A radioactivity purification column well assembly apparatus and system

Abstract

The application relates to the technical field of decommissioning of military and civilian nuclear facilities and radioactive waste treatment, in particular to an assembly device and system for a radioactive purification column well. The device comprises a filling container, a first mechanical arm, a grabbing mechanism and a second mechanical arm. The filling container has a barrel body and a cover body detachably connected with the barrel body, the barrel body is used for accommodating the radioactive purification column; the first mechanical arm is used for acting on the filling container to release the connection between the cover body and the barrel body; the grabbing mechanism is used for cooperating with the cover body to limit the cover body in a dismounting direction; the second mechanical arm is connected with the grabbing mechanism, and the grabbing mechanism can translate in the dismounting direction and can rotate under the driving of the second mechanical arm; when the cover body cooperates with the grabbing mechanism, the cover body can be driven to rotate by the grabbing mechanism when the grabbing mechanism rotates, so that the cover body and the barrel opening face of the barrel body form an included angle. The application can realize remote assembly of the radioactive purification column, can guarantee the personal safety of the staff, and has good assembly efficiency.

Description

Technical Field

[0001] This application relates to the field of decommissioning of military and civilian nuclear facilities and radioactive waste treatment technology, and more specifically, to a radioactive purification column assembly device and system. Background Technology

[0002] The isotope production line generates a large number of extraction columns, elution columns, and other components during isotope preparation. Radioactive waste purification columns are one such example, exhibiting high levels of radioactivity. Current traditional methods for handling high-dose waste typically involve shielded transport containers and specialized long-handled tools for transport and packing, followed by cement fixation. This approach suffers from high personnel involvement, low filling rates, and low efficiency, and is not compatible with existing plant facilities or green development requirements. Therefore, designing an assembly device / system that improves purification column assembly efficiency and reduces radiation dose, while considering existing plant conditions, is urgently needed. Summary of the Invention

[0003] This application provides a radioactive purification column assembly device and system, which achieves remote automatic assembly of the purification column through the cooperation of a robotic arm and a gripping mechanism, and by setting up a filling container, thereby solving the problems of low efficiency and large radiation dose in existing assembly methods.

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

[0005] In a first aspect, this application provides an in-well assembly apparatus for radioactive purification, comprising:

[0006] A filling container having a barrel and a lid detachably connected to the barrel, the barrel being used to contain a radioactive purification column;

[0007] A first robotic arm, which acts on the filling container to disconnect the lid and the barrel;

[0008] A gripping mechanism, which cooperates with the cover to limit the cover in the disassembly direction;

[0009] The second robotic arm is connected to the gripping mechanism. Driven by the second robotic arm, the gripping mechanism can translate and rotate in the disassembly direction. When the cover is engaged with the gripping mechanism, the rotation of the gripping mechanism can drive the cover to rotate so that the cover and the opening of the bucket form an angle.

[0010] In some alternative embodiments, the gripping mechanism includes:

[0011] Driver source;

[0012] A transmission assembly that is in transmission cooperation with the drive source to operate under the drive of the drive source;

[0013] A gripper head is connected to the transmission assembly. The gripper head extends into the cover body under the drive of the second robotic arm and cooperates with the cover body under the drive of the transmission assembly to limit the cover body in the disassembly direction.

[0014] In some alternative embodiments, the transmission assembly includes:

[0015] An active component, which is connected to the driving source;

[0016] The driven component is in a driving engagement with the driving component. The driven component has a first end and a second end that are positioned opposite each other. The first end and the second end are respectively in a driving engagement with the two grippers.

[0017] The driven component, driven by the active component, can cause the two grippers to move away from or towards each other.

[0018] In some alternative embodiments, the first end and the second end are respectively constructed with a first thread and a second thread with opposite directions of rotation and coaxiality. The two grippers are respectively engaged with the first end and the second end threads. The driven member rotates around the axis of the first thread under the drive of the driving member. The gripper is configured with a rotation limiting component that is fixed relative to the drive source.

[0019] In some alternative embodiments, the driven member is configured as a double-ended screw.

[0020] In some alternative embodiments, the gripper head includes:

[0021] A mating component, wherein the mating component is threadedly engaged with the first end or the second end;

[0022] A limiting member is connected to the mating member, and the limiting member is configured as an L-shaped component.

[0023] In some alternative embodiments, the rotation limiting component includes:

[0024] The disk body is fixed relative to the drive source;

[0025] A telescopic rod, several of which are connected to the disc body, and every two telescopic rods are connected to the limiting member. The telescopic directions of the two telescopic rods are opposite and the telescopic directions are parallel to the movement direction of the gripper on the driven member.

[0026] In some alternative embodiments, the disk body is provided with a plurality of reinforcing ribs.

[0027] In some alternative embodiments, the second robotic arm includes:

[0028] A translation mechanism is located beside the barrel body;

[0029] A rotating mechanism is connected to the translation mechanism and also to the gripping mechanism.

[0030] Secondly, this application provides a radioactive purification in-well assembly system, comprising:

[0031] As described in the first aspect, the radioactive purification column well assembly device;

[0032] A shielded well, wherein the filling container is disposed within the shielded well;

[0033] A working platform is located in the shielded well, and the working platform is equipped with an operating device for controlling the first robotic arm and the second robotic arm;

[0034] Storage well, the storage well being used to store the assembled filling container;

[0035] The shielded well is equipped with a viewing window corresponding to the position of the working platform.

[0036] Compared with the prior art, this application has the following advantages and beneficial effects:

[0037] This application provides a radioactive purification column assembly device and system. A first robotic arm can disconnect the barrel and cover of the filling container, allowing a second robotic arm to engage a gripping mechanism and detach the cover from the barrel. The second robotic arm can rotate the cover to clear space above the barrel opening, thus assembling the purification column with the filling container. The first robotic arm, second robotic arm, and gripping mechanism then work together to reconnect the cover to the barrel, enabling non-manual purification column assembly. This ensures high assembly efficiency and safety, while significantly reducing the radiation dose received by operators. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the exemplary embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1A schematic diagram of the structure of the radioactive purification column-well assembly device provided in this application embodiment when in use;

[0040] Figure 2 This is a schematic diagram of the cooperative structure of the second robotic arm and the gripping mechanism provided in an embodiment of this application;

[0041] Figure 3 This is a cross-sectional view of the cooperating part of the second robotic arm and gripping mechanism provided in an embodiment of this application;

[0042] Figure 4 This is a schematic diagram of the radioactive purification column assembly system provided in an embodiment of this application.

[0043] The attached diagram shows the markings and corresponding component names:

[0044] 1-Working platform, 2-Viewing window, 3-Positioning ring, 4-Filling container, 401-Cover, 402-Barrel, 5-Shielding well, 6-Second manipulator, 601-Vertical guide rail, 610-Translation mechanism, 611-Vertical moving panel, 612-Horizontal guide rail, 613-Guide groove, 614-Connecting plate, 621-Disc, 622-Reinforcing rib, 623-Driven component, 624-Drive source, 630-Grip head, 631-Limiting component, 632-Matching component, 640-Rotating mechanism, 7-First manipulator, 8-Storage well. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this application are only for explaining this application and are not intended to limit this application.

[0046] In the following description, numerous specific details are set forth in order to provide a thorough understanding of this application. However, it will be apparent to those skilled in the art that these specific details are not necessary to implement this application. In other embodiments, well-known structures, circuits, materials, or methods are not specifically described in order to avoid obscuring this application.

[0047] Throughout this specification, references to "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment of this application. Therefore, the phrases "an embodiment," "an example," "an example," or "an example" appearing in various places throughout the specification do not necessarily refer to the same embodiment or example. Furthermore, specific features, structures, or characteristics can be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. Moreover, those skilled in the art will understand that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0048] In the description of this application, the terms "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this application.

[0049] Firstly, such as Figure 2 As shown in the figure, this application provides a radioactive purification column assembly device, which includes a filling container 4, a first robotic arm 7, a gripping mechanism, and a second robotic arm 6.

[0050] As the main container for the radioactive purification column, the filling container 4 is usually equipped with a shielded transport container. Therefore, the specific material of the filling container 4 is not limited, as long as it can meet the desired structural strength. In some embodiments, the filling container 4 can be configured with a material with radiation shielding properties to further shield radiation. The filling container 4 has a barrel body 402 and a cover 401 that is detachably connected to the barrel body 402. The barrel body 402 can be constructed as a cylindrical structure, and the cover 401 can be constructed as a disc structure adapted to the barrel body 402. The barrel body 402 and the cover 401 can usually be detachably connected by several bolts, or they can be detachably connected by means such as snap-fit ​​or fastening.

[0051] The first robotic arm 7 is mainly used to disassemble the connection structure between the barrel 402 and the lid 401. Based on the connection type between the barrel 402 and the lid 401, the first robotic arm 7 can be configured accordingly. For example, when the barrel 402 and the lid are detachably connected by bolts, the first robotic arm 7 is equipped with at least a threaded sleeve adapted to the bolt, and the threaded sleeve has a rotational degree of freedom on the first robotic arm 7. Thus, the movement of the first robotic arm 7 allows the threaded sleeve to engage with the bolt, and the bolt can be disassembled by rotating the threaded sleeve. Other degrees of freedom of the first robotic arm 7 can be reasonably configured according to the relative position of the first robotic arm 7 and the filling container 4. For example, after the first robotic arm 7 and the filling container 4 are both installed and fixed, if the threaded sleeve and the bolt have a distance in three directions in space, then the first robotic arm 7 also includes translational degrees of freedom in at least three directions. If the threaded sleeve and the bolt have a distance in only one direction in space, then the first robotic arm 7 may also include translational degrees of freedom in at least one direction. Typically, there are multiple bolts between the barrel body 402 and the cover body 401, and they are usually arranged in a circular pattern. Therefore, the first manipulator 7 also includes translational degrees of freedom in at least three directions to enable the threaded sleeve to move within a certain range of three-dimensional space, thereby achieving alignment between the threaded sleeve and bolts at different positions in three-dimensional space.

[0052] The gripping mechanism cooperates with the cover 401 to move the cover 401. After cooperation, the gripping mechanism and the cover 401 can be relatively fixed, or the gripping mechanism can limit the cover 401 at least in the disassembly direction. The disassembly direction can be determined according to the worker's work habits. For example, the filling container 4 is usually installed vertically. The disassembly direction of the cover 401 can be determined as the cover 401 moving vertically away from the barrel 402, or it can be determined as moving radially away from the barrel 402. When the gripping mechanism limits the cover 401 in the disassembly direction, if the gripping mechanism moves in the disassembly direction, it can drive the cover 401 to move, thereby disassembling the cover 401 from the barrel 402. Normally, the radioactive purification column is loaded into the filling container 4 by hoisting. This means that during the loading of the radioactive purification column, hoisting space needs to be reserved above the container 402. Therefore, if only the vertical upward disassembly direction is planned, the cover 401 will interfere with the radioactive purification column. In most cases, the disassembly direction is at least a combination of two directions, such as first vertical upward, and then horizontally to both sides. Therefore, in actual implementation, the gripping mechanism and the cover 401 are usually configured to form a relatively fixed structure after they cooperate, such as clamping, bidirectional top holding, adsorption and other cooperation methods.

[0053] The main function of the second robotic arm 6 is to detach the cover 401 from the barrel 402. The second robotic arm 6 is connected to the gripping mechanism, allowing it to move the gripping mechanism in the disassembly direction. After the gripping mechanism and the cover 401 are fixed together, the cover 401 can detach from the barrel 402 under the action of the gripping mechanism. As mentioned earlier, when the disassembly direction is a combination of at least two directions, the second robotic arm 6 also has at least two translational degrees of freedom to allow the cover 401 to move in two directions. After vertical translation, because the cover 401 has a certain area, it can still... It is necessary to move a considerable distance to both sides to avoid the barrel 402 vertically. The second robotic arm 6 requires a large amount of space to move, which increases the overall space occupancy of the device. Considering that the thickness of the cover 401 is much smaller than its diameter, after the cover 401 is translated vertically, it first rotates to make the thickness direction horizontal, and then translates to both sides. In other words, the second robotic arm 6 can also have rotational freedom to drive the gripping mechanism to rotate as a whole. Thus, the gripping mechanism drives the cover 401 to rotate so that the cover 401 and the barrel opening face of the barrel 402 form an angle. Usually, the cover 401 and the barrel opening face of the barrel 402 are configured to be perpendicular, that is, the angle here includes 90°.

[0054] In use, the first robotic arm 7 is operated to engage the threaded sleeve on the first robotic arm 7 with bolts at different positions on the cover 401 to disassemble the bolts, thereby detaching the connection between the cover 401 and the barrel 402. After the connection between the cover 401 and the barrel 402 is released, the second robotic arm 6 and the gripping mechanism work together to engage the gripping mechanism with the cover 401, thus establishing a relatively fixed positional relationship between the gripping mechanism and the cover 401. Continuing to operate the second robotic arm 6 drives the gripping mechanism to move the cover 401 in the intended disassembly position. Moving in the unloading direction, the cover 401 is moved to the designated position, leaving sufficient hoisting space above the barrel 402. Then, the radioactive purification column is hoisted and placed into the filling container 4. The second robotic arm 6 is operated to drive the gripping mechanism to make the cover 401 move in the opposite direction of the planned disassembly. That is, after the cover 401 moves into place, the positions of the cover 401 and the barrel 402 are adapted. Then, the first robotic arm 7 is operated so that the screw sleeve on the first robotic arm 7 can cooperate with the bolts in different positions to realize the connection between the cover 401 and the barrel 402.

[0055] It is worth noting that after the bolts on the cover 401 are removed by the threaded sleeve, they can be transferred to a designated storage location by the first robotic arm 7. That is, the assembly device inside the radioactive purification column well can also include a bolt temporary storage container. Therefore, the threaded sleeve on the first robotic arm 7 can be configured as a magnetic threaded sleeve, thereby avoiding the bolts from falling off due to the flipping movement of the cover 401 when the bolts are left on the cover 401.

[0056] Therefore, the radioactive purification column assembly device provided in this application embodiment allows workers to remotely control the first robotic arm 7, the second robotic arm 6, and the gripping mechanism to disassemble and assemble the filling container 4 to complete the assembly of the radioactive purification column. A sufficiently safe distance can be maintained between the workers and the radioactive purification column, thereby ensuring the personal safety of the workers. At the same time, the assembly of the radioactive purification column is achieved through the coordinated cooperation of the first robotic arm 7, the second robotic arm 6, and the gripping mechanism, without relying too much on manpower, thus ensuring high assembly efficiency.

[0057] In some alternative embodiments, see [reference]. Figure 3 The gripping mechanism may include a drive source 624, a transmission assembly, and a gripper head 630.

[0058] The drive source 624 is mainly used to provide power when the gripping mechanism cooperates with the cover 401. The drive source 624 can be configured as a rotary drive source such as a motor, or as a linear reciprocating drive source such as a cylinder or a hydraulic cylinder.

[0059] The transmission assembly is used to transmit the power provided by the drive source 624 to the gripper 630. The transmission assembly can be an intermediate component that only improves the transmission accuracy, such as a gear mechanism or a belt drive mechanism. The transmission assembly can also be a motion conversion mechanism, that is, to convert the first motion mode of the drive source 624 into the second motion mode of the gripper 630 or to convert the first motion direction of the drive source 624 into the second motion direction of the gripper 630. For example, when the drive source 624 is configured as a motor, the transmission assembly can be configured as a cam mechanism, so that the rotational motion mode of the drive source 624 can be converted into the translational motion mode of the gripper 630. For example, when the drive source 624 is configured as a motor, the transmission assembly can be configured as a worm gear mechanism, so that the first motion mode of the drive source 624 in the first plane can be converted into the second motion mode of the gripper 630 in the second plane.

[0060] The gripper head 630 is connected to the transmission assembly, so that the gripper head 630 can cooperate with the cover body 401 under the drive of the transmission assembly. The cover body 401 can be provided with a mating part adapted to the gripper head 630. The gripper head 630 first extends into the mating part in the cover body 401 under the drive of the second robot arm 6, and then translates or rotates under the drive of the transmission assembly so that a relative force is generated between the gripper head 630 and the cover body 401, thereby realizing the relative fixed cooperation between the gripper head 630 and the cover body 401.

[0061] In actual implementation, the transmission assembly can have multiple moving ends. For example, in a cam mechanism, the moving ends of the transmission assembly can be increased by setting multiple links. Thus, the grippers 630 on the multiple moving ends can perform functions such as clamping or bidirectional pressing on the cover 401. Furthermore, under the drive of a single drive source 624, multiple grippers 630 can move simultaneously, reducing the use of drive source 624 and lowering the manufacturing cost of the device.

[0062] In some alternative embodiments, further reference may be made. Figure 3 The transmission assembly may specifically include a driving component (not shown in the figure) and a driven component 623.

[0063] The active component is connected to the drive source 624, which can be configured as, for example, a rotational drive source of an electric motor, so that the active component rotates under the drive of the drive source 624. The active component can be configured as a worm gear.

[0064] The driven member 623 is in a transmission engagement with the driving member. The driven member 623 can be configured as a worm gear. The driven member 623 can be rotatably engaged with the retaining cylinder. The retaining cylinder is relatively fixed to the drive source 624, so that the driven member 623 can rotate in the retaining cylinder under the drive of the driving member. The driven member 623 has a first end and a second end that are in opposite positions. The first end and the second end are respectively in a transmission engagement with the two grippers 630. Under the drive of the driving member, the driven member 623 can make the two grippers 630 move away from or closer to each other. For example, the first and second ends are respectively constructed with a first thread and a second thread with opposite directions of rotation and coaxiality. Two grippers 630 are respectively engaged with the first and second threaded drives. The driven member 623 rotates axially around the first thread under the drive member's influence. The gripper 630 is equipped with a rotation limiting component fixed relative to the drive source 624. This rotation limiting component can limit the gripper 630 in the rotation direction of the driven member 623, thus enabling relative motion between the driven member 623 and the gripper 630. When the driven member 623 rotates, the gripper 630 can translate axially along the driven member 623. By configuring the drive member as a worm gear, the driven member 623 as a worm, and constructing threads at both ends of the driven component to transmit power from the drive source 624, the transmission assembly is simple overall. The worm gear has high transmission accuracy, and combined with the threaded engagement between the worm and the gripper 630, the positional accuracy of the gripper 630 is more easily guaranteed.

[0065] In some alternative embodiments, the driven member 623 may be configured as a double-ended screw, i.e., the middle of the driven member is a worm gear structure, and the two ends are threaded structures.

[0066] In some alternative embodiments, see [reference]. Figure 3 The grab head 630 may specifically include a mating part 632 and a limiting part 631;

[0067] The mating part 632 is threadedly engaged with the first end or the second end. The mating part 632 is constructed as a block structure. The mating part 632 can be provided with mating holes adapted to the first end or the second end. Ball bearings can be set in the mating holes so that the mating part 632 can act as a ball bearing nut. Thus, the mating part 632 can have good smoothness of movement when it is engaged with the first end or the second end.

[0068] The limiting member 631 is connected to the mating member 632. The limiting member 631 is mainly used to cooperate with the mating part on the cover 401 to limit the cover 401 in the disassembly direction. The limiting member 631 can be constructed as an L-shaped member, wherein the vertical bar of the L-shaped member is connected to the mating member 632, and the horizontal bar of the L-shaped member is mated with the cover 401. For example, the mating part on the cover 401 can be constructed as a groove, and a limiting hole adapted to the horizontal bar of the L-shaped member is opened on the side wall of the groove. The L-shaped member first enters the groove under the drive of the second manipulator 6, and then, under the drive of the transmission assembly, the horizontal bar of the L-shaped member can enter the limiting hole so that the vertical bar of the L-shape contacts the side wall of the groove to generate a relative force, thereby realizing the relative fixed cooperation between the limiting member 631 and the cover 401. To prevent the cover 401 from rotating on the limiting member 631, the cross-sectional shape of the crossbar on the L-shaped member is constructed as a non-rotational shape, such as a square, triangle, trapezoid, star, etc.

[0069] In some optional embodiments, reference may also be made to Figure 2 and Figure 3 The rotation limiting assembly may include a disc body 621 and a telescopic rod.

[0070] The disc body 621 is fixed relative to the drive source 624. The disc body 621 can be connected to the drive source 624 or to the second robot 6. For example, the disc body 621 can be connected to the second robot 6 through the connecting plate 614. The drive source 624 is set on the connecting plate 614. The disc body 621 can be constructed into a disc shape that is compatible with the cover 401. When the mating part 632 is configured as a block, the rotation of the mating part 632 can be restricted as long as one surface of the mating part 632 contacts the surface of the disc body 621. The disc body 621 is also provided with a movable sliding hole. The limiting part 631 passes through the movable sliding hole and engages with the cover 401 and can be translated within the movable sliding hole.

[0071] Several telescopic rods are connected to the disc body 621, and every two telescopic rods are connected to the limiting member 631. The telescopic directions of the two telescopic rods are opposite and parallel to the movement direction of the gripper head 630 on the driven member 623. Thus, the simultaneous extension and retraction of the two telescopic rods can achieve stable positioning of the gripper head 630.

[0072] In some optional embodiments, the vertical rod of the L-shaped member is configured as a telescopic member, so that when the horizontal rod of the L-shaped member extends into the limiting hole, the extension and retraction of the vertical rod can make the cover 401 fit tightly against the disc 621, thereby enabling the disc 621 and the limiting member 631 to clamp the cover 401, thus ensuring the stability of the state when the cover 401 is moved.

[0073] In some optional embodiments, the disc body 621 is provided with a plurality of reinforcing ribs 622, thereby improving the structural strength of the disc body 621 by providing a plurality of reinforcing ribs 622.

[0074] In some alternative embodiments, the second robotic arm 6 may include a translation mechanism 610 and a rotation mechanism 640.

[0075] The translation mechanism 610 is located beside the barrel 402. The translation mechanism 610 is used to drive the gripping mechanism to translate vertically and radially. In actual implementation, the translation mechanism 610 may include a vertical guide rail 601, a horizontal guide rail 612 and a vertical moving panel 611. The vertical guide rail 601 and the vertical moving panel 611 are driven to drive the vertical moving panel 611 to translate vertically. The horizontal guide rail 612 is connected to the vertical moving panel 611. The vertical moving panel 611 may also be provided with a guide groove 613 to slide with the vertical guide rail 601 to ensure the stability of the movement direction of the vertical moving panel 611.

[0076] The rotating mechanism 640 is connected to the translation mechanism 610 and is also connected to the gripping mechanism. Specifically, the rotating mechanism 640 can be connected to the horizontal guide rail 612 for transmission, so that the rotating mechanism 640 can translate on the horizontal guide rail 612 to realize the translation of the gripping mechanism in the radial direction of the barrel 402.

[0077] Secondly, such as Figure 4 As shown, this application provides a radioactive purification column-well assembly system, which includes any of the radioactive purification column-well assembly devices as described in the first aspect, a shielded well 5, a working platform 1, and a storage well 8.

[0078] The shielding well 5 is built on the ground, and the filling container 4 is placed inside the shielding well 5. A positioning ring 3 can be installed on the bottom of the shielding well 5 to facilitate the positioning of the filling container 4. The first robotic arm 7 and the second robotic arm 6 in the assembly device inside the radioactive purification column well can be fixedly connected to the inner wall of the shielding well 5.

[0079] The work platform 1 can be set on one side of the outer wall of the shielding well 5. The work platform 1 is equipped with an operating device for controlling the first robotic arm 7 and the second robotic arm 6. A viewing window 2 is set on the well wall of the shielding well 5 corresponding to the position of the work platform 1 so that the staff can observe the situation inside the well and improve the alignment efficiency of the first robotic arm 7 and the filling container 4.

[0080] Storage well 8 is used to store the assembled filling container 4. Storage well 8 can be set on the ground and located on one side of shielding well 5. The number of storage wells 8 can be configured to be multiple.

[0081] After the radioactive purification column is assembled into the filling container 4 by the assembly device inside the radioactive purification column well, the filling container 4 can be lifted out of the shielding well 5 and into the storage well 8 by the hoisting equipment to complete the storage of the radioactive purification column.

[0082] The above specific embodiments further illustrate the purpose, technical solution and beneficial effects of this application. It should be understood that the above are only specific embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A radioactive purification column assembly device, characterized in that, include: A filling container (4) having a barrel (402) and a cover (401) detachably connected to the barrel (402), the barrel (402) being used to contain a radioactive purification column; A first robotic arm (7) is used to act on the filling container (4) to disconnect the cover (401) and the barrel (402); A gripping mechanism for engaging with the cover (401) to limit the cover (401) in the disassembly direction; The second robotic arm (6) is connected to the gripping mechanism. The gripping mechanism can translate and rotate in the disassembly direction under the drive of the second robotic arm (6). When the cover (401) cooperates with the gripping mechanism, the gripping mechanism can drive the cover (401) to rotate so that the cover (401) and the barrel opening face of the barrel body (402) form an angle. The grasping mechanism includes: Driver source (624); A transmission assembly that is in transmission cooperation with the drive source (624) to operate under the drive of the drive source (624); A gripper (630) is connected to the transmission assembly. The gripper (630) extends into the cover (401) under the drive of the second manipulator (6) and cooperates with the cover (401) under the drive of the transmission assembly to limit the cover (401) in the disassembly direction. The transmission assembly includes: An active component, which is connected to the drive source (624); The driven member (623) is in a driving engagement with the driving member. The driven member (623) has a first end and a second end that are in opposite positions. The first end and the second end are respectively in a driving engagement with the two grippers (630). The driven member (623) can cause the two grippers (630) to move away from or closer to each other under the drive of the driving member. The first end and the second end are respectively constructed with a first thread and a second thread that are coaxial and have opposite directions of rotation. The two grippers (630) are respectively in a driving engagement with the first end and the second end threads. The driven member (623) rotates around the axis of the first thread under the drive of the driving member. The grippers (630) are equipped with a rotation limiting component that is fixed relative to the drive source (624). The driven member (623) is configured as a double-ended screw.

2. The radioactive purification column-well assembly device according to claim 1, characterized in that, The gripper (630) includes: The mating part (632) is threadedly engaged with the first end or the second end; A limiting member (631) is connected to the mating member (632), and the limiting member (631) is constructed as an L-shaped member.

3. The radioactive purification column well assembly device according to claim 2, characterized in that, The rotation limiting component includes: The disk body (621) is fixed relative to the drive source (624); Telescopic rods, a plurality of such telescopic rods are connected to the disc body (621), and every two telescopic rods are connected to the limiting member (631). The telescopic directions of the two telescopic rods are opposite and the telescopic directions are parallel to the movement direction of the gripper (630) on the driven member (623).

4. The radioactive purification column well assembly device according to claim 3, characterized in that, The disc body (621) is provided with several reinforcing ribs (622).

5. The radioactive purification column well assembly device according to claim 1, characterized in that, The second robotic arm (6) includes: Translation mechanism (610), the translation mechanism (610) is located beside the barrel body (402); A rotating mechanism (640) is connected to the translation mechanism (610) and is also connected to the gripping mechanism.

6. A radioactive purification in-well assembly system, characterized in that, include: The radioactive purification column assembly apparatus as described in any one of claims 1 to 5; The shielding well (5) is provided with the filling container (4) inside the shielding well (5); A working platform (1) is located in the shielding well (5), and the working platform (1) is equipped with an operating device for controlling the first manipulator (7) and the second manipulator (6); Storage well (8), which is used to store the assembled filling container (4); The shielding well (5) is provided with a viewing window (2) corresponding to the position of the working platform (1).

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