Radiation-resistant AGV trolley suitable for radioactive environment

Abstract

The radiation-resistant AGV suitable for the radioactive environment comprises a driving base and a robot upper assembly, the top of the driving base is provided with an opening and is provided with a containing cavity, and a radiation-proof control box containing electronic components is placed in the containing cavity; one end cover of the robot upper assembly is arranged on the opening of the containing cavity and connected with the driving base, the robot upper assembly is provided with a conveying roller path and at least two sets of driving mechanisms connected with the conveying roller path, and the at least two sets of driving mechanisms independently provide driving force for the conveying mechanism so as to convey rollers placed on the conveying roller path; wherein the bottom of the driving base is provided with a navigation mechanism which is matched with a ground indication mark, so that the driving base moves according to a set route. The radiation-resistant AGV suitable for the radioactive environment is better in universality, and the waste transfer efficiency in the radioactive environment is improved.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear power plant waste transportation, and in particular to a radiation-resistant AGV trolley suitable for radioactive environments. Background Art

[0002] At present, the radioactive waste transfer system of nuclear power plants is composed of roller lines to connect various user points. The entire roller is fixedly installed. In order to connect the corresponding user points, multiple sections of rollers need to be set up. There are many devices and they occupy a large space. It causes a lot of workload during the construction period. Secondly, it puts a heavy burden on the owner's subsequent operation and maintenance. Thirdly, the flexibility is poor and subsequent transformation is difficult.

[0003] The AGV used for factory logistics rotation has sufficient flexibility, a high degree of automation, and requires a small number of equipment, but it is a conventional industrial application.

[0004] Specifically, radioactive rays can damage conventional AGV electronic components, causing the exterior paint to age and structural materials to deteriorate. Moreover, when a conventional AGV fails, staff are required to perform maintenance at the AGV, and when power is out of service, manual charging is required. The above characteristics make AGVs unsuitable for use in radioactive environments.

[0005] Based on this, the inventor of the present application proposes a radiation-resistant AGV suitable for radioactive environments, in order to solve the above technical problems. Summary of the invention

[0006] The technical problem to be solved by the present invention is to overcome the defect of low efficiency in the transportation of radioactive waste from nuclear power plants in the prior art and to provide a radiation-resistant AGV suitable for radioactive environments.

[0007] The present invention solves the above technical problems through the following technical solutions:

[0008] The present invention provides a radiation-resistant AGV suitable for radioactive environments, which is characterized by:

[0009] A driving base is provided with an opening at the top and has a receiving cavity, and a radiation-proof control box containing electronic components is placed in the receiving cavity;

[0010] A robot upper body, an end cover is arranged at the opening of the accommodating cavity and connected to the driving base, the robot upper body is provided with a conveying roller and at least two sets of driving mechanisms connected to the conveying roller, and at least two sets of driving mechanisms independently provide driving force for the conveying mechanism to convey the roller placed on the conveying roller; wherein,

[0011] The bottom of the driving base is provided with a navigation mechanism that matches with the ground indication mark so as to move according to the set route.

[0012] According to one embodiment of the present invention, the radiation protection control box comprises a bottom plate, a top plate and a peripheral side plate connected to the bottom plate and the top plate, the bottom plate is connected to the driving base, and the top plate, the bottom plate and the peripheral side plate enclose a space for accommodating the electronic components;

[0013] The top plate, the bottom plate and the peripheral side plates are detachably connected via a plurality of threaded connectors.

[0014] According to one embodiment of the present invention, the top plate and the peripheral side plates are lead plates, and the bottom plate is a lead plate;

[0015] Alternatively, the bottom plate is a steel plate having a thickness greater than that of the top plate and the peripheral side plates.

[0016] According to one embodiment of the present invention, a plurality of avoidance holes are provided at the bottom of the driving base;

[0017] The bottom plate is provided with a plurality of mounting holes matched with the avoidance holes, and the output end of the electronic component is communicated with the outer side of the driving base through the mounting holes and the avoidance holes.

[0018] According to one embodiment of the present invention, the electronic components include: a navigation controller, a camera, a first driver group, a second driver group, and a wireless router;

[0019] The first driver group and the second driver group are connected to the driving mechanism respectively. The navigation controller and the camera constitute the navigation mechanism for mobile navigation of the driving base. The wireless router is used for remote signal transmission with the control end.

[0020] According to one embodiment of the present invention, the navigation controller includes a combination of at least one of a magnetic navigation sensor, a two-dimensional code navigation, and a laser navigation.

[0021] According to one embodiment of the present invention, the driving base is provided with a traction mechanism and a matching mechanism at opposite ends;

[0022] The traction mechanism of one driving base is used to connect with the matching mechanism of another driving base;

[0023] The bottom of the driving base is provided with at least two driving wheels and at least two load-bearing universal wheels.

[0024] According to one embodiment of the present invention, the robot upper body comprises a shell, two battery packs connected to the shell, and two driving mechanisms, each battery pack corresponds to one driving mechanism and independently drives the conveying pipeline; wherein,

[0025] The battery pack is detachably connected to the housing.

[0026] According to one embodiment of the present invention, the robot upper body further comprises a support plate, the conveying roller is arranged on the support plate, and the housing is mounted on the support plate;

[0027] A battery socket is provided on the support plate, and a connection slot matching with the battery socket is provided at the bottom of the battery pack.

[0028] According to an embodiment of the present invention, a limit stopper is further provided on the support plate, one end of the limit stopper is connected to the support plate, and the other end is a telescopic end;

[0029] When the roller reaches the target position of the conveying roller, the telescopic end passes through the gap between the rollers of the conveying pipe and extends to the top of the conveying pipe to form a clamping connection with the roller;

[0030] When the roller does not reach the target position, the telescopic end is retracted to below the conveying pipe.

[0031] According to one embodiment of the present invention, the conveying raceway is provided with double sprockets at opposite ends along its axial direction, and adjacent sprockets are cross-connected by chains;

[0032] Each of the driving mechanisms is connected to the double sprocket at one end of the conveying raceway.

[0033] The positive and progressive effects of the present invention are:

[0034] The present invention is suitable for a radiation-resistant AGV trolley in a radioactive environment. The electronic components of the AGV trolley are arranged in a radiation-proof control box, which is beneficial to the operation of the AGV trolley in a radioactive environment. A robot upper body is arranged on the top of the AGV trolley, so that waste can be transferred in combination with a conveyor line. The transportation channel can not only be used for the AGV trolley, but also will not affect the use of other personnel or transportation equipment. It has better versatility and improves the efficiency of waste transfer in a radioactive environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which:

[0036] Figure 1A three-dimensional diagram of the radiation-resistant AGV vehicle suitable for use in a radioactive environment according to the present invention;

[0037] Figure 2 for Figure 1 Schematic diagram of the disassembly of the driving base and the robot body;

[0038] Figure 3 for Figure 1 Schematic diagram of the exploded structure of the middle drive base;

[0039] Figure 4 for Figure 3 Schematic diagram of the structure of the radiation protection control box;

[0040] Figure 5 for Figure 1 Bottom view of the radiation-resistant AGV suitable for radioactive environments;

[0041] Figure 6 for Figure 1 Schematic diagram of the explosion structure of the robot's upper body.

[0042] 1. Driving base; 11. Accommodating cavity; 12. Navigation mechanism; 13. Avoidance hole; 14. Traction mechanism; 15. Matching mechanism; 16. Driving wheel; 17. Load-bearing universal wheel;

[0043] 2. Radiation protection control box; 21. Bottom plate; 211. Mounting hole; 22. Top plate; 23. Side plate;

[0044] 3. Robot upper body; 31. Conveyor roller; 32. Driving mechanism; 33. Shell; 34. Battery pack; 35. Support plate; 351. Limit stopper; 36. Battery socket; 37. Socket;

[0045] 4. Roller;

[0046] 5. Electronic components; 51. Navigation controller; 52. Camera; 53. First driver group; 54. Second driver group; 55. Wireless router. DETAILED DESCRIPTION

[0047] The present invention is further described below in conjunction with specific embodiments and drawings. More details are elaborated in the following description to facilitate a full understanding of the present invention. However, the present invention can obviously be implemented in a variety of other ways different from the description herein. Those skilled in the art can make similar generalizations and deductions based on actual application situations without violating the connotation of the present invention. Therefore, the protection scope of the present invention should not be limited by the content of this specific embodiment.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0049] Please refer to Figures 1 to 6 The present invention proposes a radiation-resistant AGV trolley suitable for a radioactive environment, comprising a driving base 1 and a robot upper body 3. The driving base 1 is provided with an opening at the top and has a receiving cavity 11, and a radiation-proof control box 2 containing electronic components 5 is placed in the receiving cavity 11; an end cover of the robot upper body 3 is provided at the opening of the receiving cavity 11 and is connected to the driving base 1, and a conveying roller 31 and at least two sets of driving mechanisms 32 connected to the conveying roller 31 are provided on the robot upper body 3, and at least two sets of driving mechanisms 32 respectively and independently provide driving force for the conveying mechanism to convey the roller 4 placed on the conveying roller 31; wherein, a navigation mechanism 12 is provided at the bottom of the driving base 1 to cooperate with a ground indicator mark so as to move according to a set route.

[0050] In order to enable the AGV to transport rollers 4 containing radioactive waste in a radioactive environment, a radiation-proof control box 2 is provided on the AGV, and the electronic components 5 on the AGV are concentrated in the radiation-proof control box 2 to provide the AGV with operating conditions in a radioactive environment.

[0051] Meanwhile, a conveying roller 31 is arranged on the driving base 1 , and the roller 4 containing the radioactive waste can be moved on the conveying roller 31 under the action of the driving mechanism 32 , so that the AGV can access or send out the roller 4 .

[0052] Moreover, the driving mechanism 32 can drive the conveying roller 31 to rotate forward or reverse, so that the transportation starting point and end point of the conveying roller 31 can be switched, thereby being able to adapt to user points at different locations, and having greater flexibility in use.

[0053] The driving base 1 is also provided with a navigation mechanism 12 that cooperates with the ground indication mark, eliminating the traditional roller design, greatly reducing the workload during the construction period, and improving the flexibility and efficiency of waste transportation.

[0054] Please refer to Figure 2 and Figure 4The radiation protection control box 2 includes a bottom plate 21, a top plate 22 and a surrounding side plate 23 connected to the bottom plate 21 and the top plate 22. The bottom plate 21 is connected to the driving base 1. The top plate 22, the bottom plate 21 and the surrounding side plates 23 enclose a space for accommodating electronic components 5. The top plate 22, the bottom plate 21 and the surrounding side plates 23 are detachably connected by multiple threaded connectors.

[0055] The bottom plate 21 , the top plate 22 and the side plates 23 are arranged to be detachable, so that the radiation protection control box 2 can be opened easily to inspect or replace the electronic components 5 inside.

[0056] Specifically, the top plate 22 and the surrounding side plates 23 are lead plates, and the bottom plate 21 is a lead plate; or, the bottom plate 21 is a steel plate having a thickness greater than that of the top plate 22 and the surrounding side plates 23 .

[0057] It can be seen that the bottom of the radiation protection control box 2 needs to have a hole for some of the electronic components 5 inside to identify the mark on the ground, and the hole is connected to the external radioactive environment. In order to improve the radiation protection effect of the electronic components 5, the bottom plate 21 can be replaced with a thicker steel plate, or a lead plate can be used. The specific adjustment can be made according to the actual radiation protection requirements and the distance between the radiation protection control box 2 and the ground, which is not limited here.

[0058] That is, lead plates or thick steel plates can be used for radiation protection of electronic components 5 , and the thickness of the lead plates and steel plates can be adjusted according to actual needs, which is not limited here.

[0059] Furthermore, the driving base 1 itself is also made of steel plates, for example, stainless steel is used as a structural member, and does not require surface spraying, and thus will not age due to radiation.

[0060] Specifically, a plurality of avoidance holes 13 are provided at the bottom of the driving base 1 ; a plurality of mounting holes 211 matching the avoidance holes 13 are opened on the bottom plate 21 , and the output end of the electronic component 5 is connected to the outside of the driving base 1 through the mounting holes 211 and the avoidance holes 13 .

[0061] The reason for setting the position where the electronic components 5 are connected to the outside of the driving base 1 at the bottom of the driving base 1 is that the gap between the bottom of the driving base 1 and the ground is very small, so the damage of radioactive substances to the electronic components 5 can be greatly reduced. At the same time, the bottom plate 21 is further improved to ensure that the electronic components 5 can be used normally in a radioactive environment.

[0062] For example, a sealing structure, such as a sealing gasket, a sealant, a sealing plate, etc., may be further provided around the avoidance hole 13 and the mounting hole 211 to prevent external radioactive substances from affecting the electronic components 5 .

[0063] Please continue to refer to Figure 4The electronic components 5 include: a navigation controller 51, a camera 52, a first driver group 53, a second driver group 54 and a wireless router 55; the first driver group 53 and the second driver group 54 are respectively connected to the driving mechanism 32, the navigation controller 51 and the camera 52 constitute a navigation mechanism 12 for driving the mobile navigation of the base 1, and the wireless router 55 is used for remote signal transmission with the control end.

[0064] It can be seen that the AGV car provided in this application has a dual navigation mode, namely, a magnetic navigation mode and a QR code navigation mode, with the magnetic navigation mode being the main mode. When the magnetic navigation mode fails, it can be switched to the QR code navigation mode.

[0065] It should be noted that the dual navigation mode can also be a QR code navigation mode and a laser navigation mode, or a magnetic navigation mode and a laser navigation mode. There is no limitation here and it can be selected according to the actual environment.

[0066] The dual navigation modes can form a redundant design. When one of them fails, the other navigation mode can also guide the AGV to continue working or move to the maintenance point for maintenance.

[0067] Please refer to Figure 5 A traction mechanism 14 and a matching mechanism 15 are provided at opposite ends of the driving base 1; the traction mechanism 14 of one driving base 1 is used to connect with the matching mechanism 15 of another driving base 1; at least two driving wheels 16 and at least two load-bearing universal wheels 17 are provided at the bottom of the driving base 1.

[0068] That is, in the waste transfer system in a radioactive environment, at least two AGV carts are set up, and the two rescue each other. When one of them fails, the other AGV cart can be used as a rescue vehicle to transport the failed AGV cart to prevent staff from entering the irradiation area.

[0069] Specifically, after the normally operating AGV trolley reaches the position of the faulty AGV trolley, its traction mechanism 14 is matched and installed with the matching mechanism 15 of the faulty AGV trolley, so that it can reach the maintenance point according to the instructions or be dragged to the designated location to remove the radioactive waste (roller). It can be seen that the faulty AGV trolley just lacks power and will not lock itself, and is in a draggable state.

[0070] It should be noted that in scenarios with low radioactivity and where personnel can enter directly, the AGVs do not need to rescue each other and can operate independently. In the event of a failure, staff can directly arrive at the scene for repairs.

[0071] Please refer to Figure 2 , Figure 3 and Figure 6The robot upper body 3 includes a shell 33, two battery packs 34 connected to the shell 33, and two driving mechanisms 32. Each battery pack 34 corresponds to a driving mechanism 32 and independently drives the conveying roller 31; wherein the battery pack 34 is detachably connected to the shell 33.

[0072] The battery pack 34 provides power to the drive mechanism 32 and the electronic components 5 . The present application provides two battery packs 34 , which are redundant to each other. When one of the battery packs 34 is out of power, the other battery pack 34 can also supply power to the drive mechanism 32 and the electronic components 5 .

[0073] Moreover, the battery pack 34 is detachable, which makes it easy to remove the dead battery at the battery replacement mechanism and directly install a fully charged battery, thereby avoiding the safety hazards caused by charging the AGV in a radioactive environment and improving the reliability and safety of the AGV operation.

[0074] Specifically, the robot upper body 3 also includes a support plate 35, the conveying roller 31 is arranged on the support plate 35, and the shell 33 is installed on the support plate 35; a battery socket 36 is provided on the support plate 35, and a connection slot 37 matching the battery socket 36 is provided at the bottom of the battery pack 34.

[0075] That is, at the battery replacement mechanism, the dead battery pack 34 can be unplugged from bottom to top, and then a new battery pack 34 can be installed from top to bottom. The plug-in method is adopted to simplify the battery installation process, improve the continuity of the AGV trolley transfer roller 4, and thus improve its transfer efficiency.

[0076] In one embodiment, a limit stop rod 351 is also provided on the support plate 35, one end of the limit stop rod 351 is connected to the support plate 35, and the other end is a telescopic end; when the roller 4 reaches the target position of the conveying roller 31, the telescopic end passes through the gap between the rollers of the conveying pipe and extends to the top of the conveying pipe to form a clamping connection with the roller 4; when the roller 4 does not reach the target position, the telescopic end is retracted to the bottom of the conveying pipe.

[0077] That is, the conveying pipeline 31 is composed of a plurality of rollers, and there is an installation gap between adjacent rollers, and the adjacent rollers are connected by chains, and the limit stop rod 351 is located below the gap between the adjacent rollers, so that the limit stop rod 351 can pass through the gap when it is raised or lowered.

[0078] Optionally, the lifting and lowering mode of the limit stop rod 351 may be driven by a hydraulic cylinder, or may be other feasible linear drive mechanisms 32, which are not limited here.

[0079] A target position is arranged on the conveying roller 31 , and a positioning sensor is arranged on both sides of the target position. The positioning sensor may be a photoelectric sensor, a distance sensor, etc., which is not limited here.

[0080] The following is an explanation taking the process of receiving roller 4 as an example:

[0081] When the AGV arrives at the user point, the drive mechanism 32 is turned on, the conveying roller 31 runs and receives the roller 4 output from the user point, and the roller 4 enters from the starting position of the conveying roller 31 and runs along the conveying roller 31 until it reaches the target position to trigger the positioning sensor, and then the drive mechanism 32 is closed, the limit stop rod 351 is started, and the telescopic end rises to the top of the conveying roller 31 to form a clamping connection with the roller 4, so as to prevent the roller 4 from shaking when the AGV is running, thereby improving its transportation stability.

[0082] The delivery process of roller 4 is:

[0083] The limit stopper 351 is opened to be retracted to below the conveying pipe 31, and then the driving mechanism 32 is opened, the conveying pipe 31 is operated, and then the roller 4 is conveyed to the target user point.

[0084] It can be seen that a set of limit stop bars 351 are respectively arranged on both sides of the target position, so that the two cooperate to form a clamping connection with the roller 4.

[0085] Please refer to Figure 6 The conveying roller 31 is provided with double sprockets at opposite ends along its axial direction, and adjacent sprockets are cross-connected by chains; each driving mechanism 32 is connected to the double sprocket at one end of the conveying roller 31, thereby driving the conveying pipeline 31 to operate.

[0086] That is, in the initial state, only one drive mechanism 32 is turned on. When the chain on the running side of the drive mechanism 32 is damaged, the other drive mechanism 32 can be switched on, so that the AGV can continue to work or move to a maintenance point for maintenance. On the one hand, the efficiency of the roller 4 transportation is ensured, and on the other hand, it can prevent staff from entering a radioactive environment to repair the AGV.

[0087] In summary, the present invention is suitable for radiation-resistant AGV carts in radioactive environments. The electronic components 5 of the AGV cart are arranged in the radiation-proof control box 2, which is beneficial to the operation of the AGV cart in a radioactive environment. A robot upper body 3 is arranged on the top of the AGV cart, so that waste can be transferred in combination with a conveyor line. The transportation channel can not only be used for AGV carts, but also will not affect the use of other personnel or transportation equipment. It has better versatility and improves the efficiency of waste transfer in radioactive environments.

[0088] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "install", "connect", "connect", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can also be a mechanical connection. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0089] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0090] Although the present invention is disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, any modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A radiation-resistant AGV suitable for use in radioactive environments, characterized in that: include: A driving base is provided with an opening at the top and has a receiving cavity, and a radiation-proof control box containing electronic components is placed in the receiving cavity; A robot upper body, an end cover is arranged at the opening of the accommodating cavity and connected to the driving base, the robot upper body is provided with a conveying roller and at least two sets of driving mechanisms connected to the conveying roller, and at least two sets of driving mechanisms independently provide driving force for the conveying mechanism to convey the roller placed on the conveying roller; wherein, The bottom of the driving base is provided with a navigation mechanism that matches with the ground indication mark so as to move according to the set route.

2. The radiation-resistant AGV suitable for radioactive environments according to claim 1 is characterized in that: The radiation protection control box comprises a bottom plate, a top plate and a peripheral side plate connected to the bottom plate and the top plate, the bottom plate is connected to the driving base, and the top plate, the bottom plate and the peripheral side plate enclose a space for accommodating the electronic components; The top plate, the bottom plate and the peripheral side plates are detachably connected via a plurality of threaded connectors.

3. The radiation-resistant AGV suitable for radioactive environments according to claim 2 is characterized in that: The top plate and the side plates are lead plates, and the bottom plate is lead plate; Alternatively, the bottom plate is a steel plate having a thickness greater than that of the top plate and the peripheral side plates.

4. The radiation-resistant AGV suitable for radioactive environments according to claim 2, characterized in that: The bottom of the driving base is provided with a plurality of avoidance holes; The bottom plate is provided with a plurality of mounting holes matched with the avoidance holes, and the output end of the electronic component is communicated with the outer side of the driving base through the mounting holes and the avoidance holes.

5. The radiation-resistant AGV suitable for radioactive environments according to claim 2, characterized in that: The electronic components include: a navigation controller, a camera, a first driver group, a second driver group and a wireless router; The first driver group and the second driver group are connected to the driving mechanism respectively. The navigation controller and the camera constitute the navigation mechanism for mobile navigation of the driving base. The wireless router is used for remote signal transmission with the control end.

6. The radiation-resistant AGV suitable for radioactive environments according to claim 5, characterized in that: The navigation controller includes a combination of at least one of a magnetic navigation sensor, a two-dimensional code navigation, and a laser navigation.

7. The radiation-resistant AGV suitable for radioactive environments according to claim 1, characterized in that: The driving base is provided with a traction mechanism and a matching mechanism at opposite ends; The traction mechanism of one driving base is used to connect with the matching mechanism of another driving base; The bottom of the driving base is provided with at least two driving wheels and at least two load-bearing universal wheels.

8. The radiation-resistant AGV suitable for radioactive environments according to claim 1, characterized in that: The robot upper body comprises a shell, two battery packs connected to the shell, and two driving mechanisms, each battery pack corresponds to one driving mechanism and independently drives the conveying pipeline; wherein, The battery pack is detachably connected to the housing.

9. The radiation-resistant AGV suitable for radioactive environments according to claim 8, characterized in that: The robot upper body also includes a support plate, the conveying roller is arranged on the support plate, and the shell is installed on the support plate; A battery socket is provided on the support plate, and a connection slot matching with the battery socket is provided at the bottom of the battery pack.

10. The radiation-resistant AGV suitable for radioactive environments according to claim 9, characterized in that: The support plate is also provided with a limit stop rod, one end of which is connected to the support plate, and the other end is a telescopic end; When the roller reaches the target position of the conveying roller, the telescopic end passes through the gap between the rollers of the conveying pipe and extends to the top of the conveying pipe to form a clamping connection with the roller; When the roller does not reach the target position, the telescopic end is retracted to below the conveying pipe.

11. The radiation-resistant AGV suitable for radioactive environments according to any one of claims 1 to 10, characterized in that: The conveying raceway is provided with double sprockets at opposite ends along its axial direction, and adjacent sprockets are cross-connected by chains; Each of the driving mechanisms is connected to the double sprocket at one end of the conveying raceway.

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