Radioactive object shielding and transferring device

Abstract

The invention belongs to the technical field of transfer containers, and particularly relates to a radioactive object shielding transfer device. The device comprises a container body, a shielding cover plate, a hoisting mechanism and a gripper, the container body is used for accommodating radioactive objects, is provided with an opening in the lower part and is provided with a shielding cover plate for sealing and locking; a gripper is arranged in the container body, and the hoisting mechanism and the gripper drive the gripper to move up and down and grab the radioactive object. The container body and the shielding cover form a closed and shielded internal space, the target is fixed in the environment in the transfer process, it is guaranteed that radioactive substances do not leak out in the transfer process, and it is guaranteed that the high-radioactivity object is safely and conveniently transferred.

Description

Technical Field

[0001] The present application belongs to the technical field of transport containers, and in particular relates to a shielded transport device for radioactive objects. Background Art

[0002] In the daily production process of nuclear power plants and reprocessing plants, shielded transfer containers are generally used to transport highly radioactive objects, including post-combustion fuel assemblies, activated parts, radioactive waste, etc. However, the existing equipment control system components are old, the operation part consists of many buttons and indicator lights, the human-computer interaction interface is poor, the on-site operation is complicated, and the original equipment control cabinet is relatively heavy and needs to be transported together with the container, which increases the failure rate of the control system. Summary of the invention

[0003] The purpose of the present application is to provide a radioactive object shielding and transporting device to solve the problem of high failure rate of the control system in the prior art.

[0004] Technical solution to achieve the purpose of this application:

[0005] The embodiment of the present application provides a radioactive object shielding and transporting device, the device comprising: a container body, a shielding cover, a hoisting mechanism and a gripper;

[0006] The container body is used to contain radioactive objects, has an opening at the bottom, and is equipped with a shielding cover plate for sealing and locking;

[0007] The container body is provided with a gripper, a hoisting mechanism and the gripper, which drive the gripper to move up and down and grab the radioactive object.

[0008] Optionally, the device further comprises: a container cover lifting mechanism;

[0009] The container cover lifting mechanism is arranged in the container body and is used for controlling the shielding cover to open.

[0010] Optionally, the device further comprises: a shielding cover long stroke mechanism and a shielding cover short stroke mechanism;

[0011] The container cover lifting mechanism is connected to the shielding cover long stroke mechanism and the shielding cover short stroke mechanism; the shielding cover long stroke mechanism and the shielding cover short stroke mechanism are both connected to the shielding cover plate, and are used to drive the shielding cover plate to open and flip;

[0012] The long-stroke mechanism of the shielding cover and the short-stroke mechanism of the shielding cover move synchronously to control the shielding cover plate to be lifted upward to separate it from the container body; the long-stroke mechanism of the shielding cover also controls the shielding cover plate to flip.

[0013] Optionally, the shielding cover long stroke mechanism and the shielding cover short stroke mechanism adopt a master-slave synchronous control mode.

[0014] Optionally, the shielding cover long-stroke mechanism and the shielding cover short-stroke mechanism are controlled by a long-stroke motor and a short-stroke motor respectively, and a master-slave synchronous control mode is adopted between the long-stroke motor and the short-stroke motor.

[0015] Optionally, the device further comprises: a double cover locking mechanism and a locking pin;

[0016] The double-cover locking mechanism is arranged on the shielding cover plate and is used for locking the shielding cover plate; the locking pin is used for locking the double-cover locking mechanism.

[0017] Optionally, the device further comprises: a device locking mechanism;

[0018] The equipment locking mechanism is arranged on the side of the container body and is used to lock the radioactive object after lifting.

[0019] Optionally, the container body and the shielding cover are both made of lead.

[0020] Optionally, the device further comprises: a container locking device;

[0021] The container locking device is arranged at the bottom of the container body and is used to fix the container body.

[0022] Optionally, the device further comprises: a monitoring mechanism;

[0023] The monitoring mechanism is used to observe the situation inside the container body.

[0024] The beneficial technical effects of this application are:

[0025] The embodiment of the present application provides a radioactive object shielding and transportation device, comprising: a container body, a shielding cover, a hoisting mechanism and a gripper; the container body is used to accommodate the radioactive object, has an opening at the bottom, and is equipped with a shielding cover for sealing and locking; a gripper is arranged in the container body, and the hoisting mechanism and the gripper drive the gripper to move up and down and grab the radioactive object. The embodiment of the present application uses the container body and the shielding cover to form a closed and shielded internal space, and the target is fixed in this environment during the transportation process, ensuring that the radioactive material does not leak out during the transportation process, and ensuring the safety and convenient transportation of highly radioactive objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic structural diagram of a radioactive object shielding and transporting device provided in an embodiment of the present application.

[0027] In the figure:

[0028] 1-shielding cover; 2-double cover locking mechanism; 3-container cover lifting mechanism; 4-equipment locking mechanism; 5-hoisting mechanism; 6-monitoring mechanism; 7-container body; 8-shielding cover long stroke mechanism; 9-shielding cover short stroke mechanism; 10-claw; 11-locking pin; 12-container locking device. DETAILED DESCRIPTION

[0029] In order to make those skilled in the art better understand the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the embodiments described below are only a part of the embodiments of the present application, not all. Based on the embodiments recorded in the present application, all other embodiments obtained by those skilled in the art without paying creative work are within the scope of protection of the present application.

[0030] See also Figure 1 , which is a schematic structural diagram of a radioactive object shielding and transporting device provided in an embodiment of the present application.

[0031] A radioactive object shielding and transporting device provided in an embodiment of the present application includes: a container body 12, a shielding cover plate 1, a hoisting mechanism 5 and a gripper 10;

[0032] The container body 7 is used to contain radioactive objects, has an opening at the bottom, and is equipped with a shielding cover plate 1 for sealing and locking;

[0033] A gripper 10 is disposed in the container body 7 , and the hoisting mechanism 5 and the gripper 10 drive the gripper 10 to move up and down and grab the radioactive object.

[0034] In specific implementation, the material of the container body 7 and the shielding cover 1 can both be lead. Lead has radiation shielding ability, and the thickness of the lead shielding layer of the container body 7 and the shielding cover 1 can be designed according to the actual maximum radiation level of the target. The container body 12 and the shielding cover 1 form a closed and shielded internal space, and the target is fixed in this environment during transportation to ensure that radioactive substances do not leak during transportation. A set of motors can be configured to drive the gripper 10 to lift and lower to achieve target grabbing, release and lifting.

[0035] In one example, the hoisting mechanism 5 can be equipped with a universal motor to drive the drum to drive the wire rope to move, thereby realizing the lifting, grabbing and releasing actions. A variety of proximity switches are arranged on the drum to detect the position and status of the gripper 10.

[0036] In some possible implementations of the embodiments of the present application, the device may further include: a container cover lifting mechanism 3;

[0037] The container cover lifting mechanism 3 is disposed in the container body 7 and is used to control the shielding cover plate 1 to open.

[0038] In one example, the device may further include: a shielding cover long stroke mechanism 8 and a shielding cover short stroke mechanism 9;

[0039] The container cover lifting mechanism 3 is connected to the shielding cover long stroke mechanism 8 and the shielding cover short stroke mechanism 9; the shielding cover long stroke mechanism 8 and the shielding cover short stroke mechanism 9 are both connected to the shielding cover plate 1, and are used to drive the shielding cover plate 1 to open and flip;

[0040] The long-stroke mechanism 8 of the shielding cover and the short-stroke mechanism 9 of the shielding cover move synchronously to control the shielding cover plate 1 to be lifted upwards so as to be separated from the container body 7; the long-stroke mechanism 8 of the shielding cover also controls the shielding cover plate 1 to flip over.

[0041] It can be understood that the shielding cover 1 has two states: the initial position and the flip position. The conversion between the initial position and the flip position of the shielding cover 1 is driven by the shielding cover long stroke mechanism 8 and the shielding cover short stroke mechanism 9. The shielding cover long stroke mechanism 8 and the shielding cover short stroke mechanism 9 have similar driving structures. The servo motor drives the lead screw to realize the linear motion of the mechanism, and a high-precision encoder is configured to detect the real-time position. The shielding cover long stroke mechanism 8 and the shielding cover short stroke mechanism 9 complete the flipping movement in two steps: the first step is that the shielding cover long stroke mechanism 8 and the shielding cover short stroke mechanism 9 are synchronously lifted to the end of the travel of the container cover short stroke mechanism 9, and the shielding cover 1 is lifted horizontally upward. After completion, the shielding cover 1 is separated from the container body by an appropriate distance; the second step is that the shielding cover long stroke mechanism 8 continues to be lifted to its end of the travel, and the shielding cover 1 completes the flipping, and the side close to the container wall remains vertical to avoid interference with the target movement. In the first step, the shielding cover long stroke mechanism 8 and the shielding cover short stroke mechanism 9 must be kept synchronized. If the position deviation of the two exceeds a certain range, the mechanism will be stuck.

[0042] In another example, the shielding cover long stroke mechanism 8 and the shielding cover short stroke mechanism 9 can adopt a master-slave synchronous control mode. Other mechanisms configured with ordinary motors can adopt an open-loop control based on a proximity switch to achieve start-stop control.

[0043] As an example, the shielding cover long-stroke mechanism 8 and the shielding cover short-stroke mechanism 9 can be controlled by a long-stroke motor and a short-stroke motor respectively, and a master-slave synchronous control mode is adopted between the long-stroke motor and the short-stroke motor.

[0044] It is understandable that two groups of servo motors and encoders can be configured to drive the shielding cover long-stroke mechanism 8 and the shielding cover short-stroke mechanism 9 respectively to realize the lifting and flipping of the cover 1, forming a target safe passage in and out of the container. The long-stroke motor and the short-stroke motor use a master-slave synchronous control algorithm to synchronize the lifting / flipping action of the cover, and the synchronous position deviation between the two is not less than the design requirements. The idea of ​​the master-slave synchronous control algorithm is to use the actual speed or actual position of one motor as the set value of the other motor. The former is the master control motor, and the latter is the slave control motor. The control loop includes a speed loop or a position loop. Take the long-stroke motor as the master A, the short-stroke motor B as the slave, and the speed loop control as an example:

[0045] Step 1: Control the long-stroke motor A to set the target speed as SV, and control the movement of A through a speed closed loop;

[0046] Step 2: Set the speed of short-stroke motor B based on the actual speed V1 of long-stroke motor A, and control the movement of B through speed closed loop;

[0047] Step 3: Calculate the position difference between the long-stroke motor A and the short-stroke motor B, and modify the set speed of the short-stroke motor B according to the conditions. If S1-S2>△Smax, the set speed of the short-stroke motor B is modified to V1+K1*V1; if S1-S2<△Smin, the set speed of the short-stroke motor B is modified to V1

[0048] Take the long-stroke motor A as the master and the short-stroke motor B as the slave, and give an example of position loop and speed loop control:

[0049] Step 1: Control the long-stroke motor A to set the target speed as SV, and control the movement of A through a speed closed loop;

[0050] Step 2: Set the target position of the short-stroke motor B based on the actual position S1 of the long-stroke motor A, and control the movement of B through the position loop and speed loop closed loop;

[0051] Step 3: Calculate the difference between the positions of the long-stroke motor A and the short-stroke motor B, and modify the set position of the short-stroke motor B according to the conditions. If S1-S2>△Smax, the set position of the short-stroke motor B is modified to S1+K2*S1; if S1-S2<△Smin, the set position of the short-stroke motor B is modified to S1.

[0052] In some possible implementations of the embodiments of the present application, the device may further include: a double-cover locking mechanism 2 and a locking pin 11;

[0053] The double-cover locking mechanism 2 is disposed on the shielding cover plate 1 and is used to lock the shielding cover plate 1 ; the locking pin 11 is used to lock the double-cover locking mechanism 2 .

[0054] In specific implementation, a set of motors can be configured to drive the double cover locking mechanism to achieve cover locking and releasing.

[0055] In some possible implementations of the embodiments of the present application, the device may further include: a device locking mechanism 4;

[0056] The equipment locking mechanism 4 is arranged on the side of the container body 7, and is used to lock the radioactive object after lifting, realize relative compression and fixing locking, and ensure that the object does not shake during transportation.

[0057] In one example, the equipment locking mechanism 4 is equipped with a universal motor-driven locking pin telescopic structure. When the target is lifted into place in the container, it moves out at a preset speed, and the opposite side is pressed and locked to ensure that the target does not shake during transportation and to avoid collision and damage to the target. Two groups of proximity switches are set to detect the position of the locking mechanism, which can be extended and retracted into place.

[0058] In some possible implementations of the embodiments of the present application, the device may further include: a container locking device 12;

[0059] The container locking device 12 is disposed at the bottom of the container body 7 and is used to fix the container body 7 .

[0060] In one example, the device may further include: a monitoring mechanism 6;

[0061] The monitoring mechanism 6 is used to observe the situation inside the container body 7 .

[0062] As an example, the monitoring mechanism 6 can use an endoscope and a camera to implement video monitoring without using a radiation-resistant camera, and the equipment cost is low and the replacement is simple.

[0063] A radioactive object shielding and transporting device provided in an embodiment of the present application is described in detail below with reference to a specific example.

[0064] A radioactive object shielded transfer device provided in an embodiment of the present application is mainly used for loading and unloading highly radioactive target objects without exposure. Loading is to grab the target object from a designated storage container and put it into a transfer container, and unloading is to release the target object from the transfer container into a designated storage container. The storage container is provided with a shielded container cover that can be passively opened and closed and matches the transfer container.

[0065] The specific loading steps are as follows:

[0066] Step 1: Initial condition check, confirm that the initial loading conditions are normal and the transfer device is correctly seated on the target object storage container;

[0067] Step 2: The motor of the double cover locking mechanism 2 is actuated to determine whether the shielding cover 1 is in place based on the proximity switch signal, and then proceed to the next step if it is in place;

[0068] Step 3: The container cover lifting mechanism 3 drives the motor to move, and determines whether the shielding cover 1 is lifted and flipped into place based on the proximity switch signal. The grabbing channel for the target object in the container body 7 is opened, and the next step is carried out if it is in place;

[0069] Step 4: The motor of the gripper 10 moves downward, and the proximity switch signal is used to determine whether the gripper 10 has fallen into place, and if it has, the next step is performed;

[0070] Step 5: The motor of the gripper 10 moves upward, and the proximity switch signal is used to determine whether the gripper 10 has risen to the correct position, and the monitoring mechanism 6 is used to confirm that the target object has been grasped. After confirming that there is no abnormality, the next step is performed;

[0071] Step 6: The motor of the device locking mechanism 4 is activated, and based on the proximity switch signal, it is determined whether the device locking mechanism 4 is extended to the position to fix the loaded object, and if it is in position, the next step is performed;

[0072] Step 7: The driving motor of the container cover 1 is activated, and based on the proximity switch signal, it is determined whether the container cover 1 is flipped over and lowered into place, and if it is in place, the next step is performed;

[0073] Step 8: The motor of the container cover locking device 12 is activated to determine whether the container cover 1 is released in place based on the proximity switch signal, and then proceed to the next step if it is in place.

[0074] Step 9: The target object has been loaded and can be hoisted to the designated location as a whole according to actual needs.

[0075] The unloading steps are similar to the loading steps, as follows:

[0076] Step 1: Initial condition check, confirm that the initial loading conditions are normal and the transfer device is correctly seated on the target object storage container;

[0077] Step 2: The motor of the double cover locking mechanism 2 is actuated to determine whether the shielding cover 1 is in place based on the proximity switch signal, and then proceed to the next step if it is in place;

[0078] Step 3: The container cover lifting mechanism 3 drives the motor to move, and determines whether the shielding cover 1 is lifted and flipped into place based on the proximity switch signal. The release channel for the target object in the container body 7 is opened, and the next step is carried out when the target object is in place.

[0079] Step 4: The device locking mechanism 4 is activated. Based on the proximity switch signal, it is determined whether the device locking mechanism 4 is retracted to release the unloading object. If it is in place, proceed to the next step.

[0080] Step 5: The motor of the gripper 10 moves downward, and the proximity switch signal is used to determine whether the gripper 10 has been lowered to the correct position, and the monitoring mechanism 6 is used to confirm that the target object has been released. After confirming that there is no abnormality, the next step is performed;

[0081] Step 6: The motor of the gripper 10 moves up, and the proximity switch signal is used to determine whether the gripper 10 has risen to the correct position. After confirming that there is no abnormality, proceed to the next step;

[0082] Step 7: The container cover 1 drives the motor to move, and based on the proximity switch signal, it is determined whether the container cover 1 is flipped and lowered into place, and if it is in place, it proceeds to the next step;

[0083] Step 8: The motor of the container cover locking device 12 is activated, and based on the proximity switch signal, it is determined whether the container cover 1 is released in place, and if it is in place, it proceeds to the next step.

[0084] Step 9: The target object has been unloaded and the transfer container can be lifted to the designated location according to actual needs.

[0085] The embodiment of the present application provides a reliable and safe shielding container for the transportation of the target, ensuring that the radioactive material does not leak out. The master-slave synchronous control is adopted to realize the synchronous movement of the shielding cover lifting mechanism, and the control method is simple and the effect is good. The open-loop control method based on the proximity switch is adopted to realize the control of other motors, and the control is simple, reliable and low-cost. The endoscope and camera are used to realize video monitoring, and there is no need to use a radiation-resistant camera. The equipment cost is low and it is easy to replace.

[0086] The present application is described in detail above in conjunction with the accompanying drawings and embodiments, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of ordinary technicians in the field without departing from the purpose of the present application. Any content not described in detail in the present application can adopt the existing technology.

Claims

1. A radioactive object shielding and transporting device, characterized in that: The device comprises: a container body (12), a shielding cover plate (1), a hoisting mechanism (5) and a gripper (10); The container body (7) is used to accommodate radioactive objects, has an opening at the bottom, and is equipped with a shielding cover plate (1) for sealing and locking; A gripper (10) is arranged inside the container body (7), and the hoisting mechanism (5) and the gripper (10) drive the gripper (10) to move up and down and grab the radioactive object.

2. The radioactive object shielding and transporting device according to claim 1, characterized in that: The device further comprises: a container cover lifting mechanism (3); The container cover lifting mechanism (3) is arranged in the container body (7) and is used to control the opening of the shielding cover plate (1).

3. The radioactive object shielding and transporting device according to claim 2, characterized in that: The device further comprises: a shielding cover long-stroke mechanism (8) and a shielding cover short-stroke mechanism (9); The container cover lifting mechanism (3) is connected to the shielding cover long stroke mechanism (8) and the shielding cover short stroke mechanism (9); the shielding cover long stroke mechanism (8) and the shielding cover short stroke mechanism (9) are both connected to the shielding cover plate (1) and are used to drive the shielding cover plate (1) to open and flip; The shielding cover long-stroke mechanism (8) and the shielding cover short-stroke mechanism (9) move synchronously to control the shielding cover plate (1) to be lifted upwards so as to be separated from the container body (7); the shielding cover long-stroke mechanism (8) also controls the shielding cover plate (1) to flip over.

4. The radioactive object shielding and transporting device according to claim 3, characterized in that: The shielding cover long stroke mechanism (8) and the shielding cover short stroke mechanism (9) adopt a master-slave synchronous control mode.

5. The radioactive object shielding and transporting device according to claim 4, characterized in that: The shielding cover long stroke mechanism (8) and the shielding cover short stroke mechanism (9) are controlled by a long stroke motor and a short stroke motor respectively, and a master-slave synchronous control mode is adopted between the long stroke motor and the short stroke motor.

6. The radioactive object shielding and transporting device according to any one of claims 1 to 5, characterized in that: The device further comprises: a double cover locking mechanism (2) and a locking pin (11); The double-cover locking mechanism (2) is arranged on the shielding cover plate (1) and is used to lock the shielding cover plate (1); the locking pin (11) is used to lock the double-cover locking mechanism (2).

7. The radioactive object shielding and transporting device according to any one of claims 1 to 5, characterized in that: The device further comprises: a device locking mechanism (4); The equipment locking mechanism (4) is arranged on the side of the container body (7) and is used to lock the radioactive object after lifting.

8. The radioactive object shielding and transporting device according to any one of claims 1 to 5, characterized in that: The container body (7) and the shielding cover plate (1) are both made of lead.

9. The radioactive object shielding and transporting device according to any one of claims 1 to 5, characterized in that: The device further comprises: a container locking device (12); The container locking device (12) is arranged at the bottom of the container body (7) and is used to fix the container body (7).

10. The radioactive object shielding and transporting device according to any one of claims 1 to 5, characterized in that: The device further comprises: a monitoring mechanism (6); The monitoring mechanism (6) is used to observe the situation inside the container body (7).

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