CN117798881A - Glove box retired robot, glove box retired system and nuclear facility retired method - Google Patents

Abstract

The invention discloses a glove box retired robot, a glove box retired system and a nuclear facility retired method, wherein a mechanical arm of a crawler robot accurately enters a glove operation hole, and the interior of a glove box is cleaned and decontaminated. The glove box retired robot comprises a crawler-type traveling system (1), an arm moving system (3), a mechanical arm system (2) and an electric control system (7). The arm moving system (3) comprises a horizontal screw rod module and a vertical screw rod module. The horizontal screw rod module is fixed at the front end of the crawler-type traveling system (1) and used for performing linear motion in the horizontal direction. The vertical screw rod module is fixed on the sliding block of the horizontal screw rod module and used for performing linear motion in the vertical direction. The mechanical arm system (2) comprises two mechanical arms, and the two mechanical arms are fixed on a sliding block on the vertical screw rod module so as to move under the drive of the arm moving system (3). The roots of the two mechanical arms rotate around the same axis.

Description

Glove box retired robot, glove box retired system and nuclear facility retired method

Technical Field

The invention belongs to the technical field of nuclear facility retirement, and particularly relates to a glove box retirement robot, a glove box retirement system and a nuclear facility retirement method.

Background

A large number of nuclear facilities need to be retired, the retired environment is complex, unstructured is generally serious, and the retired environment and the interior of the nuclear facilities contain a large amount of radioactive wastes, so that the difficulty and the danger of manual dismantling and treatment are high. Among many nuclear facilities requiring retirement, glove boxes and devices in glove boxes are taken as main nuclear protection facilities, and have a large specific gravity.

The conventional solution is that personnel wear protective clothing to decontaminate, disassemble, dismantle and the like the glove box to be retired, but the personnel will be affected by certain irradiation.

There are also ways of decontamination using tracked robots in the prior art. FIGS. 1 and 2 are schematic structural views of a glove box, and the difficulty of cleaning, decontaminating and disassembling the interior of the glove box is far greater than that of the exterior during the decommissioning process of the glove box; and since the radioactive source item of the glove box exists mainly inside, the distribution and the radioactivity level of the radioactive source item are generally unknown, and if the radioactive source item is directly disassembled from outside to inside, disastrous results are likely to be caused by sudden increase of the radioactivity level. The crawler robot can disassemble the glove box, and can directly adopt cold cutting tools such as a circular saw, a reciprocating saw, a hydraulic shear and the like, and can also adopt hot cutting tools such as laser cutting, plasma cutting and the like. However, in a glove box with extremely limited space, the crawler robot has great difficulty in operation, cleaning and decontamination for the following reasons:

as shown in fig. 1 and 2, the entry of the robot arm of the tracked robot into the glove box is mainly by two routes: the access door 21 is arranged on the side face of the glove box, but the access door 21 is generally positioned on one side of the glove box, so that the glove box with a large length is difficult to clean on the other side; in addition, due to radiation protection requirements, the thickness and the weight of the access door 21 are large, the mechanical arm of the crawler robot is difficult to open, and the opening of the access door can cause the large radioactive atmosphere of the glove box to be open, so that the atmosphere control of retired surrounding environment is not facilitated. The other way is that the glove is put into the glove box through the glove operation holes 22, the glove operation holes 22 are reasonably distributed on the surface of the glove box, all the space inside the glove box can be basically traversed through the glove operation holes 22, rubber gloves are arranged at the glove operation holes 22, the rubber gloves are easy to remove, and after the rubber gloves are removed, the radioactive atmosphere of the glove box is small in opening, so that the atmosphere control of the retired surrounding environment is easy to carry out. However, the size of the glove operation hole 22 is small, the diameter is generally not more than 180mm, and the positioning accuracy of the crawler robot is low, so that the mechanical arm of the crawler robot is difficult to accurately extend into the glove operation hole 22, and the operation, cleaning and decontamination of the interior of the glove box are difficult.

Disclosure of Invention

The invention aims to solve the technical problems of the prior art, and provides a glove box retired robot, a glove box retired system and a nuclear facility retired method, which can enable a mechanical arm of a crawler robot to accurately enter a glove operation hole of a glove box so as to clean and decontaminate the interior of the glove box.

In a first aspect, an embodiment of the present invention provides a glove box retired robot, including a crawler running system, an arm moving system, a mechanical arm system, and an electric control system. The arm moving system comprises a horizontal screw rod module and a vertical screw rod module. The horizontal screw rod module is fixed at the front end of the crawler-type traveling system and used for performing linear motion in the horizontal direction. The vertical screw rod module is fixed on the sliding block of the horizontal screw rod module and used for performing linear motion in the vertical direction. The mechanical arm system comprises two mechanical arms, and the two mechanical arms are fixed on a sliding block on the vertical screw rod module so as to move under the drive of the arm moving system; the roots of the two mechanical arms rotate around the same axis, one mechanical arm is used for disassembling and cleaning articles in the glove box, and the other mechanical arm is used for decontaminating the glove box. The electric control system is fixed on the crawler-type traveling system and is electrically connected with the crawler-type traveling system, the arm moving system and the mechanical arm system respectively so as to control the crawler-type traveling system, the arm moving system and the mechanical arm system.

Therefore, according to the glove box retired robot provided by the embodiment of the invention, after the horizontal screw rod module and the vertical screw rod module in the arm moving system are arranged and the two mechanical arms are fixed on the sliding blocks on the vertical screw rod module, the two mechanical arms can be accurately moved in the vertical direction and the horizontal direction through the arm moving system, and simultaneously, the gesture of the two mechanical arms is adjusted through the mechanical arm system, so that the two mechanical arms can be accurately aligned with the glove operating hole, and the glove enters the glove box from the glove operating hole to clean and decontaminate the interior of the glove box. Moreover, the root parts of the two mechanical arms are arranged to rotate around the same axis, so that the operation datum points of the two mechanical arms are the same, the posture of the root parts of the two mechanical arms is kept consistent, and the two mechanical arms can enter the glove box through the glove operation holes more easily. When the operation datum point needs to be adjusted, the horizontal screw rod module and the vertical screw rod module can simultaneously drive the two mechanical arms to perform the same motion, so that the control difficulty and the control precision for simultaneously operating the two mechanical arms are reduced. By arranging the electric control system, the automatic control of the glove box retired robot can be realized, and the automation level of the glove box retired robot is improved.

In some embodiments, the two mechanical arms are specifically a first mechanical arm and a second mechanical arm, the first mechanical arm is used for decontaminating the glove box, the second mechanical arm is used for disassembling and cleaning objects in the glove box, and the length of the second mechanical arm is greater than that of the first mechanical arm.

In some embodiments, the maximum dimension of the cross section of the robotic arm system is less than the size of the glove handling aperture on the glove box with the first and second robotic arms all in a straightened and horizontal state.

In some embodiments, an end of the second robotic arm is provided with a quick-change tool system comprising a quick-change tool joint. The quick-change tool joint is used for quickly changing the quick-change tool, so that the second mechanical arm can realize different disassembling and cleaning functions through the quick-change tool.

The glove box retired robot further comprises a quick-change tool box fixed on the crawler-type traveling system, and a plurality of quick-change tools are arranged in the quick-change tool box so as to provide quick-change tools needed by the quick-change tool joint.

In some embodiments, the end of the first mechanical arm is provided with a decontamination system electrically connected with the electrical control system, the decontamination system comprising a high pressure spray device for high pressure spraying of the decontaminating agent. The glove box retired robot further comprises a pressure air system electrically connected with the electric control system, wherein the pressure air system is fixed at the rear end of the crawler-type running system and connected with the high-pressure spraying device, and is used for providing a high-pressure air source for the high-pressure spraying device under the control of the electric control system.

In some embodiments, the high pressure spray device is connected to the detergent storage device by a conduit. The detergent storage device is arranged outside the nuclear facility or is fixed on the crawler-type running system.

In some embodiments, a camera monitoring system electrically connected with the electric control system is arranged at the end part of the first mechanical arm; and/or, a hot spot monitoring system electrically connected with the electric control system is arranged at the end part of the first mechanical arm.

In some embodiments, the electronic control system is electrically connected to the outside of the nuclear facility by a cable, and/or the electronic control system has a wireless transmission function for wireless communication with the outside of the nuclear facility.

In a second aspect, an embodiment of the present invention further provides a glove box retired system, where the glove box retired system includes the glove box retired robot and a remote control system, where the remote control system is connected to an electronic control system of the glove box retired robot through a cable or in a wireless manner, and is used to remotely control the glove box retired robot.

In a third aspect, an embodiment of the present invention further provides a retirement method of a core facility, where the retirement method of the core facility includes: the electronic control system drives the crawler-type traveling system to travel, so that the glove box retired robot is close to a glove operation hole of the glove box; the electronic control system drives a horizontal screw rod module and a vertical screw rod module in the arm moving system to move so as to adjust the positions of two mechanical arms, and simultaneously drives the mechanical arm system to adjust the postures of the two mechanical arms so as to align the two mechanical arms with the glove operation holes and enable the two mechanical arms to enter the glove box from the glove operation holes; the electronic control system drives the two mechanical arms of the mechanical arm system to clean and decontaminate the interior of the glove box.

The decommissioning system and the decommissioning method of the nuclear facility provided by the embodiment of the invention have the same beneficial effects as the glove box decommissioning robot, and are not repeated here.

Drawings

Fig. 1: the structure diagram of the glove box is shown;

fig. 2: is a rear view of the glove box of fig. 1;

fig. 3: the glove box retired robot structure diagram provided by the embodiment of the invention;

fig. 4: a side view of the glove box retired robot of fig. 3.

Detailed Description

The present invention will be described in further detail below with reference to the drawings and examples for better understanding of the technical scheme of the present invention to those skilled in the art.

Example 1:

as shown in fig. 3 and 4, an embodiment of the present invention provides a glove box retired robot for performing retirement treatment on a nuclear facility, where the glove box retired robot includes a crawler-type traveling system 1, an arm moving system 3, a mechanical arm system 2, and an electronic control system 7.

The crawler-type traveling system 1 can enable the glove box retired robot to have traveling capability. Moreover, the retired environment is generally an unstructured environment, is full of sundries, obstacles and ravines, has higher requirements on a running system, and compared with a common wheel type running system (wheels and Mecanum wheels), the crawler-type running system 1 can enable the glove box retired robot to have certain obstacle surmounting capability and improve the environmental adaptability of the glove box retired robot. And the crawler-type traveling system 1 can provide better load capacity, and can enable the glove box retired robot to install more functional components.

As shown in fig. 3 and 4, the arm moving system 3 includes a horizontal screw module and a vertical screw module. The horizontal screw rod module is fixed at the front end of the crawler-type traveling system 1 and used for performing linear motion in the horizontal direction. The vertical screw rod module is fixed on the sliding block of the horizontal screw rod module and used for performing linear motion in the vertical direction. The mechanical arm system 2 comprises two mechanical arms, and the two mechanical arms are fixed on a sliding block on the vertical screw rod module so as to move under the drive of the arm moving system 3. The roots of the two mechanical arms rotate around the same axis, one mechanical arm is used for disassembling and cleaning articles in the glove box, and the other mechanical arm is used for decontaminating the interior of the glove box.

The motion accuracy of the horizontal screw module and the vertical screw module in the arm moving system 3 is high, so that after two mechanical arms are fixed on the slide block on the vertical screw module, accurate movement of the two mechanical arms in the vertical direction and the horizontal direction can be realized.

In the actual use process of the glove box retired robot, the glove box retired robot can be firstly close to the glove operation hole 22 through the crawler-type traveling system 1, then the positions of the two mechanical arms are adjusted through the horizontal screw rod module and the vertical screw rod module in the arm moving system 3, and simultaneously the postures of the two mechanical arms are adjusted through the driving mechanical arm system 2, so that the two mechanical arms and the glove operation hole 22 can be accurately aligned, and the glove box can be accurately moved into the glove box from the glove operation hole 22 to clean and decontaminate the interior of the glove box; meanwhile, the crawler-type walking system 1 and the arm moving system 3 which are positioned outside the glove box can provide support for two mechanical arms which extend into the glove box.

In addition, because the root parts of the two mechanical arms are arranged to rotate around the same axis, the operation datum points of the two mechanical arms are the same, the consistent posture of the root parts of the two mechanical arms can be easily realized, and the two mechanical arms can be more easily made to enter the glove box through the glove operation holes 22 at the same time. And when this operation datum point needs to be adjusted, the arm moving system 3 that is located outside the glove box can drive two robotic arms simultaneously through horizontal lead screw module and vertical lead screw module and carry out the same motion, has reduced the degree of difficulty and the control accuracy of controlling two robotic arms and operating simultaneously.

Further, the cross-sectional dimension of the root of the two mechanical arms is smaller than the maximum cross-sectional dimension formed by other parts of the two mechanical arms. After the two mechanical arms enter the glove box through the glove operation hole 22, the root parts of the two mechanical arms have larger movable spaces in the glove operation hole, so that the two mechanical arms can be allowed to finely adjust the azimuth and the posture of the two mechanical arms through the crawler traveling system 1 and the arm moving system 3, and the working range of the two mechanical arms can cover the larger space in the glove box as much as possible.

Through making one of them robotic arm be used for disassembling the clearance to the interior article of glove box, another robotic arm is used for decontaminating the glove box, can make the retired robot of glove box have more clearance modes to can make two robotic arms clear up the decontamination simultaneously to the glove box is inside, be favorable to improving the clearance efficiency of glove box.

As shown in fig. 3 and 4, the electric control system 7 is fixed on the crawler-type traveling system 1 and electrically connected with the crawler-type traveling system 1, the arm moving system 3 and the mechanical arm system 2, respectively, so as to control the crawler-type traveling system 1, the arm moving system 3 and the mechanical arm system 2.

Illustratively, the electronic control system 7 may control the crawler travel system 1 to make forward, reverse, turn, etc. The electronic control system 7 can control the arm moving system 3 to move in the vertical direction and the horizontal direction. The electronic control system 7 can control the mechanical arm in the mechanical arm system 2 to rotate, extend, shorten or perform decontamination and other operations.

The automatic control of the glove box retired robot can be realized through the electric control system 7, and the automation level of the glove box retired robot is improved.

Therefore, according to the glove box retired robot provided by the embodiment of the invention, after the horizontal screw rod module and the vertical screw rod module in the arm moving system 3 are arranged and the two mechanical arms are fixed on the sliding blocks on the vertical screw rod module, the two mechanical arms can be accurately moved in the vertical direction and the horizontal direction through the arm moving system 3, and simultaneously, the gesture of the two mechanical arms is adjusted through the mechanical arm system 2, so that the two mechanical arms can be accurately aligned with the glove operation hole 22, and the glove box can be cleaned and decontaminated after entering the glove box from the glove operation hole 22. Moreover, by setting the root parts of the two mechanical arms to rotate around the same axis, the operation datum points of the two mechanical arms can be the same, so that the posture of the root parts of the two mechanical arms is kept consistent, and the two mechanical arms can enter the glove box through the glove operation hole 22 more easily. When the operation datum point needs to be adjusted, the horizontal screw rod module and the vertical screw rod module can simultaneously drive the two mechanical arms to perform the same motion, so that the control difficulty and the control precision for simultaneously operating the two mechanical arms are reduced. By arranging the electric control system 7, the automatic control of the glove box retired robot can be realized, and the automation level of the glove box retired robot is improved.

In some embodiments, the glove box retired robot further comprises a power source and power system for the power source and power needed to operate the various systems in the glove box retired robot.

In some embodiments, as shown in fig. 3 and 4, the two mechanical arms are specifically a first mechanical arm 8 and a second mechanical arm 9, where the first mechanical arm 8 is used for decontaminating the glove box, the second mechanical arm 9 is used for disassembling and cleaning the articles in the glove box, and the length of the second mechanical arm 9 is greater than that of the first mechanical arm 8. Illustratively, the first robot 8 typically sprays high pressure air flow to decontaminate the glove box, and the second robot 9 typically uses tools to disassemble and clean the glove box.

The first manipulator arm 8 is a two-joint manipulator arm, and the second manipulator arm 9 is a three-joint manipulator arm.

Or, the first mechanical arm 8 is a three-section mechanical arm, the second mechanical arm 9 is a four-section mechanical arm, and the structures of the first mechanical arm 8 and the second mechanical arm 9 can be flexibly set according to the requirements of the site.

Under such circumstances, it can be understood that the second mechanical arm 9 has more degrees of freedom, so that the second mechanical arm 9 is more flexible, and can perform more actions when the second mechanical arm 9 disassembles and cleans the articles in the glove box, so as to better complete the task of disassembling and cleaning.

As shown in fig. 1, the glove box is divided into an upper portion and a lower portion. The upper part is the main body of the glove box and is also the main containing space of the process equipment, and is a key operation object, the pollution level is higher, and the decontamination and cleaning difficulties are higher. However, for the lower part of the glove box, the pollution level is small because the lower part is isolated from the main operation space, and when the upper part of the glove box is cleaned and removed, the cleaning and decontamination in the inner space of the lower part is simpler. But the second robot arm 9 with a longer length can clean the partial area due to the lower position. The first robot 8 decontaminates by spraying a decontaminant, which can be sprayed onto the surface of the area to be decontaminated even if the first robot 8 is short.

In the embodiment of the invention, the length of the second mechanical arm 9 is longer than that of the first mechanical arm 8, so that the second mechanical arm 9 and the first mechanical arm 8 have different functions under the condition of compact structural design of the two mechanical arms, and the cleaning and decontamination work of all positions in the glove box is satisfied.

In some embodiments, the maximum size of the cross section of the robotic arm system 2 is less than the size of the glove handling aperture 22 on the glove box with the first and second robotic arms 8, 9 all in a straightened and horizontal state.

It will be appreciated that in the above case the cross-sectional dimensions of the robotic arm system 2 are minimal. By the above arrangement, it is ensured that the robot arm system 2 can pass through the same glove operation hole 22 to enter the glove box by reasonably adjusting the extension state of the robot arm system 2.

In some embodiments, as shown in fig. 3 and 4, the end of the second robot arm 9 is provided with a quick-change tool system 4, the quick-change tool system 4 comprising a quick-change tool joint. The quick-change tool joint is used for quickly changing the quick-change tool, so that the second mechanical arm 9 can realize different disassembling and cleaning functions through the quick-change tool.

By way of example, the quick-change tool may include a circular saw, hydraulic shears, clamps, bucket, or the like. After the quick-change tool is mounted on the quick-change tool joint of the second mechanical arm 9, the second mechanical arm 9 can perform operations such as cutting, splitting, clamping or shoveling.

Through the arrangement, the second mechanical arm 9 can realize different functions by replacing different quick-change tools through the quick-change tool system 4, and the adaptability of the glove box retired robot to different cleaning works is improved.

In some embodiments, the glove box retired robot further comprises a quick-change tool box fixed on the crawler running system 1, wherein the quick-change tool box comprises a plurality of quick-change tools to provide the quick-change tools needed by the quick-change tool joints.

Through the arrangement, the glove box retired robot can randomly carry various quick-change tools, so that the glove box retired robot can quickly change various quick-change tools on a working site, different functions are realized, the time for returning the glove box retired robot to the outside of a nuclear facility to change the quick-change tools is reduced, and the working efficiency of the glove box retired robot on the working site is improved.

In some embodiments, the end of the first robot arm 8 is provided with a decontamination system electrically connected to the electronic control system 7, the decontamination system comprising a high pressure spraying device for high pressure spraying of the decontaminating agent. The glove box retired robot further comprises a pressure air system 6 electrically connected with the electric control system 7, wherein the pressure air system 6 is fixed at the rear end of the crawler-type running system 1 and connected with the high-pressure spraying device and used for providing a high-pressure air source for the high-pressure spraying device under the control of the electric control system 7.

The pressure of the high pressure air source, which may be high pressure air, is illustratively between 0.7MPa and 1MPa, and the air system 6 includes an air compressor.

The high-pressure air flow is adopted to spray and decontaminate, so that the decontaminating agent can be sprayed at a far place, and the arm extension of the first mechanical arm 8 can be completed without setting longer, so that the work of spraying and decontaminating in the glove box can be completed.

In some embodiments, the high pressure spray device is connected to the detergent storage device by a conduit. The detergent storage device is used for storing various detergents, and in this embodiment, the detergent storage device may be disposed in a plurality of places.

In some examples, the detergent storage device is disposed outside the nuclear facility.

Therefore, the detergent in the detergent storage device can be flexibly replaced, and the detergent can be timely added or replaced, so that the load of the crawler-type running system 1 is reduced, and the working continuity of the glove box retired robot is maintained.

Alternatively, in other examples, the detergent storage device is fixed to crawler running system 1.

It can be appreciated that the pipeline required for connecting the high-pressure spraying device and the detergent storage device is shorter and is arranged on the crawler-type traveling system 1, so that when the glove box retired robot travels, the pipeline can be prevented from winding to influence the traveling of the glove box retired robot.

After entering the retired nuclear facility, the glove box retired robot is usually remotely operated by a worker (operator) outside the retired nuclear facility, and therefore, it is important to monitor the environmental state near the glove box retired robot in real time.

In some embodiments, the end of the first robot arm 8 is provided with a camera monitoring system electrically connected to the electronic control system 7.

Illustratively, the camera monitoring system is composed of a plurality of cameras, and can capture environmental conditions near the glove box retired robot.

Through the arrangement, the camera monitoring system can transmit the environmental state near the working device to the staff in real time so as to enable the staff to judge the field environment and select the scheme. In addition, the camera monitoring system is arranged at the end part of the first mechanical arm 8 and is at a certain distance from the second mechanical arm 9, so that a worker can control a camera in the camera monitoring system to observe from different angles and guide the second mechanical arm 9 to operate, and the second mechanical arm 9 is prevented from shielding the camera in the camera monitoring system; the damage and the interference of mechanical vibration and powder splashing caused to the camera monitoring system during the working of the quick-change tool on the second mechanical arm 9 can be reduced.

In other embodiments, the end of the first robot arm 8 and the end of the second robot arm 9 are provided with a camera monitoring system electrically connected to the electronic control system 7.

The camera monitoring systems are arranged on the two mechanical arms at the same time, so that the surrounding environment state of the glove box retired robot during operation can be provided from different visual angles as far as possible; and the camera monitoring system on one mechanical arm can be used as a redundant design, so that the reliability of the camera monitoring system is improved.

Further, in some examples, an end of the first robot arm 8 is provided with a hot spot monitoring system electrically connected to the electronic control system 7.

Through the arrangement, the glove box retired robot can also detect ionizing radiation at the same time, and can provide irradiation range reference for staff, so that detergent can be sprayed and decontaminated timely according to the dosage level of the working area of the glove box retired robot, and the irradiation dosage suddenly increased is prevented from greatly influencing the glove box retired robot.

In some embodiments, the electronic control system 7 is electrically connected to the outside of the nuclear facility through a cable, or the electronic control system 7 has a wireless transmission function for wireless communication with the outside of the nuclear facility.

Through the arrangement, a worker outside the nuclear facility can communicate with the electric control system 7 in a cable or wireless mode, so that the operation of the hand box retired robot is controlled remotely, and the irradiation level of the worker is reduced.

Furthermore, the electric control system 7 is provided with the two communication modes, so that communication can be realized through electric connection between the cable and the outside of the nuclear facility, and wireless communication can be realized through a wireless transmission function and the outside of the nuclear facility.

Therefore, the communication mode with staff outside the nuclear facilities can be flexibly selected according to the actual conditions of the nuclear facilities to be retired, and the adaptability of the glove box retired robot to different nuclear facilities is improved.

Example 2:

the embodiment of the invention also provides a glove box retired system, which comprises the glove box retired robot and a remote control system as in the embodiment 1, wherein the remote control system is connected with the electronic control system 7 of the glove box retired robot in a cable or wireless mode and is used for remotely controlling the glove box retired robot.

By way of example, the remote control system may be a remote control handle or the like.

Through the arrangement, a worker can remotely control the glove box retired robot outside the nuclear facility through the remote control system so as to clean the retired nuclear facility, and the irradiation level of the worker can be reduced.

Example 3:

the embodiment of the invention also provides a retirement method of a nuclear facility, which adopts the glove box retirement robot in the embodiment 1, and comprises the following steps: S100-S300.

S100, an electric control system drives a crawler-type traveling system 1 to travel, so that a glove box retired robot is close to a glove operation hole 22 of a glove box;

s200, an electric control system drives a horizontal screw rod module and a vertical screw rod module in an arm moving system 3 to move so as to adjust the positions of two mechanical arms, and simultaneously, the electric control system drives a mechanical arm system 2 to adjust the postures of the two mechanical arms so as to align the two mechanical arms with a glove operation hole 22 and enable the two mechanical arms to enter a glove box from the glove operation hole 22;

s300, the electronic control system drives two mechanical arms of the mechanical arm system 2 to clean and decontaminate the interior of the glove box.

Illustratively, during this process, equipment, devices, items, etc. within the glove box may be disassembled and cleaned by the second robotic arm 9. If during disassembly the level of radioactivity in the glove box suddenly increases or exceeds the standard limit, the decontamination of the area using the first robot arm 8 continues until the level of radioactivity in the glove box falls below the standard.

And then the glove box retired robot moves to other glove operation holes 22, and S100-S300 are repeated until all equipment, devices and articles in the glove box are cleaned and decontaminated by the glove box retired robot.

Therefore, after the glove box retired robot approaches the glove operation hole 22, the two mechanical arms can be accurately aligned with the glove operation hole 22 through the electric control system, and smoothly enter the glove box from the glove operation hole 22, so that the interior of the glove box is cleaned and decontaminated.

It is to be understood that the above embodiments are merely illustrative of the application of the principles of the present invention, but not in limitation thereof. Various modifications and improvements may be made by those skilled in the art without departing from the spirit and substance of the invention, and are also considered to be within the scope of the invention.

Claims (10)

1. A glove box retired robot comprising:

a crawler-type traveling system (1);

arm movement system (3), comprising: the horizontal screw rod module is fixed at the front end of the crawler-type traveling system (1) and is used for performing linear motion in the horizontal direction; the vertical screw rod module is fixed on the sliding block of the horizontal screw rod module and is used for performing linear motion in the vertical direction;

the mechanical arm system (2) comprises two mechanical arms, wherein the two mechanical arms are fixed on a sliding block on the vertical screw rod module so as to move under the drive of the arm moving system (3); the roots of the two mechanical arms rotate around the same axis, one mechanical arm is used for disassembling and cleaning articles in the glove box, and the other mechanical arm is used for decontaminating the interior of the glove box; and, a step of, in the first embodiment,

the electric control system (7) is fixed on the crawler-type traveling system (1) and is electrically connected with the crawler-type traveling system (1), the arm moving system (3) and the mechanical arm system (2) respectively, so as to control the crawler-type traveling system (1), the arm moving system (3) and the mechanical arm system (2).

2. The glove box retired robot according to claim 1, characterized in that the two robots are specifically a first robot arm (8) and a second robot arm (9), the first robot arm (8) is used for decontaminating the glove box, the second robot arm (9) is used for dismantling and cleaning objects in the glove box, and the length of the second robot arm (9) is greater than the length of the first robot arm (8).

3. Glove box decommissioning robot according to claim 2, wherein the maximum size of the cross section of the robot arm system (2) is smaller than the size of the glove handling aperture (22) on the glove box, in a state in which the first robot arm (8) and the second robot arm (9) are all in a straightened and horizontal state.

4. Glove box decommissioning robot according to claim 2, wherein the end of the second mechanical arm (9) is provided with a quick change tool system (4), the quick change tool system (4) comprising a quick change tool joint;

the quick-change tool joint is used for quickly changing a quick-change tool so that the second mechanical arm (9) can realize different disassembly and cleaning functions through the quick-change tool;

the glove box retired robot further comprises a quick-change tool box fixed on the crawler-type traveling system (1), and a plurality of quick-change tools are arranged in the quick-change tool box so as to provide quick-change tools required by the quick-change tool joint.

5. Glove box decommissioning robot according to claim 2, wherein the end of the first mechanical arm (8) is provided with a decontamination system electrically connected to the electrical control system (7), the decontamination system comprising a high-pressure spraying device for high-pressure spraying of the decontaminating agent;

the glove box retired robot further comprises a pressure air system (6) electrically connected with the electric control system (7), wherein the pressure air system (6) is fixed at the rear end of the crawler-type traveling system (1) and is connected with the high-pressure spraying device, and the glove box retired robot is used for providing a high-pressure air source for the high-pressure spraying device under the control of the electric control system (7).

6. The glove box retirement robot according to claim 5, wherein the high pressure sprinkler is connected to a detergent storage device through a pipe;

the detergent storage device is arranged outside the nuclear facility or is fixed on the crawler-type running system (1).

7. Glove box decommissioning robot according to claim 2, characterized in that the end of the first mechanical arm (8) is provided with a camera monitoring system electrically connected to the electronic control system (7); and/or the end part of the first mechanical arm (8) is provided with a hot spot monitoring system electrically connected with the electric control system (7).

8. Glove box decommissioning robot according to any one of claims 1-7, wherein the electronic control system (7) is electrically connected to the outside of the nuclear facility by means of a cable and/or wherein the electronic control system (7) has a wireless transmission function for wireless communication with the outside of the nuclear facility.

9. A glove box retirement system, comprising:

the glove box retirement robot of any one of claims 1-8; and, a step of, in the first embodiment,

the remote control system is connected with an electric control system (7) of the glove box retired robot in a cable or wireless mode and is used for remotely controlling the glove box retired robot.

10. A method for retirement of a nuclear facility, characterized in that the glove box retirement robot according to any one of claims 1-8 is used, the method for retirement of a nuclear facility comprising:

the electronic control system drives the crawler-type traveling system (1) to travel, so that the glove box retired robot is close to a glove operation hole (22) of the glove box;

the electronic control system drives a horizontal screw rod module and a vertical screw rod module in the arm moving system (3) to move so as to adjust the positions of two mechanical arms, and simultaneously drives the mechanical arm system (2) to adjust the postures of the two mechanical arms so that the two mechanical arms are aligned with the glove operation hole (22) and enter the glove box from the glove operation hole (22);

the electronic control system drives the two mechanical arms of the mechanical arm system (2) to clean and decontaminate the interior of the glove box.