Modular graphite retrieval and sampling system suitable for radioactive environments

Abstract

The application belongs to the technical field of radioactive waste treatment, and discloses a modularized graphite back-taking and sampling system suitable for a radioactive environment, which comprises a back-taking device, a sampling device, a storage box, a monitoring system, an exhaust system and a control system. The back-taking device is driven by a mobile chassis to move a hydraulic mechanical arm. The quick-change tool table is provided with a suction cup tool, a drilling tool, a single-plate single-column clamp, a double-column clamp and a double-plate clamp. The hydraulic mechanical arm is quickly changed with the suction cup tool, the drilling tool, the single-plate single-column clamp, the double-column clamp and the double-plate clamp through a quick-connection structure to adapt to graphite blocks of different shapes. The sampling mechanism comprises a horizontal sampling module and a vertical sampling module to realize automatic collection of samples of multiple specifications. The application realizes full-process automation of graphite back-taking, sampling and boxing remote operation, has the characteristics of modularized design, multifunctional clamps, multiple dust suppression and high environmental adaptability, and can significantly reduce the radiation dose of personnel.

Description

Technical Field

[0001] This invention belongs to the field of radioactive waste treatment technology, specifically relating to a modular graphite recovery and sampling system suitable for radioactive environments. Background Technology

[0002] During the decommissioning of nuclear reactors, a large number of radioactively contaminated graphite blocks are found within the hot column channels, requiring their removal. Traditional manual or semi-mechanical removal methods have several drawbacks: 1. Operators work at close range in a moderate radiation environment, posing significant safety hazards and the risk of cumulative radiation dose; 2. Graphite blocks come in various shapes (porous / non-porous, single-pore / multi-pore) and sizes, making it difficult to use universal clamps, resulting in low retrieval efficiency; 3. Drilling and clamping processes generate large amounts of graphite dust and radioactive aerosols, which, if they spread, will cause serious secondary pollution; 4. The retrieval, sampling, and packing processes are separate, requiring multiple transfers and manual interventions, which is not only inefficient but also increases the risk of radioactive material spread; 5. Existing equipment generally lacks blind-spot-free monitoring of the entire process and reliable remote operation capabilities, failing to meet the stringent safety, reliability, and traceability requirements of nuclear facility decommissioning operations.

[0003] Therefore, there is an urgent need to develop a comprehensive graphite recovery and sampling system that can adapt to moderately radioactive environments, has full-process automated operation capabilities, and takes into account both dust suppression and remote monitoring. Summary of the Invention

[0004] The purpose of this invention is to solve the problems in the background art and provide a modular graphite retrieval and sampling system suitable for radioactive environments. Through modular integrated design, this system can safely and efficiently complete the entire process of graphite retrieval, sampling and packing.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A modular graphite retrieval and sampling system suitable for radioactive environments includes a retrieval device, a sampling device, a storage box, a monitoring system, an exhaust system, and a control system.

[0007] The retrieval device includes a mobile chassis, a hydraulic robotic arm, a quick-change tool table, a transfer station, and a hydraulic power station. The hydraulic robotic arm is mounted on the mobile chassis and connected to the hydraulic power station, which provides driving force to the hydraulic robotic arm. The mobile chassis is used to drive the hydraulic robotic arm to extend into the hot column channel to retrieve graphite blocks. A quick-change tool table for storing various retrieval tools is provided on one side of the mobile chassis. A quick-change faceplate is installed at the end of the hydraulic robotic arm, allowing for quick loading and unloading of each retrieval tool. A transfer station is also provided on one side of the mobile chassis for temporarily storing the graphite blocks retrieved by the hydraulic robotic arm and for marking the graphite blocks.

[0008] The mobile chassis includes a chassis support, a large trolley chassis, a small trolley chassis, and a mounting plate. The chassis support is rectangular, with its length aligned with the opening direction of the hot column channel. A counterweight steel plate is mounted on the surface of the chassis support, and two C-shaped rails symmetrically arranged along the hot column channel are mounted parallel to each other on the counterweight steel plate. The large trolley chassis is slidably mounted on the C-shaped rails via steel wheels, with the steel wheels located at the rear section of the large trolley chassis away from the hot column channel, allowing the front section of the large trolley chassis to extend into the hot column channel for retrieval operations. A multi-stage hydraulic rod is mounted on the counterweight steel plate between the two C-shaped rails to drive the large trolley chassis to move along the C-shaped rails. A trolley chassis is mounted on the main chassis. The main chassis surface has a first ball screw and a first guide rail, which drive the trolley chassis to move longitudinally along the hot column channel. There are two parallel first guide rails. The trolley chassis is slidably mounted on the two first guide rails via a slider. The first ball screw is mounted on the main chassis, and its nut seat is fixedly connected to the bottom surface of the trolley chassis. A servo geared motor is connected to the first ball screw to drive its rotation. A mounting plate is mounted on the trolley chassis. A second ball screw and a second guide rail are mounted on the trolley chassis surface, which drive the mounting plate to move laterally along the hot column channel section. There are two parallel second guide rails. The mounting plate is slidably mounted on the two second guide rails via a slider. The second ball screw is mounted on the trolley chassis, and its nut seat is fixedly connected to the bottom surface of the mounting plate. A servo geared motor is connected to the second ball screw to drive its rotation. The slewing support of the hydraulic robotic arm is fixed to the mounting plate, and a counterweight block to balance the weight of the hydraulic robotic arm is installed at the rear end of the trolley chassis. The first ball screw and the multi-stage hydraulic rod work together to give the hydraulic robotic arm a longer range of motion. In addition, the first ball screw can use its controllable rotation speed to apply a stable pull force during the graphite block retrieval process to ensure the stable removal of the graphite block. After removal, the multi-stage hydraulic rod quickly retrieves it from the hot column channel.

[0009] The tool retrieval mechanism on the quick-change tool table includes a suction cup tool, a drilling tool, and a retrieval clamp. The suction cup tool, drilling tool, and retrieval clamp are sequentially installed on the surface of the quick-change tool table and are located within the working range of the hydraulic robotic arm.

[0010] The suction cup tool includes a quick-change suction cup mother plate, a suction cup bracket, a rodless cylinder, and a vacuum suction cup. The suction cup bracket is installed on the tool side of the quick-change suction cup mother plate. The rodless cylinder is installed inside the suction cup bracket and is perpendicular to the quick-change suction cup mother plate. The rodless cylinder is equipped with a piston block. The surface of the suction cup bracket is machined with a guide groove that mates with the piston block. The vacuum suction cup is installed above the suction cup bracket and is fixedly connected to the piston block of the rodless cylinder. The vacuum suction cup slides on the surface of the suction cup bracket through the rodless cylinder and drags the graphite block onto the surface of the suction cup bracket.

[0011] The drilling tool includes a quick-change drilling mother plate, a drilling support, guide posts, a drilling dust cover, a hydraulic motor, a three-jaw chuck, and a drill bit. The drilling support is installed on the tool side of the quick-change drilling mother plate. Inside the drilling support, a hydraulic motor and a three-jaw chuck connected to the output shaft of the hydraulic motor are installed in sequence. The drill bit is detachably installed on the three-jaw chuck. A drilling dust cover is fitted on the outer side of the drill bit end. A through hole for the drill bit to pass through is machined in the middle of the drilling dust cover. Four guide posts are provided at the four corners of the drilling dust cover, passing through the drilling support. The ends of the four guide posts pass through the drilling support and are connected to a shaft connecting plate to prevent them from falling off. A first support spring is fitted on the guide post between the drilling dust cover and the drilling support to apply pressure to the drilling dust cover. The drilling dust cover is connected to an exhaust system through an exhaust pipe to collect dust generated during the drilling process.

[0012] The retrieval fixture includes a quick-change female disc clamping mechanism, a fixture mounting frame, a first connecting rod, a second connecting rod, a clamping plate, a clamping column, a hydraulic cylinder, a connector assembly, and a third connecting rod. The tool side of the quick-change female disc clamping mechanism is equipped with the fixture mounting frame. Parallel connecting rods are symmetrically mounted on both sides of the end of the fixture mounting frame. A clamping plate and / or a clamping column are respectively mounted on the two parallel connecting rods. The parallel connecting rods include a first connecting rod and a second connecting rod arranged in parallel. A hydraulic cylinder is installed inside the fixture mounting frame. The extended end of the hydraulic cylinder is connected to a connector assembly located between the two parallel connecting rods. The two sides of the connector assembly are connected to the first connecting rod of the parallel connecting rods via two third connecting rods. The extension and retraction of the hydraulic cylinder causes the clamping plate and / or the clamping column mounted on the two parallel connecting rods to move closer or further apart in parallel. A force sensor for detecting clamping force is installed between the hydraulic cylinder and the connector assembly. The force sensor provides a drive signal for the operation of the hydraulic cylinder.

[0013] The retrieve clamp consists of a single-plate single-column clamp, a double-column clamp, and a double-plate clamp, formed by clamping plates and clamping columns. The single-plate single-column clamp has a clamping plate and a clamping column mounted on each of its two parallel connecting rods. The double-column clamp has clamping columns mounted on both of its two parallel connecting rods. The double-plate clamp has clamping plates mounted on both of its two parallel connecting rods, with the clamping surfaces of the two clamping plates symmetrically arranged. The inner wall of the clamping plate is machined with diamond-shaped stripes, and the outer wall of the clamping plate is machined with reinforcing ribs. Z-shaped additional clamping plates can be symmetrically mounted on the two clamping plates of the double-plate clamp to reduce the clamping range.

[0014] The transfer platform includes a transfer bracket, a support plate, a limit block, a clamping cylinder, a lead screw module, a cylinder slide, a lifting platform, and a coding device. A support plate is mounted on the top of the transfer bracket. A protruding limit block is mounted on the top of the support plate near the mobile chassis. A clamping cylinder is mounted on the other side of the support plate, with its piston rod facing the limit block to push the graphite block towards it for positioning. A support platform is machined on the transfer bracket below the limit block. The lead screw module, cylinder slide, lifting platform, and coding device are sequentially mounted on the support platform. The lead screw module, cylinder slide, and lifting platform constitute a three-dimensional platform supporting the movement of the coding device, allowing the coding device to perform coding on the graphite block.

[0015] The sampling device includes a six-axis robot and a sampling mechanism, which are arranged sequentially on one side of the turntable. The end of the six-axis robot is equipped with a clamp for placing graphite blocks into the sampling mechanism.

[0016] The sampling mechanism includes a sampling frame, a lower panel, an upper panel, electric push rods, and sampling components. The lower panel is mounted on top of the sampling frame, and the upper panel is mounted on the lower panel via a support tube. Vertically aligned openings are machined at one end of both the upper and lower panels. Two electric push rods are symmetrically mounted on the upper panels on both sides of the openings to clamp the graphite blocks to be sampled. Clamping plates are installed on the extended ends of the electric push rods to prevent damage to the graphite blocks. There are two sets of sampling components: one set is horizontally positioned on the upper panel on one side of the opening as a transverse sampling module, with an electric cylinder on the upper panel to adjust the sampling height of the transverse sampling module; the other set is vertically mounted at the opening of the lower panel as a longitudinal sampling module.

[0017] The sampling assembly includes a base plate, a third guide rail, a drill mount, a hollow shaft, a chuck clamp, a hollow drill rod, a sampling motor, a sampling dust cover, a guide rod, a third ball screw, and a sample box. The base plate is oriented along its length toward the opening. The drill mount is mounted on the base plate via two parallel third guide rails. A third ball screw is mounted on the base plate to move the drill mount toward the opening. A hollow shaft aligned with the opening is mounted on the drill mount. A chuck clamp is mounted on the end of the hollow shaft near the opening, and a detachable hollow drill rod is mounted on the chuck clamp. A sampling motor is also mounted on the drill mount. The sampling motor drives the hollow shaft to rotate via a belt pulley transmission mechanism, and the hollow shaft is used for sampling. A sampling dust cover is fitted to the end of the hollow drill rod. The sampling dust cover has a through hole machined in the middle to fit with the hollow drill rod. Four guide rods are provided at the four corners of the sampling dust cover, passing through the drill rig mounting base. After passing through the drill rig mounting base, the four guide rods are connected to a connecting plate to prevent them from falling off. A second support spring is fitted on the guide rod between the sampling dust cover and the drill rig mounting base to apply pressure to the sampling dust cover. The sampling dust cover is also machined with an air extraction port, which is connected to the exhaust system through an exhaust pipe to collect the dust generated during the sampling process. A sample box is provided below the hollow drill rod.

[0018] The base plate of the transverse sampling module is horizontally installed at the extended end of the electric cylinder. The electric cylinder drives the transverse sampling module to rise and fall. Several guide shafts parallel to the moving direction of the electric cylinder are provided on both sides of the base plate. A top rod is installed on the base plate, which extends into the hollow shaft and extends to the end of the hollow drill rod, and is used to push out the sample inside the hollow drill rod. The sample box is installed on the base plate on the side of the opening.

[0019] The sampling dust cover of the transverse sampling module is equipped with a powder baffle that wraps around the hollow drill rod. Below the powder baffle is a powder collection port with a plug inside. The bottom end of the powder collection port is machined with an outwardly protruding edge for attaching a receiving bag.

[0020] The sample box of the longitudinal sampling module is placed directly below the vertically set hollow shaft.

[0021] The storage box is located on one side of the six-axis robot, and the storage box contains an aluminum box that wraps the graphite blocks. The six-axis robot puts the sampled graphite blocks into the aluminum box, and then puts the aluminum box into the storage box.

[0022] The monitoring system includes multiple high-definition cameras, which are installed at the retrieval device, sampling device, and storage box to monitor the entire operation process in real time.

[0023] The exhaust system includes a negative pressure fan, a pre-filter, and a high-efficiency filter. The negative pressure fan is equipped with a pre-filter and a high-efficiency filter. The negative pressure fan is connected to a collection device and a sampling device through an exhaust pipe to collect dust and aerosols generated during the filtration operation.

[0024] The control system includes an interconnected control cabinet and an operating console. The control cabinet is equipped with a PLC controller, which is electrically connected to the retrieval device, sampling device, monitoring system, and exhaust system. The PLC controller is equipped with a three-dimensional model and simulation system for verifying and checking interference in the retrieval and sampling schemes. The operating console controls the retrieval and sampling operations through the PLC controller. The PLC controller is also wirelessly connected to a handheld controller for remote manual control.

[0025] The modular graphite retrieval and sampling system for radioactive environments provided by this invention has the following advantages:

[0026] (1) By setting up a retrieval device, a sampling device, a storage box, a monitoring system, an exhaust system and a control system, the automated retrieval, sampling and packing of graphite blocks in the hot column channel is realized, which significantly reduces the radiation dose to personnel.

[0027] (2) A hydraulic robotic arm is used to retrieve graphite blocks. Driven by hydraulics, the equipment can maintain its durability and reliability under moderate levels of radioactivity.

[0028] (3) By equipping a quick-change tool table, drilling tools, single-plate single-column clamps, double-column clamps, double-plate clamps and suction cup tools are used in conjunction with the tool quick-change plate to achieve quick replacement, which can adapt to graphite blocks of different shapes and sizes and has strong versatility;

[0029] (4) The drilling tools and sampling components are equipped with drilling dust covers and sampling dust covers respectively. With the help of negative pressure fans, the diffusion of graphite dust and radioactive aerosols can be controlled from the source.

[0030] (5) The force sensors on the single-plate single-column clamp, double-column clamp and double-plate clamp can monitor the clamping force in real time and can provide overload protection to prevent equipment damage;

[0031] (6) The sampling mechanism can safely, cleanly and flexibly obtain graphite samples of different shapes (columnar / powder) and different sizes through an integrated automated, multi-functional drilling module;

[0032] (7) The monitoring system can ensure that the operation process is without blind spots and is traceable through high-definition cameras. Combined with three-dimensional models and simulation process data, it can verify the feasibility of the demolition steps, thereby effectively reducing the operation risk. Attached Figure Description

[0033] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a structural schematic diagram provided for an embodiment of the present invention.

[0035] Figure 2 This is a schematic diagram of the layout provided in an embodiment of the present invention.

[0036] Figure 3 This is a schematic diagram of the installation of the mobile chassis and hydraulic robotic arm provided in an embodiment of the present invention.

[0037] Figure 4 This is a schematic diagram of the structure of the mobile chassis provided in an embodiment of the present invention.

[0038] Figure 5 This is a schematic diagram of the bottom structure of a large vehicle chassis provided in an embodiment of the present invention.

[0039] Figure 6 This is a schematic diagram of the structure of the quick-change tool table provided in an embodiment of the present invention.

[0040] Figure 7 This is a schematic diagram of the suction cup tool provided in an embodiment of the present invention.

[0041] Figure 8 This is a schematic diagram of the drilling tool provided in an embodiment of the present invention.

[0042] Figure 9 This is a schematic diagram of the structure of the single-plate single-column clamp provided in an embodiment of the present invention.

[0043] Figure 10 This is a schematic diagram of the structure of the double-plate clamp provided in an embodiment of the present invention.

[0044] Figure 11 This is a schematic diagram of the installation of the additional clamp provided in an embodiment of the present invention.

[0045] Figure 12 This is a schematic diagram of the structure of the double-column clamp provided in an embodiment of the present invention.

[0046] Figure 13 This is a schematic diagram of the structure of the transfer station provided in an embodiment of the present invention.

[0047] Figure 14 This is a schematic diagram of the sampling mechanism provided in an embodiment of the present invention.

[0048] Figure 15 This is a schematic diagram of the sampling component provided in an embodiment of the present invention.

[0049] Figure 16 This is a schematic diagram of the structure of the lateral sampling module provided in an embodiment of the present invention.

[0050] Figure 17 This is a schematic diagram of the sampling dust cover on the horizontal sampling module provided in an embodiment of the present invention.

[0051] Figure 18 This is a schematic diagram of the structure of the longitudinal sampling module provided in an embodiment of the present invention.

[0052] Figure 19 This is a schematic diagram of the installation of the horizontal sampling module and the vertical sampling module provided in the embodiments of the present invention.

[0053] Figure 20 This is a schematic diagram of the exhaust system provided in an embodiment of the present invention.

[0054] Marked in the image:

[0055] 1. Retrieval device;

[0056] 11. Mobile chassis; 1101. Chassis support; 1102. Counterweight steel plate; 1103. C-shaped rail; 1104. Trolley chassis; 1105. Steel wheel; 1106. First guide rail; 1107. Counterweight block; 1108. Multi-stage hydraulic rod; 1109. Trolley chassis; 1110. Second guide rail; 1111. First ball screw; 1112. Second ball screw; 1113. Mounting plate; 12. Hydraulic... Mechanical arm; 121. Quick-change male plate; 122. Hydraulic station; 13. Quick-change tool table; 131. Suction cup tool; 1311. Suction cup quick-change female plate; 1312. Suction cup bracket; 1313. Rodless cylinder; 1314. Vacuum suction cup; 1315. Guide groove; 1316. Piston block; 132. Drilling tool; 1321. Drilling quick-change female plate; 1322. Drilling support; 1323. Guide column; 1324 1325. Drilling dust cover; 1326. Hydraulic motor; 1327. Three-jaw chuck; 1328. Drill bit; 1329. Shaft connecting plate; 1320. First support spring; 1330. Retrieval clamp; 1331. Clamping quick-change female disc; 1332. Clamp mounting bracket; 1333. First connecting rod; 1334. Second connecting rod; 1335. Clamping plate; 1336. Clamping column; 1337. Hydraulic cylinder; 1338. Connector assembly 1339. Third Linkage; 134. Force Sensor; 135. Single-Plate Single-Column Clamp; 136. Double-Column Clamp; 137. Double-Plate Clamp; 1371. Additional Clamping Plate; 14. Transfer Platform; 141. Transfer Bracket; 142. Support Platform; 143. Support Plate; 144. Limit Block; 145. Tightening Cylinder; 146. Lead Screw Module; 147. Cylinder Slide Table; 148. Lifting Platform; 149. Inkjet Printing Device;

[0057] 2. Sampling device;

[0058] 21. Six-axis robot; 22. Sampling mechanism; 221. Sampling frame; 222. Lower panel; 223. Upper panel; 224. Support tube; 225. Through port; 226. Electric push rod; 227. Sampling assembly; 22701. Base plate; 22702. Third guide rail; 22703. Drill rig mounting base; 22704. Hollow shaft; 22705. Chuck clamp; 22706. Hollow drill rod; 22707. Sampling motor; 22708. Sampling Dust cover; 22709, guide rod; 22710, second support spring; 22711, connecting plate; 22712, third ball screw; 22713, sample box; 22714, belt pulley drive mechanism; 228, transverse sampling module; 2281, electric cylinder; 2282, guide shaft; 2283, push rod; 2284, powder baffle; 2285, powder collection port; 2286, plug; 2287, flange; 229, longitudinal sampling module;

[0059] 3. Storage box;

[0060] 4. Monitoring system; 41. High-definition camera;

[0061] 5. Exhaust system; 51. Negative pressure fan; 52. Pre-filter; 53. High-efficiency filter;

[0062] 6. Control system; 61. Control cabinet; 62. Control panel. Detailed Implementation

[0063] Taking the graphite channel structure of reactor 101 and reactor 901 as examples, the same modular graphite retrieval and sampling system was used to complete the retrieval and sampling of graphite blocks from the graphite channels of the two reactor cores.

[0064] like Figures 1-20 As shown, the modular graphite retrieval and sampling system suitable for radioactive environments provided in this embodiment includes a retrieval device 1, a sampling device 2, a storage box 3, a monitoring system 4, an exhaust system 5, and a control system 6.

[0065] The control system 6 includes a control cabinet 61 and an operating console 62 that are interconnected. The control cabinet 61 is equipped with a PLC controller, which is electrically connected to the retrieval device 1, the sampling device 2, the monitoring system 4, and the ventilation system 5. The PLC controller is equipped with a three-dimensional model and simulation system for verifying and checking interference between the retrieval and sampling schemes. The operating console 62 has an operating lever, which controls the retrieval and sampling operations through the PLC controller. The PLC controller is also wirelessly connected to a handheld controller (not shown in the figure), which has remote control functionality.

[0066] The monitoring system 4 includes multiple high-definition cameras 41, which are respectively installed at the retrieval device 1, the sampling device 2, and the storage box 3 to monitor the entire operation process in real time. The monitoring system 4 includes at least eight high-definition cameras 41, each with a resolution of 1080P. The monitoring system 4 is also equipped with a video recorder for storing video data for later tracing.

[0067] like Figure 20 As shown, the exhaust system 5 includes a negative pressure fan 51, a pre-filter 52, and a high-efficiency filter 53. The negative pressure fan 51 is equipped with the pre-filter 52 and the high-efficiency filter 53. The negative pressure fan 51 is connected to the collection device 1 and the sampling device 2 via an exhaust pipe to collect dust and aerosols generated during the filtration process. The air volume of the negative pressure fan 51 is 2150~4100 m³ / h, and the filtration efficiency of the pre-filter 52 and the high-efficiency filter 53 is 99.99%. The exhaust system 5 is connected to an air intake hood, such as... Figure 1 As shown, the suction hood is installed at the entrance of the hot column channel to absorb graphite dust drifting within the channel. The exhaust system 5 can be configured with one or more sets as needed.

[0068] like Figures 1-13 As shown, the retrieval device 1 includes a mobile chassis 11, a hydraulic robotic arm 12, a quick-change tool table 13, a transfer table 14, and a hydraulic station 122. The hydraulic robotic arm 12 is mounted on the mobile chassis 11 and is connected to the hydraulic station 122. The hydraulic station 122 provides hydraulic driving force for the hydraulic robotic arm 12. The use of hydraulic power ensures that the retrieval device 1 can still operate stably under the irradiation environment of about 2 mSv / h at the deepest part of the hot column channel. The mobile chassis 11 is used to drive the hydraulic robotic arm 12 to extend into the hot column channel to retrieve graphite blocks; a quick-change tool table 13 for storing various retrieval tools is provided on one side of the mobile chassis 11, and a quick-change male plate 121 is installed at the end of the hydraulic robotic arm 12, which can be quickly loaded and unloaded with the quick-change female plate of each retrieval tool through the quick-change male plate 121. The quick-change male plate 121 and the quick-change female plate form a tool quick-change plate. A transfer table 14 is also provided on one side of the mobile chassis 11 for temporarily storing the graphite blocks retrieved by the hydraulic robotic arm 12 and for marking the graphite blocks.

[0069] like Figure 4 , Figure 5As shown, the mobile chassis 11 includes a chassis support 1101, a large trolley chassis 1104, a small trolley chassis 1109, and a mounting plate 1113. The chassis support 1101 is rectangular, and its length is aligned with the opening direction of the hot column channel. A counterweight steel plate 1102 is mounted on the surface of the chassis support 1101. Two C-shaped rails 1103, symmetrically arranged along the hot column channel, are mounted parallel to the counterweight steel plate 1102. The large trolley chassis 1104 is slidably mounted on the C-shaped rails 1103 via steel wheels 1105, and the steel wheels 1105 are located on the large trolley chassis 1109. The rear section of the chassis 1104 is away from the hot column channel, so that the front end of the chassis 1104 can extend into the hot column channel for retrieval. The design of placing the steel wheel 1105 at the rear provides sufficient operating space for the hydraulic robotic arm 12. A multi-stage hydraulic rod 1108 is installed on the counterweight steel plate 1102 between the two C-shaped rails 1103 to drive the chassis 1104 to move along the C-shaped rails 1103. The piston end of the multi-stage hydraulic rod 1108 is connected to the chassis 1104 to drive the chassis 1104 to reciprocate along the C-shaped rails 1103. A trolley chassis 1109 is mounted on the main chassis 1104. A first ball screw 1111 and first guide rails 1106 are provided on the surface of the main chassis 1104 to drive the trolley chassis 1109 to move longitudinally along the hot column channel. There are two parallel first guide rails 1106. The trolley chassis 1109 is slidably mounted on the two first guide rails 1106 via a slider. The first ball screw 1111 is mounted on the main chassis 1104, and its nut seat is fixedly connected to the bottom surface of the trolley chassis 1109. A servo reduction motor is connected to the first ball screw 1111 to drive its rotation. A mounting plate 1 is provided on the trolley chassis 1109. 113. The surface of the trolley chassis 1109 is provided with a second ball screw 1112 and a second guide rail 1110, which drives the mounting plate 1113 to move laterally along the cross-section of the hot column channel. There are two parallel second guide rails 1110. The mounting plate 1113 is slidably mounted on the two second guide rails 1110 via a slider. The second ball screw 1112 is mounted on the trolley chassis 1109, and the nut seat of the second ball screw 1112 is fixedly connected to the bottom surface of the mounting plate 1113. A servo geared motor that drives the rotation of the second ball screw 1112 is connected to the second ball screw 1112. The lateral movement distance of the trolley chassis 1109 does not exceed the width of the main chassis 1104 to prevent tilting. Through the multi-stage hydraulic rod 1108 and the first ball screw 1111, multi-stage extension and retraction can be formed, giving the robotic arm a longer stroke space, which can send the front end of the main chassis 1104 into the hot column channel. Meanwhile, the first ball screw 1111 can utilize its controllable rotation speed to apply a stable pull force during the graphite block retrieval process to slowly pull out the hydraulic robotic arm 12 that clamps the graphite block, so as to ensure the stable removal of the graphite block. After removal, the multi-stage hydraulic rod 1108 quickly retrieves it from the hot column channel.

[0070] like Figure 3 , Figure 4 As shown, the slewing support of the hydraulic robotic arm 12 is fixed on the mounting plate 1113. A counterweight 1107 is installed at the rear end of the trolley chassis 1104 to balance the weight of the hydraulic robotic arm 12. The counterweight 1107 can improve the stability of the hydraulic robotic arm 12 after entering the hot column channel, thereby improving the safety of operation. The hydraulic robotic arm 12 has 5 degrees of freedom. The rotational movement of the first joint is driven by a servo motor, which allows the entire robotic arm to rotate within a range of ±90°. The second, third, and fourth joints are all driven by hydraulic cylinders, and the fifth joint is driven by a rotary cylinder, which allows the wrist joint to rotate within a range of 0° to 360°. The end-effector working load of the hydraulic robotic arm 12 is ≥200 kg, and the working radius is ≥2000 mm. The quick-change tool 121 can quickly change different tools at the end of the hydraulic robotic arm 12 to meet the needs of operation. Two high-definition cameras 41 are mounted at the end of the hydraulic robotic arm 12 to clearly observe the image inside the graphite channel from the front. Two high-definition cameras 41 are mounted on both sides of the base of the hydraulic robotic arm 12 to observe the side image of the hydraulic robotic arm 12.

[0071] like Figures 6-12 As shown, the tool retrieval mechanism on the quick-change tool table 13 includes a suction cup tool 131, a drilling tool 132, and a retrieval clamp 133. The suction cup tool 131, the drilling tool 132, and the retrieval clamp 133 are sequentially mounted on the surface of the quick-change tool table 13 and are located within the working range of the hydraulic robotic arm 12. A counterweight can be added to the bottom of the quick-change tool table 13 to improve stability.

[0072] like Figure 7 As shown, the suction cup tool 131 includes a quick-change suction cup female plate 1311, a suction cup bracket 1312, a rodless cylinder 1313, and a vacuum suction cup 1314. The suction cup bracket 1312 is mounted on the tool side of the quick-change suction cup female plate 1311. A rodless cylinder 1313, perpendicular to the quick-change suction cup female plate 1311, is installed inside the suction cup bracket 1312. A piston block 1316 is provided on the rodless cylinder 1313. A guide groove 131 that mates with the piston block 1316 is machined on the surface of the suction cup bracket 1312. 5. The vacuum suction cup 1314 is mounted above the suction cup bracket 1312. The vacuum suction cup 1314 is fixedly connected to the piston block 1316 of the rodless cylinder 1313. The vacuum suction cup 1314 slides on the surface of the suction cup bracket 1312 via the rodless cylinder 1313, dragging the graphite block onto the surface of the suction cup bracket 1312. The vacuum suction cup 1314 has a diameter of 125 mm and a suction force ≥610 kg at 0.5 MPa air pressure. The rodless cylinder 1313 has a cylinder diameter of 63 mm and an effective stroke of 400 mm. The surface of the suction cup bracket 1312 can support the graphite block that has been adsorbed back.

[0073] like Figure 8As shown, the drilling tool 132 includes a quick-change drilling mother plate 1321, a drilling support 1322, a guide post 1323, a drilling dust cover 1324, a hydraulic motor 1325, a three-jaw chuck 1326, and a drill bit 1327. The drilling support 1322 is mounted on the tool side of the quick-change drilling mother plate 1321. The hydraulic motor 1325 and the three-jaw chuck 1326 connected to the output shaft of the hydraulic motor 1325 are sequentially installed inside the drilling support 1322. The drill bit 1327 is detachably mounted on the three-jaw chuck 1326. A drilling dust cover 1324 is fitted onto the outer side of the end of the drill bit 1327. A through hole for the drill bit 1327 is machined in the middle of the drilling dust cover 1324, and the four corners of the drilling dust cover 1324 have passages through the drilling support 1325. The four guide posts 1323 of the 22 have their ends passing through the drilling support 1322 and connected to a shaft connecting plate 1328 to prevent them from falling off. The guide posts 1323 and the drilling support 1322 are in sliding fit. A first support spring 1329 is fitted on the guide posts 1323 between the drilling dust cover 1324 and the drilling support 1322 to apply pressure to the drilling dust cover 1324. The drilling dust cover 1324 is connected to the exhaust system 5 through an exhaust pipe to collect dust generated during the drilling process. The drilling tool 132 is used to drill some graphite blocks that do not have holes and are not suitable for clamping. The negative pressure fan 51 of the exhaust system 5 is connected to the drilling dust cover 1324 through an exhaust pipe. The negative pressure fan 51 has a low suction alarm function to avoid insufficient dust collection.

[0074] like Figures 9-12As shown, the retrieval clamp 133 includes a quick-change female disc clamping device 1331, a clamp mounting frame 1332, a first connecting rod 1333, a second connecting rod 1334, a clamping plate 1335, a clamping post 1336, a hydraulic cylinder 1337, a connector assembly 1338, and a third connecting rod 1339. The clamp mounting frame 1332 is mounted on the tool side of the quick-change female disc clamping device 1331. Parallel connecting rods are symmetrically mounted on both sides of the end of the clamp mounting frame 1332. A clamping plate 1335 and / or a clamping post 1336 are respectively mounted on the two parallel connecting rods. The parallel connecting rods include a first connecting rod 1333 and a second connecting rod 1334 arranged in parallel. A hydraulic cylinder 1337 is installed inside the mounting bracket 1332. The extended end of the hydraulic cylinder 1337 is connected to a connector assembly 1338 located between two parallel connecting rods. The connector assembly 1338 is connected to the first connecting rod 1333 of the parallel connecting rods on both sides via two third connecting rods 1339. The extension and retraction of the hydraulic cylinder 1337 causes the clamping plate 1335 and / or clamping post 1336 mounted on the two parallel connecting rods to move closer or further apart in parallel. A force sensor 134 for detecting clamping force is installed between the hydraulic cylinder 1337 and the connector assembly 1338. The force sensor 134 provides a drive signal for the operation of the hydraulic cylinder 1337. When the hydraulic cylinder 1337 extends, it causes the two parallel connecting rods to move further apart in parallel via the third connecting rod 1339; when the hydraulic cylinder 1337 retracts, it causes the two parallel connecting rods to move closer together in parallel via the third connecting rod 1339. At this time, the force sensor 134 is subjected to force.

[0075] The retrieval clamp 133, through the clamping plate 1335 and the clamping column 1336, forms a single-plate single-column clamp 135, a double-column clamp 136, and a double-plate clamp 137. For example... Figure 9 As shown, a clamping plate 1335 and a clamping column 1336 are respectively installed on the two parallel connecting rods of the single-plate single-column clamp 135. The clamping range of the single-plate single-column clamp 135 is 80~200mm; Figure 12 As shown, clamping posts 1336 are installed on both parallel connecting rods of the double-column clamp 136, and the clamping range of the double-column clamp 136 is 80~205 mm; Figure 10 As shown, clamping plates 1335 are mounted on both parallel connecting rods of the double-plate clamp 137, and the clamping surfaces of the two clamping plates 1335 are symmetrically arranged. The clamping range of the double-plate clamp 137 is 80~205 mm. The inner wall of the clamping plate 1335 is machined with diamond-shaped stripes to increase the coefficient of friction, and the outer wall of the clamping plate 1335 is machined with reinforcing ribs to enhance the structural strength of the clamping plate 1335. The ends of the clamping plates 1335 are machined with narrow cutting edges to facilitate insertion into the gaps of the graphite blocks. Figure 11 As shown, Z-shaped additional clamping plates 1371 can be symmetrically installed on the two clamping plates 1335 of the double-plate clamp 137 to reduce the clamping range. The additional clamping plates 1371 reduce the minimum clamping distance to 30 mm to clamp the graphite rod.

[0076] The hole drilled by the drilling tool 132 is for the clamping post 1336 to extend into. When there is only one hole on the graphite block, a single-plate single-post clamp 135 is used; when there are two holes on the graphite block, a double-post clamp 136 is used. The double-post clamp 136 adjusts the distance between the two clamping posts 1336 according to the distance between the two holes.

[0077] like Figure 13 As shown, the transfer platform 14 includes a transfer bracket 141, a support plate 143, a limiting block 144, a clamping cylinder 145, a lead screw module 146, a cylinder slide 147, a lifting platform 148, and a coding device 149. The transfer bracket 141 has a support plate 143 mounted on its top. A protruding limiting block 144 is mounted on the top of the support plate 143 near the movable chassis 11. A clamping cylinder 145 is mounted on the other side of the support plate 143. The piston rod of the clamping cylinder 145 faces the limiting block 144 and is used to push the graphite block towards the limiting block 144 for positioning. A support platform 142 is machined on the transfer bracket 141 below the limiting block 144. The lead screw module 146, cylinder slide 147, lifting platform 148, and coding device 149 are also present. The platform 148 and the coding device 149 are sequentially mounted on the support platform 142. The lead screw module 146, the cylinder slide 147, and the lifting platform 148 constitute a three-dimensional platform supporting the movement of the coding device 149: the lead screw module 146 is parallel to the side wall of the support plate 143; the cylinder slide 147 is mounted on the nut seat of the lead screw module 146, and the lead screw module 146 drives the cylinder slide 147 to move laterally; the lifting platform 148 is mounted on the slide plate of the cylinder slide 147, and the cylinder slide 147 drives the lifting platform 148 to move longitudinally toward the support plate 143; the coding device 149 is mounted on the top of the lifting platform 148, and the lifting platform 148 drives the coding device 149 to move vertically; thus, the coding device 149 can perform coding on the graphite block. The printing color of the coding device 149 is white.

[0078] like Figure 2 As shown, the sampling device 2 includes a six-axis robot 21 and a sampling mechanism 22. The six-axis robot 21 and the sampling mechanism 22 are arranged sequentially on one side of the transfer platform 14. A clamp is installed at the end of the six-axis robot 21 for placing the graphite block into the sampling mechanism 22.

[0079] like Figures 14-19As shown, the sampling mechanism 22 includes a sampling frame 221, a lower panel 222, an upper panel 223, an electric push rod 226, and a sampling component 227. The lower panel 222 is mounted on the top of the sampling frame 221, and the upper panel 223 is mounted on the lower panel 222 via a support tube 224. One end of the upper panel 223 and the lower panel 222 is machined with vertically aligned openings 225. Two electric push rods 226 are symmetrically mounted on the upper panel 223 on both sides of the openings 225 to clamp the graphite block to be sampled. The extended ends of the two electric push rods 226 are equipped with clamping plates, which can increase the contact surface to avoid damaging the graphite block. In use, the thickness of the graphite block is estimated first, and then the clamping position of the electric push rod 226 is adjusted according to the sampling position so that the sampling point is within the stroke of the sampling component 227. The sampling components 227 are in two sets. One set of sampling components 227 is horizontally arranged on the upper panel 223 on one side of the opening 225 as a horizontal sampling module 228. An electric cylinder 2281 for adjusting the sampling height of the horizontal sampling module 228 is installed on the upper panel 223. The other set of sampling components 227 is vertically installed at the opening 225 of the lower panel 222 as a vertical sampling module 229.

[0080] like Figure 15As shown, the sampling assembly 227 includes a base plate 22701, a third guide rail 22702, a drill rig mounting base 22703, a hollow shaft 22704, a chuck clamp 22705, a hollow drill rod 22706, a sampling motor 22707, a sampling dust cover 22708, a guide rod 22709, a third ball screw 22712, and a sample box 22713. The base plate 22701 is oriented along its length toward the opening 225. The drill rig mounting base 22703 is mounted on the base plate 22701 via two parallel third guide rails 22702. 1. On the base plate 22701, a third ball screw 22712 is installed to drive the drill rig mounting base 22703 toward the through-hole 225. A hollow shaft 22704 aligned with the through-hole 225 is installed on the drill rig mounting base 22703. A chuck clamp 22705 is installed at the end of the hollow shaft 22704 near the through-hole 225. A detachable hollow drill rod 22706 is installed on the chuck clamp 22705. The hollow drill rod 22706 can be of different diameters, such as 10mm, 20mm, or 30mm. The drill rig mounting base 22701... The drill rod 22706 is also equipped with a sampling motor 22707, which drives the hollow shaft 22704 to rotate via a belt pulley transmission mechanism 22714. The rotating hollow shaft 22704 is used to sample the graphite block. A sampling dust cover 22708 is fitted to the end of the hollow drill rod 22706. The sampling dust cover 22708 has a through hole in the middle that mates with the hollow drill rod 22706. Four guide rods 22709 are provided at the four corners of the sampling dust cover 22708, which pass through the drill mounting base 22703. A connecting plate 22711 for preventing detachment is connected to the drill mounting base 22703. The guide rod 22709 slides with the drill mounting base 22703. A second support spring 22710 is fitted on the guide rod 22709 between the sampling dust cover 22708 and the drill mounting base 22703 to apply pressure to the sampling dust cover 22708. The sampling dust cover 22708 is also machined with an air extraction port, which is connected to the exhaust system 5 through an exhaust pipe to collect dust generated during the sampling process. A sample box 22713 is provided below the hollow drill rod 22706.

[0081] like Figure 16As shown, the base plate 22701 of the transverse sampling module 228 is horizontally mounted on the extended end of the electric cylinder 2281. The electric cylinder 2281 drives the transverse sampling module 228 to rise and fall. Several guide shafts 2282 parallel to the moving direction of the electric cylinder 2281 are provided on both sides of the base plate 22701. A push rod 2283 is installed on the base plate 22701, extending into the hollow shaft 22704 and reaching the end of the hollow drill rod 22706, for pushing out the sample inside the hollow drill rod 22706. The sample box 22713 is installed on the base plate 22701 on one side of the opening 225. The push rod 2283 can push the sample into the sample box 22713 when the drill mounting base 22703 retracts. The feed stroke of the transverse sampling module 228 is 420 mm, and the lifting stroke of the electric cylinder 2281 is 350 mm.

[0082] If the sample is powder, such as Figure 17 As shown, the sampling dust cover 22708 of the transverse sampling module 228 is equipped with a powder baffle 2284 that surrounds the hollow drill rod 22706. The powder baffle 2284 is funnel-shaped, and a powder collection port 2285 is provided below the powder baffle 2284. A plug 2286 is provided inside the powder collection port 2285. The bottom end of the powder collection port 2285 is machined with an outwardly protruding edge 2287 to facilitate the operator to put on the receiving bag. When collecting powder samples, the negative pressure fan 51 is not started; when collecting columnar samples, the plug 2286 is used to block the powder collection port 2285.

[0083] When it is necessary to sample the graphite block in another horizontal direction, the six-axis robot 21 drives the graphite block to rotate ±90°, and then the electric push rod 226 clamps the graphite block.

[0084] like Figure 18 As shown, the sample box 22713 of the longitudinal sampling module 229 is placed directly below the vertically arranged hollow shaft 22704. During use, the sample falls directly into the sample box 22713 under the action of gravity. The feed stroke of the longitudinal sampling module 229 is 640 mm, and the maximum sampling length is 320 mm.

[0085] like Figure 1 , Figure 2 As shown, the storage box 3 is located on one side of the six-axis robot 21, and the storage box 3 contains an aluminum box that wraps the graphite blocks; the six-axis robot 21 puts the sampled graphite blocks into the aluminum box, and then puts the aluminum box into the storage box 3.

[0086] The method of using this invention is as follows:

[0087] The chassis support 1101 is placed outside the hot column channel, aligning its length with the channel opening. The chassis support 1101 is then counterweighted using a counterweight steel plate 1102 to ensure stability. Next, the main chassis 1104, the auxiliary chassis 1109, and the hydraulic robotic arm 12 are installed sequentially. A counterweight block 1107 is installed behind the main chassis 1104 to provide auxiliary counterweight to the hydraulic robotic arm 12, ensuring its stability as it extends into the hot column channel. Then, the quick-change tool table 13 is placed on one side of the mobile chassis 11, and the suction cup tool 131, drilling tool 132, single-plate single-column clamp 135, double-column clamp 136, and double-plate clamp 137 are placed on the tool table in sequence. Next, the transfer platform 14 is placed on the outer front end of the mobile chassis 11, and the sampling mechanism 22 and the six-axis robot 21 are placed on one side of the transfer platform 14. Finally, the storage box 3 is placed on one side of the six-axis robot 21. Finally, install the high-definition camera 41, connect the negative pressure fan 51 of the exhaust system 5 to the drilling dust cover 1324 and the sampling dust cover 22708, connect the power supply of the control system 6, start the PLC controller and the three-dimensional simulation system to perform equipment self-test and interference check.

[0088] Start the hydraulic station 122. The multi-stage hydraulic rod 1108 pushes the trolley chassis 1104 axially along the C-shaped track 1103 into the hot column channel, allowing the hydraulic robotic arm 12 to extend into the hot column channel. Then, the position of the hydraulic robotic arm 12 is adjusted by the first ball screw 1111 and the second ball screw 1112 on the trolley chassis 1104, allowing the hydraulic robotic arm 12 to extend into the hot column channel to observe the type of graphite block.

[0089] If the graphite block already has a hole: the multi-stage hydraulic rod 1108 and the first ball screw 1111 control the hydraulic robotic arm 12 to retract to the quick-change tool table 13, and connect to the double-column clamp 136 or the single-plate single-column clamp 135 through the quick-change public plate 121. Then, it re-enters the hot column channel, controls the hydraulic cylinder 1337 to extend, and drives the clamping column 1336 or the clamping plate 1335 to move parallel together through the parallel linkage mechanism composed of the first connecting rod 1333 and the second connecting rod 1334. The force sensor 134 monitors the clamping force in real time, and keeps the hydraulic cylinder 1337 in place after reaching the preset value. The multi-stage hydraulic rod 1108 moves in the opposite direction to pull the graphite block out of the channel.

[0090] If the graphite block is poreless and has a flat surface: the hydraulic robotic arm 12 replaces the suction cup tool 131, the rodless cylinder 1313 pushes the piston block 1316 to slide along the guide groove 1315, the vacuum suction cup 1314 attaches to the end face of the graphite block, at this time the vacuum system generates suction, the rodless cylinder 1313 retracts in the opposite direction to drag the graphite block onto the suction cup bracket 1312.

[0091] If drilling is required: the hydraulic robotic arm 12 changes to the drilling tool 132, the hydraulic motor 1325 drives the drill bit 1327 to rotate, and at the same time the hydraulic robotic arm 12 moves forward. The drilling dust cover 1324 is pressed tightly against the surface of the graphite block under the action of the first support spring 1329. The negative pressure fan 51 sucks away the dust through the exhaust pipe. After drilling is completed, the clamp is changed for clamping.

[0092] The hydraulic robotic arm 12 transfers the extracted graphite block to the support plate 143 of the transfer platform 14. At this time, the clamping cylinder 145 pushes the graphite block to fit tightly against the limit stop 144 to achieve positioning. The screw module 146, the cylinder slide 147 and the lifting platform 148 move the inkjet printer 149 to the designated position of the graphite block for inkjet printing.

[0093] After the inkjet printing is completed, the six-axis robot 21 uses a clamp to pick up the inkjet-printed graphite block and transfers it to the through-hole 225 of the sampling mechanism 22, so that the graphite block is placed vertically along the length direction. Then, the electric push rod 226 moves to firmly clamp the graphite block. Subsequently, according to the sampling direction, the horizontal sampling module 228 or the vertical sampling module 229 is controlled to perform sampling.

[0094] During sampling by the transverse sampling module 228: the electric cylinder 2281 adjusts the transverse sampling module 228 to a suitable height; the third ball screw 22712 drives the drill mounting base 22703 to feed towards the graphite block along the third guide rail 22702; the sampling motor 22707 drives the hollow shaft 22704 and the hollow drill rod 22706 to rotate through the belt pulley transmission mechanism 22714; and the sampling dust cover 22708, under the action of the second support spring 22710, adheres tightly to the surface of the graphite block to collect dust. For columnar samples, the hollow drill rod 22706 rotates and drills, and the sample enters the inner cavity of the drill rod. When retracting the drill, the push rod 2283 is relatively fixed, pushing the sample out of the hollow drill rod 22706 and into the sample box 22713; for powder samples, the plug 2286 on the powder collection port 2285 is removed, and the sample is collected in a bag. If double-sided sampling of the graphite column is required, the six-axis robot 21 holds the graphite block and rotates it horizontally by ±90°, and then the electric push rod 226 clamps the graphite block, and the lateral sampling module 228 samples the graphite block that is fixed again.

[0095] When the longitudinal sampling module 229 takes samples: the end of its hollow drill rod 22706 is aligned with the graphite block, and the third ball screw 22712 drives the hollow drill rod 22706 to feed and sample. The graphite sample falls into the sample box 22713 below under the action of gravity.

[0096] After sampling is completed, the staff removes the sample from the sample box 22713; the six-axis robot 21 then takes the graphite block out of the sampling mechanism 22, puts it into the aluminum box, and then puts it into the storage box 3.

[0097] Throughout the operation, the monitoring system 4's eight high-definition cameras 41 transmit images in real time to the display on the control panel 62, with an image delay of ≤100ms. The exhaust system 5 operates continuously, with the air volume adjusted to 3000m³ / h. The negative pressure fan 51 discharges the dust collected by the drilling dust cover 1324 and the sampling dust cover 22708 after two stages of filtration by the primary filter 52 and the high-efficiency filter 53. Operators can remotely control the equipment using the joystick on the control panel 62 or a handheld controller. The analog signals from the joystick are processed by the PLC to control all equipment. The 3D model and simulation system's simulation module performs all interference checks and path planning verifications before use.

[0098] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications and substitutions based on the technical solutions and inventive concepts provided by the present invention should be covered within the scope of protection of the present invention.

Claims

1. A modular graphite retrieval and sampling system suitable for radioactive environments, characterized in that: The system includes a retrieval device and a sampling device. The retrieval device comprises a mobile chassis, a hydraulic robotic arm, a quick-change tool table, a transfer station, and a hydraulic station. The hydraulic robotic arm is mounted on the mobile chassis and is used to drive the hydraulic robotic arm to extend into the hot column channel to retrieve graphite blocks. A quick-change tool table for storing various retrieval tools is provided on one side of the mobile chassis. A quick-change tray is installed at the end of the hydraulic robotic arm, and it is used to quickly load and unload each retrieval tool. A transfer station is also provided on one side of the mobile chassis for temporarily storing the graphite blocks retrieved by the hydraulic robotic arm and for marking the graphite blocks. The retrieval tool includes a suction cup tool, a drilling tool, and a retrieval clamp; The suction cup tool includes a quick-change suction cup mother plate, a suction cup bracket, a rodless cylinder, and a vacuum suction cup. The suction cup bracket is installed on the tool side of the quick-change suction cup mother plate. The rodless cylinder is installed inside the suction cup bracket and is perpendicular to the quick-change suction cup mother plate. The rodless cylinder is equipped with a piston block. The surface of the suction cup bracket is machined with a guide groove that mates with the piston block. The vacuum suction cup is installed above the suction cup bracket and is fixedly connected to the piston block of the rodless cylinder. The vacuum suction cup slides on the surface of the suction cup bracket through the rodless cylinder and drags the graphite block onto the surface of the suction cup bracket. The drilling tool includes a quick-change drilling mother plate, a drilling support, guide posts, a drilling dust cover, a hydraulic motor, a three-jaw chuck, and a drill bit. The drilling support is installed on the tool side of the quick-change drilling mother plate. Inside the drilling support, a hydraulic motor and a three-jaw chuck connected to the output shaft of the hydraulic motor are installed in sequence. The drill bit is detachably installed on the three-jaw chuck. A drilling dust cover is fitted on the outer side of the drill bit end. A through hole for the drill bit to pass through is machined in the middle of the drilling dust cover. Four guide posts are provided at the four corners of the drilling dust cover, passing through the drilling support. The ends of the four guide posts pass through the drilling support and are connected to a shaft connecting plate to prevent them from falling off. A first support spring is fitted on the guide post between the drilling dust cover and the drilling support to apply pressure to the drilling dust cover. An exhaust pipe is connected to the drilling dust cover and is connected to an exhaust system for collecting dust during the drilling process. The retrieval fixture includes a quick-change female disc clamping mechanism, a fixture mounting frame, a first connecting rod, a second connecting rod, a clamping plate, a clamping column, a hydraulic cylinder, a connector assembly, and a third connecting rod. The tool side of the quick-change female disc clamping mechanism is equipped with the fixture mounting frame. Parallel connecting rods are symmetrically mounted on both sides of the end of the fixture mounting frame. A clamping plate and / or a clamping column are respectively mounted on the two parallel connecting rods. The parallel connecting rods include a first connecting rod and a second connecting rod arranged in parallel. A hydraulic cylinder is installed inside the fixture mounting frame. The extended end of the hydraulic cylinder is connected to a connector assembly located between the two parallel connecting rods. The two sides of the connector assembly are connected to the first connecting rods of the parallel connecting rods via two third connecting rods. The extension and retraction of the hydraulic cylinder causes the working surfaces of the clamping plate and / or the clamping column mounted on the two parallel connecting rods to move closer or further apart in parallel. A force sensor for detecting clamping force is installed between the hydraulic cylinder and the connector assembly. The force sensor provides a drive signal for the operation of the hydraulic cylinder. The retrieval fixture, consisting of clamping plates and clamping columns, forms a single-plate single-column fixture, a double-column fixture, and a double-plate fixture to clamp different graphite blocks. The single-plate single-column fixture has a clamping plate and a clamping column mounted on each of its two parallel connecting rods. The double-column fixture has clamping columns mounted on both parallel connecting rods. The double-plate fixture has clamping plates mounted on both parallel connecting rods, with the clamping surfaces of the two clamping plates facing each other. The inner wall of the clamping plates is machined with diamond-shaped stripes, and the outer wall of the clamping plates is machined with reinforcing ribs. Z-shaped additional clamping plates can be symmetrically mounted on the two clamping plates of the double-plate fixture to reduce the clamping range. The sampling device includes a six-axis robot and a sampling mechanism, which are arranged sequentially on one side of the turntable. The end of the six-axis robot is equipped with a gripper for gripping graphite blocks and placing them into the sampling mechanism. The sampling mechanism includes a sampling frame, a lower panel, an upper panel, electric push rods, and sampling components. The lower panel is mounted on the top of the sampling frame, and the upper panel is mounted on the lower panel via a support tube. Vertically aligned openings are machined at one end of both the upper and lower panels. Two electric push rods are symmetrically mounted on the upper panels on both sides of the openings to clamp the graphite blocks to be sampled. Clamping plates are installed on the extended ends of the electric push rods to prevent damage to the graphite blocks. There are two sets of sampling components: one set is horizontally positioned on the upper panel on one side of the opening as a transverse sampling module, with an electric cylinder on the upper panel to adjust the sampling height of the transverse sampling module; the other set is vertically mounted at the opening of the lower panel as a longitudinal sampling module. The sampling assembly includes a base plate, a third guide rail, a drill mount, a hollow shaft, a chuck clamp, a hollow drill rod, a sampling motor, a sampling dust cover, a guide rod, a third ball screw, and a sample box. The base plate is oriented along its length toward the opening. The drill mount is mounted on the base plate via two parallel third guide rails. A third ball screw is mounted on the base plate to move the drill mount toward the opening. A hollow shaft aligned with the opening is mounted on the drill mount. A chuck clamp is mounted on the end of the hollow shaft near the opening, and a detachable hollow drill rod is mounted on the chuck clamp. The sampling motor is also mounted on the drill mount. The sampling motor drives the hollow shaft to rotate via a belt pulley transmission mechanism, and the hollow shaft is used for sampling. A sampling dust cover is fitted to the end of the hollow drill rod. The sampling dust cover has a through hole machined in the middle to fit with the hollow drill rod. Four guide rods are provided at the four corners of the sampling dust cover, passing through the drill rig mounting base. After passing through the drill rig mounting base, the four guide rods are connected to a connecting plate to prevent them from falling off. A second support spring is fitted on the guide rod between the sampling dust cover and the drill rig mounting base to apply pressure to the sampling dust cover. The sampling dust cover is also machined with an air extraction port, which is connected to the exhaust system to collect the dust generated during the sampling process. A sample box is provided below the hollow drill rod.

2. The modular graphite retrieval and sampling system suitable for radioactive environments according to claim 1, characterized in that: The mobile chassis includes a chassis support, a large trolley chassis, a small trolley chassis, and a mounting plate. The chassis support is rectangular, with its length aligned with the opening direction of the hot column channel. A counterweight steel plate is mounted on the surface of the chassis support, and two C-shaped rails symmetrically arranged along the hot column channel are mounted parallel to each other on the counterweight steel plate. The large trolley chassis is slidably mounted on the C-shaped rails via steel wheels, with the steel wheels located at the rear section of the large trolley chassis away from the hot column channel. A multi-stage hydraulic rod is mounted on the counterweight steel plate between the two C-shaped rails to drive the large trolley chassis to move along the C-shaped rails. The small trolley chassis is mounted on the large trolley chassis, and a first ball screw and a first guide rail are mounted on the surface of the large trolley chassis to drive the small trolley chassis to move longitudinally along the hot column channel. A mounting plate is mounted on the small trolley chassis, and a second ball screw and a second guide rail are mounted on the surface of the small trolley chassis to drive the mounting plate to move laterally along the cross-section of the hot column channel. The slewing support of the hydraulic robotic arm is fixed to the mounting plate, and a counterweight block for balancing the weight of the hydraulic robotic arm is mounted at the rear end of the large trolley chassis.

3. The modular graphite retrieval and sampling system suitable for radioactive environments according to claim 1, characterized in that: The transfer platform includes a transfer bracket, a support plate, a limit block, a clamping cylinder, a lead screw module, a cylinder slide, a lifting platform, and a coding device. A support plate is mounted on the top of the transfer bracket. A protruding limit block is mounted on the top of the support plate near the mobile chassis. A clamping cylinder is mounted on the other side of the support plate, with its piston rod facing the limit block to push the graphite block towards it for positioning. A support platform is machined on the transfer bracket below the limit block. The lead screw module, cylinder slide, lifting platform, and coding device are sequentially mounted on the support platform. The lead screw module, cylinder slide, and lifting platform constitute a three-dimensional platform supporting the movement of the coding device, allowing the coding device to perform coding on the graphite block.

4. The modular graphite retrieval and sampling system suitable for radioactive environments according to claim 1, characterized in that: The base plate of the transverse sampling module is horizontally installed at the extended end of the electric cylinder. The electric cylinder drives the transverse sampling module to rise and fall. Several guide shafts parallel to the moving direction of the electric cylinder are provided on both sides of the base plate. A top rod is installed on the base plate, which extends into the hollow shaft and extends to the end of the hollow drill rod, and is used to push out the sample inside the hollow drill rod. The sample box is installed on the base plate on the side of the opening.

5. The modular graphite retrieval and sampling system suitable for radioactive environments according to claim 1, characterized in that: The sampling dust cover of the transverse sampling module is equipped with a powder baffle that wraps around the hollow drill rod. Below the powder baffle is a powder collection port with a plug inside. The bottom end of the powder collection port is machined with an outwardly protruding edge for attaching a receiving bag.

6. The modular graphite retrieval and sampling system suitable for radioactive environments according to claim 1, characterized in that: The sample box of the longitudinal sampling module is placed directly below the vertically set hollow shaft.

7. The modular graphite retrieval and sampling system suitable for radioactive environments according to claim 1, characterized in that: It also includes a storage box, which is located on one side of the six-axis robot and is used to store the sampled graphite blocks.

8. The modular graphite retrieval and sampling system suitable for radioactive environments according to claim 7, characterized in that: It also includes a monitoring system, which includes multiple high-definition cameras installed at the retrieval device, sampling device, and storage box to monitor the entire operation process in real time.

9. The modular graphite retrieval and sampling system suitable for radioactive environments according to claim 8, characterized in that: The exhaust system includes a negative pressure fan, a pre-filter, and a high-efficiency filter. The negative pressure fan is equipped with a pre-filter and a high-efficiency filter. The negative pressure fan is connected to a collection device and a sampling device through an exhaust pipe to collect dust and aerosols generated during the filtration operation.

10. The modular graphite retrieval and sampling system suitable for radioactive environments according to claim 9, characterized in that: It also includes a control system, which comprises an interconnected control cabinet and an operating console. The control cabinet is equipped with a PLC controller, which is electrically connected to the retrieval device, the sampling device, the monitoring system, and the ventilation system. The PLC controller is equipped with a three-dimensional model and simulation system for verifying and checking interference in the retrieval and sampling schemes. The operating console controls the retrieval and sampling operations through the PLC controller. The PLC controller is also wirelessly connected to a handheld controller for remote manual control.

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