Radioactive filter extraction and transfer device

Abstract

The present application relates to a device for extracting and transporting radioactive filter elements, which includes a grabbing mechanism, a displacement mechanism, and a transport mechanism. The grabbing mechanism includes a swinging assembly, a first rotating assembly, and a hook. The first rotating assembly is provided at one end of the swinging assembly, and the hook is provided at an end of the first rotating assembly away from the swinging assembly. The hook is used to grab the filter element handle. The displacement mechanism includes a lifting assembly, which drives the hook to rise and fall, and the grabbing mechanism is provided on the lifting assembly. The displacement mechanism is provided on the transport mechanism, and the transport mechanism is used to transport the filter element. That is, through the lifting and lowering of the lifting assembly, the swinging of the swinging assembly, and the 360° rotation of the rotating assembly, filter elements of different heights and different inclination angles, as well as filter handles in different directions, can be grabbed.

Description

Technical Field

[0001] The present application relates to the technical field of radioactive waste transportation, and in particular to an extraction and transportation device for radioactive filter elements. Background Art

[0002] Nuclear power plants and other applications often involve the replacement and transport of radioactive filter cartridges. Due to the high radioactivity of radioactive filter cartridges, if protective measures are not taken during the removal and storage of spent filter cartridges, personnel who approach and perform related operations will be exposed to significant radiation hazards.

[0003] In the related art, the extraction and transportation device of the radioactive filter element generally includes a grabbing mechanism with a mechanical claw. In actual use, the grabbing mechanism and the mechanical claw are controlled so that the extraction device grabs the handle on the filter element, thereby directly extracting the filter element.

[0004] However, the mechanical claw can generally only grasp the filter element handle set in the vertical direction. When the inclination angle of the filter element is different or the handle is rotated to different directions, it is difficult for the mechanical claw to flexibly grasp the filter element. Summary of the Invention

[0005] Based on this, it is necessary to provide a radioactive filter element extraction and transportation device to address the problem that mechanical claws are difficult to flexibly grasp the filter element.

[0006] A radioactive filter element extraction and transportation device, comprising:

[0007] The grabbing mechanism includes a swing assembly, a first rotating assembly, and a claw, wherein the first rotating assembly is provided at one end of the swing assembly, the swing assembly is used to change the inclination angle of the first rotating assembly, the claw is provided at one end of the first rotating assembly away from the swing assembly, the first rotating assembly is used to drive the claw to rotate, and the claw is used to grab the filter element handle;

[0008] A displacement mechanism, comprising a lifting assembly, the gripping mechanism being arranged on the lifting assembly, and the lifting assembly driving the hook to move up and down; and

[0009] A transfer mechanism, wherein the displacement mechanism is arranged on the transfer mechanism, and the transfer mechanism is used to transfer the filter element.

[0010] In one embodiment, the swing assembly includes:

[0011] a support member, one end of which is connected to the lifting assembly;

[0012] a telescopic member, one end of which is rotatably connected to the support member;

[0013] The swing arm includes a first connecting end, a second connecting end and a third connecting end that are not collinear. The first connecting end is rotatably connected to the other end of the telescopic member, the second connecting end is rotatably connected to the other end of the support member, and the first rotating component is arranged at the third connecting end.

[0014] In one embodiment, the gripping mechanism includes a floating joint, and the hook is connected to the first rotating assembly via the floating joint.

[0015] In one embodiment, the displacement mechanism further includes an X-axis moving module and a Y-axis moving module, the X-axis moving module is arranged on the transfer mechanism, the Y-axis moving module is arranged on the X-axis moving module, and the lifting assembly is arranged on the Y-axis moving module.

[0016] In one embodiment, the displacement mechanism further includes a second rotating component, the second rotating component is disposed on the Y-axis moving module, and the lifting component is disposed on the second rotating component.

[0017] In one embodiment, the second rotating assembly includes a rotating motor, a rotating disk, and a rotating gear, wherein the rotating gear is connected to the rotating shaft of the rotating motor, the rotating gear is engaged with the rotating disk, and a limiting hole is provided in the rotating disk;

[0018] The lifting assembly includes a lifting motor, a lifting shaft and a lifting gear. A rack is provided on the lifting shaft. The lifting gear is connected to the rotating shaft of the lifting motor. The lifting motor is fixed on the turntable. The lifting gear is engaged with the rack. The lifting shaft cooperates with the limiting hole and can move up and down in the limiting hole.

[0019] In one embodiment, the extraction and transfer device includes a transfer container, which is arranged on the transfer mechanism. The transfer container includes a container body, a container cover, an automatic opening mechanism and a filter element holder. The filter element holder is arranged in the container body, and the container cover is closed on the container body through the automatic opening mechanism.

[0020] In one embodiment, the extraction and transfer device includes a liquid receiving assembly, which includes a swinging liquid receiving plate, a fixed liquid receiving plate and a collection tank. The fixed liquid receiving plate is arranged on the peripheral side of the transfer container and is used to collect waste liquid when the filter element is placed. One end of the swinging liquid receiving plate is rotatably connected to the transfer mechanism and is located on the peripheral side of the grabbing mechanism, and is used to collect waste liquid when the filter element is extracted. A drain port is provided on the collection tank, and the collection tank is arranged between the swinging liquid receiving plate and the fixed liquid receiving plate. The fixed liquid receiving plate is connected to the collection tank through a pipeline.

[0021] In one embodiment, a roller is provided on the other end of the swinging liquid receiving tray away from the transfer mechanism, and a roller is sleeved on the roller.

[0022] In one embodiment, the extraction and transfer device includes a remote controller and a monitor. The monitor is arranged on the grabbing mechanism. The monitor, the transfer mechanism, the grabbing mechanism and the displacement mechanism are respectively communicated with the remote controller. The remote controller is used to receive information from the monitor to control the actions of the grabbing mechanism and the displacement mechanism.

[0023] In actual use, the above-mentioned radioactive filter cartridge extraction and transfer device first drives the displacement mechanism and the grasping mechanism to a position close to the filter cartridge via the transfer mechanism. The lifting assembly then drives the claw of the grasping mechanism to rise and fall to the height of the filter cartridge handle. The first rotating assembly is then rotated so that the first rotating assembly drives the claw to rotate in the direction of the filter cartridge handle. The swinging mechanism then drives the claw to swing to an angle that matches the orientation of the filter cartridge handle, allowing the claw to grasp the filter cartridge handle. That is, through the lifting and lowering of the lifting assembly, the swinging of the swinging assembly, and the 360-degree rotation of the rotating assembly, filter cartridges at different heights and angles, as well as filter handles in different orientations, can be grasped. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the structure of a radioactive filter element extraction and transportation device in one embodiment.

[0025] Figure 2 Schematic diagram of the structure of the lifting assembly and the second rotating assembly in one embodiment.

[0026] Figure 3 Schematic diagram of the structure of a grabbing mechanism in one embodiment.

[0027] Reference numerals: 100, gripping mechanism; 110, swing assembly; 111, support member; 112, telescopic member; 113, swing arm; 1131, first connecting end; 1132, second connecting end; 1133, third connecting end; 1134, first rod; 1135, second rod; 120, first rotating assembly; 130, hook; 140, floating joint;

[0028] 200, displacement mechanism; 210, lifting assembly; 211, lifting motor; 212, lifting shaft; 213, lifting gear; 214, rack; 220, X-axis moving module; 230, Y-axis moving module; 240, second rotating assembly; 241, rotating motor; 242, turntable; 243, rotating gear;

[0029] 300, transfer mechanism; 310, electric control cabinet; 320, chassis; 330, support frame; 340, operating handle;

[0030] 400, transfer container; 410, container body; 420, container cover; 430, automatic cover opening mechanism;

[0031] 500, liquid receiving assembly; 510, swinging liquid receiving tray; 511, roller; 520, fixed liquid receiving tray; 530, collection tank;

[0032] 600. Monitor. DETAILED DESCRIPTION

[0033] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0034] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0035] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0036] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0037] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0038] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0039] See Figure 1 and Figure 3 An embodiment of the present application provides an extraction and transportation device for a radioactive filter element, and the extraction and transportation device includes a grabbing mechanism 100, a displacement mechanism 200, and a transportation mechanism 300. The grabbing mechanism 100 includes a swinging assembly 110, a first rotating assembly 120, and a hook 130. The first rotating assembly 120 is arranged at one end of the swinging assembly 110. The swinging assembly 110 is used to change the inclination angle of the first rotating assembly 120. The hook 130 is arranged at one end of the first rotating assembly 120 away from the swinging assembly 110. The first rotating assembly 120 is used to drive the hook 130 to rotate. The hook 130 is used to grab the filter element handle. The displacement mechanism 200 includes a lifting assembly 210. The grabbing mechanism 100 is arranged on the lifting assembly 210. The lifting assembly 210 drives the hook 130 to move up and down. The displacement mechanism 200 is arranged on the transportation mechanism 300. The transportation mechanism 300 is used to transport the filter element.

[0040] In actual use, the transfer mechanism 300 first drives the displacement mechanism 200 and the grabbing mechanism 100 to a position close to the filter cartridge. The lifting assembly 210 then drives the hook 130 of the grabbing mechanism 100 to rise and fall to the height of the filter cartridge handle. The first rotating assembly 120 is then rotated so that the first rotating assembly 120 drives the hook 130 to rotate in the direction of the filter cartridge handle. The swing mechanism then drives the hook 130 to swing to an angle that matches the orientation of the filter cartridge handle, so that the filter cartridge handle can be grabbed by the hook 130. That is, by raising and lowering the lifting assembly 210, swinging the swing assembly 110, and rotating the rotating assembly 360 degrees, filter cartridges at different heights and angles, as well as filter handles in different orientations, can be grabbed.

[0041] Furthermore, the swing assembly 110 includes a support member 111, a telescopic member 112, and a swing arm 113. One end of the support member 111 is connected to the lifting assembly 210. One end of the telescopic member 112 is rotatably connected to the support member 111. The swing arm 113 includes a first connection end 1131, a second connection end 1132, and a third connection end 1133, which are non-collinear. The first connection end 1131 is rotatably connected to the other end of the telescopic member 112, and the second connection end 1132 is rotatably connected to the other end of the support member 111. The first rotation assembly 120 is disposed at the third connection end 1133.

[0042] In this embodiment, the telescopic member 112 can be an electric push rod or a pneumatic telescopic member. The swing arm 113 includes a first rod 1134 and a second rod 1135 connected to the first rod 1134. The first connecting end 1131 and the third connecting end 1133 are the two ends of the first rod 1134, respectively. The second rod 1135 is connected between the first connecting end 1131 and the third connecting end 1133. The end of the second rod 1135 away from the first rod 1134 is the second connecting end 1132. When the telescopic member 112 is extended or retracted, it can push the first connecting end 1131 of the swing arm 113, causing the second connecting end 1132 to rotate around the other end of the support member 111, thereby causing the third connecting end 1133 to drive the hook 130 to swing.

[0043] Specifically, the grabbing mechanism 100 includes a floating joint 140 , and the hook 130 is connected to the first rotating assembly 120 via the floating joint 140 .

[0044] In this embodiment, the hook 130 is connected to the first rotating assembly 120 via a floating joint 140 . The first rotating assembly 120 is used to cushion the hard impact of the grabbing mechanism 100 on the hook 130 when the grabbing mechanism 100 moves.

[0045] In some embodiments, the displacement mechanism 200 also includes an X-axis moving module 220 and a Y-axis moving module 230. The X-axis moving module 220 is set on the transfer mechanism 300, the Y-axis moving module 230 is set on the X-axis moving module 220, and the lifting assembly 210 is set on the Y-axis moving module 230.

[0046] In this embodiment, the Y-axis moving module 230 is used to drive the gripping mechanism 100 along the Y-axis via the lifting assembly 210, and the X-axis moving module 220 is used to drive the gripping mechanism 100 along the X-axis via the Y-axis moving module 230 and the lifting assembly 210. When the transfer mechanism 300 approaches the filter cartridge, the Y-axis moving module 230 and the X-axis moving module 220 can be used to fine-tune the position of the gripping mechanism 100 to facilitate gripping the filter cartridge.

[0047] Specifically, both the Y-axis moving module 230 and the X-axis moving module 220 adopt a single-side module plus a guide rail method to enhance the movement stability of the Y-axis moving module 230 and the X-axis moving module 220 .

[0048] Furthermore, the displacement mechanism 200 further includes a second rotating assembly 240 . The second rotating assembly 240 is disposed on the Y-axis moving module 230 , and the lifting assembly 210 is disposed on the second rotating assembly 240 .

[0049] Furthermore, by setting up a second rotating component 240, when the transfer mechanism 300 approaches the filter element, the second rotating component 240 can first drive the grasping mechanism 100 to rotate to the direction of the filter element handle, and then the X-axis moving module 220 and the Y-axis moving module 230 can drive the grasping mechanism 100 to move to the filter element handle position.

[0050] During actual use, the transfer mechanism 300 is first used to move the gripping mechanism 100 to a position close to the filter element, and then the position of the gripping mechanism 100 is further adjusted through the displacement mechanism 200 so that the gripping mechanism 100 is further close to the position of the filter element handle. Finally, the hook 130 is precisely adjusted through the swing assembly 110 and the first rotating assembly 120 to hook the filter element handle.

[0051] It should be noted that, in actual use, the specific use order of the X-axis moving module 220, the Y-axis moving module 230, the lifting assembly 210, the second rotating assembly 240 and the grabbing mechanism 100 can be adjusted according to actual needs, as long as it is convenient for the hook 130 to hook the filter element handle.

[0052] Further, combined Figure 2The second rotating assembly 240 includes a rotating motor 241, a rotating disk 242, and a rotating gear 243. The rotating gear 243 is connected to the rotating shaft of the rotating motor 241 and meshes with the rotating disk 242. A limit hole is defined in the rotating disk 242. The lifting assembly 210 includes a lifting motor 211, a lifting shaft 212, and a lifting gear 213. The lifting shaft 212 is provided with a rack 214. The lifting gear 213 is connected to the rotating shaft of the lifting motor 211. The lifting motor 211 is fixed to the rotating disk 242. The lifting gear 213 meshes with the rack 214. The lifting shaft 212 cooperates with the limit hole and can move up and down within the limit hole.

[0053] It should be noted that the limiting hole can be a non-circular structure or a circular structure with a keyed hole. The specific structure of the limiting hole is not specifically limited here, as long as the rotation of the turntable 242 can drive the lifting shaft 212 to rotate through the limiting hole. At the same time, to further enhance the stability of the lifting shaft 212, the lifting shaft 212 is provided with a guide rail along its length, and the turntable 242 is provided with a slider that cooperates with the guide rail.

[0054] The gripping mechanism 100 is connected to the lifting shaft 212. When the rotary motor 241 rotates, it drives the rotating disk 242 via the rotating gear 243. The rotating disk 242 in turn drives the lifting shaft 212, which in turn drives the gripping mechanism 100. When the lifting motor 211 rotates, it drives the lifting gear 213, which in turn drives the lifting shaft 212 up and down via the rack 214, ultimately driving the gripping mechanism 100 up and down.

[0055] Specifically, the gripping mechanism 100 is connected to the lifting shaft 212 via a support member 111. Adjustment bolts can also be provided on the support member 111. Loosening the adjustment bolts allows the height of the gripping mechanism 100 to be adjusted. This allows the height adjustment range of the hook 130 to be further increased based on the lifting assembly 210, thereby widening the range of filter element gripping. For example, to reach a filter element on the ground, the height of the support member 111 can be manually lowered by adjusting the bolts outside the radial range. To reach a filter element below the ground, the height of the support member 111 can be manually raised by adjusting the bolts outside the radial range.

[0056] In some embodiments, combined Figure 1 The extraction and transfer device includes a transfer container 400, which is arranged on the transfer mechanism 300. The transfer container 400 includes a container body 410, a container cover 420, an automatic cover opening mechanism 430 and a filter element holder (not shown). The filter element holder is arranged in the container body 410, and the container cover 420 is closed on the container body 410 through the automatic cover opening mechanism 430.

[0057] In this embodiment, the transfer container 400 is used for temporary storage and shielding during the transfer process of the filter element. The interior and exterior of the transfer container 400 are made of stainless steel to improve its radiation resistance when in contact with waste liquid. The automatic lid opening mechanism 430 includes an electric push rod, and the container lid 420 is closed and opened by the thrust of the electric push rod. The filter element bracket is used to support the filter element and to isolate the filter element from the container body 410. Since the filter element is seriously contaminated, the filter element bracket is used to avoid direct contact between the filter element and the container body 410, thereby extending the service life of the transfer container 400. The transfer container 400 can be replaced or cleaned after being contaminated. A drain port is provided at the bottom of the transfer container 400 for discharging waste liquid and facilitating the discharge of cleaning liquid. A valve may also be provided at the drain port, and the valve may be controlled to control the opening and closing of the drain port.

[0058] In some embodiments, the extraction and transfer device includes a liquid receiving assembly 500, which includes a swinging liquid receiving plate 510, a fixed liquid receiving plate 520 and a collection tank 530. The fixed liquid receiving plate 520 is arranged on the side of the transfer container 400 for collecting waste liquid when the filter element is placed. One end of the swinging liquid receiving plate 510 is rotatably connected to the transfer mechanism 300 and is located on the side of the grasping mechanism 100 for collecting waste liquid when the filter element is extracted. A drain port is provided on the collection tank 530. The collection tank 530 is arranged between the swinging liquid receiving plate 510 and the fixed liquid receiving plate 520. The fixed liquid receiving plate 520 is connected to the collection tank 530 through a pipeline.

[0059] Specifically, the transfer mechanism 300 comprises a chassis 320, an electrical control cabinet 310, and a support frame 330. The control cabinet 310, transfer container 400, and support frame 330 are mounted on the chassis 320. The chassis 320 is welded and assembled from stainless steel plates, ensuring leak-proof welds. A collection tank 530 is located on the chassis 320. The liquid collection assembly 500 collects waste liquid that drips from the filter cartridges during transfer. This waste liquid is then discharged to a designated location to prevent environmental pollution. One end of the swinging liquid collection pan 510 is rotatably connected to the support frame 330. Rotating the swinging liquid collection pan 510 allows waste liquid within the pan 510 to flow directly from the side of the pan closest to the support frame 330 into the collection tank 530. Furthermore, when collecting underwater purification filter cartridges, the swinging liquid collection pan 510 can be rotated and retracted into the crossbar of the device's frame. The electrical control cabinet 310 is mounted on the periphery of the transfer container 400. A fixed liquid collection tray 520 is attached to the electrical control cabinet 310, with its edge closely attached to the transfer container 400. A collection tank 530 also collects waste liquid from the transfer container 400. Opening a valve on the transfer container 400 allows the waste liquid to flow into the collection tank 530, where it is then collected and discharged to a designated location.

[0060] The swinging liquid receiving tray 510 is provided with hooks at both ends, and the swinging liquid receiving tray 510 is suspended from the support frame 330 via the hooks. The transfer mechanism 300 also includes a motor mounted on the support frame 330, which is connected to the hooks and is used to drive the swinging liquid receiving tray 510 to rotate. In addition, the swinging liquid receiving tray 510 can be connected to the support frame 330 via screws. When the swinging liquid receiving tray 510 is rotated to the desired position, it is connected to the support frame 330 using screws.

[0061] Furthermore, a roller 511 is mounted on the end of the swinging liquid receiving pan 510, away from the transfer mechanism 300. The roller 511 provides support for the filter element during extraction. Specifically, for filters tilted relative to the horizontal, the roller provides support during extraction. It also reduces friction between the filter element and the swinging liquid receiving pan 510 during the extraction process, thereby saving effort.

[0062] In some embodiments, combined Figure 3 The extraction and transfer device includes a remote controller and a monitor 600. The monitor 600 is set on the grasping mechanism 100. The monitor 600, the transfer mechanism 300, the grasping mechanism 100 and the displacement mechanism 200 are respectively communicated with the remote controller. The remote controller is used to receive information from the monitor 600 to control the actions of the grasping mechanism 100 and the displacement mechanism 200.

[0063] In this embodiment, the monitor 600 is a video monitor. The monitor 600 uses a high-resolution camera. The monitor 600 can collect image videos of the filter element and obtain the positional relationship between the hook 130 and the filter handle in real time, and transmit it to the remote controller in real time. The operator controls the movement of the transfer mechanism 300, the grasping mechanism 100 and the displacement mechanism 200 by observing the image videos to adjust the position and state of the hook 130, thereby achieving the purpose of extracting and transporting the filter element.

[0064] Furthermore, the remote controller is also in communication with the automatic cover opening mechanism 430 to control the opening and closing of the automatic cover opening mechanism 430 .

[0065] In some embodiments, the transport mechanism 300 includes an electrically assisted power wheel, a directional wheel, and an operating handle 340. The electrically assisted power wheel is disposed at the front end of the chassis 320, and the directional wheel is disposed at the rear end of the chassis 320. An operating handle 340 is also disposed at the front end of the chassis 320, which controls the rotation of the electrically assisted power wheel. A brake mechanism may also be installed on the electrically assisted power wheel, one end of which is connected to the operating handle 340, which controls the brake mechanism. A remote controller is in communication with the electrically assisted power wheel and is used to control the movement of the chassis 320 by the electrically assisted power wheel.

[0066] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0067] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A radioactive filter element extraction and transport device, characterized in that: The extraction and transfer device comprises: The grabbing mechanism includes a swing assembly, a first rotating assembly, and a claw, wherein the first rotating assembly is provided at one end of the swing assembly, the swing assembly is used to change the inclination angle of the first rotating assembly, the claw is provided at one end of the first rotating assembly away from the swing assembly, the first rotating assembly is used to drive the claw to rotate, and the claw is used to grab the filter element handle; A displacement mechanism, comprising a lifting assembly, the gripping mechanism being arranged on the lifting assembly, and the lifting assembly driving the hook to move up and down; and A transfer mechanism, the displacement mechanism being arranged on the transfer mechanism, and the transfer mechanism being used to transfer the filter element; The swing assembly includes a support member, a telescopic member and a swing arm, one end of the support member is connected to the lifting assembly; one end of the telescopic member is rotatably connected to the support member; the swing arm includes a first connecting end, a second connecting end and a third connecting end that are not collinear, the first connecting end is rotatably connected to the other end of the telescopic member, the second connecting end is rotatably connected to the other end of the support member, and the first rotating assembly is arranged at the third connecting end.

2. The radioactive filter element extraction and transport device according to claim 1, characterized in that: The grabbing mechanism includes a floating joint, and the hook is connected to the first rotating assembly via the floating joint.

3. The radioactive filter element extraction and transport device according to claim 1, characterized in that: The displacement mechanism further includes an X-axis moving module and a Y-axis moving module. The X-axis moving module is arranged on the transfer mechanism, the Y-axis moving module is arranged on the X-axis moving module, and the lifting assembly is arranged on the Y-axis moving module.

4. The radioactive filter element extraction and transport device according to claim 3, characterized in that: The displacement mechanism further includes a second rotating component, which is disposed on the Y-axis moving module, and the lifting component is disposed on the second rotating component.

5. The radioactive filter element extraction and transport device according to claim 4, characterized in that: The second rotating assembly includes a rotating motor, a rotating disk and a rotating gear, wherein the rotating gear is connected to the rotating shaft of the rotating motor, the rotating gear is engaged with the rotating disk, and a limiting hole is provided in the rotating disk; The lifting assembly includes a lifting motor, a lifting shaft and a lifting gear. A rack is provided on the lifting shaft. The lifting gear is connected to the rotating shaft of the lifting motor. The lifting motor is fixed on the turntable. The lifting gear is engaged with the rack. The lifting shaft cooperates with the limiting hole and can move up and down in the limiting hole.

6. The radioactive filter element extraction and transport device according to claim 1, characterized in that: The extraction and transfer device includes a transfer container, which is arranged on the transfer mechanism. The transfer container includes a container body, a container cover, an automatic opening mechanism and a filter element holder. The filter element holder is arranged in the container body, and the container cover is closed on the container body through the automatic opening mechanism.

7. The radioactive filter element extraction and transport device according to claim 6, characterized in that: The extraction and transfer device includes a liquid receiving component, which includes a swinging liquid receiving plate, a fixed liquid receiving plate and a collection tank. The fixed liquid receiving plate is arranged on the peripheral side of the transfer container and is used to collect waste liquid when the filter element is placed. One end of the swinging liquid receiving plate is rotatably connected to the transfer mechanism and is located on the peripheral side of the grabbing mechanism, and is used to collect waste liquid when the filter element is extracted. A drain port is provided on the collection tank, which is arranged between the swinging liquid receiving plate and the fixed liquid receiving plate. The fixed liquid receiving plate is connected to the collection tank through a pipeline.

8. The radioactive filter element extraction and transport device according to claim 7, characterized in that: A roller is provided on the other end of the swing liquid receiving tray away from the transfer mechanism, and a drum is sleeved on the roller.

9. The radioactive filter element extraction and transport device according to claim 1, characterized in that: The extraction and transfer device includes a remote controller and a monitor. The monitor is arranged on the grabbing mechanism. The monitor, the transfer mechanism, the grabbing mechanism and the displacement mechanism are respectively communicated with the remote controller. The remote controller is used to receive information from the monitor to control the actions of the grabbing mechanism and the displacement mechanism.

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