CN120755143A - Wall climbing cleaning device and method suitable for small space of containment vessel - Google Patents
Wall climbing cleaning device and method suitable for small space of containment vesselInfo
- Publication number
- CN120755143A CN120755143A CN202511262031.9A CN202511262031A CN120755143A CN 120755143 A CN120755143 A CN 120755143A CN 202511262031 A CN202511262031 A CN 202511262031A CN 120755143 A CN120755143 A CN 120755143A
- Authority
- CN
- China
- Prior art keywords
- piece
- dust collection
- containment
- wall
- cleaning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/24—Hoses or pipes; Hose or pipe couplings
- A47L9/248—Parts, details or accessories of hoses or pipes
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
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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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Cleaning In General (AREA)
Abstract
The invention relates to the technical field of containment cleaning, and discloses a wall climbing cleaning device and method suitable for a narrow space of a containment. In the wall climbing cleaning device, one end of the dust collection piece is connected to the adjusting piece, the adjusting piece is movably arranged on the mounting rail, the first driving piece can drive the adjusting piece to move along the length direction of the mounting rail, and the dust collection piece is driven to move along the length direction of the mounting rail, so that the cleaning range of the dust collection piece in a narrow space can be enlarged through the position movement of the dust collection piece, and the cleaning effect on the wall surface of the containment under the condition of limited movement is improved. The detection module can identify facility barriers on the wall surface of the containment in real time, and guide the dust collection piece to avoid the barriers independently. The invention also provides a wall climbing cleaning method, the cleaning process is realized by the cooperation of all the components of the wall climbing cleaning device, the automation degree of cleaning operation is higher, compared with the cleaning of high-altitude operation facilities such as manually erecting scaffolds, the labor intensity of workers is reduced, and the safety and the working efficiency of nuclear cleaning are improved.
Description
Technical Field
The invention relates to the technical field of containment cleaning, in particular to a wall climbing cleaning device and method suitable for a narrow space of a containment.
Background
The containment of a nuclear power plant is a key barrier for ensuring the safe operation of the nuclear power plant, and the containment needs to be integrally cleaned during the primary nuclear cleaning and production operation in order to ensure that the containment reaches the cleanliness required by a radiation control area. However, a large number of unreachable areas exist on the surface of the containment, a large number of scaffolds need to be erected, and the problems of high labor cost, long working period, high working risk and the like exist, so that the cleaning difficulty is high.
In order to improve the safety and the cleaning efficiency of cleaning operation, a part of related technologies provide wall climbing cleaning equipment, a liquid injection module is integrated on the wall climbing cleaning equipment, and flushing operation can be implemented in a narrow area on the surface of a containment, so that compared with manual cleaning, the automation degree of the cleaning operation is improved, and the manual labor intensity and the cleaning difficulty are reduced.
On the one hand, the sewage generated in the cleaning process is difficult to realize effective recovery, secondary pollution is very easy to cause to a narrow area, the sensitivity inside the safety shell does not allow a large amount of liquid to be splashed, on the other hand, the dust collection head of the wall climbing cleaning device adopts a fixed design, the cleaning range is adjusted by a mobile device main body, but the movement of the device main body in a narrow space is limited, so that the dust collection operation range of the dust collection head is limited, and the cleaning effect is poor.
Disclosure of Invention
Based on the problems, the invention aims to provide the wall climbing cleaning device and the wall climbing cleaning method suitable for the small space of the containment, which can improve the cleaning effect on the small space of the wall surface of the containment, improve the efficiency and the safety of cleaning operation and reduce the cleaning difficulty.
In order to achieve the above object, the following technical solutions are provided.
The invention provides a wall climbing cleaning device suitable for a small space of a containment, which comprises a device main body, a wall climbing module connected to the device main body and capable of driving the device main body to move along the wall surface of the containment, a position adjusting module used for adjusting the position of the small space and comprising a mounting rail, an adjusting piece and a first driving piece, wherein the mounting rail is connected to the device main body, the adjusting piece is movably arranged on the mounting rail, the first driving piece is connected to the adjusting piece and capable of driving the adjusting piece to move along the length direction of the mounting rail, a dust collection module comprises a dust collection piece, a suction piece and a dust collecting container, one end of the dust collection piece is connected to the adjusting piece and can face the wall surface of the containment, the other end of the dust collection piece is communicated with the suction piece, the suction piece and the dust collecting container are both arranged on the device main body, the suction piece can provide adsorption power for the dust collection piece so that dust on the wall surface of the containment can enter the dust collecting container through the dust collection piece and the suction piece in sequence, and a detection module is arranged on the dust collection piece and is used for detecting facility obstacle of the wall surface of the containment.
Optionally, the adjusting member is slidably engaged with the mounting rail, and the first driving member is capable of driving the adjusting member to slide along a length direction of the mounting rail.
Specifically, the mounting rail is provided with first locating part along one side of self length direction, and the opposite side is provided with the second locating part, and the regulating part can slide to with first locating part or second locating part looks butt.
Optionally, the wall climbing cleaning device suitable for the small space of the containment vessel further comprises a second driving piece, wherein the second driving piece is arranged on the device main body, an output shaft of the second driving piece is fixedly connected to the mounting rail, and the second driving piece can drive the mounting rail to rotate.
Optionally, the dust absorption piece includes dust absorption end and the flexible pipeline that are connected, and the one end of dust absorption end can be towards containment wall, and the other end of dust absorption end wears to locate the regulating part and is linked together with flexible pipeline's first end, and flexible pipeline's second end communicates in the suction piece.
Specifically, the wall climbing cleaning device suitable for the small space of the containment vessel further comprises a magnetic absorption part which is connected with the outer wall surface of the dust absorption end through magnetic absorption.
Specifically, one end of the dust collection end, which faces the containment wall surface, is provided with a flexible brush.
Illustratively, the inner wall of the cleaning head is provided with a vibration generator.
Optionally, the wall climbing cleaning device suitable for the small space of the containment vessel further comprises a frequency converter, wherein the frequency converter is connected to the suction piece and is configured to adjust the adsorption power of the suction piece.
The invention provides a wall climbing cleaning method, which comprises the following steps of S1, placing the wall climbing cleaning device on a containment wall, S2, starting a suction piece, enabling a wall climbing module and/or a first driving piece to drive a dust suction piece to move relative to the containment wall so as to suck dust on the containment wall into a dust collection container, detecting facility obstacle on the containment wall by a detection module, S3, closing the suction piece when the detection module detects the facility obstacle on the containment wall, enabling the wall climbing module and/or the first driving piece to drive the dust suction piece to move to avoid the facility obstacle, and S4, repeating the steps S2-S3 until the dust suction piece realizes integral cleaning operation on the containment wall.
The invention has the beneficial effects that the wall climbing cleaning device suitable for the small space of the containment vessel is provided, one end of the dust collection piece is connected with the adjusting piece, the adjusting piece is movably arranged on the mounting rail, and the first driving piece can drive the adjusting piece to move along the length direction of the mounting rail, so that the dust collection piece connected with the adjusting piece can also be driven to move along the length direction of the mounting rail, the cleaning range of the dust collection piece can be enlarged through the self-position movement when the device main body does not move, and the cleaning effect of the device main body on the containment vessel wall surface under the condition of limited movement of the small space is improved. The detection module is arranged on the dust collection piece and can detect facility obstacle on the wall surface of the containment in real time so as to avoid collision between the dust collection piece and the facility obstacle on the wall surface of the containment in the cleaning process and improve the safety of cleaning operation. The dust collection module provides stable adsorption power through the suction piece, so that the dust collection piece can be tightly attached to the wall surface of the containment, dust is stripped from the wall surface of the containment and conveyed to the dust collection container through air flow, and secondary pollution caused by flying dust during traditional manual cleaning is avoided. Compared with the wet cleaning mode used in the prior art, the wall climbing cleaning device does not need to spray liquid to a narrow dust accumulation area for flushing, does not cause secondary pollution to the wall surface of the containment, avoids potential safety hazards such as pipeline short circuit or corrosion caused by liquid spraying, meets the cleaning requirement of the containment of a nuclear power plant, and improves the safety of cleaning operation.
The invention also provides a wall climbing cleaning method, the wall climbing cleaning device suitable for the small space of the containment is used for cleaning the wall surface of the containment, the cleaning process is realized by the cooperation of the device main body, the wall climbing module, the position adjusting module, the dust collection module and the detection module, the automation degree of cleaning operation and the cleaning coverage area are improved, and compared with the cleaning by manually setting up high-altitude operation facilities such as scaffolds, the labor intensity and the cleaning difficulty of workers are reduced, and the cleaning efficiency and the cleaning safety are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.
Fig. 1 is a schematic structural view of a wall climbing cleaning device suitable for a small space of a containment vessel according to an embodiment of the present invention, and fig. 2 is a schematic structural view of a wall climbing cleaning device suitable for a small space of a containment vessel according to an embodiment of the present invention.
The device comprises a device body 1, a wall climbing module 2, a position adjusting module 31, a mounting rail 311, a first limiting piece 312, a second limiting piece 32, an adjusting piece 4, a dust collection module 41, a dust collection piece 411, a dust collection end head 412, a flexible pipeline 42, a suction piece 5, a second driving piece 6 and a travelling wheel.
Detailed Description
In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected or detachably connected, mechanically connected or electrically connected, directly connected or indirectly connected through an intermediate medium, or may be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The containment of a nuclear power plant is a key barrier for ensuring the safe operation of the nuclear power plant, and the containment needs to be integrally cleaned during the primary nuclear cleaning and production operation in order to ensure that the containment reaches the cleanliness required by a radiation control area. However, a large number of unreachable areas exist on the surface of the containment, a large number of scaffolds need to be erected, and the problems of high labor cost, long working period, high working risk and the like exist, so that the cleaning difficulty is high. In order to improve the safety and cleaning efficiency of cleaning operation, some technologies have been designed with wall climbing cleaning equipment, which can realize automatic cleaning operation, but most of the cleaning operation of the equipment is realized by means of wet cleaning technology, namely, cleaning is performed by spraying liquid into a narrow space, and the cleaning operation mainly has the following defects that firstly, the sewage generated in the cleaning process is difficult to realize effective recovery, secondary pollution is extremely easy to cause even short circuit faults possibly caused by infiltration into electric equipment in the narrow space, secondly, the occupied volume of a dust collection head is large, cleaning liquid is difficult to permeate into a deep part of a gap, and cannot penetrate into narrow spaces such as the top part of a pipeline on the surface of a containment vessel or the inner surface of C-shaped channel steel, the cleaning operation range is limited, and the deep cleaning requirement of a complicated structure area is difficult to meet.
As shown in fig. 1 to 2, the present embodiment provides a wall climbing cleaning device suitable for a small space of a containment, which comprises a device main body 1, a wall climbing module 2, a position adjusting module 3, a dust collection module 4 and a detection module, wherein the wall climbing module 2 is connected to the device main body 1 and can drive the device main body 1 to move along the containment wall surface, the position adjusting module 3 is used for adjusting the position of the small space, and comprises a mounting rail 31, an adjusting piece 32 and a first driving piece, the mounting rail 31 is connected to the device main body 1, the adjusting piece 32 is movably arranged on the mounting rail 31, the first driving piece is connected to the adjusting piece 32 and can drive the adjusting piece 32 to move along the length direction of the mounting rail 31, the dust collection module 4 comprises a dust collection piece 41, a suction piece 42 and a dust collection container, one end of the dust collection piece 41 is connected to the adjusting piece 32 and can face the containment wall surface, the other end of the dust collection piece 41 is communicated with the suction piece 42, the suction piece 42 and the dust collection container are all arranged on the device main body 1, the suction piece 42 can provide suction power for the dust collection piece 41 so that the dust on the containment wall surface can sequentially enter the dust collection container 41 and the detection module along the length direction of the mounting rail 31, and the dust collection container is used for detecting the dust collection container 41. The detection module may be a camera for capturing images of the wall surface of the containment vessel in real time, an infrared sensor or a laser sensor for emitting light and receiving a reflected signal, and judging whether a facility obstacle exists near the dust collection member 41 according to the difference of the reflected intensities. The specific structure and working principle of the detection module are the prior art and are not described in detail herein.
In this embodiment, one end of the dust absorbing member 41 is connected to the adjusting member 32, the adjusting member 32 is movably disposed on the mounting rail 31, and the first driving member can drive the adjusting member 32 to move along the length direction of the mounting rail 31, so that the dust absorbing member 41 connected with the adjusting member 32 can also move along the length direction of the mounting rail 31, so that the dust absorbing member 41 can still move by means of the first driving member when the device main body 1 does not move, the cleaning range is enlarged, and the cleaning effect of the device main body 1 on the containment wall surface is improved under the condition that the movement of the narrow space is limited. Compared with the size of the dust collection head in the prior art, the size of the dust collection piece 41 in the embodiment is greatly reduced, the difficulty of the dust collection piece 41 entering a small space on the wall surface of the containment vessel is reduced, and the coverage range of cleaning operation is enlarged. The detection module is arranged on the dust collection piece 41 and can detect facility obstacle on the wall surface of the containment in real time so as to avoid collision between the dust collection piece 41 and the facility obstacle on the wall surface of the containment, and improve the safety of cleaning operation and the service life of the dust collection piece 41. The dust collection module 4 provides stable adsorption power through the suction piece 42, so that the dust collection piece 41 can be tightly attached to the containment wall surface, dust is stripped from the containment wall surface and conveyed to the dust collection container through air flow, secondary pollution caused by flying dust during traditional manual cleaning is avoided, the dust collection container is arranged to be convenient for intensively processing the dust, and the subsequent cleaning cost is reduced. The cleaning effect of the wall climbing cleaning device depends on that the suction piece 42 provides adsorption power for the dust suction piece 41 to suck dust on the wall surface of the containment into the dust collection container, and compared with the wet cleaning mode used in the prior art, the wall climbing cleaning device in the embodiment does not need to spray liquid to a narrow dust accumulation area for flushing, cannot cause secondary pollution on the wall surface of the containment, fundamentally avoids potential safety hazards such as pipeline short circuit or corrosion of the wall surface structure of the containment caused by liquid spraying, and improves the safety of cleaning operation. In addition, wall climbing module 2, position adjustment module 3 and dust absorption module 4 all integrate in device main part 1, and space occupation area is less, has satisfied the cleaning operation demand under the narrow and small space. The wall climbing cleaning device relies on the synergistic effect of the device main body 1, the wall climbing module 2, the position adjusting module 3 and the dust collection module 4 to realize the cleaning operation of the containment wall surface, the degree of automation of the cleaning operation is higher, the labor intensity of workers is reduced compared with manual cleaning, and the cleaning efficiency is improved.
Alternatively, the adjusting member 32 is slidably engaged with the mounting rail 31, and the first driving member is capable of driving the adjusting member 32 to slide along the length direction of the mounting rail 31. The sliding fit of the adjustment member 32 with the mounting rail 31 reduces movement jamming and friction losses, so that the position movement of the dust collection member 41 is flexible and easy to implement. The regulation track can be the I-steel that is parallel to each other and the interval set up, and regulating part 32 clamp is located between two I-steels, and first driving piece can drive regulating part 32 and slide along the length direction synchronization of two I-steels, promotes sliding stability. The side of the adjusting member 32 contacting the mounting rail 31 may also be rotatably provided with a roller to further reduce the friction force of the adjusting member 32 with the mounting rail 31. The first driving member may be an air cylinder, a linear motor, or the like, for example. The specific structure and working principle of the first driving member are the prior art, and are not described herein.
In other embodiments, a tooth slot may be disposed on the mounting rail 31, and a rack structure meshed with the tooth slot is disposed on a side of the adjusting member 32 contacting the mounting rail 31, where the rack structure can move steadily along the tooth slot when the first driving member drives the adjusting member 32 to move.
Specifically, the mounting rail 31 is provided with a first limiting member 311 on one side along the length direction thereof, and a second limiting member 312 on the other side thereof, and the adjusting member 32 can slide to abut against the first limiting member 311 or the second limiting member 312. The first limiting piece 311 and the second limiting piece 312 are arranged on the mounting rail 31 along the length direction, so that the sliding range of the adjusting piece 32 can be limited, and the situation that the adjusting piece 32 is accidentally separated from the mounting rail 31 under the action of the first driving piece, so that the dust collection piece 41 cannot finish cleaning operation along the length direction of the preset mounting rail 31 is avoided, and the cleaning process is interrupted or all parts of the wall climbing cleaning device interfere with each other to cause potential safety hazards.
Preferably, the wall climbing cleaning device suitable for the small space of the containment vessel further comprises a second driving piece 5, the second driving piece 5 is arranged on the device main body 1, an output shaft of the second driving piece 5 is fixedly connected to the mounting rail 31, and the second driving piece 5 can drive the mounting rail 31 to rotate. Set up second driving piece 5 on the basis of first driving piece for mounting rail 31 can rotate than device main part 1, and the cooperation mounting rail 31 goes up the activity setting and can follow the regulating part 32 of mounting rail 31's length direction motion, makes the dust absorption piece 41 that is connected with regulating part 32 can realize two-dimensional motion effect, enlarges wall cleaning device's clean scope of climbing, promotes dust absorption piece 41's obstacle crossing ability and to the environmental suitability of all kinds of complicated containment wall, can realize that dust absorption piece 41 is clean to the multi-angle of containment wall, effectively reduces clean dead angle, also can reduce the removal number of times of device main part 1, promotes clean efficiency. The second driving part 5 is arranged to realize the multi-angle cleaning effect of the dust collection part 41, so as to meet the diversified angle adjustment requirements of the dust collection part 41. Compared with the prior equipment, the equipment cost is reduced by arranging at least two tracks for realizing two-dimensional space movement, and the risk that the stability of wall climbing cleaning operation is affected due to the increase of the weight of the wall climbing cleaning device caused by the introduction of a large number of auxiliary equipment due to the newly added tracks is avoided.
In addition, as shown in fig. 1 and 2, the second driving member 5 is provided to drive the mounting rail 31 to rotate, so that the occupied size of the mounting rail 31 in a single dimension can be reduced, and the capability of the wall climbing cleaning device for crossing obstacles can be improved. For example, when the mounting rail 31 rotates from the vertical direction to the horizontal direction, the space occupation height of the mounting rail 31 in the vertical direction can be remarkably reduced, the dust collection piece 41 can conveniently extend into a narrow space to complete cleaning operation, and the flexible operation capability of the wall climbing cleaning device in the narrow space is improved. The second driver 5 may be a rotary electric machine or an electric motor or the like, for example. The specific structure and working principle of the second driving member 5 are the prior art, and will not be described herein.
Optionally, the dust collection member 41 includes a dust collection end 411 and a flexible pipe 412, where the dust collection end 411 is connected, one end of the dust collection end 411 faces the wall surface of the containment, and the other end of the dust collection end 411 is disposed through the adjusting member 32 and is in communication with the first end of the flexible pipe 412, and the second end of the flexible pipe 412 is in communication with the suction member 42. The flexible pipeline 412 in the dust collection piece 41 can avoid the limitation of the movement of the dust collection end 411, meet the flexible movement requirement of the dust collection end 411 along the length direction of the mounting rail 31, and promote the flexible adaptability of the dust collection module 4 to various complex containment wall surfaces. In this embodiment, the dust collection end 411 is disposed through the adjusting member 32 and detachably connected with the flexible conduit 412, so as to meet the individual maintenance and replacement requirements of the dust collection end 411 and the flexible conduit 412.
Illustratively, the suction head 411 is cylindrical, and the axial direction of the suction head 411 is perpendicular to the length direction of the mounting rail 31, and the cylindrical design can reduce the resistance of the suction head 411 during wall climbing cleaning, and reduce the driving requirements of the first driving member and the second driving member 5.
Specifically, the wall climbing cleaning device suitable for the small space of the containment vessel further comprises a magnetic absorption part, and the magnetic absorption part is connected with the outer wall surface of the dust absorption end 411 in a magnetic absorption mode. The magnetic absorption part is arranged on the outer wall surface of the dust collection end 411, so that metal impurities in dust sucked into the dust collection end 411 can be absorbed on the inner wall surface of the dust collection end 411, the metal impurities are prevented from entering the suction piece 42 through the flexible pipeline 412 and damaging the inner structure of the suction piece 42, the friction loss of the dust to the suction piece 42 can be reduced, and the service life of the suction piece 42 is prolonged. The magnetic absorption member can be a permanent magnet or an electromagnet, etc.
Specifically, the end of the suction head 411 facing the containment wall is provided with a flexible brush. The setting flexible brush can effectively peel off the laying dust on the containment wall, and the dust absorption end 411 of being convenient for is high-efficient inhales the dust under the effect of suction piece 42, promotes clean effect, and the large-size impurity on the containment wall of flexible brush also can effectively separate gets into the inside of dust absorption end 411 and suction piece 42 and damages the two inner structure. In addition, the provision of a flexible brush reduces scraping and damage to the containment wall surface as compared to a rigid brush.
Illustratively, the inner wall of the dust collection end 411 is provided with a vibration generator, which can generate high-frequency vibration in the cleaning process so as to loosen the stubborn dust accumulated on the wall surface of the containment, so that the dust collection piece 41 can conveniently suck the stubborn dust into the dust collection container under the action of the suction piece 42, thereby realizing powerful cleaning of narrow spaces such as gaps or grooves on the wall surface of the containment, and strengthening the cleaning effect of the wall climbing cleaning device on the wall surface of the containment. The vibration generator is arranged to enable dust accumulated in an irregular narrow space surrounded by various pipelines and the like on the wall surface of the containment to be separated from the original attachment points, so that the dust is effectively sucked by the dust suction end 411, the cleaning capacity of the narrow area is improved, and the full-coverage cleaning effect of the wall surface of the containment is realized. It will be appreciated that the vibration effect of the vibration generator during cleaning is insufficient to cause the metallic impurities adsorbed by the magnetic adsorption member to fall off the inner wall surface of the suction head 411. The vibration generator is a conventional device in the art, and the specific structure and working principle thereof are not described herein.
Optionally, the dust collection container is provided with a dust sensing part to acquire the dust amount in the dust collection container in real time, so that the dust is prevented from overflowing the dust collection container to influence the cleaning effect, and the effectiveness of the cleaning operation of the wall climbing cleaning device is ensured. The dust sensing member may be a member using an optical detection principle, the member being mounted on an inner wall surface of the dust collecting container, the member itself including a light emitter and a receiver, and the receiver triggering signal when dust is accumulated to the light emitter so as to know an amount of dust in the dust collecting container. In other embodiments, the dust sensing member may be a weight sensor provided at the bottom of the dust container, and the dust accumulation amount inside the dust container may be known by detecting a change in the overall weight of the dust container. The specific structure and working principle of the dust sensing member are the prior art, and will not be described in detail herein. The dust collection container is a container in a box or bag shape for collecting dust, which is conventional in the art.
Optionally, the wall climbing cleaning device suitable for the small space of the containment vessel further comprises a frequency converter, the frequency converter is connected to the suction piece 42, the frequency converter is configured to adjust the adsorption power of the suction piece 42 so as to meet the diversified requirements of the adsorption power of the suction piece 42 in different small areas, the adsorption power is increased in the area with more dust accumulation, the overall dust collection efficiency of the dust collection module 4 is improved, and secondary dust emission is avoided to reduce the overall cleaning effect. Illustratively, the suction piece 42 is an axial flow fan, and the frequency converter can adjust the rotation speed of the axial flow fan to promote the dust collection rate of the dust collection piece 41, and promote the cleaning effect of the wall climbing cleaning device in narrow spaces such as the complex pipeline junction of the containment wall surface or the inner surface of the C-shaped channel steel. In other embodiments, the suction piece 42 may also be a vacuum pump or the like. The specific structure and operation of the suction member 42 are known in the art and will not be described in detail herein.
Specifically, the wall climbing cleaning device suitable for the small space of the containment vessel further comprises a traveling wheel 6, and the traveling wheel 6 is rotatably arranged at the bottom of the device main body 1. The travelling wheel 6 is arranged at the bottom of the device main body 1, so that the friction force between the device main body 1 and the wall surface of the containment can be reduced, the driving requirement on the wall climbing module 2 is reduced, and the driving energy consumption and the driving cost are saved. Illustratively, the peripheral corners of the device body 1 are each provided with a road wheel 6. The road wheels 6 may all be provided as omni wheels to achieve flexible steering of the device body 1 on the containment wall.
In this embodiment, the wall climbing module 2 is internally provided with a driving component and a negative pressure adsorption component, which can not only meet the requirement that the device main body 1 is stably adsorbed on the containment wall surface, but also drive the device main body 1 to stably move along the containment wall surface, thereby completing normal movement cleaning operation. The wall climbing module 2 in this embodiment is a prior art, and the specific structure and working principle thereof will not be described in detail here.
In this embodiment, the wall climbing cleaning device suitable for the small space of the containment vessel further includes a controller, the wall climbing module 2, the position adjusting module 3, the dust collection module 4 and the detection module are all in signal connection with the controller, and the specific structure of the controller and the method for cooperatively controlling the wall climbing module 2, the position adjusting module 3, the dust collection module 4 and the detection module are conventional settings in the art, and are not repeated herein.
The invention further provides a wall climbing cleaning method, the wall climbing cleaning device suitable for the small space of the containment vessel is used for cleaning the wall surface of the containment vessel, and the wall climbing cleaning method comprises the following steps of S1, placing the wall climbing cleaning device on the wall surface of the containment vessel, S2, starting a suction piece 42, enabling a wall climbing module 2 and/or a first driving piece to drive a dust suction piece 41 to move relative to the wall surface of the containment vessel so as to suck dust on the wall surface of the containment vessel into a dust collecting container, detecting facility obstacle of the wall surface of the containment vessel, S3, closing the suction piece 42 when the detecting module detects the facility obstacle of the wall surface of the containment vessel, enabling the wall climbing module 2 and/or the first driving piece to drive the dust suction piece 41 to move to avoid the facility obstacle, and S4, repeating the steps S2-S3 until the dust suction piece 41 achieves integral cleaning operation on the wall surface of the containment vessel.
The wall climbing cleaning method provided by the invention relies on the driving of the wall climbing module 2 and the first driving piece to realize flexible position adjustment of the dust collection piece 41 on the wall surface of the containment, enlarge the coverage area of the cleaning operation of the wall climbing cleaning device and enhance the cleaning effect. And, the cleaning process relies on the cooperation of the device main body 1, the wall climbing module 2, the position adjusting module 3, the dust collection module 4 and the detection module to realize, and the degree of automation of the cleaning operation is high. The detection module can ensure safe cleaning operation of the dust collection piece 41, and collision between the dust collection piece 41 and facility barriers on the wall surface of the containment vessel in the moving process is avoided. Compared with the method that manual cleaning is relied on after a large number of scaffolds are erected on the containment wall, the wall climbing cleaning method provided by the invention reduces labor intensity, cleaning difficulty and manual cleaning cost of workers, improves overall cleaning efficiency and cleaning safety of the containment wall, and effectively improves safety and operation and maintenance level of a nuclear power plant. The wall climbing module 2 combines the driving effect of the first driving piece, can realize the large scale coverage of wall climbing cleaning device to the containment wall, promotes wall climbing cleaning device to clean efficiency and clean effect to the narrow and small district of containment wall.
It will be appreciated that when the movement of the apparatus body 1 is limited, the driving process of the wall climbing module 2 may be stopped, the movement of the apparatus body 1 along the containment wall surface may be stopped, and the switching of the dust collection area of the dust collection member 41 may be realized only by the driving of the first driving member. When the movement of the device main body 1 is not limited, the large-range dust collection operation of the dust collection piece 41 on the wall surface of the containment can be finished by means of the detection module and the wall climbing module 2, and then the accurate cleaning of the residual small-range operation can be realized by means of the detection module and the first driving piece in an auxiliary mode.
For example, when the second driving member 5 is connected to the mounting rail 31 to drive the second driving member to rotate, step S4 is preceded by the step of starting the second driving member 5 when the wall climbing module 2 and/or the first driving member cannot avoid the facility obstacle detected by the detection module, so that the mounting rail 31 drives the dust collection member 41 to rotate compared with the device main body 1 until the dust collection member 41 avoids the facility obstacle on the wall surface of the containment. The second driving piece 5 cooperates with the first driving piece, so that the position of the dust collection piece 41 can be adjusted in two-dimensional space, the cleaning range of the wall climbing cleaning device and the applicability of the wall surface of various complex safety shells are enlarged, dead angles of cleaning operation are effectively reduced, cleaning effect and cleaning completion degree are enhanced, and the safety of dust collection operation of the dust collection piece 41 is guaranteed.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. Wall cleaning device climbs suitable for narrow and small space of containment, its characterized in that includes:
A device body (1);
The wall climbing module (2) is connected with the device main body (1) and can drive the device main body (1) to move along the wall surface of the containment;
The position adjusting module (3) is used for adjusting the position in a narrow space and comprises a mounting rail (31), an adjusting piece (32) and a first driving piece, wherein the mounting rail (31) is connected to the device main body (1), the adjusting piece (32) is movably arranged on the mounting rail (31), and the first driving piece is connected to the adjusting piece (32) and can drive the adjusting piece (32) to move along the length direction of the mounting rail (31);
The dust collection module (4) comprises a dust collection piece (41), a suction piece (42) and a dust collection container, one end of the dust collection piece (41) is connected to the adjusting piece (32) and can face the containment wall surface, the other end of the dust collection piece (41) is communicated with the suction piece (42), the suction piece (42) and the dust collection container are both arranged on the device main body (1), and the suction piece (42) can provide adsorption power for the dust collection piece (41) so that dust on the containment wall surface can enter the dust collection container through the suction piece (41) and the suction piece (42) in sequence;
and the detection module is arranged on the dust collection piece (41) and is used for detecting facility obstacle on the wall surface of the containment vessel.
2. The wall climbing cleaning device suitable for a small space of a containment vessel according to claim 1, wherein the adjusting member (32) is slidably engaged with the mounting rail (31), and the first driving member is capable of driving the adjusting member (32) to slide along a length direction of the mounting rail (31).
3. The wall climbing cleaning device suitable for a small space of a containment vessel according to claim 2, wherein a first limiting member (311) is arranged on one side of the mounting rail (31) along the length direction of the mounting rail, a second limiting member (312) is arranged on the other side of the mounting rail, and the adjusting member (32) can slide to be abutted against the first limiting member (311) or the second limiting member (312).
4. The wall climbing cleaning device applicable to a small space of a containment vessel according to claim 1, further comprising a second driving member (5), wherein the second driving member (5) is disposed on the device body (1) and an output shaft of the second driving member (5) is fixedly connected to the mounting rail (31), and the second driving member (5) can drive the mounting rail (31) to rotate.
5. The wall climbing cleaning device suitable for a small space of a containment vessel according to claim 1, wherein the dust collection member (41) comprises a dust collection end (411) and a flexible pipe (412) which are connected, one end of the dust collection end (411) can face the wall surface of the containment vessel, the other end of the dust collection end (411) penetrates through the adjusting member (32) and is communicated with the first end of the flexible pipe (412), and the second end of the flexible pipe (412) is communicated with the suction member (42).
6. The wall climbing cleaning device for a small space of a containment vessel according to claim 5, further comprising a magnetic attraction member magnetically attached to an outer wall surface of the dust collection head (411).
7. The wall climbing cleaning device for small space in containment according to claim 5, wherein the dust collection head (411) is provided with a flexible brush toward one end of the containment wall.
8. The wall climbing cleaning device for small space in containment according to claim 5, wherein the inner wall of the dust suction head (411) is provided with a vibration generator.
9. The wall climbing cleaning device for a small space of a containment vessel according to any one of claims 1-8, further comprising a frequency converter connected to the suction piece (42), the frequency converter configured to adjust an adsorption power of the suction piece (42).
10. A wall climbing cleaning method, characterized in that the wall climbing cleaning device for a small space of a containment vessel according to any one of claims 1-9 is used for cleaning the wall surface of the containment vessel, comprising the following steps:
S1, placing a wall climbing cleaning device on the wall surface of a containment vessel;
S2, starting a suction piece (42), enabling the wall climbing module (2) and/or the first driving piece to drive the dust collection piece (41) to move relative to the wall surface of the containment, so as to suck dust on the wall surface of the containment into the dust collection container, and detecting facility obstacle on the wall surface of the containment by the detection module;
S3, when the detection module detects facility obstacle on the wall surface of the containment, the suction piece (42) is closed, and the wall climbing module (2) and/or the first driving piece drive the dust collection piece (41) to move to avoid the facility obstacle;
S4, repeating the steps S2-S3 until the dust collection piece (41) realizes the integral cleaning operation of the containment wall surface.
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|---|---|
| CN120755143B (en) | 2025-12-26 |
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