CN110899160A - Cleaning robot for radioactive source storage well - Google Patents
Cleaning robot for radioactive source storage well Download PDFInfo
- Publication number
- CN110899160A CN110899160A CN201911218499.2A CN201911218499A CN110899160A CN 110899160 A CN110899160 A CN 110899160A CN 201911218499 A CN201911218499 A CN 201911218499A CN 110899160 A CN110899160 A CN 110899160A
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- China
- Prior art keywords
- radioactive source
- source storage
- storage well
- cleaning robot
- grid net
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- 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.)
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- 230000002285 radioactive effect Effects 0.000 title claims abstract description 72
- 238000003860 storage Methods 0.000 title claims abstract description 66
- 238000004140 cleaning Methods 0.000 title claims abstract description 59
- 230000004888 barrier function Effects 0.000 claims description 14
- 239000013049 sediment Substances 0.000 abstract description 30
- 230000000694 effects Effects 0.000 abstract description 9
- 238000009792 diffusion process Methods 0.000 abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 13
- 238000000034 method Methods 0.000 description 5
- 238000005192 partition Methods 0.000 description 4
- 238000001914 filtration Methods 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 239000010865 sewage Substances 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 108010066057 cabin-1 Proteins 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000002209 hydrophobic effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a cleaning robot for a radioactive source storage well, which comprises: the device comprises a radioactive source storage well, a portal frame, a portal crane, a grid net and a cleaning robot body. The portal frame is erected at the wellhead of the radioactive source storage well, the portal crane is arranged on the portal frame, and the portal crane is positioned above the radioactive source storage well; the grid net is hung on the gantry crane through a rope; the cleaning robot body is loaded and walks on the grid net; the portal frame is provided with a plurality of support columns which are arranged along the vertical direction, and the support columns are arranged around the edge of a wellhead of the radioactive source storage well; the edge of grid net is equipped with a plurality of sliding guide wheels, and a plurality of sliding guide wheels and a plurality of support column one-to-one correspond. The cleaning robot for the radioactive source storage well provided by the invention has the advantages that the wheels of the robot are prevented from being directly contacted with the sediments at the bottom of the pool, the diffusion of the sediments at the bottom of the pool is reduced, and the effect of cleaning the sediments at the bottom of the pool is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a cleaning robot for a radioactive source storage well.
Background
The gamma radioactive source device can be used for scientific research, medicine, industry and the like. Well type source wells are common storage devices, the diameter is 5-10M generally, the water depth is more than 7M, after a period of operation, flocculent sediments are generated under the well bottom water, the sediment accumulation can influence the water quality of the source well, the corrosion to the sealed industrial radioactive source stainless steel protective cladding can be caused, the service life of the radioactive source can be seriously influenced, and therefore, the radioactive source well needs to be cleaned regularly by a proper method.
The prior art (CN 105581737A) discloses a radiation deep pool cleaning robot, wherein a cleaning cabin 1 takes high-pressure water jet as power, and a spray head 2 is driven by water power to wash up sediment at the bottom of a pool. The sewage in the cabin is sucked away by the submersible pump 3 of the water treatment unit and enters the filtering device 4 provided with a metal filter screen and a filtering magnetic core, the filtered sewage is deposited in a sewage box 5 of the filtering device, and the filtered clean water partially enters the cleaning cabin through the high-pressure pump by the flow control distribution valve group 6 and is cleaned by the high-pressure spray head, and partially enters the hydrophobic cabin 7 and enters the water tank. The bottom of the cleaning bin is provided with a narrow slit from the bottom of the pool, so that pool water only can enter but not flow out, and the influence of disturbance generated in the cleaning process on the pool water is limited. The robot moves under the push of the power unit frequency modulation differential system 8 and the gear train 9 until the cleaning task is completed. The multimedia unit is provided with a lighting lamp 10 and a camera 11, the information of the pool bottom is transmitted to the ground through a control cable 12 for adjustment and operation, and the robot is provided with a bright cover plate 13 for ground observation.
It can be known from the above prior art (CN 105581737 a) that, in the process of cleaning the bottom of the pool by the robot, the wheel train 9 is directly contacted with the bottom of the pool, the sediment in the bottom of the pool is stirred by the wheel train 9 and is diffused, the diffused sediment is spread, the whole pool is turbid in severe cases, and the back surface of the pool cannot achieve good cleaning effect.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a cleaning robot for a radioactive source storage well, which avoids the direct contact between the wheels of the robot and sediments at the bottom of a pool, reduces the diffusion of sediments at the bottom of the well, and improves the effect of cleaning sediments at the bottom of the well.
The purpose of the invention is realized by the following technical scheme:
a cleaning robot for a radioactive source storage well, comprising: the device comprises a radioactive source storage well, a portal frame, a portal crane, a grid net and a cleaning robot body;
the portal frame is erected at the wellhead of the radioactive source storage well, the portal crane is installed on the portal frame, and the portal crane is positioned above the radioactive source storage well;
the grid net is hung on the gantry crane through a rope; the gantry crane drives the grid net to lift so as to enable the grid net to be extracted from the radioactive source storage well or enable the grid net to enter the radioactive source storage well;
the cleaning robot body is loaded and walks on the grid net;
the portal frame is provided with a plurality of support columns which are arranged along the vertical direction, and the support columns are arranged around the edge of a wellhead of the radioactive source storage well;
a plurality of sliding guide wheels are arranged at the edge of the grid net and correspond to the support columns one by one;
the gantry crane drives the grid net to lift, so that the sliding guide wheels slide between the support columns and the wall of the radioactive source storage well.
In one embodiment, the radioactive source storage well is a square well structure.
In one embodiment, the grid mesh is a square frame structure.
In one embodiment, the number of the sliding guide wheels is four, and the four sliding guide wheels are respectively arranged at four corners of the grid net.
In one embodiment, the number of the support columns is four, and the four support columns are respectively positioned at four corners of a wellhead of the radioactive source storage well.
In one embodiment, a lifting guide rail is respectively arranged at four corners of the wall of the radioactive source storage well, and the lifting guide rail extends in the vertical direction.
In one embodiment, the grid net comprises a plurality of transverse partition bars and a plurality of longitudinal partition bars, wherein the transverse partition bars and the longitudinal partition bars are sequentially arranged at intervals and are intersected with each other.
The cleaning robot for the radioactive source storage well provided by the invention has the advantages that the wheels of the robot are prevented from being directly contacted with the sediments at the bottom of the pool, the diffusion of the sediments at the bottom of the pool is reduced, and the effect of cleaning the sediments at the bottom of the pool is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a front view of a cleaning robot for a radioactive source reservoir according to one embodiment of the present invention;
FIG. 2 is a top view of the gantry shown in FIG. 1;
FIG. 3 is a front view of the grille net shown in FIG. 1;
FIG. 4 is a top view of the grill net shown in FIG. 3;
figure 5 is a top view of the radioactive source reservoir well shown in figure 1.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, a cleaning robot 10 for a radioactive source storage well includes: the radioactive source storage well 100, the portal frame 200, the portal crane 300, the grid net 400 and the cleaning robot body 500. It should be noted that the radioactive source storage well 100, the gantry 200, the gantry crane 300, the grid net 400 and the cleaning robot body 500 together constitute the cleaning robot 10 for the radioactive source storage well, and the purpose of cleaning the sediment deposited on the bottom of the pool is to be achieved.
As shown in fig. 1, a gantry 200 is erected at the wellhead of the radioactive source storage well 100, a gantry 300 is mounted on the gantry 200, and the gantry 300 is located above the radioactive source storage well 100.
As shown in fig. 1, the grid net 400 is hung on the gantry crane 300 by a wire rope 600. Gantry crane 300 drives grid mesh 400 up and down to allow grid mesh 400 to be extracted from radiation source reservoir well 100 or allow grid mesh 400 to enter radiation source reservoir well 100.
As shown in fig. 1, the cleaning robot body 500 is loaded and walks on the grill net 400.
As shown in FIG. 2, the gantry 200 has a plurality of support columns 210 arranged in a vertical direction, and the plurality of support columns 210 are arranged around the edge of the wellhead of the radioactive source storage well 100.
As shown in fig. 3 and 4, a plurality of sliding guide wheels 700 are provided at the edge of the grill net 400, and the plurality of sliding guide wheels 700 correspond to the plurality of support columns 210 one to one.
The gantry crane 300 drives the grid net 400 to lift, so that the sliding guide wheels 700 slide between the support columns 210 and the wall of the radioactive source storage well 100.
The working principle of the above-mentioned cleaning robot 10 for radioactive source storage wells is explained as follows:
before cleaning the bottom sediment 20 (shown in fig. 1) of the radioactive source storage well 100, the grid net 400 is positioned above the wellhead of the radioactive source storage well 100, and at this time, the grid net 400 does not enter the pool body of the radioactive source storage well 100;
when the sediment 20 at the bottom of the radioactive source storage well 100 needs to be cleaned, the gantry crane 300 drives the grid net 400 to descend through the rope 600, so that the grid net 400 can enter the radioactive source storage well 100 and is finally pressed and held at the bottom of the pool;
it should be noted that, in the process of ascending or descending of the grid net 400, the sliding guide wheels 700 at the edges of the grid net 400 slide along the supporting columns 210 and the wall of the radioactive source storage well 100, so that the stability of the grid net 400 in the process of ascending and descending can be fully ensured, and the grid net 400 is prevented from deflecting when encountering the resistance of water;
when the grid net 400 is finally pressed on the bottom of the radioactive source storage well 100, the cleaning robot body 500 on the grid net 400 can start to work, the cleaning robot body 500 can suck the sediment at the bottom of the radioactive source storage well 100 while walking, so that the sediment and the water body can enter a filter cavity of the cleaning robot body 500 together, the sediment can stay in the filter cavity, and the water body can come out of the filter cavity and return to the radioactive source storage well 100 again;
here, it should be particularly noted that the present invention specifically provides the grid net 400, and the following technical effects can be obtained: on one hand, when the cleaning robot body 500 walks on the grid net 400, the walking wheels of the cleaning robot body cannot be in direct contact with the bottom sediment, so that the bottom sediment cannot be diffused under the influence of the walking wheels, and a good cleaning effect can be achieved; on the other hand, when the cleaning robot body 500 sucks sediment at the bottom of the pool, eddy current is generated, and due to the blocking effect of the grid net 400, the eddy current generated in the area where the sediment is sucked at present does not cause too large influence on other adjacent areas, so that the sediment which is not sucked in other areas is not easy to diffuse and spread, and a good cleaning effect is achieved;
after the deposit cleaning work of the bottom of the radioactive source storage well 100 is finished, the gantry crane 300 drives the grid net 400 to ascend through the rope 600, so that the grid net 400 can leave the radioactive source storage well 100;
after the grid net 400 reaches a position flush with the ground, the grid net 400 can temporarily stay, and the cleaning robot body 500 is driven to leave the grid net 400 to walk along the ground and reach a designated position for discharging sediment;
when the cleaning robot body 500 leaves the grid net 400, the gantry crane 300 drives the grid net 400 to continuously rise through the wire rope 600 and reach the top of the gantry frame 200, so that the grid net 400 does not influence the normal operation of the subsequent production.
It is also noted that, on the one hand, the use of grid mesh 400 may effectively reduce the spread of bottom sediment; on the other hand, the grid net 400 can bear the cleaning robot body 500, so that the cleaning robot body 500 does not need to be additionally provided with a lifting rope for independent lifting; on the other hand, when the cleaning robot body 500 walks on the grid net 400, the walking wheel can be effectively prevented from slipping due to the special structure of the grid net 400.
In this embodiment, the radioactive source storage well 100 is a square well body structure, the grid net 400 is a square frame body structure, the number of the sliding guide wheels 700 is four (as shown in fig. 4), the four sliding guide wheels 700 are respectively arranged at four corners of the grid net 400, the number of the support columns 210 is four, the four support columns 210 are respectively located at four corners of the well mouth of the radioactive source storage well 100, the four corners of the well wall of the radioactive source storage well 100 are respectively provided with one lifting guide rail 110 (as shown in fig. 5), and the lifting guide rails 110 extend in the vertical direction.
In other embodiments, the radioactive source storage well 100 may also be a circular well structure, and the grid mesh 400 may be a circular frame structure. The shape and size of grid mesh 400 can be adapted according to the shape and size of radioactive source reservoir well 100.
Further, as shown in fig. 4, the grid net 400 includes a plurality of transverse barrier strips 410 and a plurality of longitudinal barrier strips 420, which are sequentially arranged at intervals, and the plurality of transverse barrier strips 410 and the plurality of longitudinal barrier strips 420 are crossed with each other. Specifically, the intersections of the plurality of transverse barrier ribs 410 and the plurality of longitudinal barrier ribs 420 are provided with support protrusions 430 (shown in fig. 3). It should be noted that, at the intersection of the plurality of transverse barrier strips 410 and the plurality of longitudinal barrier strips 420, there is a supporting protrusion 430, so that when the grid net 400 is pressed on the bottom of the radioactive source storage well 100, a small gap is formed between the whole grid net 400 and the bottom of the pool, so that the deposits completely pressed by the grid net 400 will be very little, and most of the deposits can flow out through the through holes of the grid net 400 and be absorbed by the cleaning robot body 500, thereby obtaining a better cleaning effect.
The cleaning robot for the radioactive source storage well provided by the invention has the advantages that the wheels of the robot are prevented from being directly contacted with the sediments at the bottom of the pool, the diffusion of the sediments at the bottom of the pool is reduced, and the effect of cleaning the sediments at the bottom of the pool is improved.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A cleaning robot for a radioactive source storage well, comprising: the device comprises a radioactive source storage well, a portal frame, a portal crane, a grid net and a cleaning robot body;
the portal frame is erected at the wellhead of the radioactive source storage well, the portal crane is installed on the portal frame, and the portal crane is positioned above the radioactive source storage well;
the grid net is hung on the gantry crane through a rope; the gantry crane drives the grid net to lift so as to enable the grid net to be extracted from the radioactive source storage well or enable the grid net to enter the radioactive source storage well;
the cleaning robot body is loaded and walks on the grid net;
the portal frame is provided with a plurality of support columns which are arranged along the vertical direction, and the support columns are arranged around the edge of a wellhead of the radioactive source storage well;
a plurality of sliding guide wheels are arranged at the edge of the grid net and correspond to the support columns one by one;
the gantry crane drives the grid net to lift, so that the sliding guide wheels slide between the support columns and the wall of the radioactive source storage well.
2. The cleaning robot for radioactive source storage wells according to claim 1, wherein the radioactive source storage well is a square well structure.
3. A cleaning robot for radioactive source storage wells according to claim 2, wherein the grid mesh is a square frame structure.
4. The cleaning robot for radioactive source storage wells according to claim 3, wherein the number of the sliding guide wheels is four, and four sliding guide wheels are respectively arranged at four corners of the grid mesh.
5. The cleaning robot for radioactive source storage wells according to claim 4, wherein the number of the support columns is four, and the four support columns are respectively positioned at four corners of a wellhead of the radioactive source storage well.
6. The cleaning robot for the radioactive source storage well according to claim 5, wherein a lifting guide rail is respectively arranged at four corners of the wall of the radioactive source storage well, and the lifting guide rails extend in a vertical direction.
7. The cleaning robot for the radioactive source storage well according to claim 1, wherein the grid net comprises a plurality of transverse barrier strips and a plurality of longitudinal barrier strips, the transverse barrier strips and the longitudinal barrier strips are arranged at intervals in sequence, and the transverse barrier strips and the longitudinal barrier strips are intersected with each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911218499.2A CN110899160A (en) | 2019-12-03 | 2019-12-03 | Cleaning robot for radioactive source storage well |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911218499.2A CN110899160A (en) | 2019-12-03 | 2019-12-03 | Cleaning robot for radioactive source storage well |
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| Publication Number | Publication Date |
|---|---|
| CN110899160A true CN110899160A (en) | 2020-03-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911218499.2A Pending CN110899160A (en) | 2019-12-03 | 2019-12-03 | Cleaning robot for radioactive source storage well |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113477629A (en) * | 2021-06-29 | 2021-10-08 | 华能左权煤电有限责任公司 | Artifical clearance platform in feed bin |
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2019
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| CN106759607A (en) * | 2017-03-20 | 2017-05-31 | 林方杰 | A kind of irrigation canals and ditches sewage disposal apparatus |
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| CN113477629A (en) * | 2021-06-29 | 2021-10-08 | 华能左权煤电有限责任公司 | Artifical clearance platform in feed bin |
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Application publication date: 20200324 |
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