Multi-tool universal coupling system for radioactive parcel processing and carrying method

Abstract

The invention relates to the technical field of nuclear industry, in particular to a multi-tool universal coupling system for radioactive package processing and a carrying method, and the multi-tool universal coupling system for radioactive package processing comprises a main clamping piece which comprises a claw disc and clamping fingers arranged on the claw disc; the auxiliary clamping piece comprises clamps which are used for carrying different goods or executing specific operation, and interfaces which are arranged on the clamps and are in coupling fit with the clamping fingers; when the main clamping piece cannot complete specific operation, the matched clamp is selected, the clamping fingers are in coupling connection with the connector, the specific operation is executed through the clamp, the barrel container can be safely hoisted through the design of the main clamping piece and then released through the control part, and in addition, other specific carrying operation is achieved through connection of the main clamping piece and the auxiliary clamping piece. And the time for replacing the clamp is shortened.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear industry, and in particular to a multi-tool universal coupling system and a transport method for radioactive package processing. Background Art

[0002] The safe handling of radioactive packages not only involves the safe transportation of nuclear materials, but also is related to preventing nuclear proliferation, protecting the environment and public health. Correct handling procedures can ensure minimal risk during the production, use, storage and transportation of radioactive materials, and avoid potential radiation hazards to humans and the environment. Therefore, proper handling of radioactive packages is a key link in the safe use and sustainable development of nuclear energy.

[0003] In the prior art, there are usually two solutions for handling various types of radioactive packages:

[0004] First, in a facility that handles various types of bales, there must be a separate work area for each type of bale; this requires separate storage areas for each type of package: one for barrels, another for metal containers, another for concrete containers, another for handling rectangular containers, another for handling container lids, and so on; once the packages are separated, each storage area must be equipped with a specific handling tool adapted to the package it is to handle.

[0005] Secondly, as an alternative to using isolated storage areas, the only other option is to change the handling equipment every time a different type of package needs to be processed; however, the operational method of changing the handling tools is relatively complicated; and the radioactive package handling equipment is robotic and remotely operated, which also involves a large number of connections, as well as a strict verification procedure before operation; in addition, since the equipment operates in a radioactive environment, all these operations related to tool changes require operators to enter and work in areas exposed to radiation.

[0006] Therefore, the main disadvantage of the previous technology was the inability to use one crane to handle various types of packaging in one storage area: each type of packaging required a dedicated working space and handling tools, which limited the flexibility of the operation and the inability to change the operating tools without a long-term direct operator.

[0007] Therefore, we proposed a multi-tool universal coupling system and handling method for radioactive package handling. Summary of the invention

[0008] In view of the above-mentioned prior art, processing different radioactive packages requires independent setting of different work areas or replacing different processing equipment in a single storage area, which is complicated and requires operators to enter the radiation area. Therefore, a multi-tool universal coupling system for radioactive package processing is proposed in the present invention.

[0009] In order to solve the above technical problems, the present invention provides the following technical solutions: a multi-tool universal coupling system for radioactive package processing, which includes a main clamp, including a claw plate and clamping fingers arranged on the claw plate; an auxiliary clamp, including each clamp corresponding to the handling of different goods or the performance of specific operations, and an interface arranged on the clamp and coupled with the clamping fingers; when the main clamp cannot complete a specific operation, a matching clamp is selected, the clamping fingers are coupled to the interface, and the specific operation is performed by using the clamp.

[0010] As a preferred solution of the multi-tool universal coupling system for radioactive package processing described in the present invention, the interface includes a guide portion that tapers from top to bottom and a receiving portion that is connected to the guide portion, and the clamping fingers enter the receiving portion after passing through the guide portion.

[0011] As a preferred solution of the multi-tool universal coupling system for radioactive package processing described in the present invention, wherein: a accommodating space is provided inside the clamping finger, a wedge is rotatably connected in the accommodating space, and when the wedge is rotated out of the accommodating space, a grasping state is formed; a control part connected to the wedge is also provided in the accommodating space, and the control part is used for the folding action of the wedge and does not participate in the grasping work.

[0012] As a preferred solution of the multi-tool universal coupling system for radioactive package processing of the present invention, one end of the wedge is provided with a wedge rotating shaft, and the wedge rotating shaft is movably connected to the accommodating space through the rotating shaft.

[0013] As a preferred solution of the multi-tool universal coupling system for radioactive package processing described in the present invention, the control unit is driven by an electromagnet, an electromagnetic transmission rod is slidably provided in the accommodating space, a fork rod is movably provided at one end of the electromagnetic transmission rod; and a rod connecting shaft is provided on the fork rod.

[0014] As a preferred solution of the multi-tool universal coupling system for radioactive package processing described in the present invention, a wedge connecting rod is provided on the wedge, and a wedge rotating rod is rotatably provided between the rod connecting shaft and the wedge connecting rod.

[0015] As a preferred solution of the multi-tool universal coupling system for radioactive package processing of the present invention, a connecting block is provided on the outer wall of the clamp finger, a detector is provided outside the connecting block, and a spring is provided between the detector and the connecting block.

[0016] As a preferred solution of the multi-tool universal coupling system for radioactive package processing of the present invention, the guide portion is provided with a notch, the notch is provided with a plane, and the plane is movably matched with the detector.

[0017] As a preferred solution of the multi-tool universal coupling system for radioactive package processing of the present invention, a matching block is provided in the accommodating portion, and the matching block has at least one surface that can accommodate the contact force of the wedge.

[0018] In view of the above problems, a method for handling and transporting radioactive packages of the present invention is proposed.

[0019] To solve the above technical problems, the present invention provides the following technical solutions: a method for transporting radioactive packages, comprising: a multi-tool universal coupling system for radioactive package processing; and identifying radioactive goods to be transported, including but not limited to radioactive barrels, concrete containers, rectangular containers, container covers, mobile storage stabilization plates, storage units, etc.; according to the type of goods, confirming whether to use a main clamp or an auxiliary clamp for transportation; when the auxiliary clamp is required to perform an operation, the main clamp is moved above the auxiliary clamp, the clamping fingers are aligned to enter the guide portion and the accommodating portion in turn, the wedge is contacted and matched with the mating block, so that the main clamp and the auxiliary clamp are connected; after the auxiliary clamp is connected, the transport task is performed to deliver the goods to the designated location.

[0020] The beneficial effects of the present invention are as follows: by setting a main clamp and an auxiliary clamp, the main clamp is fixed on a crane and is used to carry different goods. It is suitable for the most common single storage package, that is, a cylindrical metal barrel. When handling radioactive barrels, the main clamp does not require power to start and maintain clamping, preventing the barrel from being accidentally released in mid-air or when improperly supported, thereby increasing the safety performance during the handling process. On this basis, when the system needs to carry other goods or perform specific operations that the main clamp cannot complete, such as carrying rectangular containers, concrete containers, carrying container covers, moving storage stabilization plates, unlocking storage units, etc., this can be achieved by using a universal head without the need for manual tool replacement. The head can be equipped with the required tools as needed. By attaching various tools to the main clamp, the wedges are connected to the mating blocks to change the basic functions, thereby achieving the transition from handling barrels to handling any other type of packages or performing complex handling operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0022] Figure 1 It is a schematic diagram of the connection structure of the main clamping member and the auxiliary clamping member in the present invention.

[0023] Figure 2 It is a cross-sectional view of the interface connection structure in the present invention.

[0024] Figure 3 It is a schematic diagram of the notch connection structure in the present invention.

[0025] Figure 4 It is a schematic diagram of the connection structure between the claw plate and the clamping finger in the present invention.

[0026] Figure 5 It is a cross-sectional view of the internal structure of the clamp finger in the present invention.

[0027] Figure 6 It is an enlarged schematic diagram of the wedge connection structure in the present invention. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0030] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0031] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0032] Example 1

[0033] Reference Figure 1 to Figure 3 , which is the first embodiment of the present invention, and provides a multi-tool universal coupling system for radioactive package processing, wherein the main clamp 100 includes a claw plate 101 and a clamping finger 102 arranged on the claw plate 101; the auxiliary clamp 200 includes clamps 201 corresponding to carrying different goods or performing specific operations, and an interface 202 arranged on the clamp 201 and coupled with the clamping finger 102; when the main clamp 100 cannot complete a specific operation, a matching clamp 201 is selected, the clamping finger 102 is coupled to the interface 202, and the specific operation is performed by using the clamp 201.

[0034] The auxiliary clamp 200 does not refer to a single clamp, but refers to various clamps adapted to different specific handling operations, such as Figure 1 As shown, the auxiliary clamp 200 is one of the clamps for clamping a rectangular container.

[0035] Where the master clamp 100 is adapted to fit a single storage unit, all radioactive waste storage facilities are cylindrical drums, the master clamp 100 is typically suspended from a bridge crane covering a processing, storage and / or dispatch area.

[0036] The claw plate 101 can be equipped with three or four gripping fingers 102, depending on whether the device is used to position the drum in a triangular or orthogonal configuration; and the gripping fingers 102 are provided with 3 or 4, providing inherent redundancy, the failure of one point will not cause the drum to fall; it is still grasped by the remaining points; regardless of the weight of the drum, it can be safely clamped; and the four gripping fingers 102 can be extended or retracted at the same time, which can adapt to the grasping of containers of different sizes.

[0037] By fixing the main clamp 100, which is connected to the crane, the main clamp 100 not only allows safe handling of radioactive barrel containers, but also allows quick and automatic assembly of accessories, minimizing operator intervention, allowing the development of new operations that are not compatible with the main clamp; thus, in addition to handling barrels, it is also possible to handle containers, close barrels or containers, place stabilizing plates between different layers of stacked packages, and even perform concrete sealing or fill gaps with crushed stone, without having to replace the main matrix tooling of the bridge crane operating in the radioactive waste storage facility.

[0038] By handling barrels and containers of various sizes in storage facilities for radioactive package processing, nesting them within other barrels or containers, or within larger containers; opening and closing containers, stacking packages together, and performing procedures to fill gaps or finally seal packages, all of these operations require multiple tools that are suspended from automated bridge cranes and must be operated remotely from a control room. Replacing complex robotic tools that integrate multiple connections is laborious, risky, and slow. In addition, performing these replacements in a radioactive environment exposes the operator to radiation for a long time with each replacement. Therefore, in order to solve this problem, the clamping finger 102 is coupled to the interface 202 to enable the mating connection of the main clamp 100 and the auxiliary clamp 200, and the corresponding matching clamp is selected to reduce the radiation exposure time of the staff when changing tools.

[0039] In summary, the present arrangement allows a single master clamp 100 to be used as a fixed handling element in the same storage facility to handle various types of packages; eliminates the need for operators to perform tedious tasks in radiation exposure areas to change the overhead crane handling configuration; enables the processing of different types of packages without the need for batch work; and allows the overhead crane to be used directly to perform package handling tasks without having to move the packages to a specific workstation.

[0040] Example 2

[0041] Reference Figure 1 to Figure 6 , which is the second embodiment of the present invention. This embodiment is based on the previous embodiment, and the difference is that the interface 202 includes a guide portion 202a that tapers from top to bottom and a receiving portion 202b that is connected to the guide portion 202a, and the clamping finger 102 enters the receiving portion 202b after passing through the guide portion 202a.

[0042] The guide portion 202a is preferably configured to be in a conical shape. Due to the design of tapering from top to bottom, the clamping finger 102 can be conveniently positioned when connected to the interface 202 so as to be aligned and enter the receiving portion 202b.

[0043] The receiving portion 202 b is preferably barrel-shaped, with a certain amount of space inside to allow the clamping fingers 102 to enter.

[0044] Preferably, a accommodating space K is provided inside the clamping finger 102, and a wedge 102a is rotatably connected inside the accommodating space K. When the wedge 102a is rotated out of the accommodating space K, a grasping state is formed; a control unit 102b connected to the wedge 102a is also provided in the accommodating space K, and the control unit 102b is used for the folding action of the wedge 102a and does not participate in the grasping work.

[0045] The deployment of the wedge 102a occurs automatically without a folding command, and the final deployed position of the wedge 102a is limited by the travel of the fork rod 102c-1 when it contacts the wedge rotation axis 102a-1, such as Figure 5 As shown, contact at this point limits and prevents maximum descent of the fork rod 102c-1.

[0046] Preferably, a wedge rotating shaft 102a-1 is provided at one end of the wedge 102a, and the wedge rotating shaft 102a-1 is movably connected to the accommodating space K through a rotating shaft 102a-11.

[0047] Preferably, the control part 102b is driven by an electromagnet, an electromagnetic transmission rod 102c is slidably provided in the accommodating space K, a fork rod 102c-1 is movably provided at one end of the electromagnetic transmission rod 102c; a rod connecting shaft 102c-11 is provided on the fork rod 102c-1.

[0048] like Figure 5As shown, the control part 102 selects an electromagnet, which consists of a shell with a coil and a weighted iron core. In addition, it also includes a vertical preload spring, which increases the weight of the iron core to keep it in a static position; when the system is not powered, the iron core is supported by gravity and is pushed to the drive system by the preload spring through the electromagnetic transmission rod 102c to support its weight; therefore, in the static state, the wedge 102a is placed in an open clamping position. To fold the wedge 102a, the electromagnet needs to be activated. After power is supplied, the iron core of the electromagnet is attracted by the coil and rises, and then pulled upward by the electromagnetic transmission rod 102c; this upward movement moves the fork rod 102c-1, thereby activating the wedge rotation rod 102a-21 and the wedge connecting rod 102a-2; therefore, the wedge rotation rod 102a-21 causes the wedge 102a to rotate around its wedge rotation axis 102a-11, folding it into the internal accommodating space K of the clamping finger 102 structure; in this folded position, the wedge 102a no longer mechanically interferes with the barrel, allowing the wedge 102a to be lifted without lifting the barrel.

[0049] The deployment of the wedge 102a occurs automatically in the absence of a folding command; thus, when there is no signal and no voltage applied, the rest position of the wedge 102a is the deployed position, ie the position clamping the barrel.

[0050] Preferably, a wedge connecting rod 102a-2 is provided on the wedge 102a, and a wedge rotating rod 102a-21 is rotatably provided between the rod connecting shaft 102c-11 and the wedge connecting rod 102a-2.

[0051] To clamp a barrel, the main clamp 100 is placed directly above the barrel, aligned with the bridge crane that suspends it; once positioned, the crane bridge is lowered to bring the clamping finger 102 closer to the barrel; when the clamping finger 102 comes into contact with the barrel, due to the geometric design of the wedge 102a, it uses the chamfer integrated in the central tip of the wedge 102a to self-center; once it is centered, continue to lower it until the detector 104 comes into contact with the barrel and confirms this position by sending a signal to the control system; during the descent, there is no need to activate the electromagnet to retract the claw, as the claw descends, after the barrel passes, the wedge 102a automatically returns to the deployed position due to the vertical thrust of the electromagnet.

[0052] When a container is suspended by the wedge 102a, its weight acts on the unfolded wedge 102a due to the interference between the edge of the container and the claws, and the load of the container is transmitted through the wedge connecting rod 102a-2. Since the rod connecting shaft 102c-11 has only vertical movement freedom and the rotation axis 102a-11 has no movement freedom, it is completely locked, ensuring the hanging load of the container; all forces are directly transmitted to the clamping fingers 102, which means that the load is suspended indefinitely due to mechanical interference without any energy input.

[0053] The clamp fingers 102 have an inherent safety redundancy that allows them to hold the suspended load even if the wedge rotation rod 102a-21 fails; this is because in the event of a mechanism failure, the wedges 102a will deploy until they come into contact with the container body; the wedges 102a cannot open further because the container itself will prevent their further movement, thereby preventing the container from falling without the need for any additional elements.

[0054] The gripper fingers 102 ensure that the container cannot be released while it is hanging; to achieve this, the system incorporates two redundant safety features:

[0055] First safety feature: the retraction of the wedge 102a, activated by the electromagnet, encounters resistance due to the weight of the container acting on the claws; to retract the claws, the electromagnet needs to lift the container, and the release mechanism of the electromagnet is designed so that its pulling force is limited and always less than the force required to lift the container in the lightest configuration: an empty and uncovered container; in fact, the pulling force of the electromagnet is calibrated as close as possible to the minimum value required to operate the entire transmission mechanism in the unloaded state, without any external load, which means that it is adjusted to lift only the core of the electromagnet, compress the vertical preload spring, and support the weight of the elements forming the drive kinematic chain; therefore, it cannot operate the wedge connecting rod 102a-2 and the wedge rotating rod 102a-21 mechanism while supporting the weight of the barrel.

[0056] Second safety feature: Even if the electromagnet mechanism has enough power to lift the container, if the edge of the container is caught between the wedge 102a and the clamping fingers 102, the movement of the wedge 102a will be blocked by interference.

[0057] Preferably, a connection block 103 is provided on the outer wall of the clamping finger 102 , a detector 104 is provided outside the connection block 103 , and a spring 103 a is provided between the detector 104 and the connection block 103 .

[0058] The container can only be released after it is placed on the ground and the gripper is stabilized on the detector 104 on the container; by placing and supporting the detector 104 on the container, this ensures that there is sufficient separation between the wedge 102a and the edge of the container and allows the folding mechanism to activate and fold freely.

[0059] With this arrangement, if it were simply to individually control the opening and closing of the gripper fingers 102, alternating between each time they landed on a radioactive barrel, if the support was mistakenly placed on an incorrect surface, or if the barrel accidentally contacted another barrel during descent, the gripper would automatically open without the operator being able to prevent it, causing the radioactive barrel to fall and a reportable accident; so with this arrangement, the following problems can be avoided: first, due to operator error or control system failure, they may release the barrel in mid-air; second, if an incorrect release position is detected or an accident is foreseen, the barrel will be automatically released without giving the operator the option to cancel the operation; third, power is required to maintain the grip on the barrel, so if the power supply fails, the barrel will fall.

[0060] By this arrangement, the barrel can be clamped and suspended without any power supply; the barrel can be clamped without any action or power input; a voluntary command is required to release the barrel; accidental release of the barrel in mid-air or when improperly supported is prevented; clamping time is reduced; sealed and unsealed barrels can be securely clamped; regardless of the weight of the barrel, it can be securely clamped; and, due to the interference of wedge 102a with the ring of the barrel or the curling of the upper edge of the barrel, the barrel is prevented from being dropped in mid-air.

[0061] The main clamp 100 of the present design includes detection systems that inform the operator of the status of various safety elements that affect operational safety.

[0062] Safety through its inherent design makes it mechanically impossible to activate the release while the load is suspended or clamped; the force of the release mechanism is calibrated to prevent activation when the load is not completely free, and the clamping mechanism maintains mechanical interference with the bucket until the bucket is properly supported on the ground; the developed system can clamp securely regardless of whether the bucket is sealed or not, as the claw system adapts to the slight diameter variations between covered and uncovered buckets; the clamping system is designed to adapt to the lip on the upper edge of an open bucket or the rim of a closed bucket; in addition, the system ensures secure clamping regardless of the weight of the bucket, as it does not rely on the weight of the bucket to generate the clamping force. This versatility is crucial, especially when handling lightweight buckets. Systems that rely on weight to generate the clamping force may be unsafe and easily lose their grip due to slight impacts during handling, which may cause it to fall.

[0063] Example 3

[0064] Reference Figure 1 to Figure 6 , which is the third embodiment of the present invention, is based on the previous embodiment, except that a notch 202a - 1 is provided on the guide portion 202a , a plane 202a - 11 is provided on the notch 202a - 1 , and the plane 202a - 11 is movably matched with the detector 104 .

[0065] The setting of the notch 202a-1 can facilitate the placement of the detector 104, and a plane 202a-11 can also be obtained through the notch 202a-1, so that a position sensor can be used to confirm that the gripper has reached the correct gripping state and position.

[0066] Preferably, a matching block 202b-1 is provided in the accommodating portion 202b, and the matching block 202b-1 has at least one surface that can accommodate the wedge 102a to contact and bear force.

[0067] The matching block 202b-1 is preferably in the shape of a cylindrical bar, which is easy to process and also simulates the shape of the barrel edge.

[0068] The mechanical coupling between the main clamp 100 and the auxiliary clamp 200 is mainly the connection between the clamping finger 102 and the interface 202, which is similar to the process of clamping a barrel. After the clamping finger 102 enters the accommodating portion 202b, there is no need for the control portion 102b to operate. The wedge 102a contacts and cooperates with the matching block 202b-1, folds and unfolds, and completes the connection between the two.

[0069] Through this arrangement, the auxiliary clamp 200 and the main clamp 100 are directly connected, which solves the impossibility of using a single crane to handle various types of packages in the same storage facility; solves the impossibility of handling various types of packages without changing the processing tools; solves the impossibility of changing processing tools without involving the operator's direct intervention in the radiation exposure area for a long time; solves the impossibility of directly using a bridge crane to perform package handling tasks without moving it to a specific workstation.

[0070] Designing various handling tools as the auxiliary gripper 200 enables it to be grasped and connected by the gripper, transforming it into a new tool with new functions, new sensors and new logic; the main gripper 100 is able to be attached to the new tool, requiring a structural interface to be integrated into the tool, replicating the upper geometry of the barrel; this interface must have the structural capacity required for the load capacity required by the new tool, which will depend on the weight of the parcel to be handled; the mechanical coupling must also take into account the inherent safety features of the gripper to ensure they are not offset; the gripper and tool must retain the safety features of the gripper, added to any other safety features integrated into the tool; once the tool is mechanically coupled to the gripper, it must Power and control connections are made so that assembly can be safely controlled from the nuclear facility's operating control room; whenever possible, fusion of control and command signals should be prioritized; the goal is to maintain signals and commands in the control room so that signals that previously directed the gripper now direct the tool assembly; the purpose of signal fusion is to avoid the need to modify the HMI system in the control room; due to the current integration of PLCs and the use of network protocols to transmit information, signal reduction is not a priority; the physical assembly of the power and control connectors can be automated or performed manually, with minimal and rapid intervention by the operator if the radiation dose reduction achieved does not reasonably justify the associated economic costs.

[0071] Through the auxiliary clamp 200, it can be remotely attached to operate the assembly as a new processing tool with new features and functions; it has the possibility of processing accessories that can be attached to the main processing element; by designing the tool to have an interface similar to a barrel opening, the wedge 102a allows them to be handled like a barrel; the tool is designed to connect seamlessly with the interface 202; the electrical and control connections are made through a dedicated connector, which is integrated with the overall system to ensure minimal direct intervention by the operator; after mechanical coupling, the corresponding electrical connectors are manually connected, which reduces the operating time of the staff in the radiation area to replace the clamps compared to the prior art.

[0072] Through the interference of the geometric shape of the wedge 101a and the clever mechanical design, it is achieved that the load is fixed without relying on any kinematic chain, ensuring a passive grasping function that does not require energy input during the grasping process, ensuring the safety of the load, and enabling the wedge 101a to firmly grasp the bucket and provide safe grasping.

[0073] Example 4

[0074] Reference Figure 1 to Figure 6 , which is the fourth embodiment of the present invention, is based on the previous embodiment, but differs in that this embodiment provides a method for handling and transporting radioactive packages.

[0075] Identify radioactive cargo to be moved, including but not limited to radioactive drums, concrete containers, rectangular containers, container covers, mobile storage stabilizers, storage units, etc.;

[0076] According to the type of goods, confirm whether to use the main clamp or auxiliary clamp for transportation;

[0077] When the auxiliary clamp is required to perform an operation, the main clamp is moved above the auxiliary clamp, the clamping fingers are aligned and enter the guide part and the receiving part in sequence, and the wedge contacts and cooperates with the matching block to connect the main clamp and the auxiliary clamp;

[0078] After the auxiliary clamps are connected, the handling task is performed to deliver the goods to the designated location.

[0079] In summary, the design of the main clamp 100 and the auxiliary clamp 200 allows for adapting to radioactive items of different shapes and sizes, provides operational flexibility, and ensures that various types of goods can be safely transported.

[0080] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0081] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0082] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0083] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A multi-tool universal coupling system for radioactive package processing, characterized in that: include, A main clamping member (100) comprises a claw plate (101) and clamping fingers (102) arranged on the claw plate (101); The auxiliary clamp (200) comprises clamps (201) corresponding to carrying different goods or performing specific operations, and interfaces (202) arranged on the clamps (201) and coupled with the clamp fingers (102); When the main clamp (100) is unable to complete a specific operation, a matching clamp (201) is selected, the clamp finger (102) is coupled to the interface (202), and the specific operation is performed by using the clamp (201).

2. The multi-tool universal coupling system for radioactive package processing according to claim 1, characterized in that: The interface (202) comprises a guide portion (202a) that tapers from top to bottom and a receiving portion (202b) that communicates with the guide portion (202a); the clamping finger (102) enters the receiving portion (202b) after passing through the guide portion (202a).

3. The multi-tool universal coupling system for radioactive package processing according to claim 1, characterized in that: The gripping finger (102) is provided with a receiving space (K) inside, and a wedge (102a) is rotatably connected inside the receiving space (K), and when the wedge (102a) is rotated out of the receiving space (K), a grasping state is formed; A control unit (102b) connected to the wedge (102a) is also provided in the accommodating space (K); the control unit (102b) is used for the folding action of the wedge (102a) and does not participate in the grasping work.

4. The multi-tool universal coupling system for radioactive package processing according to claim 1, characterized in that: A wedge rotating shaft (102a-1) is provided at one end of the wedge (102a), and the wedge rotating shaft (102a-1) is movably connected to the accommodating space (K) via a rotating shaft (102a-11).

5. The multi-tool universal coupling system for radioactive package processing according to claim 4, characterized in that: The control part (102b) is driven by an electromagnet, an electromagnetic transmission rod (102c) is slidably provided in the accommodating space (K), and a fork rod (102c-1) is movably provided at one end of the electromagnetic transmission rod (102c); The fork rod (102c-1) is provided with a rod connecting shaft (102c-11).

6. The multi-tool universal coupling system for radioactive package processing according to claim 2, characterized in that: The wedge (102a) is provided with a wedge connecting rod (102a-2), and a wedge rotating rod (102a-21) is rotatably provided between the rod connecting shaft (102c-11) and the wedge connecting rod (102a-2).

7. The multi-tool universal coupling system for radioactive package processing according to claim 6, characterized in that: A connecting block (103) is provided on the outer wall of the clamping finger (102), a detector (104) is provided outside the connecting block (103), and a spring (103a) is provided between the detector (104) and the connecting block (103).

8. The multi-tool universal coupling system for radioactive package processing according to claim 7, characterized in that: The guide portion (202a) is provided with a notch (202a-1), the notch (202a-1) is provided with a plane (202a-11), and the plane (202a-11) is movably matched with the detector (104).

9. The multi-tool universal coupling system for radioactive package processing according to claim 8, characterized in that: A matching block (202b-1) is provided in the accommodating portion (202b), and the matching block (202b-1) has at least one surface capable of accommodating the wedge (102a) to contact and bear force.

10. A method for handling radioactive packages, characterized in that: A multi-tool universal coupling system for radioactive package processing as claimed in any one of claims 1 to 9; and Identify radioactive cargo to be moved, including but not limited to radioactive drums, concrete containers, rectangular containers, container covers, mobile storage stabilizers, storage units, etc.; According to the type of goods, confirm whether to use the main clamp or auxiliary clamp for transportation; When the auxiliary clamp is required to perform an operation, the main clamp is moved above the auxiliary clamp, the clamping fingers are aligned and enter the guide part and the receiving part in sequence, and the wedge contacts and cooperates with the matching block to connect the main clamp and the auxiliary clamp; After the auxiliary clamps are connected, the handling task is performed to deliver the goods to the designated location.

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