CN105581737A - Radiation deep pool cleaning robot - Google Patents
Radiation deep pool cleaning robot Download PDFInfo
- Publication number
- CN105581737A CN105581737A CN201410652887.2A CN201410652887A CN105581737A CN 105581737 A CN105581737 A CN 105581737A CN 201410652887 A CN201410652887 A CN 201410652887A CN 105581737 A CN105581737 A CN 105581737A
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- CN
- China
- Prior art keywords
- cabin
- robot
- cleaning robot
- cable
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 238000004140 cleaning Methods 0.000 title claims abstract description 19
- 230000005855 radiation Effects 0.000 title claims abstract description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 22
- 230000002285 radioactive effect Effects 0.000 claims abstract description 9
- 239000013049 sediment Substances 0.000 claims abstract description 8
- 230000005484 gravity Effects 0.000 claims abstract description 3
- 238000010438 heat treatment Methods 0.000 claims description 9
- 230000002209 hydrophobic effect Effects 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 5
- 238000005406 washing Methods 0.000 claims description 5
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000005202 decontamination Methods 0.000 claims description 3
- 230000003588 decontaminative effect Effects 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 238000001035 drying Methods 0.000 claims description 2
- 230000009977 dual effect Effects 0.000 claims description 2
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 239000004973 liquid crystal related substance Substances 0.000 claims description 2
- 230000001737 promoting effect Effects 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims description 2
- 239000011521 glass Substances 0.000 claims 1
- 210000003205 muscle Anatomy 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 4
- 229910000831 Steel Inorganic materials 0.000 abstract 1
- 238000007599 discharging Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 abstract 1
- 239000010959 steel Substances 0.000 abstract 1
- 238000001914 filtration Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000005308 flint glass Substances 0.000 description 2
- 230000005251 gamma ray Effects 0.000 description 2
- 239000010865 sewage Substances 0.000 description 2
- 241000196171 Hydrodictyon reticulatum Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 108010066057 cabin-1 Proteins 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000000155 isotopic effect Effects 0.000 description 1
- 239000000941 radioactive substance Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Landscapes
- Measurement Of Radiation (AREA)
Abstract
The invention discloses a full-automatic cleaning robot for sediments on the bottom of a radioactive radiation deep pool. The cleaning robot is composed of two parts, namely a drive-by-wire robot and a ground base station; the cleaning robot is characterized in that the drive-by-wire robot is composed of a cleaning cabin, a dewatering cabin, a water treatment cabin, a power cabin and a multimedia cabin; and the various cabin devices are open units which independently operate underwater. A bright-color cover plate is arranged on the upper part of the robot and a flash lamp is arranged on the upper part of the robot for prompting working conditions; and the positions of a lifting and traction steel cable and an operating cable are in the gravity center of equipment in the cover plate. The ground base station is composed of a shielding electric hoist, a shielding warm air tank and a digital control system. The cleaning robot can clean and store the sediments on the bottom of the radioactive radiation deep pool and residues of a radioactive source underwater in a full-automatic mode, and can well isolate and protect equipment and sediments which can get into contact with radioactive matters in the whole process. After discharging water, the cleaning robot can accurately judge related materials and equipment radioactivity and then adopt appropriate treatment measures.
Description
Technical field the present invention is the radioactive radiation swimmer's pool pond bottom sediment automatic washing machine people who deposits gamma ray radiator device.
Background technology gamma ray radiator device can be used for the uses such as scientific research, medical science, industry. Well-type source capsule is common storing unit, general diameter is at 5-10M, the depth of water is more than 6M, through operation after a while, shaft bottom has wadding dress sediment under water and produces, it is residual that gamma-rays is subject to have radioactivity according to object, separately wherein may mix the chip that has isotopic source, therefore needs appropriate method to clear up.
Summary of the invention deep water cleaning robot system separated time man-controlled mobile robot and ground base station two parts. Robot forms by clearing up cabin, hydrophobic cabin, unit for treating water, power unit cabin and multimedia unit. Ground base station by shielding electric crane, shielding heating air box, control system form.
Brief description of the drawings Fig. 1 is line-controlled robot people schematic diagram, and Fig. 2 is ground base station schematic diagram, cleans cabin 1 taking high-pressure water jet as power in Fig. 1, with hydro powered shower nozzle 2, rushes powerful pond bottom sediment. Unit for treating water immersible pump 3 siphons away sewage in cabin, enter the filter 4 that metal screen is housed and filters magnetic core, dirt after filtration is deposited on the dirt box 5 of filter, after filtering, clear water enters cleaning storehouse through flow-control distributing valve group 6 parts through high-pressure pump and participates in cleaning by high-pressure nozzle, and a part enters hydrophobic cabin 7 and enters pond. Narrow slit is left in cleaning base, storehouse at the bottom of pond, and pond water can only be entered can not flow out, and has limited the impact of the disturbance producing in cleaning process on Chi Shui. Robot moves until cleaning task completes under power unit frequency modulation differential system 8 and train 9 promotions. Multimedia unit is equipped with illuminating lamp 10 and camera 11, information exchange at the bottom of pond is crossed to control cable 12 and pass to ground, handles for adjusting, and robot is equipped with light tone cover plate 13 for ground observation.
In Fig. 2, ground base station has electric crane 15, monitoring, illumination lamp 16 and monitoring camera 17, shielding warm braw casing 18, electronic case lid 19, the radiation survey meter 20 of radioactive ray screen layer 14, heater 21. After cleaning task completes, radioactivity dirt random device people is hung out by wirerope 22 together, is put in shielding heating air box, radioactivity is monitored, reduced to while being suitable for operating and take out dirt to radiation decay, and be connected to main water treatment system and clean, be put back in dress shielding heating air box, warm braw is dried. System has control system 23 to control.
Detailed description of the invention, in order to deepen the understanding of the present invention, is described in further detail the present invention below in conjunction with drawings and Examples, and this embodiment only, for explaining the present invention, does not form limiting the scope of the present invention.
Clean cabin and ground and leave narrow slit, make pond water net inflow ensure to clean cabin disturbance sewage simultaneously and do not backflow.
Clean cabin the cleaning machineries such as injection and round brush are housed.
Submersible pump-filtration system makes to filter rear clear water and enters hydrophobic storehouse, on the spot discharge.
Filtration system is the dirt box that larger volume is arranged at an endless metal filter screen, magnetic core and bottom.
Hydrophobic cabin have numerous differences towards opening, reduce clear water mass rate of emission after filter, ensure cleaning cabin inside and outside differential pressure, make Chi Shui continue to flow into, keep dark pool water level stable tranquil simultaneously.
Piggyback pod is the wheeled differential mobile system of motor Dual Drive, and front-wheel is that road wheel is equipped with reducing motor, and trailing wheel is organism balance and steady during supporting roller keeps moving.
Robot top is for light tone cover plate and flash lamp prompting duty is housed, and in cover plate, equipment center of gravity place is for promoting carrying cable and operation cable position.
Electric crane has tracting cable and two unwrapping wire cable cars of operation cable.
Electric crane boom tip be equipped with pulley illumination and camera head to pond at the bottom of equipment monitor.
Electric crane has plumbum containing radiation protection skirtboard, flint glass that protection is provided.
Shielding heating air box is equipped with plumbum containing radiation protection coaming plate, flint glass observation window.
Shielding heating air box be equipped with radiation monitoring sensor to water outlet after robot shells and dirt box monitor.
Shielding heating air box be equipped with can with cleaning interface and the box sealing of exterior washings equipment connection, can be the outside and inner decontamination function of robot.
Shielding heating air box is equipped with independently warm air system, is the robot drying function after decontamination.
Electrical apparatus control system is made up of computer operating system and hand control system.
Computer control system is integrated with the part compositions such as PC control centre, liquid crystal display, program controling module, energy control module, digitlization memory, communication interactive module, system self-diagnosing function module, and stent-type integral quakeproof waterproof cabinet.
Hand control system is equipped with two 4 dimension control handles, and one is moved for robot level control, and one for robot vertical control lifting, and the switch such as the energy, illumination, information management and control.
Beneficial effect of the present invention is that radiation swimmer's pool clean robot can be to radioactive radiation swimmer's pool pond bottom sediment and radioactive source residue, carry out under water automatic washing and storage, and equipment and the deposit whole process that may contact radioactive substance are properly isolated and protected. After water outlet, related substances and equipment radioactivity are being carried out to management and control, properly disposing for after can making innoxious accurate judgement.
Claims (10)
1. radioactive radiation swimmer's pool pond bottom sediment automatic washing machine people, it is characterized in that separated time man-controlled mobile robot andGround base station two parts. Line-controlled robot people is by clearing up cabin, hydrophobic cabin, water treatment cabin, piggyback pod and multimedia cabinComposition, each chamber device is independent running open cell under water. Robot top is for light tone cover plate and sudden strain of a muscle is housedLight modulation prompting duty, in cover plate, equipment center of gravity place is for promoting carrying cable and operation cable position. Ground base station,It is characterized in that being formed by shielding electric crane, shielding heating air box and numerical control system.
2. described in claim 1, clean cabin, it is characterized in that, taking high-pressure water jet as power, carrying out with hydro powered shower nozzleClean.
3. water treatment storehouse described in claim 1, is characterized in that by immersible pump, be equipped with metal screen, filter magnetic core andThe filter element of dirt box, high-pressure pump composition, cleaning base, storehouse can not be flowed far from pond water can only being entered at the bottom of pondThe narrow slit going out.
4. hydrophobic cabin described in claim 1, it is characterized in that having numerous differences towards opening.
5. piggyback pod described in claim 1, is characterized in that front-wheel is the wheeled differential mobile system of motor Dual Drive, afterWheel is supporting roller.
6. described in claim 1, illuminating lamp and camera are equipped with in multimedia cabin, information exchange at the bottom of pond is crossed to control cable and pass toGround, handles for adjusting.
7. electric crane described in claim 1, is characterized in that having tracting cable and two unwrapping wire cable cars of operation cable. ArmEnd be equipped with pulley illumination and camera head to pond at the bottom of equipment monitor. There are plumbum containing radiation protection skirtboard, flint glassShielding protection is provided.
8. described in claim 1, shield heating air box, it is characterized in that box sealing, plumbum containing radiation protection coaming plate is housed, containsLead glass window, radiation monitoring sensor and can with the cleaning interface of exterior washings equipment connection, independence is housedWarm air system, be the robot drying function after decontamination.
9. electrical apparatus control system described in claim 1, its feature is made up of computer operating system and hand control system.Computer control system is integrated with PC control centre, liquid crystal display, program controling module, energy control mouldPiece, digitlization memory, communication interactive module, system self-diagnosing function module, and stent-type entirety is anti-Shake waterproof cabinet.
10. hand control system described in claim 1, is characterized in that being equipped with the switches such as the energy, illumination, information management and control,And two 4 dimension control handles, one is moved for robot level control, and one for robot vertical controlSystem lifting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410652887.2A CN105581737A (en) | 2014-11-14 | 2014-11-14 | Radiation deep pool cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410652887.2A CN105581737A (en) | 2014-11-14 | 2014-11-14 | Radiation deep pool cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105581737A true CN105581737A (en) | 2016-05-18 |
Family
ID=55921937
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410652887.2A Pending CN105581737A (en) | 2014-11-14 | 2014-11-14 | Radiation deep pool cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105581737A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200982090Y (en) * | 2006-10-10 | 2007-11-28 | 刘慧君 | Pipe discharging type remote control cleaning device for pool bottom |
| CN101481957A (en) * | 2009-02-05 | 2009-07-15 | 付桂兰 | Remote control ordered swimming pool cleaning robot and ordered cleaning method thereof |
| US20110185519A1 (en) * | 2008-10-10 | 2011-08-04 | Mic Pty Ltd | In Situ Sub Marine Net Cleaning and Inspecting Device |
| CN102493685A (en) * | 2011-11-30 | 2012-06-13 | 杭州高越科技有限公司 | Underwater cleaning robot with cable torsion detection device |
| CN102951275A (en) * | 2012-11-08 | 2013-03-06 | 北京航空航天大学 | Microminiature operation underwater robot of nuclear power plant |
-
2014
- 2014-11-14 CN CN201410652887.2A patent/CN105581737A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200982090Y (en) * | 2006-10-10 | 2007-11-28 | 刘慧君 | Pipe discharging type remote control cleaning device for pool bottom |
| US20110185519A1 (en) * | 2008-10-10 | 2011-08-04 | Mic Pty Ltd | In Situ Sub Marine Net Cleaning and Inspecting Device |
| CN101481957A (en) * | 2009-02-05 | 2009-07-15 | 付桂兰 | Remote control ordered swimming pool cleaning robot and ordered cleaning method thereof |
| CN102493685A (en) * | 2011-11-30 | 2012-06-13 | 杭州高越科技有限公司 | Underwater cleaning robot with cable torsion detection device |
| CN102951275A (en) * | 2012-11-08 | 2013-03-06 | 北京航空航天大学 | Microminiature operation underwater robot of nuclear power plant |
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| DD01 | Delivery of document by public notice |
Addressee: BEIJING FANGDAO ENVIRONMENTAL PROTECTION TECHNOLOGY Co.,Ltd. Document name: Notification of Patent Invention Entering into Substantive Examination Stage |
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| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: BEIJING FANGDAO ENVIRONMENTAL PROTECTION TECHNOLOGY Co.,Ltd. Document name: Notification of Decision on Request for Restoration of Right |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160518 |
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| RJ01 | Rejection of invention patent application after publication |