 22, and a first driving member 23 connecting the mounting base 21 and the arm body assembly 22, the mounting base 21 being configured to be connected with an external support, the mounting base 21 having a mounting surface 211 facing the external support, the cleaning assembly 1 being mounted on the arm body assembly 22, a first base 231 and a first output shaft 232 of the first driving member 23 being connected with the mounting base 21 and the arm body assembly 22 respectively, the first output shaft 232 being capable of rotating relative to the first base 231 to drive the arm body assembly 22 to rotate relative to the mounting base 21 about a first axis 100 to drive the cleaning assembly 1 to rotate synchronously, the first axis 100 being perpendicular to the mounting surface 211.

[0051] It should be noted that in some embodiments, the first output shaft 232 of the first driving member 23 can be connected with the arm body assembly 22, and the first base 231 of the first driving member 23 can be connected with the mounting seat 21, and in other embodiments, the first output shaft 232 can be connected with the mounting seat 21, and the first base 231 can be connected with the arm body assembly 22; both of the above-mentioned connection modes can realize the rotation of the arm body assembly 22 relative to the mounting seat 21 driven by the first driving member 23; the first axis 100 can be the rotation axis of the first output shaft 232.

[0052] By setting the movable connection between the arm body assembly 22 and the mounting seat 21, and rotating the arm body assembly 22 relative to the mounting seat 21 driven by the first driving member 23, the arm body assembly 22 can drive the cleaning assembly 1 to rotate synchronously, so as to change the position of the cleaning assembly 1 in the direction parallel to the mounting surface 211, so that the first nozzle 11 and the second nozzle 12 can clean different areas of the pool; in addition, connecting the mounting seat 21 and the arm body assembly 22 through the first driving member 23 can increase the rotation angle of the arm body assembly 22 relative to the mounting seat 21, thereby improving the cleaning range of the cleaning assembly 1.

[0053] In some embodiments, the mounting surface 211 is horizontally arranged, so that when the arm body assembly 22 is rotated relative to the mounting seat 21 driven by the first driving member 23 to drive the cleaning assembly 1 to rotate synchronously, the horizontal position of the cleaning assembly 1 can be changed; in other embodiments, the mounting surface 211 is vertically arranged, so that when the arm body assembly 22 is rotated relative to the mounting seat 21 driven by the first driving member 23 to drive the cleaning assembly 1 to rotate synchronously, the vertical height of the cleaning assembly 1 can be changed.

[0054] In some embodiments, the first driving member 23 can include a first hollow type torque motor, which can include the first base 231 and the first output shaft 232, and the first driving member 23 can drive the arm body assembly 22 to rotate 360° around the first axis 100 relative to the mounting seat 21.

[0055] Continuing to refer to Figure 2 In some embodiments, the mechanical arm 2 further includes a sensing assembly 24 connected with the mounting seat 21, the sensing assembly 24 is in communication connection with the first driving member 23, and the sensing assembly 24 is used for detecting the environmental information around the arm body assembly 22 and sending a control instruction to the first driving member 23, so that the first driving member 23 drives the arm body assembly 22 to rotate relative to the mounting seat 21.

[0056] The sensing assembly 24 can be used to detect the environment around the reactor cleaning robot to determine the situation of the obstacle. The sensing assembly 24 can include one or more of an ultrasonic sensor, a laser sensor, a visual sensor, an infrared sensor, a radar, and a binocular camera. The ultrasonic sensor detects obstacles by emitting ultrasonic waves and receiving reflected waves. The ultrasonic waves are emitted at a certain frequency and are reflected back when they encounter an obstacle. The ultrasonic sensor calculates the distance to the obstacle by calculating the time difference between the emission and reception of the ultrasonic waves and combining the propagation speed of the ultrasonic waves in the medium. The infrared sensor includes an active infrared sensor and a passive infrared sensor. The active infrared sensor consists of an infrared emitter tube and a receiver tube. The emitter tube emits infrared rays, which are reflected back by the receiver tube when they encounter an obstacle, thereby detecting the obstacle. The passive infrared sensor detects the infrared rays emitted by the object itself and discovers obstacles by sensing the changes in infrared radiation intensity. The visual sensor can obtain images of the surrounding environment through an optical lens and then use image processing technology to recognize obstacles. It can be a monocular camera, a binocular camera, or a multi-lens camera. The binocular camera calculates the depth information of the object through the parallax principle, similar to the human binocular vision system. When the laser sensor is working, the laser emitting diode first emits a laser pulse towards the target. After being reflected by the target, the laser scatters in all directions. Part of the scattered light returns to the sensor receiver and is imaged onto the avalanche photodiode after being received by the optical system. The avalanche photodiode can detect extremely weak light signals and convert them into corresponding electrical signals. A common laser ranging sensor can measure the distance of the target by recording and processing the time taken from the emission of the light pulse to the return of the received signal.

[0057] It should be noted that the communication connection can be achieved through wired means such as wires, or through wireless means such as Bluetooth, Wi-Fi, mobile networks, etc. The detection results of the sensing assembly 24 can be transmitted to the water supply system. After receiving the information detected by the sensing assembly 24, the first driving member 23 can make corresponding response actions, such as driving the arm body assembly 22 to rotate relative to the mounting seat 21, etc.

[0058] The sensing assembly 24 can detect the environment around the reactor cleaning mechanism to obtain environmental information around the reactor cleaning mechanism. When the sensing assembly 24 detects an obstacle around the reactor cleaning mechanism, the first driving member 23 can timely rotate the arm body assembly 22 relative to the mounting seat 21 to avoid the obstacle. In addition, the sensing assembly 24 can also detect the reactor pool. According to the detection results, the area that needs to be cleaned in the reactor pool is obtained, and then instructions are sent to the first driving member 23 to drive the arm body assembly 22 to the corresponding position for cleaning work.

[0059] Reference Figure 2 andFigure 3 In some embodiments, the sensing assembly 24 is mounted on the first driving member 23, and the first driving member 23 is capable of driving the sensing assembly 24 to rotate relative to the mounting base 21 synchronously when the arm assembly 22 rotates relative to the mounting base 21, so that the arm assembly 22 is always located within the detection range of the sensing assembly 24.

[0060] When the first output shaft 232 is connected with the mounting base 21 and the first base 231 is connected with the arm assembly 22, the sensing assembly 24 can be arranged on the first base 231, and when the first output shaft 232 is connected with the arm assembly 22 and the first base 231 is connected with the mounting base 21, the sensing assembly 24 can be arranged on the first output shaft 232. In this way, when the first output shaft 232 rotates relative to the first base 231 to drive the arm assembly 22 to rotate synchronously, the sensing assembly 24 can rotate with the arm assembly 22. When the sensing assembly 24 rotates, the lens of the sensing assembly 24 also rotates, so that the detection range of the sensing assembly 24 changes. The sensing assembly 24 and the arm assembly 22 rotate synchronously, and no position change occurs between the sensing assembly 24 and the arm assembly 22. In this way, the arm assembly 22 can always be located within the detection range of the sensing assembly 24, and the sensing assembly 24 can use the environment around the arm assembly 22 for detection, so as to reduce the possibility of collision between the arm assembly 22 and an obstacle.

[0061] Reference Figure 2 to Figure 6 In some embodiments, the arm assembly 22 comprises a first arm 221, a second arm 222, and a second driving member 223 connecting the first arm 221 and the second arm 222. The first arm 221 is provided with the cleaning assembly 1 at one end away from the second arm 222. The second arm 222 is connected with the first driving member 23 at one end away from the first arm 221. The first driving member 23 drives the second arm 222 to rotate about the first axis 100 to drive the cleaning assembly 1 to rotate synchronously. The second base 2231 and the second output shaft 2232 of the second driving member 223 are connected with the first arm 221 and the second arm 222, respectively. The second output shaft 2232 is capable of rotating relative to the second base 2231 to drive the first arm 221 to rotate relative to the second arm 222 about the second axis 200, which is parallel to the mounting surface 211, so as to drive the cleaning assembly 1 to move close to or away from the mounting surface 211.

[0062] It should be noted that the second base 2231 of the second driving member 223 can be connected with the first arm body 221, the second output shaft 2232 of the second driving member 223 can be connected with the second arm body 222, or the second base 2231 is connected with the second arm body 222, and the second output shaft 2232 is connected with the first arm body 221; the above two connection modes can realize that the second driving member 223 drives the first arm body 221 to rotate relative to the second arm body 222 around the second axis 200; the second axis 200 can be the rotation axis of the second output shaft 2232.

[0063] When the first arm body 221 rotates relative to the second arm body 222 around the second axis 200, the cleaning assembly 1 can be driven to rotate synchronously, and the second axis 200 is parallel to the mounting surface 211, so that the cleaning assembly 1 can be close to or away from the mounting surface 211, that is, the position of the cleaning assembly 1 can be adjusted in the direction perpendicular to the mounting surface 211, so that the movement range of the cleaning assembly 1 can be increased, thereby improving the cleaning range of the cleaning assembly 1; in addition, connecting the first arm body 221 and the second arm body 222 through the second driving member 223 can increase the rotation angle of the first arm body 221 relative to the second arm body 222, thereby improving the cleaning range of the cleaning assembly 1.

[0064] In some embodiments, the mounting surface 211 is horizontally arranged, so that when the second driving member 223 drives the first arm body 221 to rotate relative to the second arm body 222, the vertical height of the cleaning assembly 1 can be changed; in other embodiments, the mounting surface 211 is vertically arranged, so that when the second driving member 223 drives the first arm body 221 to rotate relative to the second arm body 222, the horizontal position of the cleaning assembly 1 can be changed.

[0065] In some embodiments, the mounting surface 211 is horizontally arranged, and the included angle between the first arm body 221 and the horizontal direction can be in the range of -175° to 175°; the second driving member 223 can include a second hollow torque motor, and the second hollow torque motor can include a second base 2231 and a second output shaft 2232.

[0066] In some embodiments, the second driving member 223 can be communicatively connected with the sensing assembly 24, and the sensing assembly 24 can send a control instruction to the second driving member 223 according to the detected information, so that the second driving member 223 drives the first arm body 221 to rotate relative to the second arm body 222.

[0067] In some embodiments, the arm body assembly 22 further comprises a third driving member 224 connecting the second arm body 222 and the first driving member 23, a third base 2241 of the third driving member 224 is connected with the second arm body 222, and a third output shaft 2242 of the third driving member 224 is connected with the first driving member 23, the third output shaft 2242 is capable of rotating relative to the third base 2241 to drive the second arm body 222 to rotate relative to the first driving member 23 around a third axis 300, the third axis 300 is parallel to the mounting surface 211, so as to drive the first arm body 221 to move close to or away from the mounting surface 211.

[0068] It should be noted that the third base 2241 of the third driving member 224 can be connected with the second arm body 222, and the third output shaft 2242 of the third driving member 224 can be connected with the first driving member 23, or the third base 2241 can be connected with the first driving member 23, and the third output shaft 2242 can be connected with the second arm body 222, both of the above-mentioned connection modes can realize that the third driving member 224 drives the second arm body 222 to rotate relative to the first driving member 23 around the third axis 300, and the third axis 300 can be the rotation axis of the third output shaft 2242.

[0069] It should be noted that when the first base 231 of the first driving member 23 is connected with the mounting seat 21, the third driving member 224 can be connected with the first output shaft 232 of the first driving member 23, and when the first output shaft 232 of the first driving member 23 is connected with the mounting seat 21, the third driving member 224 can be connected with the first base 231 of the first driving member 23.

[0070] When the second arm body 222 rotates relative to the first driving member 23 around the third axis 300, the first arm body 221 can be driven to rotate synchronously, and then the cleaning assembly 1 is driven to rotate, and the third axis 300 is parallel to the mounting surface 211, so that the position of the cleaning assembly 1 can be adjusted in the direction perpendicular to the mounting surface 211, so that the movement range of the cleaning assembly 1 can be increased, and thus the cleaning range of the cleaning assembly 1 can be improved, and in addition, the second arm body 222 and the first driving member 23 are connected through the third driving member 224, so that the rotation angle of the second arm body 222 relative to the first driving member 23 can be increased, and thus the cleaning range of the cleaning assembly 1 can be improved.

[0071] In some embodiments, the mounting surface 211 is horizontally arranged, and thus when the third driving member 224 drives the second arm body 222 to rotate relative to the first driving member 23, the vertical height of the first arm body 221 and the cleaning assembly 1 can be changed, and in other embodiments, the mounting surface 211 is vertically arranged, and thus when the third driving member 224 drives the second arm body 222 to rotate relative to the first driving member 23, the horizontal position of the first arm body 221 and the cleaning assembly 1 can be changed.

[0072] In some embodiments, the mounting surface 211 is horizontally arranged, and the second arm body 222 can be arranged at an angle ranging from -85° to 265° with respect to the horizontal direction; and the third driving member 224 can include a third hollow torque motor, which can include a third base 2241 and a third output shaft 2242.

[0073] In some embodiments, the third driving member 224 can be communicatively connected with the sensing assembly 24, and the sensing assembly 24 can send a control instruction to the third driving member 224 according to the detected information, so as to drive the second arm body 222 to rotate relative to the first driving member 23.

[0074] In some embodiments, the arm body assembly 22 further includes a first angle sensor and a second angle sensor. The first sensing part and the second sensing part of the first angle sensor are respectively connected with the first arm body 221 and the second arm body 222, and the first angle sensor is communicatively connected with the second driving member 223. The first angle sensor detects the relative position between the first sensing part and the second sensing part to detect the relative position between the first arm body 221 and the second arm body 222. When the relative position between the first arm body 221 and the second arm body 222 deviates from the first preset position, the first angle sensor sends a control instruction to the second driving member 223, so as to drive the first arm body 221 to rotate relative to the second arm body 222. The third sensing part and the fourth sensing part of the second angle sensor are respectively connected with the second arm body 222 and the first driving member 23, and the second angle sensor is communicatively connected with the third driving member 224. The second angle sensor detects the relative position between the third sensing part and the fourth sensing part to detect the relative position between the second arm body 222 and the first driving member 23. When the relative position between the second arm body 222 and the first driving member 23 deviates from the second preset position, the second angle sensor sends a control instruction to the third driving member 224, so as to drive the second arm body 222 to rotate relative to the first driving member 23.

[0075] It should be noted that the angle sensor is a device for measuring the rotation angle of an object. It can convert the angular displacement of mechanical components into electrical signal output, which can be an analog signal (such as voltage, current) or a digital signal, so that the measurement system can perceive and process angle information. Angle sensors can be divided into various types according to different measurement principles, such as potentiometer type, photoelectric type, magneto type and Hall effect type. The angle sensor can include a sensitive element, a rotating part connected to the sensitive element, and a signal processing unit. The rotating part can be connected to the measured object to transmit the angular displacement of the measured object to the sensitive element. The sensitive element can be a potentiometer type sensitive element, a photoelectric type sensitive element, a magneto type sensitive element, or a Hall effect type sensitive element. The sensitive element can transmit the acquired angle information to the signal processing unit, which analyzes and processes the information. In this embodiment, one of the first and second sensing parts can be the above-mentioned sensitive element, and the other can be the above-mentioned rotating part. One of the third and fourth sensing parts can be the above-mentioned sensitive element, and the other can be the above-mentioned rotating part.

[0076] It should be noted that the information of the first preset position can be pre-stored in the first angle sensor. As the cleaning operation progresses, the first preset position can change continuously. For example, at the beginning of the cleaning operation, the first preset position can indicate that the first arm body 221 and the second arm body 222 form a 90° angle. For example, in the middle of the cleaning operation, the first preset position can indicate that the first arm body 221 and the second arm body 222 form a 180° angle. The second preset position is the same, and this embodiment will not be repeated here.

[0077] Using the first angle sensor to detect the relative position of the first arm body 221 and the second arm body 222 can obtain the position information of the first arm body 221 and the second arm body 222 in real time, thereby realizing accurate position control of the first arm body 221 to enable the first arm body 221 to drive the cleaning assembly 1 to clean the corresponding position; using the second angle sensor to detect the relative position of the second arm body 222 and the first driving member 23 can obtain the position information of the second arm body 222 in the current state in real time, so as to realize accurate position control of the second arm body 222 to enable the second arm body 222 to drive the cleaning assembly 1 to clean the corresponding position line through the first arm body 221.

[0078] Reference Figure 1 and Figure 2In some embodiments, the arm body assembly 22 further comprises a fourth driving member 225 connecting the cleaning assembly 1 and the first arm body 221, a fourth base 2251 of the fourth driving member 225 is connected with the first arm body 221, and a fourth output shaft 2252 of the fourth driving member 225 is connected with the cleaning assembly 1, the fourth output shaft 2252 of the fourth driving member 225 is rotatable relative to the fourth base 2251 of the fourth driving member 225 to drive the cleaning assembly 1 to rotate synchronously around a fourth axis 400 relative to the first arm body 221, and the fourth axis 400 is arranged at an angle with the central axis direction of the first nozzle 11 and the second nozzle 12.

[0079] It should be noted that the fourth base 2251 of the fourth driving member 225 can be connected with the first arm body 221, the fourth output shaft 2252 of the fourth driving member 225 can be connected with the cleaning assembly 1, or the fourth output shaft 2252 of the fourth driving member 225 is connected with the first arm body 221, and the fourth base 2251 of the fourth driving member 225 is connected with the cleaning assembly 1, both of the above-mentioned connection modes can realize the rotation of the cleaning assembly 1 around the fourth axis 400 relative to the first arm body 221 driven by the fourth driving member 225, and the fourth axis 400 can be the rotation axis of the fourth output shaft 2252.

[0080] It should be noted that the central axis direction of the first nozzle 11 is the opening direction of the first nozzle 11, and the cleaning agent sprayed by the first nozzle 11 can be sprayed along the central axis direction of the first nozzle 11, and the central axis direction of the second nozzle 12 is the opening direction of the second nozzle 12, and the clean water sprayed by the second nozzle 12 can be sprayed along the central axis direction of the second nozzle 12.

[0081] Since the fourth axis 400 is arranged at an angle with the central axis direction of the first nozzle 11 and the second nozzle 12, when the cleaning assembly 1 rotates around the fourth output shaft 2252 relative to the first arm body 221, the opening direction of the first nozzle 11 and the second nozzle 12 can be changed, so that the first nozzle 11 and the second nozzle 12 can spray and clean more areas, and the cleaning range of the cleaning assembly 1 is increased, and in addition, the connection of the cleaning assembly 1 and the first arm body 221 through the fourth driving member 225 can increase the rotation angle of the cleaning assembly 1 relative to the first arm body 221, thereby improving the cleaning range of the cleaning assembly 1.

[0082] In some embodiments, the fourth driving member 225 can comprise a fourth hollow type torque motor, and the range of the angle between the central axis of the first nozzle 11 and the second nozzle 12 and the horizontal direction can be -175°-175°.

[0083] In some embodiments, the cleaning assembly 1 comprises a mounting portion connected with the fourth driving member 225, the first spray head 11 and the second spray head 12 are mounted on the mounting portion, and the fourth driving member 225 drives the mounting portion to rotate around the fourth axis 400 to drive the first spray head 11 and the second spray head 12 to rotate synchronously.

[0084] With reference to Figure 1 and Figure 7 In some embodiments, the fourth driving member 225 is a double-rotor motor, the fourth driving member 225 comprises two fourth output shafts 2252, and the two fourth output shafts 2252 are respectively connected with the first spray head 11 and the second spray head 12 to drive the first spray head 11 and the second spray head 12 to rotate around the fourth axis 400.

[0085] The fourth driving member 225 is set as a double-rotor motor, the fourth driving member 225 can have two fourth output shafts 2252, and thus the first spray head 11 and the second spray head 12 can be respectively mounted on the two fourth output shafts 2252 and driven by the two fourth output shafts 2252 to rotate, so that the positions of the first spray head 11 and the second spray head 12 can be flexibly controlled.

[0086] With reference to Figure 2 In some embodiments, the mounting base 21 is further provided with a first communication interface 212 connected with the first driving member 23, and the first communication interface 212 is used to be connected with the control center through a communication wire to drive the arm body assembly 22 to rotate relative to the mounting base 21 according to the control instruction of the control center.

[0087] The first communication interface 212 is arranged on the mounting base 21 connected with the first driving member 23, and the communication wire is connected between the first communication interface 212 and the control center, so that the worker can remotely control the first driving member 23 through the control center to adjust the position of the arm body assembly 22; in addition, the radiation dose in the reactor pool is large, and the communication wire is used to connect the first communication interface 212 and the control center, which can reduce the influence of radiation on the communication signal, and is helpful to the stable transmission of the signal between the control center and the reactor pool cleaning mechanism, thereby ensuring the stability of the cleaning operation.

[0088] With reference to Figure 2 In some embodiments, the sensing assembly 24 is provided with a second communication interface 241, and the second communication interface 241 is used to be connected with the control center through a communication wire, so that the environmental information detected by the sensing assembly 24 can be sent to the control center through the communication wire, and the control center sends the control instruction to the first driving member 23.

[0089] The second communication interface 241 is connected to the control center by a communication wire, which can reduce the influence of radiation on the communication signal, and help to stably transmit the signal between the control center and the reactor pool cleaning mechanism, thereby ensuring the stability of the cleaning operation.

[0090] It can be understood that the increase in power consumption of the digital circuit means an increase in current, which, under the influence of the photoelectric effect of radiation, will generate a larger photocurrent, causing irreversible damage to the device. At the same time, the increase in current will cause the temperature inside the device to rise, causing the movement of photoelectrons or holes to accelerate, accelerating radiation damage. The higher the clock frequency means that the shorter the individual clock period, and the system will sample within the clock period to determine the current logic level. Nuclear radiation can cause transient logic inversion or logic locking of the digital circuit, although it is temporary. However, if the sampling period is shortened to a certain extent, the system will not be able to correct this logic error, and will obtain an incorrect logic value, thereby causing unexpected consequences.

[0091] The second communication interface 241 is connected to the control center by a communication wire, and the environmental information detected by the sensing assembly 24 can be collected and analyzed by the control center. The reactor pool cleaning mechanism can not need to analyze and process the information, so that the power consumption of the reactor pool cleaning mechanism can be reduced, thereby reducing the influence of radiation on the performance of the cleaning robot.

[0092] In some embodiments, the first driving member 23 can further include a first thermal sensor, which can be connected to the first base 231 and the first output shaft 232, respectively. The first thermal sensor can detect the temperature inside the first driving member 23, and when it is detected that the temperature inside the first driving member 23 is too high, the first thermal sensor can stop the relative rotation between the first output shaft 232 and the first base 231, thereby protecting the first driving member 23 and reducing the risk of damage due to overloading.

[0093] In some embodiments, the second driving member 223 can also include a second thermal sensor, the third driving member 224 can also include a third thermal sensor, and the fourth driving member 225 can also include a fourth thermal sensor. The second thermal sensor, the third thermal sensor, and the fourth thermal sensor can detect the temperature inside the corresponding driving member, thereby reducing the risk of damage due to overloading.

[0094] In some embodiments, the first driving member 23 can further include a first harmonic reducer, and the first base 231 can be connected to the first output shaft 232 through the first harmonic reducer. The first harmonic reducer can limit the rotation of the first output shaft 232, thereby reducing the rotation speed of the arm body assembly 22 relative to the mounting seat 21, and ensuring the stability of the rotation of the arm body assembly 22.

[0095] In some embodiments, the range of the angular velocity of the arm body assembly 22 relative to the mounting base 21 can be 0-120° / s.

[0096] In some embodiments, the second driving member 223 can comprise a second harmonic reducer, the second base 2231 can be connected with the second output shaft 2232 through the second harmonic reducer, so as to limit the rotation speed of the second output shaft 2232 relative to the second base 2231; the third driving member 224 can comprise a third harmonic reducer, the third base 2241 can be connected with the third output shaft 2242 through the third harmonic reducer, so as to limit the rotation speed of the third output shaft 2242 relative to the third base 2241; the fourth driving member 225 can comprise a fourth harmonic reducer, the fourth base 2251 can be connected with the third output shaft 2242 through the fourth harmonic reducer, so as to limit the rotation speed of the fourth output shaft 2252 relative to the fourth base 2251.

[0097] In some embodiments, the range of the angular velocity of the first arm body 221 relative to the second arm body 222 can be 0-120° / s, the range of the angular velocity of the second arm body 222 relative to the first driving member 23 can be 0-120° / s, and the range of the angular velocity of the cleaning assembly 1 relative to the first arm body 221 can be 0-120° / s.

[0098] In some embodiments, the first driving member 23, the second driving member 223, the third driving member 224, and the fourth driving member 225 can further comprise low-voltage DC drivers, respectively, which can be connected with corresponding motors. The low-voltage DC driver is a device for controlling the operation of a low-voltage DC motor. It mainly receives control signals and converts them into driving signals for the DC motor, so as to realize precise control of the speed, direction, torque, and other operating parameters of the motor.

[0099] In the present embodiment, the reactor pool cleaning mechanism comprises the first driving member 23, the second driving member 223, the third driving member 224, and the fourth driving member 225, and has four degrees of freedom, so that the reactor pool cleaning mechanism can have a larger range of motion.

[0100] In some embodiments, the reactor pool cleaning mechanism has an IP67 protection level, so as to ensure the waterproof capability of the reactor pool cleaning mechanism, thereby facilitating the flushing and cleaning of the reactor pool cleaning mechanism after the cleaning operation is completed.

[0101] In some embodiments, the first arm body 221 and the second arm body 222 can be made of carbon fiber material, and the lengths of the first arm body 221 and the second arm body 222 can be designed according to actual needs.

[0102] In some embodiments, the cleaning agent pipe and the water pipe can be installed on the arm assembly 22 by a clamp, so as to reduce the pulling between the cleaning agent pipe and the water pipe and the first and second quick connectors 13 and 14 during the cleaning process, and reduce the risk of separation of the cleaning agent pipe and the water pipe from the first and second quick connectors 13 and 14.

[0103] In some embodiments, the water pressure sprayed from the second interface is 10-25 MPa.

[0104] In some embodiments, the weight of the robot arm 2 is 15 kg, the effective load of the robot arm 2 can be 12 kg, the maximum arm length is 1780 mm, and the rated power of the robot arm 2 is 750 W.

[0105] Referring to Figure 8 In some embodiments, the mounting seat 21 of the reactor pool cleaning mechanism can be installed on the vehicle body 3 of the reactor cleaning robot, and when the vehicle body 3 moves, the reactor pool cleaning mechanism can be driven to move, so as to realize the cleaning work on each area of the reactor pool.

[0106] In some embodiments, the arm assembly 22 has a size of not less than 1.5 m when it is extended out of the vehicle body 3.

[0107] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A reactor vessel cleaning mechanism, characterized by, The cleaning assembly comprises a first spray head and a second spray head mounted on the mechanical arm, the first spray head is connected with a cleaning agent pipe to spray cleaning agent to the inner wall of the reactor pool, and the second spray head is connected with a clean water pipe to spray clean water to the inner wall of the reactor pool.

2. The reactor vessel cleaning mechanism of claim 1, wherein, The cleaning assembly further comprises a first quick plug connector in communication with the first spray head, which is used for detachable connection with the cleaning agent pipe; and / or, The cleaning assembly further comprises a second quick plug connector in communication with the second spray head, which is used for detachable connection with the clean water pipe.

3. The reactor vessel cleaning mechanism of claim 1, wherein, The mechanical arm comprises a mounting base, an arm body assembly, and a first driving member connecting the mounting base and the arm body assembly, the mounting base is used for connection with the external support, the mounting base has a mounting surface facing the external support, the cleaning assembly is mounted on the arm body assembly, a first base and a first output shaft of the first driving member are connected with the mounting base and the arm body assembly respectively, the first output shaft can rotate relative to the first base to drive the arm body assembly to rotate relative to the mounting base around a first axis to drive the cleaning assembly to rotate synchronously, and the first axis is perpendicular to the mounting surface.

4. The reactor vessel cleaning mechanism of claim 3, wherein, The mechanical arm further comprises a sensing assembly connected with the mounting base, the sensing assembly is in communication connection with the first driving member, and the sensing assembly is used for detecting environmental information around the arm body assembly and sending control instructions to the first driving member to drive the arm body assembly to rotate relative to the mounting base.

5. The reactor vessel cleaning mechanism of claim 4, wherein, The sensing assembly is mounted on the first driving member, and the first driving member can synchronously drive the sensing assembly to rotate relative to the mounting base when driving the arm body assembly to rotate relative to the mounting base, so that the arm body assembly is always located within the detection range of the sensing assembly.

6. The reactor vessel cleaning mechanism of claim 3, wherein, The arm body assembly comprises a first arm body, a second arm body, and a second driving member connecting the first arm body and the second arm body, one end of the first arm body away from the second arm body is provided with the cleaning assembly, one end of the second arm body away from the first arm body is connected with the first driving member, the first driving member drives the second arm body to rotate around the first axis to drive the cleaning assembly to rotate synchronously, a second base and a second output shaft of the second driving member are connected with the first arm body and the second arm body respectively, the second output shaft can rotate relative to the second base to drive the first arm body to rotate relative to the second arm body around a second axis, the second axis is parallel to the mounting surface, so as to drive the cleaning assembly to approach or move away from the mounting surface.

7. The reactor vessel cleaning mechanism of claim 6, wherein, The arm body assembly further comprises a third driving member connecting the second arm body and the first driving member, a third base and a third output shaft of the third driving member being connected with the second arm body and the first driving member respectively, the third output shaft being able to rotate relative to the third base to drive the second arm body to rotate relative to the first driving member around a third axis, the third axis being parallel to the mounting surface, so as to drive the first arm body to approach or move away from the mounting surface.

8. The reactor vessel cleaning mechanism of claim 7, wherein, The arm body assembly further comprises a first angle sensor and a second angle sensor, a first sensing part and a second sensing part of the first angle sensor being connected with the first arm body and the second arm body respectively, the first angle sensor being communicatively connected with the second driving member, the first angle sensor detecting the relative position between the first arm body and the second arm body by detecting the relative position of the first sensing part and the second sensing part, and sending a control instruction to the second driving member when the relative position between the first arm body and the second arm body deviates from a first preset position, so as to drive the second driving member to drive the first arm body to rotate relative to the second arm body; The third sensing part and the fourth sensing part of the second angle sensor are connected with the second arm body and the first driving member respectively, the second angle sensor being communicatively connected with the third driving member, the second angle sensor detecting the relative position between the second arm body and the first driving member by detecting the relative position of the third sensing part and the fourth sensing part, and sending a control instruction to the third driving member when the relative position between the second arm body and the first driving member deviates from a second preset position, so as to drive the third driving member to drive the second arm body to rotate relative to the first driving member.

9. The reactor vessel cleaning mechanism of claim 6, wherein, The arm body assembly further comprises a fourth driving member connecting the cleaning assembly and the first arm body, a fourth base and a fourth output shaft of the fourth driving member being connected with the first arm body and the cleaning assembly respectively, the fourth output shaft being able to rotate relative to the fourth base to drive the cleaning assembly to rotate synchronously relative to the first arm body around a fourth axis, the fourth axis being arranged at an angle with the central axis direction of the first nozzle and the second nozzle.

10. The reactor vessel cleaning mechanism of claim 3, wherein, The mounting seat is further provided with a first communication interface connected with the first driving member, the first communication interface being used to be connected with a control center through a communication wire, so as to drive the arm body assembly to rotate relative to the mounting seat according to the instruction of the control center.

Images