CN115990864A - Radiation monitoring and decontamination robot in nuclear industry post-treatment environment - Google Patents
Radiation monitoring and decontamination robot in nuclear industry post-treatment environment Download PDFInfo
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- CN115990864A CN115990864A CN202211616815.3A CN202211616815A CN115990864A CN 115990864 A CN115990864 A CN 115990864A CN 202211616815 A CN202211616815 A CN 202211616815A CN 115990864 A CN115990864 A CN 115990864A
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- decontamination
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- radiation monitoring
- robot
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- 238000005202 decontamination Methods 0.000 title claims abstract description 72
- 230000003588 decontaminative effect Effects 0.000 title claims abstract description 72
- 238000012544 monitoring process Methods 0.000 title claims abstract description 59
- 230000005855 radiation Effects 0.000 title claims abstract description 33
- 239000003795 chemical substances by application Substances 0.000 claims abstract description 22
- 239000007921 spray Substances 0.000 claims abstract description 17
- 239000000443 aerosol Substances 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000001502 supplementing effect Effects 0.000 claims abstract description 5
- 239000003599 detergent Substances 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 238000011109 contamination Methods 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 4
- 239000000428 dust Substances 0.000 abstract description 4
- 230000002285 radioactive effect Effects 0.000 abstract description 3
- 230000007613 environmental effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 239000011247 coating layer Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 description 2
- 229910052721 tungsten Inorganic materials 0.000 description 2
- 239000010937 tungsten Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000013505 freshwater Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000001802 infusion Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000011241 protective layer Substances 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000002915 spent fuel radioactive waste Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Images
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The invention relates to a radiation monitoring and decontamination robot which comprises a base, a moving assembly arranged at the bottom of the base, a supporting assembly arranged at the top of the base, a lifting mechanical gripper arranged on the base, a monitoring assembly and a decontamination assembly, wherein the lifting mechanical gripper is arranged on the base; the monitoring assembly comprises a monitoring camera and a detection mounting seat which are arranged on the supporting assembly, and an aerosol detector which is arranged on the detection mounting seat; the decontamination assembly comprises a decontamination agent container arranged at the bottom of the base, a hairbrush arranged at the front end of the base, a decontamination agent supplementing spray pipe which is directed to the hairbrush and connected with the decontamination agent container pipeline, and a decontamination agent spray gun which is arranged at the movable end of the lifting mechanical gripper and connected with the decontamination agent container pipeline. Compared with the prior art, the invention can realize targeted decontamination cleaning for a polluted area, prepares for subsequent personnel to safely enter the site, and avoids the harm to operators caused by leakage of aerosol containing radioactive dust, thereby having the advantages of safety, effectiveness, reliability and stability.
Description
Technical Field
The invention belongs to the technical field of nuclear industry post-treatment, relates to a radiation monitoring and decontamination robot in a nuclear industry post-treatment environment, and particularly relates to a robot in the field of nuclear industry post-treatment, which provides autonomous monitoring, out-of-standard alarming, actively searches for a target, periodically cleans and decontaminates, and simultaneously has the functions of remote control operation and intelligence.
Background
During the shearing treatment of spent fuel in the nuclear industry, a large amount of flying dust is inevitably generated, aerosol containing very high radioactive dust is leaked, the body of process operators is greatly damaged, the environment field and equipment are seriously polluted, the requirement of extremely high process radiation protection is required, and the traditional radiation monitoring equipment and process cleaning maintenance equipment cannot meet the high radiation operation of the nuclear industry post-treatment operation field. The radiation autonomous monitoring and cleaning decontamination robot is a special machine which is applied to high-radiation environment and meets the requirement of long-term radiation monitoring and decontamination in a narrow and complex space.
Disclosure of Invention
The invention aims to provide a radiation monitoring and decontamination robot in a nuclear industry post-treatment environment, which can safely, efficiently and reliably monitor and decontaminate environmental places and equipment in the nuclear industry post-treatment field.
The aim of the invention can be achieved by the following technical scheme:
a radiation monitoring and decontamination robot, comprising
The base is provided with a moving assembly at the bottom and a supporting assembly at the top;
the monitoring assembly comprises a monitoring camera and a detection mounting seat which are arranged on the supporting assembly, and an aerosol detector which is arranged on the detection mounting seat;
the lifting mechanical gripper is arranged on the base; and
the decontamination assembly comprises a decontamination container arranged at the bottom of the base, a hairbrush arranged at the front end of the base, a decontamination agent supplementing spray pipe which is directed to the hairbrush and connected with the decontamination agent container pipeline, and a decontamination agent spray gun which is arranged at the movable end of the lifting mechanical gripper and connected with the decontamination agent container pipeline.
Further, the movable assembly comprises guide wheel supporting frames arranged on two sides of the bottom of the base, a plurality of movable guide wheels arranged on the guide wheel supporting frames, and a movable crawler arranged outside the plurality of movable guide wheels in a winding manner.
Further, the top surface of the base is also provided with a hook.
Further, the supporting component comprises a rotating table arranged at the top of the base and a supporting rod arranged on the rotating table.
Further, the supporting rod is a lifting supporting rod.
Further, the monitoring assembly also comprises an illuminating lamp arranged on the supporting assembly.
Further, the detector comprises at least one of an aerosol radiation monitor, a neutron monitor, a gamma dose rate measurement and a surface pollution monitor.
Further, the lifting mechanical gripper comprises a rotating base platform arranged on the base, a folding arm arranged on the rotating base platform, a telescopic arm which is embedded in the far end of the folding arm in a sliding manner, and a mechanical gripper arranged at the far end of the telescopic arm;
the detergent spray gun is arranged at the far end of the telescopic arm.
Further, the folding arm comprises a first supporting arm and a second supporting arm which are rotatably connected with each other at the end parts, and the other end of the first supporting arm is rotatably connected with the rotating base.
Further, the first support arm and the second support arm and the first support arm and the rotating base are rotationally connected through corresponding harmonic motors.
Further, the decontamination assembly also comprises a ground decontamination nozzle which is arranged at the bottom of the base and communicated with the decontamination container pipeline.
Compared with the prior art, the invention has the following characteristics:
the invention provides a radiation monitoring and decontamination robot, which realizes real-time visual monitoring of a nuclear industry site, gamma dose rate measurement, nuclide analysis and aerosol detection through a monitoring camera and a detector, and a supporting component with a rotation function enlarges the monitoring range of the monitoring camera, realizes the free movement of the robot on the nuclear industry site through a crawler moving component, and is matched with a lifting mechanical gripper and a decontamination component, so that targeted decontamination cleaning can be realized for a polluted area, preparation is made for the safe entry of subsequent personnel into the site, and the harm to operators caused by the leakage of the aerosol containing radioactive dust is avoided, thereby having the advantages of safety, effectiveness, reliability and stability.
Drawings
FIGS. 1 and 2 are schematic structural views of a radiation monitoring and decontamination robot according to an embodiment;
the figure indicates:
1-base, 2-lifting mechanical gripper, 201-rotating base, 202-telescopic arm, 203-mechanical gripper, 204-first support arm, 205-second support arm, 3-surveillance camera, 4-detection mount pad, 5-rotating table, 6-bracing piece, 7-mobile track, 8-detergent container, 9-brush, 10-detergent spray gun, 11-ground decontamination nozzle, 12-guide wheel support frame, 13-mobile guide wheel.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
Examples:
a radiation monitoring and decontamination robot as shown in fig. 1 and 2, which comprises a base 1, a moving component arranged at the bottom of the base 1, a supporting component arranged at the top of the base 1, a monitoring component arranged on the supporting component, a lifting mechanical gripper 2 arranged on the base 1 and a decontamination component.
The monitoring assembly comprises a monitoring camera 3 and a detection mounting seat 4 which are arranged on the supporting assembly, and a detector arranged on the detection mounting seat 4. The detector comprises at least one of an aerosol radiation monitor, a neutron monitor, a gamma dose rate measurement and a surface pollution monitor. According to the specified environmental field monitoring, the monitoring items may include: gamma dose rate measurement, nuclide analysis, aerosols, and the like.
In some specific embodiments, the monitoring component is a corresponding high-radiation-resistance monitoring device, the radiation-proof shell is additionally arranged outside the monitoring component, the shell can be filled with radiation-resistant materials, the camera head of the monitoring system is provided with a shielding brush, the shielding brush in a rest state is dropped to reduce radiation, and the shielding brush in a working state is lifted.
In some specific embodiments, the robot further comprises an alarm.
In some specific embodiments, the monitoring camera 3 is a radiation-resistant camera and is in signal connection with a remote display screen.
In some specific embodiments, the monitoring system adopts high-radiation-resistant equipment, and is selected from one to another, the monitoring system and the supporting rods are connected in an embedded mode, digital detection is integrated by the equipment, the height of the supporting rods meets the manual setting, and the internal connection mode is screw rod transmission.
The support assembly comprises a rotating table 5 arranged at the top of the base 1 and a support rod 6 arranged on the rotating table 5. In some preferred embodiments, the support bar 6 may be selected as a lifting support bar so that it can be tested at different height positions in cooperation with the monitoring assembly.
The bracing piece bottom is through gear drive realization rotation function, and the monitoring angle satisfies 360 and adjusts, and the formation of image of control appears in peripheral display screen, observes in real time no dead angle to the operational environment field, and the monitoring component still possesses the illumination function, including locating the light on the supporting component promptly to help the operator to carry out decontamination work.
The decontamination component comprises a decontamination agent container 8 arranged at the bottom of the base 1, a hairbrush 9 arranged at the front end of the base 1, a decontamination agent supplementing spray pipe which is directed to the hairbrush 9 and is connected with the decontamination agent container 8 through a pipeline, and a decontamination agent spray gun 10 which is arranged at the movable end of the lifting mechanical gripper 2 and is connected with the decontamination agent container 8 through a pipeline. In addition, the decontamination module further comprises a ground decontamination nozzle 11 which is arranged at the bottom of the base 1 and is in pipeline communication with the decontamination agent container 8.
In some embodiments, a detergent spray gun may also be embedded in the support bar 6.
In some specific embodiments, the detergent spray gun 10 is a detergent high pressure gun.
In some specific embodiments, the decontamination assembly is divided into two decontamination modes, the first: autonomous decontamination, early-stage setting of a patrol part, periodic decontamination of a designated area, wherein an opening of a decontamination agent container 8 is a jack, a nozzle can be a bevel connection contact pin, the decontamination agent container 8 is fed into the decontamination agent nozzle by adopting a track, the specific connection is similar to an infusion apparatus, the designated nozzle is sprayed, a decontamination hairbrush transmission part is provided with lifting and falling, a hairbrush sleeve can rotate at a high speed, and the hairbrush is provided with replacement to forcefully wipe the surface of the polluted area. Second kind: remote control decontaminates, and the high-pressure gun is connected to the environment of the high pollution large area and is flushed with fresh water, and the range of the high-pressure gun nozzle satisfies the regulation, and the high-pressure gun joint of the machine body is a female joint, and the external pipeline joint is a male joint, and the nozzle is arranged on the inner sides of the two support rods and is used for eliminating the radiation high-point operation mechanical arm clamping special tool.
The lifting mechanical gripper 2 comprises a rotating base 201 arranged on the base 1, a folding arm arranged on the rotating base 201, a telescopic arm 202 which is embedded in the far end of the folding arm in a sliding manner, and a mechanical gripper 203 arranged on the far end of the telescopic arm 202; a detergent spray gun 10 is provided at the distal end of the telescopic arm.
Specifically, the folding arm includes a first support arm 204 and a second support arm 205 rotatably connected to each other at an end, and the other end of the first support arm 204 is rotatably connected to the rotation base 201. A caulking groove is arranged at the distal end of the second supporting arm 205, a telescopic cylinder is arranged in the caulking groove, and the telescopic arm 202 is pushed to extend through the telescopic cylinder.
The first support arm 204 and the second support arm 205 and the first support arm 204 and the rotating base 201 are respectively connected through corresponding harmonic motors in a rotating way. The rotation angle is accurately controlled by the harmonic motor, so that the position of the mechanical gripper 203 is accurately controlled.
In some specific embodiments, besides the detergent spray gun 10, the wrist part of the mechanical arm can be provided with a gamma dose rate monitor and an alpha/beta surface pollution monitor, the extension and retraction of the mechanical arm of the gamma dose rate monitor can replace a long rod dose monitor, and the clamp of the mechanical gripper 203 can bear the gravity of 50kg, so that the clamping force of a light tool is met.
The moving assembly comprises a guide wheel supporting frame 12 arranged on two sides of the bottom of the base 1, a plurality of moving guide wheels 13 arranged on the guide wheel supporting frame 12, and a moving track 7 wound outside the moving guide wheels 13. The advancing system is a crawler system, is suitable for complex rugged region operation, and cannot cause secondary pollution and loss to pipelines and lines on the ground.
In some specific embodiments, the robot further comprises a control system, wherein the control system comprises an embedded development board, a communication converter of an upper computer and a lower computer, a singlechip, a controller, a driving board, a range finder and an obstacle avoidance device; and (3) a power supply system: the charging pile is powered, the power supply system supplies power at the fixed unit position, the low electric quantity sends out an early warning signal, the charging pile automatically returns to the charging position, and manual charging is met; the obstacle avoidance device is an infrared obstacle avoidance device or an ultrasonic obstacle avoidance device.
In some specific embodiments, the robot further comprises a tungsten coating layer as a protective layer, and the tungsten coating layer covers the device.
In some specific embodiments, the top surface of the base 1 is further provided with a hook, so that the robot can be conveniently carried and hoisted into a monitoring and decontamination operation place, and meanwhile, the robot can be remotely controlled to an operation designated area through the cooperation of the monitoring camera 3 and the moving assembly.
Working principle: entering an operation environment field, capturing the surrounding environment by a monitoring and decontamination robot, performing reference setting on potential obstacles, determining a patrol area, and setting a monitoring implementation range by personnel in a matching way; meanwhile, the monitoring assembly collects initial states, the supporting assembly starts to rotate, and the monitoring assembly collects environmental field aerosols and feeds the environmental field aerosols back to a display screen of a worker; the lifting support rod is lifted by the system main board after collection, the dosage rate of the height space is subjected to general investigation, and meanwhile, the support is rotated, so that uniform monitoring of each space is ensured;
when the radiation high point and the aerosol are monitored to exceed the standard, the supporting component rotates back and forth, the monitoring system carries out secondary review monitoring, data feedback and early warning is sent out; then starting a decontamination system, and according to the dosage rate and the nuclide analysis, spraying the decontaminating agent to the hairbrush 11 by using a decontaminating agent supplementing spray pipe, and starting the hairbrush to rotate at a high speed so as to decontaminate the ground and the wall surface;
connecting a detergent spray gun 10 to a large-scale area aerosol and a high-pollution area, starting a monitoring camera 3 for observation, eliminating radiation hot spots, controlling a harmonic motor in a lifting mechanical gripper 2 to a complicated area and a high-radiation point, and stretching a mechanical arm clamping tool to an exceeding point to eliminate the hot spots and the high points; and feedback of the dose rate is performed by a long rod monitor.
The previous description of the embodiments is provided to facilitate a person of ordinary skill in the art in order to make and use the present invention. It will be apparent to those skilled in the art that various modifications can be readily made to these embodiments and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above-described embodiments, and those skilled in the art, based on the present disclosure, should make improvements and modifications without departing from the scope of the present invention.
Claims (10)
1. A radiation monitoring and decontamination robot, comprising
A base (1) with a moving component at the bottom and a supporting component at the top;
the monitoring assembly comprises a monitoring camera (3) and a detection mounting seat (4) which are arranged on the supporting assembly, and a detector arranged on the detection mounting seat (4);
the lifting mechanical gripper (2) is arranged on the base (1); and
the decontamination assembly comprises a decontamination container (8) arranged at the bottom of the base (1), a hairbrush (9) arranged at the front end of the base (1), a decontamination agent supplementing spray pipe which is directed to the hairbrush (9) and connected with the decontamination container (8) through a pipeline, and a decontamination agent spray gun (10) arranged at the movable end of the lifting mechanical gripper (2) and connected with the decontamination container (8) through a pipeline.
2. The radiation monitoring and decontamination robot according to claim 1, wherein the moving assembly comprises a guide wheel support frame (12) arranged at two sides of the bottom of the base (1), a plurality of moving guide wheels (13) arranged on the guide wheel support frame (12), and a moving crawler (7) wound outside the plurality of moving guide wheels (13).
3. A radiation monitoring and decontamination robot according to claim 1, characterized in that the top surface of the base (1) is also provided with hooks.
4. A radiation monitoring and decontamination robot as claimed in claim 1, characterized in that the support assembly comprises a rotating table (5) arranged on top of the base (1), and a support bar (6) arranged on the rotating table (5).
5. A radiation monitoring and decontamination robot as claimed in claim 4, characterized in that the support bar (6) is a lifting support bar.
6. The radiation monitoring and decontamination robot of claim 1, wherein said detector comprises at least one of an aerosol radiation monitor, a neutron monitor, a gamma dose rate measurement, and a surface contamination monitor.
7. The radiation monitoring and decontamination robot according to claim 1, wherein the lifting mechanical gripper (2) comprises a rotating base (201) arranged on the base (1), a folding arm arranged on the rotating base (201), a telescopic arm (202) slidably embedded at the distal end of the folding arm, and a mechanical gripper (203) arranged at the distal end of the telescopic arm (202);
the detergent spray gun (10) is arranged at the far end of the telescopic arm.
8. The radiation monitoring and decontamination robot of claim 7, wherein the folding arm comprises a first support arm (204) and a second support arm (205) rotatably connected at their ends, and wherein the other end of the first support arm (204) is rotatably connected to a rotating base (201).
9. The radiation monitoring and decontamination robot of claim 1, wherein the first support arm (204) and the second support arm (205) and the first support arm (204) and the rotating base (201) are rotatably connected by corresponding harmonic motors.
10. A radiation monitoring and decontamination robot as claimed in claim 1, characterized in that the decontamination module further comprises a floor decontamination nozzle (11) provided at the bottom of the base (1) in communication with the decontamination container (8) line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211616815.3A CN115990864A (en) | 2022-12-15 | 2022-12-15 | Radiation monitoring and decontamination robot in nuclear industry post-treatment environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211616815.3A CN115990864A (en) | 2022-12-15 | 2022-12-15 | Radiation monitoring and decontamination robot in nuclear industry post-treatment environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115990864A true CN115990864A (en) | 2023-04-21 |
Family
ID=85989807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211616815.3A Pending CN115990864A (en) | 2022-12-15 | 2022-12-15 | Radiation monitoring and decontamination robot in nuclear industry post-treatment environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115990864A (en) |
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2022
- 2022-12-15 CN CN202211616815.3A patent/CN115990864A/en active Pending
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