A Remote Maintenance System and Its Maintenance Process Applied to the Replacement of the BNCT Target

Abstract

The present invention relates to the technical field of remote control maintenance, especially a remote control maintenance system and its maintenance process for replacing the target body plug-in through remote control in a radiation environment and applied to the replacement of the BNCT target body. The overall remote control maintenance system serves in a confined space, including a remote operation system, a monitoring system, a target body structure, and a target body storage structure. The target body storage structure mainly includes a shielding container and a load transportation system, which is installed on the side of the target body trailer and shares the installation base with the remote operation robot. The motors of the load transportation system, the remote operation robot, and its tools are connected to the control panel outside the confined space through cables passing through the reserved holes in the confined space. The work of each system of the present invention runs independently, and the work of the system and the tools are independent of each other and do not interfere with each other, but complement each other, cooperate with each other, and jointly constitute a stable, reliable, and safe remote control maintenance process for replacing the BNCT target body.

Description

Technical Field

[0001] The present invention relates to the technical field of remote control maintenance, and particularly to a remote control maintenance system and its maintenance process for replacing the target plug in a radiation environment through remote control, which are applied to the replacement of the BNCT target body. Background Art

[0002] With the development of nuclear technology and the popularization of nuclear science, many uses of neutron sources have been explored, including drug treatment, isotope production, detection of explosive / nuclear fission materials, analysis of precious metal ores, imaging, etc. For example, Boron-Neutron Capture Therapy (BNCT). In this technology, a special boron-containing compound is pre-injected into the tumor patient's body. This compound has a strong affinity for cancer cells. After entering the human body, it quickly accumulates in cancer cells, while being rarely distributed in other tissues. Then, the hyperthermal neutron rays of BNCT irradiate the patient's tumor. These rays can safely penetrate the normal tissues of the human body and undergo a strong nuclear reaction with the boron that has entered the cancer cells. This nuclear reaction will release very strong α rays. The range of these rays is very short, only the length of one cancer cell, which can destroy cancer cells from the inside and minimize the impact on surrounding normal cells, thus achieving the effect of treating cancer.

[0003] In a BNCT device, the component that generates neutrons is called the target body. The target plug is the core component of BNCT and also the source of the neutron beam. The function of the BNCT treatment room is to bombard a heavy metal target with a high-energy proton beam accelerated by an accelerator and generate high-energy neutrons through the spallation effect. Its working environment is an independent and radioactive environment. Due to the influence of irradiation damage, etc., the target body needs to be replaced frequently. Since the radiation intensity is high during the target replacement in the BNCT treatment room, many studies on remote control maintenance processes related to the target body focus on the maintenance of the target plug.

[0004] When the target body system is working, the target plug is bombarded by protons for a long time, and its activation degree is relatively high. Therefore, the maintenance of the target plug needs to be carried out in a remote operation environment. However, the remote operation environment is a strong irradiation environment. On the one hand, radiation causes the most serious damage to electronic circuits. A failed control circuit or sensor will not be able to achieve a reliable maintenance effect. Therefore, a radiation-resistant remote control maintenance system is required to achieve the goal of long-term effective maintenance. On the other hand, to avoid radiation damage to operators, the remote operation environment must be a completely enclosed airtight space. This makes the maintenance of the target body in the treatment room rely on reliable remote control. However, the operation of remotely controlling the maintenance of components in a closed environment has certain difficulties. The difficulties are reflected in the need to simultaneously consider monitoring and operation, and also need to observe and process the parameter changes that occur during the work in real time.

[0005] In order to solve the problem of difficult remote control maintenance in confined spaces, people have come up with some solutions during the research and development process, such as the patent number ZL 2014 1 0582912.4, a remote control maintenance system for target plug-in replacement and its maintenance process, which discloses the remote control maintenance process of CSNS target, and realizes the feasibility of remote control of target maintenance; another example is the patent number ZL 2014 1 0582912.4, which discloses the remote control maintenance process of CSNS target. 0626273.7 is a public document on a remote control positioning and flipping system for replacing a target plug-in. The invention in this document discloses a design of a remote-controlled target flipping stand, etc., to realize remote control of target maintenance by entering a shielding barrel. Based on the above invention, a reliable and practical maintenance system can be created for target maintenance, which also brings great convenience to the maintenance work. However, in a confined space with strong irradiation, the remote control operation is not flexible enough, so that the related detailed work cannot get strong maintenance support. For example, if only one robot is relied on in the system, it is impossible to complete the maintenance of all components. In particular, for the maintenance of target plug-in replacement, the key problem cannot be solved without a perfect operating system and a complete operating process. Therefore, we need a system in which each component can work relatively independently and has a perfect operating process, so that the remote control maintenance of BNCT target plug-in replacement is more operational and reliable. Summary of the invention

[0006] In view of various problems currently existing in replacing a target plug-in under a radiation environment, the present invention aims to provide a remote control maintenance technology, in particular a remote control maintenance system and maintenance process thereof applied to BNCT target replacement.

[0007] The technical solution adopted by the present invention is: a remote control maintenance system applied to BNCT target replacement, wherein the remote control maintenance system as a whole serves in a confined space, and comprises a remote operation system, a monitoring system, a target structure and a target storage structure.

[0008] The remote operation system mainly includes an overhead crane, a target trailer and a remote operation robot. The remote operation robot is installed on the side of the target structure, next to the target trailer and the beam shaping device. After the target trailer drives the beam shaping device to move, the target structure is exposed to the air in the confined space. The robot clamps and operates the target structure through the electric wrench and clamp installed on it.

[0009] The target structure comprises a target container and a target sheet. The target sheet is installed inside the target container. The target container is installed on the flange surface of the vacuum chamber through a connecting piece and fixed by bolts.

[0010] The described monitoring system mainly includes cameras installed inside the enclosed space and image display screens installed outside the enclosed space; the cameras include four high-definition anti-radiation cameras, which are respectively arranged on three walls in front of the target structure; the image display screens are installed beside the monitoring window, and the image display screens are electrically connected to the cameras to display the information collected by the cameras.

[0011] The described target storage structure mainly includes a shielding container and a load transportation system, which are installed on the side of the target trailer and share the installation base with the remote operation robot; the motors of the load transportation system, the remote operation robot and its tools pass through the cables in the reserved ducts of the enclosed space and are connected to the control panel outside the enclosed space.

[0012] The described target container is fixedly installed at one end of the vacuum chamber, and a target disk is installed inside the target container.

[0013] The described target trailer drives the beam shaping device to move horizontally in the front and back directions. The target trailer is provided with a transmission mechanism. Among them, the transmission mechanism includes the starting motor of the target trailer. The control device of the target trailer is an operation panel installed outside the enclosed space, and is electrically connected to the transmission mechanism through the cables passing through the ducts opened in the enclosed space to control the start, stop and speed adjustment of the trailer.

[0014] The described overhead crane spans over the enclosed space and is provided with a matching remote controller. The overhead crane suspends a lifting hook through a pulley block and a chain. The remote controller of the overhead crane is arranged outside the enclosed space and is electrically connected to the operating mechanism of the overhead crane to control the displacement of the lifting hook in the east, south, west, north, up and down directions.

[0015] The described remote operation robot is a six-degree-of-freedom robot, and a maintenance tool is detachably connected to the end. Its working range must be able to cover the target structure and the target storage structure.

[0016] The described maintenance tool includes an electric wrench and a pneumatic clamp, which are installed at the end of the robot and are fixed together by a special clamp.

[0017] The described target storage structure includes a transferable shielding container and a load transportation system fixed in the treatment room; when the shielding container needs to be transferred, it can be transferred out of the treatment room as a whole by the overhead crane.

[0018] The described shielding container includes a shielding door at the top and a lead box at the bottom. The middle cavity of the lead box is the storage area for radioactive substances; the shielding door and the lead box are matched by an inclined plane, and the movement route between the shielding door and the bottom lead box is set as a maze structure. When the shielding door is closed, the two are fixed by a locking mechanism; when the shielding container is vertically placed on the load transportation system, the shielding door is jacked up and a certain gap is separated from the bottom lead box, so as to facilitate the opening and closing of the shielding door.

[0019] The described load transportation system includes a moving mechanism and a control system. The moving mechanism includes a motor, a drive system, a semi-enclosed U-shaped support connection structure, a bottom plate support structure, a lead screw drive system, and linear guide rails. The motor is installed on the bottom plate of the bottom plate support structure and is connected to the lead screw drive system through a coupling. The lead screw nut in the lead screw drive system is rigidly connected to the U-shaped support connection structure, and the linear motion of the lead screw drive system is driven by the drive system arranged in the control room to drive the linear motion of the U-shaped support connection structure. The linear guide rails are installed on both sides of the bottom plate and are arranged at the corresponding bottoms on both sides of the U-shaped support connection structure. Slide groove structures are provided at the bottoms on both sides of the U-shaped support connection structure to form a sliding connection with the linear guide rails. The control system is an upper system controlled by the motor, which is used to control the forward and reverse rotation of the motor and judge the opening and closing states of the shielding door.

[0020] A maintenance process for a remote maintenance system applied to the replacement of a BNCT target. The maintenance process includes the following steps:

[0021] (1) BNCT shutdown: including the shutdown of the accelerator and the recovery of the vacuum chamber in the vacuum cooling integrated structure and the drainage of the cooling water circuit, etc.;

[0022] (2) Target trailer operation: The target trailer drives the beam shaping device to move, and the target structure is exposed to the treatment room environment;

[0023] (3) Target storage structure operation: By operating the operation panel outside the enclosed space, the load transportation system is controlled to open the shielding door of the shielding container;

[0024] (4) Monitoring system operation: Images are taken by the camera, and the information collected by the camera is displayed on the image display screen. Through real-time image taking and observation, it is ensured that the shielding door of the shielding container is fully opened;

[0025] (5) Remote operation robot operation: First, the electric wrench on the remote operation manipulator is used to loosen the bolts of the target structure; then, the pneumatic clamp on the remote operation manipulator is used to clamp the target structure; then, the target structure is transported to the upper end of the shielding container and the target structure is changed to a horizontal posture; then, the remote operation manipulator accurately places the target structure at the fixed position of the target container; the pneumatic clamp is loosened;

[0026] (6) Remote operation robot reset: The remote operation manipulator is reset, and the whole process is observed through the monitoring system to ensure that the actions are in place and there is no interference or collision;

[0027] (7) Target storage structure reset: By operating the operation panel outside the enclosed space, the load transportation system is controlled to close the shielding door of the shielding container;

[0028] (8)Manual operation: Ventilate the treatment room and measure the radiation dose. After ensuring the safe range of treatment, open the shielding door of the enclosed space, and personnel enter. Use the overhead crane to lift and transport the shielding container outside the treatment room to complete the operation.

[0029] The beneficial effects of the present invention are as follows: A remote maintenance system applied to the replacement of the BNCT target. The remote maintenance system serves entirely within an enclosed space and includes a remote operation system, a monitoring system, a target structure, and a target storage structure. The operations of each system or structure are independent of each other. The work of the system and the tools is independent and does not interfere with each other, but complements and cooperates with each other to jointly constitute the remote maintenance process for the replacement of the BNCT target. The present invention operates stably and reliably, with a simple structure, solving the problems caused by radiation and other factors in practical applications, making the replacement of the BNCT target extremely difficult and dangerous. Description of the Drawings

[0030] Figure 1 is the layout structure schematic diagram of the present invention.

[0031] Figure 2 is the working schematic diagram of the remote operation robot in the present invention.

[0032] Figure 3 is the structure schematic diagram of the integration of the target structure, transition disk, and vacuum cooling integrated structure in the present invention.

[0033] Figure 4 is the overall structure schematic diagram of the target container in the present invention

[0034] Figure 5 is the lateral side view structure schematic diagram of the target container in the present invention.

[0035] Figure 6 is the overall structure schematic diagram of the target storage structure in the present invention.

[0036] Figure 7 is the state schematic diagram of the shielding door being opened by the U-shaped support connection structure in the target storage structure of the present invention.

[0037] Figure 8 is the structure schematic diagram of the moving mechanism in the closed position in the target storage structure of the present invention.

[0038] Figure 9 is the structure schematic diagram of the moving mechanism in the open position in the target storage structure of the present invention.

[0039] Figure 10 is the structure schematic diagram of the shielding container in the target storage structure of the present invention.

[0040] Figure 11 is the top view structure schematic diagram of the shielding container in the target storage structure of the present invention.

[0041] Figure 12 It is a schematic structural diagram of the shielding container in the target storage structure of the present invention.

[0042] Figure 13 It is a schematic top view structural diagram of the shielding container in the target storage structure of the present invention.

[0043] Explanation of the reference numerals in the drawings: 1 - remote operation system, 2 - monitoring system, 3 - target structure, 4 - target storage structure, 5 - target trailer, 6 - overhead crane, 7 - enclosed space, 31 - target container, 32 - transition plate, 33 - vacuum cooling integrated structure, 34 - pin hole, 36 - cooling water sealing ring, 37 - notch, 38 - flange, 39 - vacuum sealing ring, 315 - fixed flange, 316 - vacuum tube, 317 - cooling water pipe, 318 - pin, 41 - shielding container, 42 - shielding door, 43 - lug, 44 - through hole, 45 - lead box, 46 - load transportation system, 47 - U-shaped support connection structure, 48 - connecting pin, 49 - bottom plate support structure, 410 - bottom plate, 411 - screw drive system, 412 - linear guide rail, 413 - motor. Specific embodiments

[0044] The following takes the replacement of the BNCT target in the BNCT treatment room as a specific example, and in combination with the drawings in the specification, details the specific embodiments of the present invention. It should be particularly noted that the environment of this treatment room is a radiation-containing enclosed space 7 during short-term shutdown maintenance, and the remote maintenance system of the present invention is used for remote maintenance and replacement of the BNCT target.

[0045] As Figure 1-2 shown, a remote maintenance system for BNCT target replacement, the remote maintenance system is in service in the BNCT treatment room as a whole, including a remote operation system 1, a monitoring system 2, a target structure 3 and a target storage structure 4. The remote operation system 1 includes a controller arranged outside the treatment room, and realizes the control of the equipment outside the treatment room through cables and gas pipelines passing through the wall; the target structure 3 is loaded with target wafers, the target storage structure 4 is used to store the target structure 3, the monitoring system 2 is used to monitor the opening and closing state of the target storage structure 4 in the BNCT treatment room in real time, and the remote operation system 1 is used for maintaining, transporting and replacing the target structure 3.

[0046] The remote operation system 1 described above mainly includes an overhead crane 6, a target trailer 5, and a remote operation robot. The remote operation robot is installed beside the target structure 3, the target trailer 5, and the beam shaping device on the side of the target structure 3. The remote operation robot is a six-degree-of-freedom robot, and a maintenance tool is detachably connected to the end. The maintenance tool includes an electric wrench and a pneumatic clamp, which are installed at the end of the robot and fixed into an integrated manipulator by a special clamp. The target trailer 5 drives the beam shaping device to move horizontally in the front and back directions. The target trailer 5 is provided with a transmission mechanism. Among them, the transmission mechanism includes a starting motor of the target trailer 5. The control device of the target trailer 5 is an operation panel installed outside the enclosed space 7, and is electrically connected to the transmission mechanism through a cable passing through the hole opened in the enclosed space 7 to control the start, stop, and speed adjustment of the trailer. The overhead crane 6 is horizontally installed above the enclosed space 7 and is provided with a matching remote control. The overhead crane 6 suspends a lifting hook through a pulley block and a chain. The remote control of the overhead crane 6 is installed outside the enclosed space 7 and is electrically connected to the operating mechanism of the overhead crane 6 to control the displacement of the lifting hook in the east, south, west, north, up, and down directions. When the target trailer 5 drives the beam shaping device to move, the target structure 3 is exposed to the air in the enclosed space 7. The robot uses the electric wrench and clamp installed on it to grip and operate the target structure 3. Therefore, its working range must be able to cover the target structure 3 and the target storage structure 4.

[0047] The monitoring system 2 described above mainly includes a camera installed in the enclosed space 7 and an image display screen installed outside the enclosed space 7. The camera includes four high-definition anti-radiation cameras, which are respectively arranged on three walls in front of the target structure 3. The image display screen is installed beside the monitoring window, and the image display screen is electrically connected to the camera to display the information immediately collected by the camera in real time.

[0048] As Figures 3-5 shown, the target container 31 in the target structure 3 can be sequentially connected with the transition disk 32 and the vacuum cooling integrated structure 333 in turn to form a sandwich-shaped laminated and integrated structure. In this embodiment, it is mainly to transport and replace the target structure 3 that is disconnected from the transition disk 32 and the vacuum cooling integrated structure 333. The target container 31 of the target structure 3 is vertically installed on the vacuum chamber flange through a connecting piece and is fixedly connected by bolts. The target piece is installed inside the target container, and the replaced target structure 3 needs to be stored horizontally to avoid the target piece from falling. When the target structure 3 is in operation in BNCT, it is surrounded by a beam shaping device on the outside. After shutdown, the target structure 3 can be maintained only after the beam shaping device is opened.

[0049] The described target structure 3 is fixedly installed at one end of the vacuum chamber through a target container 31. A target disc is installed inside the target container. One end face of the transition disc 32 is connected to the target container 31, and the other end face is connected to the vacuum cooling integrated structure 33. The structure is simple and easy to implement.

[0050] A notch 37 for remote control fixture clamping is designed on the back of the described target container 31. One side of the notch 37 has an inclined surface to facilitate the guiding entry of the fixture. The notch 37 has a certain length, which matches the fixture of the manipulator, maintaining the relative position of the target container and the fixture fixed, and ensuring the fixed position of the target container 31 during the clamping and transportation process. The described vacuum cooling integrated structure 33 includes a vacuum tube 316 and a cooling water pipe 317 integrally installed on a fixed flange. 36

[0051] As Figures 6-11 shown, the described target storage structure 4 mainly includes a shielding container 41 and a load transportation system 46, which is installed on the side of the target trailer 5 and shares the installation base with the remote operation robot. The motors of the load transportation system 46, the remote operation robot, and its tools pass through the cables inside the reserved holes of the enclosed space 7 and are connected to the control panel outside the enclosed space 7.

[0052] In this embodiment, the shielding container 41 and the load transportation system 46 are mechanically connected by pins. There is an isolated maintenance operation room in the BNCT treatment room. The staff remotely maintains the target storage structure 4 in the operation room, transports and transfers the target structure 3, and the ultimate goal is to move it out of the BNCT treatment room.

[0053] The described shielding container 41 includes a shielding door 42 at the top and a lead box 45 at the bottom. The middle cavity of the lead box 45 is the storage area for radioactive substances, that is, the target structure 3 is placed inside the lead box 45, and the radiation from the target disc is isolated by the shielding door 42. The shielding door 42 and the lead box 45 are matched by an inclined surface, and the movement route between the shielding door 42 and the bottom lead box 45 is set as a maze structure. Such a design not only ensures the smooth opening and closing of the shielding door 42 but also ensures the airtightness of the shielding door 42 and the lead box 45 when the target structure 3 is placed. When the shielding door 42 is closed, the two are fixed by a locking mechanism. When the shielding container 41 vertically falls on the load transportation system 46, the shielding door 42 is lifted upward, disengaging from the bottom lead box 45 by a certain gap, thus facilitating the opening and closing of the shielding door 42. The shielding container 41 in this embodiment can accommodate at most three target structures 3 for horizontal storage.

[0054] The described load transportation system 46 includes a moving mechanism and a control system. The moving mechanism is integrally fixed to the ground to ensure stability. It includes a motor 413, a drive system, a semi-enclosed U-shaped support connection structure 47, a bottom plate support structure 49, a lead screw drive system 411, and a linear guide 412. The motor 413 is installed on the bottom plate 410 of the bottom plate support structure 49 and is connected to the lead screw drive system through a coupling. The lead screw nut in the lead screw drive system is rigidly connected to the U-shaped support connection structure 47. The drive system arranged in the control room drives the linear movement of the lead screw drive system to drive the linear movement of the U-shaped support connection structure 47. The linear guide 412 is installed on both sides of the bottom plate 410 and is arranged at the corresponding bottoms on both sides of the U-shaped support connection structure 47. Sliding grooves are provided at the bottoms on both sides of the U-shaped support connection structure 47 to form a sliding connection with the linear guide 412. The control system is an upper system controlled by the motor 413, which is used to control the forward and reverse rotation of the motor 413 and judge the opening and closing states of the shielding door 42. The motor 413 is a servo motor 413 with an encoder.

[0055] Ears 43 are provided on both sides of the shielding door 42, and through holes 44 are provided in the ears 43. The ears 43 facilitate the cooperation with both sides of the U-shaped support connection structure 47 of the load transportation system 46, so that both sides of the U-shaped support connection structure 47 can respectively support the two ears 43 on both sides. The U-shaped support connection structure 47 surrounds the shielding container 41 inside it. In addition to supporting the weight of the shielding door 42, it also needs to transmit the force of lateral movement to realize the opening and closing of the shielding door 42. More specifically, when the shielding door 42 is to be opened or closed, both sides of the U-shaped support connection structure 47 respectively hold the two ears 43 on both sides of the shielding door 42 and drive the movement of the shielding door 42 to realize opening and closing or opening. And two guiding connection pins 48 are respectively provided at the top parts of the two side plates of the U-shaped support connection structure 47 for cooperating with the through holes 44 on the two ears 43 on both sides of the shielding door 42 for positioning, which can effectively avoid the situation of displacement and dislocation of the shielding door 42 during the opening or closing process. During the actual working process, the load transportation system 46 remotely controls the motor 413 through the control system to realize the linear movement of the U-shaped support connection structure 47.

[0056] The inner layer of the shielding container 41 is a metal lead layer, and the outer layer is a stainless steel layer. The shielding container 41 is formed by filling lead into a stainless steel shell. Its inner part is a lead layer, and its outer surface is a stainless steel shell. The thickness of the filled lead is determined according to the radioactivity of the source item. The lead layer has a strong radiation shielding ability, and it is difficult for radiation rays to penetrate the lead layer. However, lead is very heavy, so the overall weight of the entire shielding container 41 will be very heavy. Therefore, to safely transport the target out of the deep well, the shielding container 41 has to be transported out of the deep well together. The mating surface between the shielding door 42 and the bottom lead box 45 is designed in a labyrinth form to avoid direct radiation.

[0057] In addition to providing the bottom support for the shielding container 41 and the U-shaped support connection structure 47, the bottom plate support structure 49 of this embodiment is also the reference for the installation of all motors 413, linear guide rails 412, and screw thread pairs. At the same time, it provides a reference for other equipment that needs to be positioned with the shielding container 41. As a radioactive material storage system with strong load-bearing capacity, remote control, and convenient remote control maintenance and transportation, the present invention is specifically used for BNCT remote control maintenance. During operation, the target body is placed in the shielding container 41, and the shielding container 41 is placed on the load transportation system 46 through a vertical lifting device. Through the inverted pin connection, the load transportation system 46 is electrically driven to realize the opening and closing of the shielding door 42 of the shielding container 41; when it is necessary to transport the shielding container 41, through the control system, the remote drive motor 413 closes the shielding door 42, and then the shielding container 41 is lifted out as a whole by the overhead crane 6; the present invention realizes the goals of remote control operation and bearing large loads, which not only meets the maintenance requirements but also can block the radiation between the operator and the radiation source.

[0058] In this embodiment, on the bottom plate support structure 49, in addition to realizing the installation and positioning of the linear guide rail 412, the motor 413, and the screw drive system, there is also the support for the shielding container 41, as well as the fixing and leveling with the ground; the load transportation system 46 bears the weight of the shielding door 42 and the U-shaped support connection structure 47 through the linear guide rail 412; the load transportation system 46 converts the rotational torque of the motor 413 into the linear motion of the screw nut through the screw thread pair; in the technical solution, the bottom of the load transportation system 46 is a bottom plate support system, which needs to be connected to the ground and ensure that it can be leveled.

[0059] In this embodiment, the target body structure 3 serving in the BNCT treatment room environment is placed in the shielding container 41, and the remote control load transportation system 46 is used to transfer the shielding container 41 to realize the transportation and transfer of radioactive objects. This not only avoids the radiation damage caused by radioactive objects but also ensures the personal safety of remote operators. In particular, the shielding container 41 and the load transportation system 46 are of a split design, the bottom load transportation system 46 is in a fixed position, and the shape and structure of the shielding container 41 are set as an independent container that is convenient for opening and closing the shielding door 42 and for remote control maintenance and lifting. It can store radioactive objects well and is convenient for lifting from the deep well environment, reducing the difficulty of remote operation; the shielding container 41 is a flat-opening door type, which can provide the maximum operating space for radioactive materials; the overall structure of the target body storage structure 4 in the present invention is simple, easy to implement, and can effectively prevent the radiation damage of radioactive objects to the environment and staff.

[0060] Using the present invention to remotely control the replacement and maintenance process of the BNCT target body, the maintenance process includes the following steps:

[0061] (1) BNCT shutdown: The equipment in the BNCT treatment room is suspended, including the shutdown of the accelerator and the restoration of normal pressure in the vacuum chamber of the vacuum cooling integrated structure 33 in the target structure 3 and the drainage of the cooling water pipe 317 loop, etc.;

[0062] (2) Target trailer 5 operation: The target trailer 5 drives the beam shaping device to move, so that the target structure 3 is exposed to the treatment room environment;

[0063] (3) Target storage structure 4 operation: By operating the operation panel outside the sealed space 7, the load transportation system 46 is controlled to open the shielding door 42 of the shielding container 41;

[0064] (4) Monitoring system 2 operation: By taking images with the camera, the information collected by the camera is displayed on the image display screen, and through real-time image taking and observation, it is ensured that the shielding door 42 of the shielding container 41 is fully opened during remote maintenance;

[0065] (5) Remote operation robot operation: First, use the electric wrench on the remote operation manipulator to loosen the bolts of the target structure 3, so that the target structure 3 is separated from the vacuum chamber; then use the pneumatic clamp on the remote operation manipulator to clamp the target structure 3; then transport the target structure 3 to the upper end of the shielding container and rotate the target structure 3 to a horizontal posture; then the remote operation manipulator accurately places the target structure 3 at the fixed position of the shielding container 41; loosen the pneumatic clamp;

[0066] (9) Remote operation robot reset: The remote operation manipulator is reset, and the whole process is observed through the monitoring system 2 to ensure that the actions are in place and there is no interference or collision;

[0067] (10) Target storage structure 4 reset: By operating the operation panel outside the sealed space 7, the load transportation system 46 is controlled to close the shielding door of the shielding container;

[0068] (11) Manual operation: Ventilate the treatment room and measure the radiation dose. After ensuring that it is within the safe range, open the shielding door of the sealed space 7 and personnel enter; use the overhead crane 6 to lift and transport the shielding container outside the treatment room to complete the maintenance and replacement work.

[0069] The above is only a preferred embodiment of the present invention, and does not impose any limitation on the technical scope of the present invention. Those skilled in the art, inspired by this technical solution, can make some deformations and modifications. Any modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A remote maintenance system applied to the replacement of the BNCT target body. The remote maintenance system serves in a closed space as a whole, including a remote operation system, a monitoring system, a target body structure, and a target body storage structure. It is characterized in that: The remote operation system includes an overhead crane, a target body trailer, and a remote operation robot. The remote operation robot is installed on the side of the target body structure, beside the target body trailer and the beam shaping device. After the target body trailer drives the beam shaping device to move, the target body structure is exposed to the air in the closed space. The robot uses the electric wrench and fixture installed on it to clamp and operate the target body structure. The target body trailer drives the beam shaping device to move horizontally in the front and back directions. The target body trailer is provided with a transmission mechanism. Among them, the transmission mechanism includes the starting motor of the target body trailer. The control device of the target body trailer is an operation panel installed outside the closed space, which is electrically connected to the transmission mechanism through a cable passing through the hole opened in the closed space to control the start, stop, and speed adjustment of the trailer. The target body structure includes a target container and target wafers. The target wafers are installed inside the target container. The target container is installed on the vacuum chamber flange through a connecting piece and fixed by bolts. The target container is fixedly installed at one end of the vacuum chamber, and target wafers are installed inside the target container. The monitoring system includes cameras installed inside the closed space and image display screens installed outside the closed space. The cameras include four high-definition anti-radiation cameras, which are respectively arranged on the three walls in front of the target body structure. The image display screen is installed beside the monitoring window, and the image display screen is electrically connected to the cameras to display the information collected by the cameras. The target body storage structure includes a shielding container and a load transportation system, which is installed on the side of the target body trailer and shares the installation base with the remote operation robot. The motors of the load transportation system, the remote operation robot, and its tools are connected to the control panel outside the closed space through cables passing through the reserved holes in the closed space.

2. The remote maintenance system for BNCT target replacement according to claim 1, wherein: The overhead crane spans over the closed space and is provided with a matching remote controller. The overhead crane suspends a lifting hook through a pulley block and a chain. The remote controller of the overhead crane is set outside the closed space and is electrically connected to the operating mechanism of the overhead crane to control the displacement of the lifting hook in the east, south, west, north, up, and down directions.

3. A remote maintenance system applied to the replacement of a BNCT target, as claimed in claim 1, wherein: The remote operation robot is a six-degree-of-freedom robot, and the end is detachably connected with maintenance tools. Its working range must be able to cover the target body structure and the target body storage structure.

4. The remote maintenance system for BNCT target replacement according to claim 3, characterized in that: The maintenance tools include an electric wrench and a pneumatic fixture, which are installed at the end of the robot and fixed together by a special fixture.

5. A remote maintenance system applied to the replacement of a BNCT target, as claimed in claim 1, wherein: The target body storage structure includes a transferable shielding container and a load transportation system fixed in the treatment room. When the shielding container needs to be transferred, it can be transferred out of the treatment room as a whole by the overhead crane.

6. The remote maintenance system for BNCT target replacement according to claim 1 or 5, characterized in that: The shielding container includes a shielding door at the top and a lead box at the bottom, and the middle cavity of the lead box is a storage area for radioactive materials; the shielding door and the lead box are matched through an inclined surface, and the moving route between the shielding door and the bottom lead box is set to form a maze structure. When the shielding door is closed, the two are fixed by a locking mechanism; when the shielding container falls vertically on the load-carrying transportation system, the shielding door is pushed up and separated from the bottom lead box by a certain gap, thereby facilitating the opening and closing of the shielding door.

7. A remote maintenance system applied to the replacement of a BNCT target, as claimed in claim 1 or 5, characterized in that: The load-carrying transportation system includes a moving mechanism and a control system, wherein the moving mechanism includes a motor, a drive system, a semi-enclosed U-shaped support connection structure, a base plate support structure, a screw transmission system and a linear guide rail. The motor is installed on the base plate of the base plate support structure and is connected to the screw transmission system through a coupling; the screw nut in the screw transmission system is rigidly connected to the U-shaped support connection structure, and the linear movement of the screw transmission system is driven by the drive system arranged in the control room to drive the linear movement of the U-shaped support connection structure; the linear guide rail is installed on both sides of the base plate and is arranged at the corresponding bottom on both sides of the U-shaped support connection structure. The bottom on both sides of the U-shaped support connection structure is provided with a slide groove structure to form a sliding connection with the linear guide rail; the control system is a host system controlled by the motor, which is used to control the forward and reverse rotation of the motor and to judge the opening and closing state of the shielding door.

8. A maintenance process for a remote maintenance system applied to the replacement of a BNCT target, characterized in that: The maintenance process comprises the following steps: (1) BNCT shutdown: including accelerator shutdown and vacuum chamber recovery and cooling water circuit draining in the vacuum cooling integrated structure; (2) Target trailer operation: The target trailer drives the beam shaping device to move, and the target structure is exposed to the treatment room environment; (3) Target storage structure operation: By operating the operation panel outside the confined space, the load transport system is controlled to open the shielding door of the shielding container; (4) Monitoring system operation: The camera takes images, and the information collected by the camera is displayed on the image display screen. Through real-time imaging and observation, ensure that the shielding door of the shielding container is fully opened; (5) Teleoperation: First, the bolts of the target structure are loosened by the electric wrench on the teleoperated manipulator; then, the target structure is clamped by the pneumatic clamp on the teleoperated manipulator; then, the target structure is transported to the upper end of the shielding container and the target structure is changed to a horizontal posture; then, the teleoperated manipulator accurately places the target structure in a fixed position in the target container; and releases the pneumatic clamp; (6) Remote robot reset: The remote manipulator is reset, and the whole process is observed by the monitoring system to ensure that the action is in place and there is no interference or collision; (7) Target storage structure reset: by operating the operation panel outside the confined space, the load transport system is controlled to close the shielding door of the shielding container; (8) Manual operation: Ventilate the treatment room and measure the radiation dose. After ensuring the treatment is within the safe range, open the shielding door of the enclosed space and allow personnel to enter. Use an overhead crane to lift and transport the shielding container to the outside of the treatment room.

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