Cover opening device, cover opening system and cover opening method for hydrothermal synthesis reaction kettle

Abstract

The embodiment of the invention provides a cover opening device, a cover opening system and a cover opening method of a hydrothermal synthesis reaction kettle, the cover opening device comprises a transfer barrel and an operation assembly, the transfer barrel is provided with a first containing cavity and a jacking hole, the first containing cavity is opened so that the hydrothermal synthesis reaction kettle can enter and exit from the first containing cavity, and the jacking hole is communicated with the first containing cavity; the jacking hole extends along a first direction and is communicated with the first accommodating cavity and the outside, and the transfer barrel is used for fixing the kettle body; the operation assembly comprises a first operation mechanism, a second operation mechanism and a third operation mechanism, the first operation mechanism can fix the transfer barrel, the second operation mechanism is provided with a jacking column, the jacking column is used for jacking the inner cup out of the outer tank, and the third operation mechanism is used for fixing the cup body and the cup cover and driving the cup body and the cup cover to be separated. According to the uncovering device disclosed by the embodiment of the invention, by arranging the transfer barrel, each part of the hydrothermal synthesis reaction kettle can be conveniently transferred, and the working efficiency is favorably improved; the inner cup is ejected out through the jacking column, and the inner cup can be exposed out of the kettle body without turning over and the like, so that the operation is simplified.

Description

Technical Field

[0001] This application relates to the field of nuclear fuel reprocessing technology, and in particular to an opening device, opening system and opening method for a hydrothermal synthesis reactor. Background Technology

[0002] A hydrothermal synthesis reactor is a sealed container capable of decomposing sparingly soluble substances. Under specific temperature and pressure conditions, the reactor uses a solution as the reaction system. The high-temperature, high-pressure solution dissolves substances that are insoluble or sparingly soluble under atmospheric conditions, or reacts to form dissolved products of that substance. By controlling the temperature difference in the solution, convection is generated to create a supersaturated state, leading to the precipitation and growth of crystals. Hydrothermal synthesis reactors can be used for sample pretreatment in analysis; for small-scale synthesis reactions; and to rapidly digest sparingly soluble substances using the high-temperature, high-pressure, and sealed environment of a strong acid or strong alkali within the reactor.

[0003] Hydrothermal synthesis reactors are also frequently used in research activities related to spent fuel reprocessing, such as crystal growth of highly radioactive materials and dissolution of small irradiation targets. The irradiation targets to be dissolved are mostly sintered ceramics, which are difficult to dissolve; and their mass is relatively small, often around 10... -1 -10 3 The radiation dose is in the milligram range; moreover, the radiation dose after irradiation is high. Therefore, the dissolution of the irradiated target must be carried out in a heated chamber with radiation shielding. However, in actual scientific research and production, the hydrothermal synthesis reactor needs to be opened and closed in all processes, from initial loading and liquid addition to later sampling and unloading, and all operations must be performed remotely by a robotic arm. However, the hydrothermal synthesis reactor requires a large force to open and has many parts, making it difficult for a robotic arm to directly operate the reactor. Summary of the Invention

[0004] In view of this, the embodiments of this application aim to provide an opening device, opening system and opening method that are beneficial to improving the efficiency of a robotic arm in opening a hydrothermal synthesis reactor.

[0005] To achieve the above objectives, the technical solution of this application embodiment is implemented as follows:

[0006] This application provides a lid-opening device for a hydrothermal synthesis reactor, the lid-opening device comprising:

[0007] The transfer bucket is provided with a first receiving cavity and a lifting hole. The first receiving cavity is open on a first side along a first direction to allow the hydrothermal synthesis reactor to enter and exit the first receiving cavity. The lifting hole is located on a second side of the first receiving cavity along the first direction. The lifting hole extends along the first direction and connects the first receiving cavity with the outside. The transfer bucket is used to fix the reactor body of the hydrothermal synthesis reactor.

[0008] The operating assembly includes a first operating mechanism, a second operating mechanism, and a third operating mechanism. The first operating mechanism can fix the transfer bucket. The second operating mechanism is provided with a lifting column, which can pass through the lifting hole to push the inner cup of the hydrothermal synthesis reactor out of the outer tank. The third operating mechanism is used to fix the cup body and the cup lid of the inner cup respectively and drive the cup body and the cup lid to move relative to each other to separate them.

[0009] In some embodiments, the first receiving cavity is provided with at least two first fixing protrusions, each of the first fixing protrusions being located on the periphery of the position where the lifting hole communicates with the first receiving cavity, and each of the first fixing protrusions being used to engage with the vessel body of the hydrothermal synthesis reactor in a direction perpendicular to the first direction to prevent rotation.

[0010] In some embodiments, the first working mechanism includes at least two second fixed protrusions, each of which is spaced apart to form a fixed space, the walls of which can hold the transfer bucket.

[0011] In some embodiments, the outer surface of the transfer bucket is provided with a fixing groove, the fixing groove is open on one side along the first direction, and the second fixing protrusion can be embedded into the fixing groove along the first direction and stop and cooperate with the wall of the fixing groove perpendicular to the first direction.

[0012] In some embodiments, the second working mechanism further includes a fixing member, which has a second receiving cavity. The second receiving cavity is open on one side along the first direction. The lifting column is disposed on the inner wall of the second receiving cavity along the first direction. The transfer bucket can enter and exit the second receiving cavity through the open position of the second receiving cavity.

[0013] In some embodiments, the third working mechanism includes a fixing component, which includes a first stop, a second stop, and a first driving component. A second receiving cavity is formed between the first stop and the second stop. The second receiving cavity is open on one side along a first direction and is used to receive the inner cup of the hydrothermal synthesis reactor. The first driving component is drivenly connected to the first stop to drive the first stop to move relative to the second stop in a direction perpendicular to the first direction.

[0014] In some embodiments, the third working mechanism includes a lid-opening assembly, which includes a second driving assembly, a chuck, and a plurality of clamping members. The chuck is driven to the driving end of the second driving assembly to drive the chuck to move along the first direction. The chuck is provided with a plurality of jaws, which are arranged around the chuck and can move perpendicular to the first direction. The clamping members are provided on the jaws, and the plurality of clamping members surround to form a clamping space. The clamping space is open along the first direction so that the lid of the inner cup can enter and exit. The wall surface of the clamping space can be used to abut against the lid of the inner cup perpendicular to the first direction.

[0015] In some embodiments, the lid opening assembly further includes a stop block, which is provided at the open position of the clamping space. The stop block extends perpendicularly to the first direction in a direction away from the clamping member. The stop block is used to be embedded perpendicularly to the first direction into the seam between the inner cup body and the inner cup lid and to stop and cooperate with the cup lid along the first direction.

[0016] In some embodiments, the stop block gradually increases in size along the first direction toward the clamping member.

[0017] This application embodiment also provides a lid-opening system, which includes a hot chamber, a robotic arm, and a lid-opening device as described in any of the foregoing embodiments. The hot chamber is provided with a working space, and the robotic arm and the lid-opening assembly are both located in the working space. The robotic arm is used to transfer the transfer bucket between the first working mechanism and the second working mechanism, and is used to drive the third working mechanism to make the cup body and the cup lid move relative to each other.

[0018] This application embodiment also provides a lid-opening method for the lid-opening system in the foregoing embodiments, the lid-opening method comprising:

[0019] The robotic arm is controlled to place the transfer tank containing the hydrothermal synthesis reactor into the first working mechanism;

[0020] Control the robotic arm to open the lid of the hydrothermal synthesis reactor;

[0021] The robotic arm is controlled to place the transfer bucket into the second working mechanism, and the lifting column is inserted into the lifting hole;

[0022] The robotic arm is controlled to remove the inner cup of the hydrothermal synthesis reactor from the reactor body and place the inner cup in the third working mechanism;

[0023] The robotic arm is controlled to drive the third working mechanism to make the cup body and the cup lid move relative to each other until the cup body and the cup lid are separated.

[0024] The opening device of this application embodiment facilitates the transfer of various components of the hydrothermal synthesis reactor by setting a transfer bucket. The lifting hole ensures that it does not obstruct the opening operation of the hydrothermal synthesis reactor, which is beneficial to improving work efficiency. The inner cup is pushed out by the lifting column, which can expose the inner cup to the reactor body without the need for flipping or other methods, so that the inner cup can be removed, which simplifies the operation. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the hydrothermal synthesis reactor decomposition in one embodiment of this application;

[0026] Figure 2 This is an exploded physical diagram of the inner cup in one embodiment of this application;

[0027] Figure 3 This is a cross-sectional schematic diagram of a hydrothermal synthesis reactor in one embodiment of this application;

[0028] Figure 4 This is a schematic diagram of the lid-opening device in one embodiment of this application;

[0029] Figure 5 This is a schematic diagram of a transfer bucket in one embodiment of this application;

[0030] Figure 6 This is a cross-sectional schematic diagram of the hydrothermal synthesis reactor located inside the transfer tank in one embodiment of this application;

[0031] Figure 7 This is a cross-sectional schematic diagram of the lifting column pushing the inner cup out of the vessel body in one embodiment of this application;

[0032] Figure 8 This is a physical schematic diagram of the chuck in one embodiment of this application;

[0033] Figure 9 This is a schematic diagram of the chuck and clamping member in one embodiment of this application;

[0034] Figure 10 This is a schematic diagram of the steps of the lid-opening method in one embodiment of this application.

[0035] Explanation of reference numerals in the attached figures

[0036] 10. Opening device; 11. First working mechanism; 111. Second fixing protrusion; 12. Second working mechanism; 121. Lifting column; 122. Fixing component; 13. Third working mechanism; 131. Fixing assembly; 1311. First stop component; 1312. Second stop component; 1313. First drive assembly; 1313a. Fixing plate; 1313b. Threaded rod; 1313c. First operating lever; 132. Second drive assembly; 1321. Fixing base; 1322. Drive screw; 1323. Slider; 1324. Third operating lever; 1325. Stop rod; 1326. Bracket; 133. 1331 Chuck; 1332 Second operating lever; 134 Clamping component; 134a Clamping space; 1341 Stop block; 14 Transfer bucket; 14a First receiving cavity; 14b Lifting hole; 14c Fixing groove; 141 First fixing protrusion; 15 Working plate; 20 Hydrothermal synthesis reactor; 21 Outer tank; 211 Reactor lid; 212 Reactor body; 212a First cavity; 212b Communicating hole; 212c Anti-rotation groove; 213 Upper gasket; 214 Lower gasket; 22 Inner cup; 22a Second cavity; 221 Cup body; 222 Cup lid; 23 Force lever. Detailed Implementation

[0037] It should be noted that, unless otherwise specified, the embodiments and technical features in the embodiments of this application can be combined with each other, and the detailed descriptions in the specific implementation should be understood as explanations of the purpose of this application and should not be regarded as undue limitations on this application.

[0038] In the description of this application, the "first direction" or positional relationship is based on the orientation of arrow X shown in the accompanying drawings. It should be understood that these orientational terms are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0039] See Figures 1 to 3 The hydrothermal synthesis reactor 20 includes an outer tank 21 and an inner cup 22. The outer tank 21 is made of stainless steel, and the inner cup 22 is made of polytetrafluoroethylene.

[0040] The outer container 21 includes a lid 211, a body 212, an upper gasket 213, and a lower gasket 214. The body 212 has a first cavity 212a and a connecting hole 212b. The first cavity 212a is open on one side along a first direction. The lid 211 is placed over the open position of the first cavity 212a to seal it. The lid 211 can be threaded to seal the body 212. The inner cup 22, the upper gasket 213, and the lower gasket 214 are all located within the first cavity 212a. The inner cup 22 is sandwiched between the upper gasket 213 and the lower gasket 214 along the first direction. The upper gasket 213 and the lower gasket 214 respectively abut against the wall of the first cavity 212a along the first direction, so that the position of the inner cup 22 within the first space is fixed. The connecting hole 212b extends along the first direction to connect the first cavity 212a and the outside of the hydrothermal synthesis reactor 20. The lower gasket 214 is provided as a sealing cover at the connection position between the first cavity 212a and the connecting hole 212b.

[0041] The reactor assembly process is as follows: Place the lower gasket 214 at the bottom of the reactor body 212, then place the inner cup 22, then place the gasket 213, and finally tighten the reactor lid 211 to the reactor body 212 with threads. The inner cup 22 is lower than the open position of the first cavity 212a.

[0042] The inner cup 22 includes a cup body 221 and a cup lid 222. The cup body 221 has a second cavity 22a, which is open on one side along a first direction. The cup lid 222 is placed over the open position of the second cavity 22a to seal it. The second cavity 22a is used to store reactants. The cup lid 222 can be threaded to achieve a seal with the cup body 221. The material of the inner cup 22 itself has a certain degree of elasticity, thereby ensuring a tight connection between the cup lid 222 and the cup body 221.

[0043] Due to the large weight of the outer can 21 and the elasticity of the inner cup 22, the robotic arm has difficulty opening the outer can 21 and the inner cup 22.

[0044] The lid 211 is provided with a force-applying rod 23 so that the lid 211 and the body 212 can rotate relative to each other and separate.

[0045] This application provides an opening device 10 for a hydrothermal synthesis reactor 20, see reference. Figure 4 The opening device 10 includes a transfer bucket 14 and an operating component.

[0046] The transfer tank 14 is provided with a first receiving cavity 14a and a lifting hole 14b. The first receiving cavity 14a is open on a first side along a first direction to allow the hydrothermal synthesis reactor 20 to enter and exit the first receiving cavity 14a. The lifting hole 14b is located on a second side of the first receiving cavity 14a along the first direction. The lifting hole 14b extends along the first direction and connects the first receiving cavity 14a with the outside. The transfer tank 14 is used to fix the reactor body 212 of the hydrothermal synthesis reactor 20.

[0047] The operating components include a first operating mechanism 11, a second operating mechanism 12, and a third operating mechanism 13. The first operating mechanism 11 can fix the transfer bucket 14. The second operating mechanism 12 is provided with a lifting column 121, which can pass through the lifting hole 14b to pass through the outer tank 21 of the hydrothermal synthesis reactor 20 and push the inner cup 22 of the hydrothermal synthesis reactor 20 out of the outer tank 21. The third operating mechanism 13 is used to fix the cup body 221 and the cup lid 222 of the inner cup 22 respectively and drive the cup body 221 and the cup lid 222 to move relative to each other so that the two are separated.

[0048] The first side and the second side of the first direction refer to the two sides that point in opposite directions in the first direction.

[0049] Understandably, the first receiving cavity 14a is capable of accommodating at least a portion of the valve body.

[0050] With the hydrothermal synthesis reactor 20 placed in the first receiving cavity 14a, the connecting hole 212b of the outer tank 21 is connected to the lifting hole 14b.

[0051] The working assembly is used to place the transfer tank 14 and the hydrothermal synthesis reactor 20.

[0052] First, the hydrothermal synthesis reactor 20 is placed into the first receiving cavity 14a, and then the transfer bucket 14 is placed in the first working mechanism 11.

[0053] The first working mechanism 11 fixes the transfer bucket 14, meaning that the first working mechanism 11 can suppress the transfer bucket 14 from rotating on a rotating shaft extending in a first direction, so that during the process of separating the vessel body 212 and the vessel lid 211 of the outer tank 21, the relative positions between the first working mechanism 11, the transfer bucket 14 and the vessel body 212 remain stable, reducing the probability that the vessel body 212 and the vessel lid 211 will rotate synchronously and the vessel lid 211 cannot be opened.

[0054] After opening the vessel lid 211, place the lid 211 in the preset area, and then move the transfer bucket 14 so that the remaining part of the hydrothermal synthesis reactor 20 moves with the transfer bucket 14 to the second working mechanism 12, so that the lifting column 121 can enter the lifting hole 14b. The lifting column 121 and the transfer bucket 14 continue to move relative to each other in the first direction, so that the lifting column 121 further enters the connecting hole 212b of the vessel body 212 until it abuts against the inner cup 22 in the first direction.

[0055] Since the lid 211 has been separated from the body 212, the inner cup 22 is no longer constrained on the side away from the connecting hole 212b along the first direction. Under the action of the lifting column 121, the inner cup 22 can be exposed at least partially from the open position of the first cavity 212a, so that the inner cup 22 can be directly taken out from the first cavity 212a along the first direction.

[0056] The inner cup 22 is placed in the third working mechanism 13, and the third working mechanism 13 applies a force to the cup body 221 and the cup lid 222 to separate them.

[0057] It is understandable that the lifting hole 14b is located inside the transfer bucket 14. Therefore, during the transfer of the transfer bucket, it is difficult for the transfer bucket 14 to overturn due to collisions between the lifting hole 14b and other objects.

[0058] The opening device 10 of this application embodiment facilitates the transfer of various components of the hydrothermal synthesis reactor 20 by setting a transfer bucket 14. The transfer bucket 14 is provided with a lifting hole 14b, so that it will not obstruct the opening operation of the hydrothermal synthesis reactor 20, which is conducive to improving work efficiency. The inner cup 22 is pushed out by the lifting column 121, so that the inner cup 22 can be exposed to the reactor body 212 without flipping or other methods, so that the inner cup 22 can be removed, which simplifies the operation.

[0059] The inner diameter of the first receiving cavity 14a is larger than the outer diameter of the vessel body 212, so that the hydrothermal synthesis reactor 20 can enter and exit the first receiving cavity 14a.

[0060] In some embodiments, the dimension of the lifting column 121 along the first direction is larger than the dimension of the cup lid 222 along the first direction, thereby facilitating the complete exposure of the cup lid 222 to the outside of the vessel body 212.

[0061] In some embodiments, the first direction is the direction of gravity.

[0062] In some embodiments, with the hydrothermal synthesis reactor 20 placed in the first receiving cavity 14a, at least a portion of the reactor lid 211 is exposed outside the first receiving cavity 14a in an open position along a first direction, so as to apply force to the reactor lid 211.

[0063] In some embodiments, with the hydrothermal synthesis reactor 20 placed in the first receiving cavity 14a, at least a portion of the reactor body 212 is exposed outside the first receiving cavity 14a along the first direction through the open position of the first receiving cavity 14a, so that the reactor lid 211 is completely exposed outside the transfer bucket 14, which facilitates the operation of the reactor lid 211.

[0064] In some embodiments, with the hydrothermal synthesis reactor 20 placed in the first receiving cavity 14a, at least half of the reactor body 212 along the first direction is located within the first receiving cavity 14a, in order to reduce the risk of the hydrothermal synthesis reactor 20 detaching from the transfer tank 14 during its movement with the transfer tank 14.

[0065] In some embodiments, see Figure 4 The working components include a working plate 15, and a first working mechanism 11, a second working mechanism 12 and a third working mechanism 13 are all located on the same side of the working plate 15 along the first direction, so that the first working mechanism 11, the second working mechanism 12 and the third working mechanism 13 can be moved synchronously through the working plate 15.

[0066] In some embodiments, see Figure 6 The first receiving cavity 14a is provided with at least two first fixing protrusions 141. Each first fixing protrusion 141 is located on the periphery of the position where the lifting hole 14b communicates with the first receiving cavity 14a. Each first fixing protrusion 141 is used to engage with the vessel body 212 of the hydrothermal synthesis reactor 20 in a direction perpendicular to the first direction to prevent rotation.

[0067] In other words, each of the first fixed protrusions 141 is arranged around a pivot extending in the first direction.

[0068] By using the anti-rotation engagement between the first fixed protrusion 141 and the vessel body 212, the probability of relative rotation between the transfer bucket 14 and the vessel body 212 is further reduced, which helps to reduce the difficulty of relative rotation between the vessel body 212 and the vessel lid 211.

[0069] In some embodiments, see Figure 6 There are two first fixed protrusions 141, and the two first fixed protrusions 141 are located on opposite sides perpendicular to the first direction.

[0070] In some embodiments, the number of first fixing protrusions 141 is not less than three, and each first fixing protrusion 141 is arranged at intervals around a pivot extending in a first direction.

[0071] In some embodiments, the first fixed protrusion 141 is used to abut against the vessel body 212 perpendicular to the first direction, so as to achieve a stop engagement through the friction between the two.

[0072] In some embodiments, see Figure 1 and Figure 6The outer surface of the vessel body 212 is provided with an anti-rotation groove 212c. The anti-rotation groove 212c is open on one side along the first direction. At least a portion of the first fixed protrusion 141 can extend into the anti-rotation groove 212c through the open position of the anti-rotation groove 212c along the first direction. A portion of the wall surface of the anti-rotation groove 212c forms a first stop surface. The first stop surface is a plane and its normal is perpendicular to the axis of rotation extending along the first direction. A portion of the outer surface of the first fixed protrusion 141 forms a second stop surface. The second stop surface is a plane and its normal is perpendicular to the axis of rotation extending along the first direction. The first stop surface and the second stop surface abut against each other, thereby realizing the anti-rotation engagement between the vessel body 212 and the first fixed protrusion 141.

[0073] In some embodiments, see Figure 4 The first working mechanism 11 includes at least two second fixed protrusions 111, each second fixed protrusion 111 is spaced apart to form a fixed space, and the wall of the fixed space can hold the transfer bucket 14.

[0074] The second fixed protrusion 111 can constrain the position of the transfer bucket 14 in the direction perpendicular to the first direction, and the friction generated by clamping can suppress the tendency of the transfer bucket 14 to rotate with the lid 211, which is beneficial to improving the separation efficiency of the lid 211 and the body 212.

[0075] In some embodiments, see Figure 4 There are two second fixed protrusions 111, and the two first fixed protrusions 141 are located on opposite sides perpendicular to the first direction.

[0076] The two first fixed protrusions 141 are smaller than the distance between the two oppositely arranged stop surfaces, so that the vessel body 212 can be placed between the two first fixed protrusions 141.

[0077] In some embodiments, the number of second fixing protrusions 111 is not less than three, and each second fixing protrusion 111 is arranged at intervals around a pivot extending in a first direction.

[0078] In some embodiments, see Figure 5 and Figure 6 The outer surface of the transfer bucket 14 is provided with a fixing groove 14c. The fixing groove 14c is open on one side along the first direction. The second fixing protrusion 111 can be embedded into the fixing groove 14c along the first direction and cooperate with the wall of the fixing groove 14c perpendicular to the first direction.

[0079] A portion of the wall surface of the fixing groove 14c is flat and its normal is perpendicular to the rotating shaft extending along the first direction. A portion of the outer surface of the second fixing protrusion 111 is flat and its normal is perpendicular to the rotating shaft extending along the first direction, so that the two contact to achieve a stop fit.

[0080] Thus, the cooperation between the second fixed protrusion 111 and the wall of the fixed groove 14c improves the stability of the transfer barrel 14 in the fixed space and reduces the probability of relative rotation between the transfer barrel 14 and the second fixed protrusion 111.

[0081] The specific number of fixed slots 14c is not limited; there can be one or more.

[0082] In some embodiments, the number of fixing grooves 14c and the number of second fixing protrusions 111 are the same, and they are configured in a one-to-one correspondence.

[0083] In some embodiments, the second fixing protrusion 111 is a cuboid structure.

[0084] In some embodiments, with the hydrothermal synthesis reactor 20 placed in the first receiving cavity 14a, the projection of the connecting hole 212b along the first direction is located within the projection range of the lifting hole 14b along the first direction in the projection plane perpendicular to the first direction, so that the lifting column 121 can be inserted into the connecting hole 212b more conveniently.

[0085] In some embodiments, the lifting hole 14b and the connecting hole 212b are arranged coaxially.

[0086] It is understandable that, in the projection plane perpendicular to the first direction, the projection of the lifting column 121 hole along the first direction is located within the projection range of the connecting hole 212b along the first direction, so that the lifting column 121 can smoothly enter and exit the connecting hole 212b.

[0087] In some embodiments, see Figure 4 and Figure 7 The second working mechanism 12 also includes a fixing member 122, which has a second receiving cavity. The second receiving cavity is open on one side along the first direction. The lifting column 121 is located on the inner wall of the second receiving cavity along the first direction. The transfer bucket 14 can enter and exit the second receiving cavity through the open position of the second receiving cavity.

[0088] In this way, the position of the transfer bucket 14 can be constrained by the fastener 122, and the movement of the transfer bucket 14 along the first direction can also be guided, reducing the risk of the transfer bucket 14 overturning due to contact between the transfer bucket 14 and the lifting column 121 along the first direction.

[0089] Understandably, the dimension of the transfer bucket 14 along the first direction is larger than the dimension of the fastener 122 along the first direction, so that the transfer bucket 14 can be removed from the second receiving cavity.

[0090] In some embodiments, see Figure 4The third working mechanism 13 includes a fixing component 131, which includes a first stop 1311, a second stop 1312, and a first driving component 1313. A second receiving cavity is formed between the first stop 1311 and the second stop 1312. The second receiving cavity is open on one side along the first direction. The second receiving cavity is used to receive the inner cup 22 of the hydrothermal synthesis reactor 20. The first driving component 1313 is drivenly connected to the first stop 1311 to drive the first stop 1311 to move relative to the second stop 1312 in a direction perpendicular to the first direction.

[0091] By controlling the first drive assembly 1313, the relative movement between the first stop 1311 and the second stop 1312 can be achieved, thereby changing the volume of the second container cavity.

[0092] Thus, when the inner cup 22 needs to be inserted, the first stop 1311 and the second stop 1312 move away from each other so that the inner cup 22 can be smoothly inserted into the second receiving cavity; after the inner cup 22 is inserted, the first stop 1311 and the second stop 1312 move closer to each other until they clamp the inner cup 22, thereby fixing the inner cup 22.

[0093] In some embodiments, see Figure 4 The first drive assembly 1313 includes a threaded rod 1313b and a fixed plate 1313a. The fixed plate 1313a is fixedly configured and has a threaded hole that is perpendicular to the first direction. The threaded rod 1313b passes through the threaded hole and is threadedly engaged with the fixed plate 1313a. One end of the threaded rod 1313b is connected to the first stop 1311. The relative movement between the first stop 1311 and the second stop 1312 is achieved by rotating the threaded rod 1313b.

[0094] In some embodiments, see Figure 4 The threaded rod 1313b is provided with a first operating rod 1313c extending perpendicular to the extension direction of the threaded rod 1313b at one end away from the first stop 1311, so as to reduce the torque required to rotate the threaded rod 1313b and reduce the operating requirements of devices such as robots to drive the threaded rod 1313b.

[0095] In some embodiments, see Figure 4 The first stop 1311 and the second stop 1312 are concave arc structures with opposite sides, so as to increase the contact surface with the inner cup 22 and make the arrangement of the inner cup 22 more stable.

[0096] In some embodiments, see Figure 4 , Figure 8 and Figure 9The third working mechanism 13 includes a lid opening assembly, which includes a second driving assembly 132, a chuck 133, and multiple clamping members 134. The chuck 133 is driven to the driving end of the second driving assembly 132 to drive the chuck 133 to move along a first direction. The chuck 133 is provided with multiple jaws 1331, which are arranged around each other and can move perpendicular to the first direction. The clamping members 134 are provided on the jaws 1331, and the multiple clamping members 134 surround to form a clamping space 134a. The clamping space 134a is open along the first direction so that the lid 222 of the inner cup 22 can enter and exit. The wall surface of the clamping space 134a can be used to abut against the lid 222 of the inner cup 22 perpendicular to the first direction.

[0097] The second drive assembly 132 drives the chuck 133 and the clamping member 134 to move synchronously along the first direction. On the one hand, this facilitates the chuck 133 and the clamping member to avoid the inner cup 22 during the process of placing the inner cup 22 into the preset position of the third working mechanism 13. On the other hand, it enables the chuck 133 and the clamping member 134 to adapt to inner cups 22 of different sizes along the first direction.

[0098] The chuck 133's jaws 1331 can open and close synchronously.

[0099] The chuck 133 is located at the input end. By applying a force to the input end, each jaw 1331 can move perpendicular to the first direction.

[0100] It should be noted that the specific principles and related structures of the chuck 133 driving the jaw 1331 to move by applying force through the input end have been applied in the prior art and will not be elaborated here.

[0101] The wall of the clamping space 134a can be used to abut against the lid 222 of the inner cup 22. Through friction, the lid 222 can be fixed relative to the chuck 133, so that the chuck 133 can drive the lid 222 to rotate together during rotation. In this way, by driving the chuck 133 to rotate, the lid 222 can rotate relative to the cup body 221.

[0102] In some embodiments, see Figure 4 The chuck 133 is provided with a second operating lever 1332. The extension direction of the second operating lever 1332 is perpendicular to the rotation axis of the chuck 133, so as to reduce the torque required to rotate the chuck 133 and reduce the operation requirements of devices such as robotic arms to drive the chuck 133.

[0103] The number of chucks 1331 is the same as the number of clamping parts 134, and the two are configured in a one-to-one correspondence.

[0104] In some embodiments, see Figure 4There are two clamping members 134, which are located on opposite sides perpendicular to the first direction.

[0105] In some embodiments, the number of clamping members 134 is not less than three, and each clamping member 134 is arranged at intervals around a pivot extending in a first direction.

[0106] In some embodiments, see Figure 9 The opening assembly also includes a stop block 1341. The stop block 1341 is provided at the open position of the clamping space 134a. The stop block 1341 extends perpendicularly to the first direction away from the clamping member 134. The stop block 1341 is used to be embedded perpendicularly to the first direction into the seam between the cup body 221 of the inner cup 22 and the cup lid 222 of the inner cup 22 and to stop and cooperate with the cup lid 222 along the first direction.

[0107] Thus, after the cup lid 222 separates from the cup body 221, the stop block 1341 can constrain the position of the cup lid 222 along the first direction, reducing the risk that the cup lid 222 will fall out of the clamping space 134a due to insufficient friction between the cup lid 222 and the clamping member 134.

[0108] In some embodiments, the stop block 1341 has an arc-shaped structure.

[0109] The specific number of stop blocks 1341 provided in each clamping member 134 is not limited, such as one, two, three, etc.

[0110] In some embodiments, see Figure 9 The size of the stop block 1341 gradually increases in the first direction toward the direction of the clamping member 134.

[0111] This makes it easier for the stop block 1341 to be inserted into the seam of different sizes of the cup body 221 and the cup lid 222 of the inner cup 22 along the first direction, reducing the difficulty of operation.

[0112] In some embodiments, see Figure 4 The second drive assembly 132 includes a fixed base 1321, a drive screw 1322, and a slider 1323. The drive screw 1322 passes through the fixed base 1321 and can rotate relative to the fixed base 1321. The drive screw 1322 extends along a first direction and passes through the slider 1323. The slider 1323 and the fixed base 1321 slide in the first direction. A chuck 133 is disposed on the slider 1323.

[0113] Thus, by rotating the drive screw 1322, the chuck 133 can be driven to move in the first direction.

[0114] In some embodiments, see Figure 4A third operating lever 1324 is provided at one end of the drive screw 1322. The extension direction of the third operating lever 1324 is perpendicular to the rotation axis of the drive screw 1322, so as to reduce the torque required to rotate the drive screw 1322 and reduce the requirements of devices such as robotic arms to operate the drive screw 1322.

[0115] In some embodiments, see Figure 4 The second drive assembly 132 also includes a stop bar 1325. In the projection plane perpendicular to the first direction, the projection of the stop bar 1325 along the first direction is located within the projection range of the slider 1323 along the first direction. Thus, the stop bar 1325 can limit the stroke of the slider 1323, reducing the risk of damage to the inner cup 22 caused by the chuck 133 squeezing it.

[0116] In some embodiments, see Figure 4 The second drive assembly 132 also includes a bracket 1326 and an adjusting screw. There are two brackets 1326. The fixing seat 1321 is clamped between the two brackets 1326 in a direction perpendicular to the first direction. The bracket 1326 is provided with an adjusting waist-shaped hole extending along the first direction. The adjusting waist-shaped hole passes through the bracket 1326. The bracket 1326 is provided with a screw hole. The adjusting screw can pass through the adjusting waist-shaped hole and engage with the screw hole threadedly to adjust the position of the fixing seat 1321 along the first direction to adapt to different disassembly and assembly requirements of the inner cup 22 along the first direction.

[0117] This application embodiment also provides a lid opening system, which includes a hot chamber, a robotic arm, and a lid opening device 10 as described in any of the foregoing embodiments. The hot chamber is provided with a working space, and the robotic arm and the lid opening assembly are both located in the working space. The robotic arm is used to transfer the transfer bucket 14 between the first working mechanism 11 and the second working mechanism 12, and to drive the third working mechanism 13 to make the cup body 221 and the cup lid 222 move relative to each other.

[0118] The hot chamber is used to shield radiation. The hot chamber has a shielding layer made of shielding materials such as stainless steel and lead.

[0119] The operation is carried out by a robotic arm, which allows workers to stay away from the hot chamber.

[0120] The specific type of robotic arm is not limited, such as a six-axis robot.

[0121] The robotic arm can grasp the hydrothermal synthesis reactor 20 and place it into the transfer bucket 14; after grasping the transfer bucket 14 and placing it into the first working mechanism 11, and after separating the reactor body 212 from the reactor lid 211, the robotic arm grasps the transfer bucket 14 and places it into the second working mechanism 12; the robotic arm removes the inner cup 22 from the reactor body 212 and places the inner cup 22 into the third working mechanism 13.

[0122] In some embodiments that include the fixing component 131, the robot can directly drive the first drive component 1313 to achieve movement between the first stop 1311 and the second stop 1312.

[0123] The robotic arm can directly rotate the first control lever 1313c.

[0124] In some embodiments that include chuck 133, the robotic arm can directly drive chuck 133 to rotate.

[0125] The robotic arm can directly rotate the second control lever 1332.

[0126] In some embodiments that include a drive screw 1322, the robot arm is able to directly rotate the drive screw 1322.

[0127] The robotic arm can directly rotate the third control lever 1324.

[0128] In some embodiments, the transfer bucket 14 is provided with a lifting rope so that a robotic arm can grasp the lifting rope to transfer the transfer bucket 14.

[0129] In some embodiments, the opening system also includes a control device electrically connected to the robotic arm to control the robotic arm's movements and postures.

[0130] This application also provides a method for opening the lid, see reference. Figure 10 The cap-opening system used in the foregoing embodiments includes a cap-opening method comprising:

[0131] S10: Control the robotic arm to place the transfer bucket containing the hydrothermal synthesis reactor into the first working mechanism.

[0132] S20: Control the robotic arm to open the lid of the hydrothermal synthesis reactor.

[0133] The robotic arm can rotate the lid 211 by rotating the lever 23 on the lid 211.

[0134] S30: Control the robotic arm to place the transfer bucket into the second working mechanism and insert the lifting column into the lifting hole.

[0135] S40: Control the robotic arm to remove the inner cup of the hydrothermal synthesis reactor from the reactor body and place the inner cup in the third working mechanism.

[0136] The robotic arm directly grasps the portion of the inner cup 22 that protrudes from the vessel body 212 due to the contact of the lifting column 121.

[0137] S50: Control the robotic arm to drive the third working mechanism to make the cup body and cup lid move relative to each other until the cup body and cup lid are separated.

[0138] Thus, the entire operation process uses a robotic arm as the power source, eliminating the need for direct operation by personnel. The robotic arm's simple movements improve operational stability, reduce performance requirements on the robotic arm, and lower the risk of tipping or collisions during the transfer of the hydrothermal synthesis reactor 20.

[0139] In the hot chamber, a robotic arm is used to open the lid of the 250ml hydrothermal synthesis reactor 20 with the assistance of the lid opening device 10. The reactor weighs 5.8kg and the diameter of the reactor body 212 is 10.7cm.

[0140] The operation of opening the lid 211 by the first working mechanism 11 takes about 3 minutes; the operation of removing the inner cup 22 by the second working mechanism 12 takes about 1 minute; and the operation of opening the lid of the inner cup 22 by the third working mechanism 13 takes about 5 minutes. The entire lid-opening process takes less than 10 minutes, and all operations are completed remotely by a robotic arm.

[0141] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A lid-opening device for a hydrothermal synthesis reactor, characterized in that, The lid-opening device includes: The transfer bucket is provided with a first receiving cavity and a lifting hole. The first receiving cavity is open on a first side along a first direction to allow the hydrothermal synthesis reactor to enter and exit the first receiving cavity. The lifting hole is located on a second side of the first receiving cavity along the first direction. The lifting hole extends along the first direction and connects the first receiving cavity with the outside. The transfer bucket is used to fix the reactor body of the hydrothermal synthesis reactor. The operating assembly includes a first operating mechanism, a second operating mechanism, and a third operating mechanism. The first operating mechanism can fix the transfer bucket. The second operating mechanism is provided with a lifting column, which can pass through the lifting hole to push the inner cup of the hydrothermal synthesis reactor out of the outer tank. The third operating mechanism is used to fix the cup body and the cup lid of the inner cup respectively and drive the cup body and the cup lid to move relative to each other to separate them.

2. The lid-opening device according to claim 1, characterized in that, The first receiving cavity is provided with at least two first fixing protrusions. Each first fixing protrusion is located on the periphery of the position where the lifting hole communicates with the first receiving cavity. Each first fixing protrusion is used to engage with the vessel body of the hydrothermal synthesis reactor in a direction perpendicular to the first direction to prevent rotation.

3. The lid-opening device according to claim 1, characterized in that, The first working mechanism includes at least two second fixed protrusions, each of which is spaced apart to form a fixed space, the walls of which can hold the transfer bucket.

4. The lid-opening device according to claim 3, characterized in that, The outer surface of the transfer bucket is provided with a fixing groove, which is open on one side along the first direction. The second fixing protrusion can be embedded into the fixing groove along the first direction and stop and cooperate with the wall of the fixing groove perpendicular to the first direction.

5. The lid-opening device according to claim 1, characterized in that, The second working mechanism also includes a fixing member, which has a second receiving cavity. The second receiving cavity is open on one side along the first direction. The lifting column is located on the inner wall of the second receiving cavity along the first direction. The transfer bucket can enter and exit the second receiving cavity through the open position of the second receiving cavity.

6. The lid-opening device according to claim 1, characterized in that, The third working mechanism includes a fixing component, which includes a first stop, a second stop, and a first driving component. A second receiving cavity is formed between the first stop and the second stop. The second receiving cavity is open on one side along a first direction and is used to receive the inner cup of the hydrothermal synthesis reactor. The first driving component is drivenly connected to the first stop to drive the first stop to move relative to the second stop in a direction perpendicular to the first direction.

7. The lid-opening device according to claim 1, characterized in that, The third working mechanism includes a lid opening assembly, which includes a second driving assembly, a chuck, and multiple clamping members. The chuck is driven to the driving end of the second driving assembly to drive the chuck to move along the first direction. The chuck is provided with multiple jaws, which are arranged around the chuck and can move perpendicular to the first direction. The clamping members are provided on the jaws, and the multiple clamping members surround to form a clamping space. The clamping space is open along the first direction so that the lid of the inner cup can enter and exit. The wall surface of the clamping space can be used to abut against the lid of the inner cup perpendicular to the first direction.

8. The lid-opening device according to claim 7, characterized in that, The opening assembly also includes a stop block, which is provided at the open position of the clamping space. The stop block extends perpendicularly to the first direction away from the clamping member. The stop block is used to be embedded perpendicularly to the first direction into the seam between the inner cup body and the inner cup lid and to stop and cooperate with the cup lid along the first direction.

9. The lid-opening device according to claim 8, characterized in that, The size of the stop block gradually increases in the first direction toward the direction of the clamping member.

10. A lid-opening system, characterized in that, The lid-opening system includes a hot chamber, a robotic arm, and a lid-opening device as described in any one of claims 1-9. The hot chamber has a working space, and the robotic arm and the lid-opening assembly are both located within the working space. The robotic arm is used to transfer the transfer bucket between the first working mechanism and the second working mechanism, and to drive the third working mechanism to make the cup body and the cup lid move relative to each other.

11. A method for opening a lid, used in the lid opening system of claim 10, characterized in that, The method for opening the lid includes: The robotic arm is controlled to place the transfer tank containing the hydrothermal synthesis reactor into the first working mechanism; Control the robotic arm to open the lid of the hydrothermal synthesis reactor; The robotic arm is controlled to place the transfer bucket into the second working mechanism, and the lifting column is inserted into the lifting hole; The robotic arm is controlled to remove the inner cup of the hydrothermal synthesis reactor from the reactor body and place the inner cup in the third working mechanism; The robotic arm is controlled to drive the third working mechanism to make the cup body and the cup lid move relative to each other until the cup body and the cup lid are separated.

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