CN-122007101-A - Remote-driven long-distance high-radioactivity micro-pipeline blockage dredging robot

CN122007101ACN 122007101 ACN122007101 ACN 122007101ACN-122007101-A

Abstract

The invention belongs to the field of special robots in nuclear industry, and relates to a remote-driven long-distance high-radioactivity micro-pipeline blockage dredging robot which comprises a pushing device, a carrying mechanism, a decontamination device, a storage device and a remote control system, wherein the pushing device is used for pushing a carrying mechanism into a pipeline or pulling the carrying mechanism out of the pipeline, the tail end of the carrying mechanism is connected with an execution tail end tool, the head end of the carrying mechanism sequentially passes through the decontamination device and the pushing device and then is connected with the storage device, the decontamination device is detachably clamped at a pipe orifice of the pipeline and used for decontaminating and collecting wastes on the surface of the carrying mechanism when the carrying mechanism is pulled out, the storage device is used for storing the carrying mechanism pulled out of the pipeline, driving equipment is used for providing power for the pushing device, the decontamination device and the storage device, and the remote control system is electrically connected with all electric components through cables and used for remotely controlling all the electric components. The invention realizes the remote dredging of the tiny pipeline plug for the post-treatment of the spent fuel, and ensures the safety and the production efficiency of the post-treatment of the spent fuel.

Inventors

DUAN LELE
YUE LIANG
ZHANG LI
ZHU CHANGBING
MING PINGLIANG
GUO SHIKAI
YANG BIN

Assignees

核动力运行研究所

Dates

Publication Date: 20260512
Application Date: 20260310

Claims (10)

1.A remotely driven long distance high emissivity micro-pipe blockage dredging robot, comprising: The pushing and pulling device (1) is arranged outside the pipeline and used for pushing the carrying mechanism (2) into the pipeline or pulling out the carrying mechanism from the pipeline; The carrying mechanism (2) is a flexible long tube/cable/shaft, the tail end of the carrying mechanism is connected with an executing tail end tool (3) for dredging the blockage in the pipeline, and the head end of the carrying mechanism sequentially passes through the decontamination device (4) and the pushing and pulling device (1) and then is connected with the storage device (5); the decontamination device (4) is arranged outside the pipeline, one end of the pushing and pulling device (1) close to the pipeline is detachably clamped at the pipe orifice of the pipeline, and the decontamination device is used for decontaminating and collecting waste on the surface of the carrying mechanism (2) when the carrying mechanism (2) is pulled out; the storage device (5) is arranged outside the pipeline, and one end, far away from the pipeline, of the pushing and pulling device (1) is used for storing the carrying mechanism (2) pulled out from the pipeline; the driving equipment (6) is arranged outside the pipeline and is respectively connected with the pushing device (1), the decontamination device (4) and the storage device (5) and is used for providing power for the pushing device (1), the decontamination device (4) and the storage device (5); the remote control system (7) is arranged outside the pipeline and is electrically connected with all the electric components of the pushing device (1), the carrying mechanism (2), the end execution tool (3), the decontamination device (4), the storage device (5) and the driving equipment (6) through cables respectively, and is used for remotely controlling the pushing device (1), the carrying mechanism (2), the end execution tool (3), the decontamination device (4), the storage device (5) and the driving equipment (6).
2. The remotely-driven long-distance high-radioactivity micro-pipe blockage dredging robot according to claim 1, wherein the pushing and pulling device (1) comprises a linear module (11), a front end clamping cylinder (12), a rear end clamping cylinder (13), a driven wheel (14) and an encoder (15); The front end clamping cylinder (12) and the rear end clamping cylinder (13) are arranged back and forth along the pushing or pulling-back direction of the carrying mechanism (2), the front end clamping cylinder (12) is arranged on a sliding block of the linear module (11), and the rear end clamping cylinder (13) is not arranged on the sliding block of the linear module (11); The front end clamping cylinder (12) and the rear end clamping cylinder (13) alternately clamp or loosen the carrying mechanism (2) and realize the stepping pushing or pulling back of the carrying mechanism (2) by matching with the reciprocating linear motion of the linear module (11); the driven wheel (14) is pressed against the carrying mechanism (2) and is coaxially connected with the encoder (15) for monitoring the pushing-in or pulling-back length and speed of the carrying mechanism (2) in real time; The driving device (6) comprises a module servo driving motor and a compressed air source, wherein the module servo driving motor is connected with the linear module (11) to provide power for linear movement of the linear module (11), and the compressed air source is connected with the front end clamping cylinder (12) and the rear end clamping cylinder (13) through pipelines to provide power for clamping or loosening actions of the front end clamping cylinder (12) and the rear end clamping cylinder (13).
3. The remote-driven long-distance high-radioactivity micro-pipeline blockage dredging robot is characterized in that polyurethane clamping blocks are arranged on air claws on the left side and the right side of a front-end clamping cylinder (12) and a rear-end clamping cylinder (13), the clamping blocks are of a HALF structure, the inner side surface of each clamping block is an arc-shaped surface matched with the outline of a carrying mechanism (2), grooves which are arranged at equal intervals are formed in the arc-shaped surfaces, and the grooves and the surface of the carrying mechanism (2) form a jogged structure.
4. The remotely driven long-distance high-radioactivity micro-pipe blockage dredging robot according to claim 2, wherein the carrying mechanism (2) comprises a composite cable (21) for conveying compressed air or high-pressure water and sucking blockage, a cleaning flexible shaft for transmitting mechanical rotation torque, a high-pressure hose for conveying high-pressure water; the executing end tool (3) comprises a compound tool (31) matched with the compound cable (21), a drill bit matched with the cleaning flexible shaft and a high-pressure spray head matched with the high-pressure hose; the drive means (6) further comprises a high pressure cleaning means for providing high pressure water, compressed air or a high pressure cleaning agent, a vacuum suction pump for sucking suspended plugs, and a balloon gas source for providing a balloon gas source.
5. The remotely driven long distance high emissivity micro pipe blockage dredging robot of claim 4, wherein the composite cable (21) comprises a corrugated pipe of high polymer material, a plurality of functional channels inside the corrugated pipe, and a protective layer filled between each functional channel and the inner wall of the corrugated pipe; The functional channel comprises: one or more balloon air source passages (211) in communication with the balloon air source via a conduit for controlling balloon inflation or release to effect steering of the end-of-travel tool (3); One or more plug disruption fluid passages (214) in communication with the high pressure cleaning apparatus via a conduit for delivering compressed air or high pressure water for disrupting and loosening the plugs with a compressed air stream or high pressure water jet to create turbulence to suspend the loosened plugs; at least one suction channel (215) in communication with the vacuum pump via a conduit for sucking suspended plugs; at least one light guide beam channel (212) for mounting a light guide beam (313); at least one image-transmitting beam channel (213) for mounting a flexible image-transmitting beam (314); the flexible image transmission beam (314) and the light guide beam (313) are matched to realize the real-time observation of the internal condition of the pipeline.
6. The remotely driven long distance high emissivity micro pipe blockage dredging robot of claim 4, wherein the compound tool (31) comprises an active guiding structure (311) and a passive guiding structure (312); the active guiding structure (311) is arranged at the tail end of the composite cable (21), a plurality of air bags (3111) are uniformly arranged along the circumferential direction of the active guiding structure, the number of the air bags (3111) is the same as that of air bag air source channels and the air bags are matched one by one, each air bag (3111) is connected with an air bag air source of the driving device (6) through the corresponding air bag air source channel in the composite cable (21), a specified single air bag or a plurality of air bags (3111) are inflated through the remote control system (7), and the active steering of the executing tail end tool (3) is controlled to pass through a complex bent pipe; The passive guiding structure (312) is a section of corrugated pipe and is connected to the front end of the active guiding structure (311) for guiding the executing end tool (3) to adapt to the inner wall of the pipeline and protecting the air bag (3111) when the passive guiding structure is in passive contact with the inner wall of the pipeline; the plug breaking fluid channel, suction channel, light guide beam channel and image transmission beam channel inside the composite cable (21) extend to the head of the executing end tool (3).
7. The remotely-driven long-distance high-radioactivity micro-pipeline blockage dredging robot according to claim 4, wherein the cleaning flexible shaft comprises a shaft core and a sheath, wherein the shaft core is woven by stainless steel wires, and the shaft core is rotatably arranged in the sheath in a penetrating way, and a water flow channel is formed by a gap between the shaft core and the sheath; The driving device (6) further comprises a rotary driving mechanism (62), wherein the head end of the shaft core 221 is in hydraulic pressure connection with a rotary driving joint with a square structure, and the rotary driving joint is used for transmitting torque output by the rotary driving mechanism (62) to the shaft core through a lock nut to provide power for the rotation of the shaft core; The head end of the sheath is provided with a water pump joint which is used for being connected with high-pressure cleaning equipment and conveying high-pressure water into the water flow channel; The drill bit comprises a direct rotation type cutter head, a sawtooth type cutting cutter head, a four-edge relieved tooth cutting cutter head and a hard alloy cutter head.
8. The remote-driven long-distance high-radioactivity micro-pipeline blockage dredging robot is characterized in that one end of a high-pressure hose is connected with high-pressure cleaning equipment, the other end of the high-pressure hose is connected with a high-pressure spray head, the high-pressure spray head adopts a self-propelled spray head, and a forward spray nozzle and a plurality of inclined rear spray nozzles are arranged on the self-propelled spray head.
9. The remotely-driven long-distance high-radioactivity micro-pipe blockage dredging robot according to claim 4, wherein the storage device (5) comprises a shielding layer and three independent reels (51) in the shielding layer, and the three independent reels are respectively used for winding and storing the composite cable (21), the cleaning flexible shaft and the high-pressure hose, so that independent storage of the composite cable (21), the cleaning flexible shaft and the high-pressure hose is realized; The driving device (6) further comprises three independent reel driving mechanisms (61), the reels (51) are in one-to-one correspondence with the reel driving mechanisms (61), each reel (51) is driven by the independent reel driving mechanism (61) to realize winding and unwinding actions, an electrohydraulic slip ring (52) is arranged at the rotation center of the reel (51), and the carrying mechanism (2) is prevented from winding in the rotation process of the reel (51).
10. The remotely driven long distance high emissivity micro pipe blockage removing robot of claim 4, wherein the decontamination device (4) comprises a shielding cylinder (41) formed by a stainless steel plate and a lead plate for radiation protection; An annular high-pressure nozzle and cleaning cloth are sequentially arranged in the shielding cylinder (41) along the pulling-out direction of the carrying mechanism (2); The annular high-pressure nozzle is of a hollow structure and is used for wrapping a passing carrying mechanism (2), the annular high-pressure nozzle is connected with high-pressure cleaning equipment through a pipeline, a plurality of nozzles are arranged on the circumferential inner wall of the annular high-pressure nozzle and are used for spraying high-pressure water or high-pressure cleaning agent to a wrapping area to clean the surface of the carrying mechanism (2), and the cleaning cloth is used for wiping and cleaning the retracted carrying mechanism (2); The bottom of the shielding cylinder (41) is provided with a liquid guide funnel and is connected with a vacuum suction pump through a waste water collecting pipeline, and the vacuum suction pump is connected with a shielding container and is used for sucking radioactive waste water into the shielding container.

Description

Remote-driven long-distance high-radioactivity micro-pipeline blockage dredging robot Technical Field The invention relates to the technical field of special robots in nuclear industry, in particular to a remote-driven long-distance high-radioactivity micro-pipe blockage dredging robot which is used for dredging a high-radioactivity micro-pipe blockage in spent fuel aftertreatment. Background The post-treatment of the spent fuel is a key link for realizing the closed cycle of the nuclear fuel, and a spent fuel post-treatment plant mainly carries out the transportation of high-radioactivity feed liquid through a pipeline. Due to complex chemical reaction and ultra-high radiation dose of the spent fuel in the pipeline, the problems of pipeline corrosion, blockage and the like are unavoidable in the post-treatment process of the spent fuel. In the aspect of pipeline dredging, the petroleum pipeline, the urban drainage pipeline and the sewage pipeline network have more application bases. Petroleum pipelines are mainly subjected to passive pipeline dredging by pushing a PIG based on a PIG method through fluid. The urban drainage pipeline adopts a more pipeline dredging mode, for example Saenz and the like are used for pipeline dredging through a plurality of high-pressure water spray heads carried by a trolley by adopting a high-pressure water jet method, dhananchezhiyan and the like are used for pipeline dredging through a wheel type pipeline robot carrying a rotary scraper by adopting a mechanical method, cui Xiyuan and the like are designed, unpowered pipeline robots are used for pipeline dredging through driving a screw drill bit by a motor, and wheel type pipeline robots carrying cutting mechanisms are respectively developed by Beijing university of transportation university. However, the spent fuel post-treatment pipeline has the characteristics of high radiation dosage of 1000rad/h, complex structure, elbow, diameter change and the like, small inner diameter of 10-60 mm, special plug component, zirconium alloy scraps and the like. The existing pipeline dredging tool has the following technical defects that the tool cannot adapt to dredging of a spent fuel aftertreatment micro pipeline, and causes great threat to the safety and production efficiency of the spent fuel aftertreatment: The irradiation resistance is poor, the existing pipeline robot mostly adopts the front design of electronic components, and is difficult to resist the ultra-high dose gamma rays in the spent fuel post-treatment pipeline, so that the electronic components are invalid and cannot work normally. The size adaptability is poor, the existing pipeline robot and the driving unit thereof have larger volume, and the existing pipeline robot cannot enter the spent fuel post-treatment pipeline with small inner diameter. The dredging capability is limited, and special plugs with certain hardness and toughness such as zirconium alloy scraps cannot be effectively crushed and recovered by dredging tools for petroleum and sewage pipelines. Therefore, a dredging robot specially designed for the characteristics of the tiny pipelines for post-treatment of the spent fuel is needed. Disclosure of Invention The invention aims to solve the problems of ultrahigh radiation dose, tiny inner diameter, complex structure and difficult dredging of plugs of a tiny pipeline for post-treatment of spent fuel, and provides a remote-driven long-distance high-radioactivity tiny pipeline blockage dredging robot. In order to achieve the above object, the present invention provides the following technical solutions: A remotely driven long distance high emissivity micro-pipe blockage removal robot comprising: the pushing and pulling device is arranged outside the pipeline and used for pushing the carrying mechanism into the pipeline or pulling the carrying mechanism out of the pipeline; the carrying mechanism is a flexible long tube/cable/shaft, the tail end of the carrying mechanism is connected with an executing tail end tool for dredging the blockage in the pipeline, and the head end of the carrying mechanism sequentially passes through the decontamination device and the pushing and pulling device and then is connected with the storage device; The decontamination device is arranged outside the pipeline, one end of the pushing and pulling device, which is close to the pipeline, is detachably clamped at the pipe orifice of the pipeline, and is used for decontaminating and collecting the waste on the surface of the carrying mechanism when the carrying mechanism is pulled out; the storage device is arranged outside the pipeline, and one end of the pushing and pulling device, which is far away from the pipeline, is used for storing the carrying mechanism pulled out from the pipeline; the driving equipment is arranged outside the pipeline and is respectively connected with the pushing device, the decontamination device and the storage device and used for providing power fo