Automated transfer equipment, temporary storage for use in a radioactive environment

Abstract

The application discloses an automatic transfer equipment and a temporary storage library used in a radioactive environment, the transfer equipment comprising a first assembly, a second assembly, a third assembly and a control unit, the first assembly being slid on the ground of the temporary storage library, the second assembly being slid on the first assembly, the third assembly comprising a shielding body, a lifting device, an internal moving device, a lifting device and a lifting appliance, the shielding body being installed on the second assembly through the lifting device, a transfer port being arranged on the bottom plate of the shielding body, the internal moving device being slid on the bottom plate, the lifting appliance being arranged in the interior of the shielding body and above the transfer port, the lifting device being arranged outside the shielding body and connected with the lifting appliance, and the control unit being electrically connected with the first assembly, the second assembly, the lifting device, the internal moving device and the lifting device respectively. The application has high automation degree, is convenient for inspection and maintenance, can realize full-process shielding protection and has high safety.

Description

Technical Field

[0001] This invention belongs to the field of nuclear engineering technology, specifically relating to an automated transfer device and temporary storage facility used in a radioactive environment. Background Technology

[0002] Radioactive materials are typically stored in storage wells within temporary storage facilities. Above the storage well is a transfer hall, and the well opening is equipped with a shielding plug. Depending on process requirements, radioactive materials need to be periodically stored in or retrieved from the storage well; therefore, the objects transferred include not only the radioactive materials themselves but also the shielding plug. Continuous, safe, and reliable transfer of radioactive materials is essential for ensuring the stable operation of the entire spent fuel reprocessing process, reducing personnel radiation risks, and preventing nuclear proliferation threats. Furthermore, due to the physical barriers such as walls within the temporary storage facilities, achieving flexible and efficient application of transfer equipment across multiple areas is crucial for controlling investment costs and improving operational economics.

[0003] Currently, there are some related technical solutions, but they all have obvious limitations: First, the level of automation is insufficient, relying too much on manual operation, lacking full-process automatic monitoring and safety interlocks, which easily introduces human error and makes maintenance and repair inconvenient; Second, during the displacement of the shielding plug, it fails to provide continuous and effective shielding protection, and the safety needs to be further improved. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the above-mentioned shortcomings of the existing technology by providing an automated transfer device and temporary storage facility for use in a radioactive environment. This facility is highly automated, easy to inspect and maintain, and can achieve full-process shielding protection, thus ensuring high safety.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is:

[0006] According to a first aspect of the present invention, an automated transfer device for use in a radioactive environment is provided, comprising a first assembly, a second assembly, a third assembly, and a control unit, wherein:

[0007] The first assembly slides on the ground of the temporary storage area, the second assembly slides on top of the first assembly, and the third assembly includes a shield, a lifting device, an internal moving device, a hoisting device, and a lifting device. The shield is installed on the second assembly via the lifting device. A transfer port is provided on the bottom plate of the shield. The internal moving device slides on the bottom plate. The lifting device is located inside the shield and above the transfer port. The hoisting device is located outside the shield and connected to the lifting device.

[0008] The first and second assemblies are used to move the equipment horizontally to the top of the storage well. The lifting device is used to support and move the shield in the third assembly vertically so that the shield is sealed and connected with the storage well. The hoisting device is used to move the lifting device to open or close the shield plug on the storage well and to store or retrieve radioactive items from the storage well. The internal moving device is used to place the shield plug opened by the lifting device and the retrieved radioactive items.

[0009] The control unit is electrically connected to the first assembly, the second assembly, the lifting device, the internal moving device, and the hoisting device, respectively, and is used to acquire the operating information of the first assembly, the second assembly, and the third assembly, and control the first assembly, the second assembly, the lifting device, the internal moving device, and the hoisting device to operate automatically according to the operating information.

[0010] Optionally, the internal moving device includes a first driving mechanism and a horizontal moving mechanism. The first driving mechanism is located outside the shield and is detachably connected to the horizontal moving mechanism through a transmission through member. The horizontal moving mechanism is located inside the shield and has a C-shaped opening.

[0011] Optionally, the horizontal moving mechanism is provided with a second limit switch, which is interlocked with the first driving mechanism. When the horizontal moving mechanism reaches a preset position, the first driving mechanism is interlocked to stop driving the horizontal moving mechanism to move forward.

[0012] Optionally, the bottom of the horizontal moving mechanism is provided with a thickened shielding block to block the transfer port when the transfer equipment moves horizontally during the transfer of radioactive items.

[0013] Optionally, there are two sets of the internal moving device, one for placing the shielding plug and the other for placing the radioactive material.

[0014] Optionally, the control unit includes a fourth encoder located outside the shield and interlocked with the lifting device to monitor the distance between the shield and the ground in real time, and to automatically stop the lifting device when the shield is detected to be in contact with the ground.

[0015] Optionally, the shielding body is provided with a first limit switch, which is interlocked with the lifting device. When the shielding body descends to the ground, the lifting device is interlocked to stop continuing to lower the shielding body.

[0016] Optionally, the shield body is provided with a second drive mechanism, the output end of which is provided with an electromagnetic device and a visual positioning device. The visual positioning device is electrically connected to the first assembly, the second assembly, the second drive mechanism and the electromagnetic device respectively. It is used to control the movement of the first assembly and the second assembly to make the electromagnetic device automatically adjust to center when the transfer equipment moves into the recognition range of the visual positioning device, and after centering, it automatically controls the second drive mechanism to drive the electromagnetic device to descend and pick up the storage well cover and then rise.

[0017] Optionally, a camera is installed inside the shielding body, and the bottom plate of the shielding body has a detachable shielding block.

[0018] Optionally, the lifting device includes two lifting drive mechanisms and two wire ropes. The two lifting drive mechanisms are respectively located on both sides of the shield body. The top of the shield body is provided with a through hole. One end of each wire rope is connected to one of the lifting drive mechanisms, and the other end of each wire rope passes through the through hole, passes through the lifting device, and then exits through the through hole to connect with the other lifting drive mechanism, forming a "dual drive mechanism, dual wire rope" structure.

[0019] Optionally, the control unit includes a fifth encoder, which is located at the end of the lifting drive mechanism and electrically connected to the lifting drive mechanism. The fifth encoder is used to provide feedback on the actual stroke data of the lifting drive mechanism, so that the lifting drive mechanism can automatically control its own operation based on the feedback data from the fifth encoder.

[0020] Optionally, the lifting device further includes a third limit switch, which is located at the top of the lifting device's travel.

[0021] Optionally, the perforated outer cover is provided with compensating shielding.

[0022] Optionally, the lifting device further includes a balance pulley assembly, which is located on the top of the shield, and both steel wire ropes are wound around the balance pulley assembly to balance the two steel wire ropes.

[0023] Optionally, the control unit further includes a second sensor, which is mounted on the balance pulley block and interlocked with the hoisting drive mechanism to monitor whether the wire rope is abnormal, and to automatically stop the hoisting drive mechanism when an abnormality is detected in the wire rope.

[0024] Optionally, the control unit further includes a third encoder, which is located at the end of the lifting device and electrically connected to the lifting device. The third encoder is used to provide feedback on the actual stroke data of the lifting device, so that the lifting device can automatically control its own operation based on the data fed back by the third encoder.

[0025] Optionally, the second assembly is provided with a guide member, which cooperates with the third assembly to guide the lifting and lowering movement of the shield.

[0026] Optionally, the control unit further includes a first sensor, which is disposed on the second assembly and interlocked with the lifting device to monitor whether the shield is in contact with the ground, and when the first sensor detects that the shield is in contact with the ground, it interlocks and controls the lifting device to stop continuing to lower the shield.

[0027] Optionally, the control unit further includes a second encoder, which is disposed on the second assembly and electrically connected to the second assembly, for providing positioning feedback on the position of the second assembly, so that the second assembly can automatically control its own movement in the horizontal direction based on the data fed back by the second encoder.

[0028] Optionally, the control unit further includes a first encoder, which is disposed on both sides of the first assembly and electrically connected to the first assembly. The first encoder is used to provide positioning feedback on the position of both sides of the first assembly, so that the first assembly can automatically control its own horizontal movement and automatically adjust the running synchronization of both sides of the first assembly based on the data fed back by the first encoder.

[0029] According to a second aspect of the present invention, a temporary storage facility is provided, comprising a transfer hall and a storage well, and further comprising the transfer equipment described above, wherein a track is provided on the floor of the transfer hall, and the transfer equipment is slidably mounted on the track.

[0030] Optionally, the temporary storage area also includes an emergency workstation, which includes a shielded space and an operating room. The shielded space is located below the transfer hall and is connected to the transfer hall through an emergency transfer port. The shielded space is equipped with temporary parking spaces. The operating room is arranged adjacent to the shielded space and is connected to the shielded space through a remote operation penetrating device.

[0031] Optionally, the emergency workstation may also include a transfer equipment maintenance room, which is arranged adjacent to the transfer hall.

[0032] Beneficial effects:

[0033] The automated transfer equipment and temporary storage facility for use in a radioactive environment according to the present invention have the following beneficial effects:

[0034] (1) High degree of automation: By setting up control units (such as the first encoder, second encoder, third encoder, fifth encoder and other positioning systems), the positioning reference can be determined during the commissioning stage. After the track switching operation is performed during the operation stage, only personnel need to perform the reference calibration operation before it can be put into automated operation. Thus, under normal working conditions, the equipment can be fully automated and no personnel need to operate it. The warehouse and factory can be unattended during the operation process.

[0035] (2) Radiation protection throughout the process: The shielding body can effectively shield radioactive items during the transfer process; the lifting device can ensure effective shielding throughout the process when storing radioactive items in the storage well.

[0036] (3) Reduced overall cost and high economic efficiency: By setting a transfer track, this equipment can be transferred to meet the needs of multiple storage areas sharing one piece of equipment; by arranging electrical components such as the first drive mechanism outside the shield as much as possible, the radiation resistance performance requirements of electrical components can be reduced; by setting a C-shaped opening in the internal moving device, the height of the shielding layer can be reduced; by using this transfer equipment, the transfer hall of the temporary storage warehouse can be defined as a green zone, which can effectively reduce the cost of public systems, such as ventilation and filtration systems, personnel passage systems, etc.

[0037] (4) Convenient inspection and maintenance: Each transmission mechanism is equipped with redundancy or personnel intervention measures. When the mechanism outside the shield fails, the radioactive object can be placed in the designated position and personnel can carry out maintenance directly. When the lifting device inside the shield fails and cannot release the radioactive object normally, the radioactive object can be placed in the shielding room. Personnel outside the shield can use a special tool to operate the penetrating device remotely to remove the radioactive object from the lifting device. After removing the source, the lifting device can be inspected and maintained.

[0038] (5) High equipment safety: In addition to the signal provided by the drive mechanism, each action is equipped with an independent monitoring element (such as the first sensor, the second sensor, the fourth encoder, etc.) to provide independent signals, automatically interlock the actions of each mechanism, promptly and effectively identify abnormal situations, and automatically intervene. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of an automated transport device used in a radioactive environment according to an embodiment of the present invention;

[0040] Figure 2 This is an application scenario diagram of the automated transport equipment used in a radioactive environment according to an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the track in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the third assembly in an embodiment of the present invention;

[0043] Figure 5 This is a schematic diagram of the horizontal moving mechanism in an embodiment of the present invention;

[0044] Figure 6 This is a wire rope routing diagram in an embodiment of the present invention;

[0045] Figure 7 This is a schematic diagram of the lifting device in an embodiment of the present invention;

[0046] Figure 8 This is a schematic diagram of emergency maintenance of the lifting device in an embodiment of the present invention.

[0047] In the diagram: 1-Transfer equipment; 2-Temporary storage; 3-Storage well; 4-Radioactive items; 5-Shielding plug; 6-Running track; 7-Transfer track; 8-First assembly; 9-First encoder; 10-Wheel set; 11-Second assembly; 12-Second encoder; 13-Third assembly; 14-Lifting device; 15-First sensor; 16-Third encoder; 17-Guide wheel; 18-Fourth encoder; 19-First limit switch; 20-First drive mechanism; 21-Transmission penetrating component; 22-Horizontal movement mechanism; 23-Second limit switch; 24-Shielding body; 25-Lifting drive mechanism; 26-Fifth encoder; 27-Wire rope; 28-Lifting device; 29-Third limit switch 30-Balance pulley block; 31-Second sensor; 32-Cable reel; 33-Cable; 34-Compensation shield; 35-Sixth encoder; 36-Camera; 37-Second drive mechanism; 38-Electromagnetic device; 39-Visual positioning device; 40-Storage manhole cover; 41-Removable shielding block; 42-Third drive mechanism; 43-Transmission screw; 44-Transmission nut; 45-Actuator; 46-Fourth limit switch; 47-Limit trigger device; 48-Remote operation interface; 49-Emergency transfer port; 50-Shielded space; 51-Operating room; 52-Remote operation penetrating component; 53-Temporary parking station; 54-C-shaped opening; 55-Thickened shielding block. Detailed Implementation

[0048] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0049] It is understood that the specific embodiments and accompanying drawings described herein are merely for explaining the invention and are not intended to limit the invention.

[0050] It is understood that, without conflict, the various embodiments and features in the embodiments of the present invention can be combined with each other.

[0051] It is understood that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, while the parts unrelated to the present invention are not shown in the drawings.

[0052] It is understood that each unit or module involved in the embodiments of the present invention may correspond to only one entity structure, or may be composed of multiple entity structures, or multiple units or modules may be integrated into one entity structure.

[0053] The existing methods for transporting radioactive items suffer from insufficient automation, poor maintenance and repair convenience, and failure to provide continuous and effective shielding protection. This invention provides an automated transport device for use in radioactive environments, comprising a first assembly, a second assembly, a third assembly, and a control unit, wherein:

[0054] The first assembly slides on the ground of the temporary storage unit, the second assembly slides on the first assembly, and the third assembly includes a shield, a lifting device, an internal moving device, a hoisting device, and a lifting device. The shield is installed on the second assembly via the lifting device. The bottom plate of the shield has a transfer port. The internal moving device slides on the bottom plate of the shield. The lifting device is located inside the shield and above the transfer port. The hoist is located outside the shield and connected to the lifting device. The first and second assemblies are used to move the equipment horizontally to move it above the storage well. The lifting device is used to support and move the shield in the third assembly vertically to seal the shield with the storage well. The hoisting device is used to move the lifting device to open or close the shield plug on the storage well (when there is no need to transfer radioactive item 4 in or out, the shield plug is stationary above the storage well to provide shielding protection) and to store or retrieve radioactive items from the storage well. The internal moving device is used to place the shield plug opened by the lifting device and the retrieved radioactive items.

[0055] The control unit is electrically connected to the first assembly, the second assembly, the lifting device, the internal moving device, and the hoisting device, respectively, and is used to acquire the operating information of the first assembly, the second assembly, and the third assembly, and to control the automatic operation of the lifting device, the internal moving device, and the hoisting device of the first assembly and the second assembly based on the operating information of the first assembly, the second assembly, and the third assembly.

[0056] Furthermore, the present invention also provides a temporary storage facility, including a transfer hall and a storage well, and also includes the automated transfer equipment (hereinafter referred to as the transfer equipment) used in the radioactive environment described above. The transfer hall has a track on the ground, and the transfer equipment slides on the track.

[0057] The automated transfer equipment and temporary storage facility for use in radioactive environments provided by this invention have a high degree of automation, which can effectively prevent human and material errors during equipment use, improve the convenience of personnel intervention and maintenance, and during the transfer process, there is no need to move the shielding container (i.e., the shielding body). The shielding container is always located in a fixed position, which can prevent the strong radioactivity generated by radioactive items in the storage well to the transfer hall when the shielding plug is moved, thus achieving full-process shielding protection and high safety.

[0058] Example 1

[0059] like Figures 1-8 As shown, this embodiment discloses an automated transfer device for use in a radioactive environment, including a first assembly 8, a second assembly 11, a third assembly 13, and a control unit, wherein:

[0060] The first assembly 8 is slidably mounted on the ground of the temporary storage 2. The second assembly 11 is slidably mounted on the first assembly 8. The third assembly 13 includes a shield 24, a lifting device 14, an internal moving device, a hoisting device, and a lifting device 28. The shield 24 is mounted on the second assembly 11 via the lifting device 14. A transfer port is provided on the bottom plate of the shield 24. The internal moving device is slidably mounted on the bottom plate of the shield 24. The lifting device 28 is located inside the shield 24 and above the transfer port. The hoisting device is located outside the shield 24 and connected to the lifting device 28. The first assembly 8 and the second assembly 11... The second assembly 11 moves horizontally to the top of the storage well 3. The direction of movement of the second assembly 11 is perpendicular to the direction of movement of the first assembly 8. The lifting device 14 supports and drives the shield 24 in the third assembly 13 to move vertically so that the shield 24 is sealed and connected with the storage well 3. The lifting device drives the hoist 28 to move up and down so that the shield plug 5 on the storage well 3 can be opened or closed and the radioactive item 4 can be stored in or taken out of the storage well 3. The internal moving device is used to place the shield plug 5 opened by the hoist 28 and the radioactive item 4 taken out.

[0061] The control unit is electrically connected to the first assembly 8, the second assembly 11, the lifting device 14, the internal moving device, and the hoisting device, respectively, and is used to acquire the operating information of the first assembly 8, the second assembly 11, and the third assembly 13, and to control the first assembly 8, the second assembly 11, the lifting device 14, the internal moving device, and the hoisting device to operate automatically based on the operating information of the first assembly 8, the second assembly 11, and the third assembly 13.

[0062] Specifically, such as Figure 3 As shown, the floor of the transfer hall within the temporary storage warehouse 2 is laid with running tracks 6 and detachable transfer tracks 7. The running tracks 6 are laid out according to the work areas (i.e., storage areas) within the transfer hall, and there are several of them. The running tracks are parallel to each other, and the transfer tracks 7 are connected to and perpendicular to each running track 6. The first assembly 8 is equipped with wheel sets 10, which allow horizontal movement along the running tracks 6 and transfer tracks 7. When the transfer equipment 1 needs to move from one storage area to another, it can move along the running track 6 corresponding to that storage area to the transfer track 7, and then along the transfer track 7 to the running track 6 of another storage area. This allows multiple storage areas of the temporary storage warehouse to share a single transfer device, thereby reducing costs and improving economic efficiency.

[0063] In some embodiments, the wheel sets 10 of the first assembly 8 are connected by a slewing bearing, which is a rotatable structure. With human intervention, each wheel set 10 can be rotated, so that the entire transfer equipment moves along the vertical track and realizes the track transfer between each track.

[0064] In some embodiments, the control unit includes a first encoder 9, which is disposed on both sides of the first assembly and electrically connected to the first assembly 8. The first encoder 9 is used to provide positioning feedback on the position of both sides of the first assembly 8, so that the first assembly can automatically control its own horizontal movement according to the data fed back by the first encoder 9, and automatically adjust the running synchronization of both sides of the first assembly 8 to improve the movement synchronization of both sides of the first assembly 8.

[0065] In some embodiments, the control unit further includes a second encoder 12, which is disposed on and electrically connected to the second assembly 11. The second encoder 12 provides positioning feedback on the position of the second assembly 11, enabling the second assembly 11 to automatically control its horizontal movement based on the data fed back by the second encoder 12. Since the second assembly is mounted on the first assembly, and has a small span and high rigidity, the second encoder may be located on only one side of the second assembly, but is not limited to this.

[0066] In some embodiments, the control unit further includes a first sensor 15, which is a weight sensor located on the second assembly and interlocked with the lifting device 14. The first sensor 15 is used to provide feedback on the force on the lifting device 14 in the vertical direction, monitor in real time whether the shield 24 in the third assembly 13 is reliably in contact with the ground, and interlock control the lifting device 14 to stop lowering the shield 24 when the first sensor 15 detects that the shield 24 is in contact with the ground. This prevents damage or jamming of the lifting device 14 due to tilting or other reasons, and ensures that the third assembly 13 lands safely.

[0067] When the transfer equipment 1 moves horizontally, the lifting device 14 is in a high position to prevent friction between the transfer equipment and the floor of the transfer hall due to uneven ground. When the transfer equipment 1 reaches the designated position and needs to be picked up or placed, the lifting device 14 is in a low position to minimize the gap between the ground and the shield 24, prevent radiation exposure during the process of picking up and placing radioactive objects, ensure the safety of personnel throughout the process, and facilitate personnel management.

[0068] In some embodiments, there are multiple lifting devices 14, such as four. The four lifting devices 14 are respectively arranged around the shield 24, and each lifting device 14 is equipped with a first sensor 15. The lifting device 14 is a screw jack. The first sensor 15 can monitor the axial force of each screw jack. If a screw jack is damaged and its force is different from that during normal operation, the first sensor 15 will alarm and stop the lifting operation in time to avoid further damage.

[0069] In some embodiments, the control unit further includes a third encoder 16, which is located at the end of the lifting device 14 and electrically connected to the lifting device. The third encoder 16 is used to feed back the actual stroke data of the lifting device 14, so that the lifting device 14 can automatically control its own operation based on the actual stroke data fed back by the third encoder 16.

[0070] In some embodiments, the second assembly 11 is further provided with a guide member, which cooperates with the third assembly 13 to guide the raising and lowering of the shield 24 in the third assembly 13. In this embodiment, the guide member can be a guide wheel 17, but is not limited to this.

[0071] In some embodiments, the control unit includes a fourth encoder 18, which is a distance encoder located outside the shield 24 and interlocked with the lifting device 14. This encoder monitors the distance between the shield 24 and the ground in real time, provides feedback on the travel of the lifting device 14, and automatically stops the lifting device 14 when it detects contact between the shield 24 and the ground, thus protecting the lifting device. Especially in cases where uneven ground caused by foreign objects or other debris may lead to tilting of the third assembly 13, the fourth encoder 18 allows for timely and automatic stopping of the lifting device 14, facilitating manual intervention.

[0072] In some more specific embodiments, there are two fourth encoders 18, located on both sides of the shield 24.

[0073] In some embodiments, a first limit switch 19 is also provided outside the shield 24 as a hard limit. The first limit switch 19 is interlocked with the lifting device 14. When the shield 24 descends to the ground, the lifting device 14 is interlocked to stop continuing to lower the shield 24, thereby protecting the ground of the temporary storage 2 and the lifting device 14.

[0074] In some more specific embodiments, there are four first limit switches 19, which are respectively located around the shield 24.

[0075] In some embodiments, a second drive mechanism 37 is also provided outside the shield. The output end of the second drive mechanism 37 is provided with an electromagnetic device 38 and a visual positioning device 39. The visual positioning device 39 is electrically connected to the first assembly 8, the second assembly 11, the second drive mechanism 37, and the electromagnetic device 38, respectively. It is used to take over the operation of the transfer equipment 1 when the transfer equipment 1 moves into the recognition range of the visual positioning device 39 (for example, when the storage well cover 40 appears). By controlling the movement of the first assembly 8 and the second assembly 11, the electromagnetic device 38 is automatically adjusted to center. After centering, the second drive mechanism 37 is automatically controlled to drive the electromagnetic device 38 to descend and pick up the storage well cover 40 and then rise. Through the above settings, the position coordinates of the storage well 3 can be obtained quickly and accurately, which greatly facilitates the debugging and operation of the transfer equipment 1.

[0076] In some implementations, a camera 36 is installed inside the shield 24 to transmit video signals for operators to observe the situation inside the third assembly 13.

[0077] In some implementations, such as Figure 4 As shown, the internal moving device in the third assembly 13 includes a first drive mechanism 20 and a horizontal moving mechanism 22. The first drive mechanism 20 is located outside the shield 24, effectively preventing damage to electrical components from radiation. Furthermore, the first drive mechanism 20 is detachably connected to the horizontal moving mechanism 22 via a transmission through-piece 21, providing driving force to the horizontal moving mechanism 22. The horizontal moving mechanism 22 is located inside the shield 24 and moves horizontally within the shield 24 under the drive of the first drive mechanism 20, thereby catching the shield plug opened by the lifting device and the retrieved radioactive object.

[0078] Specifically, such as Figure 5As shown, the platform of the horizontal moving mechanism 22 is provided with a C-shaped opening along the horizontal direction. This allows the shielding plug 5 or the radioactive object 4 to be placed on the horizontal moving mechanism 22 by the lifting device without raising the shielding plug 5 or the radioactive object above the platform of the horizontal moving mechanism 22. The shielding plug 5 or the radioactive object only needs to be raised by one step, and then the shielding plug 5 or the radioactive object 4 can be placed horizontally on the horizontal moving mechanism 22 through the C-shaped opening. The lifting device 28 then lowers the shielding plug 5 or the radioactive object 4, and it is supported and fixed by the upper step of the shielding plug 5 or the radioactive object 4 and the C-shaped opening.

[0079] By setting up the aforementioned internal moving device, it is possible to reduce the size (mainly height) of the shielding body 24 without the need for electrical connection of the flat device. This is done based on the lifting height of the second encoder's lowering shielding plug 5 or the radioactive item within the shielding body 24, thereby effectively reducing the volume and weight of the shielding body 24 and improving economic efficiency. Depending on the source item, different shielding materials and thicknesses can be selected for the shielding body 24, which will not be elaborated here.

[0080] In some embodiments, the horizontal moving mechanism 22 is also provided with a second limit switch 23, which is interlocked with the first driving mechanism 20. When the horizontal moving mechanism 22 reaches a preset position (e.g., above the storage well), it provides a signal indicating that the horizontal moving mechanism 22 has reached its position, and the first driving mechanism 20 is interlocked to stop driving the horizontal moving mechanism 22 to move forward.

[0081] In some embodiments, a thickened shielding block 55 is provided on the bottom of the horizontal moving mechanism 22 to block the transfer port at the bottom of the shield 24 when the transfer device 1 moves horizontally during the transfer of radioactive materials.

[0082] Specifically, since the shielding body 24 inevitably has an opening at the bottom (i.e., a transfer port) for taking out and placing the shielding plug and radioactive items, this opening will cause radioactive leakage during the transfer of radioactive items, thus requiring the bottom of the shielding body 24 to be thickened. In this transfer device 1, by setting a thickened shielding block 55 at the bottom of the internal moving device used to carry the radioactive items, when the transfer device 1 moves horizontally, the internal moving device carrying the radioactive items is first moved horizontally to the top of the transfer port to block it, thereby supplementing the shielding effect, effectively reducing the thickness of the bottom of the shielding body 24, and reducing the overall weight and material cost.

[0083] In some embodiments, the internal moving device also includes a handwheel connected to the horizontal moving mechanism 22 for manually controlling the movement of the horizontal moving mechanism 22. This allows the internal radioactive object to be moved to the lower part of the electric lifting device by the handwheel if the internal moving device malfunctions while carrying radioactive objects, so that the grabbing action can continue and the current radioactive object transfer process can be completed.

[0084] In some implementations, there are two sets of internal moving devices, one for holding the shielding plug and the other for holding the radioactive material.

[0085] In some implementations, the shield 24 is designed with three workstations: a left workstation, a middle workstation, and a right workstation. The middle workstation is located below the lifting device 28, and the left and right workstations are located on the left and right sides of the middle workstation, respectively. The initial positions of the two sets of moving devices can be set at the left and right workstations, respectively.

[0086] In some embodiments, the base plate of the shield 24 has a removable shield block 41. When the internal moving device needs inspection and maintenance, personnel can disconnect the first drive mechanism 20 and the transmission through member 21 from the outside of the shield 24, remove the removable shield block 41 and the entire connected device from the bottom of the shield 24, and perform inspection and maintenance on the horizontal moving mechanism 22.

[0087] In some embodiments, the lifting device includes a lifting drive mechanism 25 and a wire rope 27, wherein the lifting drive mechanism 25 controls the lifting and lowering of the lifting device 28 via the wire rope 27.

[0088] Specifically, the lifting device preferably adopts a transmission scheme of double wire ropes 27 and double lifting drive mechanisms 25 (one in use and one as a backup) to ensure the safety and reliability of the lifting device. That is, there are two lifting drive mechanisms 25 and two wire ropes 27. The two lifting drive mechanisms 25 are respectively located on both sides outside the shield 24. The top of the shield 24 has a perforation. One end of each wire rope 27 is connected to one of the lifting drive mechanisms 25, and the other end of each wire rope 27 passes through the perforation, through the lifting device 28, and then out of the perforation to connect with the other lifting drive mechanism 25, forming a "double drive mechanism, double wire rope" structure. In this embodiment, the wiring method of the wire ropes 27 is as follows... Figure 6 As shown. With the above settings, if one of the wire ropes 27 is damaged, it will not affect the current processing procedure; the damaged wire rope can be replaced when there is free time.

[0089] In some embodiments, the control unit further includes a fifth encoder 26, which is located at the end of the lifting drive mechanism 25 and electrically connected to the lifting drive mechanism 25. The fifth encoder 26 is used to feed back the actual stroke data of the lifting drive mechanism 25, so that the lifting drive mechanism 25 controls its own operation based on the data fed back by the fifth encoder 26.

[0090] In some embodiments, the lifting device also includes a third limit switch 29, which is located at the top of the travel of the spreader 28. This serves both as redundant protection for the upper limit, preventing the spreader 28 from colliding with the shield 24, and as a marker for the origin of the lifting movement of the lifting device.

[0091] In some embodiments, the perforated outer cover is provided with a compensating shield 34 to prevent radioactive leakage caused by the steel wire rope 27 passing through the shield 24, thereby ensuring radiation protection safety.

[0092] In some embodiments, the lifting device further includes a balance pulley block 30, which is located on top of the shield 24, and both steel wire ropes 27 are wound around the balance pulley block 30 to balance the two steel wire ropes.

[0093] In some embodiments, the control unit also includes a second sensor 31, which is located on the balance pulley block 30 and interlocked with the lifting drive mechanism 25. It is used to monitor whether the wire rope 27 is abnormal (such as broken), and when the abnormality of the wire rope 27 is detected, the lifting drive mechanism 25 is automatically stopped to facilitate personnel investigation and intervention.

[0094] In some embodiments, a cable reel 32 is also provided outside the shield 24 for conveying the cable through the perforations on the shield 24 to the lifting device 28.

[0095] In some embodiments, the spreader 28 is provided with a sixth encoder 35, and the sixth encoder 35 is interlocked with the spreader 28 to provide feedback on the actual position information of the spreader 28, provide feedback signals for the opening and closing of the spreader, and the feedback signals interlock the spreader 28 to automatically control the opening and closing of the spreader 28.

[0096] Specifically, such as Figure 7 As shown, the lifting device 28 is an electric lifting device, which includes a structure, an actuator 45 (such as a hook), a third drive mechanism 42, a movable pulley mechanism, a limit triggering device 47 (such as a limit rod), and a fourth limit switch 46 (such as a proximity switch). The movable pulley mechanism is located at the upper part of the structure and is used to cooperate with the traction of the wire rope 27. The third drive mechanism 42 is located at the lower part of the structure, and the actuator 45 is located at the bottom of the structure. The actuator 45 is connected to the third drive mechanism 42, and the third drive mechanism 42 guides the actuator 45 to realize the picking and placing of the shielding plug 5 or the radioactive item 4. The limit triggering device 47 (such as a limit rod) and the fourth limit switch 46 are both located on the structure and are used together to provide feedback on the opening and closing status of the actuator 45.

[0097] In some more specific embodiments, the third drive mechanism 42 is connected to the actuator 45 via a transmission screw 43 and a transmission nut 44. The actuator 45 is a hook, which drives the transmission nut 44 to move via the transmission screw 43. The rotational motion of the third drive mechanism 42 is converted into the linear motion of the transmission nut 44 via the transmission screw 43. The transmission nut 44 pushes the hook to open and close via an inclined plane, thereby realizing the execution of the grasping and releasing task.

[0098] In some embodiments, the lifting device 28 is also provided with a remote operation interface 48, so that when the lifting device 28 malfunctions, personnel can use the remote operation penetrating member 52 to operate the long rod tool to connect to the remote operation interface 48 on the lifting device 28, manually drive the actuator 45 to open, and temporarily place the radioactive item 4 on the temporary parking position 53.

[0099] The working process of the automated transfer equipment used in the radioactive environment of this implementation is described in detail below:

[0100] The transfer of radioactive materials using this equipment consists of two stages: transfer-in and transfer-out. ① The radioactive material is transferred from the preceding facility into the storage well; ② The radioactive material is retrieved from the storage well and transported to subsequent processes. Since the operating procedures for these two stages are essentially similar, the focus will be on explaining stage ①, as follows:

[0101] S1, the transfer equipment 1 moves to the receiving station through the first assembly 8 and the second assembly 11 to dock with the radioactive item 4 from the preceding facility. Similarly, the radioactive item from the preceding facility is also equipped with a shielding plug 5 for radiation protection.

[0102] S2, the lifting device 14 drives the third assembly 13 to descend to the ground;

[0103] S3, after the lifting device 28 descends and lifts the shielding plug 5, it is raised to the predetermined height within the third assembly 13;

[0104] S4, where the horizontal moving mechanism 22 on either side moves to the middle station, the lifting device 28 releases the preceding shielding plug 5 and places it on the horizontal moving mechanism 22, and then the horizontal moving mechanism 22 carries the preceding shielding plug 5 to the side station (such as the left station), freeing up the operating space of the lifting device 28.

[0105] S5, after the lifting device 28 descends again and lifts the radioactive item 4, it rises to the predetermined height inside the third assembly 13. Then, the horizontal moving mechanism 22 on the other side moves to the middle position, the lifting device 28 releases the radioactive item 4, and places the radioactive item 4 on the horizontal moving mechanism 22 on the other side.

[0106] S6, the horizontal moving mechanism 22 on the other side carries the radioactive item 4 to the side work position (such as the right work position), and then carries the preceding shielding plug 5 to the middle work position. After the lifting device 28 grabs the preceding shielding plug 5, the horizontal moving mechanism 22 moves back to the original work position (i.e., the left work position) to free up the operating space of the lifting device 28.

[0107] S7, the lifting device 28 descends, puts the preceding shielding plug 5 back to its original position, and then rises back into the third assembly 13;

[0108] S8, the lifting device 14 drives the third assembly 13 to rise, and the transfer device 1 moves through the first assembly 8 and the second assembly 11 to the temporary storage position (i.e., the temporary storage warehouse 2) to dock with the storage well 3.

[0109] S9, the subsequent steps of removing and placing the shielding plug 5 above the storage well 3 and the radioactive item 4 are similar to the steps S2~S8 above, and will not be repeated here.

[0110] Example 2

[0111] This embodiment discloses a temporary storage facility, including a transfer hall and several storage wells 3, and also includes the automated transfer equipment (hereinafter referred to as transfer equipment 1) used in a radioactive environment as described above. The transfer hall has a track on the ground, and the transfer equipment 1 slides on the track.

[0112] Specifically, the storage well 3 is used to place radioactive items 4, and a shielding plug 5 is installed between the storage well 3 and the transfer hall of the temporary storage facility 2. The track system includes a running track 6 and a detachable transfer track 7. The running tracks 6 are laid out according to the working areas (i.e., storage areas) set up within the transfer hall, and there are several running tracks, all parallel to each other. The transfer tracks 7 are connected to and perpendicular to each running track 6. The first assembly 8 slides on the running track 6 and the detachable transfer track 7 via wheel sets 10, enabling it to move horizontally on both tracks. When the transfer equipment 1 needs to be moved from one storage area to another, it can move via the corresponding running track 6 to the transfer track 7, and then via the transfer track 7 to the running track 6 of another storage area. This allows multiple storage areas of the temporary storage facility to share a single transfer equipment 1, thereby reducing costs and improving economic efficiency.

[0113] In some implementations, the maintenance and repair of the transfer equipment 1, especially the maintenance and repair of the third assembly 13, are taken into consideration, such as... Figure 8 As shown, the temporary storage warehouse 2 is also equipped with an emergency workstation, which includes a shielded space 50 and an operating room 51. The shielded space 50 is located below the transfer hall and has an emergency transfer port 49. The shielded space 50 is connected to the transfer hall through the emergency transfer port 49. The shielded space 50 has a temporary parking workstation 53. The operating room 51 is adjacent to the shielded space 50 and is connected to the shielded space 50 through a remote operation penetrating piece 52.

[0114] When the aforementioned lifting device 28 malfunctions while grabbing the radioactive item 4 and is unable to remotely place the radioactive item 4 into the storage well 3, the transfer equipment 1 is moved to the emergency work position. The lifting device 28 carries the radioactive item 4 down into the shielded space 50. Personnel can manually detach the lifting device 28 by operating a remote tool through the remote operation penetrating part 52, and then place the radioactive item 4 into this shielded space 50. After the personnel repair the lifting device 28, the radioactive item 4 can be transferred from this location again.

[0115] In some implementations, the emergency workstation also includes a transfer equipment maintenance room, which is arranged adjacent to the transfer hall.

[0116] When the internal moving device in the third assembly 13 malfunctions while carrying the radioactive item 4, the internal radioactive item 4 is moved to the lower part of the lifting device 28 by handwheel drive, so as to continue to complete the grabbing action and complete the current radioactive item 4 transfer process. Afterwards, the transfer equipment 1 is moved to the transfer equipment maintenance room, the disassembly and removal shielding block 41 on the shielding base plate in the third assembly 13 is removed, and the damaged internal moving device is taken out to complete the inspection and maintenance operation.

[0117] The automated transfer equipment and temporary storage facility used in a radioactive environment in this invention have the following beneficial effects:

[0118] (1) High degree of automation: By setting up control units (such as the first encoder, second encoder, third encoder, fifth encoder and other positioning systems), the positioning reference can be determined during the commissioning stage. After the track switching operation is performed during the operation stage, only personnel need to perform the reference calibration operation before it can be put into automated operation. Thus, under normal working conditions, the equipment can be fully automated and no personnel need to operate it. The warehouse and factory can be unattended during the operation process.

[0119] (2) Radiation protection throughout the process: The shielding body can effectively shield radioactive items during the transfer process; the lifting device can ensure effective shielding throughout the process when storing radioactive items in the storage well.

[0120] (3) Reduced overall cost and high economic efficiency: By setting a transfer track, this equipment can be transferred to meet the needs of multiple storage areas sharing one piece of equipment; by arranging electrical components such as the first drive mechanism outside the shield as much as possible, the radiation resistance performance requirements of electrical components can be reduced; by setting a C-shaped opening in the internal moving device, the height of the shielding layer can be reduced; by using this transfer equipment, the transfer hall of the temporary storage warehouse can be defined as a green zone, which can effectively reduce the cost of public systems, such as ventilation and filtration systems, personnel passage systems, etc.

[0121] (4) Convenient inspection and maintenance: Each transmission mechanism is equipped with redundancy or personnel intervention measures. When the mechanism outside the shield fails, the radioactive object can be placed in the designated position and personnel can carry out maintenance directly. When the lifting device inside the shield fails and cannot release the radioactive object normally, the radioactive object can be placed in the shielding room. Personnel outside the shield can use a special tool to operate the penetrating device remotely to remove the radioactive object from the lifting device. After removing the source, the lifting device can be inspected and maintained.

[0122] (5) High equipment safety: In addition to the signal provided by the drive mechanism, each action is equipped with an independent monitoring element (such as the first sensor, the second sensor, the fourth encoder, etc.) to provide independent signals, automatically interlock the actions of each mechanism, promptly and effectively identify abnormal situations, and automatically intervene.

[0123] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. An automated transfer device for use in a radioactive environment, characterized in that, It includes a first assembly (8), a second assembly (11), a third assembly (13), and a control unit; The first assembly slides on the ground of the temporary storage unit (2), the second assembly slides on the first assembly, and the third assembly includes a shield (24), a lifting device (14), an internal moving device, a hoisting device, and a lifting device (28). The shield is installed on the second assembly via the lifting device. The bottom plate of the shield has a transfer port. The internal moving device slides on the bottom plate. The lifting device is located inside the shield and above the transfer port. The hoisting device is located outside the shield and connected to the lifting device. The first and second assemblies are used to drive the equipment to move horizontally to the top of the storage well. The lifting device is used to support and drive the shield in the third assembly to move vertically so that the shield is sealed and connected with the storage well. The hoisting device is used to drive the lifting device to move up and down so that the shield plug on the storage well can be opened or closed and radioactive items can be stored in or taken out of the storage well. The internal moving device is used to place the shield plug (5) opened by the lifting device and the radioactive items (4) taken out. The control unit is electrically connected to the first assembly, the second assembly, the lifting device, the internal moving device, and the hoisting device, respectively, and is used to acquire the operating information of the first assembly, the second assembly, and the third assembly, and control the first assembly, the second assembly, the lifting device, the internal moving device, and the hoisting device to operate automatically according to the operating information.

2. The automated transport equipment for use in a radioactive environment according to claim 1, characterized in that, The internal moving device includes a first driving mechanism (20) and a horizontal moving mechanism (22). The first drive mechanism is located outside the shield and is detachably connected to the horizontal moving mechanism through a transmission through member. The horizontal moving mechanism is located inside the shield and has a C-shaped opening.

3. The automated transport equipment for use in a radioactive environment according to claim 2, characterized in that, The horizontal moving mechanism is equipped with a second limit switch (23). The second limit switch is interlocked with the first drive mechanism. When the horizontal moving mechanism reaches the preset position, the first drive mechanism is interlocked to stop driving the horizontal moving mechanism to move forward.

4. The automated transport equipment for use in a radioactive environment according to claim 3, characterized in that, The bottom of the horizontal moving mechanism is provided with a thickened shielding block (55) to block the transfer port when the transfer equipment moves horizontally during the transfer of radioactive items.

5. The automated transport equipment for use in a radioactive environment according to any one of claims 1 to 4, characterized in that, There are two sets of internal moving devices, one for placing shielding plugs and the other for placing radioactive materials.

6. The automated transport equipment for use in a radioactive environment according to claim 5, characterized in that, The control unit includes a fourth encoder (18). The fourth encoder is located outside the shield and is interlocked with the lifting device. It is used to monitor the distance between the shield and the ground in real time, and the lifting device will automatically stop operating when the shield is detected to be in contact with the ground.

7. The automated transport equipment for use in a radioactive environment according to claim 6, characterized in that, The shield is equipped with a first limit switch (19). The first limit switch is interlocked with the lifting device. When the shielding body descends to the ground, the lifting device is interlocked to stop continuing to lower the shielding body.

8. The automated transport equipment for use in a radioactive environment according to claim 7, characterized in that, The shield is provided with a second drive mechanism (37). The output end of the second drive mechanism is provided with an electromagnetic device (38) and a visual positioning device (39). The visual positioning device is electrically connected to the first assembly, the second assembly, the second drive mechanism and the electromagnetic device respectively. It is used to control the movement of the first assembly and the second assembly when the transfer equipment moves into the recognition range of the visual positioning device so that the electromagnetic device is automatically adjusted to center. After centering, it automatically controls the second drive mechanism to drive the electromagnetic device to descend and pick up the storage well cover and then rise.

9. The automated transfer equipment for use in a radioactive environment according to claim 8, characterized in that, The shield is equipped with a camera (36), and the bottom plate of the shield has a detachable shielding block (41).

10. The automated transport equipment for use in a radioactive environment according to claim 8, characterized in that, The lifting device includes two lifting drive mechanisms (25) and two steel wire ropes (27). The two lifting drive mechanisms are respectively located on both sides of the shield body. The top of the shield body is provided with a through hole. One end of each wire rope is connected to one of the lifting drive mechanisms, and the other end of each wire rope passes through the through hole and the lifting device before exiting through the through hole and connecting to the other lifting drive mechanism, forming a "dual drive mechanism, dual wire rope" structure.

11. The automated transport equipment for use in a radioactive environment according to claim 10, characterized in that, The control unit includes a fifth encoder (26). The fifth encoder is located at the end of the lifting drive mechanism and is electrically connected to the lifting drive mechanism. It is used to provide feedback on the actual stroke data of the lifting drive mechanism, so that the lifting drive mechanism can automatically control its own operation based on the feedback data from the fifth encoder.

12. The automated transport equipment for use in a radioactive environment according to claim 11, characterized in that, The lifting device also includes a third limit switch (29), which is located at the top of the lifting device's travel.

13. The automated transport equipment for use in a radioactive environment according to claim 12, characterized in that, The perforated outer cover is equipped with a compensating shield (34).

14. The automated transport equipment for use in a radioactive environment according to claim 13, characterized in that, The lifting device also includes a balance pulley assembly (30), which is located on the top of the shield. Both steel wire ropes are wound around the balance pulley assembly to balance the two steel wire ropes.

15. The automated transport equipment for use in a radioactive environment according to claim 14, characterized in that, The control unit also includes a second sensor (31). The second sensor is installed on the balance pulley block and interlocked with the lifting drive mechanism to monitor whether the wire rope is abnormal, and to automatically stop the lifting drive mechanism when an abnormality is detected in the wire rope.

16. The automated transport equipment for use in a radioactive environment according to claim 15, characterized in that, The control unit also includes a third encoder (16). The third encoder is located at the end of the lifting device and is electrically connected to the lifting device. It is used to provide feedback on the actual travel data of the lifting device, so that the lifting device can automatically control its own operation based on the data fed back by the third encoder.

17. The automated transport equipment for use in a radioactive environment according to claim 16, characterized in that, The second assembly is provided with guide components. The guide component cooperates with the third assembly to guide the lifting and lowering movement of the shield.

18. The automated transport equipment for use in a radioactive environment according to claim 17, characterized in that, The control unit also includes a first sensor (15). The first sensor is mounted on the second assembly and interlocked with the lifting device to monitor whether the shield is in contact with the ground. When the first sensor detects that the shield is in contact with the ground, the lifting device is interlocked to stop lowering the shield.

19. The automated transport equipment for use in a radioactive environment according to claim 18, characterized in that, The control unit also includes a second encoder (12). The second encoder is mounted on the second assembly and electrically connected to the second assembly. It is used to provide positioning feedback on the position of the second assembly, so that the second assembly can automatically control its own movement in the horizontal direction based on the data fed back by the second encoder.

20. The automated transport equipment for use in a radioactive environment according to claim 19, characterized in that, The control unit also includes a first encoder (9). The first encoder is located on both sides of the first assembly and is electrically connected to the first assembly. It is used to provide position feedback on the two sides of the first assembly, so that the first assembly can automatically control its horizontal movement and automatically adjust the running synchronization of the two sides of the first assembly based on the data fed back by the first encoder.

21. A temporary storage facility, comprising a transfer hall and a storage well (3), characterized in that, It also includes the transfer device (1) according to any one of claims 1 to 20; The transfer hall has a track on the floor, and the transfer equipment slides on the track.

22. The temporary storage library according to claim 21, characterized in that, The temporary storage also includes an emergency workstation, which includes a shielded space (50) and an operating room (51). The shielded space is located below the transfer hall and is connected to the transfer hall through an emergency transfer port (49). Temporary parking spaces (53) are provided in the shielded space. The operating room is arranged adjacent to the shielded space and is connected to the shielded space through a remote operating penetrating member (52).

23. The temporary storage library according to claim 22, characterized in that, The emergency work station also includes a transfer equipment maintenance room, which is arranged adjacent to the transfer hall.

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