Transfer device

Abstract

The invention belongs to the technical field of nuclear power plant radioactive waste filter element transferring, and discloses a transferring device which is used for transferring nuclear power plant radioactive waste filter elements and comprises a transferring cylinder, a grabbing mechanism and a driving mechanism, the transferring cylinder comprises a cylinder body and a sealing structure, the top face and the bottom face of the cylinder body are each provided with a first opening, and the sealing structure can seal the first opening in the bottom face; the grabbing mechanism comprises a grabbing assembly and an image collecting assembly, the image collecting assembly collects an image of the position where the grabbing assembly is located, the grabbing assembly grabs the waste filter element, the grabbing assembly can seal the first opening in the top face, and the driving mechanism is in driving connection with the grabbing assembly and drives the grabbing assembly to move in the axis direction of the barrel. The grabbing assembly moves between the interior of the barrel and the interior of the storage device through the first opening in the bottom face, the driving mechanism can make sealing contact with the hole wall of the first opening in the top face when moving, waste filter element grabbing is visualized, the whole operation process is conducted in the transfer device, and workers are prevented from being irradiated by excessive radiation.

Description

Technical Field

[0001] The invention relates to the technical field of transportation of radioactive waste filter elements in nuclear power plants, and in particular to a transportation device. Background Art

[0002] A certain amount of radioactive waste filter elements will be generated during the operation of a nuclear power plant. Because the waste filter elements are enriched with radionuclides in the wastewater, their radioactivity level is relatively high. Such waste filter elements are generally temporarily stored in the shielded room of the nuclear island. After a certain period of temporary storage, they are grabbed by the waste filter element grabbing and transporting device and placed in the waste container, and then sent to the waste treatment facility for further preparation and treatment.

[0003] Due to the high radioactivity level of the waste filter element, if the shielding is not good or the equipment is difficult to operate during the operation of grabbing and transporting the waste filter element, it will bring great occupational exposure risks to the operators. The filter element used in the prior art is a filter element with a "one" handle, and a manual filter element grabber (a long pole with a hook under it) is usually used to grab the waste filter element. At this time, the internal state is not visible, and the shielding channel needs to be opened to visually observe the handle position. When grabbing, the cover on the top of the shielding cylinder needs to be opened, and radioactive rays leak out, which has a high risk of occupational exposure. In addition, when the waste filter element is transported from the shielding cylinder to the waste container, the top of the shielding cylinder is simply shielded with lead, and the shielding capacity is insufficient.

[0004] Therefore, a transfer device is urgently needed to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a transfer device for transferring waste filter elements in a storage device, which can make the grabbing of waste filter elements visible, and the entire operation process is carried out in the transfer device, so that workers are protected from excessive radiation exposure, protecting their occupational health, and being safe and reliable.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A transfer device for transferring the spent filter element in the storage device, comprising:

[0008] The transfer cylinder comprises a cylinder body and a sealing structure, wherein the top surface and the bottom surface of the cylinder body in the axial direction are both provided with a first opening, and the sealing structure selectively seals the first opening of the bottom surface;

[0009] A grabbing mechanism, comprising a grabbing component and an image acquisition component, wherein the image acquisition component is connected to the grabbing component and is used to acquire an image of the location of the grabbing component, the grabbing component is used to grab the waste filter element, and the grabbing component selectively seals the first opening of the top surface;

[0010] A driving mechanism is drivingly connected to the grabbing assembly and is used to drive the grabbing assembly to move in the axial direction of the cylinder, so that the grabbing assembly moves between the cylinder and the storage device through the first opening of the bottom surface, and the driving mechanism can seal and contact the hole wall of the first opening of the top surface when moving.

[0011] Preferably, the grabbing assembly has a grabbing position and a sealing position. In the grabbing position, the grabbing assembly is located in the storage device and can grab the waste filter element; in the sealing position, the grabbing assembly seals the first opening of the top surface; and the driving mechanism drives the grabbing assembly to move between the grabbing position and the sealing position.

[0012] Preferably, the driving mechanism comprises a pull rod assembly and a lifting frame assembly, the pull rod assembly is movably connected to the grabbing assembly, and the lifting frame assembly is connected to the pull rod assembly and is used to drive the pull rod assembly to extend into the cylinder or move out of the cylinder.

[0013] Preferably, the pulling rod assembly includes a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged to the grabbing assembly, the other end of the first connecting rod is hinged to one end of the second connecting rod, and the lifting frame assembly is selectively connected to the other end of the first connecting rod and the other end of the second connecting rod.

[0014] Preferably, it also includes a locking mechanism, which is arranged on the top surface of the cylinder, and the locking mechanism selectively abuts against the grabbing assembly, and when the locking mechanism abuts against the grabbing assembly, the grabbing assembly can be locked in the sealing position; the locking mechanism also selectively abuts against the first connecting rod, and when the locking mechanism abuts against the first connecting rod, the first connecting rod can be restricted from moving in its axial direction.

[0015] Preferably, the pull rod assembly has an open state and a folded state. In the open state, the axis of the first connecting rod, the axis of the second connecting rod and the axis of the cylinder are collinear; in the folded state, the first connecting rod and the second connecting rod are both located outside the cylinder and close to each other.

[0016] Preferably, in the open state, the first connecting rod can drive the grabbing assembly to rotate around the axis of the first connecting rod.

[0017] Preferably, a support member is further included, which is arranged on the top surface of the cylinder and is used to support the pull rod assembly.

[0018] Preferably, the grabbing assembly includes a connecting member, a shielding body and a clamping jaw, the connecting member is connected to the driving mechanism, the shielding body is arranged on the circumferential outer wall of the connecting member, and the circumferential outer wall of the shielding body can contact the circumferential inner wall of the cylinder, the clamping jaw is connected to the connecting member and is used to grab the waste filter element, and the connecting member selectively seals the first opening of the top surface.

[0019] Preferably, the inner wall of the cylinder is provided with a second opening, the sealing structure is slidably connected to the cylinder and has a first position and a second position, in the first position, the sealing structure seals the first opening of the bottom surface; in the second position, the sealing structure seals the second opening.

[0020] The invention discloses a transport device for transporting radioactive waste filter elements of nuclear power plants, which comprises: a transport cylinder, a grabbing mechanism, and a driving mechanism. The transport cylinder comprises a cylinder body and a sealing structure. The top surface and the bottom surface of the cylinder body are both provided with a first opening. The sealing structure selectively seals the first opening of the bottom surface. The grabbing mechanism comprises a grabbing component and an image acquisition component. The image acquisition component is connected to the grabbing component and is used to acquire an image of the position where the grabbing component is located. The grabbing component is used to grab the waste filter element. The grabbing component selectively seals the first opening of the top surface. The driving mechanism is connected to the grabbing component and is used to drive the grabbing component to move in the axial direction of the cylinder body so that The grabbing assembly moves between the cylinder body and the storage device through the first opening on the bottom surface, and the driving mechanism selectively seals the first opening on the top surface. The grabbing assembly is driven to move by the driving mechanism, thereby adjusting the depth and direction of the grabbing assembly in the storage device. The image acquisition assembly is connected to the grabbing assembly, so that the grabbing of the waste filter element is visualized. The sealing structure can seal the first opening on the bottom surface, and the grabbing assembly and the driving mechanism can both seal the first opening on the top surface, so that the waste filter element can directly enter the cylinder body after being removed from the storage device. Due to the sealing of the cylinder body, the staff is protected from excessive radiation exposure, thereby protecting the occupational health of the staff, and being safe and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of a transfer device provided by an embodiment of the present invention;

[0022] Figure 2 is a structural schematic diagram of a transfer device provided by an embodiment of the present invention from another perspective;

[0023] Figure 3 It is a structural schematic diagram of a cylinder provided by an embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of the structure of a grabbing assembly provided by an embodiment of the present invention;

[0025] Figure 5is a structural schematic diagram of a lifting frame assembly provided by an embodiment of the present invention;

[0026] Figure 6 is a schematic structural diagram of a pull rod assembly provided by an embodiment of the present invention in an open state;

[0027] Figure 7 It is a schematic structural diagram of a pull rod assembly provided in an embodiment of the present invention in a folded state.

[0028] In the figure:

[0029] 1. Transfer cylinder; 11. Cylinder body; 111. First opening; 112. Second opening; 12. Sealing structure; 2. Grabbing mechanism; 21. Grabbing assembly; 211. Connector; 212. Shielding body; 213. Clamp; 3. Driving mechanism; 31. Pull rod assembly; 311. First connecting rod; 312. Second connecting rod; 32. Lifting frame assembly; 321. Lifting rod; 322. Reversing rod; 323. Driving wheel; 324. First reversing wheel; 325. Second reversing wheel; 326. Connecting rope; 4. Locking mechanism; 5. Pull ring; 6. Support member; 7. Locking groove. DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0031] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0033] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0034] This embodiment provides a transfer device for transferring waste filter elements in a storage device, which can visualize the grabbing of waste filter elements, and the entire operation process is carried out in the transfer device, thereby protecting workers from excessive radiation exposure, protecting workers' occupational health, and being safe and reliable.

[0035] like Figure 1-Figure 7 As shown, the transfer device includes a transfer cylinder 1, a gripping mechanism 2 and a driving mechanism 3. The transfer cylinder 1 includes a cylinder body 11 and a sealing structure 12. The top and bottom surfaces of the cylinder body 11 in the axial direction are both provided with a first opening 111, and the sealing structure 12 selectively seals the first opening 111 of the bottom surface. It can be understood that when the waste filter element is located in the cylinder body 11, the sealing structure 12 can seal the first opening 111 of the bottom surface and seal the bottom surface of the cylinder body 11.

[0036] The grabbing mechanism 2 includes a grabbing component 21 and an image acquisition component (not shown in the figure). The image acquisition component is connected to the grabbing component 21 and is used to acquire an image of the location of the grabbing component 21. The grabbing component 21 is used to grab the waste filter element. The grabbing component 21 selectively seals the first opening 111 on the top surface. The grabbing component 21 cooperates with the sealing structure 12 to achieve full sealing of the cylinder 11. Exemplarily, when the grabbing component 21 is in a state of not grabbing the waste filter element, the first opening 111 on the top surface can be sealed; when the grabbing component 21 is in a state of grabbing the waste filter element, the first opening 111 on the top surface is no longer sealed.

[0037] It is understandable that the image acquisition component is connected to the grabbing component 21 and is used to capture images of the location of the grabbing component 21. For example, when the grabbing component 21 is in the storage device, the image acquisition component can capture images in the storage device, which can visualize the process of grabbing the waste filter element, facilitate operators to obtain the situation in the device, and improve the grabbing efficiency. The grabbing component 21 selectively seals the first opening 111 on the top surface, which can ensure the sealing effect of the transfer device. Exemplarily, the image acquisition component includes but is not limited to cameras, video cameras and other devices for image acquisition.

[0038] Furthermore, in this embodiment, a display screen (not shown in the figure) electrically connected to the image acquisition component is provided outside the barrel 11, thereby facilitating an operator to observe the image of the position of the grabbing component 21 in real time.

[0039] The driving mechanism 3 is drivingly connected to the grabbing assembly 21, and is used to drive the grabbing assembly 21 to move in the axial direction of the cylinder 11, so that the grabbing assembly 21 moves between the cylinder 11 and the storage device through the first opening 111 on the bottom surface. When the driving mechanism 3 moves, it can be in sealing contact with the hole wall of the first opening 111 on the top surface, so that when the grabbing assembly 21 cannot seal the first opening 111 on the top surface, the first opening 111 on the top surface can be sealed by the driving mechanism 3. It can be understood that by setting the driving mechanism 3 to drive the grabbing assembly 21 to move between the cylinder 11 and the storage device through the first opening 111 on the bottom surface in the axial direction of the cylinder 11, the movement of the grabbing assembly 21 is realized, and the grabbing and transfer of the waste filter element is realized.

[0040] In the rotating device provided in this embodiment, the image acquisition component is connected to the grasping component 21, and the image of the position of the grasping component 21 is collected, so that the grasping process of the waste filter element can be visualized, which is convenient for the operator to obtain the situation inside the device and improve the grasping efficiency. At the same time, the sealing structure 12 can seal the first opening 111 on the bottom surface, and the grasping component 21 and the driving mechanism 3 can seal the first opening 111 on the top surface, so that the waste filter element can directly enter the cylinder 11 after being removed from the storage device, and due to the sealing of the cylinder 11, the staff is protected from excessive radiation exposure, protecting the occupational health of the staff, and being safe and reliable.

[0041] Furthermore, the size of the cylinder 11 matches that of the storage device, the cylinder 11 is placed above the storage device, and the vertical projection of the opening of the storage device is located inside the cylinder 11 and directly opposite to the first opening 111 of the bottom surface.

[0042] Optionally, the gripping assembly 21 has a gripping position and a sealing position. Figure 1 and Figure 2: is a schematic diagram of the grabbing assembly 21 in the sealing position. Specifically, in the grabbing position, the grabbing assembly 21 is located in the storage device and can grab the waste filter element; in the sealing position, the grabbing assembly 21 seals the first opening 111 on the top surface. The driving mechanism 3 drives the grabbing assembly 21 to move between the grabbing position and the sealing position. It can be understood that in the grabbing position, the grabbing assembly 21 is located in the storage device to grab the waste filter element, and in the sealing position, part of the grabbing assembly 21 seals the first opening 111 on the top surface, and part of the grabbing assembly 21 is located inside the cylinder 11. The driving mechanism 3 drives the grabbing component 21 to move between the grabbing position and the sealing position, and is used to move the grabbing component 21 and the grabbed waste filter element, and then move the grabbing component 21 to the grabbing position to grab the waste filter element, or move the grabbing component 21 and the grabbed waste filter element into the cylinder 11 to complete the grabbing of the waste filter element, and in the sealing position, the grabbing component 21 seals the first opening 111 on the top surface to achieve sealing of the cylinder 11, thereby preventing the radioactive rays of the waste filter element in the cylinder 11 from leaking out.

[0043] Alternatively, if Figure 2 and Figure 4 As shown, the grabbing assembly 21 includes a connecting member 211, a shielding body 212 and a clamping jaw 213. The connecting member 211 is connected to the driving mechanism 3, the shielding body 212 is arranged on the circumferential outer wall of the connecting member 211, and the circumferential outer wall of the shielding body 212 can contact the circumferential inner wall of the cylinder 11, the clamping jaw 213 is connected to the connecting member 211, and is used to grab the waste filter element, and the connecting member 211 selectively seals the first opening 111 on the top surface. It can be understood that by providing the shielding body 212, when the grabbing assembly 21 moves in the cylinder 11, the position where the grabbing assembly 21 is located can be further sealed to prevent the radioactive rays in the storage device from leaking through the position where the grabbing assembly 21 is located, and the connecting member 211 can selectively seal the first opening 111 on the top surface, can seal the top surface of the cylinder 11, and can effectively prevent the radioactive rays in the storage device from leaking.

[0044] Alternatively, if Figure 3 As shown, the inner wall of the cylinder 11 is provided with a second opening 112, and the sealing structure 12 is slidably connected to the cylinder 11 and has a first position and a second position. Figure 3It is a schematic diagram when the sealing structure 12 is in the second position. For example, the sealing structure 12 can be slidably connected to the cylinder 11 through the slide rail slider assembly to guide the movement of the sealing structure 12. In the first position, the sealing structure 12 seals the first opening 111 of the bottom surface, and in the second position, the sealing structure 12 seals the second opening 112. It can be understood that by setting the second opening 112, the sealing structure 12 is in the first position, and the sealing structure 12 seals the first opening 111 of the bottom surface, which is used to seal the waste filter element in the cylinder 11 to prevent the radioactive rays in the cylinder 11 from leaking out, and the sealing structure 12 can also play a certain protective role, such as holding the waste filter element to prevent the waste filter element from accidentally falling out of the cylinder 11 during transportation; when the sealing structure 12 is in the second position, the first opening 111 of the bottom surface is in an open state, and the grabbing assembly 21 can enter the storage device through the first opening 111. The sealing structure 12 seals the second opening 112, which can prevent the radioactive rays in the storage device from leaking out of the second opening 112.

[0045] Further, continue to refer to Figure 3 A plurality of pull rings 5 ​​are arranged at intervals on the top surface of the cylinder 11 in a circumferential direction for cooperation with other structures to realize the transportation of the transportation device. Specifically, the number of the pull rings 5 ​​is 2, 4, 6, 8, etc. In this embodiment, four pull rings 5 ​​are arranged at intervals on the top surface of the cylinder 11 in a circumferential direction.

[0046] Alternatively, if Figure 2 As shown, the driving mechanism 3 includes a rod assembly 31 and a lifting frame assembly 32. Specifically, the rod assembly 31 is movably connected to the grabbing assembly 21, and the lifting frame assembly 32 is connected to the rod assembly 31, and is used to drive the rod assembly 31 to extend into the cylinder 11 or move out of the cylinder 11. It can be understood that the lifting frame assembly 32 drives the rod assembly 31 to extend into the cylinder 11 or move out of the cylinder 11. In this process, the grabbing assembly 21 moves with the rod assembly 31 and can be located at different positions in the cylinder 11 or the storage device, thereby making the grabbing assembly 21 located at different depths in the storage device, so that the transfer device can adapt to storage devices of different depths.

[0047] Specifically, Figure 5As shown, the lifting frame assembly 32 includes a lifting rod 321, a reversing rod 322, a driving wheel 323, a first reversing wheel 324, a second reversing wheel 325 and a connecting rope 326. One end of the lifting rod 321 is detachably connected to the cylinder 11, the driving wheel 323 is arranged on the side of one end of the lifting rod 321, the first reversing wheel 324 is arranged at the other end of the lifting rod 321, one end of the reversing rod 322 is connected to the position of the lifting rod 321 close to the first reversing wheel 324, the second reversing wheel 325 is arranged at the other end of the reversing rod 322, one end of the connecting rope 326 is wound around the driving wheel 323, and the other end is connected to the pull rod assembly 31, the connecting rope 326 is simultaneously in contact with the first reversing wheel 324 and the second reversing wheel 325, and the movement of the other end of the connecting rope 326 can be driven by the rotation of the driving wheel 323. It is understandable that when the lifting frame assembly 32 is needed to drive the pull rod assembly 31 to move, the other end of the connecting rope 326 can be connected to the pull rod assembly 31, and then the driving wheel 323 can be driven to rotate to realize the movement of the pull rod assembly 31, and then realize the movement of the grabbing assembly 21.

[0048] Further, refer to Figure 6 and Figure 7 The rod assembly 31 includes a first connecting rod 311 and a second connecting rod 312. One end of the first connecting rod 311 is hinged to the grab assembly 21, and the other end of the first connecting rod 311 is hinged to one end of the second connecting rod 312. The lifting frame assembly 32 is selectively connected to the other end of the first connecting rod 311 and the other end of the second connecting rod 312. It can be understood that the rod assembly 31 includes the hinged first connecting rod 311 and the second connecting rod 312. Such a configuration can reduce the length space occupied by the rod assembly 31, and thus there is no need to set up a high lifting frame assembly 32, thereby reducing the requirements of the transfer device for the height of the use space. The lifting frame assembly 32 is selectively connected to the other end of the first connecting rod 311 and the other end of the second connecting rod 312, and can realize the separate driving of the first connecting rod 311 and the second connecting rod 312.

[0049] Of course, it is understandable that the driving mechanism 3 may not be the above-mentioned structure, but may include a cylinder or other linear driving components, which is not limited in this embodiment.

[0050] Furthermore, if Figure 1As shown, the transfer device further includes a locking mechanism 4, which is disposed on the top surface of the cylinder 11, and the locking mechanism 4 selectively abuts against the grab assembly 21. Specifically, when the locking mechanism 4 abuts against the grab assembly 21, the grab assembly 21 can be locked in a sealed position. The locking mechanism 4 also selectively abuts against the first connecting rod 311, and when the locking mechanism 4 abuts against the first connecting rod 311, the first connecting rod 311 can be restricted from moving in the axial direction thereof. It can be understood that by setting up the locking mechanism 4, the grabbing assembly 21 can be locked in a sealed position, which is convenient for fixing the grabbing assembly 21. During the transportation process, the fixing effect of the grabbing assembly 21 can be improved, thereby improving the stability of the transportation of the waste filter element. In addition, the locking mechanism 4 can abut against the first connecting rod 311, and can limit the movement of the first connecting rod 311 in its axial direction, and fix the first connecting rod 311 on the cylinder 11, so that the lifting frame assembly 32 is convenient to be replaced from being connected to the first connecting rod 311 to being connected to the second connecting rod 312, thereby avoiding the first connecting rod 311 and the grabbing assembly 21 from accidentally falling into the storage device when the lifting frame assembly 32 is connected to the second connecting rod 312, and the stability is relatively high.

[0051] Specifically, the locking mechanism 4 includes but is not limited to a locking pin (not shown in the figure) movably arranged on the top surface of the cylinder 11, and locking grooves 7 are arranged on the grabbing assembly 21 and the first connecting rod 311. The locking mechanism 4 has a locking position and an unlocking position on the top surface of the cylinder 11. When the locking mechanism 4 is in the locking position, the locking pin abuts against the locking groove 7 on the grabbing assembly 21 or the first connecting rod 311 to fix the position of the grabbing assembly 21; when the locking mechanism 4 is in the unlocking position, the locking pin withdraws from the locking groove 7, that is, it does not interfere with the locking groove 7 on the grabbing assembly 21 and the first connecting rod 311, so as not to affect the movement of the grabbing assembly 21 and the first connecting rod 311.

[0052] Furthermore, the locking mechanism 4 can also be set to multiple, such as 2, 3, 4, etc. In the present embodiment, the locking mechanism 4 is set to two, and is symmetrical with respect to the first opening 111 on the top surface of the cylinder 11, thereby improving the locking effect of the locking mechanism 4.

[0053] Furthermore, the pull rod assembly 31 has an open state and a folded state. Figure 6 is a schematic diagram of the pull rod assembly 31 in an open state, Figure 73 is a schematic diagram of the pull rod assembly 31 in a folded state. Specifically, in the open state, the axis of the first connecting rod 311, the axis of the second connecting rod 312 and the axis of the cylinder 11 are collinear; in the folded state, the first connecting rod 311 and the second connecting rod 312 are both located outside the cylinder 11 and close to each other. It can be understood that in the open state, the axis of the first connecting rod 311, the axis of the second connecting rod 312 and the axis of the cylinder 11 are collinear, at this time, the connecting rope 326 of the lifting frame assembly 32 is connected to the second connecting rod 312, the length of the pull rod assembly 31 in the axial direction of the cylinder 11 is the largest, which can ensure that the grabbing assembly 21 is located in the storage device to grab the waste filter element, and in the folded state, the first connecting rod 311 and the second connecting rod 312 are located outside the cylinder 11 and close to each other, which can reduce the space occupied by the pull rod assembly 31 outside the cylinder 11, for example, the first connecting rod 311 and the second connecting rod 312 are folded and located above the cylinder 11.

[0054] Further, in the open state, the first connecting rod 311 can drive the grabbing assembly 21 to rotate around the axis of the first connecting rod 311. It is understandable that the grabbing assembly 21 can rotate along the axis of the first connecting rod 311 to grab the waste filter element. For example, in this embodiment, the waste filter element is a filter element with a "one" handle. By rotating the grabbing assembly 21, the direction of the clamping jaw 213 in the grabbing assembly 21 can be changed, and then the direction of the "one" groove on the clamping jaw 213 can be changed, so as to facilitate the alignment of the "one" handle with the "one" groove, and then facilitate the grabbing of the waste filter element. It is understandable that the grabbing assembly 21 can rotate around the axis of the first connecting rod 311 by driving the first connecting rod 311 and the second connecting rod 312 to rotate, and the first connecting rod 311 drives the grabbing assembly 21 to rotate to achieve, and there are many ways to drive the first connecting rod 311 and the second connecting rod 312 to rotate, such as manual drive or motor drive, etc., which are not limited in this embodiment.

[0055] Furthermore, if Figure 1 As shown, the transfer device further includes a support member 6, which is disposed on the top surface of the cylinder 11 and is used to support the tie rod assembly 31. It can be understood that when the tie rod assembly 31 is in a folded state, the first connecting rod 311 and the second connecting rod 312 are folded and located outside the cylinder 11. At this time, the support member 6 supports the connecting rod (the first connecting rod 311 in this embodiment) in the tie rod assembly 31 close to the top surface of the cylinder 11, which is equivalent to the grabbing assembly 21 and the support member 6 abutting against the tie rod assembly 31 at the same time, which can prevent the tie rod assembly 31 from shaking, and facilitate improving the stability of the tie rod assembly 31 during the transfer process.

[0056] In some optional embodiments, the lengths of the first connecting rod 311 and the second connecting rod 312 may be the same or different. In this embodiment, the length of the first connecting rod 311 is smaller than the length of the second connecting rod 312, and the first connecting rod 311 is closer to the top surface of the cylinder 11. This arrangement makes the pull rod assembly 31 more flexible as a whole, further reduces the space required to be occupied by the pull rod assembly 31, and also makes it unnecessary to set the connecting rope 326 too long.

[0057] Working process: first place the transfer device on the storage device, ensure that the transfer device is aligned with the storage device to avoid leakage of radioactive rays, then pull out the sealing structure 12 to make it in the second position, the sealing structure 12 seals the second opening 112, and releases the seal of the first opening 111 on the bottom surface, so that the cylinder 11 and the storage device are in a connected state. Then connect one end of the connecting rope 326 to the first connecting rod 311 of the pull rod assembly 31, and put the locking mechanism 4 in an unlocked state. At this time, use the lifting frame assembly 32 to drive the first connecting rod 311 of the pull rod assembly 31 to move inside the cylinder 11. When the locking groove 7 on the first connecting rod 311 moves close to the top surface of the cylinder 11, control the locking mechanism 4 to be in a locked state, lock the first connecting rod 311, and after locking, fix the connecting rope 326 to the other end of the second connecting rod 312, then put the locking mechanism 4 in an unlocked state, and continue to drive the second connecting rod 312 of the pull rod assembly 31 to move inside the cylinder 11.

[0058] Then, the situation at the grabbing assembly 21 is obtained through the image acquisition assembly, and the depth of the grabbing assembly 21 is controlled by the lifting frame assembly 32. At the same time, the first connecting rod 311 can be driven to rotate along the axis of the first connecting rod 311, thereby realizing the rotation of the grabbing assembly 21 to change the grabbing direction of the grabbing assembly 21. After the grabbing assembly 21 grabs the waste filter element, the lifting frame assembly 32 is used to drive the pull rod assembly 31 to move out of the cylinder 11. When the locking groove 7 on the first connecting rod 311 is located on the top surface of the cylinder 11, the locking mechanism 4 is in a locked state. After locking, the connecting rope 326 is fixed to the other end of the first connecting rod 311, and then the locking mechanism 4 is in an unlocked state, and the pull rod assembly 31 continues to be driven to move out of the cylinder 11. When the positioning groove on the connecting member 211 is located on the top surface of the cylinder 11, the locking mechanism 4 is in a locked state, the connecting member 211 is locked, and then the first connecting rod 311 and the second connecting rod 312 are folded and placed on the support 6.

[0059] Then push the sealing structure 12 to seal the first opening 111 on the bottom surface, and then transfer the entire transfer device. After moving to the specified position, pull out the sealing structure 12 to place it in the second position, release the seal on the first opening 111 on the bottom surface, and then control the grabbing assembly 21 to release the waste filter element, thereby completing the transfer of the waste filter element.

[0060] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A transfer device for transferring waste filter elements in a storage device, characterized in that: include: A transfer cylinder (1) comprises a cylinder body (11) and a sealing structure (12), wherein the top surface and the bottom surface of the cylinder body (11) in the axial direction are both provided with a first opening (111), and the sealing structure (12) selectively seals the first opening (111) of the bottom surface; A gripping mechanism (2) comprising a gripping component (21) and an image acquisition component, wherein the image acquisition component is connected to the gripping component (21) and is used to acquire an image of the position where the gripping component (21) is located, the gripping component (21) is used to grip the waste filter element, and the gripping component (21) selectively seals the first opening (111) of the top surface; A driving mechanism (3) is drivingly connected to the grabbing assembly (21) and is used to drive the grabbing assembly (21) to move in the axial direction of the barrel (11), so that the grabbing assembly (21) moves between the barrel (11) and the storage device through the first opening (111) on the bottom surface, and the driving mechanism (3) can be in sealing contact with the hole wall of the first opening (111) on the top surface when moving.

2. The transfer device according to claim 1, characterized in that: The grabbing assembly (21) has a grabbing position and a sealing position. In the grabbing position, the grabbing assembly (21) is located in the storage device and can grab the waste filter element. In the sealing position, the grabbing assembly (21) seals the first opening (111) of the top surface. The driving mechanism (3) drives the grabbing assembly (21) to move between the grabbing position and the sealing position.

3. The transfer device according to claim 1 or 2, characterized in that: The driving mechanism (3) comprises a pull rod assembly (31) and a lifting frame assembly (32); the pull rod assembly (31) is movably connected to the grabbing assembly (21); the lifting frame assembly (32) is connected to the pull rod assembly (31) and is used to drive the pull rod assembly (31) to extend into the cylinder (11) or to move out of the cylinder (11).

4. The transfer device according to claim 3, characterized in that: The pulling rod assembly (31) includes a first connecting rod (311) and a second connecting rod (312), one end of the first connecting rod (311) is hinged to the grabbing assembly (21), the other end of the first connecting rod (311) is hinged to one end of the second connecting rod (312), and the lifting frame assembly (32) is selectively connected to the other end of the first connecting rod (311) and the other end of the second connecting rod (312).

5. The transfer device according to claim 4, characterized in that: The invention also comprises a locking mechanism (4), wherein the locking mechanism (4) is arranged on the top surface of the cylinder (11), and the locking mechanism (4) selectively abuts against the grabbing assembly (21), and when the locking mechanism (4) abuts against the grabbing assembly (21), the grabbing assembly (21) can be locked in the sealing position; the locking mechanism (4) also selectively abuts against the first connecting rod (311), and when the locking mechanism (4) abuts against the first connecting rod (311), the first connecting rod (311) can be restricted from moving in the axial direction thereof.

6. The transfer device according to claim 5, characterized in that: The pull rod assembly (31) has an open state and a folded state. In the open state, the axis of the first connecting rod (311), the axis of the second connecting rod (312) and the axis of the cylinder (11) are collinear; in the folded state, the first connecting rod (311) and the second connecting rod (312) are both located outside the cylinder (11) and close to each other.

7. The transfer device according to claim 6, characterized in that: In the open state, the first connecting rod (311) can drive the grabbing assembly (21) to rotate around the axis of the first connecting rod (311).

8. The transfer device according to claim 6, characterized in that: It also includes a support member (6), which is arranged on the top surface of the cylinder (11) and is used to support the pull rod assembly (31).

9. The transfer device according to claim 1 or 2, characterized in that: The gripping assembly (21) comprises a connecting piece (211), a shielding body (212) and a clamping jaw (213); the connecting piece (211) is connected to the driving mechanism (3); the shielding body (212) is arranged on the circumferential outer wall of the connecting piece (211), and the circumferential outer wall of the shielding body (212) can contact the circumferential inner wall of the cylinder (11); the clamping jaw (213) is connected to the connecting piece (211) and is used to grip the waste filter element; the connecting piece (211) selectively seals the first opening (111) of the top surface.

10. The transfer device according to claim 1 or 2, characterized in that: The inner wall of the cylinder (11) is provided with a second opening (112); the sealing structure (12) is slidably connected to the cylinder (11) and has a first position and a second position; in the first position, the sealing structure (12) seals the first opening (111) of the bottom surface; in the second position, the sealing structure (12) seals the second opening (112).

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