辐射防护2026，Vol.46Issue(3)：199-205,7.DOI:10.27045/j.1000-8187.202603002
不锈钢贮罐残留物清理回取装置开发与试验验证
Development and verification of cleaning and retrieval tooling for residues in stainless steel storage tanks
陈奇 1侯金龙 2彭珂洁 2邢启峰 2杨捻 2薛云3
作者信息
- 1. 哈尔滨工程大学核科学与技术学院,哈尔滨 150000||中核四川环保工程有限责任公司,四川 广元 628000
- 2. 中核四川环保工程有限责任公司,四川 广元 628000
- 3. 哈尔滨工程大学核科学与技术学院,哈尔滨 150000
- 折叠
摘要
Abstract
This paper presents the development of a cleaning and retrieval tooling for internal residues in stainless steel storage tanks that adopts,double-sided permanent magnetic adsorption wall-climbing technology,enabling the robot carrier platform to stably adhere to the stainless steel tank wall and move omnidirectionally.On this basis,an integrated multifunctional end-effector is developed and is connected through the robot carrier platform to achieve high-pressure water cleaning of internal wall residues,crushing of bottom residues,and efficient retrieval.Through the design and integration optimization of the entire tooling,non-intrusive and remote cleaning and retrieval of tank internal residues are realized.Systematic experimental verification is conducted to evaluate the adhesion stability and mobility of the double-sided permanent magnetic adsorption wall-climbing robot on the inner wall of a stainless steel tank,and to investigate the cleaning effect of different high-pressure water cleaning pressures and spray angles on wall residues,as well as the crushing and retrieval effect of different movement speeds and blade rotation speeds on bottom residues.The experimental results show that the wall-climbing robot achieves a maximum vertical load of 23 kg,with an adjustable movement speed in the range of 0-10 m/min.Under a cleaning pressure of 30 MPa and a spray angle of 40°,the cleaning efficiency is 3.792 kg/min with a residue rate of 5.2%.With the robot's bottom movement speed at 3 m/min and a blade rotation speed of 350 r/min,the crushing and retrieval efficiency is 1.842 kg/min with a residue rate of 7.9%.关键词
不锈钢贮罐/残留物/双面磁吸附/清理回取Key words
stainless steel storage tank/residue/double-sided magnetic adsorption/cleaning and retrieval分类
能源科技引用本文复制引用
陈奇,侯金龙,彭珂洁,邢启峰,杨捻,薛云..不锈钢贮罐残留物清理回取装置开发与试验验证[J].辐射防护,2026,46(3):199-205,7.
