An automatic unloading and stacking system for associated radioactive waste packages and a stacking method thereof

Abstract

The present application belongs to the technical field of radioactive waste treatment, and provides an automatic unloading and stacking system for associated radioactive waste packages and a stacking method thereof, which comprises an automatic unloading and stacking system for associated radioactive waste packages, including a transfer forklift, which is used to unload a solid waste containing bag from a vehicle, and a hoisting mechanism for unloading and stacking the bag from the transfer forklift, wherein the hoisting mechanism comprises a gantry, the moving base of the gantry is fixedly connected with a rotating device, the rotating device is fixedly connected with a first electric telescopic rod, and the first electric telescopic rod is fixedly connected with a support frame. The automatic unloading and stacking system for associated radioactive waste packages can accurately and quickly drive the positioning plate to fix the bag after the sliding base is aligned with the center of the bag through the double verification of the gravity sensor and the laser receiver.

Description

Technical Field

[0001] This invention belongs to the field of radioactive waste treatment technology, and particularly relates to an automatic unloading and stacking system for associated radioactive waste bags and its stacking method. Background Technology

[0002] An existing automated unloading and stacking system for associated radioactive waste bags, with publication number CN116395426A, includes a hook unit at the bottom of a telescopic vertical rod for gripping the handles of solid waste containers. Specifically, a sliding block and hook unit are mounted on a sliding beam. The hook unit is installed at the bottom of the sliding block via the telescopic vertical rod, allowing it to move horizontally on any plane via the movement of the sliding beam and the sliding block. The hook unit can also move vertically via the telescopic vertical rod, enabling it to be moved to any position within the storage space.

[0003] In the above solution, the container bag is lifted by continuously moving the hook. However, due to the poor rigidity of the container bag, the fixing effect of a single hook on the container bag is limited. Using multiple hooks requires positioning each hook to the handle of the container bag one by one, which takes a long time and is inefficient. Furthermore, during the lifting and moving of the container bag, the container bag is prone to shaking under the action of acceleration, which may cause the container bag to break during the movement. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic unloading and stacking system and method for associated radioactive waste bags, which aims to solve the technical problem that the bags tend to sway under acceleration during the lifting and moving process in the prior art.

[0005] The present invention is implemented as follows: an automatic unloading and stacking system for associated radioactive waste bags includes a transfer forklift for unloading the bags containing solid waste from the vehicle, and a lifting mechanism for unloading and stacking the bags from the transfer forklift. The lifting mechanism includes a gantry frame that can move arbitrarily in the horizontal direction. A rotating device is fixedly connected to the movable seat of the gantry frame. A first electric telescopic rod is fixedly connected to the rotating device. A support frame is fixedly connected to the first electric telescopic rod. A sliding seat is slidably connected to the support frame in the horizontal direction.

[0006] Both ends of the sliding seat are rotatably connected to winding rollers, each winding roller is wound with a rope, and one end of each rope is connected to a hook. An electromagnet is provided inside the handle of the container bag.

[0007] The sliding seat is vertically slidably connected to a positioning mechanism. A transmission component is provided between the positioning mechanism and the winding roller. When the winding roller rotates, the positioning mechanism moves vertically at the same time. One of the winding rollers is connected to a motor.

[0008] The cord is connected to a sensing component. When the sliding seat is aligned with the center of the container bag, the sensing component controls the positioning mechanism to position the center of the container bag.

[0009] Further technical solution: The positioning mechanism includes a slide rod, a second electric telescopic rod, and a positioning plate; the sliding seat is fixedly connected to a slide rail, the slide rod is slidably connected to the slide rail, one end of the slide rod is fixedly connected to a limit plate, the other end of the slide rod is fixedly connected to the second electric telescopic rod, and the positioning plate is fixedly connected to the telescopic end of the second electric telescopic rod.

[0010] Further technical solution: The transmission assembly includes a driving wheel, a driven wheel, and a rack; the driving wheel is fixedly connected to the central shaft of the winding roller, the driven wheel is rotatably connected to the sliding seat, and a rack is provided on both sides of the slide rod, and the driven wheel meshes with the driving wheel and the rack.

[0011] Further technical solution: The sensing component includes a gravity sensor, a laser emitter, and a laser receiver; a gravity sensor is connected between the hook and the rope, and a laser emitter and a laser receiver are respectively set at the same position on the two ropes. The gravity sensor, laser emitter, and laser receiver are electrically connected to a PLC controller, and the PLC controller is also electrically connected to both the first electric telescopic rod and the second electric telescopic rod.

[0012] A further technical solution: The sliding seat is rotatably connected to a roller, the roller is rollingly connected to the support frame, the sliding seat is provided with an electric push rod, and the telescopic end of the electric push rod is fixedly connected to a brake disc, the brake disc facing the roller.

[0013] A further technical solution: the support frame is triangular.

[0014] A further technical solution: An elastic telescopic component is provided between the No. 1 electric telescopic rod and the support frame.

[0015] A method for stacking associated radioactive waste packages, applied to the aforementioned automated unloading and stacking system for associated radioactive waste packages, includes the following steps:

[0016] S1: First, use a transfer forklift to unload the bulk bags containing solid waste from the vehicle, and then the transfer forklift will transport the bulk bags to the waste treatment area.

[0017] S2: The gantry crane moves the hook horizontally until the hook moves to the top of the container bag. At this time, the rotating device drives the first electric telescopic rod to rotate. The first electric telescopic rod drives the two hooks to move to the two container bag handles respectively. Under the magnetic force of the electromagnet, the two hooks are hooked to the two handles of the container bag respectively.

[0018] S3: Start the No. 1 electric telescopic rod. The No. 1 electric telescopic rod drives the support frame to move upward. The support frame drives the two ropes to gradually tighten. When one of the ropes is tightened as the support frame moves upward, the sliding seat moves along the support frame under the tension of this rope until the sliding seat is directly in front of the center of the container bag. At this time, the two ropes are tightened simultaneously, and the sensing component controls the positioning mechanism to position the center of the container bag.

[0019] S4: After the container bag is stably fixed, the gantry crane moves and stacks the waste residue in the container bag.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. An automatic unloading and stacking system for associated radioactive waste bags, wherein a sensing component controls a positioning mechanism to position the center of the container bag, the positioning mechanism abuts against the waste in the container bag from the center of the container bag, and two other ropes lift the container bag from both sides. With the joint positioning of the two ropes and the positioning mechanism, the shaking of the container bag during movement is effectively avoided.

[0022] 2. An automatic unloading and stacking system for associated radioactive waste bags, in cooperation with two ropes of equal length and a sliding seat, allows the sliding seat to automatically move and align with the center of the container bag when it is pulled up, effectively improving the positioning and fixing efficiency of the container bag; and when the container bag is about to be pulled up, the sliding seat can be positioned directly above the container bag, avoiding horizontal drag force on the hook when pulling up the container bag, and the sliding seat above the center of the container bag drives the hook to pull the container bag vertically up, effectively ensuring the stability of the container bag when it is pulled up;

[0023] 3. An automatic unloading and stacking system for associated radioactive waste residue bags, wherein during the release of rope by the winding roller, the slide bar can drive the positioning plate to move downward, so that the positioning plate first approaches the container bag downward, thereby increasing the positioning speed of the positioning plate on the container bag when the container bag is lifted; when the length released with the rope reaches a certain limit, the slide bar disengages from the driven wheel, and the limiting plate connected to the slide bar abuts against the sliding seat.

[0024] 4. An automatic unloading and stacking system for associated radioactive waste bags, which, through dual verification by a gravity sensor and a laser receiver, can accurately and quickly drive the positioning plate to fix the bag after the sliding seat is aligned with the center of the bag. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram showing the connection between the hook and the sliding seat;

[0027] Figure 3This is a schematic diagram showing the connection between the sliding seat and the roller;

[0028] Figure 4 This is a schematic diagram showing the connection between the brake disc and the sliding seat;

[0029] Figure 5 This is a schematic diagram of the positioning mechanism;

[0030] Figure 6 This is a control principle diagram of some mechanisms in this invention.

[0031] In the attached diagram: 1. Electric telescopic rod No. 1; 2. Support frame; 3. Sliding seat; 4. Winding roller; 5. Rope; 6. Hook; 7. Positioning mechanism; 71. Slide rod; 72. Electric telescopic rod No. 2; 73. Positioning plate; 8. Transmission assembly; 81. Drive wheel; 82. Driven wheel; 83. Rack; 9. Sensing assembly; 91. Gravity sensor; 92. Laser emitter; 93. Laser receiver; 10. Motor; 11. Roller; 12. Electric push rod; 13. Brake disc; 14. Slide rail; 15. Limiting plate; 16. Elastic telescopic component. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0033] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0034] like Figures 1-5 As shown, this invention provides an automatic unloading and stacking system for associated radioactive waste bags, including a transfer forklift for unloading the bulk bags containing solid waste from the vehicle. It also includes a lifting mechanism for unloading and stacking the bulk bags from the transfer forklift. The lifting mechanism includes a gantry frame that can move arbitrarily in the horizontal direction. A rotating device is fixedly connected to the movable seat of the gantry frame. A first electric telescopic rod 1 is fixedly connected to the rotating device. A support frame 2 is fixedly connected to the first electric telescopic rod 1. A sliding seat 3 is horizontally slidably connected to the support frame 2.

[0035] Both ends of the sliding seat 3 are rotatably connected to winding rollers 4, each winding roller 4 is wound with a rope 5, and one end of each rope 5 is connected to a hook 6. An electromagnet is provided inside the handle of the container bag.

[0036] The sliding seat 3 is vertically slidably connected to a positioning mechanism 7. A transmission component 8 is provided between the positioning mechanism 7 and the winding roller 4. When the winding roller 4 rotates, the positioning mechanism 7 moves vertically at the same time. One of the winding rollers 4 is connected to a motor 10, and the motor 10 is fixedly connected to the sliding seat 3.

[0037] The cord 5 is connected to the sensing component 9. When the sliding seat 3 is aligned with the center of the container bag, the sensing component 9 controls the positioning mechanism 7 to position the center of the container bag.

[0038] A method for stacking associated radioactive waste packages, applied to the automated unloading and stacking system for associated radioactive waste packages in the above embodiments, includes the following steps:

[0039] S1: First, use a transfer forklift to unload the bulk bags containing solid waste from the vehicle, and then the transfer forklift will transport the bulk bags to the waste treatment area.

[0040] S2: The gantry crane drives the hook 6 to move horizontally until the hook 6 moves to the top of the container bag. At this time, the rotating device drives the first electric telescopic rod 1 to rotate. The first electric telescopic rod 1 drives the two hooks 6 to move to the two container bag handles respectively. Under the magnetic force of the electromagnet, the two hooks 6 are respectively hooked to the two handles of the container bag.

[0041] S3: Start the first electric telescopic rod 1. The first electric telescopic rod 1 drives the support frame 2 to move upward. The support frame 2 drives the two ropes 5 to gradually tighten. Since the two ropes 5 are released synchronously under the drive of the transmission component 8, the lengths of the two ropes 5 are equal. When one of the ropes 5 is tightened as the support frame 2 moves upward, the sliding seat 3 moves along the support frame 2 under the tension of this rope 5 until the sliding seat 3 is directly opposite the center of the container bag. At this time, the two ropes 5 are tightened synchronously. The sensing component 9 controls the positioning mechanism 7 to position the center of the container bag. The positioning mechanism 7 abuts against the waste residue in the container bag. Under the joint positioning of the two ropes 5 and the positioning mechanism 7, the shaking of the container bag during the movement is effectively avoided.

[0042] S4: After the container bag is stably fixed, the gantry crane moves and stacks the waste residue in the container bag.

[0043] like Figure 2 and Figure 5 As shown, in a preferred embodiment of the present invention, the positioning mechanism 7 includes a slide rod 71, a second electric telescopic rod 72, and a positioning plate 73; the sliding seat 3 is fixedly connected to a slide rail 14, the slide rod 71 is slidably connected to the slide rail 14, one end of the slide rod 71 is fixedly connected to a limit plate 15, the other end of the slide rod 71 is fixedly connected to the second electric telescopic rod 72, and the positioning plate 73 is fixedly connected to the telescopic end of the second electric telescopic rod 72.

[0044] In this embodiment, when the two ropes 5 are simultaneously taut and stressed, the sensing component 9 controls the extension of the second electric telescopic rod 72, and the second electric telescopic rod 72 drives the positioning plate 73 to quickly position the center of the container bag.

[0045] like Figure 2 As shown, in a preferred embodiment of the present invention, the transmission assembly 8 includes a driving wheel 81, a driven wheel 82, and a rack 83; the driving wheel 81 is fixedly connected to the central shaft of the winding roller 4, the driven wheel 82 is rotatably connected to the sliding seat 3, and a rack 83 is provided on both sides of the slide rod 71, and the driven wheel 82 meshes with the driving wheel 81 and the rack 83.

[0046] In this embodiment, the motor 10 drives a winding roller 4 to rotate. This winding roller 4 drives the rack 83 to move vertically through the meshing of the driving wheel 81 and the driven wheel 82. The rack 83 drives the slide bar 71 to slide downward. At the same time, the slide bar 71 drives another winding roller 4 to release the rope. During the rope release process of the winding roller 4, the slide bar 71 can drive the positioning plate 73 to move downward, so that the positioning plate 73 first approaches the container bag downward, thereby increasing the positioning speed of the positioning plate 73 on the container bag when the container bag is lifted. When the length released with the rope 5 reaches a certain limit, the slide bar 71 disengages from the driven wheel 82, and the limiting plate 15 connected to the slide bar 71 abuts against the sliding seat 3.

[0047] like Figure 2 As shown, in a preferred embodiment of the present invention, the sensing component 9 includes a gravity sensor 91, a laser emitter 92, and a laser receiver 93; a gravity sensor 91 is connected between the hook 6 and the rope 5, and a laser emitter 92 and a laser receiver 93 are respectively arranged at the same position on the two ropes 5. The gravity sensor 91, the laser emitter 92, and the laser receiver 93 are electrically connected to a PLC controller, and the PLC controller is also electrically connected to the first electric telescopic rod 1 and the second electric telescopic rod 72.

[0048] In this embodiment, during the lifting process of the container bag, the sliding seat 3 is aligned with the center of the container bag under the tension of the two ropes 5.

[0049] In the above process, if the laser receiver 93 at the same position on the two ropes 5 can receive the signal emitted by the laser transmitter 92, it is determined that the two ropes 5 are symmetrical about the sliding seat 3 and the sliding seat 3 is aligned with the center of the container bag. This method of judgment is inaccurate. If the two ropes 5 are not taut, and the two ropes 5 happen to be at the same height, the laser receiver 93 can receive the signal emitted by the laser transmitter 92, that is, control the positioning plate 73 to press down against the container bag to fix it, which will cause the container bag to shift in position and affect the stability of the container bag.

[0050] If we judge that the two ropes 5 are symmetrical about the sliding seat 3 simply by the fact that the gravity sensed by the gravity sensor 91 on the two ropes 5 is equal, there is still inaccuracy. In actual use, even if the two ropes 5 are symmetrical about the sliding seat 3, the tension values ​​of the two ropes 5 are not necessarily exactly the same. The tension of the ropes 5 will be affected by the different wear levels of the ropes 5 or other factors.

[0051] In this invention, the tension of the rope 5 is sensed by the gravity sensor 91. When the tension of the rope 5 sensed by both gravity sensors 91 reaches or exceeds the limit, it indicates that both ropes 5 are fully taut. If neither rope 5 is jammed at this time, the laser receiver 93 and the laser emitter 92 are aligned at the same height. The laser receiver 93 receives the signal emitted by the laser emitter 92, proving that the sliding seat 3 is aligned with the center of the container bag. After receiving the signals from the gravity sensor 91 and the laser receiver 93, the PLC controller quickly controls the second electric telescopic rod 72 to drive the positioning plate 73 downward to abut and fix the container bag. Through the dual verification of the gravity sensor 91 and the laser receiver 93, the positioning plate 73 can be accurately and quickly driven to fix the container bag after the sliding seat 3 is aligned with the center of the container bag.

[0052] like Figure 3 and Figure 4 As shown, in a preferred embodiment of the present invention, the sliding seat 3 is rotatably connected to a roller 11, the roller 11 is rolledly connected to the support frame 2, the sliding seat 3 is provided with an electric push rod 12, the telescopic end of the electric push rod 12 is fixedly connected to a brake disc 13, the brake disc 13 is directly opposite the roller 11, and the electric push rod 12 is electrically connected to a PLC controller.

[0053] In this embodiment, when the sliding seat 3 is aligned with the center of the container bag, the PLC controller controls the electric push rod 12 to extend, and the electric push rod 12 pushes the brake disc 13 to abut against the roller 11, thereby fixing the sliding seat 3 to the support frame 2 and increasing the fixing effect of the positioning plate 73 on the waste residue in the container bag.

[0054] like Figure 1 As shown, in a preferred embodiment of the present invention, the support frame 2 is triangular.

[0055] like Figure 1 As shown, in a preferred embodiment of the present invention, an elastic telescopic member 16 is provided between the first electric telescopic rod 1 and the support frame 2.

[0056] Working principle:

[0057] First, a forklift is used to unload the bulk bags containing solid waste from the vehicle, and then the forklift transports the bulk bags to the waste treatment area.

[0058] The gantry crane drives the hook 6 to move horizontally until the hook 6 moves to the top of the container bag. At this time, the rotating device drives the first electric telescopic rod 1 to rotate. The first electric telescopic rod 1 drives the two hooks 6 to move to the two container bag handles respectively. Under the magnetic force of the electromagnet, the two hooks 6 are respectively hooked to the two handles of the container bag.

[0059] Start the first electric telescopic rod 1. The first electric telescopic rod 1 drives the support frame 2 to move upward. The support frame 2 drives the two ropes 5 to gradually tighten. Since the two ropes 5 are released synchronously under the drive of the transmission component 8, the lengths of the two ropes 5 are equal. When one of the ropes 5 is tightened as the support frame 2 moves upward, the sliding seat 3 moves along the support frame 2 under the tension of this rope 5 until the sliding seat 3 is directly in front of the center of the container bag. At this time, the two ropes 5 are tightened synchronously. The sensing component 9 controls the positioning mechanism 7 to position the center of the container bag. The positioning mechanism 7 abuts against the waste residue in the container bag from the center position. The other two ropes 5 lift the container bag from both sides. With the joint positioning of the two ropes 5 and the positioning mechanism 7, the shaking of the container bag during the movement is effectively avoided.

[0060] After the container bag is stabilized and fixed, the gantry crane moves and stacks the waste residue in the container bag.

[0061] During the above process, with the cooperation of two equal-length ropes 5 and the sliding seat 3, the sliding seat 3 can automatically move and align with the center of the container bag when it is pulled up, effectively improving the positioning and fixing efficiency of the container bag; and when the container bag is about to be pulled up, the sliding seat 3 can be positioned directly above the container bag, avoiding the horizontal drag force of the hook 6 when pulling up the container bag. The sliding seat 3 drives the hook 6 to pull the container bag vertically up above the center of the container bag, effectively ensuring the stability of the container bag when it is pulled up.

[0062] During the above process, the motor 10 drives a winding roller 4 to rotate. This winding roller 4 drives the rack 83 to move vertically through the meshing of the driving wheel 81 and the driven wheel 82. The rack 83 drives the slide bar 71 to slide downward. At the same time, the slide bar 71 drives another winding roller 4 to release the rope. During the rope release process of the winding roller 4, the slide bar 71 can drive the positioning plate 73 to move downward, so that the positioning plate 73 first approaches the container bag downward, thereby increasing the positioning speed of the positioning plate 73 on the container bag when the container bag is lifted. When the length released with the rope 5 reaches a certain limit, the slide bar 71 disengages from the driven wheel 82, and the limiting plate 15 connected to the slide bar 71 abuts against the sliding seat 3.

[0063] In this scheme, the tension of the rope 5 is sensed by the gravity sensor 91. When the tension of the rope 5 sensed by both gravity sensors 91 reaches or exceeds the limit, it indicates that both ropes 5 are fully taut. If neither rope 5 is jammed at this time, the laser receiver 93 and the laser transmitter 92 are aligned at the same height. The laser receiver 93 receives the signal from the laser transmitter 92, proving that the sliding seat 3 is aligned with the center of the container bag. After receiving the signals from the gravity sensor 91 and the laser receiver 93, the PLC controller quickly controls the second electric telescopic rod 72 to drive the positioning plate 73 downward to abut and fix the container bag. Through the dual verification of the gravity sensor 91 and the laser receiver 93, the positioning plate 73 can be accurately and quickly driven to fix the container bag after the sliding seat 3 is aligned with the center of the container bag.

[0064] When the sliding seat 3 is aligned with the center of the container bag, the PLC controller controls the electric push rod 12 to extend. The electric push rod 12 pushes the brake disc 13 to abut against the roller 11, thereby fixing the sliding seat 3 to the support frame 2 and increasing the fixing effect of the positioning plate 73 on the waste residue in the container bag.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0066] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automated unloading and stacking system for associated radioactive waste packages, comprising a transfer forklift, characterized in that, It also includes a hoisting mechanism, which includes a gantry frame. The movable seat of the gantry frame is fixedly connected to a rotating device. The rotating device is fixedly connected to a first electric telescopic rod (1). The first electric telescopic rod (1) is fixedly connected to a support frame (2). The support frame (2) is horizontally slidably connected to a sliding seat (3). Both ends of the sliding seat (3) are rotatably connected to winding rollers (4), and each winding roller (4) is wound with a rope (5). One end of each rope (5) is connected to a hook (6), and an electromagnet is provided on the inside of the container bag handle. The sliding seat (3) is vertically slidably connected to a positioning mechanism (7). A transmission component (8) is provided between the positioning mechanism (7) and the winding roller (4). When the winding roller (4) rotates, the positioning mechanism (7) moves vertically at the same time. One of the winding rollers (4) is connected to a motor (10). The rope (5) is connected to a sensing component (9). When the sliding seat (3) is aligned with the center of the container bag, the sensing component (9) controls the positioning mechanism (7) to center the container bag. The positioning mechanism (7) includes a slide bar (71), a second electric telescopic rod (72), and a positioning plate (73). The sliding seat (3) is fixedly connected to the slide rail (14), the slide rod (71) is slidably connected to the slide rail (14), one end of the slide rod (71) is fixedly connected to the limit plate (15), the other end of the slide rod (71) is fixedly connected to the second electric telescopic rod (72), and the positioning plate (73) is fixedly connected to the telescopic end of the second electric telescopic rod (72). The transmission assembly (8) includes a driving wheel (81), a driven wheel (82), and a rack (83); The driving wheel (81) is fixedly connected to the central shaft of the winding roller (4), the driven wheel (82) is rotatably connected to the sliding seat (3), and a rack (83) is provided on both sides of the slide rod (71). The driven wheel (82) meshes with the driving wheel (81) and the rack (83). The sensing component (9) includes a gravity sensor (91), a laser emitter (92), and a laser receiver (93). A gravity sensor (91) is connected between the hook (6) and the rope (5). A laser emitter (92) and a laser receiver (93) are respectively installed at the same position on the two ropes (5). The gravity sensor (91), the laser emitter (92) and the laser receiver (93) are electrically connected to a PLC controller. The PLC controller is also electrically connected to the first electric telescopic rod (1) and the second electric telescopic rod (72). The tension of the rope (5) is sensed by the gravity sensor (91). When the tension of the rope (5) sensed by the two gravity sensors (91) reaches or exceeds the limit, it means that the two ropes (5) are fully taut. If the two ropes (5) do not get stuck, the laser receiver (93) and the laser transmitter (92) are aligned at the same height. The laser receiver (93) receives the signal sent by the laser transmitter (92), which proves that the sliding seat (3) is aligned with the center of the container bag. After receiving the signals from the gravity sensor (91) and the laser receiver (93), the PLC controller quickly controls the second electric telescopic rod (72) to drive the positioning plate (73) downward to abut and fix the container bag.

2. The automatic unloading and stacking system for associated radioactive waste bags according to claim 1, characterized in that, The sliding seat (3) is rotatably connected to a roller (11), the roller (11) is rotatably connected to the support frame (2), the sliding seat (3) is provided with an electric push rod (12), the telescopic end of the electric push rod (12) is fixedly connected to a brake disc (13), and the brake disc (13) is directly opposite the roller (11).

3. The automatic unloading and stacking system for associated radioactive waste bags according to claim 1, characterized in that, The support frame (2) is triangular.

4. The automatic unloading and stacking system for associated radioactive waste bags according to claim 1, characterized in that, An elastic telescopic component (16) is provided between the No. 1 electric telescopic pole (1) and the support frame (2).

5. A method for stacking associated radioactive waste packages, applied to the automatic unloading and stacking system for associated radioactive waste packages as described in any one of claims 1-4, characterized in that, Includes the following steps: S1: First, use a transfer forklift to unload the bulk bags containing solid waste from the vehicle, and then the transfer forklift will transport the bulk bags to the waste treatment area. S2: The gantry moves the hook (6) horizontally until the hook (6) moves to the top of the container bag. At this time, the rotating device drives the first electric telescopic rod (1) to rotate. The first electric telescopic rod (1) drives the two hooks (6) to move to the two container bag handles respectively. Under the magnetic force of the electromagnet, the two hooks (6) are hooked to the two handles of the container bag respectively. S3: Start the first electric telescopic rod (1). The first electric telescopic rod (1) drives the support frame (2) to move upward. The support frame (2) drives the two ropes (5) to gradually tighten. When one of the ropes (5) is tightened as the support frame (2) moves upward, the sliding seat (3) moves along the support frame (2) under the tension of the rope (5) until the sliding seat (3) is directly opposite the center of the container bag. At this time, the two ropes (5) are tightened synchronously. The sensing component (9) controls the positioning mechanism (7) to position the center of the container bag. S4: After the container bag is stably fixed, the gantry crane moves and stacks the waste residue in the container bag.

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