Automatic feeding system for uranium conversion materials

Abstract

The automatic feeding system for uranium conversion materials includes a plant; a sealed tank set that can travel back and forth between the lower floor and the upper floor of the plant, a lift elevator arranged in a lifting passage, a translation conveying device A fixedly arranged on the lower floor of the plant, a multi-level storage conveying device and a rotary lifting conveying device A, a translation conveying device B fixedly arranged on the upper floor of the plant, a translation conveying device C, a rotary lifting conveying device B, an auxiliary twisting rod device and an anti-dust covering device. The present invention realizes the automatic continuous feeding operation of UO2 powder material in the uranium conversion process. Compared with the current manual feeding method: on the one hand, the efficiency of the feeding operation is greatly improved; on the other hand, there is no need to configure an operator on the upper floor of the plant, which reduces the labor intensity of the operator and avoids close contact between the operator and the radiation source; on the other hand, after the feeding is completed, the empty sealed tank can be automatically recovered.

Description

Technical Field

[0001] The invention relates to the technical field of uranium conversion related equipment, in particular to an automatic feeding system for uranium conversion materials. Background Art

[0002] Uranium ore is the main raw material for the preparation of nuclear fuel. The entire preparation process from uranium ore to nuclear fuel will go through two steps: uranium purification and uranium conversion. Uranium purification refers to the production process from uranium ore concentrate to refined UO2. Uranium conversion refers to the production process from refined UO2 to UF6.

[0003] The UO2 powder produced in the uranium purification step is stored in a special sealed container for later use. The sealed container is provided with a discharge port at the lower end that can be closed or opened, and the capacity and volume are designed to be small for easy transportation or storage. When it comes to the uranium conversion step, the UO2 powder in the multi-can sealed container needs to be discharged into the transfer silo, which is called the UO2 feeding operation.

[0004] Currently, in the industry, UO2 feeding operations are all performed in three-story factories. On the first floor of the factory, there are multiple sealed containers filled with UO2 powder materials. On the second floor of the factory, there are hydrofluorination equipment (for processing UO2) and transfer silos that are connected in sequence. On the third floor of the factory, there is a discharge port connected to the transfer silo. The discharge port is used to receive UO2 powder materials poured out from the sealed container. When performing the UO2 feeding operation, it is necessary to manually operate the crane to lift multiple sealed containers from the first floor of the factory to the third floor of the factory, and then dock the sealed containers with the discharge port one by one to pour the materials.

[0005] The above-mentioned UO2 feeding operation has the following disadvantages:

[0006] 1. The sealed container is manually lifted from the first floor of the factory to the third floor. After the docking and unloading are completed, the empty sealed container needs to be manually lifted back to the first floor of the factory. The operation of lifting up and down is time-consuming and labor-intensive, and the labor intensity is high.

[0007] 2. Operators are always required on the third floor of the plant to open or close the discharge port at the bottom of the sealed container when the sealed container is connected to the discharge port. When pouring, the operating screw is manually turned to open the discharge port at the bottom of the sealed container. After pouring, the operating screw is manually turned to close the discharge port at the bottom of the sealed container. Manual opening and closing of sealed containers is time-consuming and labor-intensive, and the labor intensity is high.

[0008] 3. When performing docking and unloading on the third floor of the factory building, UO2 powder is easy to leak out from the contact surface between the discharge port of the sealed container and the discharge port on the third floor of the factory building, generating dust. UO2 is radioactive and directly endangers the health of the operators on the third floor of the factory building.

[0009] 4. On the one hand, the factory is isolated from the outside to prevent UO2 powder from spreading to the outside of the factory and polluting the environment. On the other hand, there is a hydrofluorination device on the second floor of the factory, and the operating temperature of the hydrofluorination equipment is very high. These two factors together lead to a high ambient temperature in the factory. In the hot summer, the indoor temperature on the third floor of the factory is as high as 50-60℃, and the working environment of the operators on the third floor of the factory is very bad. Summary of the invention

[0010] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an automatic feeding system for uranium conversion materials, which solves the problems of low automation level of UO2 feeding operation, high manual labor intensity, time-consuming and labor-intensive operation, easy generation of dust on the third floor of the plant, which endangers the health of operators, and poor working environment for operators on the third floor of the plant.

[0011] The technical scheme of the present invention is: an automatic feeding system for uranium conversion materials, comprising a plant; the interior of the plant is divided into three layers in the vertical direction, which are respectively a lower layer, a middle layer and an upper layer from bottom to top, the lower layer is provided with a cantilever crane, the middle layer is provided with a transfer silo with a feed port, the floor of the upper layer is provided with a discharge port connected to the transfer silo, the plant is provided with a lifting passage passing through the lower layer, the middle layer and the upper layer at the edge of the wall, the wall of the lower layer of the plant is provided with a lower opening connected to the lower end of the lifting passage, and the wall of the upper layer of the plant is provided with an upper opening connected to the upper end of the lifting passage;

[0012] It also includes an elevator installed in the lifting passage; it also includes a translation conveying device A, a multi-level storage conveying device and a rotary lifting conveying device A fixedly installed on the lower floor of the factory building; it also includes a translation conveying device B, a translation conveying device C, a rotary lifting conveying device B, an auxiliary rod twisting device and a dust-proof covering device fixedly installed on the upper floor of the factory building; it also includes a sealing tank kit that moves back and forth between the translation conveying device A, the rotary lifting conveying device A, the elevator, the translation conveying device B, the rotary lifting conveying device B and the translation conveying device C;

[0013] The sealed tank kit includes a positioning chassis, a sealed tank and a docking seat; a pit for positioning the sealed tank is provided inside the positioning chassis, a slope is provided on the side wall of the pit so that the pit gradually decreases in size from the upper end to the lower end, and a material discharge port is provided at the bottom of the pit; the sealed tank includes a tank body, a screw, a nut and a conical ring plate; an inner cavity for accommodating UO2 powder material is provided inside the tank body, and a plurality of legs and a material discharge port connected to the inner cavity are provided at the lower end of the tank body; the screw is rotatably installed in the inner cavity of the tank body and is arranged along the axial direction of the tank body , the upper end of the screw extends out from the upper end of the tank body; the nut is threadedly connected to the screw; the conical ring plate is fixedly connected to the nut, and moves along the axial direction of the tank body with the nut to close or open the discharge port; when the sealed tank is stably placed in the pit of the positioning chassis, the discharge port of the sealed tank is directly opposite and fits with the blanking port of the positioning chassis, and the legs of the sealed tank are against the edge line of the bottom of the pit of the positioning chassis, so as to realize the positioning of the sealed tank; the lower end of the docking seat is detachably connected to the upper end of the screw, and the upper end is provided with a second docking portion;

[0014] The lift includes a lifting platform, a traction drive device and a transmission mechanism; the lifting platform is installed in the lifting channel through the traction drive device and performs lifting and lowering motion in the vertical direction; the transmission mechanism is installed on the lifting platform, and a rolling transmission surface is provided at the upper end of the transmission mechanism, and a tank inlet and outlet port A is provided at one end of the rolling transmission surface, and the rolling transmission surface moves synchronously with the lifting platform, thereby moving back and forth between the upper docking position and the lower docking position;

[0015] The upper end of the translation conveying device A is provided with a rolling conveying surface B, and the two ends of the rolling conveying surface B are respectively provided with a can inlet B and a can outlet B;

[0016] A plurality of rolling conveying surfaces A are arranged from top to bottom inside the multi-level storage conveying device. A chassis inlet and a chassis outlet are arranged at both ends of the rolling conveying surface A. All the rolling conveying surfaces A can be synchronously lifted and lowered in the vertical direction. The chassis outlet of each rolling conveying surface A can be lifted and lowered to be close to and flush with the tank inlet B of the translation conveying device A.

[0017] A rolling conveying surface C is provided at the upper end of the rotary lifting conveying device A, and a can inlet C and a can outlet C are provided at both ends of the rolling conveying surface C respectively. The rotary lifting conveying device A can drive the rolling conveying surface C to rise and fall in the vertical direction and / or rotate in the horizontal plane, thereby switching the rolling conveying surface C between the first posture and the second posture. When the rolling conveying surface C is in the first posture, the can inlet C is adjacent to and flush with the can outlet B of the translation conveying device A. When the rolling conveying surface C is in the second posture, the can outlet C is adjacent to and flush with the rolling conveying surface of the elevator in the lower docking position.

[0018] The upper end of the translation conveying device B is provided with a rolling conveying surface D, and the two ends of the rolling conveying surface D are respectively provided with a can inlet D and a can outlet D, and the can inlet D of the rolling conveying surface D is adjacent to and flush with the rolling conveying surface of the lift at the upper docking position;

[0019] The upper end of the translation conveying device C is provided with a rolling conveying surface E, and one end of the rolling conveying surface E is provided with a tank inlet and outlet port B;

[0020] A rolling conveying surface F is provided at the upper end of the rotary lifting conveying device B, a tank inlet F is provided at one end of the rolling conveying surface F, and a material discharge hole and a tank discharge hole F are provided at the other end. The rotary lifting conveying device B can drive the rolling conveying surface F to rise and fall in the vertical direction and / or rotate in the horizontal plane, thereby switching the rolling conveying surface F between a first posture and a second posture. When the rolling conveying surface F is in the first posture, the tank inlet F is adjacent to and flush with the tank discharge hole D of the translation conveying device B, and the tank discharge hole is adjacent to and flush with the tank inlet and outlet B of the translation conveying device C. When the rolling conveying surface F is in the second posture, the material discharge hole is vertically opposite to and adjacent to the material discharge hole on the upper floor of the factory building;

[0021] The auxiliary rod twisting device includes a multi-degree-of-freedom mechanical arm and a mechanical claw; one end of the multi-degree-of-freedom mechanical arm is fixedly installed on the floor of the upper floor of the factory building, and the other end is connected to the mechanical claw, the end of the mechanical claw connected to the multi-degree-of-freedom mechanical arm is the fixed end, and the end of the mechanical claw relatively far away from the multi-degree-of-freedom mechanical arm is the docking end, the mechanical claw docks with the second docking part at the upper end of the docking seat through the docking end, and twists the docking seat in the docking state;

[0022] The anti-dust covering device includes a mobile driving mechanism and a cover plate; one end of the mobile driving mechanism is installed on the upper floor of the factory building, and the other end is connected to the cover plate to drive the cover plate to move and thus cover or open the discharge port on the upper floor of the factory building.

[0023] A further technical solution of the present invention is: the multi-level storage and conveying device comprises a scissor-type lifting base A, a bracket A and a roller assembly A; the scissor-type lifting base A is fixedly installed on the ground of the lower floor of the factory building; the bracket A is fixedly connected to the scissor-type lifting base A, and is driven by the scissor-type lifting base A to perform lifting and lowering movements in the vertical direction; a plurality of groups of roller assemblies A are installed on the bracket A at intervals from top to bottom, and a placement interval for placing a docking seat is provided between adjacent roller assemblies A; the roller assembly A comprises a plurality of rollers A arranged in parallel and horizontally, and the rollers A are rotatably installed on the bracket A, and the rolling conveying surface A is formed by all the rollers A in the roller assembly A at the upper end; the rollers A in the roller assembly A comprise two types of rollers, namely electric rollers and ordinary rollers, and the two types of rollers are arranged alternately.

[0024] A further technical solution of the present invention is: the rotary lifting conveying device A comprises a scissors-type lifting base C, a first rotating drive assembly, a bracket C and a roller assembly C; the scissors-type lifting base C is fixedly installed on the ground of the lower floor of the factory building; the bracket C is rotatably installed on the scissors-type lifting base C through the first rotating drive assembly, and on the one hand, it is driven by the scissors-type lifting base C to perform lifting movement in the vertical direction, and on the other hand, it is driven by the first rotating drive assembly to rotate on the horizontal plane; the roller assembly C comprises a plurality of rollers C arranged in parallel and horizontally, and the rollers C are rotatably installed on the bracket C, and the rolling conveying surface C is formed by all the rollers C in the roller assembly C at the upper end; the rollers C in the roller assembly C include two types of rollers, namely electric rollers and ordinary rollers, and the two types of rollers are arranged alternately.

[0025] A further technical solution of the present invention is: the first rotating drive assembly includes a first driving motor, a gear A and a gear B; the first driving motor is fixedly mounted on a scissor-type lifting base C; gear A is fixedly mounted on the shaft of the first driving motor, and gear B is rotatably mounted on the scissor-type lifting base C, meshing with gear A, and welded to the bracket C at the upper end.

[0026] A further technical solution of the present invention is: the rotary lifting conveying device B comprises a scissor-type lifting base F, a second rotating drive assembly, a bracket F, a roller assembly F, an end locking assembly and an end leg support assembly; the scissor-type lifting base F is fixedly installed on the ground of the upper floor of the factory building; the bracket F is rotatably installed on the scissor-type lifting base F through the second rotating drive assembly, and on the one hand, it is driven by the scissor-type lifting base F to perform lifting movement in the vertical direction, and on the other hand, it is driven by the second rotating drive assembly to rotate on the horizontal plane; the roller assembly F comprises a plurality of rollers F arranged in parallel and horizontally, and the rollers F are rotatably installed on the bracket F, and the rolling conveying surface F is formed by all the rollers F in the roller assembly F at the upper end; the rollers F in the roller assembly F include four types of rollers: long electric rollers, long ordinary rollers, short electric rollers, and short ordinary rollers, and the short electric rollers The cylinder and short ordinary rollers are arranged on both sides of the discharge hole. On each side of the discharge hole, short electric rollers and short ordinary rollers are arranged in an alternating manner. The long electric rollers and long ordinary rollers are arranged at both ends of the discharge hole. At each end of the discharge hole, long electric rollers and long ordinary rollers are arranged in an alternating manner. The end locking assembly is arranged on the bracket F and is located at one end of the bracket F relatively close to the can discharge port F. It is used to lock or unlock the positioning chassis placed on the rolling conveying surface F. When the positioning chassis is locked, the drop-out port on the positioning chassis is vertically opposite to the discharge hole of the rotary lifting conveying device B. When the positioning chassis is unlocked, the positioning chassis can be discharged from the can discharge port F of the rolling conveying surface F. The end support leg assemblies are symmetrically arranged on both sides of the lower end of the bracket F relatively close to the can discharge port F, and the length thereof is retractable, thereby providing support for the brackets F at different heights.

[0027] A further technical solution of the present invention is: the second rotation drive assembly includes a second drive motor, a gear C and a gear D; the second drive motor is fixedly mounted on the scissor-type lifting base F; the gear C is fixedly mounted on the shaft of the second drive motor, the gear D is rotatably mounted on the scissor-type lifting base F, meshed with the gear C, and welded to the bracket F at the upper end;

[0028] The end locking assembly includes a screw seat A, a bidirectional threaded screw, a nut A, a third drive motor, a Z-shaped connecting frame and an electromagnet; the screw seat A is fixedly mounted on the lower end of the bracket F at one end relatively close to the tank discharge port F; the bidirectional threaded screw is horizontally arranged and movably mounted on the screw seat A and is located at the lower end of the bracket F, and both ends of the bidirectional threaded screw are provided with external threads with opposite thread rotation directions; the two nuts A are respectively threadedly connected to the external threads at both ends of the bidirectional threaded screw; the third drive motor is fixedly mounted on the screw seat A and is connected to one end of the bidirectional threaded screw through a coupling to drive the bidirectional threaded screw to rotate; the lower ends of the two Z-shaped connecting frames are respectively fixedly connected to the two nuts A, and the upper ends are respectively extended into the upper ends of the tank discharge port F. The two Z-shaped connecting frames move synchronously in the same direction or synchronously in the opposite directions under the drive of the third drive motor, and then extend into the area directly above the tank discharge port F or exit the area directly above the tank discharge port F at the upper end; the two electromagnets are embedded at the upper ends of the two Z-shaped connecting frames;

[0029] The end support leg assembly includes a screw seat B, a screw, a nut B, a fourth drive motor and an L-shaped support leg; the screw seat B is fixedly mounted on the lower end of the bracket F at one end relatively close to the tank discharge port F; the screw is vertically arranged and movably mounted on the screw seat B, and is located at the lower end of the bracket F; the nut B is threadedly connected to the screw; the fourth drive motor is fixedly mounted on the screw seat B, and is connected to the upper end of the screw through a coupling to drive the screw to rotate; the upper end of the L-shaped support leg is fixedly connected to the nut, and a flexible buffer pad is provided at the lower end.

[0030] A further technical solution of the present invention is: the mechanical claw includes a reduction motor, a torque sensor, a base and a shift finger; the reduction motor is fixedly installed at the end of the multi-degree-of-freedom mechanical arm, the rear end of the torque sensor is connected to the shaft of the reduction motor, and the front end is connected to the base, the base is connected to the front end of the torque sensor on one side surface, and three shift fingers are fixedly connected to the other side surface, and the three shift fingers are evenly distributed in a ring around the shaft of the reduction motor; accordingly, the second docking portion of the docking seat includes three fan-shaped hollow areas, and the three fan-shaped hollow areas are evenly distributed in a ring around the first docking portion of the docking seat; the docking seat is docked with the three shift fingers of the mechanical claw through the three fan-shaped hollow areas, and is driven to rotate by the mechanical claw.

[0031] A further technical solution of the present invention is: the auxiliary rod twisting device also includes a docking control component; the docking control component includes a camera, an image comparison module and a control unit; the camera is directly or indirectly fixedly mounted on the fixed end of the mechanical claw, and has a field of view of the docking end of the mechanical claw; the image comparison module is connected to the camera in a communication manner; the signal input end of the control unit is connected to the image comparison module in a communication manner, and the signal output end of the control unit is respectively connected to the reduction motor of the multi-degree-of-freedom mechanical arm and the mechanical claw in a communication manner.

[0032] A further technical solution of the present invention is: a prismatic head is provided at the upper end of the screw of the sealing can; correspondingly, the first docking portion of the docking seat is a prismatic hole matching the prismatic head; the docking seat is detachably plugged into the prismatic head of the screw through the prismatic hole, and the rotation of the docking seat drives the screw to rotate synchronously.

[0033] A further technical solution of the present invention is: the transmission mechanism includes a plurality of rollers arranged in parallel and horizontally, the rollers are rotatably installed on the lifting platform, and the rolling transmission surface is formed by all the rollers at the upper end; the rollers in the transmission mechanism include two types of rollers, namely electric rollers and ordinary rollers, and the two types of rollers are arranged alternately.

[0034] A further technical solution of the present invention is: the translation conveying device A includes a bracket B and a roller assembly B; the bracket B is fixedly installed on the ground of the lower floor of the factory building; the roller assembly B includes a plurality of rollers B arranged in parallel and horizontally, and the rollers B are rotatably installed on the bracket B, and the rolling conveying surface B is formed by all the rollers B in the roller assembly B at the upper end; the rollers B in the roller assembly B include two types of rollers, namely electric rollers and ordinary rollers, and the two types of rollers are arranged alternately.

[0035] A further technical solution of the present invention is: the translation conveying device B includes a bracket D and a roller assembly D; the bracket D is fixedly installed on the ground of the upper floor of the factory building; the roller assembly D includes a plurality of rollers D arranged in parallel and horizontally, and the rollers D are rotatably installed on the bracket D, and the rolling conveying surface D is formed by all the rollers D in the roller assembly D at the upper end; the rollers D in the roller assembly D include two types of rollers, namely electric rollers and ordinary rollers, and the two types of rollers are arranged alternately.

[0036] A further technical solution of the present invention is: the translation conveying device C includes a bracket E and a roller assembly E; the bracket E is fixedly installed on the ground of the upper floor of the factory building; the roller assembly E includes a plurality of rollers E arranged in parallel and horizontally, and the rollers E are rotatably installed on the bracket E, and the rolling conveying surface E is formed by all the rollers E in the roller assembly E at the upper end; the rollers E in the roller assembly E include two types of rollers, namely electric rollers and ordinary rollers, and the two types of rollers are arranged alternately.

[0037] A further technical solution of the present invention is: an outer circular positioning surface and an annular step surface are provided on the outer wall of the lower end of the sealing can in sequence from bottom to top, and the outer circular positioning surface and the annular step surface are both located on the outside of the discharge port; when the sealing can is placed on the positioning chassis, the outer circular positioning surface of the sealing can forms a transition fit with the inner wall surface of the discharge port of the positioning chassis; the path swept by the conical annular plate along the movement of the screw is cylindrical, and the cylinder is defined as the first cylinder; the space enclosed by the outer circular positioning surface extending to the upper and lower ends is cylindrical, and the cylinder is defined as the second cylinder; the second cylinder completely encloses the first cylinder.

[0038] A further technical solution of the present invention is: a negative pressure dust removal port connected to the transfer silo is also provided on the upper floor of the factory building; it also includes negative pressure dust removal equipment; the negative pressure dust removal equipment includes a shell, a filter element arranged in the shell, and a negative pressure fan arranged in the shell; one end of the shell is an air inlet, and the other end is an air outlet; the air inlet of the shell is sealed and installed on the negative pressure dust removal port on the upper floor of the factory building, and the air outlet of the shell is open in the upper space of the factory building, or is connected to the outside of the factory building through an air duct.

[0039] The present invention has the following advantages:

[0040] 1. The automatic and continuous feeding operation of UO2 powder in the uranium conversion process is realized. Compared with the current manual feeding method: on the one hand, the efficiency of the feeding operation is greatly improved; on the other hand, there is no need to configure operators on the upper floor (third floor) of the plant, which reduces the labor intensity of operators and avoids close contact between operators and radiation sources; on the other hand, after the feeding is completed, the empty sealed cans can be automatically recovered.

[0041] 2. Relying on the existing three-story factory building, without changing the main structure of the factory building, the position of the discharge port on the third floor of the factory building, and the position of the transfer silo on the second floor of the factory building, the material transmission link is cleverly laid out and designed. On the one hand, the material transmission link can automatically, continuously and accurately transport UO2 powder from the first floor of the factory building to the feeding position on the third floor of the factory building. On the other hand, the end of the material transmission link (translation conveying device C) can temporarily store empty containers after feeding is completed, and can transport all empty containers back to the first floor of the factory building in sequence after continuous feeding is completed. On the other hand, the material transmission link on the first floor of the factory building is set against the wall, occupying relatively less space inside the factory building, and basically will not affect the original partition and layout of the lower floor of the factory building.

[0042] 3. Considering the radioactivity and dust-generating characteristics of UO2 powder, the structure of the sealed tank is cleverly designed. The sealed tank is provided with a discharge port at the lower end, and the discharge port is closed and opened by fitting and separating the conical annular plate with the inner wall of the discharge port. When the discharge port is closed, the sealing is achieved by fitting the two conical surfaces, and a sealing ring can be provided between the two conical surfaces according to actual needs, with good sealing effect, and no leakage of UO2 powder will occur. When the discharge port is opened, an annular gap with adjustable opening is formed, and the UO2 powder falls through the annular gap, avoiding dust generated by excessive discharge speed.

[0043] The present invention is further described below in conjunction with the figures and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a structural schematic diagram of the present invention;

[0045] Figure 2 This is a schematic diagram of the internal structure of the factory building;

[0046] Figure 3 It is a structural schematic diagram of the sealing tank kit;

[0047] Figure 4 It is a schematic diagram of the structure of the positioning chassis;

[0048] Figure 5 It is a schematic diagram of the internal structure of the sealed tank;

[0049] Figure 6 is a structural schematic diagram of a docking seat;

[0050] Figure 7 It is a schematic diagram of the assembly relationship between the lifting platform and the transmission mechanism;

[0051] Figure 8 It is a structural schematic diagram of the translation conveying device A;

[0052] Fig. 9 It is a structural schematic diagram of a multi-level storage and conveying device;

[0053] Fig.10 It is a structural schematic diagram of the rotary lifting conveying device A in one viewing angle;

[0054] Fig.11 is a schematic structural diagram of the rotary lifting conveying device A from another viewing angle;

[0055] Fig.12 It is a structural schematic diagram of the translation conveying device B;

[0056] Fig.13 It is a structural schematic diagram of the translation conveying device C;

[0057] Fig.14 It is a structural schematic diagram of the rotary lifting conveying device B in one viewing angle;

[0058] Fig.15 is a schematic structural diagram of the rotary lifting conveying device B from another viewing angle;

[0059] Fig.16 It is a structural schematic diagram of the auxiliary rod twisting device;

[0060] Fig.17 A schematic diagram of the structure of the dust-proof covering device;

[0061] Fig.18 This is the state diagram when step S01 of the present invention ends;

[0062] Fig.19 This is a state diagram when the sub-step c of step S02 of the present invention ends;

[0063] Fig. 20 This is a state diagram when the sub-step e of step S02 of the present invention ends;

[0064] Fig.21 This is a state diagram when step S03 of the present invention ends;

[0065] Fig. 22 This is a state diagram when the sub-step c of step S04 of the present invention ends;

[0066] Fig.23 This is a state diagram when the sub-step f of step S04 of the present invention ends;

[0067] Fig.24 This is a state diagram when the sub-step S05 b of the present invention ends;

[0068] Fig.25 This is the state diagram when step S06 of the present invention ends.

[0069] illustrate: Figure 1 The factory building in the figure omits some walls and ceilings, retaining only the walls adjacent to the elevator, and appropriately lowers the height of the lower floor of the factory building to highlight the structure and positional relationship of the various components inside the factory building; Figure 8 The length of the translation conveyor A shown in the figure does not represent its actual length. When used, the length can be adaptively designed according to actual needs. Fig.12 The length of the translation conveyor B shown in the figure does not represent its actual length. When used, the length can be adaptively designed according to actual needs. Fig.13 The length of the translation conveying device C shown in the figure does not represent its actual length. The length can be adaptively designed according to actual needs during application.

[0070] Legend: lower layer 11; middle layer 12; upper layer 13; cantilever crane 14; transfer silo 15; discharge port 16; lifting channel 17; lower opening 18; upper opening 19; negative pressure dust removal port 10; positioning chassis 21; pit 211; slope surface 2111; material discharge port 2112; outer circle positioning surface 2213; annular step surface 2214; sealing tank 22; tank body 221; support foot 2211; discharge port 2212; screw 222; prismatic head 2221; nut 223; conical ring Plate 224; docking seat 23; prism hole 231; fan-shaped hollow area 232; lifting platform 31; roller 321; tank inlet and outlet A322; translation conveying device A4; bracket B41; roller B421; tank inlet B422; tank outlet B423; multi-level storage conveying device 5; scissor-type lifting base A51; bracket A52; roller A531; chassis outlet 532; placement area 54; rotary lifting conveying device A6; scissor-type lifting base C61; first drive motor 6 21; gear A622; gear B623; bracket C63; roller C641; tank inlet C642; tank outlet C643; translation conveyor B7; bracket D71; roller D721; tank inlet D722; tank outlet D723; translation conveyor C8; bracket E81; roller E821; tank inlet and outlet B822; rotary lifting conveyor B9; scissor lift base F91; second drive motor 921; gear C922; gear D923; bracket F93 ; roller F941; tank inlet F942; discharge hole 943; tank discharge port F944; screw seat A951; third drive motor 954; Z-shaped connecting frame 955; screw seat B961; screw 962; fourth drive motor 964; L-shaped support leg 965; flexible buffer pad 9651; multi-degree-of-freedom robotic arm 101; reduction motor 1021; torque sensor 1022; base 1023; finger 1024; camera 103; mobile drive mechanism 104; cover plate 105. DETAILED DESCRIPTION Example 1

[0071] like Figure 1-17 As shown, the automatic feeding system for uranium conversion materials includes a plant. The interior of the plant is divided into three layers in the vertical direction, namely, a lower layer 11, a middle layer 12 and an upper layer 13 from bottom to top. The lower layer 11 is provided with a cantilever crane 14, the middle layer 12 is provided with a transfer silo 15 with a feed port, and the floor of the upper layer 13 is provided with a discharge port 16 connected to the transfer silo 15. The plant is provided with a lifting passage 17 passing through the lower layer 11, the middle layer 12 and the upper layer 13 at the edge of the wall. A lower opening 18 connected to the lower end of the lifting passage 17 is provided on the wall of the lower layer 11 of the plant, and an upper opening 19 connected to the upper end of the lifting passage 16 is provided on the wall of the upper layer 13 of the plant.

[0072] The automatic feeding system for uranium conversion materials also includes an elevator provided in the lifting passage 17. The automatic feeding system for uranium conversion materials also includes a translation conveying device A4, a multi-level storage conveying device 5 and a rotary lifting conveying device A6 fixedly provided on the lower floor 11 of the plant. The automatic feeding system for uranium conversion materials also includes a translation conveying device B7, a translation conveying device C8, a rotary lifting conveying device B9, an auxiliary screw rod device and a dust prevention cover device fixedly provided on the upper floor 13 of the plant. The automatic feeding system for uranium conversion materials also includes a sealing tank kit that can move back and forth between the translation conveying device A4, the rotary lifting conveying device A6, the elevator, the translation conveying device B7, the rotary lifting conveying device B9 and the translation conveying device C8.

[0073] The sealing tank kit comprises a positioning chassis 21 , a sealing tank 22 and a docking seat 23 .

[0074] A pit 211 for positioning the sealed can is provided inside the positioning chassis 21 , and a slope surface 2111 is provided on the side wall of the pit 211 so that the size of the pit 211 gradually decreases from the upper end to the lower end, and a material drop opening 2112 is provided at the bottom of the pit 211 .

[0075] The sealed tank 22 includes a tank body 221, a screw rod 222, a nut 223 and a conical ring plate 224. An inner cavity for accommodating UO2 powder is provided inside the tank body 221, and a plurality of legs 2211 and a discharge port 2212 connected to the inner cavity are provided at the lower end of the tank body 221. The screw rod 222 is rotatably installed in the inner cavity of the tank body 221 and arranged along the axial direction of the tank body 221. The upper end of the screw rod 222 extends from the upper end of the tank body 221, and a prism head 2221 is provided at the upper end of the screw rod 222. The nut 223 is threadedly connected to the screw rod 222. The conical ring plate 224 is fixedly connected to the nut 223, and moves along the axial direction of the tank body 221 with the nut 223 to close or open the discharge port 2212. When the sealed can 22 is stably placed in the recess 211 of the positioning chassis 21, the discharge port 2212 of the sealed can 22 is directly opposite to and in contact with the discharge port 2112 of the positioning chassis 21, and the legs 2211 of the sealed can 22 abut against the edge line of the bottom of the recess 211 of the positioning chassis 21, thereby achieving the positioning of the sealed can 22.

[0076] The docking seat 23 is provided with a first docking portion and a second docking portion, wherein the first docking portion is a prism hole 231 matching the prism head 2221 of the screw rod 222. The docking seat 23 is detachably plugged into the prism head 2221 of the screw rod 222 through the prism hole 231, and the rotation of the docking seat 23 drives the screw rod 222 to rotate synchronously.

[0077] The lift includes a lifting platform 31, a traction drive device and a transmission mechanism. The lifting platform 31 is installed in the lifting channel 17 through the traction drive device and performs lifting and lowering movements in the vertical direction. The transmission mechanism includes a plurality of rollers 321 arranged in parallel and horizontally. The rollers 321 are rotatably installed on the lifting platform 31. All rollers 321 form a rolling transmission surface at the upper end. One end of the rolling transmission surface is provided with a tank inlet and outlet port A322. The rolling transmission surface moves synchronously with the lifting platform 31, thereby moving back and forth between the upper docking position and the lower docking position. The rollers 321 in the transmission mechanism include two types: electric rollers and ordinary rollers. The two types of rollers are arranged alternately (2-3 ordinary rollers are arranged between every two adjacent electric rollers, and both ends of the rolling transmission surface are electric rollers).

[0078] The translation conveying device A4 includes a bracket B41 and a roller assembly B. The bracket B41 is fixedly installed on the ground of the lower floor 11 of the factory building. The roller assembly B includes a plurality of rollers B421 arranged in parallel and horizontally, and the rollers B421 are rotatably installed on the bracket B41. All rollers B421 in the roller assembly B jointly form a rolling conveying surface B at the upper end, and a can inlet B422 and a can outlet B423 are respectively provided at both ends of the rolling conveying surface B. The rollers B421 in the roller assembly B include two types of rollers, electric rollers and ordinary rollers, and the two types of rollers are arranged alternately (2-3 ordinary rollers are arranged between every two adjacent electric rollers, and both ends of the rolling conveying surface B are electric rollers).

[0079] The multi-level storage and conveying device 5 includes a scissor-type lifting base A51, a bracket A52 and a roller assembly A. The scissor-type lifting base A51 is fixedly installed on the ground of the lower floor 11 of the factory building. The bracket A52 is fixedly connected to the scissor-type lifting base A51, and is driven by the scissor-type lifting base A51 to perform lifting and lowering movements in the vertical direction. Multiple groups of roller assemblies A are installed on the bracket A52 at intervals from top to bottom, and a placement interval 54 for placing a docking seat is provided between adjacent roller assemblies A. The roller assembly A includes a plurality of rollers A531 arranged in parallel and horizontally, and the rollers A531 are rotatably installed on the bracket A. All rollers A531 in the roller assembly A jointly form a rolling conveying surface A at the upper end, and a chassis inlet and a chassis outlet 532 are respectively provided at both ends of the rolling conveying surface A. The rollers A in the roller assembly A include two types of rollers, namely, electric rollers and ordinary rollers, which are arranged alternately (2-3 ordinary rollers are arranged between every two adjacent electric rollers, and both ends of the rolling conveying surface A are electric rollers). The multiple rolling conveying surfaces A (driven by the scissor-type lifting base A51) arranged from top to bottom inside the multi-level storage conveying device 5 are synchronously lifted and lowered in the vertical direction, and the chassis outlet 532 of each rolling conveying surface A can be lifted and moved to be close to and flush with the tank inlet B422 of the translation conveying device A4.

[0080] The rotary lifting conveying device A6 includes a scissor-type lifting base C61, a first rotating drive assembly, a bracket C63 and a roller assembly C. The scissor-type lifting base C61 is fixedly installed on the ground of the lower floor 11 of the factory building. The bracket C63 is rotatably installed on the scissor-type lifting base C61 through the first rotating drive assembly. On the one hand, it is driven by the scissor-type lifting base C61 to perform lifting movement in the vertical direction, and on the other hand, it is driven by the first rotating drive assembly to rotate on the horizontal plane. The roller assembly C includes a plurality of rollers C641 arranged in parallel and horizontally. The rollers C641 are rotatably installed on the bracket C63. All the rollers C641 in the roller assembly C jointly form a rolling conveying surface C at the upper end. The two ends of the rolling conveying surface C are respectively provided with a can inlet C642 and a can outlet C643. The rollers C641 in the roller assembly C include two types of rollers, namely, electric rollers and ordinary rollers, which are arranged alternately (2-3 ordinary rollers are arranged between every two adjacent electric rollers, and both ends of the rolling conveying surface C are electric rollers). The rolling conveying surface C at the upper end of the rotary lifting conveying device A6 can be lifted and lowered in the vertical direction and / or rotated in the horizontal plane, so that the rolling conveying surface C can be switched between the first posture and the second posture. When the rolling conveying surface C is in the first posture, the can inlet C642 is adjacent to and flush with the can discharge port B423 of the translation conveying device A4. When the rolling conveying surface C is in the second posture, the can discharge port C643 is adjacent to and flush with the rolling conveying surface of the elevator in the lower docking position.

[0081] The translation conveying device B7 includes a bracket D71 and a roller assembly D. The bracket D71 is fixedly installed on the ground of the upper floor 13 of the factory building. The roller assembly D includes a plurality of rollers D721 arranged in parallel and horizontally. The rollers D721 are rotatably installed on the bracket D71. All rollers D721 in the roller assembly D jointly form a rolling conveying surface D at the upper end. A can inlet D722 and a can outlet D723 are respectively provided at both ends of the rolling conveying surface D. The rollers D721 in the roller assembly D include two types of rollers, namely electric rollers and ordinary rollers. The two types of rollers are arranged alternately (2-3 ordinary rollers are arranged between every two adjacent electric rollers, and both ends of the rolling conveying surface D are electric rollers). The can inlet D722 of the translation conveying device B7 is adjacent to and flush with the rolling transmission surface of the lift in the upper docking position.

[0082] The translation conveying device C8 includes a bracket E81 and a roller assembly E. The bracket E81 is fixedly installed on the ground of the upper floor 13 of the factory building. The roller assembly E includes a plurality of rollers E821 arranged in parallel and horizontally, and the rollers E821 are rotatably installed on the bracket E81. All rollers E821 in the roller assembly E jointly form the rolling conveying surface E at the upper end, and one end of the rolling conveying surface E is provided with a tank inlet and outlet port B822. The rollers E in the roller assembly E include two types of rollers, namely electric rollers and ordinary rollers, and the two types of rollers are arranged alternately (2-3 ordinary rollers are arranged between every two adjacent electric rollers, and both ends of the rolling conveying surface E are electric rollers).

[0083] The rotary lifting conveying device B9 includes a scissor-type lifting base F91, a second rotating drive assembly, a bracket F93, a roller assembly F, an end locking assembly and an end leg support assembly. The scissor-type lifting base F91 is fixedly installed on the ground of the upper floor 13 of the factory building. The bracket F93 is rotatably installed on the scissor-type lifting base F91 through the second rotating drive assembly. On the one hand, the bracket F93 is driven by the scissor-type lifting base F91 to perform lifting movement in the vertical direction, and on the other hand, it is driven by the second rotating drive assembly to rotate on the horizontal plane. The roller assembly F includes a plurality of rollers F941 arranged in parallel and horizontally. The rollers F941 are rotatably installed on the bracket F93. All the rollers F941 in the roller assembly F jointly form a rolling conveying surface F at the upper end. One end of the rolling conveying surface F is provided with a can inlet F942, and the other end is provided with a discharge hole 943 and a can discharge hole F944. The discharge hole 943 passes the bracket F93 from top to bottom. The rollers F941 in the roller assembly F include four types of rollers, namely long electric rollers, long ordinary rollers, short electric rollers and short ordinary rollers. The short electric rollers and short ordinary rollers are arranged on both sides of the discharge hole 943. On either side of the discharge hole 943, the short electric rollers and short ordinary rollers are arranged in an alternating manner (2-3 short ordinary rollers are arranged between every two adjacent short electric rollers). The long electric rollers and long ordinary rollers are arranged at both ends of the discharge hole 943. On either end of the discharge hole 943, the long electric rollers and long ordinary rollers are arranged in an alternating manner (2-3 long ordinary rollers are arranged between every two adjacent long electric rollers). The end locking assembly is arranged on the bracket F93 and is located at one end of the bracket F93 relatively close to the can discharge port F944. It is used to lock or unlock the positioning chassis 21 placed on the rolling conveying surface F. When the positioning chassis 21 is locked, the drop opening 2112 of the positioning chassis 21 is vertically aligned with the discharge hole 943 of the rotary lifting conveying device B9. When the positioning chassis 21 is unlocked, the positioning chassis 21 can be discharged from the can discharge port F944 of the rolling conveying surface F. The end leg assembly is symmetrically arranged on both sides of the lower end of the bracket F93 relatively close to the can discharge port F944, and its length can be extended to provide support for the bracket F93 at different heights. The rolling conveying surface F at the upper end of the rotating lifting conveying device B9 can be raised and lowered in the vertical direction and / or rotated in the horizontal plane, so that the rolling conveying surface F can switch between a first posture and a second posture. When the rolling conveying surface F is in the first posture, the tank inlet F942 is adjacent to and flush with the tank discharge port D723 of the translation conveying device B7, and the tank discharge port F944 is adjacent to and flush with the tank inlet and outlet port B822 of the translation conveying device C8. When the rolling conveying surface F is in the second posture, the discharge hole 943 is directly opposite to and adjacent to the discharge port 16 on the floor 13 of the upper floor of the factory building.

[0084] The auxiliary rod twisting device includes a multi-degree-of-freedom mechanical arm 101 and a mechanical claw. One end of the multi-degree-of-freedom mechanical arm 101 is fixedly installed on the floor of the upper floor 13 of the factory building, and the other end is connected to the mechanical claw. The end of the mechanical claw connected to the multi-degree-of-freedom mechanical arm 101 is the fixed end, and the end of the mechanical claw relatively far away from the multi-degree-of-freedom mechanical arm 101 is the docking end. The mechanical claw docks with the second docking portion at the upper end of the docking seat 23 through the docking end, and twists the docking seat 23 in the docking state.

[0085] The dust-proof covering device comprises a mobile driving mechanism 104 and a cover plate 105. One end of the mobile driving mechanism 104 is installed on the floor of the upper floor 13 of the factory building, and the other end is connected to the cover plate 105 to drive the cover plate 105 to move and thus cover or open the discharge port 16 on the floor of the upper floor 13 of the factory building.

[0086] Preferably, an outer circular positioning surface 2213 and an annular step surface 2214 are sequentially provided on the outer wall of the lower end of the sealing tank 22 from bottom to top, and the outer circular positioning surface 2213 and the annular step surface 2214 are both located outside the discharge port 2212. When the sealing tank 22 is placed on the positioning chassis 21, the outer circular positioning surface 2213 of the sealing tank 22 forms a transition fit with the inner wall surface of the discharge port 2112 of the positioning chassis 21. The conical annular plate 224 is cylindrical along the path swept by the screw 222, and the cylindrical shape is defined as the first cylinder. The space enclosed by the outer circular positioning surface 2213 extending to the upper and lower ends is cylindrical, and the cylindrical shape is defined as the second cylinder. The second cylinder completely contains the first cylinder. Based on this structure, on the one hand, the problem of UO2 powder material scattering and volatilizing during the feeding operation can be solved to a large extent, and on the other hand, the stability of the combination of the sealing tank and the positioning chassis is guaranteed.

[0087] Preferably, the first rotation drive assembly includes a first drive motor 621, a gear A622 and a gear B623. The first drive motor 621 is fixedly mounted on the scissor-type lifting base C61. The gear A622 is fixedly mounted on the shaft of the first drive motor 621, and the gear B623 is rotatably mounted on the scissor-type lifting base C61 and meshes with the gear A622, and is welded to the bracket C63 at the upper end.

[0088] Preferably, in order to adapt to the position of the lifting channel 17, the translation conveyor A4, the multi-level storage conveyor and the rotary lifting conveyor A6 located on the lower floor 11 of the factory building are all arranged against the wall. This arrangement occupies relatively less space inside the factory building and basically does not affect the original partition and layout of the lower floor 11 of the factory building.

[0089] Preferably, the second rotation drive assembly includes a second drive motor 921, a gear C922 and a gear D923. The second drive motor 921 is fixedly mounted on the scissor-type lifting base F91. The gear C922 is fixedly mounted on the shaft of the second drive motor 921, and the gear D923 is rotatably mounted on the scissor-type lifting base F91 and meshes with the gear C922, and is welded to the bracket F93 at the upper end.

[0090] Preferably, the end locking assembly includes a screw seat A951, a bidirectional threaded screw, a nut A, a third drive motor 954, a Z-shaped connecting frame 955 and an electromagnet. The screw seat A951 is fixedly mounted on the lower end of the bracket F93 relatively close to the tank discharge port F944. The bidirectional threaded screw is horizontally arranged and movably mounted on the screw seat A951 and is located at the lower end of the bracket F93. Both ends of the bidirectional threaded screw are provided with external threads with opposite thread rotation directions. Two nuts A are respectively threadedly connected to the external threads at both ends of the bidirectional threaded screw. The third drive motor 954 is fixedly mounted on the screw seat A951 and is connected to one end of the bidirectional threaded screw through a coupling to drive the bidirectional threaded screw to rotate. The lower ends of the two Z-shaped connecting frames 955 are respectively fixed to the two nuts A, and the upper ends extend into the upper sides of the tank discharge port F944. The two Z-shaped connecting frames 955 move synchronously in the same direction or synchronously in opposite directions under the drive of the third driving motor 954, and then extend into the area just above the tank discharge port F944 or exit the area just above the tank discharge port F944 at the upper ends. Two electromagnets are embedded in the upper ends of the two Z-shaped connecting frames 955.

[0091] Preferably, the end support leg assembly includes a screw seat B961, a screw 962, a nut B, a fourth drive motor 964 and an L-shaped support leg 965. The screw seat B961 is fixedly mounted on the lower end of the bracket F93 relatively close to the tank discharge port F944. The screw 962 is vertically arranged and movably mounted on the screw seat B961 and is located at the lower end of the bracket F93. Nut B is threadedly connected to the screw 962. The fourth drive motor 964 is fixedly mounted on the screw seat B961 and is connected to the upper end of the screw 962 through a coupling to drive the screw 962 to rotate. The upper end of the L-shaped support leg 965 is fixedly connected to the nut 963, and the lower end is provided with a flexible buffer pad 9651.

[0092] Preferably, the mechanical claw includes a reduction motor 1021, a torque sensor 1022, a base 1023 and a finger 1024. The reduction motor 1021 is fixedly mounted at the end of the multi-DOF mechanical arm 101, the rear end of the torque sensor 1022 is connected to the shaft of the reduction motor 1021, and the front end is connected to the base 1023, the base 1023 is connected to the front end of the torque sensor 1022 on one side surface, and three fingers 1024 are fixedly connected to the other side surface, and the three fingers 1024 are evenly distributed in a ring around the shaft of the reduction motor 1021. Correspondingly, the second docking portion of the docking seat 23 is three fan-shaped hollow areas 232 evenly distributed in a ring around the prismatic hole 231. The docking seat 23 docks with the three fingers 1024 of the mechanical claw through the three fan-shaped hollow areas 232, and is driven to rotate by the mechanical claw.

[0093] Preferably, a first protrusion for image recognition and positioning of the docking seat posture is provided at the edge of the docking seat 23. Correspondingly, a second protrusion for image recognition and positioning of the mechanical claw posture is provided at the edge of the finger 1024 of the mechanical claw.

[0094] Preferably, the auxiliary rod twisting device also includes a docking control component, which includes a camera 103, an image comparison module and a control unit. The camera 103 is directly or indirectly fixedly mounted on the fixed end of the mechanical claw, and has a field of view of the docking end of the mechanical claw. The image comparison module is connected to the camera 103 in a communication manner. The signal input end of the control unit is connected to the image comparison module in a communication manner, and the signal output end of the control unit is respectively connected to the multi-degree-of-freedom mechanical arm 101 and the reduction motor 1021 of the mechanical claw in a communication manner.

[0095] Preferably, the multi-degree-of-freedom robotic arm 101 is composed of at least three sets of screw-nut pairs, which can drive the robotic claw to move within a certain spatial range.

[0096] Preferably, the moving drive mechanism 104 is a horizontally arranged screw nut slide, which can drive the cover plate 105 to move linearly back and forth on a horizontal plane.

[0097] Preferably, the bracket F93 is provided with a row of correcting wheels on both sides of the rolling conveying surface F respectively, and the two rows of correcting wheels are arranged opposite to each other, and together limit the moving path of the positioning chassis on the rolling conveying surface F.

[0098] Preferably, the upper floor 13 of the plant is also provided with a negative pressure dust removal port 10 connected to the transfer silo. The automatic feeding system for uranium conversion materials also includes a negative pressure dust removal device (not shown in the figure); the negative pressure dust removal device includes a shell, a filter element arranged in the shell, and a negative pressure fan arranged in the shell; one end of the shell is an air inlet, and the other end is an air outlet; the air inlet of the shell is sealed and installed on the negative pressure dust removal port on the upper floor of the plant, and the air outlet of the shell is open in the upper space of the plant, or connected to the outside of the plant through an air duct. Based on this structure, during the feeding operation, the negative pressure fan is started, and negative pressure can be generated at the negative pressure dust removal port 10, which effectively suppresses the dust inside the transfer silo 15, and largely avoids the leakage / drifting of UO2 powder from the contact surface between the discharge port 2212 of the sealing tank 22 and the discharge port 16 of the upper floor 13 of the plant.

[0099] The above-mentioned automatic feeding system for uranium conversion materials is used for the feeding operation of UO2 powder materials before the start of the uranium conversion process.

[0100] Before the feeding operation is performed, the uranium conversion material automatic feeding system is in the initial state. In the initial state:

[0101] a. The rolling transmission surface of the lift is in the lower docking position;

[0102] b. A positioning chassis 21 is placed on each rolling conveying surface A of the multi-level storage conveying device 5, and the chassis outlet 532 of the uppermost rolling conveying surface A is adjacent to and flush with the tank inlet B422 of the translation conveying device A4;

[0103] c. The rolling conveying surface C of the rotary lifting conveying device A6 is in the first position;

[0104] d. The rolling conveying surface F of the rotary lifting conveying device B9 is in the first posture;

[0105] e. The electromagnet of the end locking assembly remains energized, and the upper end of the Z-shaped connecting frame 955 extends into the area just above the tank discharge port F944;

[0106] f. The L-shaped leg 965 of the end leg assembly contacts the ground of the upper floor 13 of the factory building at the lower end;

[0107] g. The cover plate 105 of the anti-dust covering device shields the discharge port 16 of the upper floor 13 of the factory building;

[0108] h. The image comparison module pre-stores an image of the mechanical claw docking with the docking seat 23 , and the image is taken by the camera 103 .

[0109] The feeding method is as follows:

[0110] S01, Assembled Sealing Tank Kit:

[0111] a. A group of roller assemblies A at the top of the multi-level storage conveyor device 5 is started, driving the positioning chassis 21 placed thereon to move on the rolling conveying surface A until it is discharged from the chassis outlet 532, and then enters the rolling conveying surface B of the translation conveyor device A4 through the tank inlet B422;

[0112] b. Insert the docking seat 23 onto the prism head 2221 of the target sealed can 22 through the prism hole 231;

[0113] c. When the positioning chassis 21 is stably stopped on the rolling conveying surface B, the target sealed can 22 is hoisted into the pit 211 of the positioning chassis 21 by the cantilever crane 14. When the sealed can 22 is stably placed in the pit 211 of the positioning chassis 21, the discharge port 2212 of the sealed can 22 is directly opposite to and fits with the drop port 2112 of the positioning chassis 21, and the support foot 2211 of the sealed can 22 is against the edge line of the bottom of the pit 211 of the positioning chassis 21, thereby realizing the positioning of the sealed can 22.

[0114] S02, transport the sealed tank kit into the elevator:

[0115] a. The roller assembly B is started to drive the sealed can set placed thereon to move on the rolling conveying surface B until it is discharged from the can discharge port B423, and then enters the rolling conveying surface C of the rotary lifting conveying device A6 through the can inlet port C642;

[0116] b. The roller assembly C starts to drive the sealed can set placed thereon to move toward the center area of ​​the rolling conveying surface C. When the sealed can set moves to the center area of ​​the rolling conveying surface C, the roller assembly C stops moving;

[0117] c. The scissor lift base C61 is started to lift the bracket C63 and the roller assembly C to avoid interference between the bracket C63 and the roller assembly C and the translation conveyor A4 during subsequent rotation;

[0118] d. The first rotating drive assembly is started, driving the bracket C63 and the roller assembly C to rotate 90° on the horizontal plane;

[0119] e. The scissor-type lifting base C61 is started to lower the bracket C63 and the roller assembly C, so that the rolling conveying surface C is transformed into the second posture;

[0120] f. The roller assembly C is started, driving the sealed can set placed on it to move on the rolling conveying surface C until it is discharged from the can discharge port C643, and then enters the rolling conveying surface of the elevator through the can inlet and outlet port A322.

[0121] S03, lift the sealed tank kit to the upper floor of the plant:

[0122] a. The transmission mechanism starts to drive the sealed tank assembly to move toward the center area of ​​the rolling transmission surface. When the sealed tank assembly moves to the center area of ​​the rolling transmission surface, the transmission mechanism stops;

[0123] b. The traction drive device is started, driving the lifting platform 31, the transmission mechanism and the sealing tank kit to move toward the upper floor 13 of the plant. When the transmission mechanism moves to the upper docking position, the traction drive device stops moving;

[0124] c. The conveying mechanism is started, driving the sealed can kit to move on the rolling conveying surface until it is discharged from the tank inlet and outlet port A322, and then enters the rolling conveying surface D of the translation conveying device B7 through the tank inlet port D722.

[0125] S04, move the sealing tank kit to the feeding position:

[0126] a. The roller assembly D is started to drive the sealed can set placed thereon to move on the rolling conveying surface D until it is discharged from the can discharge port D723, and then enters the rolling conveying surface F of the rotary lifting conveying device B9 through the can inlet port F942;

[0127] b. The roller assembly F starts to drive the sealed can set placed thereon to move toward the can discharge port F944 of the rolling conveying surface F. When the sealed can set moves to the top of the rotation center of the bracket F93, the roller assembly F stops to ensure stability during subsequent rotation;

[0128] c. The scissor lift base F91 is started to lift the bracket F93 and the roller assembly F to prevent the bracket F93 and the roller assembly F from interfering with the translation conveyor B7 and the translation conveyor C8 during subsequent rotation;

[0129] d. The second rotation drive assembly is started, driving the bracket F93 and the roller assembly F to rotate 90° on the horizontal plane;

[0130] e. The scissor-type lifting base F91 is started to lower the bracket F93 and the roller assembly F, so that the rolling conveying surface F is transformed into the second posture;

[0131] f. The roller assembly F starts to drive the sealed can set placed thereon to move toward the can discharge port F944 of the rolling conveying surface F. When the positioning chassis 21 of the sealed can set contacts the electromagnet, the positioning chassis 21 is immediately adsorbed and fixed by the electromagnet, and at the same time, the roller assembly F stops moving;

[0132] When this step is completed, the discharge port 2112 of the positioning chassis 21, the discharge hole 943 of the rotary lifting conveyor B9, and the discharge port 16 of the upper floor 13 of the factory building are connected in sequence from top to bottom;

[0133] In this step, while steps ad are being performed, the following operations are performed: the moving drive mechanism is started to drive the cover plate away from the discharge port 16, thereby opening the discharge port 16 of the upper floor 13 of the factory building.

[0134] S05, perform feeding operation:

[0135] a. The camera 103 is started to obtain a real-time image of the docking end of the mechanical claw. The image comparison module compares the real-time image captured by the camera 103 with the pre-stored image, and feeds back the comparison result to the control unit. The control unit controls and adjusts the posture of the multi-degree-of-freedom mechanical arm 101 and the movement of the mechanical claw according to the image comparison result, so that the real-time image and the pre-stored image gradually converge. When the real-time image and the pre-stored image have a similarity of 95% or more, it indicates that the docking is completed; at this time, the three fingers 1024 of the mechanical claw are respectively inserted into the three fan-shaped hollow areas 232 of the docking seat 23;

[0136] b. The reduction motor 1021 of the mechanical claw is started, driving the base 1023 and the finger 1024 to rotate, and the finger 1024 drives the docking seat 23 and the screw 222 of the sealing tank 22 to rotate, and then drives the nut 223 and the conical ring plate 224 to move along the screw 222, so that the discharge port 2212 at the lower end of the sealing tank 22 is opened, and the UO2 powder material in the inner cavity of the sealing tank 22 is discharged from the discharge port 2212, and then sequentially through the discharge port 2112 of the positioning chassis 21, the discharge hole 943 of the rotary lifting conveyor B9, and the discharge port 16 of the upper floor 13 of the factory building into the transfer silo 15 of the middle floor 12 of the factory building;

[0137] c. After the feeding is completed, the reduction motor 1021 of the mechanical claw is started, driving the base 1023 and the finger 1024 to rotate, and the finger 1024 drives the docking seat 23 and the screw 222 of the sealing tank 22 to rotate, thereby driving the nut 223 and the conical ring plate 224 to move along the screw 222, thereby closing the discharge port 2212 at the lower end of the sealing tank 22;

[0138] d. The multi-DOF robotic arm 101 moves the robotic claw upward, so that the three fingers 1024 of the robotic claw exit the three fan-shaped hollow areas 232 of the docking seat;

[0139] In this step, while step b is being carried out, the negative pressure fan is started to generate negative pressure at the negative pressure dust removal port 10 to suppress the generation of dust inside the transfer silo 15 and prevent the UO2 powder from leaking / drifting out from the contact surface between the discharge port 2212 of the sealing tank 22 and the discharge port 16 of the upper floor 13 of the factory building.

[0140] S06, transferring the empty sealed can kit to the translation conveyor C:

[0141] a. The scissor lift base F91 is started to lift the bracket F93 and the roller assembly F to prevent the bracket F93 and the roller assembly F from interfering with the translation conveyor B7 and the translation conveyor C8 during subsequent rotation;

[0142] b. The second rotation drive assembly is started, driving the bracket F93 and the roller assembly F to rotate 90° on the horizontal plane;

[0143] c. The scissor-type lifting base F91 is started to lower the bracket F93 and the roller assembly F, so that the rolling conveying surface F is transformed into the first posture;

[0144] d. The electromagnet is powered off to release the relative fixed relationship between the Z-shaped connecting frame 955 and the positioning chassis 21. Then, the third driving motor is started to drive the two Z-shaped connecting frames 955 to move in reverse, and then withdraw from the area just above the can discharge port F944, so that the sealed can kit can be discharged from the can discharge port F944 in the subsequent steps;

[0145] e. The roller assembly F is started to drive the sealed can set placed on the rolling conveying surface F to move toward the can discharge port F944. After the sealed can set is discharged from the can discharge port F944, it enters the rolling conveying surface E of the translation conveying device C8 through the can inlet and outlet port B822 and is temporarily placed on the rolling conveying surface E;

[0146] f. The scissor-type lifting base A51 is lifted, so that the rolling conveying surface C of the uppermost roller assembly A among all the roller assemblies A currently placed with the positioning chassis 21 is lifted, so that the chassis outlet 532 of the rolling conveying surface C is adjacent to and flush with the tank inlet B422 of the translation conveying device A4.

[0147] S07, multiple sets of sealed tank kits are fed in sequence:

[0148] a. Repeat steps S01-S06 for multiple times to complete the feeding operation of multiple sets of sealed can kits. Each round of steps S01-S06 is performed to complete the feeding operation of one set of sealed can kits;

[0149] b. After the predetermined number of sealed can sets have completed the feeding operation, the empty sealed can sets are temporarily placed on the rolling conveying surface E of the translation conveying device C8.

[0150] S08, the sealed tank kit is transferred to the lift:

[0151] a. The roller assembly E starts to drive the sealed can set placed on the rolling conveying surface E to move toward the tank inlet and outlet port B822. When a group of sealed can sets closest to the tank inlet and outlet port B822 is discharged from the tank inlet and outlet port B822, the roller assembly E stops moving;

[0152] b. After being discharged from the tank inlet and outlet port B822, the sealed can set enters the rolling conveying surface F of the rotary lifting conveyor B9 through the tank discharge port F944. Then, the roller assembly F is started to drive the sealed can set placed on the rolling conveying surface F to move toward the tank inlet port F942 until the sealed can set is discharged from the tank inlet port F942.

[0153] c. After being discharged from the tank inlet F942, the sealed tank kit enters the rolling conveying surface D of the translation conveying device B7 through the tank discharge port D944. Then, the roller assembly D is started to drive the sealed tank kit placed on the rolling conveying surface D to move toward the tank inlet D722 until the sealed tank kit is discharged from the tank inlet D722.

[0154] S09, the sealed tank kit descends to the lower floor of the plant:

[0155] a. After the sealed can assembly is discharged from the tank inlet D722, it enters the rolling transmission surface of the elevator through the tank inlet and outlet A322. Then, the transmission mechanism starts to drive the sealed can assembly to move to the center area of ​​the rolling transmission surface. When the sealed can assembly moves to the center area of ​​the rolling transmission surface, the transmission mechanism stops;

[0156] b. The traction drive device is started, driving the lifting platform 31, the transmission mechanism and the sealing tank kit to move together to the lower floor 11 of the factory building. When the transmission mechanism moves to the lower docking position, the traction drive device stops moving;

[0157] c. The transmission mechanism is started to drive the sealed tank set placed on the rolling transmission surface to move toward the tank inlet and outlet port A322 until the sealed tank set is discharged from the tank inlet and outlet port A322.

[0158] S10, conveying the sealed can kit to the translation conveying device A:

[0159] a. After the sealed can set is discharged from the can inlet and outlet port A322, it enters the rolling conveying surface C of the rotary lifting conveying device A6 through the can discharge port C643;

[0160] b. The scissor lift base C61 is started to lift the bracket C63 and the roller assembly C to avoid interference between the bracket C63 and the roller assembly C and the translation conveyor A4 during subsequent rotation;

[0161] c. The first rotating drive assembly is started, driving the bracket C63 and the roller assembly C to rotate 90° on the horizontal plane;

[0162] d. The scissor-type lifting base C61 is started to lower the bracket C63 and the roller assembly C, so that the rolling conveying surface C is transformed into the first posture;

[0163] e. The roller assembly C is started to drive the sealed can set placed thereon to move on the rolling conveying surface C until the sealed can set is discharged from the can inlet C642;

[0164] f. After being discharged from the tank inlet C642, the sealed tank set enters the rolling conveying surface B of the translation conveying device A4 through the tank discharge port B423, and then the operator takes the sealed tank set off the rolling conveying surface B, thus completing the recovery operation of a set of sealed tank sets.

[0165] S11, recycling the sealed can kits of all groups: repeating steps S08-S10 for multiple times until the recycling operation of the sealed can kits of all groups is completed.

Claims

1. An automated feeding system for uranium conversion materials, comprising a plant; the interior of the plant is vertically divided into three layers, namely, a lower layer, a middle layer and an upper layer from bottom to top; a cantilever crane is provided on the lower layer, a transfer silo with a feed port is provided on the middle layer, a discharge port connected to the transfer silo is provided on the floor of the upper layer, a lifting passage penetrating the lower layer, the middle layer and the upper layer is provided at the edge of the plant against the wall, a lower opening connected to the lower end of the lifting passage is provided on the wall of the lower layer of the plant, and an upper opening connected to the upper end of the lifting passage is provided on the wall of the upper layer of the plant; Its characteristics are: It also includes an elevator installed in the lifting passage; it also includes a translation conveying device A, a multi-level storage conveying device and a rotary lifting conveying device A fixedly installed on the lower floor of the factory building; it also includes a translation conveying device B, a translation conveying device C, a rotary lifting conveying device B, an auxiliary rod twisting device and a dust-proof covering device fixedly installed on the upper floor of the factory building; it also includes a sealing tank kit that moves back and forth between the translation conveying device A, the rotary lifting conveying device A, the elevator, the translation conveying device B, the rotary lifting conveying device B and the translation conveying device C; The sealed tank kit includes a positioning chassis, a sealed tank and a docking seat; a pit for positioning the sealed tank is provided inside the positioning chassis, a slope is provided on the side wall of the pit so that the pit gradually decreases in size from the upper end to the lower end, and a material discharge port is provided at the bottom of the pit; the sealed tank includes a tank body, a screw, a nut and a conical ring plate; an inner cavity for accommodating UO2 powder material is provided inside the tank body, and a plurality of legs and a material discharge port connected to the inner cavity are provided at the lower end of the tank body; the screw is rotatably installed in the inner cavity of the tank body and is arranged along the axial direction of the tank body, and the upper end of the screw Extending from the upper end of the tank body; the nut is threadedly connected to the screw; the conical ring plate is fixedly connected to the nut, and moves along the axial direction of the tank body with the nut to close or open the discharge port; when the sealed tank is stably placed in the pit of the positioning chassis, the discharge port of the sealed tank is directly opposite and fits with the blanking port of the positioning chassis, and the legs of the sealed tank are against the edge line of the bottom of the pit of the positioning chassis, so as to realize the positioning of the sealed tank; the docking seat is provided with a first docking portion and a second docking portion, and the docking seat is detachably connected to the upper end of the screw through the first docking portion; The lift includes a lifting platform, a traction drive device and a transmission mechanism; the lifting platform is installed in the lifting channel through the traction drive device and performs lifting and lowering motion in the vertical direction; the transmission mechanism is installed on the lifting platform, and a rolling transmission surface is provided at the upper end of the transmission mechanism, and a tank inlet and outlet port A is provided at one end of the rolling transmission surface, and the rolling transmission surface moves synchronously with the lifting platform, thereby moving back and forth between the upper docking position and the lower docking position; The upper end of the translation conveying device A is provided with a rolling conveying surface B, and the two ends of the rolling conveying surface B are respectively provided with a can inlet B and a can outlet B; A plurality of rolling conveying surfaces A are arranged from top to bottom inside the multi-level storage conveying device. A chassis inlet and a chassis outlet are arranged at both ends of the rolling conveying surface A. All the rolling conveying surfaces A can be synchronously lifted and lowered in the vertical direction. The chassis outlet of each rolling conveying surface A can be lifted and lowered to be close to and flush with the tank inlet B of the translation conveying device A. A rolling conveying surface C is provided at the upper end of the rotary lifting conveying device A, and a can inlet C and a can outlet C are provided at both ends of the rolling conveying surface C respectively. The rotary lifting conveying device A can drive the rolling conveying surface C to rise and fall in the vertical direction and / or rotate in the horizontal plane, thereby switching the rolling conveying surface C between the first posture and the second posture. When the rolling conveying surface C is in the first posture, the can inlet C is adjacent to and flush with the can outlet B of the translation conveying device A. When the rolling conveying surface C is in the second posture, the can outlet C is adjacent to and flush with the rolling conveying surface of the elevator in the lower docking position. The upper end of the translation conveying device B is provided with a rolling conveying surface D, and the two ends of the rolling conveying surface D are respectively provided with a can inlet D and a can outlet D, and the can inlet D of the rolling conveying surface D is adjacent to and flush with the rolling conveying surface of the lift at the upper docking position; The upper end of the translation conveying device C is provided with a rolling conveying surface E, and one end of the rolling conveying surface E is provided with a tank inlet and outlet port B; A rolling conveying surface F is provided at the upper end of the rotary lifting conveying device B, a tank inlet F is provided at one end of the rolling conveying surface F, and a material discharge hole and a tank discharge hole F are provided at the other end. The rotary lifting conveying device B can drive the rolling conveying surface F to rise and fall in the vertical direction and / or rotate in the horizontal plane, thereby switching the rolling conveying surface F between a first posture and a second posture. When the rolling conveying surface F is in the first posture, the tank inlet F is adjacent to and flush with the tank discharge hole D of the translation conveying device B, and the tank discharge hole is adjacent to and flush with the tank inlet and outlet B of the translation conveying device C. When the rolling conveying surface F is in the second posture, the material discharge hole is vertically opposite to and adjacent to the material discharge hole on the upper floor of the factory building; The auxiliary rod twisting device includes a multi-degree-of-freedom mechanical arm and a mechanical claw; One end of the multi-degree-of-freedom robotic arm is fixedly mounted on the floor of the upper floor of the factory building, and the other end is connected to the mechanical claw. The end of the mechanical claw connected to the multi-degree-of-freedom robotic arm is the fixed end, and the end of the mechanical claw relatively far away from the multi-degree-of-freedom robotic arm is the docking end. The mechanical claw docks with the second docking portion at the upper end of the docking seat through the docking end, and the docking seat is twisted in the docking state; The anti-dust covering device includes a mobile driving mechanism and a cover plate; one end of the mobile driving mechanism is installed on the upper floor of the factory building, and the other end is connected to the cover plate to drive the cover plate to move and thus cover or open the discharge port on the upper floor of the factory building.

2. The automatic feeding system for uranium conversion materials according to claim 1, characterized in that: The multi-level storage and conveying device includes a scissor-type lifting base A, a bracket A and a roller assembly A; the scissor-type lifting base A is fixedly installed on the ground of the lower floor of the factory building; the bracket A is fixedly connected to the scissor-type lifting base A, and is driven by the scissor-type lifting base A to perform lifting and lowering movements in the vertical direction; a plurality of groups of roller assemblies A are installed on the bracket A at intervals from top to bottom, and a placement interval for placing a docking seat is provided between adjacent roller assemblies A; the roller assembly A includes a plurality of rollers A arranged in parallel and horizontally, and the rollers A are rotatably installed on the bracket A, and the rolling conveying surface A is formed by all the rollers A in the roller assembly A at the upper end; the rollers A in the roller assembly A include two types of rollers, namely electric rollers and ordinary rollers, and the two types of rollers are arranged alternately.

3. The automatic feeding system for uranium conversion materials according to claim 2, characterized in that: The rotary lifting conveying device A comprises a scissor-type lifting base C, a first rotating drive assembly, a bracket C and a roller assembly C; the scissor-type lifting base C is fixedly installed on the ground of the lower floor of the factory building; the bracket C is rotatably installed on the scissor-type lifting base C through the first rotating drive assembly, and on the one hand, it is driven by the scissor-type lifting base C to perform lifting movement in the vertical direction, and on the other hand, it is driven by the first rotating drive assembly to rotate on the horizontal plane; the roller assembly C comprises a plurality of rollers C arranged in parallel and horizontally, and the rollers C are rotatably installed on the bracket C, and the rolling conveying surface C is formed by all the rollers C in the roller assembly C at the upper end; the rollers C in the roller assembly C include two types of rollers, namely electric rollers and ordinary rollers, and the two types of rollers are arranged alternately.

4. The automatic feeding system for uranium conversion materials according to claim 3, characterized in that: The first rotating drive assembly includes a first driving motor, a gear A and a gear B; the first driving motor is fixedly mounted on a scissor-type lifting base C; gear A is fixedly mounted on the shaft of the first driving motor, and gear B is rotatably mounted on the scissor-type lifting base C and meshes with gear A, and is welded to the bracket C at the upper end.

5. The automatic feeding system for uranium conversion materials according to claim 4, characterized in that: The rotary lifting conveying device B comprises a scissor-type lifting base F, a second rotating drive assembly, a bracket F, a roller assembly F, an end locking assembly and an end leg support assembly; the scissor-type lifting base F is fixedly installed on the ground of the upper floor of the factory building; the bracket F is rotatably installed on the scissor-type lifting base F through the second rotating drive assembly, and on the one hand, it is driven by the scissor-type lifting base F to perform lifting movement in the vertical direction, and on the other hand, it is driven by the second rotating drive assembly to rotate on the horizontal plane; the roller assembly F comprises a plurality of rollers F arranged in parallel and horizontally, and the rollers F are rotatably installed on the bracket F, and the rolling conveying surface F is formed by all the rollers F in the roller assembly F at the upper end; the rollers F in the roller assembly F include four types of rollers: long electric rollers, long ordinary rollers, short electric rollers, and short ordinary rollers, and the short electric rollers and short ordinary rollers are The drums are arranged on both sides of the discharge hole. On each side of the discharge hole, short electric rollers and short ordinary rollers are arranged in an alternating manner. Long electric rollers and long ordinary rollers are arranged at both ends of the discharge hole. At each end of the discharge hole, long electric rollers and long ordinary rollers are arranged in an alternating manner. The end locking assembly is arranged on the bracket F and is located at one end of the bracket F relatively close to the can discharge port F. It is used to lock or unlock the positioning chassis placed on the rolling conveying surface F. When the positioning chassis is locked, the drop-out port on the positioning chassis is directly opposite to the discharge hole of the rotary lifting conveying device B. When the positioning chassis is unlocked, the positioning chassis can be discharged from the can discharge port F of the rolling conveying surface F. The end support leg assemblies are symmetrically arranged on both sides of the lower end of the bracket F relatively close to the can discharge port F, and the length thereof can be extended to provide support for the bracket F at different heights.

6. The automatic feeding system for uranium conversion materials according to claim 5, characterized in that: The second rotation drive assembly includes a second drive motor, a gear C and a gear D; the second drive motor is fixedly mounted on the scissor-type lifting base F; the gear C is fixedly mounted on the shaft of the second drive motor, and the gear D is rotatably mounted on the scissor-type lifting base F and meshes with the gear C, and is welded to the bracket F at the upper end; The end locking assembly includes a screw seat A, a bidirectional threaded screw, a nut A, a third drive motor, a Z-shaped connecting frame and an electromagnet; the screw seat A is fixedly mounted on the lower end of the bracket F at one end relatively close to the tank discharge port F; the bidirectional threaded screw is horizontally arranged and movably mounted on the screw seat A and is located at the lower end of the bracket F, and both ends of the bidirectional threaded screw are provided with external threads with opposite thread rotation directions; the two nuts A are respectively threadedly connected to the external threads at both ends of the bidirectional threaded screw; the third drive motor is fixedly mounted on the screw seat A and is connected to one end of the bidirectional threaded screw through a coupling to drive the bidirectional threaded screw to rotate; the lower ends of the two Z-shaped connecting frames are respectively fixedly connected to the two nuts A, and the upper ends are respectively extended into the upper ends of the tank discharge port F. The two Z-shaped connecting frames move synchronously in the same direction or synchronously in opposite directions under the drive of the third drive motor, and then extend into the area directly above the tank discharge port F or exit the area directly above the tank discharge port F at the upper end; Two electromagnets are embedded in the upper ends of the two Z-shaped connecting frames; The end support leg assembly includes a screw seat B, a screw, a nut B, a fourth drive motor and an L-shaped support leg; the screw seat B is fixedly mounted on the lower end of the bracket F at one end relatively close to the tank discharge port F; the screw is vertically arranged and movably mounted on the screw seat B, and is located at the lower end of the bracket F; the nut B is threadedly connected to the screw; the fourth drive motor is fixedly mounted on the screw seat B, and is connected to the upper end of the screw through a coupling to drive the screw to rotate; the upper end of the L-shaped support leg is fixedly connected to the nut, and a flexible buffer pad is provided at the lower end.

7. The automatic feeding system for uranium conversion materials according to claim 6, characterized in that: The mechanical claw includes a reduction motor, a torque sensor, a base and fingers; the reduction motor is fixedly installed at the end of the multi-degree-of-freedom mechanical arm, the rear end of the torque sensor is connected to the shaft of the reduction motor, and the front end is connected to the base, the base is connected to the front end of the torque sensor on one side surface, and three fingers are fixedly connected to the other side surface, and the three fingers are evenly distributed in a ring around the shaft of the reduction motor; correspondingly, the second docking part of the docking seat includes three fan-shaped hollow areas, and the three fan-shaped hollow areas are evenly distributed in a ring around the first docking part of the docking seat; the docking seat is docked with the three fingers of the mechanical claw through the three fan-shaped hollow areas, and is driven to rotate by the mechanical claw.

8. The automatic feeding system for uranium conversion materials according to claim 7, characterized in that: The auxiliary rod twisting device also includes a docking control component; the docking control component includes a camera, an image comparison module and a control unit; the camera is directly or indirectly fixedly mounted on the fixed end of the mechanical claw, and has a field of view of the docking end of the mechanical claw; the image comparison module is connected to the camera in a communication manner; the signal input end of the control unit is connected to the image comparison module in a communication manner, and the signal output end of the control unit is respectively connected to the reduction motor of the multi-degree-of-freedom mechanical arm and the mechanical claw in a communication manner.

9. The automatic feeding system for uranium conversion materials according to claim 8, characterized in that: The upper end of the screw of the sealing tank is provided with a prismatic head; correspondingly, the first docking portion of the docking seat is a prismatic hole matching the prismatic head; the docking seat is detachably plugged into the prismatic head of the screw through the prismatic hole, and the rotation of the docking seat drives the screw to rotate synchronously.

10. The automatic feeding system for uranium conversion materials according to claim 9, characterized in that: The transmission mechanism includes a plurality of rollers arranged in parallel and horizontally, the rollers are rotatably mounted on the lifting platform, and the rolling transmission surface is formed by all the rollers at the upper end; the rollers in the transmission mechanism include two types of rollers: electric rollers and ordinary rollers, and the two types of rollers are arranged alternately; The translation conveying device A comprises a bracket B and a roller assembly B; the bracket B is fixedly installed on the ground of the lower floor of the factory building; the roller assembly B comprises a plurality of rollers B arranged in parallel and horizontally, the rollers B are rotatably installed on the bracket B, and the rolling conveying surface B is formed by all the rollers B in the roller assembly B at the upper end; the rollers B in the roller assembly B include two types of rollers, namely electric rollers and ordinary rollers, and the two types of rollers are arranged alternately; The translation conveying device B comprises a support D and a roller assembly D; the support D is fixedly installed on the ground of the upper floor of the factory building; the roller assembly D comprises a plurality of rollers D arranged in parallel and horizontally, the rollers D are rotatably installed on the support D, and the rolling conveying surface D is formed by all the rollers D in the roller assembly D at the upper end; the rollers D in the roller assembly D include two types of rollers, namely electric rollers and ordinary rollers, and the two types of rollers are arranged alternately; The translation conveying device C includes a bracket E and a roller assembly E; the bracket E is fixedly installed on the ground of the upper floor of the factory building; the roller assembly E includes a plurality of rollers E arranged in parallel and horizontally, and the rollers E are rotatably installed on the bracket E, and the rolling conveying surface E is formed by all the rollers E in the roller assembly E at the upper end; the rollers E in the roller assembly E include two types of rollers, namely electric rollers and ordinary rollers, and the two types of rollers are arranged alternately.

11. The automatic feeding system for uranium conversion materials according to claim 10, characterized in that: On the outer wall of the lower end of the sealing can, an outer circular positioning surface and an annular step surface are provided in sequence from bottom to top, and both the outer circular positioning surface and the annular step surface are located on the outside of the discharge port; when the sealing can is placed on the positioning chassis, the outer circular positioning surface of the sealing can forms a transition fit with the inner wall surface of the discharge port of the positioning chassis; the path swept by the conical annular plate along the movement of the screw is cylindrical, and the cylindrical shape is defined as the first cylinder; the space enclosed by the outer circular positioning surface extending to the upper and lower ends is cylindrical, and the cylindrical shape is defined as the second cylinder; the second cylinder completely contains the first cylinder.

12. The automatic feeding system for uranium conversion materials according to claim 11, characterized in that: The upper floor of the plant is also equipped with a negative pressure dust removal port connected to the transfer silo; It also includes negative pressure dust removal equipment; the negative pressure dust removal equipment includes a shell, a filter element arranged in the shell, and a negative pressure fan arranged in the shell; one end of the shell is an air inlet, and the other end is an air outlet; the air inlet of the shell is sealed and installed on the negative pressure dust removal port on the upper floor of the factory building, and the air outlet of the shell is open in the upper space of the factory building, or connected to the outside of the factory building through an air duct.

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