Intelligent transfer hugger

Abstract

This invention relates to an intelligent transfer gripper for storing and retrieving storage cylinders containing waste radioactive materials from a radioactive material storage warehouse. The storage / retrieval opening is rectangular and located on the upper part of the wall of the radioactive material storage warehouse. A door panel is slidably fitted inside the storage / retrieval opening. The intelligent transfer gripper includes lifting blocks, transfer arms, and a gripping device. Two lifting blocks are located on both sides of the storage / retrieval opening and move longitudinally along the height direction of the radioactive material storage warehouse. The ends of two transfer arms are laterally rotatable and mounted on the upper parts of the two lifting blocks. The two transfer arms are longitudinally staggered and laterally radially arranged, and rotate synchronously in opposite directions. The transfer block is cylindrical and located between the two transfer arms, with its outer circumference slidably fitted against the inner walls of the two transfer arms. The purpose of this invention is to solve or at least mitigate the problem of radiation leakage when transferring storage cylinders to the warehouse, by providing an intelligent transfer gripper.

Description

Technical Field

[0001] This invention belongs to the field of transfer equipment technology, and in particular relates to an intelligent transfer gripper. Background Technology

[0002] Discarded radioactive materials are radioactive and need to be stored in sealed warehouses to avoid environmental pollution. However, the radioactivity of a single storage container containing discarded radioactive materials is relatively low, while the radioactivity is higher in warehouses storing a large number of containers. Accessing or retrieving storage containers from the warehouse requires opening the warehouse door, which allows radiation to escape through the opening. Although the transfer process can be remotely controlled to prevent harm to personnel from escaping radiation, it still impacts the surrounding environment, potentially causing radioactivity in the area around the storage and retrieval points. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art, solve or at least mitigate the problem of radiation that occurs when transferring storage cylinders to a warehouse, and provide an intelligent transfer gripper.

[0004] This invention is achieved through the following technical solution:

[0005] An intelligent transfer gripper is provided for storing and retrieving storage cylinders containing waste radioactive materials from a radioactive material storage warehouse. The radioactive material storage warehouse has a rectangular access port located on the upper part of the wall of the warehouse. A door panel is slidably fitted inside the access port and slides longitudinally along the height of the warehouse. Lead plates are laid on the door panel and the walls of the warehouse. The intelligent transfer gripper includes lifting blocks, transfer arms, and a gripping device. Two lifting blocks are located on both sides of the access port and move longitudinally along the height of the warehouse. The transfer arms are straight rods, with their ends rotatably mounted on the upper parts of the two lifting blocks. The two transfer arms are longitudinally staggered and laterally radially arranged, rotating synchronously in opposite directions. The transfer block is cylindrical and located between the two transfer arms, with its outer circumference slidably fitted against the inner walls of the two transfer arms. The gripping device is fixedly mounted at the lower end of the transfer block and used to pick up the storage cylinders.

[0006] When retrieving storage cylinders from the radioactive material storage warehouse using the intelligent transfer grip, the process involves sequentially ascending, translating, and descending processes.

[0007] At the beginning of the upward movement, the door panel is located at the top of the access port, and the transfer block is located inside the radiation storage warehouse and away from the door panel. During the upward movement, the door panel descends, and the lifting block and transfer arm rise together. During the translational movement, the upper part of the door panel descends to the lower end of the access port, the two transfer arms rotate inward synchronously and extend out of the radiation storage warehouse, and the transfer block translates outward to the outside of the radiation storage warehouse. During the downward movement, the door panel descends, and the lifting block and transfer arm descend together.

[0008] To further realize the present invention, the following technical solutions may be preferred:

[0009] Preferably, the inner sidewall of the transfer arm is provided with a groove along its length, and two connecting members are stacked in the middle of the transfer block. Each connecting member includes an integrally formed rotating section and a sliding section. The rotating section is annular, and its outer diameter is not greater than the outer diameter of the transfer block. The rotating sections of the two connecting members are coaxially rotated and fitted onto the transfer block. The sliding section extends outward radially along the transfer block, and the ends of the sliding sections of the two connecting members that extend out of the transfer block are respectively slidably disposed in the grooves of the two transfer arms.

[0010] Preferably, a lifting drive mechanism and a lowering drive mechanism are provided between the door panel and the lifting block, and a steering drive mechanism is provided between the door panel and the transfer arm;

[0011] During the upward movement, the door panel descends and the lifting block rises via the lifting drive mechanism;

[0012] During the translation process, the door panel descends and drives the two transfer arms to rotate synchronously in opposite directions through the steering drive mechanism;

[0013] During the descent process, the door panel descends and the lifting block is driven to descend by the descent drive mechanism.

[0014] Preferably, the lifting drive mechanism includes an active lifting rack, a driven lifting rack, an active lifting gear, and a driven lifting gear. The active lifting rack is vertically arranged inside the door panel, and the driven lifting rack is vertically arranged on the side of the lifting block facing the door panel. The active lifting gear and the driven lifting gear are coaxially fixed and located below the access port and are fixedly rotatably arranged in the radiation storage warehouse.

[0015] Preferably, when the intelligent transfer gripper is in the initial stage of the rising process, the active rising gear meshes with the lower part of the active rising rack, and the driven rising gear meshes with the upper part of the driven rising rack. When the intelligent transfer gripper is in the initial stage of the translation process, the driven rising gear disengages from the lower end of the driven rising rack.

[0016] Preferably, the steering drive mechanism includes a steering rod, a guide sleeve, a steering rack, a steering gear, a steering worm, and a steering worm wheel. The steering rod is vertically and rotatably mounted in the radiation storage warehouse. A protruding sliding key is fixedly mounted on the upper part of the steering rod along its axial direction. The steering worm wheel is fixedly fitted onto the lower part of the steering rod. The guide sleeve is cylindrical and is fixedly and rotatably fitted onto the lifting block. A guide groove is provided on the inner wall of the guide sleeve. The steering rod is fitted into the guide sleeve. The sliding key is slidably mounted in the guide groove of the guide sleeve. The steering rack is vertically and fixedly mounted on the inner side of the door panel. The steering worm and the steering gear are coaxially and fixedly and rotatably mounted in the radiation storage warehouse. The steering worm and the steering worm wheel mesh with each other. The meshing transmission directions of the steering worm and the steering worm wheel of the two steering drive mechanisms corresponding to the two transfer arms are opposite.

[0017] Preferably, when the intelligent transfer gripper is in the initial stage of translation, the steering gear is engaged with the lower end of the steering rack; when the intelligent transfer gripper is in the initial stage of descent, the steering gear disengages from the upper end of the steering rack.

[0018] Preferably, the descent drive mechanism includes a descent rod, a descent rack, a descent gear, a descent worm, and a descent worm wheel. The descent rod is vertically and rotatably mounted in the radiation storage warehouse. The upper part of the descent rod is threaded onto the lifting block. The descent worm wheel is fixedly mounted on the lower part of the descent rod. The descent rack is vertically and fixedly mounted on the inner side of the door panel. The descent worm and the descent gear are coaxially fixed and rotatably mounted in the radiation storage warehouse. The descent worm and the descent worm wheel mesh with each other.

[0019] Preferably, at the beginning of the descent process, the intelligent transfer gripper engages with the lower end of the descent rack via a descent gear.

[0020] Preferably, a protective compartment is provided outside the access port of the radiation storage warehouse. The protective compartment has a U-shaped cross-section, a closed top, and the bottom of the protective compartment is lower than the bottom of the access port. The two vertical ends of the protective compartment are fixedly installed on both sides of the access port of the radiation storage warehouse.

[0021] The beneficial effects of the present invention through the above technical solution are:

[0022] The access port of the radiation material storage warehouse of the present invention is located on the upper part of the wall of the radiation material storage warehouse, and a door panel is slidably fitted inside the access port. Normally, the door panel is in a closed state. During transportation, the door panel is lowered to expose the access port. At this time, the wall below the access port can always block the radiation of the radiation material storage warehouse.

[0023] The rotation of the two transfer arms drives the transfer block to move smoothly, ensuring that the storage cylinder will not shake or flip during the transfer process.

[0024] The present invention is equipped with a lifting drive mechanism, a steering drive mechanism and a lowering drive mechanism, which provide power for the transfer process by raising and lowering the door panel. Not only is the power system structure simple, but the transfer process can also be guaranteed to be smooth. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure at the initial stage of the upward process of the present invention;

[0026] Figure 2 For the present invention Figure 1 Structural sectional view;

[0027] Figure 3 For the present invention Figure 2 A sectional view at point AA;

[0028] Figure 4 This is a schematic diagram of the structure at the initial stage of the translation process of the present invention;

[0029] Figure 5 For the present invention Figure 4 Structural sectional view;

[0030] Figure 6 This is a schematic diagram of the structure during the translation process of the present invention;

[0031] Figure 7 For the present invention Figure 6 Structural sectional view;

[0032] Figure 8 This is a schematic diagram of the structure at the initial stage of the descent process of the present invention;

[0033] Figure 9 For the present invention Figure 8 Structural sectional view;

[0034] Figure 10 This is a schematic diagram of the structure at the end of the descent process of the present invention;

[0035] Figure 11 For the present invention Figure 10 Structural sectional view;

[0036] Figure 12 This is a schematic diagram of the door panel structure of the present invention;

[0037] Figure 13 This is a schematic diagram of the lifting block, the transfer arm, and the transfer block of the present invention;

[0038] Figure 14 For the present invention Figure 13 One of the structural schematic diagrams;

[0039] Figure 15 For the present invention Figure 13The second structural diagram;

[0040] Figure 16 This is a schematic diagram of the structure of the transfer arm and guide sleeve of the present invention;

[0041] Figure 17 This is a schematic diagram of the structure of the transfer block of the present invention;

[0042] Figure 18 This is a schematic diagram of the connector of the present invention;

[0043] Figure 19 For the present invention Figure 3 Enlarged view of point B in the middle;

[0044] Wherein: 1-Storage cylinder; 2-Radioactive material storage warehouse; 3-Door panel; 4-Lifting block; 5-Transfer arm; 6-Transfer block; 7-Grabbing device; 8-Connecting piece; 9-Active lifting rack; 10-Driven lifting rack; 11-Active lifting gear; 12-Driven lifting gear; 13-Steering rod; 14-Guide sleeve; 15-Steering rack; 16-Steering gear; 17-Steering worm; 18-Steering worm wheel; 19-Lowering rod; 20-Lowering rack; 21-Lowering gear; 22-Lowering worm; 23-Lowering worm wheel. Detailed Implementation

[0045] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] Example 1:

[0048] like Figures 1-19As shown, an intelligent transfer gripper is used to retrieve a storage cylinder 1 containing waste radioactive material from a radioactive material storage warehouse 2. The radioactive material storage warehouse 2 is provided with a rectangular access port located on the upper part of the wall of the radioactive material storage warehouse 2. A door panel 3 is slidably fitted inside the access port and slides longitudinally along the height direction of the radioactive material storage warehouse 2. The door panel 3 and the wall of the radioactive material storage warehouse 2 are covered with lead plates. The intelligent transfer gripper includes a lifting block 4, a transfer arm 5, a transfer block 6, and a gripping device 7. The lifting blocks 4 are located on both sides of the access port and move longitudinally along the height direction of the radiation storage warehouse 2. The transfer arm 5 is straight rod-shaped. The ends of the two transfer arms 5 are rotatably mounted on the upper part of the two lifting blocks 4. The two transfer arms 5 are longitudinally staggered and laterally radially arranged. The two transfer arms 5 rotate synchronously in opposite directions. The transfer block 6 is cylindrical and located between the two transfer arms 5. The outer circumference of the transfer block 6 slides against the inner sidewall of the two transfer arms 5. The gripping device 7 is fixedly mounted on the lower end of the transfer block 6 and is used to pick up the storage cylinder 1.

[0049] When the intelligent transfer gripper retrieves the storage cylinder 1 in the radiation storage warehouse 2, it is configured with an ascending process, a horizontal movement process, and a descending process in sequence.

[0050] When the intelligent transfer carrier is initially in the upward process, the door panel 3 is located at the top of the access port, and the transfer block 6 is located inside the radiation storage warehouse 2 and away from the door panel 3; during the upward process, the door panel 3 descends, and the lifting block 4 rises together with the transfer arm 5; during the translation process, the upper end of the door panel 3 descends to the lower end of the access port, the two transfer arms 5 rotate inward synchronously and extend out of the radiation storage warehouse 2, and the transfer block 6 moves outward to the outside of the radiation storage warehouse 2; during the downward process, the door panel 3 descends, and the lifting block 4 descends together with the transfer arm 5.

[0051] The gripping device 7 is an electromagnet. During the transfer process, the electromagnet is energized, causing the storage cylinder 1 to be attracted to the electromagnet.

[0052] To optimize the product structure, the transfer block 6 slides and translates along the two transfer arms 5. The inner sidewall of the transfer arm 5 is provided with a groove along its length. Two connecting parts 8 are stacked in the middle of the transfer block 6. The connecting part 8 includes an integrally formed rotating section and a sliding section. The rotating section is annular and its outer diameter is not greater than the outer diameter of the transfer block 6. The rotating sections of the two connecting parts 8 are coaxially rotated and fitted onto the transfer block 6. The sliding section extends outward radially along the transfer block 6. The ends of the sliding sections of the two connecting parts 8 that extend out of the transfer block 6 are respectively slidably disposed in the grooves of the two transfer arms 5.

[0053] In order to reduce the power source and ensure the continuity of each process during the transfer, a rising drive mechanism and a falling drive mechanism are provided between the door panel 3 and the lifting block 4, and a steering drive mechanism is provided between the door panel 3 and the transfer arm 5.

[0054] During the upward movement, the door panel 3 descends and drives the lifting block 4 to rise via the lifting drive mechanism;

[0055] During the translation process, the door panel 3 descends and drives the two transfer arms 5 to rotate synchronously in opposite directions through the steering drive mechanism;

[0056] During the descent process, the door panel 3 descends and drives the lifting block 4 to descend via the descent drive mechanism.

[0057] The lifting drive mechanism includes an active lifting rack 9, a driven lifting rack 10, an active lifting gear 11, and a driven lifting gear 12. The active lifting rack 9 is vertically arranged inside the door panel 3, and the driven lifting rack 10 is vertically arranged on the side of the lifting block 4 facing the door panel 3. The active lifting gear 11 and the driven lifting gear 12 are coaxially fixed and located below the access port and are fixedly rotatably arranged in the radiation storage warehouse 2.

[0058] When the intelligent transfer gripper is in the initial stage of the upward process, the active upward gear 11 meshes with the lower part of the active upward rack 9, and the driven upward gear 12 meshes with the upper part of the driven upward rack 10. When the intelligent transfer gripper is in the initial stage of the translation process, the driven upward gear 12 disengages from the lower end of the driven upward rack 10.

[0059] The steering drive mechanism includes a steering rod 13, a guide sleeve 14, a steering rack 15, a steering gear 16, a steering worm 17, and a steering worm wheel 18. The steering rod 13 is vertically and rotatably mounted on the radiation storage warehouse 2. A protruding sliding key is fixedly mounted on the upper part of the steering rod 13 along its axial direction. The steering worm wheel 18 is fixedly fitted onto the lower part of the steering rod 13. The guide sleeve 14 is cylindrical and is fixedly and rotatably fitted onto the lifting block 4. A guide groove is provided on the inner wall of the guide sleeve 14. The steering rod 13 is fitted into the guide sleeve 14. The sliding key is slidably mounted in the guide groove of the guide sleeve 14. The steering rack 15 is vertically and fixedly mounted on the inner side of the door panel 3. The steering worm 17 and the steering gear 16 are coaxially fixed and fixedly and rotatably mounted on the radiation storage warehouse 2. The steering worm 17 and the steering worm wheel 18 mesh with each other. The meshing transmission directions of the steering worm 17 and the steering worm wheel 18 of the two steering drive mechanisms corresponding to the two transfer arms 5 are opposite.

[0060] When the intelligent transfer gripper is in the initial translation process, the steering gear 16 is engaged with the lower end of the steering rack 15. When the intelligent transfer gripper is in the initial descent process, the steering gear 16 disengages from the upper end of the steering rack 15.

[0061] The descent drive mechanism includes a descent rod 19, a descent rack 20, a descent gear 21, a descent worm 22, and a descent worm wheel 23. The descent rod 19 is vertically and rotatably mounted on the radiation storage warehouse 2. The upper part of the descent rod 19 is threaded onto the lifting block 4. The descent worm wheel 23 is fixedly mounted on the lower part of the descent rod 19. The descent rack 20 is vertically and fixedly mounted on the inner side of the door panel 3. The descent worm 22 and the descent gear 21 are coaxially fixed and rotatably mounted on the radiation storage warehouse 2. The descent worm 22 and the descent worm wheel 23 mesh with each other.

[0062] When the intelligent transfer gripper is in the initial stage of the descent process, the descent gear 21 meshes with the lower end of the descent rack 20.

[0063] In order to further reduce radiation leakage while ensuring continuous operation, a protective chamber is set outside the access port of the radiation storage warehouse 2. The protective chamber has a U-shaped cross-section, a closed top, and the bottom of the protective chamber is lower than the bottom of the access port. The two vertical ends of the protective chamber are fixedly set on both sides of the access port of the radiation storage warehouse 2.

[0064] The access port of the radiation storage warehouse 2 of the present invention is located on the upper part of the wall of the radiation storage warehouse 2, and a door panel 3 is slidably fitted inside the access port. Normally, the door panel 3 is in a closed state. During transportation, the door panel 3 is lowered to expose the access port. At this time, the wall at the lower end of the access port can always block the radiation of the radiation storage warehouse 2.

[0065] The rotation of the two transfer arms 5 drives the transfer block 6 to move smoothly, ensuring that the storage cylinder 1 will not shake or flip during the transfer process.

[0066] The present invention is equipped with a lifting drive mechanism, a steering drive mechanism and a lowering drive mechanism, which provide power for the transfer process by lifting and lowering the door panel 3. Not only is the power system structure simple, but the smoothness of the transfer process can also be guaranteed.

[0067] During the ascent, both the steering rod 13 and the descending rod 19 act as guides, ensuring that the lifting block 4 and the transfer arm 5 only rise and do not rotate. During the translation, the steering rod 13 drives the transfer arm 5 to rotate, while the descending rod 19 prevents the lifting block 4 from rotating. During the descent, the steering rod 13 acts as a guide to prevent the lifting block 4 from rotating, while the descending rod 19 drives the lifting block 4 to descend.

[0068] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent transfer gripper, said intelligent transfer gripper being used to store and retrieve a storage cylinder (1) containing waste radioactive material from a radioactive material storage warehouse (2), characterized in that, The radiation storage warehouse (2) is provided with an access port. The access port is rectangular and located on the upper part of the wall of the radiation storage warehouse (2). A door panel (3) is slidably attached to the inside of the access port. The door panel (3) slides longitudinally along the height direction of the radiation storage warehouse (2). Lead plates are laid on the door panel (3) and the wall of the radiation storage warehouse (2). The intelligent transfer gripper includes a lifting block (4), a transfer arm (5), a transfer block (6), and a gripping device (7). The two lifting blocks (4) are located on both sides of the access port and move longitudinally along the height direction of the radiation storage warehouse (2). The transfer arm (5) is in the shape of a straight rod. The ends of the two transfer arms (5) are respectively rotatably mounted on the upper part of the two lifting blocks (4). The two transfer arms (5) are longitudinally staggered and laterally radially arranged. The two transfer arms (5) rotate synchronously in opposite directions. The transfer block (6) is cylindrical and located between the two transfer arms (5). The outer circumference of the transfer block (6) slides against the inner sidewall of the two transfer arms (5). The gripping device (7) is fixedly mounted on the lower end of the transfer block (6) and is used to pick up the storage cylinder (1). When the intelligent transfer carrier retrieves the storage cylinder (1) in the radiation storage warehouse (2), it is sequentially set with an upward process, a horizontal process and a downward process; When the intelligent transfer gripper is initially in the upward process, the door panel (3) is located at the top of the access port, and the transfer block (6) is located inside the radiation storage warehouse (2) and away from the door panel (3); during the upward process, the door panel (3) descends, and the lifting block (4) rises together with the transfer arm (5); during the translation process, the upper end of the door panel (3) descends to the lower end of the access port, the two transfer arms (5) rotate inward synchronously and extend out of the radiation storage warehouse (2), and the transfer block (6) moves outward to outside the radiation storage warehouse (2); decline During the process, the door panel (3) descends, and the lifting block (4) descends together with the transfer arm (5); The inner sidewall of the transfer arm (5) is provided with a groove along its length. Two connecting parts (8) are stacked in the middle of the transfer block (6). The connecting part (8) includes an integrally formed rotating section and a sliding section. The rotating section is annular and its outer diameter is not greater than the outer diameter of the transfer block (6). The rotating sections of the two connecting parts (8) are coaxially rotated and fitted onto the transfer block (6). The sliding section extends outward radially along the transfer block (6). The ends of the sliding sections of the two connecting parts (8) that extend out of the transfer block (6) are respectively slidably disposed in the grooves of the two transfer arms (5). A lifting drive mechanism and a lowering drive mechanism are provided between the door panel (3) and the lifting block (4), and a steering drive mechanism is provided between the door panel (3) and the transfer arm (5); During the upward movement, the door panel (3) descends and drives the lifting block (4) to rise via the lifting drive mechanism; During the translation process, the door panel (3) descends and drives the two transfer arms (5) to rotate synchronously in opposite directions through the steering drive mechanism; During the descent process, the door panel (3) descends and drives the lifting block (4) to descend via the descent drive mechanism.

2. The intelligent transfer gripper according to claim 1, characterized in that, The lifting drive mechanism includes an active lifting rack (9), a driven lifting rack (10), an active lifting gear (11), and a driven lifting gear (12). The active lifting rack (9) is vertically arranged inside the door panel (3), and the driven lifting rack (10) is vertically arranged on the side of the lifting block (4) facing the door panel (3). The active lifting gear (11) and the driven lifting gear (12) are coaxially fixed. The active lifting gear (11) and the driven lifting gear (12) are located below the access port and are fixedly rotatably arranged in the radiation storage warehouse (2).

3. The intelligent transfer gripper according to claim 2, characterized in that, When the intelligent transfer gripper is in the initial stage of the upward process, the active upward gear (11) meshes with the lower part of the active upward rack (9), and the driven upward gear (12) meshes with the upper part of the driven upward rack (10). When the intelligent transfer gripper is in the initial stage of the translation process, the driven upward gear (12) disengages from the lower end of the driven upward rack (10).

4. The intelligent transfer gripper according to claim 1, characterized in that, The steering drive mechanism includes a steering rod (13), a guide sleeve (14), a steering rack (15), a steering gear (16), a steering worm (17), and a steering worm wheel (18). The steering rod (13) is vertically and rotatably mounted on the radiation storage warehouse (2). A protruding sliding key is fixedly mounted on the upper part of the steering rod (13) along its axial direction. The steering worm wheel (18) is fixedly fitted onto the lower part of the steering rod (13). The guide sleeve (14) is cylindrical and is fixedly and rotatably fitted onto the lifting block (4). The inner wall of the guide sleeve (14) is provided with... The guide groove and the steering rod (13) are fitted inside the guide sleeve (14). The sliding key is slidably set in the guide groove of the guide sleeve (14). The steering rack (15) is vertically fixed inside the door panel (3). The steering worm (17) and the steering gear (16) are coaxially fixed and fixedly rotated in the radiation storage warehouse (2). The steering worm (17) and the steering worm wheel (18) mesh with each other. The meshing transmission directions of the steering worm (17) and the steering worm wheel (18) of the two steering drive mechanisms corresponding to the two transfer arms (5) are opposite.

5. The intelligent transfer gripper according to claim 4, characterized in that, When the intelligent transfer gripper is in the initial translation process, the steering gear (16) meshes with the lower end of the steering rack (15). When the intelligent transfer gripper is in the initial descent process, the steering gear (16) disengages from the upper end of the steering rack (15).

6. The intelligent transfer gripper according to claim 1, characterized in that, The descent drive mechanism includes a descent rod (19), a descent rack (20), a descent gear (21), a descent worm (22), and a descent worm wheel (23). The descent rod (19) is vertically and rotatably mounted on the radiation storage warehouse (2). The upper part of the descent rod (19) is threaded onto the lifting block (4). The descent worm wheel (23) is fixedly mounted on the lower part of the descent rod (19). The descent rack (20) is vertically and fixedly mounted on the inner side of the door panel (3). The descent worm (22) and the descent gear (21) are coaxially fixed and rotatably mounted on the radiation storage warehouse (2). The descent worm (22) and the descent worm wheel (23) mesh with each other.

7. The intelligent transfer gripper according to claim 6, characterized in that, When the intelligent transfer gripper is in the initial stage of the descent process, the descent gear (21) meshes with the lower end of the descent rack (20).

8. The intelligent transfer gripper according to claim 1, characterized in that, The access port of the radiation storage warehouse (2) is provided with a protective chamber. The cross-section of the protective chamber is U-shaped. The top of the protective chamber is closed. The height of the bottom of the protective chamber is lower than the height of the bottom of the access port. The two vertical ends of the protective chamber are fixedly installed on both sides of the access port of the radiation storage warehouse (2).

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