不锈钢贮罐残留物清理回取装置开发与试验验证

doi:10.27045/j.1000-8187.202603002

摘要/Abstract

摘要： 针对不锈钢贮罐内部残留物开发一套清理回取装置,采用双面永磁吸附爬壁技术使机器人载带平台稳定吸附于不锈钢罐壁全方位移动。在此基础上集成多功能末端执行器,利用机器人载带平台连接实现内壁残留物高压水清洗、底部残留物破碎及高效回取功能。通过整个装置的设计及集成优化,对罐内残留物实现非介入式、远距离清理回取。开展试验验证,评估双面永磁吸附爬壁机器人在不锈钢贮罐内壁的吸附稳定性及行走能力,探究不同高压水清洗压力和喷射角度下对内壁残留物的清洗效果、不同移动速率和刀片转速对底部残留物的破碎回取效果。试验结果表明,爬壁机器人在垂直方向最大负载23 kg,行走速率在0~10 m/min可调,清洗压力30 MPa,喷射角度40°时,清洗效率3.792 kg/min,残留率5.2%;机器人底部移动速率3 m/min,刀片转速350 r/min时,破碎回取效率1.842 kg/min,残留率7.9%。

关键词: 不锈钢贮罐, 残留物, 双面磁吸附, 清理回取

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%.

Key words: stainless steel storage tank, residue, double-sided magnetic adsorption, cleaning and retrieval

中图分类号:

TL941+.3

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.

CHEN Qi, HOU Jinlong, PENG Kejie, XING Qifeng, YANG Nian, XUE Yun. Development and verification of cleaning and retrieval tooling for residues in stainless steel storage tanks[J]. RADIATION PROTECTION, 2026, 46(3): 199-205.

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