Transfer device and radioactive waste treatment system

Abstract

The present invention discloses a transfer device, including a transfer track and a transfer trolley. The transfer trolley is an integral module that can be hoisted and moved as a whole away from or placed on the transfer track. The transfer trolley includes a walking mechanism, a grabbing mechanism and a motor assembly. The grabbing mechanism is installed on the walking mechanism and is used to pick up and place the waste barrel. The walking mechanism is movably connected to the transfer track and is used to support the grabbing mechanism and move the waste barrel along the transfer track. The motor assembly is provided with two groups, and the two groups of motor assemblies are respectively connected to the walking mechanism and the grabbing mechanism. The walking mechanism, the grabbing mechanism and the motor assembly are all submodules that can be hoisted and moved separately, and each submodule can be detachably connected to form an integral module. The transfer device of the present invention adopts a modular layout form and has a reasonable structural arrangement. It can meet the requirements of remote maintenance, replacement and installation of vulnerable components on the basis of realizing transfer, and is suitable for radioactive environment working conditions. The present invention also provides a radioactive waste treatment system.

Description

Technical Field

[0001] The present invention particularly relates to a transfer device and a radioactive waste treatment system. Background Art

[0002] During the operation of nuclear fuel reprocessing facilities, a large amount of radioactive solid waste is generated after the spent fuel assemblies undergo processes such as shearing and dissolution. In order to reduce the space used for temporary storage and subsequent disposal of the waste and meet the requirements of waste minimization, the radioactive solid waste needs to be conditioned before storage to ensure the safety of its subsequent disposal.

[0003] During the preparation process, solid waste needs to be transferred between different operating units in the hot chamber to achieve operations such as barreling, drying, and overpressurization of radioactive solid waste. However, since solid waste is highly radioactive, it is difficult for staff to directly perform inspection and maintenance operations once a malfunction occurs. This makes the commonly used transfer devices in ordinary industrial fields unsuitable for long-distance inspection and maintenance needs in radioactive environments. Summary of the Invention

[0004] The present invention addresses the aforementioned shortcomings of the prior art by providing a transfer device with a modular layout and a rational structure. This device, while enabling transfer, also meets the requirements for remote repair, replacement, and installation of vulnerable components, and is suitable for use in radioactive environments. The present invention also provides a radioactive waste treatment system.

[0005] The present invention provides a transfer device, including a transfer track and a transfer trolley. The transfer trolley serves as an integral module and can be hoisted and moved as a whole away from or placed on the transfer track. The transfer trolley includes a walking mechanism, a grabbing mechanism and a motor assembly. The grabbing mechanism is installed on the walking mechanism and is used to take and place the waste barrel. The walking mechanism is movably connected to the transfer track and is used to support the grabbing mechanism and move the waste barrel along the transfer track. The motor assembly is provided with two groups, and the two groups of motor assemblies are respectively connected to the walking mechanism and the grabbing mechanism to supply power to the walking mechanism and the grabbing mechanism. The walking mechanism, the grabbing mechanism and the motor assembly are all sub-modules that can be hoisted and moved separately, and each sub-module can be detachably connected to form an integral module.

[0006] Furthermore, the walking mechanism includes a transmission assembly and a roller, the roller includes a driving wheel, and the transmission assembly can be disconnected from the driving wheel and electrically connected to the motor assembly, so that when the transmission assembly is connected to the driving wheel, the motor assembly drives the driving wheel to transmit torque to enable the driving wheel to walk on the transfer track, and when the transmission assembly is disconnected from the driving wheel, the driving wheel can rotate freely.

[0007] Furthermore, an inner gear ring is provided inside the driving wheel, and the transmission assembly includes a driving module and a transmission shaft, and the transmission shaft includes a bushing and a push rod, the bushing is connected to the driving module, and both ends can be rotatably connected to the driving wheel, the push rod is axially movable and penetrates the center hole of the bushing, and rotates synchronously with the bushing, and the two ends protruding from the bushing penetrate into the interior of the driving wheel, and outer gear rings are provided on the rod sections at both ends, and the push rod engages the outer gear ring with the inner gear ring at a first axial position to realize torque transmission, and disengages the outer gear ring from the inner gear ring at a second axial position to allow the driving wheel to rotate freely.

[0008] Furthermore, the driving wheel has a cylindrical structure, and the side of the center hole close to the driving module is connected to the shaft sleeve through a bearing, and the inner gear ring is provided on the side away from the driving module. There are two driving wheels, which are respectively connected to the two ends of the transmission shaft. One end of the push rod is tightly connected to the end face of one driving wheel through an elastic member, and the other end passes through the end face of the other driving wheel and is connected to the shift rod, so that when the shift rod is driven by an external force, the elastic member is pressed to move to the second axial position, and is reset to the first axial position under the elastic action of the elastic member.

[0009] Furthermore, the transfer track has an I-shaped cross-section structure, and the upper surface of the upper flange of the transfer track carries a walking mechanism. The walking mechanism is provided with an anti-tipping hook plate, which extends in the vertical direction to below the lower surface of the upper flange of the transfer track and bends toward the web of the transfer track to form a hook-shaped structure that holds the upper flange of the transfer track.

[0010] Furthermore, a maintenance hoisting station is provided on the transfer track for hoisting, moving or placing the transfer trolley. The transfer track is provided with a guide and an avoidance groove at the maintenance hoisting station. The position of the guide corresponds to the position of the roller of the transfer trolley in the maintenance hoisting station. It is a groove-shaped structure arranged in the vertical direction, and the opening gradually widens from bottom to top, so as to guide the roller when the transfer trolley is vertically hoisted. The avoidance groove is a groove opened on the flange of the transfer track, and its position corresponds to the position of the anti-tipping hook plate of the transfer trolley in the maintenance hoisting station, so as to allow the anti-tipping hook plate to pass through when the transfer trolley is vertically hoisted.

[0011] Furthermore, the gripping mechanism includes a lifting assembly and a gripper, the lifting assembly is electrically connected to the motor assembly, and the driving end is connected to the gripper, which is used to drive the gripper to rise and fall under the drive of the motor assembly. The gripper mechanism grasps the waste bucket after being lifted and pulled by the lifting assembly, and releases the waste bucket after being supported by the waste bucket when the waste bucket falls to the ground.

[0012] Furthermore, the gripper includes a connecting plate, a connecting rod, a gripping head and a closer. The top of the connecting plate is connected to the driving end of the lifting drive member, and the bottom is hingedly connected to the two connecting rods and the closer. The bottom end of each of the two connecting rods is connected to a gripping head. When the connecting plate is driven to be lifted by the lifting drive member, the closer is opened, so that the two connecting rods can move toward each other and drive the two gripping heads to grip the waste bucket respectively. When the waste bucket falls to the ground, the connecting plate is supported by the waste bucket to close the closer, and the two connecting rods move backwards and drive the two gripping heads to release the waste bucket respectively. The closed closer restricts the two connecting rods from moving toward each other to prevent them from gripping the waste bucket again.

[0013] Furthermore, the gripper also includes a hook plate and a baffle, wherein the baffle is connected to the top of the connecting plate and can movably clamp the driving end of the lifting drive member, and the hook plate is connected to the baffle and is used to limit the baffle to a position for clamping the driving end of the lifting drive member, so as to release the baffle after being pushed, thereby separating the connecting plate from the lifting drive member.

[0014] Furthermore, the lifting assembly includes a lifting drive member and a guide groove. The lifting drive member is installed on the walking mechanism and is located directly above the transfer track. The guide groove is arranged at the driving end of the lifting drive member in the vertical direction and is located on the outside of the transfer track. The top of the gripper is connected to the driving end of the lifting drive member and is slidably adapted to the guide groove. Under the limit of the guide groove, it is driven to rise and fall by the lifting drive member to grab or release the waste bin from the outside of the transfer track.

[0015] Furthermore, there are two guide grooves, and the side openings of the two guide grooves are opposite to each other. A guide rod is provided on each side of the gripper, and the two guide rods are movably arranged in the two guide grooves so that the gripper can be raised and lowered between the two guide grooves. The bottom opening of the guide groove gradually expands from top to bottom to relax the limit degree of the gripper at the bottom of the guide groove, thereby allowing the gripper to swing to compensate for the center deviation.

[0016] The present invention also provides a radioactive waste treatment system, comprising a barreling unit, a drying unit, an overpressure unit and the above-mentioned transfer device, wherein the barreling unit is used to fill radioactive solid waste into waste barrels, the drying unit is used to dry the waste barrels, the overpressure unit is used to compress the dried waste barrels, and the transfer device is used to transfer waste barrels between the barreling unit, the drying unit and the overpressure unit.

[0017] The transfer device of the present invention, wherein the walking mechanism, gripping mechanism and motor assembly of the transfer trolley are all sub-modules that can be lifted and moved individually, and can be disassembled individually for inspection and maintenance, and each sub-module can be detachably connected to form an integral transfer trolley, and the transfer trolley itself is an integral module that can be lifted and moved away as a whole or placed on a transfer track. It can be seen that the various wearing parts of the present transfer device adopt a modular design. This assembly and connection method effectively improves the maintainability of the equipment, is more suitable for radioactive environment conditions, and can meet the requirements of long-distance inspection, replacement and installation of vulnerable components in the hot chamber on the basis of achieving transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 1 is a schematic structural diagram of the transfer device in Example 1 of the present invention;

[0019] Figure 2 1 is a schematic structural diagram of the traveling mechanism of the transfer device in Example 1 of the present invention;

[0020] Figure 3 This is a schematic diagram of the connection structure between the transmission shaft and the driving wheel of the transfer device in Example 1 of the present invention;

[0021] Figure 4 1 is a schematic structural diagram of a lifting assembly of a transfer device in Example 1 of the present invention;

[0022] Figure 5 Schematic diagram of the structure of the gripper of the transfer device in Example 1 of the present invention;

[0023] Figure 6 This is a schematic structural diagram of the gripper head portion of the transfer device in Example 1 of the present invention;

[0024] Figure 7 This is a schematic structural diagram of the gripper baffle portion of the transfer device in Example 1 of the present invention;

[0025] Figure 8 Schematic diagram of the swing limiter structure of the transfer device in Example 1 of the present invention.

[0026] In the figure: 1. Transfer track; 11. Guide member; 12. Avoidance groove; 13. Fixed limiter; 14. Swing limiter; 141. Fixed end; 142. Movable pin; 143. Rotating end; 144. Toggle part; 2. Transfer trolley; 3. Traveling mechanism; 31. Driving wheel; 311. Inner gear ring; 312. Bearing; 313. Elastic member; 32. Driving module; 33. Transmission shaft; 331. Bushing; 332. Push rod; 3321. Outer gear ring; 3322. Toggle rod; 34. Anti-tilt hook plate; 35. Driven wheel; 36. Frame; 4. Grabbing mechanism; 41. Lifting assembly; 411. Lifting drive; 412. Guide groove; 4121. Bell mouth; 413. Welding lug; 414. Chain; 42. Gripper; 421. Guide rod; 422. Small roller; 423. Large roller; 424. Connecting plate; 425. Connecting rod; 426. Gripping head; 4261. Gripper guide; 4262. Travel switch; 4263. Limit plate; 4264. Pin; 427. Closer; 428. Hook plate; 429. Baffle; 4291. Baffle rotating shaft; 5. Motor assembly; 51. Flange;

[0027] 52. Positioning pin; 53. Quick-release clamp; 54. Guide sleeve; 55. Lifting ring; 6. Waste bin;

[0028] 7. Cable plug assembly. DETAILED DESCRIPTION

[0029] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of the present invention.

[0030] In the description of the present invention, it should be noted that the terms "upper" and "lower" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience and simplification of the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0031] In the description of the present invention, the terms “first”, “second” and “third” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "connect," "dispose," "install," "fix," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integral connection; they may refer to direct connection, indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0033] Example 1

[0034] like Figure 1 As shown, the transfer device of this embodiment includes a transfer track 1 and a transfer trolley 2. The transfer trolley 2 is an integral module and can be hoisted and moved away from or placed on the transfer track 1. The transfer trolley 2 includes a walking mechanism 3, a grabbing mechanism 4 and a motor assembly 5. The grabbing mechanism 4 is installed on the walking mechanism 3 and is used to take and place the waste bin 6. The walking mechanism 3 is movably connected to the transfer track 1 and is used to support the grabbing mechanism 4 and the waste bin 6 and move along the transfer track 1. There are two groups of motor assemblies 5, and the two groups of motor assemblies 5 are respectively connected to the walking mechanism 3 and the grabbing mechanism 4 to supply energy to the walking mechanism 3 and the grabbing mechanism 4. The walking mechanism 3, the grabbing mechanism 4 and the motor assembly 5 are all sub-modules that can be hoisted and moved separately, and each sub-module can be detachably connected to form an integral module.

[0035] In the transfer device of this embodiment, the walking mechanism 3, the grasping mechanism 4 and the motor assembly 5 of the transfer trolley 2 are all sub-modules that can be lifted and moved individually, and can be disassembled individually for inspection and maintenance. The sub-modules can be detachably connected to form an integral transfer trolley 2. The transfer trolley 2 itself is an integral module that can be lifted and moved away as a whole or placed on the transfer track 1. It can be seen that the various wearing parts of the transfer device adopt a modular design. This assembly and connection method effectively improves the maintainability of the equipment and is more suitable for radioactive environment conditions. On the basis of realizing transportation, it can meet the requirements of long-distance inspection, replacement and installation of vulnerable components in the hot room.

[0036] Each submodule is connected by a quick-release assembly for easy disassembly. Specifically, one motor assembly 5 (serving as the travel motor assembly) is connected to the travel mechanism 3 via a quick-release assembly, while another motor assembly 5 (serving as the lift motor assembly) is connected to the gripping mechanism 4 via a quick-release assembly. The gripping mechanism 4 is then connected to the travel mechanism 3 via a quick-release assembly. The quick-release assembly includes a flange 51, a locating pin 52, a quick-release clamp 53, and a guide sleeve 54. The two connected submodules are butted together by the flange surfaces of the flange 51, positioned by the locating pin 52, and locked by the quick-release clamp 53. The guide sleeve 54 facilitates rapid remote positioning of external operating equipment such as an electric wrench.

[0037] Taking the connection between the motor assembly 5 and the walking mechanism 3 as an example, the walking mechanism 3 and the motor assembly 5 are both provided with flanges 51, and the two are connected through the flange surfaces. When the flanges 51 are connected, they are positioned by the locating pins 52 (the locating pin 52 is set on one of the flanges 51, and the other flange 51 is provided with a locating hole or groove corresponding to the locating pin 52). The two flanges 51 are detachably connected and clamped by the quick-release clamp 53 (the flange 51 is used as the mounting seat, and the mounting seat is provided with a locating pin 52 and a quick-release clamp 53. The quick-release clamp 53 is a conventional mechanical quick-release structure on the market). The guide sleeve 54 is provided at the quick-release clamp 53 to guide external operating equipment such as an electric wrench to quickly locate the quick-release clamp 53 from a long distance and perform rapid disassembly operations on it. When the motor assembly 5 fails, the guide sleeve 54, the locating pin 52, the quick-release clamp 53 and the sling cooperate to realize the independent long-distance rapid disassembly and assembly of the motor assembly 5 (this sub-module).

[0038] In order to facilitate lifting, a lifting ring 55 (i.e., a lifting ring, both the walking motor assembly and the lifting motor assembly are provided with lifting rings on the outside), and a welding lifting lug 413 is also provided on the grabbing mechanism 4. The welding lifting lug 413 is specifically arranged on the top of the lifting drive component 411. Through the welding lifting lug 413, not only the grabbing mechanism 4 sub-module can be lifted separately, but also the transport trolley 2 as a whole can be lifted.

[0039] In this embodiment, Figure 2 As shown, the traveling mechanism 3 includes a transmission assembly and a roller, the roller including a driving wheel 31, and the transmission assembly can be disconnected from the driving wheel 31 and electrically connected to the motor assembly 5, so that when the transmission assembly is connected to the driving wheel 31, the motor assembly 5 drives the driving wheel 31 to transmit torque so that the driving wheel 31 can move on the transfer track 1, and when the transmission assembly is disconnected from the driving wheel 31, the driving wheel 31 can rotate freely. This detachable connection between the transmission assembly and the driving wheel 31 can not only transmit the drive of the motor assembly 5 under normal conditions, so that the driving wheel 31 drives the traveling mechanism 3 to actively move, but also can be disconnected from the driving wheel 31 in the event of mechanical obstruction (such as a series of faults in the motor assembly 5, the drive module 32 itself, or other drive devices). After disconnection, the driving wheel 31 shields the mechanical obstruction, so that the driving wheel 31 becomes a "follower wheel" or "driven wheel" and can rotate freely, facilitating long-distance traction and lifting of the vehicle body on the transfer track 1.

[0040] In this embodiment, Figure 3As shown, an inner gear ring 311 is provided inside the driving wheel 31, and the transmission assembly includes a driving module 32 and a transmission shaft 33. The transmission shaft 33 includes a sleeve 331 and a push rod 332. The sleeve 331 is connected to the driving module 32, and both ends can be rotatably connected to the driving wheel 31. The push rod 332 is axially movable and penetrates the center hole of the sleeve 331 and rotates synchronously with the sleeve 331. The push rod 332 can be connected to the sleeve 331 by a key connection, and the two ends of the sleeve 331 are inserted into the interior of the driving wheel 31, and an outer gear ring 3321 is provided on the rod sections at both ends. The push rod 332 engages the outer gear ring 3321 with the inner gear ring 311 at a first axial position to achieve torque transmission, and disengages the outer gear ring 3321 from the inner gear ring 311 at a second axial position to allow the driving wheel 31 to rotate freely. That is, the push rod 332 moves axially in the center hole of the sleeve 331 and changes position between the first axial position and the second axial position, so that the outer ring gear 3321 moves to the axial position of the inner ring gear 311 or leaves the axial position of the inner ring gear 311, thereby completing transmission or disengagement.

[0041] Specifically, there are two driving wheels 31, which are respectively connected to the two ends of the transmission shaft 33, and the driving module 32 is connected to the middle position of the transmission shaft 33. The driving wheel 31 is a cylindrical structure, and the side of the center hole close to the driving module 32 is connected to the shaft sleeve 331 through the bearing 312, and the side away from the driving module 32 is provided with an inner gear ring 311; both driving wheels 31 are open at one end close to the driving module 32 to facilitate the shaft sleeve 331 to penetrate the driving wheel 31 to connect the bearing 312, and are closed at the end away from the driving module 32, an elastic member 313 is provided at the closed end face of one of the driving wheels 31, and a threaded hole is provided at the closed end face of the other driving wheel 31, the shift rod 3322 is inserted into the threaded hole of the driving wheel 31, and the outer surface of the part where the shift rod 3322 penetrates into the driving wheel 31 is provided with an external thread that matches the threaded hole. One end of the push rod 332 is tightly connected to the end surface of one driving wheel 31 via an elastic member 313, and the other end is connected to a shifting rod 3322. When the shifting rod 3322 is driven by an external force to move along the thread axis toward the inside of the driving wheel 31, the push rod 332 presses the elastic member 313 to move to the second axial position. When the shifting rod 3322 is driven by an external force to move along the thread axis toward the outside of the driving wheel 31, the push rod 332 is reset to the first axial position under the elastic action of the elastic member 313. The elastic member 313 can be a spring.

[0042] Under normal operating conditions, the push rod 332 is in the first axial position, the inner gear ring 311 of the driving wheel 31 is engaged with the outer gear ring 3321 at the end of the push rod 332 to transmit torque, driving the transfer trolley 2 to and from various operating stations that the transfer track 1 can reach (such as the barrel loading station of the barrel loading unit, the drying station of the drying unit, and the overpressure station of the overpressure unit); when mechanical obstruction occurs (failure of the motor assembly 5, the drive module 32 or other drive aspects), it is only necessary to use the manipulator to remotely move the top lever 3322 to push the push rod 332 to the second axial position, and the outer gear rings 3321 on both ends move axially and slide out the inner gear rings 311 of the driving wheels 31 at both ends, releasing the meshing connection between the inner gear rings 311 of the driving wheels 31 on both sides and the outer gear rings 3321 of the push rod 332. At this time, the driving wheel 31 becomes a follower wheel, shielding the mechanical obstruction, making it convenient for the vehicle body to be towed and moved over long distances and lifted on the transfer track 1.

[0043] In this embodiment, the transfer track 1 has an I-shaped cross-section structure. The upper surface of the upper flange of the transfer track 1 carries the walking mechanism 3. The walking mechanism 3 is provided with an anti-tipping hook plate 34. The anti-tipping hook plate 34 extends in the vertical direction to below the lower surface of the upper flange of the transfer track 1 and bends toward the web of the transfer track 1 to form an L-shaped hook structure that holds the upper flange of the transfer track 1.

[0044] The transfer device of this embodiment mainly includes a transfer track 1 and a transfer trolley 2. Among them, the transfer track 1 adopts a steel rail, and the running mechanism 3 runs by rollers. The rollers include a driving wheel 31 and a driven wheel 35 (the driven wheel 35 can also be called a follower wheel), both of which are steel wheels, connected to the frame 36 of the running mechanism 3. The upper surface of the upper flange of the I-section structure of the steel rail carries the steel wheel of the transfer trolley to roll, and the lower surface of the upper flange is used to prevent tipping. Not only is the steel easy to obtain, but the reasonable structure can also effectively prevent the trolley from tipping over. Among them, the aforementioned "L"-shaped anti-tipping hook plate 34 is provided at the driven wheel 35 (the driven wheel 35 can be rotatably connected to the frame 36, and the anti-tipping hook plate 34 is installed at the connection between the driven wheel 35 and the frame 36, and does not rotate synchronously with the driven wheel 36) to prevent the transfer trolley 2 from tipping over in the event of an accidental impact.

[0045] In this embodiment, a maintenance hoisting station is provided on the transfer track 1, which is used to hoist, move or place the transfer trolley 2. The transfer track 1 is provided with a guide member 11 and an avoidance groove 12 at the maintenance hoisting station. The position of the guide member 11 corresponds to the position of the roller (specifically the driven wheel 35) of the transfer trolley 2 in the maintenance hoisting station. It has a groove-like structure arranged in the vertical direction, and the opening gradually widens from bottom to top, so that it guides the roller when the transfer trolley 2 is vertically hoisted. The avoidance groove 12 is a groove opened on the flange of the transfer track 1, and its position corresponds to the position of the anti-tipping hook plate 34 of the transfer trolley 2 in the maintenance hoisting station, so that the anti-tipping hook plate 34 is allowed to pass when the transfer trolley 2 is vertically hoisted.

[0046] Specifically, the inner side of the transfer track 1 is machined with an escape groove 12 for the anti-tilt hook plate 34 to pass through during the inspection of the transfer trolley 2. The driven wheel 35 of the running mechanism 3 is installed on the side of the running mechanism 3 of the transfer trolley 2 near the inspection and lifting station. The lifting guide 11, the inner side of the track escape groove 12, and the driven wheel 35 cooperate to enable the remote replacement of the transfer trolley 2. In other words, only when the transfer trolley enters the inspection and lifting station and is in place can the anti-tilt hook plate 34 pass through the escape groove 12 and the driven wheel 35 pass through the guide 11, thereby allowing the transfer trolley 2 to be lifted away.

[0047] The two ends of the transfer track 1 in the longitudinal direction are provided with fixed limiters 13 to prevent the transfer trolley 2 from escaping, and are used for the position zeroing and lifting limit of the transfer trolley 2; the track 1 is also provided with a swing limiter 14 at the transfer trolley 2 maintenance and lifting station. The swing limiter 14 is used to separate the transfer trolley 2 working station from the maintenance and lifting station to prevent the transfer trolley 2 from accidentally entering the maintenance and lifting station. The structure of the swing limiter 14 is as follows Figure 8 As shown, it includes a fixed end 141, a movable pin 142, a rotating end 143 and a toggle portion 144. The bottom end of the fixed end 141 is connected to the transfer track 1, the rotating end 143 is connected to the top of the fixed end 141 through the movable pin 142, and the toggle portion 144 is connected to the rotating end 143. Under normal conditions, in order to prevent the trolley from accidentally entering the maintenance station, the rotating end 143 falls on the rail. When the trolley needs to be repaired, the remotely operated manipulator toggles the toggle portion 144 to drive the rotating end 143 to rotate around the movable pin 142 in the direction shown in the figure, so that the rotating end 143 can be separated from the track, and the trolley can run to the maintenance station to complete the long-distance lifting and maintenance work. In general, the avoidance groove 12 and the lifting guide 11 are processed on the inner side of the maintenance lifting station of the transfer track 1, and a fixed limiter 13 is provided at the end, and a swing limiter 14 is provided between the maintenance lifting station and the working station.

[0048] In this embodiment, Figure 4 and Figure 5 As shown, the gripping mechanism 4 includes a lifting component 41 and a gripper 42. The lifting component 41 is electrically connected to the motor component 5, and the driving end is connected to the gripper 42, which is used to drive the gripper 42 to rise and fall under the drive of the motor component 5. The gripper 42 mechanism grasps the waste bucket 6 after being lifted and pulled by the lifting component 41, and releases the waste bucket 6 after being supported by the waste bucket 6 when the waste bucket 6 falls to the ground.

[0049] Among them, the gripper 42 can adopt any currently available gravity-type gripper or gravity-type gripper that can realize the aforementioned grabbing and releasing actions. In this embodiment, the gripper structure used is specifically described as follows. In other implementations, other specific structures can also be used, which will not be repeated here.

[0050] like Figure 5 and Figure 6 As shown, the gripper 42 includes a connecting plate 424, a connecting rod 425, a gripping head 426, and a closer 427. The top of the connecting plate 424 is connected to the driving end of the lifting drive member 411, and the bottom is hingedly connected to two connecting rods 425 and the closer 427. The bottom end of each of the two connecting rods 425 is connected to a gripping head 426. Specifically, the closer 427 is sleeve-shaped and vertically connected to the middle of the bottom of the connecting plate 424. The two connecting rods 425 are respectively arranged on both sides of the closer 427. Both are oblique connecting rods that gradually expand outward from top to bottom. The bottom is respectively hingedly connected to two horizontal plates. The two horizontal plates can slide toward or against each other along horizontally arranged I-shaped slide rails. The two gripping heads 426 are respectively mounted on the two horizontal plates, and the gripping heads 426 have an arc-shaped structure with opposing concave portions so that they can face and clamp the waste bin 6. The closer 427 allows the two connecting rods 425 to move toward each other when in the open state, and prevents the two connecting rods 425 from moving toward each other when in the closed state. Specifically, two sleeves are selected to be socketed with each other, wherein the outer sleeve rotates when the inner sleeve is driven to rise and fall by the connecting plate 424 to realize the opening and closing of the closer (this is an existing conventional structure, and other limiting structures that can perform movable limiting and serve as the closer function can also be used in other implementations, which will not be elaborated here).

[0051] When the connecting plate 424 is driven to be lifted by the chain 414 of the lifting drive member 411, the closer 427 is opened, so that the two connecting rods 425 can move toward each other and respectively drive the two grabbing heads 426 to grasp the waste bucket 6. When the waste bucket 6 falls to the ground, the connecting plate 424 is supported by the waste bucket 6 to close the closer 427, and the two connecting rods 425 move backwards and respectively drive the two grabbing heads 426 to release the waste bucket 6. The closed closer 427 restricts the two connecting rods 425 from moving toward each other to prevent them from grasping the waste bucket 6 again.

[0052] like Figure 5 As shown, the gripper 42 can also be provided with a limit plate 4263 on the horizontal plate at the bottom of the connecting rod, and the limit plate 4263 is hingedly connected to the horizontal plate. A notch is provided on the limit plate 4263, and a pin 4264 is provided at the I-shaped slide rail. When the gripper 42 is in a normally closed state due to a fault, it is only necessary to use a robot to move the limit plate 4263 and rotate it until the notch is hung on the pin 4264, so that the gripper 42 is in a normally open state, thereby completing the release operation of the waste bin 6.

[0053] In this embodiment, a gripper guide 4261 can also be set at the I-shaped slide rail where the horizontal plate is located. The gripper guide 4261 has a slope structure, and the slope gradually tightens along the direction of gripping of the gripper 426 to guide the movement of the gripper 426. A travel switch 4262 is also provided on the gripper guide 4261 to determine whether the gripper 42 grips the waste bin 6.

[0054] like Figure 7 As shown, in this embodiment, the gripper 42 also includes a hook plate 428 and a baffle 429. The baffle 429 is connected to the top of the connecting plate 424 and can movably clamp the driving end of the lifting drive member 411, that is, the end of the chain 414. The hook plate 428 is connected to the baffle 429 and is used to limit the baffle 429 to a position for clamping the driving end of the lifting drive member 411, so as to release the baffle 429 after being pushed, thereby disengaging the connecting plate 424 from the lifting drive member 411. Specifically, the two baffles 429 are hingedly connected to the connecting plate 424 through the baffle rotating shaft 4291. The two can rotate around the baffle rotating shaft 4291 to open and close, similar to a loose-leaf structure, so that the ends of the chain 414 are clamped and released by the opposite surfaces, and one end of the hook plate 428 is hingedly connected to the baffle 429 on one side, and the other end hooks the baffle 429 on the other side, forcing the two baffles 429 to be in a closed state. After being pushed, they are released to realize that the chain 414 is separated from the connecting plate 424, so that in an accident state, the chain joint can be easily disassembled and released and the waste bin can be released.

[0055] In this embodiment, the lifting assembly 41 includes a lifting drive member 411 and a guide groove 412. The lifting drive member 411 is installed on the walking mechanism 3 and is located directly above the transfer track 1. The guide groove 412 is arranged at the driving end of the lifting drive member 411 in the vertical direction and is located on the outside of the transfer track 1. The top of the gripper 42 is connected to the driving end of the lifting drive member 411 and is slidably adapted to the guide groove 412. Under the limit of the guide groove 412, it is driven to rise and fall by the lifting drive member 411 to grab or release the waste bin 6 from the outside of the transfer track 1.

[0056] The gripper 42 is cantilevered outside the track, which is convenient for observation and remote operation by the robot. The guide groove 412 guides the gripper 42 on the outside of the transfer track 1, so that the gripper 42 can operate outside the transfer track 1, which not only avoids the interference of the picking and placing action with the transfer track 1, but also makes it easier to arrange each workstation and avoids conflict with the forward direction of the transfer track 1.

[0057] The lifting motor assembly has the same structure as the walking motor assembly, and both are positioned by a positioning pin 52 and locked by a quick-release clamp 53. A guide sleeve 54 is provided on the quick-release clamp 53 to facilitate the remote and rapid positioning of the electric wrench, thereby realizing the rapid and remote disassembly and assembly of the motor assembly 5; the lifting drive member 411 can adopt a winch module, and the winch module (also called a chain box) adopts a winch method of winching the chain 414 to make the end of the chain 414 rise and fall, and the end of the chain 414 is used as the driving end to connect the gripper 42 and drive the gripper 42 to rise and fall, and the winch module 411 can be used as a winch module. There are two sets of winch modules, one for use and one for backup. The two sets of winch modules can be driven by their respective motor assemblies 5, that is, the motor assemblies 5 in this embodiment are provided with two groups, one group is used as a walking motor assembly to connect the walking mechanism 3, and the other group is used as a lifting motor assembly, which is provided with two and is respectively connected to their respective winch modules; the inherent properties of the chain 414 structure can prevent the gripper 42 from twisting, thereby improving the transmission accuracy and inherent safety; two welding lugs 413 are welded on the upper part of each chain box, which are used for lifting the gripping mechanism 4 and the overall lifting of the transfer trolley 2.

[0058] In this embodiment, there are two guide grooves 412, and the cross-section of the guide grooves 412 is a "U"-shaped structure. The side openings of the two guide grooves 412 are opposite to each other, and the three sides in the groove (i.e., the three vertical side surfaces) realize the guidance of the gripper 42 during the up and down movement. A guide rod 421 is provided on each side of the gripper 42, and the two guide rods 421 are movably arranged in the two guide grooves 412 to enable the gripper 42 to rise and fall between the two guide grooves 412. The two sides of the groove top of the two guide grooves 412 limit the gripper 42 to prevent accidental opening during transportation; the bottom opening of the guide groove 412 gradually expands from top to bottom into a trumpet-shaped structure 4121 to relax the limit of the gripper 42 at the bottom of the guide groove 412, thereby allowing the gripper 42 to swing slightly at a low point to compensate for the center deviation.

[0059] In this embodiment, guide rods 421 are provided on both sides of the gripper 42. Small rollers 422 and large rollers 423 are provided on three sides of the guide rods 421. The surface on which the small rollers 422 are provided corresponds to the surface of the guide slot 412 opposite the side opening, while the surface on which the large rollers 423 are provided corresponds to two opposite side surfaces of the guide slot 412. The guide rods 421 slide within the guide slots 412 to prevent the gripper 42 from shaking in the bendable direction of the chain 414 and to ensure that the gripper 42 does not accidentally release when gripping the waste bin 6, thereby enhancing the inherent safety of the gripper 42. A travel switch 4262 is also provided on the gripper guide 4261 to determine whether the gripper 42 is gripping the waste bin 6.

[0060] This embodiment can be used in the nuclear industry, specifically a transfer device for use in radioactive environments. While enabling the transfer of radioactive solid waste, it also meets the requirements for remote repair, replacement, and installation of vulnerable components. The transfer cart 2 primarily comprises a running mechanism 3 and a gripping mechanism 4 (including a lifting assembly 41 and a gripper 42). The running mechanism 3 and lifting assembly 41 are primarily located within a transfer track 1, while the gripper 42 and its guide slot 412 are cantilevered outside the transfer track 1, facilitating observation and remote manipulation by a manipulator.

[0061] The gripping mechanism 4 is installed and fixed on the plane of the frame 36 of the walking mechanism 3, and the cable plug assembly 7 for connecting the cable can also be fixed (the connection can also be made using a quick-release assembly). The driven wheel 35, the driving wheel 31 and the driving module 32 are installed at the bottom.

[0062] The traveling motor assembly 5 starts, drives the driving module 32 to rotate, and transmits the torque to the driving wheel 31 through the transmission shaft 33. The driving wheel 31 drives the traveling mechanism 3 and the lifting assembly 41 and the gripper 42 installed on the traveling mechanism 3 to run along the transfer track 1 and stop at the waste grabbing station for picking up and placing the waste barrel 6. The lifting motor assembly 5 starts, drives the chain 414 of the hoisting module to descend, and drives the gripper 42 to fall along the guide groove 412 until the limit switch 4262 touches the waste barrel 6. The lifting motor assembly 5 reverses, drives the chain 414 of the hoisting module to rise, and drives the oblique link 425 of the gripper 42 to retract through the connecting plate 424. The oblique link 425 drives the gripper 426 to retract and grip the waste barrel 6 containing radioactive waste. Then, the gripper 42 moves along the guide groove 412 along the guide rod 421 with the lifting motor assembly 5. After the waste barrel 6 is grabbed to the highest position, the lifting motor assembly 5 stops; the walking motor assembly 5 starts, driving the driving module 32 to rotate, and then driving the transfer trolley 2 that has completed the grabbing of the waste barrel 6 to run on the transfer track 1 and stop at the radioactive waste drying or overpressure treatment station, the walking motor assembly 5 stops, the lifting motor assembly 5 starts, and drives the winch module to drive the gripper 42 to descend until the waste barrel 6 falls to the radioactive waste drying or overpressure treatment station for preparation and treatment of radioactive solid waste. The lifting motor assembly 5 reverses, driving the gripper 42 to rise to the highest position, the walking motor assembly 5 starts, driving the transfer trolley 2 to run along the transfer track 1 and stop at the waste grabbing station, and then grabs the waste barrel 6 containing radioactive waste again. The above actions are repeated to realize the transfer of solid waste between different operating units in the hot room.

[0063] Example 2

[0064] The radioactive waste treatment system of this embodiment includes a barreling unit, a drying unit, an overpressure unit and the transfer device in Example 1. The barreling unit is used to fill radioactive solid waste into waste barrels 6, the drying unit is used to dry the waste barrels 6, the overpressure unit is used to compress the dried waste barrels 6, and the transfer device is used to transfer the waste barrels 6 between the barreling unit, the drying unit and the overpressure unit.

[0065] The above specific implementations are merely exemplary. Under the above technical guidance of the present invention, those skilled in the art can make various improvements and modifications based on the above embodiments, and these improvements or modifications are also within the scope of protection of the present invention.

Claims

1. A transfer device, characterized in that: The utility model comprises a transfer track (1) and a transfer trolley (2), wherein the transfer trolley (2) is an integral module and can be hoisted and moved away from the transfer track (1) or placed on the transfer track (1). The transfer trolley (2) includes a walking mechanism (3), a grabbing mechanism (4) and a motor assembly (5). The grabbing mechanism (4) is mounted on the walking mechanism (3) and is used to pick up and place the waste bucket (6). The walking mechanism (3) is movably connected to the transfer track (1) and is used to support the grabbing mechanism (4) and the waste bucket (6) to move along the transfer track (1). The motor assembly (5) is provided with two groups, and the two groups of motor assemblies (5) are respectively connected to the walking mechanism (3) and the grasping mechanism (4) to supply energy to the walking mechanism (3) and the grasping mechanism (4). The walking mechanism (3), the grasping mechanism (4) and the motor assembly (5) are all submodules that can be hoisted and moved individually, and the submodules can be detachably connected to form an integral module; The walking mechanism (3) includes a transmission assembly and a roller, and the roller includes a driving wheel (31). The transmission assembly can be disconnected from the driving wheel (31) and electrically connected to the motor assembly (5), so that when the transmission assembly is connected to the driving wheel (31), the motor assembly (5) drives the driving wheel (31) to transmit torque so that the driving wheel (31) moves on the transfer track (1), and when the transmission assembly is disconnected from the driving wheel (31), the driving wheel (31) can rotate freely. An inner gear ring (311) is provided inside the driving wheel (31). The transmission assembly comprises a drive module (32) and a transmission shaft (33), wherein the transmission shaft (33) comprises a shaft sleeve (331) and a push rod (332). The shaft sleeve (331) is connected to the driving module (32), and both ends can be rotatably connected to the driving wheel (31). The push rod (332) is axially movable and penetrates the center hole of the shaft sleeve (331), and rotates synchronously with the shaft sleeve (331). The two ends of the push rod (332) protrude from the shaft sleeve (331) and penetrate into the interior of the driving wheel (31). The rod sections at both ends of the push rod (332) are provided with outer gear rings (3321). The push rod (332) engages the outer gear ring (3321) with the inner gear ring (311) at a first axial position to achieve torque transmission, and disengages the outer gear ring (3321) from the inner gear ring (311) at a second axial position to enable the driving wheel (31) to rotate freely. The driving wheel (31) has a cylindrical structure, and the side of the center hole close to the driving module (32) is connected to the shaft sleeve (331) through the bearing (312), and the side away from the driving module (32) is provided with the inner gear ring (311). There are two driving wheels (31), which are connected to both ends of the transmission shaft (33). One end of the push rod (332) is tightly connected to the end surface of one driving wheel (31) via an elastic member (313), and the other end passes through the end surface of the other driving wheel (31) and is connected to the shifting rod (3322), so as to press the elastic member (313) to move to the second axial position when the shifting rod (3322) is driven by an external force, and to return to the first axial position under the elastic action of the elastic member (313).

2. The transfer device according to claim 1, characterized in that: The transfer track (1) has an I-shaped cross-section structure, and the upper surface of the upper flange of the transfer track (1) carries the walking mechanism (3). The walking mechanism (3) is provided with an anti-tipping hook plate (34), which extends in a vertical direction to below the lower surface of the upper flange of the transfer track (1) and is bent toward the web of the transfer track (1) to form a hook-shaped structure that holds the upper flange of the transfer track (1).

3. The transfer device according to claim 2, characterized in that: The transfer track (1) is provided with a maintenance hoisting station for hoisting, moving or placing the transfer trolley (2). The transfer track (1) is provided with a guide member (11) and an avoidance groove (12) at the maintenance and hoisting station. The guide member (11) is located at a position corresponding to the roller position of the transfer trolley (2) in the maintenance hoisting station, and is in a groove-shaped structure arranged in the vertical direction, and the opening gradually widens from bottom to top, thereby guiding the roller when the transfer trolley (2) is vertically hoisted. The avoidance groove (12) is a groove formed on the upper flange of the transfer track (1), and its position corresponds to the position of the anti-tipping hook plate (34) of the transfer trolley (2) in the maintenance hoisting station, thereby allowing the anti-tipping hook plate (34) to pass through when the transfer trolley (2) is vertically hoisted.

4. The transfer device according to claim 1, characterized in that: The gripping mechanism (4) comprises a lifting assembly (41) and a gripper (42). The lifting assembly (41) is electrically connected to the motor assembly (5), and the driving end is connected to the gripper (42), and is used to drive the gripper (42) to rise and fall under the drive of the motor assembly (5). The gripper (42) mechanism is activated to grip the waste bucket (6) after being lifted and pulled by the lifting assembly (41), and is activated to release the waste bucket (6) after being supported by the waste bucket (6) when the waste bucket (6) falls to the ground.

5. The transfer device according to claim 4, characterized in that: The gripper (42) includes a connecting plate (424), a connecting rod (425), a gripping head (426) and a closer (427). The top of the connecting plate (424) is connected to the driving end of the lifting drive member (411), and the bottom is hingedly connected to two connecting rods (425) and a closer (427). The bottom ends of the two connecting rods (425) are each connected to a gripping head (426). When the connecting plate (424) is driven to lift by the lifting driving member (411), the closer (427) is opened, so that the two connecting rods (425) can move toward each other and respectively drive the two gripping heads (426) to grip the waste bucket (6). When the waste bucket (6) falls to the ground, the connecting plate (424) is supported by the waste bucket (6) to close the closer (427), and the two connecting rods (425) move in opposite directions and respectively drive the two grab heads (426) to release the waste bucket (6). The closed closer (427) restricts the two connecting rods (425) from moving toward each other to prevent them from grabbing the waste bucket (6) again.

6. The transfer device according to claim 5, characterized in that: The gripper (42) further includes a hook plate (428) and a baffle (429). The baffle (429) is connected to the top of the connecting plate (424) and can movably clamp the driving end of the lifting driving member (411). The hook plate (428) is connected to the baffle (429) and is used to limit the baffle (429) to a position for clamping the driving end of the lifting drive member (411) so as to release the baffle (429) after being toggled, thereby disengaging the connecting plate (424) from the lifting drive member (411).

7. The transfer device according to claim 4, characterized in that: The lifting assembly (41) includes a lifting drive member (411) and a guide groove (412). The lifting drive member (411) is mounted on the walking mechanism (3) and is located directly above the transfer track (1). The guide groove (412) is arranged at the driving end of the lifting drive member (411) in the vertical direction and is located outside the transfer track (1). The top of the gripper (42) is connected to the driving end of the lifting drive member (411) and is slidably adapted to the guide groove (412). Under the limit of the guide groove (412), the gripper (42) is driven to rise and fall by the lifting drive member (411) to grab or release the waste bucket (6) from the outside of the transfer track (1).

8. The transfer device according to claim 7, characterized in that: The guide grooves (412) are provided with two, and the side openings of the two guide grooves (412) are opposite to each other. A guide rod (421) is provided on each side of the gripper (42), and the two guide rods (421) are movably arranged in the two guide grooves (412) so that the gripper (42) can be raised and lowered between the two guide grooves (412). The bottom opening of the guide groove (412) gradually expands from top to bottom to relax the degree of limitation on the gripper (42) at the bottom of the guide groove (412), thereby allowing the gripper (42) to swing to compensate for center deviation.

9. A radioactive waste treatment system, characterized in that: It comprises a barrel filling unit, a drying unit, an overpressure unit and a transfer device according to any one of claims 1 to 8, The barreling unit is used to fill radioactive solid waste into waste barrels (6). The drying unit is used to dry the waste barrel (6). The overpressure unit is used to compress the dried waste barrel (6). The transfer device is used to transfer waste barrels (6) between the barrel filling unit, the drying unit and the overpressure unit.

Images