Material transfer device and radioactive material production system

Abstract

The invention discloses a material transfer device which comprises a gripping apparatus, the gripping apparatus comprises a clamping arm and a clamping driving part, and the clamping driving part is used for driving the clamping arm to open and close to clamp materials and vertically move to lift the materials; the clamping arm is provided with a self-locking block, the self-locking block is freely and rotatably connected to the clamping face of the clamping arm, a rotating shaft of the self-locking block is parallel to the surface of a material and is located in an action plane where the opening and closing movement direction is located, the self-locking block partially or completely extends out of the clamping face, and the outer surface of the extending part is gradually folded towards the clamping face from top to bottom, so that when the material is clamped, the self-locking block can be automatically locked. And when the material is lifted, the self-locking block rotates downwards around the rotating shaft under the action of gravity of the material and gradually locks the surface of the material, so that the self-locking block is in contact with the material and freely rotates around the rotating shaft to adapt to the surface of the material. The material transfer device can adapt to materials of various specifications, the transfer safety is improved, and the maintenance difficulty and frequency are reduced. The invention further provides a radioactive material production system.

Description

Technical Field

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

[0002] Due to the unique nature of radioactive environments, equipment reliability and maintainability are highly demanding. The need to minimize the number and frequency of repair modules is crucial to facilitate maintenance while improving production efficiency. However, in radioactive environments, various production lines frequently require material transfer via transfer devices. A single production line may need to handle multiple materials, each with varying diameters, heights, and surface conditions. If separate transfer devices were used for each material, the number of modules requiring repair would multiply, increasing the difficulty and frequency of remote repairs. This would also lead to frequent production line downtime and inefficiencies. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies in the prior art and provide a material transfer device that can accommodate materials of various specifications, improve transfer safety, and reduce the difficulty and frequency of maintenance. The present invention also provides a radioactive material production system.

[0004] The present invention provides a material transfer device, including a gripper, which includes a clamping arm and a clamping drive, wherein the clamping drive is used to drive the clamping arm to open and close to clamp the material, and drive the clamping arm to move vertically to lift the material; a self-locking block is provided on the clamping arm, and the self-locking block is freely rotatable and connected to the clamping surface of the clamping arm, the rotation axis of the self-locking block is parallel to the material surface and is in the action plane where the opening and closing movement direction is located, the self-locking block partially or completely protrudes from the clamping surface, and the outer surface of the protruding part gradually converges toward the clamping surface from top to bottom, so that when clamping the material, the self-locking block contacts the material and freely rotates around the rotation axis to adapt to the material surface, and when lifting the material, the self-locking block rotates downward around the rotation axis under the action of the material gravity and gradually locks the material surface.

[0005] Furthermore, the clamping arm is provided with a plurality of groups of self-locking blocks, and each group of self-locking blocks is arranged at a set distance, so that the self-locking blocks of the clamping arm can lock the surface of the material together from the circumference of the material.

[0006] Furthermore, the self-locking block is connected to the clamping arm through a rotating shaft, and the rotating shaft includes a first pin and a second pin, and the first pin and the second pin are vertically connected to each other to form a cross structure. The first pin is perpendicular to the action plane and can be rotatably connected to the clamping surface of the clamping arm. The self-locking block can be rotatably connected to the second pin so that the rotating shaft is in the action plane and can rotate freely around the first pin in the action plane with the second pin to adapt to the circumferential curvature of the material surface and make the rotating shaft parallel to the material surface.

[0007] Furthermore, the self-locking block is in a non-uniform disc-shaped structure surrounding the rotary axis, and the radius gradually decreases from top to bottom, so that the outer surface is a curved surface that gradually converges toward the clamping surface from top to bottom.

[0008] Furthermore, a sawtooth structure is provided on the outer surface of the self-locking block, and the racks of the sawtooth structure are distributed along a horizontal direction.

[0009] Furthermore, there are two clamping arms, each of which includes a large arm, an arm seat, a fastener and a limiter. The large arm is fastened to the arm seat by the fastener. The limiter is arranged between the large arm and the arm seat, and is used to limit the position of the large arm when the fastener is loosened, so that the large arm can freely rotate and be connected to the arm seat with the fastener as the rotating axis. The self-locking block is arranged on the large arm, and the clamping drive is connected to each arm seat to drive the two arm seats to carry the two large arms to clamp materials and lift materials.

[0010] Furthermore, the gripper also includes a frame, and the clamping drive component includes a lifting drive component and an opening and closing drive component. The opening and closing drive component and the clamping arm are both installed on the frame. The driving end of the opening and closing drive component is connected to the clamping arm to drive the clamping arm to clamp the material. The driving end of the lifting drive component is connected to the frame to drive the frame to support the clamping arm to move vertically to lift the material.

[0011] Furthermore, the material transfer device also includes a transfer trolley and a track. The gripper is installed on the transfer trolley to form an integral module that is lifted and moved together with the transfer trolley. The transfer trolley moves along the track to carry the gripper to transport the clamped and lifted materials to the set position.

[0012] Furthermore, an inward-concave groove is provided on the side wall of the track, and the transfer trolley includes a wheel, which is placed on the top wall of the track and moves along the track. The transfer trolley is provided with a hook plate on one side of the wheel, and the bottom end of the hook plate extends below the wheel to the groove position and bends horizontally toward the inside of the groove, thereby forming a sliding portion that slides in the groove to limit the wheel from leaving the track.

[0013] Furthermore, the material transfer device also includes a chain pushing mechanism, which includes a motion driving member, a sprocket, a chain and a chain box. The chain is accommodated in the chain box, and the end extends out of the chain box and is connected to the transfer trolley after passing through the sprocket. The driving end of the motion driving member is connected to the sprocket, which drives the sprocket to rotate and drives the chain to pull the transfer trolley along the track.

[0014] The present invention also provides a radioactive material production system, including a production line, a hot chamber, a crane, an operating device and the above-mentioned material transfer device. The production line, crane, operating device and material transfer device are all arranged inside the hot chamber. The material transfer device is used to transfer materials on the production line. The operating device is used to release the material transfer device from clamping the material in the event of a fault. The crane is used to lift the material transfer device out of the hot chamber after releasing the clamping of the material.

[0015] The material transfer device of the present invention adopts a clamping drive to drive the clamping arm to open and close and lift and lower. By opening and closing, the clamping can adapt to materials with different outer diameter specifications, and by lifting, it can adapt to materials with different height specifications. It has a wider range of applications and can use the same device to realize the transfer of materials of various specifications.

[0016] More importantly, the clamping surface of the clamping arm is also connected to a self-locking block that can rotate freely. The outer surface of the self-locking block gradually converges toward the clamping surface from top to bottom, that is, the distance from each point on the outer surface of the self-locking block to the rotation axis gradually changes. In this setting structure, during the clamping stage, as the clamping surface continues to approach the material, the self-locking block can rotate freely in the process of contacting the material, so that the size between the point on the outer surface that contacts the material and the rotation axis automatically matches the outer diameter of the material, ensuring that the clamping arm is clamped in place; and in the lifting stage, the gravity of the material is used to trigger the self-locking block to automatically rotate downward, causing the outer surface of the self-locking block to contact the material at a higher position. The distance between the upper position of the outer surface and the rotation axis is larger, then the clamping space enclosed by the self-locking block on the corresponding clamping arm will be reduced, and thus a stronger clamping force will be applied to the material surface. It can be said that no external drive is required, and locking is achieved entirely by the weight of the material.

[0017] This ingenious design not only provides a more stable and reliable transfer process, but also adapts to various surface conditions, such as curved surfaces, variable diameter sections, and complex configurations, further expanding its applicability and ensuring inherent safety during the transfer of various materials. Furthermore, the presence of the self-locking block significantly reduces the precision requirements for the clamping action of the clamping arm, effectively reducing the difficulty of operating the equipment.

[0018] This locking action does not require external drive, relying entirely on the free rotation of the machine and the natural downward tendency of the material during lifting. Therefore, it can be used in radioactive environments such as hot rooms. Precisely because of its wider applicability, when used in radioactive environments such as hot rooms, it is no longer necessary to set up a corresponding transfer device for each material, greatly reducing the number of modules requiring maintenance, the difficulty, and the frequency, and providing higher reliability and maintainability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1Schematic diagram of the structure of the material transfer device in Example 1 of the present invention;

[0020] Figure 2 Schematic diagram of the structure of the gripper of the material transfer device in Example 1 of the present invention;

[0021] Figure 3 1 is a schematic structural diagram of a clamping arm of a material transfer device in Example 1 of the present invention;

[0022] Figure 4 This is a schematic structural diagram of the self-locking block of the material transfer device in Example 1 of the present invention;

[0023] Figure 5 1 is a schematic structural diagram of the self-locking block of the material transfer device when clamping the material in Example 1 of the present invention;

[0024] Figure 6 This is a schematic structural diagram of the self-locking block of the material transfer device when lifting materials in Example 1 of the present invention;

[0025] Figure 7 1 is a schematic structural diagram of the clamping arm of the material transfer device in Example 1 of the present invention when the fastener is in a fastened state;

[0026] Figure 8 1 is a schematic structural diagram of the clamping arm of the material transfer device in Example 1 of the present invention when the fastener is in a loose state;

[0027] Figure 9 This is a schematic structural diagram of the transfer trolley and gripper overall module of the material transfer device in Example 1 of the present invention;

[0028] Figure 10 This is a schematic structural diagram of a transfer trolley of a material transfer device in Example 1 of the present invention;

[0029] Figure 11 1 is a schematic structural diagram of a lifting drive member of a material transfer device in Example 1 of the present invention;

[0030] Figure 12 1 is a schematic structural diagram of the push-chain mechanism of the material transfer device in Example 1 of the present invention;

[0031] Figure 13 It is a structural diagram of the radioactive material production system in Example 2 of the present invention.

[0032] In the figure: 1. gripper; 11. clamping arm; 111. self-locking block; 1111. first pin; 1112. second pin; 1113. pressure block; 112. action plane; 113. upper arm; 114. arm seat; 115. fastener; 1151. bolt; 1152. nut; 116. limiter; 12. clamping drive; 121. lifting drive; 122. opening and closing drive; 123. screw lift; 12 4. Drive shaft; 13. Frame; 131. Square beam; 132. Screw; 2. Transfer trolley; 21. Wheel; 22. Hook plate; 23. Column; 24. Base; 25. Upper beam; 3. Track; 31. Position sensor; 4. Push chain mechanism; 41. Motion drive component; 42. Sprocket; 43. Chain; 44. Chain box; 5. Material; 6. Hot chamber; 7. Crane; 8. Operating device; 81. Power arm; 82. Manipulator. DETAILED DESCRIPTION

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] Example 1

[0038] like Figures 2 to 6As shown, the material transfer device of this embodiment includes a gripper 1, which includes a clamping arm 11 and a clamping drive 12. The clamping drive 12 is used to drive the clamping arm 11 to open and close to clamp the material 5, and to drive the clamping arm 11 to move vertically to lift the material 5; the gripping device can adapt to materials 5 of different outer diameters by opening and closing, and can adapt to materials 5 of different heights by lifting. The scope of application is wider, and the same device can be used to realize the transfer of materials 5 of various specifications.

[0039] A self-locking block 111 is provided on the clamping arm 11. The self-locking block 111 is freely rotatable and connected to the clamping surface of the clamping arm 11. The rotation axis of the self-locking block 111 is parallel to the surface of the material 5 and is located in the action plane 112 where the opening and closing movement direction is located. In this embodiment, the two clamping arms 11 are arranged along the horizontal plane and move toward or in opposite directions in the horizontal plane to open and close. Then the self-locking block 111 uses a horizontal axis (on the horizontal plane) parallel to the surface of the material 5 as the rotation axis. For example, when the material 5 is a cylindrical material, the rotation axis is a horizontal axis perpendicular to the radial direction of the material. When the material 5 is a cubic structure, the rotation axis is a horizontal axis parallel to the side of the cube. The self-locking block 111 partially or completely protrudes from the clamping surface, such as Figure 2 As shown, the outer surface of the protruding portion gradually converges toward the clamping surface from top to bottom, that is, the distance from each point on the outer surface of the self-locking block 111 to the rotation axis gradually changes, as shown in FIG. Figure 4 As shown, when clamping the material 5, the self-locking block 111 contacts the material 5 and freely rotates around the rotating axis to adapt to the surface of the material 5. When lifting the material 5, the self-locking block 111 rotates downward around the rotating axis under the action of the gravity of the material 5 and gradually locks the surface of the material 5.

[0040] Specifically, in this arrangement, during the clamping stage, as the clamping surface continuously approaches the material 5, the self-locking block 111 can rotate freely in the process of contacting the material 5, so that the size between the point on the outer surface that contacts the material 5 and the rotation axis automatically matches the outer diameter of the material 5, ensuring that the clamping arm 11 is clamped in place. Figure 5 and in the lifting stage, the use of the gravity of the material 5 triggers the self-locking block 111 to automatically rotate downward, causing the outer surface of the self-locking block 111 to contact the material 5 at a more upper position, such as Figure 6 As shown, if the distance between the position above the outer surface and the rotating axis is larger, the clamping space surrounded by the self-locking block 111 on the corresponding clamping arm 11 will be reduced, so a stronger clamping force will be applied to the surface of the material 5. It can be said that there is no need for external drive, and the locking is completely dependent on the weight of the material 5.

[0041] This ingenious design not only ensures greater stability and reliability during transfer, but also adapts to various surface conditions, such as curved surfaces, variable diameter sections, and complex configurations, further expanding its scope of application and ensuring inherent safety during the transfer of various materials. Furthermore, due to the presence of self-locking block 111, the clamping accuracy requirements of clamping arm 11 are greatly reduced, effectively reducing the difficulty of operating the device, ensuring a secure clamp while also avoiding damage to the surface of material 5.

[0042] This locking action does not require external actuation, relying entirely on the free rotation of the machine and the natural downward tendency of the material 5 during lifting. Therefore, it can be used in radioactive environments such as hot rooms. Precisely because of its wider applicability, when used in radioactive environments such as hot rooms, it is no longer necessary to install a corresponding transfer device for each type of material 5. This greatly reduces the number of modules requiring maintenance, the difficulty, and the frequency of maintenance, and provides higher reliability and maintainability.

[0043] In this embodiment, the clamping arm 11 is equipped with multiple sets of self-locking blocks 111, each set of self-locking blocks 111 being spaced apart at a predetermined distance. This allows the self-locking blocks 111 of the clamping arm 11 to collectively lock the surface of the material 5 circumferentially. The circumferential distribution of the multiple sets of self-locking blocks 111 creates a wrap-around locking effect on the surface of the material 5, greatly enhancing clamping stability and effectively preventing the safety risks of material 5 slipping in radioactive environments. This is particularly suitable for cylindrical materials 5 with widely varying diameters. The multi-point synchronous contact design significantly reduces the risk of localized stress concentration, protecting the surface integrity of the material 5 and improving the transfer device's compatibility with irregularly shaped materials 5.

[0044] In this embodiment, the self-locking block 111 is connected to the clamping arm 11 through a rotating shaft, and the rotating shaft includes a first pin shaft 1111 and a second pin shaft 1112. The first pin shaft 1111 and the second pin shaft 1112 are vertically connected to each other to form a cross structure. The first pin shaft 1111 is perpendicular to the action plane 112 and can be rotatably connected to the clamping surface of the clamping arm 11. The self-locking block 111 can be rotatably connected to the second pin shaft 1112 so that the rotation axis is in the action plane 112 and can rotate freely around the first pin shaft 1111 in the action plane 112 with the second pin shaft 1112 to adapt to the circumferential curvature of the surface of the material 5 so that the rotation axis is parallel to the surface of the material 5.

[0045] Due to the existence of the first pin shaft 1111, the self-locking block 111 has the freedom to rotate around it. Therefore, no matter whether the material 5 is a prismatic structure with a straight outer surface or a cylindrical structure with a curved outer surface, the self-locking block 111 can rotate around the first pin shaft 1111 along with the second pin shaft 1112 as soon as it touches the material 5, thereby automatically adapting to the circumferential curvature of the outer surface of the material 5 (or the curvature in the cross-sectional direction). Figure 7As shown, it is ensured that each self-locking block 111 is in full contact with the material 5. The horizontal second pin 1112 can ensure that the self-locking block 111 has another degree of freedom to rotate around it, ensuring that the self-locking block 111 can achieve the self-locking function as the material 5 is lifted.

[0046] It can be seen that the cross-shaped structural shaft of this embodiment gives the self-locking block 111 the ability to rotate with two degrees of freedom, so that it can simultaneously adapt to the axial curvature and circumferential contour changes of the surface of the material 5, breaking through the one-way adjustment limitations of the traditional clamping structure, achieving precise fitting of multi-dimensional contact surfaces, and significantly improving the locking degree of the special-shaped material 5.

[0047] In this embodiment, a self-locking block 111 is provided at each end of the second pin shaft 1112, so that a group of self-locking blocks 111 automatically rotate around the first pin shaft 1111 to adapt to the circumferential curvature of the outer surface of the material 5 while contacting the material 5.

[0048] In this embodiment, Figure 4 As shown, the self-locking block 111 is a disc-shaped structure with a non-uniform diameter, surrounding the rotating axis. Its radius gradually decreases from top to bottom, resulting in an outer surface that curves gradually toward the clamping surface. The outer surface of the self-locking block 111 is equipped with a serrated structure. The serrated teeth are distributed horizontally. This directional texture enhances vertical anti-slip properties, significantly reducing the probability of material 5 slipping. Combined with the geometric structure of the self-locking block 111, it generates self-increasing friction during the lifting process, achieving a "tighter-than-pull" effect and ensuring absolute anti-slip performance.

[0049] In this embodiment, the upper and lower ends of the first pin shaft 1111 of the rotating shaft are rotatably connected to the pressure blocks 1113, and are fixedly connected to the clamping surface of the clamping arm 11 through the pressure blocks 1113. The clamping surface can be a hollow frame structure to avoid affecting the movement of the rotating shaft. Due to the above structural characteristics, the self-locking block 111 of this embodiment can also be called a tooth piece, and the second pin shaft 1112 can be correspondingly called a gear shaft. The gear shaft is vertically cross-connected and fixed to the center of the first pin shaft 1111. A tooth piece is installed at each end of the gear shaft. The interconnected tooth pieces, gear shaft, first pin shaft 1111 and pressure blocks 1113 are called a set of adaptive gripping heads, or a set of self-locking blocks 111. Two sets of self-locking blocks 111 are installed on the inner side of each clamping arm 11 to lock the material 5 from all sides. In other embodiments, the number of sets of self-locking blocks 111 can also be determined according to the shape of the material 5.

[0050] In this embodiment, Figure 3As shown, there are two clamping arms 11, each clamping arm 11 includes a large arm 113, an arm seat 114, a fastener 115 and a limiter 116. The large arm 113 is fastened to the arm seat 114 by the fastener 115. The limiter 116 is arranged between the large arm 113 and the arm seat 114, and is used to limit the position of the large arm 113 when the fastener 115 is loosened, so that the large arm 113 can freely rotate on the arm seat 114 with the fastener 115 as the rotating axis. The self-locking block 111 is arranged on the large arm 113, and the clamping drive member 12 is connected to each arm seat 114 to drive the two arm seats 114 to carry the two large arms 113 to clamp the material 5 and lift the material 5.

[0051] Specifically, a self-locking block 111 is provided on the side surface of one end of the upper arm 113 as a clamping surface, and the other end is located at the bottom of the arm seat 114. The fastener 115 includes a bolt 1151 and a nut 1152. The bolt 1151 penetrates the upper arm 113 and the arm seat 114 from bottom to top, and is then tightened by the nut 1152 above the arm seat 114. The lower end of the bolt 1151 is welded and fixed to the lower surface of the upper arm 113. The limiting member 116 can also be called a limiting plate. The limiting plate is welded to the side of the arm seat 114 and is located directly below the bolt 1151. In an emergency, when the nut 1152 is loosened to release the upper arm 113, the limiting plate can limit the distance the upper arm 113 falls, so that it remains connected to the arm seat 114 with the bolt 1151 as the rotating axis. Figure 7 and Figure 8 As shown, this setting structure can not only prevent the components from detaching when the nut 1152 is loose, ensuring the integrity of the equipment during subsequent maintenance and lifting, but also enable the upper arms 113 of the two clamping arms 11 to move freely to release the material 5 through remote operation when various faults require maintenance or the material 5 cannot be released.

[0052] In this embodiment, the gripper 1 further includes a frame 13, and the clamping drive member 12 includes a lifting drive member 121 and an opening and closing drive member 122. The lifting drive member 121 and the opening and closing drive member 122 can both be motor components, such as Figure 2 and Figure 11 As shown, the opening and closing drive member 122 and the clamping arm 11 are both installed on the frame 13. The driving end of the opening and closing drive member 122 is connected to the clamping arm 11 to drive the clamping arm 11 to clamp the material 5. The driving end of the lifting drive member 121 is connected to the frame 13 to drive the frame 13 to carry the clamping arm 11 to move vertically to lift the material 5.

[0053] The gripper 1, also known as a mobile gripper, comprises a frame 13, which is provided with a square beam 131 extending in the opening and closing direction. An arm mount 114 is provided with a square hole and slides over the outside of the square beam 131. An opening and closing driver 122 is mounted on the side of the frame 13. A lead screw 132 is provided at the driving end of the driver 122. The lead screw 132 has a double-ended reverse thread structure and passes through the frame 13 in the opening and closing direction, supported by the frame 13. The two arm mounts 114 are respectively mounted on the two reverse threads of the lead screw 132. When the driver 122 drives the lead screw 132 to rotate, the lead screw 132 drives the clamping arm 11 to move left and right along the frame 13, thereby opening and closing the clamping arm 11. The lifting drive member 121 can drive the frame 13 to rise and fall through the screw elevator 123. Specifically, the lifting drive member 121 adopts a motor assembly. The motor assembly and the screw elevator 123 are connected by a transmission shaft 124. Both are installed on the base 24 of the transfer trolley 2 described below. The frame 13 is installed on the screw elevator 123 and is movably mounted on the four columns 23 of the transfer trolley 2 described below. Figure 9 As shown, the lifting drive 121 is guided by the column 23 and transmits power to the spiral elevator 123 through the transmission shaft 124 to drive the frame 13 to move up and down.

[0054] In this embodiment, the material transfer device further includes a transfer trolley 2 and a track 3. Figure 1 、 Figure 9 and Figure 10 As shown, the gripper 1 is installed on the transfer trolley 2, forming an integral module that is lifted and moved together with the transfer trolley 2. With this integral module design, when a fault occurs, only the integral module needs to be lifted, which is convenient for long-distance replacement. The transfer trolley 2 moves along the track 3 to carry the gripper 1 to transport the clamped and lifted material 5 to the set position. The transfer trolley 2 includes a base 24, wheels 21, columns 23 and an upper beam 25. Two sets of wheels 21 are installed on each side of the base 24, and the wheels 21 rotate on the track 3. The lower ends of the four columns 23 are fixed on the base 24, and the upper beam 25 is installed on the upper ends of the four columns 23. The lifting drive 121 is fixed on the body frame of the transfer trolley 2, and the gripper 1 is connected to the lifting drive 121. The lifting drive 121 provides power to drive the gripper 1 to rise and fall along the body.

[0055] In this embodiment, the sidewalls of the track 3 are provided with inwardly concave grooves. The transfer trolley 2 includes wheels 21, which are placed on the top wall of the track 3 and move along the track 3. The transfer trolley 2 is provided with a hook plate 22 on one side of the wheel 21. The bottom end of the hook plate 22 extends below the wheel 21 to the position of the groove and bends horizontally into the groove, thereby forming a sliding portion that slides within the groove to prevent the wheel 21 from leaving the track 3. In this embodiment, the cross-section of the track 3 is an "I"-shaped structure. The hook plate 22 on the wheel 21 cooperates with the "I"-shaped structure of the track 3 to prevent the transfer trolley 2 from tipping over during operation, thereby ensuring safety during transportation.

[0056] In this embodiment, Figure 1 As shown, a position sensor 31 is provided on the track 3. Position sensors 31, or travel switches or position detection switches, are installed at different locations on the track 3 according to the stopping requirements. These sensors detect the movement position of the transfer cart 2 and allow it to stop at the corresponding location according to the stopping requirements. For example, if a stop is required at a certain location, a position sensor 31 is installed at that location. When the transfer cart 2 arrives, the position sensor 31 sends a signal to the control unit for transfer control. The control unit then controls the push-chain mechanism 4 to drive the transfer cart 2 to stop.

[0057] In this embodiment, Figure 1 and Figure 12 As shown, the material transfer device also includes a chain push mechanism 4. In this embodiment, the track 3 and the chain push mechanism 4 are both fixed to the ground. The transfer trolley 2 is connected to the chain push mechanism 4 and placed on the track 3. The chain push mechanism 4 provides power to drive the transfer trolley 2 to move back and forth on the track 3. The chain push mechanism 4 includes a motion drive member 41, a sprocket 42, a chain 43 and a chain box 44. The chain 43 is accommodated in the chain box 44, with the end extending out of the chain box 44 and passing through the sprocket 42 before connecting to the transfer trolley 2. The driving end of the motion drive member 41 is connected to the sprocket 42. The rotation of the drive sprocket 42 drives the chain 43 to pull the transfer trolley 2 along the track 3. Specifically, the sprocket 42 is installed at the outlet of the chain box 44, and the motion drive member 41 adopts a motor assembly. The motor assembly is installed on the side of the chain box 44 and connected to the sprocket 42. The chain 43 is stored in the chain box 44. The chain 43 cooperates with the sprocket 42. The motion drive member 41 drives the sprocket 42 to rotate, and the sprocket 42 drives the chain 43 to move horizontally, extending or retracting the chain box 44, and finally driving the transfer cart 2 to move back and forth.

[0058] In general, this embodiment can be used in the fields of nuclear power, spent fuel reprocessing, and radioactive waste treatment technology. Through a set of devices, a production line in a radioactive environment can be used to transfer materials of various heights and diameters. The equipment can ensure inherent safety during the material transfer process. In the event of a malfunction, the equipment can be unloaded remotely and hoisted for repair.

[0059] The gripper 1 is mounted on the transfer trolley 2, forming a module that is lifted and moved together. Therefore, the overall components of the device include the transfer trolley 2, the push chain mechanism 4, and the track 3. When grabbing the material 5, the height of the gripper 1 can be adjusted by driving the screw elevator 123 through the lifting drive 121 according to the height of the material 5 to ensure that the grabbing position is above the center of gravity of the material 5; the opening of the clamping arm 11 can be adjusted to adapt to the diameter of the material 5 by driving the screw 132 through the opening and closing drive 122. When the teeth of the adaptive gripper come into contact with the material 5 to be grabbed, the teeth drive the rotating shaft to rotate according to the diameter of the material 5. After grabbing the material 5, the teeth rotate downward around the rotating shaft under the action of the gravity of the material 5. The distance between the adaptive grippers of the clamping arms 11 on both sides becomes smaller and smaller, and the convex serrated structure is used to make the grip tighter and tighter, achieving self-locking and ensuring the safety of the material 5 during transportation.

[0060] Example 2

[0061] The radioactive material production system of this embodiment is as follows: Figure 13 As shown, the production line, the hot chamber 6, the crane 7, the operating device 8, and the material transfer device of Example 1 are all arranged inside the hot chamber 6. The production line is used to process or produce radioactive materials 5. The material transfer device is installed on the ground inside the hot chamber 6 (radioactive environment) and is used to transfer materials 5 on the production line. The operating device 8 is used to release the material transfer device from gripping the material 5 in the event of a fault. The crane 7 is used to lift the material transfer device out of the hot chamber 6 after releasing the grip on the material 5. The operating device 8 specifically includes a power arm 81 and a manipulator 82.

[0062] The transfer trolley 2 (an integral module formed with the gripper 1) is the module to be lifted of the material transfer device. When the transfer trolley 2 has a mechanical failure and needs to be repaired, and the gripper 1 is currently gripping the material 5, the material 5 must be released first, and then the transfer trolley 2 must be lifted for repair. The operator can operate the power hand 81 outside the hot chamber 6. The power hand 81 is equipped with an electric wrench. The nut 1152 on the clamping arm 11 is loosened by the electric wrench, allowing the upper arm 113 to fall to the limiter 116. The operator then operates the manipulator 82 to push the upper arm 113 outward, causing the upper arm 113 to rotate outward around the bolt 1151, causing the clamping arm 11 to release the material 5. The states before and after release are shown in the figure. Figure 7 and Figure 8 Finally, the transfer trolley 2 (an integral module formed with the gripper 1) is hoisted by a crane 7 to a maintainable room for maintenance.

[0063] It will be understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present invention, and the present invention is not limited thereto. Those skilled in the art will appreciate that various modifications and improvements can be made without departing from the spirit and substance of the present invention, and such modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A material transfer device, characterized in that: The gripper (1) comprises a clamping arm (11) and a clamping drive (12), The clamping drive member (12) is used to drive the clamping arm (11) to open and close to clamp the material (5), and to drive the clamping arm (11) to move vertically to lift the material (5); The clamping arm (11) is provided with a self-locking block (111), which is freely rotatable and connected to the clamping surface of the clamping arm (11). The rotation axis of the self-locking block (111) is parallel to the surface of the material (5) and is located in the action plane (112) where the opening and closing movement direction is located. The self-locking block (111) partially or completely protrudes from the clamping surface, and the outer surface of the protruding part gradually converges toward the clamping surface from top to bottom. When clamping the material (5), the self-locking block (111) contacts the material (5) and freely rotates around the rotation axis to adapt to the surface of the material (5), and When the material (5) is lifted, the self-locking block (111) rotates downward around the rotation axis under the action of the gravity of the material (5) and gradually locks the surface of the material (5).

2. The material transfer device according to claim 1, characterized in that: The clamping arm (11) is provided with a plurality of groups of self-locking blocks (111), and each group of self-locking blocks (111) is arranged at a set distance. The self-locking block (111) of the clamping arm (11) locks the surface of the material (5) from the circumferential direction of the material (5).

3. The material transfer device according to claim 1 or 2, characterized in that: The self-locking block (111) is connected to the clamping arm (11) via a rotating shaft, wherein the rotating shaft comprises a first pin shaft (1111) and a second pin shaft (1112), wherein the first pin shaft (1111) and the second pin shaft (1112) are vertically connected to each other to form a cross-shaped structure. The first pin (1111) is perpendicular to the action plane (112) and is rotatably connected to the clamping surface of the clamping arm (11). The self-locking block (111) is rotatably connected to the second pin (1112) so that the rotation axis is located in the action plane (112) and can freely rotate around the first pin (1111) in the action plane (112) along with the second pin (1112) to adapt to the circumferential curvature of the surface of the material (5) so that the rotation axis is parallel to the surface of the material (5).

4. The material transfer device according to claim 1, characterized in that: The self-locking block (111) is in a non-uniform disc-shaped structure surrounding the rotary axis, and the radius gradually decreases from top to bottom, so that the outer surface is a curved surface that gradually converges toward the clamping surface from top to bottom.

5. The material transfer device according to claim 1, characterized in that: A sawtooth structure is provided on the outer surface of the self-locking block (111), and the racks of the sawtooth structure are distributed along a horizontal direction.

6. The material transfer device according to claim 1, characterized in that: There are two clamping arms (11), each of which comprises a large arm (113), an arm seat (114), a fastener (115) and a limiter (116). The large arm (113) is fastened to the arm seat (114) via a fastener (115). The limiting member (116) is arranged between the upper arm (113) and the arm seat (114) and is used to limit the position of the upper arm (113) when the fastener (115) is loosened, so that the upper arm (113) can freely rotate and be connected to the arm seat (114) with the fastener (115) as the rotation axis. The self-locking block (111) is arranged on the upper arm (113). The clamping drive member (12) is connected to each arm seat (114) to drive the two arm seats (114) to carry the two large arms (113) to clamp the material (5) and lift the material (5).

7. The material transfer device according to claim 1, characterized in that: The gripper (1) further comprises a frame (13), the clamping drive member (12) comprises a lifting drive member (121) and an opening and closing drive member (122), The opening and closing driving member (122) and the clamping arm (11) are both mounted on the frame (13). The driving end of the opening and closing driving member (122) is connected to the clamping arm (11) to drive the clamping arm (11) to clamp the material (5). The driving end of the lifting drive member (121) is connected to the frame (13) to drive the frame (13) to carry the clamping arm (11) to move vertically to lift the material (5).

8. The material transfer device according to claim 1, characterized in that: It also includes a transfer trolley (2) and a track (3), The gripper (1) is mounted on the transfer trolley (2) and forms an integral module that is lifted and moved together with the transfer trolley (2). The transfer trolley (2) moves along the track (3) to transport the clamped and lifted material (5) to a set position by the supporting gripper (1).

9. The material transfer device according to claim 8, characterized in that: The side wall of the track (3) is provided with an inwardly concave groove. The transfer trolley (2) includes wheels (21), which are placed on the top wall of the track (3) and move along the track (3). The transfer trolley (2) is provided with a hook plate (22) on one side of the wheel (21), the bottom end of the hook plate (22) extends below the wheel (21) to the position of the groove, and is bent horizontally toward the inside of the groove, thereby forming a sliding portion that slides in the groove to prevent the wheel (21) from leaving the track (3).

10. The material transfer device according to claim 8, characterized in that: It also includes a chain push mechanism (4), which includes a motion driving member (41), a sprocket (42), a chain (43) and a chain box (44). The chain (43) is accommodated in the chain box (44), and the end thereof extends out of the chain box (44), passes around the sprocket (42), and is connected to the transfer trolley (2). The driving end of the motion driving member (41) is connected to a sprocket (42), and the driving sprocket (42) rotates to drive a chain (43) to pull the transfer trolley (2) to move along the track (3).

11. A radioactive material production system, characterized by: It comprises a production line, a hot chamber (6), a crane (7), an operating device (8) and a material transfer device according to any one of claims 1 to 10, The production line, crane (7), operating device (8) and material transfer device are all arranged inside the hot chamber (6). The material transfer device is used to transfer materials on the production line (5), The operating device (8) is used to release the material transfer device from clamping the material (5) in the event of a failure. The crane (7) is used to lift the material transfer device out of the hot chamber (6) after releasing the clamping of the material (5).

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