A tandem autonomous operation glove box and article sealing system for the nuclear industry

Abstract

This invention discloses a series-connected autonomous glove box and item sealing system for the nuclear industry. It addresses the problems of inefficient process connections in single-box glove boxes, susceptibility of drive components to radiation interference, high radiation risk during manual operation, and insufficient item transfer and sealing isolation in nuclear material handling scenarios within the nuclear industry. The system adopts a dual-box series structure, featuring external radiation shielding for the drive unit and a dual-box series connection to expand the operational process. It offers autonomous operation and strong radiation isolation; the system includes an in-box robotic arm for autonomous grasping and placement, a radiation-shielded conveyor belt for cross-box transfer, and automatic sealing at the end. This invention achieves fully autonomous handling of nuclear materials from grasping and cross-box transfer to sealing isolation, accurately adapting to the high-radiation environment of nuclear material handling scenarios in the nuclear industry. It offers high operational safety, efficient process connections, and can reliably complete the safe handling and sealing of nuclear materials.

Description

Technical Field

[0001] This invention belongs to the field of nuclear industry material handling equipment technology, and is a series glove box device with autonomous operation and radiation protection sealing functions. Background Technology

[0002] With the continuous development of nuclear industry technology, glove boxes, as core radiation protection and isolation equipment in the handling of nuclear materials, have become key facilities in the field of safe operation in the nuclear industry. With their advantages of physical isolation and radiation protection, they are widely used in scenarios such as the handling, transfer and processing of nuclear materials, providing basic safety guarantees for operations in high-radiation environments in the nuclear industry.

[0003] However, existing nuclear industry glove boxes generally suffer from drawbacks such as low process connection efficiency, insufficient automation, and limited radiation protection adaptability: most adopt a single-box structure, and the transfer of items across processes requires manual assistance, which not only leads to low work efficiency but also increases the risk of personnel exposure to radiation; at the same time, the internal drive components of existing glove boxes are mostly located inside the box, making them susceptible to radiation interference and resulting in decreased operational stability; robotic arm operations mostly rely on remote manual control, lacking autonomous operation capabilities; and there is a lack of integrated radiation-proof transfer and automatic sealing devices, resulting in poor radiation isolation during the transfer of items across boxes and a high degree of manual intervention in end-of-line sealing operations, making it difficult to meet the efficient, safe, and autonomous operation requirements of nuclear industry item handling processes, which greatly limits their application effectiveness in complex nuclear industry processing scenarios.

[0004] To address the aforementioned issues, this invention designs a series-connected autonomous glove box and item sealing system for the nuclear industry. It employs a dual-box series structure combined with an external drive rail, an autonomous robotic arm, a radiation-proof conveyor belt, and an automatic sealing device. Through autonomous operation and integrated transfer and sealing capabilities, it precisely adapts to the operational needs of the high-radiation environment in the nuclear industry, effectively solving the application limitations of existing nuclear industry glove boxes. Summary of the Invention

[0005] The purpose of this invention is to provide a series-connected autonomous glove box and item sealing system for the nuclear industry. Specifically, it addresses the problems in nuclear material handling scenarios in the nuclear industry, such as stringent radiation protection requirements, low efficiency of single-box process connections, high risk of manual intervention, and insufficient automation adaptability across multiple stages. The system adopts a dual-box series structure, equipped with externally driven x and y moving guide rails, a four-degree-of-freedom robotic arm, a radiation-proof transfer conveyor belt, and an automatic sealing device. It features external radiation interference protection driven by guide rails, autonomous grabbing and placement by the robotic arm, radiation-proof transfer across boxes, and automatic sealing of end-of-life items. It possesses operational capabilities such as autonomous operation of a single box, radiation-proof transfer between processes in both boxes, and end-of-life sealing and isolation of nuclear materials. This enables automated process connections and safe isolation operations in high-radiation environments during nuclear material handling, adapting to the safety handling requirements of various nuclear materials in the nuclear industry. It offers high operational safety, excellent process connection efficiency, and strong radiation protection adaptability. It includes box A (1), x and y guide rail system (2), four-degree-of-freedom robotic arm (3), radiation shielding connecting cylinder (4), transportation device (5), box B (6) and sealing treatment device (7).

[0006] Box A (1), comprising: box top plate A (1-1), box front cover plate A (1-2), box upper frame A (1-3), box front glass A (1-4), pallet A fixing column A (1-5), pallet A (1-6), work gloves A (1-7), box lower frame A (1-8), box cabinet door A (1-9), box side plate A (1-10), and pulley A (1-11); The connection relationships between the various components are as follows: the top plate A (1-1) of the box is rigidly fixed to the upper frame A (1-3) of the box by bolts; the front cover A (1-2) of the box is rigidly fixed to the top plate A (1-1) and the upper frame A (1-3) of the box by bolts; the front windshield A (1-4) of the box is rigidly fixed to the upper frame A (1-3) of the box by screws; the work gloves A (1-7) are connected to the front windshield A (1-4) of the box through a sealing flange device. The work gloves A (1-7) can rotate; the lower frame A (1-8) of the box is rigidly fixed to the upper frame A (1-3) of the box by bolts; the cabinet door A (1-9) of the box is connected to the lower frame A (1-8) of the box by hinges; the side panel A (1-10) of the box is rigidly fixed to the lower frame A (1-8) of the box by screws; the pulley A (1-11) is rigidly fixed to the lower frame A (1-8) of the box by bolts, ensuring that the glove box can be moved according to work needs; The x and y guide rail system (2) includes: motor radiation protection cover (2-1), motor A (2-2), motor fixing bracket (2-3), dual-axis fixing bracket (2-4), guide rail top plate (2-5), transmission screw A (2-6), sliding shaft (2-7), bevel gear A (2-8), bevel gear B (2-9), transmission screw B fixing bracket (2-10), transmission screw B (2-11), guide rail (2-12), slider A (2-13), transmission screw C (2-14); The connection relationships between the various components are as follows: the motor radiation shield (2-1) is rigidly fixed to the upper frame (1-3) of the housing by bolts; motor A (2-2) is rigidly fixed to the motor mounting bracket (2-3) by bolts; the motor mounting bracket (2-3) is rigidly fixed to the motor radiation shield (2-1) by bolts, thus ensuring the fixation of motor A (2-2); the dual-axis mounting bracket (2-4) is rigidly fixed to the top plate of the guide rail (2-5) by bolts; the top plate of the guide rail... (2-5) is rigidly fixed to the top plate (1-1) of the housing by bolts; the transmission screw A (2-6) is radially fixed to the double-shaft fixed bracket (2-4) and the guide rail (2-12) by bearings to ensure the rotational movement of the transmission screw A (2-6); the sliding shaft (2-7) is radially fixed to the double-shaft fixed bracket (2-4) by bearings; the bevel gear A (2-8) is fitted with the sliding shaft (2-7), and the rotation of the sliding shaft (2-7) can drive the bevel gear A (2-8) to rotate; the bevel gear B ( 2-9) meshes with bevel gear A (2-8) to achieve transmission; the transmission screw B fixing bracket (2-10) is rigidly fixed to the guide rail top plate (2-5) by bolt connection; the transmission screw B (2-11) is radially fixed to the transmission screw B fixing bracket (2-10) through bearing cooperation to ensure the rotation of the transmission screw B (2-11); the guide rail (2-12) simultaneously cooperates with transmission screw A (2-6) and transmission screw B (2-11) to achieve transmission between transmission screw A (2-6) and transmission screw B (2-11). The rotational motion of -11) is converted into the linear motion of the guide rail (2-12); the slider A (2-13) cooperates with the guide rail (2-12) to form a sliding pair; the four-degree-of-freedom robotic arm (3) is rigidly fixed to the slider A (2-13) by bolt connection to ensure that the four-degree-of-freedom robotic arm (3) can move in the x and y directions; the bevel gear B (2-9) is connected to the transmission screw C (2-14) by key connection to achieve cooperation; the transmission screw C (2-14) is radially fixed to the guide rail (2-12) by bearing cooperation; Radiation shielding connecting tube (4), comprising: transparent cover (4-1) and connecting tube (4-2); The connection relationship between the various components is as follows: the transparent cover (4-1) is rigidly fixed to the connecting cylinder (4-2) by bolts, and the staff can observe the working status of the transport device (5) through the transparent cover; The transport device (5) includes: a rotating wheel (5-1), a conveyor belt (5-2), a pallet B (5-3), a motor B (5-4), and a motor protective housing (5-5); The connection relationships between the various components are as follows: the motor protective shell (5-5) is rigidly fixed to the upper frame (1-3) of the box body by bolts; the motor B (5-4) is rigidly fixed to the motor protective shell (5-5) by screws; the rotating wheel (5-1) cooperates with the rotating shaft of the motor B (5-4) to realize the rotation of the motor driving the rotation of the rotating wheel (5-1); the pallet B (5-3) is rigidly fixed to the conveyor belt (5-2) by screws. Box B (6) includes: box top plate B (6-1), box front cover plate B (6-2), box upper frame B (6-3), box front windshield B (6-4), pallet A fixing column B (6-5), pallet C (6-6), work gloves B (6-7), box lower frame B (6-8), box cabinet door B (6-9), box side plate B (6-10), pulley B (6-11), air pipe (6-12), ventilation pipe (6-13), cylinder (6-14); The connection relationships between the various components are as follows: the top plate B (6-1) of the box is rigidly fixed to the upper frame B (6-3) of the box by bolts; the front cover B (6-2) of the box is rigidly fixed to the top plate B (6-1) and the upper frame B (6-3) of the box by bolts; the front windshield B (6-4) of the box is rigidly fixed to the upper frame B (6-3) of the box by screws; the work gloves B (6-7) are connected to the front windshield B (6-4) of the box by a sealing flange device, and the work gloves B (6-7) can rotate; the lower frame of the box... Frame B (6-8) is rigidly fixed to the upper frame B (6-3) of the box body by bolts; the cabinet door B (6-9) is connected to the lower frame B (6-8) of the box body by hinges; the side panel B (6-10) of the box body is rigidly fixed to the lower frame B (6-8) of the box body by screws; the pulley B (6-11) is rigidly fixed to the lower frame B (6-8) of the box body by bolts, ensuring that the glove box can be moved according to work needs; the air pipe (6-12) is sealed to the cylinder (6-14) to ensure the airtightness of inflation or intake; The ventilation pipe (6-13) is rigidly fixed to the upper frame B (6-3) of the box body by screw connection; the cylinder (6-14) is fixedly connected to the upper frame B (6-3) of the box body by screw connection; The sealing device (7) includes: a fixed table (7-1), a fixed block A (7-2), a fixed block B (7-3), and a sealing device (7-4); The connection relationships between the various components are as follows: the fixing block A (7-2) is rigidly fixed to the fixing table (7-1) by screw connection; the fixing block B (7-3) is rigidly fixed to the fixing block A (7-2) by screw connection; the sealing device (7-4) is rigidly fixed to the fixing block B (7-3) by screw connection; The sealing device (7-4) specifically includes: slide rail A (7-4-1), slide rail baffle (7-4-2), transmission screw D (7-4-3), slider B (7-4-4), slide rail B (7-4-5), radiation detection device (7-4-6), camera (7-4-7), slider C (7-4-8), connecting rod (7-4-9), motor C (7-4-10), connecting plate (7-4-11), sealing welding device (7-4-12), pressing plate (7-4-13), slide rail C (7-4-14), pressing base plate (7-4-15), and motor D (7-4-16). The connection relationships between the various components are as follows: slide rail A (7-4-1) is rigidly fixed to the fixing block B (7-3) by screw connection; slide rail baffle (7-4-2) is rigidly fixed to slide rail A (7-4-1) by screw connection; transmission screw D (7-4-3) cooperates with slide rail baffle (7-4-2) through bearing to achieve radial fixation; slider B (7-4-4) is rigidly fixed to slide rail B (7-4-5) by screw connection; radiation detection device (7-4-6), camera (7-4-7), and sealing welding device (7-4-12) are rigidly connected to connecting plate (7-4-11) by screw connection respectively; connecting plate (7-4-11) and slide rail D (7-4-12) are rigidly fixed to the fixing block B (7-4-11) by screw connection; 4-14) are coordinated to convert rotational motion into linear motion; slide rail D (7-4-14) is rigidly connected to slider C (7-4-17) by screws; connecting rod (7-4-9) rigidly connects slide rails B (7-4-5) on both sides to ensure motion accuracy; motor C (7-4-10) is rigidly fixed to slide rail B (7-4-5) by screws; clamping plate (7-4-13) is rigidly fixed to slide rail C (7-4-14) by screws; clamping base plate (7-4-15) is rigidly fixed to slider B (7-4-4) by screws; motor D (7-4-16) is rigidly fixed to slide rail baffle (7-4-2) by screws. The advantages of this invention are: 1. This invention proposes a series-connected autonomous operation glove box and item sealing system for the nuclear industry. The system adopts a dual-box series structure with externally driven x and y moving guide rails. It has the characteristics of external radiation interference protection for drive components and expanded operation process of dual boxes. It can be adapted to the multi-process continuous processing scenario of nuclear industry items. It avoids the problem of radiation affecting drive components from the structural level and improves the stability of equipment operation.

[0007] 2. The present invention provides a series-type autonomous operation glove box and item sealing system for the nuclear industry, equipped with a four-degree-of-freedom autonomous robotic arm mounted on a guide rail slider. The robotic arm integrates the functions of autonomously grasping and placing nuclear items. With the help of the guide rail, it can cover the entire working space inside the box, replacing manual intervention, effectively reducing the risk of radiation exposure to personnel, and improving the accuracy of nuclear item handling.

[0008] 3. The serial autonomous operation glove box and item sealing system for the nuclear industry of the present invention is equipped with a radiation-proof transfer connecting cylinder and a built-in conveyor belt. It connects two boxes and realizes radiation-proof transfer of nuclear items across boxes. It has the dual functions of process connection and radiation isolation, realizes seamless connection of multi-process handling of nuclear items, and avoids the risk of radiation leakage during the transfer process.

[0009] 4. The serially operated autonomous glove box and item sealing system for the nuclear industry of the present invention is equipped with an automatic sealing device driven by a cylinder at the end, which has an integrated function of inflation / absorption pretreatment + automatic sealing, and can realize fully automated isolation and sealing of nuclear items from the outside air, effectively expanding the safety adaptability of nuclear item storage and transportation after processing. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the series-connected autonomous operation glove box and item sealing system in this invention; Figure 2 This is a schematic diagram of box A of the series-connected autonomous operation glove box and item sealing system in this invention; Figure 3 This is a top view of the x and y guide rail system of the serially connected autonomous glove box and item sealing system in this invention; Figure 4 This is a bottom view of the x and y guide rail system of the serially connected autonomous glove box and item sealing system in this invention; Figure 5 This is a schematic diagram of the radiation-proof connecting cylinder of the series-connected autonomous operation glove box and item sealing system in this invention; Figure 6 This is a perspective view of the transport device of the series-connected autonomous glove box and item sealing system in this invention; Figure 7This is a schematic diagram of box B of the series-connected autonomous operation glove box and item sealing system in this invention; Figure 8 , Figure 9 This is a schematic diagram of the sealing treatment device of the series-connected autonomous operation glove box and item sealing system in this invention; Figure 10 This is a schematic diagram of the first processing of nuclear industry items by the series-connected autonomous glove box and item sealing system of the present invention. Figure 11 This is a schematic diagram of a four-degree-of-freedom robotic arm in the serially operated autonomous glove box and item sealing system of the present invention grasping and placing nuclear industry items after the first processing onto a conveyor belt pallet. Figure 12 This is a schematic diagram of the tandem autonomous operation glove box and item sealing system used in this invention to transport nuclear industry items after the first processing is completed; Figure 13 This is a schematic diagram of the serially operated autonomous glove box and item sealing system in this invention transporting nuclear industry items after the first processing to a designated location and using a four-degree-of-freedom robotic arm to grasp the nuclear industry items. Figure 14 This is a schematic diagram of a four-degree-of-freedom robotic arm in the serially operated autonomous glove box and item sealing system of the present invention placing nuclear industry items that have completed the first processing onto the box tray for the second processing. Figure 15 This is a schematic diagram of a four-degree-of-freedom robotic arm in the serially operated autonomous glove box and item sealing system of the present invention, which grabs nuclear industry items after the second processing and places them into a sealed bag.

[0011] Figure 16 This is an elevation view of the overall housing B and the sealing device of the present invention. Detailed Implementation

[0012] The present invention will now be described with reference to the accompanying drawings and embodiments, but the present invention is not limited to the following embodiments. Example

[0013] Reference Figure 1 The present invention provides a series-type autonomous operation glove box and item sealing system for the nuclear industry, comprising a box body A (1), an x ​​and y guide rail system (2), a four-degree-of-freedom robotic arm (3), a radiation shielding connecting cylinder (4), a transport device (5), a box body B (6), and a sealing treatment device (7). This invention relates to a series-connected autonomous glove box and item sealing system for the nuclear industry. The system employs a dual-box series structure coupled with externally driven x and y moving guide rails. (See reference...) Figure 4 , Figure 10 , Figure 11The x and y guide rail system (2) is fixed on the top plate A (1-1) of the box, and the four-degree-of-freedom robotic arm (3) is fixed on the slider A (2-13) of the x and y guide rail system (2), which can realize the movement of the four-degree-of-freedom robotic arm (3) in the x and y directions, and ensure that the four-degree-of-freedom robotic arm (3) can grasp and place nuclear industrial items in a large range; at the same time, the motor A (2-2) of the x and y guide rail system (2) is arranged outside the box A (1), which can avoid radiation interference from nuclear industrial items; Reference Figure 11 , Figure 12 , Figure 13 , Figure 14 The four-degree-of-freedom robotic arm (3) grabs the nuclear industrial items that have been processed for the first time on the pallet A (1-6) inside the box A (1), places the nuclear industrial items on the pallet B (5-3) of the conveyor belt (5-2), and transports them to the box B (6). The four-degree-of-freedom robotic arm (3) inside the box B (6) grabs the nuclear industrial items and places them on the pallet C (6-6) inside the box B (6) for a second processing. During the transportation process, the nuclear industrial items are fully automated and are inside the glove box, avoiding interference from radiation during transportation. Reference Figure 15 , Figure 16 After the nuclear industrial items are processed in the box B (6), the four-degree-of-freedom robotic arm (3) grabs the nuclear industrial items. At the same time, the pressing plate (7-4-13) of the sealing device (7) presses and seals them, and the cylinder (6-14) inflates and supports the sealing bag. Then the four-degree-of-freedom robotic arm (3) places the items into the sealing bag of the sealing device (7). The four-degree-of-freedom robotic arm (3) places the nuclear industrial items into the sealing bag and retracts. Finally, the sealing bag is detected and sealed by the camera (7-4-7), the radiation detection device (7-4-6), and the sealing welding device (7-4-12).

Claims

1. A series-connected autonomous operating glove box and item sealing system for the nuclear industry, characterized in that, Includes box A (1), x and y guide rail system (2), four-degree-of-freedom robotic arm (3), radiation shielding connecting cylinder (4), transportation device (5), box B (6), and sealing treatment device (7); Box A (1), comprising: box top plate A (1-1), box front cover A (1-2), box upper frame A (1-3), box front windshield A (1-4), pallet A fixing post A (1-5), pallet A (1-6), work gloves A (1-7), box lower frame A (1-8), box cabinet door A (1-9), box side plate A (1-10), and pulley A (1-11); box top plate A (1-1) is rigidly fixed to box upper frame A (1-3) by bolt connection; box front cover A (1-2) is rigidly fixed to box top plate A (1-1) and box upper frame A (1-3) by bolt connection; box front windshield A (1-4) The glove box is rigidly fixed to the upper frame A (1-3) of the box via screws; the work glove A (1-7) is connected to the front glass A (1-4) of the box via a sealing flange device, and the work glove A (1-7) can rotate; the lower frame A (1-8) of the box is rigidly fixed to the upper frame A (1-3) of the box via bolts; the cabinet door A (1-9) of the box is connected to the lower frame A (1-8) of the box via hinges; the side panel A (1-10) of the box is rigidly fixed to the lower frame A (1-8) of the box via screws; the pulley A (1-11) is rigidly fixed to the lower frame A (1-8) of the box via bolts, ensuring that the glove box can be moved according to work needs; The x and y guide rail system (2) includes: a motor radiation protection cover (2-1), motor A (2-2), a motor mounting bracket (2-3), a dual-axis mounting bracket (2-4), a guide rail top plate (2-5), a transmission screw A (2-6), a sliding shaft (2-7), a bevel gear A (2-8), a bevel gear B (2-9), a transmission screw B mounting bracket (2-10), a transmission screw B (2-11), a guide rail (2-12), a slider A (2-13), and a transmission screw C (2-14). The motor radiation protection cover (2-1) is rigidly fixed to the upper frame (1-3) of the housing by bolts, and motor A (2-2) is rigidly fixed to the motor mounting bracket (2-3) by bolts. (2-3) is rigidly fixed to the motor radiation shield (2-1) by bolt connection; the double-axis fixed bracket (2-4) is rigidly fixed to the guide rail top plate (2-5) by bolt connection; the guide rail top plate (2-5) is rigidly fixed to the box top plate (1-1) by bolt connection; the transmission screw A (2-6) is radially fixed to the double-axis fixed bracket (2-4) and guide rail (2-12) by bearing cooperation to ensure the rotational movement of the transmission screw A (2-6); the sliding shaft (2-7) is radially fixed to the double-axis fixed bracket (2-4) by bearing cooperation; the bevel gear A (2-8) and the sliding shaft (2-7) form a cooperation, and the rotation of the sliding shaft (2-7) drives the bevel gear A (2-8) to rotate; the bevel gear B ( 2-9) meshes with bevel gear A (2-8) to achieve transmission; the transmission screw B fixing frame (2-10) is rigidly fixed to the guide rail top plate (2-5) by bolt connection; the transmission screw B (2-11) is radially fixed to the transmission screw B fixing frame (2-10) through bearing cooperation to ensure the rotation of the transmission screw B (2-11); the guide rail (2-12) cooperates with both the transmission screw A (2-6) and the transmission screw B (2-11) to realize the conversion of the rotational motion of the transmission screw A (2-6) and the transmission screw B (2-11) into the linear motion of the guide rail (2-12); the slider A (2-13) cooperates with the guide rail (2-12) to form a sliding pair; the four-degree-of-freedom robotic arm (3) is connected by bolts. The slider A (2-13) is rigidly fixed to ensure that the four-degree-of-freedom robotic arm (3) can move in the x and y directions; the bevel gear B (2-9) is connected to the transmission screw C (2-14) by a key, and the transmission screw C (2-14) is radially fixed to the guide rail (2-12) by bearing; the radiation shielding connecting cylinder (4) includes: a transparent cover (4-1) and a connecting cylinder (4-2); the transparent cover (4-1) is rigidly fixed to the connecting cylinder (4-2) by bolts, and the working condition of the transport device (5) can be observed through the transparent cover; the transport device (5) includes: a rotating wheel (5-1), a conveyor belt (5-2), a pallet B (5-3), a motor B (5-4), and a motor protective shell (5-5);The motor protective shell (5-5) is rigidly fixed to the upper frame (1-3) of the box body by bolts; the motor B (5-4) is rigidly fixed to the motor protective shell (5-5) by screws; the rotating wheel (5-1) cooperates with the rotating shaft of the motor B (5-4) to realize the rotation of the motor and drive the rotating wheel (5-1) to rotate; the pallet B (5-3) is rigidly fixed to the conveyor belt (5-2) by screws; the box body B (6) includes: the box body top plate B (6-1), the box body front cover plate B (6-2), and the box body upper frame B (6-3). 6-3), Front windshield B of the enclosure (6-4), Tray A fixing post B (6-5), Tray C (6-6), Work gloves B (6-7), Lower frame of the enclosure B (6-8), Enclosure door B (6-9), Side panel B of the enclosure (6-10), Pulley B (6-11), Air pipe (6-12), Ventilation pipe (6-13), Cylinder (6-14); The top panel B (6-1) of the enclosure is rigidly fixed to the upper frame B (6-3) of the enclosure by bolts; The front cover B (6-2) of the enclosure is fixed to the top panel B (6-3) of the enclosure by bolts. 6-1) The upper frame B (6-3) of the enclosure is rigidly fixed; the front windshield B (6-4) of the enclosure is rigidly fixed to the upper frame B (6-3) of the enclosure by screws; the work gloves B (6-7) are connected to the front windshield B (6-4) of the enclosure by a sealing flange device, and the work gloves B (6-7) can rotate; the lower frame B (6-8) of the enclosure is rigidly fixed to the upper frame B (6-3) of the enclosure by bolts; the cabinet door B (6-9) of the enclosure is connected to the lower frame B (6-8) of the enclosure by hinges; the side panel B ( 6-10) The glove box is rigidly fixed to the lower frame B (6-8) of the box body by screw connection; the pulley B (6-11) is rigidly fixed to the lower frame B (6-8) of the box body by bolt connection to ensure that the glove box can be moved according to work needs; the air pipe (6-12) is sealed to the cylinder (6-14) to ensure the airtightness of inflation or suction; the ventilation pipe (6-13) is rigidly fixed to the upper frame B (6-3) of the box body by screw connection; the cylinder (6-14) is fixedly connected to the upper frame B (6-3) of the box body by screw connection; The sealing device (7) includes: a fixed table (7-1), a fixed block A (7-2), a fixed block B (7-3), and a sealing device (7-4); the fixed block A (7-2) is rigidly fixed to the fixed table (7-1) by screws; the fixed block B (7-3) is rigidly fixed to the fixed block A (7-2) by screws; the sealing device (7-4) is rigidly fixed to the fixed block B (7-3) by screws; wherein, the sealing device (7-4) specifically includes: a slide rail A (7-4-1), a slide rail baffle (7-4-2), a transmission screw D (7-4-3), and a slider B (7-4-4). -4-4), slide rail B (7-4-5), radiation detection device (7-4-6), camera (7-4-7), slider C (7-4-8), connecting rod (7-4-9), motor C (7-4-10), connecting plate (7-4-11), sealing welding device (7-4-12), pressing plate (7-4-13), slide rail C (7-4-14), pressing base plate (7-4-15), motor D (7-4-16); slide rail A (7-4-1) is rigidly fixed to fixing block B (7-3) by screw connection; slide rail baffle (7-4-2) is connected to slide rail A by screw connection. (7-4-1) is rigidly fixed; the transmission screw D (7-4-3) is radially fixed by cooperating with the slide rail baffle (7-4-2) through a bearing; the slider B (7-4-4) is rigidly fixed to the slide rail B (7-4-5) by screw connection; the radiation detection device (7-4-6), camera (7-4-7), and sealing welding device (7-4-12) are rigidly connected to the connecting plate (7-4-11) by screw connection respectively; the connecting plate (7-4-11) cooperates with the slide rail D (7-4-14) to convert the rotational motion into linear motion; the slide rail D (7-4-14) The motor is rigidly connected to the slider C (7-4-17) by screws; the connecting rod (7-4-9) rigidly connects the slide rails B (7-4-5) on both sides to ensure motion accuracy; the motor C (7-4-10) is rigidly fixed to the slide rail B (7-4-5) by screws; the clamping plate (7-4-13) is rigidly fixed to the slide rail C (7-4-14) by screws; the clamping base plate (7-4-15) is rigidly fixed to the slider B (7-4-4) by screws; and the motor D (7-4-16) is rigidly fixed to the slide rail baffle (7-4-2) by screws.

2. A series-type autonomous operation glove box and item sealing system for nuclear industry according to claim 1, the system adopts a double-box series structure with external drive x and y moving guide rails. The x and y guide rail system (2) is fixed on the top plate A (1-1) of the box, and the four-degree-of-freedom robotic arm (3) is fixed on the slider A (2-13) of the x and y guide rail system (2) to realize the movement of the four-degree-of-freedom robotic arm (3) in the x and y directions; the motor A (2-2) of the x and y guide rail system (2) is arranged outside the box A (1).

3. The series-connected autonomous operation glove box and item sealing system for the nuclear industry according to claim 1, characterized in that, Equipped with a four-degree-of-freedom autonomous robotic arm mounted on a guide rail slider, the four-degree-of-freedom robotic arm (3) grabs the nuclear industry items that have been processed for the first time on the tray A (1-6) inside the box A (1), places the nuclear industry items on the tray B (5-3) of the conveyor belt (5-2), and transports them into the box B (6). The four-degree-of-freedom robotic arm (3) inside the box B (6) grabs the nuclear industry items and places them on the tray C (6-6) inside the box B (6).

4. The multi-limb spatial robotic arm with multiple motion modes and operational capabilities according to claim 1, characterized in that, The end is equipped with an automatic sealing device driven by a cylinder. After the nuclear industrial items are processed in the box B (6), the four-degree-of-freedom robotic arm (3) grabs the nuclear industrial items, the cylinder (6-14) inflates them, and then the four-degree-of-freedom robotic arm (3) places the items into the sealing bag of the sealing processing device (7). The sealing is then pressed and sealed by the pressing plate (7-4-13) of the sealing processing device (7). Finally, the sealing bag is detected and sealed by the camera (7-4-7), the radiation detection device (7-4-6), and the sealing welding device (7-4-12).

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