Closed transfer device and radioactive material treatment system

Abstract

The invention discloses a closed transfer device and a radioactive material processing system, the closed transfer device is characterized in that a loading position and a transfer position are arranged in a transfer channel, the loading position and the transfer position are arranged at an interval along the extension direction of the transfer channel, and the transfer position corresponds to a sealed box chamber and is located right below the sealed box chamber. The material transfer assembly comprises a barrel container, an opening is formed in the upper end of the barrel container, and the shape of the opening is matched with the shape of the connector. The barrel container can move back and forth between the loading position and the transferring position, when the barrel container moves to the transferring position, the barrel container can move upwards in the vertical direction till the edge of the opening is in butt joint with the connector, a sealed connecting channel is formed between an inner cavity of the barrel container and the sealing box chamber, and the sealing door is used for controlling opening / closing of the connecting channel. And the grabbing unit is used for downwards extending into the barrel container and grabbing the materials when the connecting channel is opened. According to the device, materials can be transferred, and leakage of high-radioactivity atmosphere in the sealing box chamber is avoided.

Description

Technical Field

[0001] The invention specifically relates to a closed transport device and a radioactive material processing system. Background Art

[0002] In recent years, the emphasis on environmental protection has brought opportunities and challenges to nuclear fuel reprocessing technology. Connecting with each sealed chamber through a transfer channel to achieve material transfer is a common form of transfer in reprocessing engineering. Specifically, the transfer channel is located at the bottom of the sealed chamber. (The transfer channel) is connected up and down through the top interface (with the sealed chamber).

[0003] The radioactive atmosphere concentration in the sealed box is relatively high. In order to avoid leakage of radioactive aerosols, a sealed door needs to be installed at the interface to separate the sealed box and the transfer channel to avoid leakage of the atmosphere in the sealed box.

[0004] As far as the prior art is concerned, by setting up a sealed door, the transfer channel has a certain shielding function, but in the process of transferring materials, the materials need to be transferred to the position of the sealed box chamber through the transfer device, and then the sealed door is opened, and the material is transferred between the transfer device and the sealed box chamber through the grabbing device in the sealed box chamber. In the process of transferring materials, the sealed door of the existing transfer device is in an open state, which easily causes the radioactive atmosphere in the sealed box chamber to leak through the interface. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a closed transfer device and a radioactive material processing system in view of the above-mentioned deficiencies in the prior art, which can realize the transfer of materials and avoid the leakage of the highly radioactive atmosphere in the sealed box.

[0006] According to an embodiment of the first aspect of the present invention, there is provided a closed transfer device, comprising: a material transfer device, a sealing interface unit, a grabbing unit and a transfer channel. The transfer channel extends in a horizontal direction, and a loading position and a transfer position are provided in the transfer channel, and the loading position and the transfer position are arranged at intervals along the extension direction of the transfer channel, and the transfer position corresponds to a sealed chamber and is located directly below the sealed chamber. The sealing interface unit is installed at the lower end of the sealed chamber, and the sealing interface unit includes an interface and a sealing door installed on the interface, and the interface passes through the lower wall of the sealed chamber and faces the transfer position. The material transfer device is accommodated in the transfer channel and is located between the loading position and the transfer position, and the material transfer component includes a cylindrical container, and an opening is provided at the upper end of the cylindrical container, and the shape of the opening is adapted to the shape of the interface. The cylindrical container can move back and forth between the loading position and the transfer position. When the cylindrical container moves to the loading position, it is used to load the material. When the cylindrical container moves to the transfer position, it can move upward in the vertical direction until the edge of the opening is docked with the interface, so that a sealed connection channel is formed between the inner cavity of the cylindrical container and the sealed chamber, and the sealed door is used to control the opening / closing of the connection channel. The grabbing unit is accommodated in the sealed chamber, and is used to extend downward into the cylindrical container and grab the material when the connection channel is opened.

[0007] Preferably, a sealing ring is provided at the edge of the opening, and the edge of the opening is sealed and butted with the interface via the sealing ring.

[0008] Preferably, the material transfer assembly further includes a moving assembly and a lifting assembly. The moving assembly is connected to the lifting assembly, and the lifting assembly is connected to the barrel container. The moving assembly is used to drive the lifting assembly and the barrel container to move back and forth between the loading position and the transfer position, and the lifting assembly is used to drive the barrel container to move upward until the upper edge of the barrel container docks with the interface.

[0009] Preferably, the enclosed transfer device further comprises a control unit, which comprises a controller and a position detection unit. The controller is electrically connected to the moving assembly, and is used to control the moving assembly to drive the lifting assembly and the cylindrical container to move between the loading position and the transfer position. The position detection unit comprises a first limit switch and a second limit switch, the first limit switch is installed on the loading position, and is electrically connected to the controller, the first limit switch is used to send a first feedback signal to the controller when sensing that the cylindrical container moves to the loading position, and the controller is used to control the moving assembly to stop driving the lifting assembly and the cylindrical container according to the first feedback signal, so that the cylindrical container is in the loading position. The second limit switch is installed on the transfer position, and is electrically connected to the controller, the second limit switch is used to send a second feedback signal to the controller when sensing that the cylindrical container moves to the loading position, and the controller is used to control the moving assembly to stop driving the lifting assembly and the cylindrical container according to the second feedback signal, and control the lifting assembly to drive the cylindrical container to move upward, so that the edge of the opening is docked with the interface.

[0010] Preferably, the position detection unit further comprises a proximity switch, which is installed in the transfer channel and located between the second limit switch and the first limit switch, and is electrically connected to the controller, and is used to send an adjustment signal to the controller when sensing the cylindrical container. The controller is used to control the moving assembly to gradually slow down the moving speed of the lifting assembly and the cylindrical container according to the adjustment signal.

[0011] Preferably, the position detection unit also includes a third limit switch, which is installed at the interface and electrically connected to the controller. The third limit switch is used to send a third feedback signal when it detects that the open edge of the cylindrical container is docked with the interface. The controller is electrically connected to the sealing door and is used to control the sealing door to open when receiving the third feedback signal, and to control the grabbing unit to extend downward into the cylindrical container to grab the material.

[0012] Preferably, the moving assembly includes a trolley, a track and a first driving unit. The track extends along the spacing direction between the loading position and the transfer position, the trolley is connected to the track, the first driving unit is installed on the trolley, and is used to drive the trolley to move along the extension direction of the track, so that the trolley moves between the loading position and the transfer position, the controller is electrically connected to the first driving unit, and the controller is used to control the first driving unit to stop driving the trolley forward according to the first feedback signal / second feedback signal. The lifting assembly is installed on the trolley, and the cylindrical container is installed on the trolley through the lifting assembly.

[0013] Preferably, the first driving unit includes a first motor and a rotating shaft, the first motor is connected to the rotating shaft, the trolley includes a frame, a driving wheel and a driven wheel, the frame is connected to the track via the driving wheel and the driven wheel, there are two driving wheels, the two driving wheels are arranged opposite to each other, the rotating shaft is located between the two driving wheels, the two ends of the rotating shaft are respectively connected to the two driving wheels, the first motor is used to drive the rotating shaft to rotate, and then drive the driving wheel to rotate, so that the trolley moves along the extension direction of the track.

[0014] Preferably, the lifting assembly includes a lifting frame and a second driving unit, the second driving unit is mounted on the frame of the trolley, the second driving unit is connected to the lifting frame, and is used to drive the lifting frame to move in a vertical direction, and the cylindrical container is mounted on the lifting frame. The controller is electrically connected to the second driving unit, and is used to control the second driving unit to drive the lifting frame to move upward according to the second feedback signal, thereby driving the cylindrical container to move upward.

[0015] Preferably, the second driving unit comprises a second motor, a screw and a screw nut. The screw extends in a vertical direction, the screw nut is sleeved on the screw and connected to the screw by a thread, and the lifting frame is connected to the screw nut. The second motor is connected to the screw to drive the screw to rotate, thereby driving the screw nut and the lifting frame to move up and down along the extension direction of the screw.

[0016] Preferably, the lifting assembly also includes a guide unit, which is located between the lifting frame and the frame. The guide unit extends in a vertical direction, with an upper end connected to the lifting frame and a lower end connected to the frame. The guide unit includes a guide portion and a telescopic portion. The lower end of the guide portion is connected to the frame, and a guide cavity extending in a vertical direction is provided in the guide portion. The telescopic portion is located above the guide portion, and the upper end of the telescopic portion is connected to the lifting frame, and the lower end portion of the telescopic portion is inserted into the guide cavity. The telescopic portion can move along the extension direction of the guide cavity, and the guide portion and the telescopic portion cooperate to guide the lifting frame so that the lifting frame is lifted and lowered in the vertical direction.

[0017] According to an embodiment of the second aspect of the present invention, there is provided a radioactive material processing system, comprising a loading device, a sealed chamber, a processing device and the above-mentioned closed transfer device. The transfer channel of the closed transfer device is respectively connected to the loading device and the sealed chamber, the loading device is opposite to the loading position, the sealed chamber is opposite to the transfer position, and the processing device is installed in the sealed chamber. The closed transfer device is used to transfer the material of the loading device to the sealed chamber, and process the material through the processing device.

[0018] The enclosed transfer device of the present invention is in a transfer channel, and the cylindrical container of the enclosed transfer device is used to carry packaged radioactive materials (for example: nuclear fuel, radioactive objects, etc.), and the cylindrical container is driven by the moving assembly to move from the loading position to the transfer position. At the transfer position, the lifting assembly in the device drives the cylindrical container to move upward until the opening of the cylindrical container is docked with the interface of the sealed chamber through the sealing ring. After the docking is completed, the sealed door of the sealed chamber is opened, so that a sealed connection channel is formed between the inner cavity of the cylindrical container and the sealed chamber. The grabbing device in the sealed chamber extends downward into the cylindrical container and grabs the radioactive material. It should be noted that the radioactive material transported in the transfer channel is packaged, so the transfer channel is in a low-radioactive atmosphere, and the processing equipment in the sealed chamber needs to unpack the radioactive material and perform subsequent processing, so the atmosphere in the sealed chamber has high radioactivity. The enclosed transfer device forms a sealed connection channel by docking the cylindrical container with the interface, and the grabbing device grabs the radioactive material through the connection channel, thereby avoiding the situation where the high-radioactive atmosphere leaks into the transfer channel. Therefore, the closed transfer device can realize the transfer of materials and prevent the radioactive atmosphere in the sealed box from leaking into the transfer channel. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1a is a front view of a closed transfer device in an embodiment of the present invention;

[0020] Figure 1b is a side view of a closed transfer device in an embodiment of the present invention;

[0021] Figure 2 is a schematic structural diagram of a closed transfer device in an embodiment of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the interface docking between the cylindrical container and the sealed box chamber in an embodiment of the present invention.

[0023] In the figure: 1-moving assembly, 11-track, 12-trolley, 13-first drive unit, 14-trolley driving wheel assembly, 15-drag chain assembly, 16-trolley passive wheel assembly, 2-lifting assembly, 21-lifting frame, 22-second drive unit, 3-cylinder container, 31-sealing ring, 4-horizontal standby drive system, 5-lifting standby drive system, 6-transfer channel, 7-interface, 8-inspection door, 9-sealing interface unit. DETAILED DESCRIPTION

[0024] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of the present invention.

[0025] In the description of the present invention, it should be noted that the terms "upper", "lower" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience and simplification of the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0026] In the description of the present invention, the terms “first”, “second” and “third” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connect", "set", "install", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0028] Example 1

[0029] Please refer to Figure 1 and Figure 3 The present invention discloses a closed transfer device, including material transfer equipment, a sealing interface unit 9, a grabbing unit and a transfer channel 6.

[0030] Among them, Figure 3 As shown, the transfer channel 6 is a closed channel, and the transfer channel 6 extends in the horizontal direction. A loading position and a transfer position are provided in the transfer channel 6. The loading position and the transfer position are arranged at intervals along the extension direction of the transfer channel. The transfer position corresponds to the sealed chamber and is located directly below the sealed chamber. The sealed interface unit 9 is installed at the lower end of the sealed chamber. The sealed interface unit 9 includes an interface and a sealing door (not shown in the figure) installed on the interface, and the interface faces the transfer position. The material transfer equipment is accommodated in the transfer channel and is located between the loading position and the transfer position. The material transfer assembly includes a cylindrical container 3, and an opening is provided at the upper end of the cylindrical container 3. The shape of the opening is adapted to the shape of the interface 7. In this embodiment, the opening and the interface 7 are both circular, and the diameter size of the opening is the same as that of the interface.

[0031] The cylindrical container 3 can move back and forth between the loading position and the transfer position. When the cylindrical container 3 moves to the loading position, it is used to load the material. When the cylindrical container 3 moves to the transfer position, it can move upward in the vertical direction until the edge of the opening docks with the interface 7, so that a sealed connection channel is formed between the inner cavity of the cylindrical container 3 and the sealed box chamber, and the sealing door is used to control the opening / closing of the connection channel. Further, the material transfer component also includes a moving component 1 and a lifting component 2. The moving component 1 is connected to the lifting component 2, and the lifting component 2 is connected to the cylindrical container 3. The moving component 1 is used to drive the lifting component 2 and the cylindrical container 3 to move back and forth between the loading position and the transfer position, and the lifting component 2 is used to drive the cylindrical container 3 to move upward until the upper edge of the cylindrical container 3 docks with the interface. The edge of the opening is provided with a sealing ring, and the edge of the opening is sealed and docked with the interface through the sealing ring. The sealing ring can be made of elastic materials such as silicone to facilitate the sealing of the gap at the connection.

[0032] The grabbing unit is housed in the sealed box chamber, and is used to extend downward into the cylindrical container 3 and grab the material when the connecting channel is opened. In this embodiment, the grabbing unit can use a commercially available clamping device, such as an electric clamp, a pneumatic clamp, a vacuum clamp, etc., as long as the clamping device can meet the clamping force requirements.

[0033] It should be noted that this device is used to transfer materials in a closed environment, that is, it is suitable for any scene where materials need to be transferred in a closed manner, and is particularly suitable for use as a heavy-duty transfer device in the nuclear industry. Further, this closed transfer device is located in the transfer channel 6, and the loading position and the transfer position are both located in the transfer channel 6, and the transfer channel 6 is connected to the sealed box chamber to achieve closed transfer of materials.

[0034] In order to facilitate the understanding of the closed transfer device, the connection structure of the transfer channel 6 and the sealed chamber in the nuclear facility is further explained. In the nuclear fuel reprocessing plant, the nuclear fuel needs to undergo multiple processing steps. These processing steps need to be carried out in each sealed chamber respectively. Therefore, the number of sealed chambers in the reprocessing plant is usually multiple, and each sealed chamber is used to perform a corresponding processing step on the nuclear fuel. It is a common form in the reprocessing project to realize the closed transfer of materials by connecting the transfer channel 6 with each sealed chamber.

[0035] As far as the prior art is concerned, the transfer channel 6 has a certain shielding function, connecting the sealed chambers distributed in different positions, and is a closed carrier for realizing the material transfer between the sealed chambers. The transfer channel 6 is located at the bottom of the sealed chamber, and (the transfer channel 6) is connected up and down through the top connecting channel (that is, it is connected to the sealed chamber through the interface 7). The transfer channel 6 is mainly used for the transfer of packaged nuclear fuel. Therefore, the concentration of the radiation atmosphere in the transfer channel 6 is relatively low. However, the nuclear fuel needs to be processed and handled in the sealed chamber, so the atmosphere therein has high radioactivity. Therefore, the atmosphere in the sealed chamber and the transfer channel 6 are different.

[0036] The sealed chamber also has a certain shielding function. The transfer channel 6 is provided with operating glove holes, peep windows, lamps, etc., and is equipped with special sealed gloves. The operator can complete some operations in the transfer channel 6 through the gloves. At the same time, considering that the transfer channel 6 and the sealed chamber are both sealed structures, it is also difficult to inspect and maintain the transfer device in the transfer channel 6 in the later stage. Specifically, the position of the interface 7 between the sealed channel and the sealed chamber is where the transfer device performs the most complex and continuous actions, and it is also the position with the highest probability of failure. An inspection door 8 is provided on the side of the sealed channel at the position of each interface 7. The inspection door 8 can be directly opened to carry out inspection and maintenance at critical moments. A peep window with a glove hole is provided on the inspection door 8. Simple inspection and maintenance can be carried out without opening the inspection door 8, only by observing through the peep window and operating with the glove hole.

[0037] In other words, a plurality of inspection doors 8 are provided on the side wall of the transfer channel 6, and the number of the inspection doors 8 is the same as the number of transfer positions in the transfer channel 6, and each inspection door 8 corresponds to a transfer position. A peep window with a glove hole is provided on the inspection door 8, and simple inspection and maintenance can be performed by observing through the peep window and operating with the glove hole without opening the inspection door 8. At critical times, the inspection and maintenance can be performed directly by opening the inspection door 8.

[0038] In order to ensure that the transfer channel 6 maintains a low-radioactive atmosphere when the inspection door 8 is opened to inspect and maintain the transfer device, it is usually necessary to provide a sealed door at the interface 7 of the sealed chamber to separate the sealed chamber and the transfer channel 6 to prevent the high-radioactive atmosphere in the sealed chamber from leaking into the transfer channel 6.

[0039] However, although the sealing door can achieve a certain separation and shielding function between the transfer channel 6 and the sealed chamber, the existing transfer device usually transfers the radioactive materials (such as nuclear fuel, radioactive parts, etc.) to the bottom of the sealed chamber interface 7, and then opens the sealing door and lifts the materials into the sealed chamber through the lifting device in the sealed chamber. At this time, the highly radioactive aerosol in the sealed chamber is easy to leak into the transfer channel 6, resulting in an increase in the radioactivity in the transfer channel 6.

[0040] In this regard, as shown in Figure 1 and Figure 2 As shown, in this embodiment, the moving assembly 1 is located between the loading position and the transfer position, the loading position and the transfer position are arranged at intervals in the horizontal direction, a sealed chamber is arranged above the transfer position, the sealed chamber is provided with an interface 7, the interface 7 faces the transfer position, and a sealed door is arranged at the interface 7. The moving assembly 1 is connected to the lifting assembly 2, and the lifting assembly 2 is connected to the cylindrical container 3. The moving assembly 1 is used to drive the lifting assembly 2 and the cylindrical container 3 to move back and forth between the loading position and the transfer position, and the lifting assembly 2 is used to drive the cylindrical container 3 to move upward until the upper edge of the cylindrical container 3 is docked with the interface 7. The cylindrical container 3 is used to carry materials, and the upper end of the cylindrical container 3 is provided with an open mouth, and the edge of the open mouth is provided with a sealing ring, and the open mouth is docked with the interface 7 through the sealing ring 31. When the sealing door at the interface 7 is opened, a sealed connection channel is formed between the inner cavity of the cylindrical container 3 and the sealed chamber, and the connection channel is used for the grabbing device in the sealed chamber to extend downward into the cylindrical container 3 and grab the materials.

[0041] The closed transfer device carries the packaged radioactive material (nuclear fuel) through the cylindrical container 3, and drives the cylindrical container 3 to move from the loading position to the transfer position through the moving component 1. At the transfer position, the lifting component 2 in the device drives the cylindrical container 3 to move upward until the opening of the cylindrical container 3 is docked with the interface 7 of the sealed chamber through the sealing ring 31. After the docking is completed, the sealed door of the sealed chamber is opened, so that a sealed connection channel is formed between the inner cavity of the cylindrical container 3 and the sealed chamber. The grabbing device in the sealed chamber extends downward into the cylindrical container 3 and grabs the nuclear fuel. The closed transfer device docks the cylindrical container 3 with the interface 7 to form a sealed connection channel, and the grabbing device grabs the nuclear fuel through the connection channel, thereby avoiding the leakage of high-radioactive atmosphere into the transfer channel 6.

[0042] Therefore, the closed transfer device can realize the transfer of materials and prevent the radioactive atmosphere in the sealed box from leaking to the transfer channel 6.

[0043] In this embodiment, the device further comprises a control unit, and the control unit comprises a controller and a position detection unit. The controller is electrically connected to the moving assembly 1, and is used to control the moving assembly 1 to drive the lifting assembly 2 and the barrel container 3 to move between the loading position and the transfer position. The position detection unit comprises a first limit switch and a second limit switch, the first limit switch is installed on the loading position, and is electrically connected to the controller, the first limit switch is used to send a first feedback signal to the controller when sensing that the barrel container 3 moves to the loading position, and the controller is used to control the moving assembly to stop driving the lifting assembly 2 and the barrel container 3 according to the first feedback signal, so that the barrel container is in the loading position. The second limit switch is installed on the transfer position, and is electrically connected to the controller, the second limit switch is used to send a second feedback signal to the controller when sensing that the barrel container 3 moves to the loading position, and the controller is used to control the moving assembly to stop driving the lifting assembly 2 and the barrel container 3 according to the second feedback signal, and control the lifting assembly 2 to drive the barrel container 3 to move upward, so that the edge of the open port is docked with the interface.

[0044] Furthermore, due to the diversity of sealed chamber arrangements (i.e., a large number of sealed chambers), the transfer channel 6 is generally long, has a large number of interfaces 7 (interfaces 7 for material transfer between the sealed channel and the sealed chamber), and has a high transfer frequency, which will bring difficulties to the safe and fast transfer of materials between the transfer channel 6 and the sealed chamber. In other words, a plurality of transfer positions are provided in the transfer channel 6, and each transfer position corresponds to an interface 7. In order to realize the transfer of materials between the interfaces 7, the transfer device needs to travel back and forth between the interfaces 7 multiple times within the corresponding time, and it needs to ensure that it reaches the bottom of the interface 7 accurately while being fast, that is, the positioning accuracy requirement is high. Therefore, the number of the second limiting units is multiple, and a limiting unit needs to be installed at each transfer position to facilitate the feeding of each transfer position.

[0045] In this embodiment, the number of second limit switches (limit switches, laser rangefinders, etc.) is multiple. The number of second limit switches is the same as the number of interfaces 7, and a second limit switch is installed at each interface 7. Specifically, the controller can obtain the target position detection unit (i.e., the second limit switch at the target position). When the moving component drives the cylindrical container 3 to move to the target position detection unit (i.e., the corresponding target interface 7), the target position detection unit sends a second feedback signal to the controller when detecting the cylindrical container 3. When the controller receives the second feedback signal, it controls the moving component to stop moving. At this time, the cylindrical container 3 is facing the interface 7 of the sealed chamber. The controller controls the lifting component 2 to drive the cylindrical container 3 to move upward to complete the docking of the cylindrical container 3 with the interface 7. Then, the sealed door at the target interface 7 is opened, and the grabbing device in the sealed chamber extends downward to grab the material in the cylindrical container 3, so that the material transfer is completed.

[0046] Furthermore, in this embodiment, the enclosed transfer device needs to transfer large-sized and heavy materials, such as materials weighing hundreds of kilograms. When the weight of the material increases, the requirements for the drive system are greater (higher complexity requirements: high radiation level, large driving power requirements, etc.) In the high-frequency transfer process, the time for each transfer process is required to be short. Due to characteristics such as inertia, starting or stopping too quickly will bring challenges to safety. It is difficult to accurately stop once at the site (that is, positioning accuracy). (Positioning accuracy is mainly achieved through limit switches, laser rangefinders, etc., among which limit switches are the main ones and laser rangefinders are the auxiliary ones. There are 3 groups of limit switches, the middle one is the in-place switch, and the ones on both sides are proximity switches. When the transfer device touches the proximity switch, the transfer device slows down until it touches the in-place switch and the transfer device stops running.)

[0047] In other words, in order to achieve more accurate positioning, the position detection unit also includes a proximity switch. There are multiple proximity switches, and each proximity switch corresponds to a second limit switch. The proximity switch is installed in the transfer channel 6 and is located between the second limit switch and the first limit switch. The proximity switch is electrically connected to the controller. The proximity switch is used to send an adjustment signal to the controller when the cylindrical container 3 is sensed. The controller is used to control the moving component to gradually slow down the movement speed of the lifting component 2 and the cylindrical container 3 according to the adjustment signal. Furthermore, the second limit switch is an in-place switch, and each second limit switch corresponds to a proximity switch. The proximity switch is located on one side of the corresponding second limit switch, specifically on the side close to the first limit switch. When the transfer device touches the proximity switch, the speed of the transfer device slows down until it touches the in-place switch, and the transfer device stops running.

[0048] Furthermore, the position detection unit further includes a third limit switch, which is installed at the interface and electrically connected to the controller, and is used to send a third feedback signal when detecting that the open edge of the cylindrical container 3 is docked with the interface. The controller is electrically connected to the sealing door, and is used to control the sealing door to open when receiving the third feedback signal, and control the grabbing unit to extend downward into the cylindrical container 3 to grab the material.

[0049] In this embodiment, the controller can be a commercially available computer or PLC controller, as long as it can receive signals and issue instructions according to the signals. The first limit switch, the second limit switch, and the third limit switch can all use existing in-place switches. The in-place switch can be a contact in-place switch or an inductive in-place switch, such as the LX22-21 travel switch. The proximity switch can be an infrared inductive proximity switch.

[0050] Please refer to Figure 1 and Figure 2In this embodiment, the moving assembly includes a trolley 12, a track 11 and a first driving unit 13. The track 11 extends along the spacing direction between the loading position and the transfer position, the trolley 12 is connected to the track 11, and the first driving unit 13 is installed on the trolley 12, which is used to drive the trolley 12 to move along the extension direction of the track 11, so that the trolley 12 moves between the loading position and the transfer position. The controller is electrically connected to the first driving unit 13, and the controller is used to control the first driving unit 13 to stop driving the trolley 12 forward according to the first feedback signal / second feedback signal. The lifting assembly 2 is installed on the trolley, and the cylindrical container 3 is installed on the trolley 12 through the lifting assembly 2.

[0051] Furthermore, the first driving unit 13 includes a first motor and a rotating shaft, the first motor is connected to the rotating shaft, the trolley 12 includes a frame, a driving wheel and a driven wheel, the frame is connected to the track 11 through the driving wheel and the driven wheel, there are two driving wheels, the two driving wheels are arranged opposite to each other, the rotating shaft is located between the two driving wheels, and the two ends of the rotating shaft are respectively connected to the two driving wheels. The first motor is used to drive the rotating shaft to rotate, thereby driving the driving wheel to rotate, so that the trolley 12 moves along the extension direction of the track 11.

[0052] The track 11 extends along the arrangement direction of the loading position and the plurality of transfer positions. The first driving unit 13 drives the trolley 12 to move along the track 11, so as to facilitate the stop and transfer of the cylindrical container 3 at each transfer position.

[0053] In addition, in order to ensure the stability of the operation of the trolley 12, a set of spare horizontal drive units can also be provided. Similarly, the spare horizontal drive unit includes a spare motor and a spare rotating shaft, and the spare motor is connected to the driven wheel through the spare rotating shaft. When the first drive unit 13 fails, the spare motor can drive the rotating shaft to rotate, thereby driving the driven wheel to rotate, thereby realizing the spare horizontal drive.

[0054] Moreover, as mentioned above, the enclosed transfer device needs to transfer large-sized and heavy materials, such as materials weighing hundreds of kilograms. When the weight of the material increases, the requirements for the drive system are greater (higher complexity requirements: high radiation level, large driving power requirements, etc.) In the high-frequency transfer process, the time for each transfer process is required to be short. Due to characteristics such as inertia, starting or stopping too quickly will bring challenges to safety. It is difficult to achieve accurate one-time docking (that is, positioning accuracy) after arriving at the site. When the controller receives the adjustment signal from the proximity switch, it controls the motor of the first drive unit to decelerate, so as to achieve a gradual deceleration of the trolley 12.

[0055] See also Figure 2In this embodiment, the lifting assembly 2 includes a lifting frame 21 and a second driving unit 22, the second driving unit 22 is installed on the frame of the trolley 12, the second driving unit 22 is connected to the lifting frame 21, and is used to drive the lifting frame 21 to move in the vertical direction, and the cylindrical container 3 is installed on the lifting frame 21. The controller is electrically connected to the second driving unit 22, and is used to control the second driving unit 22 to drive the lifting frame to move upward according to the second feedback signal, thereby driving the cylindrical container 3 to move upward.

[0056] Furthermore, the second driving unit 22 includes a second motor, a screw rod and a screw nut; the screw rod extends in the vertical direction, the screw nut is sleeved on the screw rod and is connected to the screw rod by a thread, and the lifting frame 21 is connected to the screw nut; the second motor is connected to the screw rod, and is used to drive the screw rod to rotate, and then drive the screw nut and the lifting frame 21 to move up and down along the extension direction of the screw rod.

[0057] Furthermore, the lifting assembly 2 also includes a guide unit, which is located between the lifting frame 21 and the frame. The guide unit extends in the vertical direction, with its upper end connected to the lifting frame 21 and its lower end connected to the frame. The guide unit includes a guide part and a telescopic part. The lower end of the guide part is connected to the frame, and a guide cavity extending in the vertical direction is arranged in the guide part. The telescopic part is located above the guide part, and the upper end of the telescopic part is connected to the lifting frame 21, and the lower end part of the telescopic part is inserted into the guide cavity. The telescopic part can move along the extension direction of the guide cavity. The guide part and the telescopic part cooperate to guide the lifting frame 21 so that the lifting frame 21 can be lifted and lowered in the vertical direction.

[0058] In addition, in order to ensure the reliable operation of the lifting assembly 2, a spare lifting drive unit may be provided. The spare lifting drive unit includes a spare motor, which is connected to the lifting frame 21 through a spare screw nut structure and can drive the lifting frame 21 to lift.

[0059] The enclosed transfer device can realize the transfer of heavy-loaded materials (radioactive objects of large size and weight, which may be materials, parts, tools, etc. that need to be transferred in or out of the sealed box) in the transfer channel 6. Therefore, the enclosed transfer device can be used as a heavy-load transfer device. The transfer device specifically includes a horizontal walking trolley 12, a horizontal main drive system (i.e., a first drive system), a horizontal standby drive system 4, a trolley driving wheel assembly 14, a trolley passive wheel assembly 16, a lifting mechanism, a lifting frame, a lifting main drive system, a lifting standby drive system 5, a cylinder assembly, a drag chain assembly 15, etc.

[0060] The horizontal traveling trolley 12 is arranged on the track 11 through the trolley driving wheel assembly 14 and the trolley passive wheel assembly 16. The horizontal main driving system is connected to a set of driving wheel assemblies and passive wheel assemblies. The horizontal standby driving system 4 is connected to a set of driving wheel assemblies and passive wheel assemblies as a backup measure. The lifting mechanism is arranged on the horizontal traveling trolley 12 through the lifting frame. The lifting main driving system and the lifting standby driving system 5 are arranged on the lifting frame and drive the lifting mechanism at the same time. The cylinder assembly is arranged on the lifting mechanism, and the heavy-loaded material is placed in the cylinder assembly (i.e., the cylinder container 3). The cylinder is mainly composed of a stainless steel inner cylinder, a sealing ring 31 and an outer shielding body. The shielding body can reduce the radiation of the material to the outside (the specific structure and material need to be calculated and determined according to the radiation characteristics of the material). The shielding body is assembled with multiple groups of detachable modules. After a certain period of use, the shielding body can be replaced in the transfer channel 6; the sealing ring 31 is a multi-ring combination structure.

[0061] The advantages of this closed transfer device are: through the integration of horizontal walking and lifting mechanisms, the shuttle transfer of heavy-loaded materials in the transfer channel 6 can be realized, and the modular structure produces the effect of transferring heavy-loaded materials in horizontal and vertical two-dimensional directions, and can also avoid the leakage of high-radioactive atmosphere in the sealed box.

[0062] like Figure 3 As shown, the working process of the closed transfer device is described as follows:

[0063] The closed transfer device is used to carry the packaged radioactive materials through the cylindrical container 3, and drives the cylindrical container 3 to move from the loading position to the transfer position through the moving component 1. At the transfer position, the lifting component 2 in the device drives the cylindrical container 3 to move upward until the opening of the cylindrical container 3 is docked with the interface 7 of the sealed chamber through the sealing ring 31. After the docking is completed, the sealed door of the sealed chamber is opened, so that a sealed connection channel is formed between the inner cavity of the cylindrical container 3 and the sealed chamber. The grabbing device in the sealed chamber extends downward into the cylindrical container 3 and grabs the nuclear fuel. The closed transfer device docks the cylindrical container 3 with the interface 7 to form a sealed connection channel, and the grabbing device grabs the radioactive material through the connection channel, thereby avoiding the leakage of high-radioactive atmosphere into the transfer channel 6.

[0064] Therefore, the closed transfer device can realize the transfer of materials and prevent the radioactive atmosphere in the sealed box from leaking to the transfer channel 6.

[0065] Example 2

[0066] The present invention also discloses a radioactive material processing system, comprising a loading device, a sealed box chamber, a processing device and the closed transfer device in Example 1.

[0067] The transfer channel of the closed transfer device is connected to the feeding device and the sealed box chamber respectively. The feeding device is opposite to the loading position, the sealed box chamber is opposite to the transfer position, and the processing equipment is installed in the sealed box chamber. The closed transfer device is used to transfer the materials of the feeding device to the sealed box chamber, and process the materials through the processing equipment.

[0068] Specifically, taking the processing of nuclear fuel as an example (of course, the radioactive material processing system in this embodiment can also be used to process other parts in the post-processing plant), a loading position and a transfer position are provided in the transfer channel 6, and the loading position and the transfer position are arranged at intervals along the extension direction of the transfer channel 6. The sealed chamber is located above the transfer channel 6, and the transfer channel 6 is connected to the sealed chamber through an interface, and the interface is opposite to the transfer position. The closed transfer device is located in the transfer channel 6, and the cylindrical container 3 of the closed transfer device is used to carry nuclear fuel. The moving component 1 of the closed transfer device is located between the loading position and the transfer position, and can drive the cylindrical container 3 carrying nuclear fuel to be transferred from the loading position to the transfer position. The lifting component 2 of the closed transfer device can drive the cylindrical container 3 to move upward until the cylindrical container 3 is docked with the interface, so that a sealed connection channel is formed between the inner cavity of the cylindrical container 3 and the sealed chamber. The sealed door is installed at the interface to separate the sealed chamber and the transfer channel 6. The grabbing device is located in the sealed chamber. When the sealed door is opened, the grabbing device can extend downward to grab the nuclear fuel.

[0069] The nuclear fuel processing system can achieve the effect of transferring heavy-loaded materials in the horizontal and vertical two-dimensional directions by adopting a closed transfer device, and can also avoid leakage of the highly radioactive atmosphere in the sealed container.

[0070] Furthermore, the system also includes a loading device and a processing device. The loading device is located at the loading position and is used to transport the packaged nuclear fuel to the cylindrical container 3. The processing device is located in the sealed box chamber and is used to unpack and process the nuclear fuel. An inspection door 8 is provided on the side wall of the transfer channel 6. The inspection door 8 is located on one side of the transfer position and is provided with a glove hole and a peep window.

[0071] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A closed transport device, characterized in that: include: Material transfer equipment, sealing interface unit, gripping unit and transfer channel (6); The transfer channel (6) extends in the horizontal direction, and a loading position and a transfer position are provided in the transfer channel (6), and the loading position and the transfer position are arranged at intervals along the extension direction of the transfer channel, and the transfer position corresponds to the sealed box chamber and is located directly below the sealed box chamber; The sealing interface unit is installed at the lower end of the sealing chamber, and the sealing interface unit includes an interface and a sealing door installed on the interface, and the interface passes through the lower wall of the sealing chamber and faces the transfer position; The material transfer device is accommodated in the transfer channel and is located between the loading position and the transfer position. The material transfer component comprises a cylindrical container (3). The upper end of the cylindrical container (3) is provided with an opening, and the shape of the opening is adapted to the shape of the interface. The cylindrical container (3) can move back and forth between the loading position and the transfer position. When the cylindrical container (3) moves to the loading position, it is used to load the material. When the cylindrical container moves to the transfer position, it can move upward in the vertical direction until the edge of the opening is docked with the interface, so that a sealed connection channel is formed between the inner cavity of the cylindrical container (3) and the sealed chamber, and the sealed door is used to control the opening / closing of the connection channel; The grabbing unit is accommodated in the sealed chamber and is used to extend downward into the cylindrical container (3) and grab materials when the connecting channel is opened.

2. The closed transport device according to claim 1, characterized in that: The edge of the opening is provided with a sealing ring, and the edge of the opening is sealed and butted with the interface through the sealing ring.

3. The closed transport device according to claim 1 or 2, characterized in that: The material transfer assembly further comprises a moving assembly (1) and a lifting assembly (2); The moving component (1) is connected to the lifting component (2), and the lifting component (2) is connected to the cylindrical container (3). The moving component (1) is used to drive the lifting component (2) and the cylindrical container (3) to move back and forth between the loading position and the transfer position, and the lifting component (2) is used to drive the cylindrical container (3) to move upward until the upper edge of the cylindrical container (3) is connected to the interface.

4. The closed transport device according to claim 3, characterized in that: Also included is a control unit, the control unit including a controller and a position detection unit; The controller is electrically connected to the moving assembly (1) and is used to control the moving assembly (1) to drive the lifting assembly (2) and the cylindrical container (3) to move between the loading position and the transfer position; The position detection unit comprises a first limit switch and a second limit switch, wherein the first limit switch is installed on the loading position and is electrically connected to the controller, and the first limit switch is used to send a first feedback signal to the controller when sensing that the barrel container (3) moves to the loading position, and the controller is used to control the moving component (1) to stop driving the lifting component (2) and the barrel container (3) according to the first feedback signal, so that the barrel container is at the loading position; The second limit switch is installed on the transfer position and is electrically connected to the controller. The second limit switch is used to send a second feedback signal to the controller when it senses that the barrel container (3) moves to the loading position. The controller is used to control the moving component (1) to stop driving the lifting component (2) and the barrel container (3) according to the second feedback signal, and to control the lifting component (2) to drive the barrel container (3) to move upward so that the edge of the opening is docked with the interface.

5. The closed transport device according to claim 4, characterized in that: The position detection unit further comprises a proximity switch, which is installed in the transfer channel (6) and is located between the second limit switch and the first limit switch, and the proximity switch is electrically connected to the controller, and is used for sending an adjustment signal to the controller when sensing the cylindrical container (3); The controller is used to control the moving component (1) to gradually slow down the moving speed of the lifting component (2) and the cylindrical container (3) according to the adjustment signal.

6. The closed transport device according to claim 4, characterized in that: The position detection unit further comprises a third limit switch, which is installed at the interface and is electrically connected to the controller, and is used to send a third feedback signal when detecting that the open edge of the cylindrical container (3) is docked with the interface. The controller is electrically connected to the sealing door and is used to control the sealing door to open when receiving the third feedback signal, and to control the grabbing unit to extend downward into the cylindrical container (3) to grab the material.

7. The closed transport device according to claim 4, characterized in that: The moving assembly (1) comprises a trolley (12), a track (11) and a first driving unit (13); The track (11) extends along the spacing direction between the loading position and the transfer position, the trolley (12) is connected to the track (11), the first drive unit (13) is installed on the trolley (12), and is used to drive the trolley (12) to move along the extension direction of the track (11), so that the trolley (12) moves between the loading position and the transfer position, the controller is electrically connected to the first drive unit (13), and the controller is used to control the first drive unit (13) to stop driving the trolley (12) forward according to the first feedback signal / the second feedback signal; The lifting assembly (2) is installed on the trolley, and the cylindrical container (3) is installed on the trolley (12) through the lifting assembly (2).

8. The closed transport device according to claim 7, characterized in that: The first driving unit (13) comprises a first motor and a rotating shaft, wherein the first motor is connected to the rotating shaft. The trolley (12) comprises a frame, a driving wheel and a driven wheel, wherein the frame is connected to the track (11) via the driving wheel and the driven wheel. There are two driving wheels, which are arranged opposite to each other. The rotating shaft is located between the two driving wheels. Both ends of the rotating shaft are respectively connected to the two driving wheels. The first motor is used to drive the rotating shaft to rotate, thereby driving the driving wheels to rotate, so that the trolley (12) moves along the extension direction of the track (11).

9. The closed transport device according to claim 7, characterized in that: The lifting assembly (2) comprises a lifting frame (21) and a second driving unit (22). The second driving unit (22) is mounted on the frame of the trolley (12), the second driving unit (22) is connected to the lifting frame (21), and is used to drive the lifting frame (21) to move in a vertical direction, and the cylindrical container (3) is mounted on the lifting frame (21); The controller is electrically connected to the second drive unit (22) and is used to control the second drive unit (22) to drive the lifting frame to move upward according to a second feedback signal, thereby driving the cylindrical container (3) to move upward.

10. The closed transport device according to claim 9, characterized in that: The second driving unit (22) comprises a second motor, a screw and a screw nut; The screw rod extends in a vertical direction, the screw rod nut is sleeved on the screw rod and connected to the screw rod through a thread, and the lifting frame (21) is connected to the screw rod nut; The second motor is connected to the screw rod and is used to drive the screw rod to rotate, thereby driving the screw rod nut and the lifting frame (21) to move up and down along the extension direction of the screw rod.

11. The closed transport device according to claim 10, characterized in that: The lifting assembly (2) further comprises a guide unit, the guide unit being located between the lifting frame (21) and the vehicle frame, the guide unit extending in a vertical direction, the upper end of which is connected to the lifting frame (21), and the lower end of which is connected to the vehicle frame. The guide unit comprises a guide part and a telescopic part, the lower end of the guide part is connected to the vehicle frame, a guide cavity extending in a vertical direction is arranged in the guide part, the telescopic part is located above the guide part, the upper end of the telescopic part is connected to the lifting frame (21), and the lower end part is inserted into the guide cavity, and the telescopic part can move along the extension direction of the guide cavity. The guide portion and the telescopic portion cooperate to guide the lifting frame (21), so that the lifting frame (21) is lifted or lowered in a vertical direction.

12. A radioactive material processing system, characterized in that: It comprises a feeding device, a sealed chamber, a processing device and a closed transfer device according to any one of claims 1 to 11; The transfer channel of the closed transfer device is communicated with the loading device and the sealed chamber respectively, the loading device is opposite to the loading position, the sealed chamber is opposite to the transfer position, and the processing device is installed in the sealed chamber; The enclosed transfer device is used to transfer the materials of the feeding equipment to the sealed box chamber, and process the materials through the processing equipment.

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