Intelligent control trolley for sample transfer in radioactive environment

Abstract

The invention discloses an intelligent control trolley for sample transfer in a radioactive environment. The intelligent control trolley comprises a shielding container, a posture adjusting mechanism and a sample feeding mechanism which are arranged on a movable chassis, the shielding container is of a horizontally-arranged cylinder structure with the two ends open, and a material box used for containing radioactive samples is arranged in the shielding container. The posture adjusting mechanism is connected with the shielding container and used for adjusting the pitching angle of the shielding container; and a part of the sample feeding mechanism extends into the shielding container and is used for pushing the material box to move along the axial direction of the shielding container, so that the material box extends out of the shielding container. The invention can solve the problems of safety in the radioactive sample transfer process of the hot cell group, limited operation space of transfer equipment, tedious and complicated operation process and the like, and can ensure the sample safety, simplify the operation process, improve the working efficiency, reduce the exposure dose of personnel and increase the transfer space range.

Description

Technical Field

[0001] The present invention relates to the technical field of auxiliary tooling for post-irradiation inspection, and in particular to an intelligent control vehicle for transporting samples in a radioactive environment. Background Art

[0002] With the increasing number of irradiation tasks year by year, the demand for the transportation of radioactive samples within the hot cell group has increased significantly. The sample transportation system within the hot cell group has the characteristics of safety, speed, and minimization of personnel exposure dose, and has the ability to transport large, medium, and small types of samples between hot cell groups or hot cells. At present, the transportation of samples between hot cell groups or hot cells is mainly through the shielding container docking the vertical or horizontal channel of the hot cell, and relying on the crane to transfer a limited distance. The whole process requires close operation by the staff, and the operation process is cumbersome, requiring multiple people to coordinate to complete the work. The biggest concern of the transportation of radioactive samples between hot cell groups or hot cells is how to ensure sample safety, simplify the operation process, improve work efficiency, reduce personnel exposure dose, and increase the scope of transportation space. To this end, it is necessary to develop a sample transportation vehicle suitable for the radioactive environment within the hot cell group based on the structural characteristics of the hot cell, the radiation safety requirements for personnel, and the transportation process. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent control trolley for sample transportation in a radioactive environment in response to the shortcomings of the current sample transportation methods between hot cell groups or between hot cells, which solves the problems of safety in the transportation process of radioactive samples in hot cell groups, limited operating space for transportation equipment, and complicated operation process. The transportation of radioactive samples can be achieved by using the trolley, which can ensure sample safety, simplify the operation process, improve work efficiency, reduce the radiation dose of personnel, and increase the transportation space range.

[0004] The present invention is achieved through the following technical solutions:

[0005] The present invention provides an intelligent control trolley for transporting samples in a radioactive environment, comprising a shielding container, a posture adjustment mechanism and a sample delivery mechanism arranged on a mobile chassis; the shielding container is a horizontally arranged cylindrical structure with openings at both ends, and a material box for accommodating radioactive samples is arranged therein; the posture adjustment mechanism is connected to the shielding container, and is used to adjust the pitch angle of the shielding container; a portion of the sample delivery mechanism extends into the shielding container, and is used to push the material box to move along the axial direction of the shielding container, so that the material box extends out of the shielding container.

[0006] As a preferred solution of the present invention, the mobile chassis includes a chassis body and a mounting base, the mounting base is arranged above the chassis body, a mounting frame is slidably arranged on the mounting base, and the sliding direction is along the axial direction of the shielding container, and the shielding container is fixedly arranged on the mounting frame; the attitude adjustment mechanism is connected between the chassis body and the mounting base to adjust the pitch angle of the mounting base relative to the chassis body.

[0007] As a preferred embodiment of the present invention, the chassis body includes a front body, a rear body and omnidirectional wheels, the rear body is connected to the front body via a horizontally arranged hinge shaft, and the omnidirectional wheels are respectively arranged on both sides of the front body and the rear body.

[0008] As a preferred solution of the present invention, a buffer spring and a limit switch are provided on the movable chassis, the buffer spring is used to compress and form a buffer when the shielding container is docked with the hot chamber, and the limit switch is used to detect whether the buffer spring is compressed to a preset value.

[0009] As a preferred embodiment of the present invention, the posture adjustment mechanism includes two groups of driving components arranged at intervals along the axial direction of the shielding container, each group of driving components includes electric cylinders symmetrically arranged on both sides of the axis of the shielding container, one end of all the electric cylinders is connected to the chassis body, and the other end is connected to the corresponding column on the mounting base plate.

[0010] As a preferred solution of the present invention, the shielding container is an inner and outer double-layer shell structure, and a lead body is cast in the cavity between the inner and outer double-layer shells. A conical guide section is provided at the inlet end of the shielding container, and the conical guide section is adapted to the hot chamber docking channel.

[0011] As a preferred solution of the present invention, the shielding container is provided with a sliding channel on the side near the entrance end, and a front lead plug is arranged in the sliding channel. The front lead plug is driven to telescopically move along the sliding channel by a lead plug extraction mechanism on the movable chassis, and the front lead plug is extended into and shielded at the front end of the material box.

[0012] As a preferred embodiment of the present invention, the sample feeding mechanism includes a multi-stage telescopic sleeve and a multi-stage telescopic cylinder. The multi-stage telescopic sleeve is slidably arranged in the shielding container, and the material box is connected to the protruding end of the multi-stage telescopic sleeve; the protruding end of the multi-stage telescopic cylinder is connected to the multi-stage telescopic sleeve to drive the multi-stage telescopic sleeve to extend and retract along the axial direction of the shielding container.

[0013] As a preferred embodiment of the present invention, the multi-stage telescopic sleeve includes a primary sleeve, a secondary sleeve and a tertiary sleeve which are sequentially sleeved from the outside to the inside, the outer peripheral wall of the primary sleeve is slidably connected with the inner peripheral wall of the shielding container, the front end of the tertiary sleeve is connected to the material box, and the rear end is connected to the protruding end of the multi-stage telescopic cylinder.

[0014] As a preferred embodiment of the present invention, a tail lead plug for shielding radioactive rays is fixedly provided at the rear end of the three-stage sleeve, and the tail lead plug is detachably connected to the extended end of the multi-stage telescopic cylinder.

[0015] As a preferred embodiment of the present invention, the sample feeding mechanism also includes a manual push rod and a push rod bracket, the manual push rod is installed on the push rod bracket, and a locking key is provided at the front end of the manual push rod, and the locking key is used to connect to the keyway on the tail lead plug at the rear end of the three-stage sleeve.

[0016] As a preferred solution of the present invention, a front end guide key and a rear end guide key are axially arranged on the outer wall of the manual push rod, the front end guide key and the rear end guide key are symmetrically arranged in the circumferential direction, and the front end guide key and the rear end guide key have a certain spacing size in the axial direction; the push rod bracket is provided with a guide groove adapted to the front end guide key and the rear end guide key.

[0017] As a preferred embodiment of the present invention, an auxiliary vision system and a control system are also provided on the mobile chassis; the auxiliary vision system includes a horizontal camera and a bird's-eye view camera, which are used by the operator to observe the front and surrounding conditions of the vehicle body; the control system is used to control the movement of the vehicle and coordinate the docking operation of the shielding container and the hot chamber and the sample delivery operation.

[0018] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0019] 1. In the actual operation of the present invention, it is only necessary to remotely control the transport vehicle to transport the samples, which is convenient to use, simple to operate, shortens the working time, and reduces the radiation dose value of personnel;

[0020] 2. The intelligent transport vehicle of the present invention is not restricted by specific transport tracks and movement modes, and can greatly increase the space range of transportation;

[0021] 3. The present invention adopts a remote-controlled intelligent transport vehicle, which can effectively prevent human errors during transportation, has high reliability, and can effectively ensure the safety of samples;

[0022] 4. The intelligent transport vehicle of the present invention has simple operation and transfer process, low operation cost, and can greatly reduce labor and radiation dose. It can be widely used in the transfer of radioactive samples between hot chambers / in hot chamber groups, and has good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0024] Figure 1 This is the main view of the intelligent control vehicle for transporting samples in a radioactive environment in the present invention;

[0025] Figure 2 A top view of the intelligent control vehicle for transporting samples in a radioactive environment in the present invention;

[0026] Figure 3 This is an axonometric diagram of the intelligent control vehicle for transporting samples in a radioactive environment in the present invention;

[0027] Figure 4 It is a schematic diagram of the overall structure of the mobile chassis in the present invention;

[0028] Figure 5 It is a simplified schematic diagram of the layout of the chassis body in the present invention;

[0029] Figure 6 It is a schematic diagram of the posture adjustment mechanism in the present invention;

[0030] Figure 7 It is a schematic diagram of the appearance of the shielding container in the present invention;

[0031] Figure 8 This is a schematic diagram of the installation of the telescopic cylinder in the present invention;

[0032] Fig. 9 It is a schematic cross-sectional structure diagram of the telescopic sleeve in the present invention;

[0033] Fig.10 This is a diagram showing the state in which the telescopic sleeve drives the material box to extend;

[0034] Fig.11 This is a schematic diagram of the installation of the manual push rod and the push rod bracket in the present invention;

[0035] Fig.12 It is a schematic diagram of the manual push rod structure in the present invention;

[0036] Fig.13 It is a partial schematic diagram of the push rod bracket in the present invention;

[0037] Fig.14 It is a schematic diagram of locking the manual push rod and the telescopic sleeve in the present invention;

[0038] Fig.15 Schematic diagram of the auxiliary visual system in the present invention.

[0039] Marks and corresponding parts names in the attached drawings:

[0040] 1-shielding container, 11-material box, 12-conical guide section, 13-front lead plug, 2-attitude adjustment mechanism, 21-electric cylinder, 3-auxiliary visual system, 31-horizontal camera, 32-overhead camera, 4-sample delivery mechanism, 41-telescopic sleeve, 411-first sleeve, 412-second sleeve, 413-third sleeve, 414-tail lead plug, 4141-keyway, 42-telescopic cylinder, 43-manual push Rod, 431-locking key, 432-front guide key, 433-rear guide key, 44-push rod bracket, 441-guide groove, 5-mobile chassis, 51-chassis body, 511-front body, 512-rear body, 513-omnidirectional wheel, 52-mounting base plate, 521-guide rail, 53-mounting frame, 54-buffer spring, 55-limit switch, 56-linear module, 561-connecting block, 6-control system. DETAILED DESCRIPTION

[0041] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0042] 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.

[0043] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0044] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0045] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0046] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0047] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces), unless otherwise clearly and specifically defined.

[0048] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0049] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "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 be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0050] Please refer to Figures 1 to 15An intelligent control vehicle for transporting samples in a radioactive environment provided in an embodiment of the present application includes a shielding container 1, a posture adjustment mechanism 2 and a sample delivery mechanism 4 arranged on a mobile chassis 5; the shielding container 1 is a cylindrical structure arranged horizontally and opened at both ends, and a material box 11 for accommodating radioactive samples is arranged therein; the posture adjustment mechanism 2 is connected to the shielding container 1, and is used to adjust the pitch angle of the shielding container 1; a portion of the sample delivery mechanism 4 extends into the shielding container 1, and is used to push the material box 11 to move along the axial direction of the shielding container 1, so that the material box 11 extends out of the shielding container 1.

[0051] When in use, the trolley is moved by controlling the mobile chassis 5, and the direction of the trolley is adjusted during the movement of the trolley, so that the entrance end of the shielding container 1 carried by the trolley is facing the hot chamber docking channel when the trolley approaches the hot chamber. The pitch angle of the shielding container 1 is further adjusted by the posture adjustment mechanism 2, so that the docking port on the shielding container 1 is accurately aligned with the hot chamber docking channel. After the docking and locking are completed, the material box 11 is pushed by the sample delivery mechanism 4 to move along the axial direction of the shielding container 1, so that the material box 11 is extended into the hot chamber from the hot chamber docking channel. After the hot chamber manipulator grabs or places the radioactive sample, the sample delivery mechanism 4 drives the material box 11 to retract into the shielding container 1, and then releases the docking and locking between the shielding container 1 and the hot chamber docking channel, and the trolley moves to the required position.

[0052] According to some embodiments of the present application, the mobile chassis 5 includes a chassis body 51 and a mounting substrate 52, the mounting substrate 52 is arranged above the chassis body 51, a mounting frame 53 is slidably arranged on the mounting substrate 52, and the sliding direction is along the axial direction of the shielding container 1, and the shielding container 1 is fixedly arranged on the mounting frame 53; the attitude adjustment mechanism 2 is connected between the chassis body 51 and the mounting substrate 52 to adjust the pitch angle of the mounting substrate 52 relative to the chassis body 51.

[0053] Specifically, in the initial state, the mounting substrate 52 is horizontally arranged above the chassis body 51. Since the posture adjustment mechanism 2 is connected between the chassis body 51 and the mounting substrate 52, the mounting substrate 52 forms a suspended installation state. It only needs to operate the posture adjustment mechanism 2 to change the pitch angle of the mounting substrate 52 relative to the chassis body 51, that is, to change the height position of the entrance end of the shielding container 1.

[0054] A guide rail 521 is fixedly arranged on the upper side of the mounting substrate 52, and the guide rail 521 is extended and arranged along the axial direction of the shielding container 1. A plurality of clamps are arranged on the mounting frame 53 at intervals along the axial direction of the shielding container 1, so as to fix the shielding container 1 on the mounting frame 53. An adaptive slide is arranged on the lower side of the mounting frame 53, and the mounting frame 53 cooperates with the guide rail 521 through the slide, so that the mounting frame 53 is slidably mounted on the mounting substrate 52. By slidingly connecting the mounting frame 53 with the mounting substrate 52, the mounting frame 53 can be appropriately retreated at the moment when the inlet end of the shielding container 1 contacts the wall of the hot chamber, thereby preventing the inlet end of the shielding container 1 from being strongly impacted.

[0055] According to some embodiments of the present application, the chassis body 51 includes a front body 511, a rear body 512 and omnidirectional wheels 513, the rear body 512 is connected to the front body 511 via a horizontally arranged hinge shaft, the mounting base plate 52 is located above the front body 511, and the omnidirectional wheels 513 are respectively arranged on both sides of the front body 511 and the rear body 512. Since the rear body 512 can swing around the horizontal hinge shaft, the two omnidirectional wheels 513 on the rear body 512 can better adapt to the uneven road surface, thereby avoiding one or more omnidirectional wheels 513 from slipping or idling when the vehicle is moving, thereby affecting the movement accuracy of the mobile chassis 5.

[0056] Specifically, there are four omnidirectional wheels 513, which are distributed on both sides of the front vehicle body 511 and the rear vehicle body 512. The four omnidirectional wheels 513 are independently driven by four servo motors arranged on the chassis body 51. The omnidirectional wheels 513 are Mecanum wheels, which can be divided into two types according to the difference of the small roller shafts on the Mecanum wheels, namely, middle support type and two-end support type Mecanum wheels.

[0057] The advantages of the middle support type are: the support hub is located in the middle of the roller shaft, the obstacle crossing performance is relatively good, and the obstacle crossing will not fail because the obstacle hits the hub first, and the structure of the middle support type is more suitable for roads with tiny particles, because such a support structure will not cause the roller shafts to get stuck due to the presence of small particles; however, this middle support method causes the outer contour line of the roller shaft to be cut off in the middle, and the motion curve is discontinuous, which will increase the vibration and discontinuity of the wheel's movement. The advantages of the two-end support type are: the small roller shaft contour line is complete, the movement is relatively stable, and the strength of the two-end support type is higher than that of the middle support structure under the same conditions; the disadvantages are: compared with the middle support structure, the obstacle crossing performance of the omnidirectional wheel 513 supported at both ends is poor, and the wheel's sports field is required to be flat and free of small particles, otherwise the small roller may get stuck due to the entry of larger particles, and the omnidirectional characteristics of the wheel will be lost.

[0058] In the present application, a Mecanum wheel with two-end support is used. In order to make the omnidirectional wheel 513 structure run smoothly and the mobile chassis 5 also have a large load characteristic, we usually use a four-wheel structure omnidirectional platform. The layout of the four omnidirectional wheels 513 adopts an "O-shaped" rectangular arrangement (that is, from a top view, the axis of the small roller shaft on the four omnidirectional wheels 513 can form an O-shaped shape along the inclination direction), and the two omnidirectional wheels 513 on the same axis are installed in reverse symmetry to offset the axial component of force, and the parameters of each omnidirectional wheel 513 are the same.

[0059] After the four omnidirectional wheels 513 are arranged in the above manner, the mobile chassis 5 can not only realize movement in the X and Y directions, but also realize rotational movement around the Z axis because the component force along the axial direction of the roller can form a rotation torque. By controlling the rotation direction and rotation speed of the four omnidirectional wheels 513, the mobile chassis 5 can realize arbitrary movement in a two-dimensional plane.

[0060] Regarding the overlap of the Mecanum wheel rollers, when the overlap λ=1, it means that at any time, only one roller of the omnidirectional wheel 513 is always in contact with the ground; when the overlap 1<λ<2, two rollers of the omnidirectional wheel 513 will be in contact with the ground at a certain moment when rolling. When the overlap is between 1 and 2, the movement continuity and load-bearing performance of the omnidirectional wheel 513 will be improved, so the overlap usually takes a value between 1 and 2.

[0061] Since there are discontinuous small rollers in an array around the omnidirectional wheel 513, even if the envelope of the rollers is guaranteed to be a circle in the actual process, errors are difficult to avoid during the design and processing process. Therefore, there is a certain degree of discontinuity on the surface of the omnidirectional wheel 513. In order to compensate for this shortcoming and increase the operating stability of the omnidirectional wheel 513, a layer of elastic rubber structure is added to the outer surface of the small rollers to absorb part of the vibration generated by the wheel, while also increasing the friction of the rollers, thereby improving the movement performance of the omnidirectional wheel 513.

[0062] Due to the characteristics of the Mecanum wheel, it needs to bear a certain amount of force perpendicular to the plane of the wheel set during normal driving, turning, lateral movement and drifting. When the omnidirectional wheel 513 is installed, a support seat is fixedly arranged at a corresponding position on the chassis body 51, and a support shaft is installed on the support seat in a back-to-back slewing support through a pair of tapered roller bearings. One end of the support shaft is connected to the output end of the servo motor through a reducer, and the other end is connected to the omnidirectional wheel 513.

[0063] According to some embodiments of the present application, a buffer spring 54 and a limit switch 55 are provided on the mobile chassis 5. The buffer spring 54 is used to compress and form a buffer when the shielding container 1 is docked with the hot chamber, and the limit switch 55 is used to detect whether the buffer spring 54 is compressed to a preset value.

[0064] By arranging a buffer spring 54 in the forward direction of the trolley, when the shielding container 1 contacts the wall, the buffer spring 54 can provide a certain buffer to prevent the shielding container 1 from generating excessive impact force with the wall; at the same time, with the cooperation of the limit switch 55, it can be ensured that the buffer spring 54 provides a certain pre-tightening force to the shielding container 1, so as to facilitate the pressing of the shielding container 1 and the alignment structure on the wall.

[0065] Specifically, the buffer spring 54 is arranged axially along the shielding container 1, one end of the buffer spring 54 is connected to the chassis body 51, and the other end is connected to the mounting frame 53. When the shielding container 1 just contacts the wall, the trolley will continue to move toward the wall, so that the shielding container 1 and the mounting frame 53 will move backward together, thereby compressing the buffer spring 54. When the buffer spring 54 is compressed to a predetermined value, the shielding container 1 will contact the limit switch 55, and it can be known that the shielding container 1 has reached the target pressing force on the alignment structure on the wall, and the operator is prompted to proceed to the next step.

[0066] According to some embodiments of the present application, the posture adjustment mechanism 2 includes two groups of driving components arranged at intervals along the axial direction of the shielding container 1, each group of driving components includes electric cylinders 21 symmetrically arranged on both sides of the axis of the shielding container 1, and one end of all the electric cylinders 21 is connected to the chassis body 51, and the other end is connected to the corresponding column on the mounting base plate 52.

[0067] Specifically, the four electric cylinders 21 are divided into two groups, and the two electric cylinders 21 in each group move synchronously. The two close to the docking end of the shielding container 1 are the front electric cylinders 21, and the other two are the rear electric cylinders 21. The front electric cylinder 21 has a fixed cylinder body and an articulated cylinder rod, and the rear electric cylinder 21 has an articulated cylinder body and an articulated cylinder rod. The stroke of the four electric cylinders 21 is 200 mm, which can realize the lifting and pitching angle adjustment of the shielding container 1. When the four electric cylinders 21 rise synchronously, the mounting base plate 52 drives the shielding container 1 to rise; when the four electric cylinders 21 descend synchronously, the mounting base plate 52 drives the shielding container 1 to descend; by operating the front electric cylinder 21 or the rear electric cylinder 21 alone, the pitching angle adjustment of the shielding container 1 can be realized.

[0068] According to some embodiments of the present application, the shielding container 1 is an inner and outer double-layer shell structure, and a lead body is cast in the cavity between the inner and outer double-layer shells. A conical guide section 12 is provided at the inlet end of the shielding container 1, and the conical guide section 12 is adapted to the hot chamber docking channel.

[0069] Specifically, the inner and outer double-layer shells of the shielding container 1 are made of stainless steel, and a lead body is cast in the internal cavity. The total weight of the shielding container 1 is about 1000 kg. A conical guide section 12 is provided at the entrance end (butt end) of the shielding container 1 to facilitate the docking operation with the hot chamber docking channel on the wall. After the shielding container 1 is docked, the shielding container 1 is fixed and locked by the sealing interface locking device on the wall.

[0070] According to some embodiments of the present application, the shielding container 1 is provided with a sliding channel on the side near the entrance end, and a front lead plug 13 is arranged in the sliding channel. The front lead plug 13 is driven to telescopically move along the sliding channel by a lead plug extraction mechanism on the movable chassis 5, and the front lead plug 13 is extended into and shielded at the front end of the material box 11.

[0071] Since the material box 11 needs to be telescopically moved in and out of the shielding container 1, the entrance end of the shielding container 1 is designed to be open, so that radioactive rays will cause leakage. The present application sets a sliding channel connected to the inside on the side of the shielding container 1, and uses a lead plug extraction mechanism to drive the front lead plug 13 to telescopically move. When the material box 11 needs to extend or retract the shielding container 1, the front lead plug 13 is pulled out in advance; when the material box 11 is completely inside the shielding container 1, the front lead plug 13 is inserted to shield the rays, thereby preventing the rays from leaking from the entrance of the shielding container 1. At the same time, the outer circular protrusion at the joint of the shielding container 1 is similar to the shape of a pagoda, which can effectively block the gap between the front lead plug 13 and the shielding container 1 to ensure that the rays will not leak out.

[0072] The lead plug extraction mechanism includes a linear module 56 connected to the mounting frame 53. The slider of the linear module 56 is connected to the front lead plug 13 via a connecting block 561. The movement direction of the slider on the linear module 56 is consistent with the direction of the sliding channel opened on the side of the shielding container 1. Therefore, the front lead plug 13 can be freely inserted and removed in the sliding channel by the linear module 56.

[0073] According to some embodiments of the present application, the sample feeding mechanism 4 includes a multi-stage telescopic sleeve 41 and a multi-stage telescopic cylinder 42, the multi-stage telescopic sleeve 41 is slidably arranged in the shielding container 1, and the material box 11 is connected to the protruding end of the multi-stage telescopic sleeve 41; the protruding end of the multi-stage telescopic cylinder 42 is connected to the multi-stage telescopic sleeve 41 to drive the multi-stage telescopic sleeve 41 to extend and retract axially along the shielding container 1.

[0074] In the present application, a three-stage telescopic cylinder 42 is used, and the air pressure source of the three-stage telescopic cylinder 42 is a vehicle-mounted air compressor; the outermost layer of the three-stage telescopic cylinder 42 is fixedly mounted on the mounting frame 53 through a cylinder fixing flange, so that its mounting position with the shielding container 1 remains unchanged, and is connected to the multi-stage telescopic sleeve 41 in the shielding container 1 through the innermost piston rod (extending end), thereby driving the multi-stage telescopic sleeve 41 to extend and retract, thereby enabling the material box 11 to enter and exit the shielding container 1.

[0075] According to some embodiments of the present application, the multi-stage telescopic sleeve 41 includes a first-stage sleeve 411, a second-stage sleeve 412 and a third-stage sleeve 413 which are sequentially sleeved from the outside to the inside, and the outer peripheral wall of the first-stage sleeve 411 forms a sliding connection with the inner peripheral wall of the shielding container 1, and the front end of the third-stage sleeve 413 is connected to the material box 11, and the rear end is connected to the protruding end of the multi-stage telescopic cylinder 42.

[0076] The present application adopts a three-stage telescopic sleeve 41 structure, and each stage of the sleeves cooperates with each other, and each stage of the sleeves cooperates with each other through copper rings to reduce friction and reduce loss. A sliding ring is mounted on the outer wall of the first-stage sleeve 411, and multiple balls are distributed on the sliding ring along the circumference, and a sliding connection is formed by contacting the inner wall of the shielding container 1 through the multiple balls.

[0077] The extended end of the three-stage telescopic cylinder 42 is screwed and fixed to the rear end of the three-stage sleeve 413 of the three-stage telescopic sleeve 41 in the shielding container 1 through a screw fixing pin. When in use, the operator controls the solenoid valve of the three-stage telescopic cylinder 42 from the remote control or the local button panel, thereby controlling the extension and retraction of the internal cylinder body, and pulling the three-stage sleeve 413 of the three-stage telescopic sleeve 41 in the shielding container 1 through the extended end of the three-stage telescopic cylinder 42, thereby driving the extension and retraction of the three-stage telescopic sleeve 41.

[0078] According to some embodiments of the present application, a tail lead plug 414 for shielding radioactive rays is fixedly provided at the rear end of the three-stage sleeve 413, and the tail lead plug 414 is detachably connected to the extended end of the multi-stage telescopic cylinder 42. Since there is a hole at the rear end of the shielding container 1 for pneumatically or manually pushing and pulling the three-stage telescopic sleeve 41, in order to prevent radiation exposure, a tail lead plug 414 is installed at the rear end of the three-stage sleeve 413 of the three-stage telescopic sleeve 41, which can effectively block radiation.

[0079] According to some embodiments of the present application, the sample feeding mechanism 4 further includes a manual push rod 43 and a push rod bracket 44, the manual push rod 43 is mounted on the push rod bracket 44, and a locking key 431 is provided at the front end of the manual push rod 43, and the locking key 431 is used to connect with the key slot 4141 on the tail lead plug 414 at the rear end of the three-stage sleeve 413. By providing the manual push rod 43, when the three-stage telescopic cylinder 42 fails, the manual push rod 43 can be installed to connect with the three-stage telescopic sleeve 41 to drive the material box 11 to telescopic movement.

[0080] In the present application, the locking key 431 is a block-shaped structure, which is arranged at the front end of the manual push rod 43 and protrudes from the side wall of the manual push rod 43 from one side. Since the tail lead plug 414 is provided with a keyway 4141, when the manual push rod 43 is extended, the locking key 431 at the front end can enter the keyway 4141 and form a quick-release connection with the keyway 4141. When the telescopic sleeve 41 is manually operated, the supporting flange of the telescopic cylinder 42 needs to be removed and replaced with a push rod bracket 44 adapted to the manual push rod 43.

[0081] According to some embodiments of the present application, a front end guide key 432 and a rear end guide key 433 are axially arranged on the outer wall of the manual push rod 43, and the front end guide key 432 and the rear end guide key 433 are symmetrically arranged in the circumferential direction, and the front end guide key 432 and the rear end guide key 433 have a certain spacing size in the axial direction; the push rod bracket 44 is provided with a guide groove 441 adapted to the front end guide key 432 and the rear end guide key 433.

[0082] The front guide key 432 and the locking key 431 in the present application are protruding in opposite directions relative to the outer wall of the manual push rod 43 (i.e., arranged at 180 degrees), and the front guide key 432 and the rear guide key 433 are also arranged at 180 degrees in the circumferential direction of the manual push rod 43. Since a guide groove 441 is reserved in the middle of the push rod bracket 44, when the manual push rod 43 is inserted, the front guide key 432 first cooperates with the guide groove 441, and then the locking key 431 directly enters the key groove 4141 on the tail lead plug 414 (inserting the manual push rod 43 inward, when the force begins to be applied, that is, the front end of the manual push rod 43 has contacted the key groove 4141 on the rear end lead plug 414 of the third sleeve 413, the inertia and friction of the third telescopic sleeve 41 are relatively large. , which can be felt very keenly by manual operation), at this time, the smooth section on the manual push rod 43 (that is, the surface area between the front guide key 432 and the rear guide key 433 on the manual push rod 43) is in contact with the push rod bracket 44, so the manual push rod 43 can be rotated 180° to allow the locking key 431 to hook into the keyway 4141 on the tail lead plug 414, and then the manual push rod 43 is continued to be pushed in, and the rear guide key 433 is transformed into cooperation with the guide groove 441.

[0083] The setting of the front guide key 432 and the rear guide key 433 can ensure the straight-line pushing of the manual push rod 43 (i.e., no circumferential rotation occurs), so that the locking key 431 can enter the key slot 4141 on the tail lead plug 414 directly, and after the manual push rod 43 is locked with the tail lead plug 414 of the tertiary sleeve 413, the manual push rod 43 cannot be pulled out alone, thereby avoiding accidental separation of the manual push rod 43 from the rear end of the tertiary sleeve 413.

[0084] According to some embodiments of the present application, an auxiliary vision system 3 and a control system 6 are also provided on the mobile chassis 5; the auxiliary vision system 3 includes a horizontal camera 31 and a bird's-eye view camera 32, which are used by the operator to observe the front of the vehicle body and the surrounding conditions of the vehicle body; the control system 6 is used to control the movement of the vehicle and coordinate the docking operation of the shielding container 1 with the hot chamber and the sample delivery operation.

[0085] The horizontal camera 31 can be installed on the top of the shielding container 1, and the overhead camera 32 can be installed on the top of the vertical pole to take a downward shot of the entire trolley and the surrounding images. The operator can adjust the left and right movement of the trolley along the longitudinal direction of the hot chamber through the picture of the horizontal camera 31; and the overhead camera 32 is used to assist the operator to straighten the body of the trolley according to the ground and surrounding conditions. Since the trolley adopts omnidirectional wheels 513, it can translate in any direction and rotate in place at any angle, so this operation is very convenient.

[0086] The control system 6 uses a micro fanless industrial PC, the specific model is Zhanmei GK5000. The PC controls the omnidirectional wheel 513 drive motor, the electric cylinder 21 motor and the front lead plug 13 mobile motor through the 485 bus. The I / O board uses the Altai USB data acquisition card with 8 inputs and 8 outputs, which is used to control the start and stop of the air pump, the opening and closing of the solenoid valve, and the acquisition of sensor status. A wireless switch is installed on the car, which can transmit control information and image information to the console through the wireless network. The car is powered by a lithium battery with a rated voltage of 48V and a capacity of 200Ah. The battery power can be read through the power management module. At the same time, the power management module can output 12VDC, 24VDC, and 220VAC power supplies for electrical equipment on the car.

[0087] The trolley supports remote wireless remote control and wired operation. The cable between the wired operation terminal and the trolley is a prefabricated cable (aviation plug) for easy plug-in and replacement. The wired control is a wired button operator connected to the vehicle electrical box (usually moved with the vehicle), which is used when the wireless transceiver is damaged; the handheld panel of the wired control is reserved with sufficient length so that the operator can operate at a certain distance from the trolley (the wired touch screen has more functions than the wireless terminal). The wireless control uses a wireless transceiver remote control, and the operator can carry the remote control transmitter for remote operation.

[0088] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent control vehicle for transporting samples in a radioactive environment, characterized in that: It includes a shielding container, a posture adjustment mechanism and a sample delivery mechanism arranged on a mobile chassis; the shielding container is a horizontally arranged cylindrical structure with openings at both ends, and a material box for accommodating radioactive samples is arranged therein; the posture adjustment mechanism is connected to the shielding container and is used to adjust the pitch angle of the shielding container; a part of the sample delivery mechanism extends into the shielding container and is used to push the material box to move along the axial direction of the shielding container so that the material box extends out of the shielding container.

2. The intelligent control vehicle for transporting samples in a radioactive environment according to claim 1 is characterized in that: The mobile chassis includes a chassis body and a mounting base, wherein the mounting base is arranged above the chassis body, a mounting frame is slidably arranged on the mounting base, and the sliding direction is along the axial direction of the shielding container, and the shielding container is fixedly arranged on the mounting frame; the posture adjustment mechanism is connected between the chassis body and the mounting base to adjust the pitch angle of the mounting base relative to the chassis body.

3. The intelligent control vehicle for sample transportation in radioactive environment according to claim 2 is characterized in that: The chassis body comprises a front body, a rear body and omnidirectional wheels. The rear body is connected to the front body via a horizontally arranged hinge shaft, and the omnidirectional wheels are respectively arranged on both sides of the front body and the rear body.

4. The intelligent control vehicle for transporting samples in a radioactive environment according to claim 2 is characterized in that: The movable chassis is provided with a buffer spring and a limit switch. The buffer spring is used to be compressed to form a buffer when the shielding container is docked with the hot chamber, and the limit switch is used to detect whether the buffer spring is compressed to a preset value.

5. The intelligent control vehicle for transporting samples in a radioactive environment according to claim 2 is characterized in that: The posture adjustment mechanism includes two groups of driving parts arranged at intervals along the axial direction of the shielding container, each group of driving parts includes electric cylinders symmetrically arranged on both sides of the axis of the shielding container, one end of all electric cylinders is connected to the chassis body, and the other end is connected to the corresponding column on the mounting base.

6. The intelligent control vehicle for transporting samples in a radioactive environment according to any one of claims 1 to 5, characterized in that: The shielding container is an inner and outer double shell structure, and a lead body is cast in the cavity between the inner and outer double shells. The inlet end of the shielding container is provided with a conical guide section, and the conical guide section is adapted to the hot chamber docking channel.

7. The intelligent control vehicle for transporting samples in radioactive environments according to claim 6 is characterized in that: The shielding container is provided with a sliding channel on the side near the entrance end, and a front lead plug is arranged in the sliding channel. The front lead plug is driven to telescopically move along the sliding channel by a lead plug extraction mechanism on the movable chassis, and the front lead plug is extended into and shielded at the front end of the material box.

8. The intelligent control vehicle for transporting samples in a radioactive environment according to any one of claims 1 to 5, characterized in that: The sample feeding mechanism includes a multi-stage telescopic sleeve and a multi-stage telescopic cylinder. The multi-stage telescopic sleeve is slidably arranged in the shielding container, and the material box is connected to the protruding end of the multi-stage telescopic sleeve; the protruding end of the multi-stage telescopic cylinder is connected to the multi-stage telescopic sleeve to drive the multi-stage telescopic sleeve to extend and retract along the axial direction of the shielding container.

9. The intelligent control vehicle for transporting samples in a radioactive environment according to claim 8, characterized in that: The multi-stage telescopic sleeve includes a primary sleeve, a secondary sleeve and a tertiary sleeve which are sequentially sleeved from the outside to the inside. The outer peripheral wall of the primary sleeve forms a sliding connection with the inner peripheral wall of the shielding container. The front end of the tertiary sleeve is connected to the material box, and the rear end is connected to the protruding end of the multi-stage telescopic cylinder.

10. The intelligent control vehicle for transporting samples in a radioactive environment according to claim 9, characterized in that: A tail lead plug for shielding radioactive rays is fixedly arranged at the rear end of the three-stage sleeve, and the tail lead plug is detachably connected to the extended end of the multi-stage telescopic cylinder.

11. The intelligent control vehicle for transporting samples in radioactive environments according to claim 9, characterized in that: The sample feeding mechanism also includes a manual push rod and a push rod bracket. The manual push rod is installed on the push rod bracket. A locking key is provided at the front end of the manual push rod. The locking key is used to connect with the keyway on the tail lead plug at the rear end of the three-stage sleeve.

12. The intelligent control vehicle for transporting samples in radioactive environments according to claim 11, characterized in that: A front end guide key and a rear end guide key are axially arranged on the outer wall of the manual push rod. The front end guide key and the rear end guide key are symmetrically arranged in the circumferential direction, and the front end guide key and the rear end guide key have a certain spacing size in the axial direction; the push rod bracket is provided with a guide groove adapted to the front end guide key and the rear end guide key.

13. The intelligent control vehicle for transporting samples in a radioactive environment according to any one of claims 1 to 5, characterized in that: The mobile chassis is also provided with an auxiliary vision system and a control system; the auxiliary vision system includes a horizontal camera and a bird's-eye view camera, which are used by the operator to observe the front and surrounding conditions of the vehicle body; the control system is used to control the movement of the vehicle and coordinate the docking operation of the shielding container and the hot chamber and the sample delivery operation.

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