Radiation tolerant redundant drive apparatus and method of power switching thereof, radioactive material handling system

Abstract

The application discloses a radiation-resistant redundant driving device, a power switching method thereof and a radioactive material processing system, and can keep normal power output of the radiation-resistant redundant driving device in the case that one driving part fails. The radiation-resistant redundant driving device comprises a power output assembly and radiation-resistant power assemblies. The number of the radiation-resistant power assemblies is two. The radiation-resistant power assembly comprises a driving part and a clutch, and the driving part is in transmission connection with the power output assembly through the clutch. Two clutches can simultaneously act under the control of an external control signal, so that one clutch is switched from a separation state to a combination state, and the other clutch is switched from the combination state to the separation state.

Description

Technical Field

[0001] This invention relates to the field of nuclear industry technology, and in particular to a radiation-resistant redundant drive device and its power switching method, and a radioactive material handling system. Background Technology

[0002] In the nuclear industry, to ensure the safety of operators, operators cannot directly handle radioactive materials. Shielding devices must be used to separate operators from radioactive materials. Under the premise of ensuring the safety of the operating environment for operators, radioactive materials are handled through remotely controlled automated equipment.

[0003] The drive unit is the core component of automated equipment, used to provide the power source for the automated equipment. Currently, in radioactive environments, a certain action of automated equipment (such as the stirring of a mixing paddle) is usually performed by a single drive unit.

[0004] When operating radioactive materials in automated equipment, if the drive components malfunction, the radioactive materials cannot be processed further. Other auxiliary equipment or personnel need to enter the radioactive environment to operate the materials and transfer them to a safe area. Both of these operation methods are characterized by high difficulty and high risk.

[0005] Therefore, there is an urgent need for a radiation-resistant redundant drive device that can continue to work and maintain normal power output when the drive component fails, and then repair the failed drive component after the radioactive material is transferred to a safe area. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies in the prior art by providing a radiation-resistant redundant drive device and its power switching method, as well as a radioactive material handling system, which can maintain the normal power output of the radiation-resistant redundant drive device even if one drive component fails.

[0007] In a first aspect, embodiments of the present invention provide a radiation-resistant redundant drive device, which includes a power output component and a radiation-resistant power component. The number of radiation-resistant power components is two; each radiation-resistant power component includes a drive element and a clutch, and the drive element is drively connected to the power output component via the clutch. The two clutches are capable of operating simultaneously under the control of an external control signal, causing one clutch to switch from a disengaged state to an engaged state, and the other clutch to switch from an engaged state to a disengaged state.

[0008] In some embodiments, one of the clutches is a normally closed electromagnetic clutch and the other is a normally open electromagnetic clutch; the control lines of the two clutches are interconnected so that the two clutches can operate simultaneously under the action of the same control signal, such that when one clutch is switched to the engaged state, the other clutch is switched to the disengaged state.

[0009] In some embodiments, the power output assembly includes two commutators and an output shaft, with the output ends of the two commutators connected in series and then drivenly connected to the output shaft; two radiation-resistant power assemblies are correspondingly arranged with the two commutators; each radiation-resistant power assembly further includes a radiation-resistant protective shell, which is sealed on the corresponding commutator; the drive member and the clutch are both disposed within the radiation-resistant protective shell, and the drive member is drivenly connected to the input end of the corresponding commutator through the clutch.

[0010] In some embodiments, the radiation-resistant power assembly further includes a power unit mounting base and a coupling. The power unit mounting base is sealed between the radiation-resistant protective housing and the commutator. The coupling includes a first half-coupling and a second half-coupling that are adapted to each other; the first half-coupling is rotatably disposed within the power unit mounting base and is drive-connected to the input end of the corresponding commutator; the second half-coupling is rotatably disposed within the radiation-resistant protective housing and is drive-connected to the clutch.

[0011] In some embodiments, the first half-coupling has a radially extending mating block formed on the side facing the second half-coupling; the second half-coupling has a radially extending mating groove formed on the side facing the first half-coupling; the mating block can be inserted into the mating groove along the axial direction of the coupling to complete the mating of the first half-coupling and the second half-coupling.

[0012] In some embodiments, the radiation-resistant protective shell is detachably connected to the power unit mounting base; the second half-coupling, together with the clutch, the drive component, and the radiation-resistant protective shell, forms a quick-change power module.

[0013] In some embodiments, the power unit mounting base is provided with a positioning pin on the side facing the radiation-resistant protective shell, and the radiation-resistant protective shell is provided with a positioning hole on the side facing the power unit mounting base, and the positioning pin is adapted to the positioning hole.

[0014] In some embodiments, the top of the radiation-resistant protective shell is provided with a quick-release head; the quick-release head has a threaded hole in the middle that is compatible with an external disassembly tool.

[0015] In some embodiments, the second half-coupling is rotatably disposed within the radiation-resistant protective housing via a bearing.

[0016] In some embodiments, a waterproof connector is provided on the outer wall of the power unit mounting base; the cable of the drive component is introduced into the power unit mounting base through the radiation-resistant protective shell, passes through the outer wall of the power unit mounting base, and is connected to an external cable through the waterproof connector.

[0017] Therefore, the radiation-resistant redundant drive device provided in this embodiment of the invention, by setting two radiation-resistant power components, each including a drive component and a clutch, allows the drive component to be connected to the power output component via the clutch, and enables the two clutches to operate simultaneously under the control of an external control signal. This allows one clutch to switch from a disengaged state to an engaged state, and the other clutch to switch from an engaged state to a disengaged state. Thus, when one drive component fails, the corresponding clutch can be disengaged to disconnect the faulty drive component from the power output component, cutting off the power connection between the faulty drive component and the power output component. Simultaneously, by engaging the other clutch, the power output component can be connected to the other drive component, allowing the other drive component to output power through the power output component in a timely manner, maintaining the continuous power output of the radiation-resistant redundant drive device.

[0018] Secondly, embodiments of the present invention also provide a radioactive material handling system, which includes a radioactive material handling device and the radiation-resistant redundant drive device described in the first aspect. The radioactive material handling device includes an execution component; the execution component is used to handle the radioactive material. The power output component of the radiation-resistant redundant drive device is drively connected to the execution component of the radioactive material handling device.

[0019] Thirdly, embodiments of the present invention also provide a power switching method for a radiation-resistant redundant drive device. This switching method uses the radiation-resistant redundant drive device in the first aspect. The switching method includes: simultaneously applying control signals to two clutches to cause the two clutches to operate simultaneously, switching one of the clutches in the engaged state to the disengaged state, and switching the other clutch in the disengaged state to the engaged state.

[0020] The power switching method of the above-mentioned radioactive material handling system and radiation-resistant redundant drive device has the same beneficial technical effects as the radiation-resistant redundant drive device provided in some of the above embodiments, and will not be repeated here. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of this invention, the accompanying drawings used in some embodiments of this invention will be briefly described below. Obviously, the drawings described below are only drawings of some embodiments of this invention, and those skilled in the art can obtain other drawings based on these drawings. Furthermore, the drawings described below can be regarded as schematic diagrams and are not intended to limit the actual size of the product, the actual flow of the method, the actual timing of the signals, etc. involved in the embodiments of this invention.

[0022] Figure 1 A structural diagram of a radiation-resistant redundant drive device provided in an embodiment of the present invention; Figure 2 An assembly diagram of a radiation-resistant redundant drive device provided in an embodiment of the present invention; Figure 3 A side view of a quick-change power module provided in an embodiment of the present invention; Figure 4 for Figure 3 Sectional view along the middle AA direction; Figures 5-6 This is a structural diagram of a coupling provided in an embodiment of the present invention.

[0023] Among them, 1-first radiation-resistant power assembly; 2-second radiation-resistant power assembly; 3-output shaft; 4-positioning pin; 5-quick-change power module; 6-first half coupling; 7-power unit mounting base; 8-waterproof joint; 9-commutator; 10-clutch mounting base; 11-reducer mounting base; 12-outer cover; 13-drive component; 14-reducer; 16-transfer flange; 17-clutch; 18-bearing; 19-second half coupling. Detailed Implementation

[0024] The technical solutions in some embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments provided by the present invention are within the scope of protection of the present invention.

[0025] Where there is no conflict, the various embodiments of the present invention and the features thereof may be combined with each other.

[0026] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0027] Unless the context otherwise requires, throughout the specification and claims, the term "comprising" is interpreted as open-ended and encompassing, meaning "including, but not limited to." Furthermore, the specific features, structures, materials, or characteristics described may be included in any suitable manner in any one or more embodiments or examples.

[0028] In describing some embodiments, the term "connection" and its derivative expressions may be used. The term "connection" should be interpreted broadly; for example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium. The embodiments of the invention described herein are not necessarily limited to the content of this document.

[0029] This document describes exemplary embodiments with reference to cross-sectional views and / or plan views, which are idealized exemplary drawings. In the drawings, the thickness of layers and the area of ​​regions are enlarged for clarity. Therefore, the regions shown in the drawings are schematic in nature, and their shapes are not intended to show the actual shapes of the areas of the device, nor are they intended to limit the scope of the exemplary embodiments.

[0030] Example 1: like Figure 1 As shown, this embodiment of the invention provides a radiation-resistant redundant drive device, which is applied in the nuclear industry to provide power for radioactive material handling devices.

[0031] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the radiation-resistant redundant drive device includes a power output component and a radiation-resistant power component, with two radiation-resistant power components. Each radiation-resistant power component includes a drive element 13 and a clutch 17. The drive element 13 is connected to the power output component via the clutch 17. Both clutches 17 can operate simultaneously under the control of an external control signal, switching one clutch 17 from a disengaged state to an engaged state, and the other clutch 17 from an engaged state to a disengaged state.

[0032] For example, the power output component can be a reducer, gearbox, or other component capable of outputting power.

[0033] For example, the drive unit 13 can be an electric motor. The clutch 17 can be an electronic clutch.

[0034] For example, the radiation-resistant power assembly is provided with a radiation-resistant protective shell, which will be described later.

[0035] Figure 1In the diagram, the two radiation-resistant power components are labeled as the first radiation-resistant power component 1 and the second radiation-resistant power component 2, respectively. When the clutch 17 in the first radiation-resistant power component 1 is engaged, the clutch 17 in the second radiation-resistant power component 2 is disengaged. At this time, only the drive component 13 in the first radiation-resistant power component 1 can transmit power to the power output component through the clutch 17. When the clutch 17 in the second radiation-resistant power component 2 is engaged, the clutch 17 in the first radiation-resistant power component 1 is simultaneously disengaged. At this time, only the drive component 13 in the second radiation-resistant power component 2 can transmit power to the power output component through the clutch 17.

[0036] Therefore, when one of the drive components 13 fails, the corresponding clutch 17 can be disengaged to disconnect the failed drive component 13 from the power output component, cutting off the power connection between the failed drive component 13 and the power output component. The other clutch 17 can be engaged to connect the power output component to the other drive component 13, enabling the other drive component 13 to output power through the power output component in a timely manner, thus maintaining the continuous power output of the radiation-resistant redundant drive device.

[0037] Therefore, the radiation-resistant redundant drive device provided in this embodiment of the invention, by setting two radiation-resistant power components, each of which includes a drive element 13 and a clutch 17, allows the drive element 13 to be connected to the power output component via the clutch 17. The two clutches 17 can operate simultaneously under the control of an external control signal, allowing one clutch 17 to switch from a disengaged state to an engaged state, and the other clutch 17 to switch from an engaged state to a disengaged state. Thus, when one drive element 13 fails, the corresponding clutch 17 can be disengaged to disconnect the faulty drive element 13 from the power output component, cutting off the power connection between the faulty drive element 13 and the power output component. Conversely, by engaging the other clutch 17, the power output component can be connected to the other drive element 13, enabling the other drive element 13 to output power through the power output component in a timely manner, maintaining the continuous power output of the radiation-resistant redundant drive device.

[0038] In some embodiments, one clutch 17 is a normally closed electromagnetic clutch, and the other clutch 17 is a normally open electromagnetic clutch. The control lines of the two clutches 17 are interconnected so that the two clutches 17 can operate simultaneously under the action of the same control signal, such that when one clutch 17 switches to the engaged state, the other clutch 17 switches to the disengaged state.

[0039] A normally closed electromagnetic clutch is always engaged when not energized, while a normally open electromagnetic clutch is always disengaged when not energized.

[0040] When no control signal is output to the control lines of both clutches 17, the normally closed electromagnetic clutch is engaged, and the normally open electromagnetic clutch is disengaged. The drive unit 13 corresponding to the normally closed electromagnetic clutch outputs power to the power output component through the clutch 17. When the same control signal is output to the control lines of both clutches 17, the normally closed electromagnetic clutch switches to the disengaged state, and the normally open electromagnetic clutch switches to the engaged state. The drive unit 13 corresponding to the normally open electromagnetic clutch outputs power to the power output component through the clutch 17. The radiation-resistant redundant drive unit continues to output power.

[0041] In some embodiments, such as Figure 1 As shown, the power output assembly includes two commutators 9 and an output shaft 3. The output ends of the two commutators 9 are connected in series and then driven by the output shaft 3. Two radiation-resistant power components are correspondingly arranged with the two commutators 9. The radiation-resistant power components also include radiation-resistant protective shells, which are sealed on the corresponding commutators 9. The drive component 13 and the clutch 17 are both disposed inside the radiation-resistant protective shells, and the drive component 13 is driven by the input end of the corresponding commutator 9 through the clutch 17.

[0042] For example, such as Figure 1 As shown, the first radiation-resistant power assembly 1 and the second radiation-resistant power assembly 2 each correspond to a commutator 9. Figure 1 In the process, the drive unit 13 and the clutch 17 are arranged vertically inside the radiation-resistant protective shell. The commutator 9 can convert the vertical rotation into the horizontal rotation, so as to drive the horizontal output shaft 3 to rotate.

[0043] For example, the output shaft 3 is driven to an external actuator, such as a stirring paddle in a mixing and clarification tank, to drive the stirring paddle to rotate and stir the radioactive material.

[0044] For example, the material of the radiation-resistant protective shell is stainless steel.

[0045] For example, such as Figure 4 As shown, a reducer 14 is also provided between the drive component 13 and the clutch 17, and the drive component 13 is connected to the clutch 17 through the reducer 14. The input end of the drive component 13 and the reducer 14 are connected by bolts. A transition flange 16 is also provided between the output end of the reducer 14 and the clutch 17.

[0046] For example, such as Figure 3 and Figure 4As shown, the radiation-resistant protective shell includes an outer protective cover 12, a reducer mounting base 11, and a clutch mounting base 10, which are sequentially and sealed from top to bottom. The drive component 13 is disposed inside the outer protective cover 12, the reducer 14 is rotatably disposed in the reducer mounting base 11, and the clutch 17 is rotatably disposed in the clutch mounting base 10.

[0047] The above settings can improve the sealing performance of the power output component and effectively prevent radioactive substances in the irradiation environment from entering the radiation-resistant redundant drive device and damaging its internal components (such as drive component 13).

[0048] In some embodiments, such as Figure 1 , Figure 2 and Figure 4 As shown, the radiation-resistant power assembly also includes a power unit mounting base 7 and a coupling. The power unit mounting base 7 is sealed between the radiation-resistant protective shell and the commutator 9. Figure 5 and Figure 6 The coupling includes a first half-coupling 6 and a second half-coupling 19 that are adapted to each other; the first half-coupling 6 is rotatably disposed in the power unit mounting base 7 and is connected to the input end of the corresponding commutator 9; the second half-coupling 19 is rotatably disposed in the radiation-resistant protective shell and is connected to the clutch 17.

[0049] For example, the second half coupling 19 is connected to the clutch 17 via a pin.

[0050] With the above settings, the power of the clutch 17 can be transmitted to the input end of the corresponding commutator 9 via the coupling.

[0051] In some embodiments, such as Figure 5 and Figure 6 As shown, a mating block extending radially is formed on the side of the first half-coupling 6 facing the second half-coupling 19; a mating groove extending radially is formed on the side of the second half-coupling 19 facing the first half-coupling 6. The mating block can be inserted into the mating groove along the axial direction of the coupling to complete the mating of the first half-coupling 6 and the second half-coupling 19.

[0052] For example, the second half coupling 19 has multiple mating grooves, which are evenly distributed around the circumference of the second half coupling 19, and the width of the mating grooves gradually increases from the bottom to the top.

[0053] With the above settings, the first half-coupling 6 and the second half-coupling 19 can be quickly disassembled and assembled.

[0054] In some embodiments, combined with Figure 2 , Figure 3 and Figure 4The radiation-resistant protective shell and the power unit mounting base 7 are detachably connected. The second half coupling 19, together with the clutch 17, the drive component 13, and the radiation-resistant protective shell, form the quick-change power module 5.

[0055] For example, the clutch mounting base 10 with the radiation-resistant protective shell is detachably connected to the power unit mounting base 7.

[0056] With the above settings, the corresponding quick-change power module 5 can be quickly replaced after the drive component 13 fails.

[0057] In some embodiments, such as Figure 2 As shown, a positioning pin 4 is provided on the side of the power unit mounting base 7 facing the radiation-resistant protective shell, and a positioning hole is provided on the side of the radiation-resistant protective shell facing the power unit mounting base 7. The positioning pin 4 is adapted to the positioning hole.

[0058] The above settings can achieve the positioning between the power unit mounting base 7 and the radiation-resistant protective shell, preventing shaking between the power unit mounting base 7 and the radiation-resistant protective shell.

[0059] In some embodiments, such as Figure 2 As shown, the top of the radiation-resistant protective shell is equipped with a quick-release head; the quick-release head has a threaded hole in the middle that is compatible with external disassembly tools.

[0060] With the above settings, when it is necessary to replace the quick-change power module 5, an external disassembly tool can be inserted into the quick-release head, which can drive the quick-change power module 5 to be lifted as a whole, making it easy to quickly replace the quick-change power module 5.

[0061] In some embodiments, such as Figure 1 and Figure 2 As shown, a waterproof connector 8 is provided on the outer wall of the power unit mounting base 7; the cable of the drive component 13 is introduced into the power unit mounting base 7 through the radiation-resistant protective shell, and after passing through the outer wall of the power unit mounting base 7, it is connected to the external cable through the waterproof connector 8.

[0062] For example, there are two waterproof connectors 8. The power cable of the drive unit 13 is connected to one waterproof connector 8, and the signal cable of the drive unit 13 is connected to the other waterproof connector 8 to prevent the two cables from coming into contact and causing electromagnetic interference.

[0063] With the above setup, the cable of the drive unit 13 can be led out through the waterproof connector 8.

[0064] In some embodiments, such as Figure 4 As shown, the second half coupling 19 is rotatably mounted inside the radiation-resistant protective shell via the bearing 18.

[0065] For example, the number of bearings 18 is two.

[0066] The above settings can reduce frictional losses when the second half coupling 19 rotates.

[0067] In some examples, the main body of the radiation-resistant redundant drive device is made of stainless steel, which can effectively resist radiation damage. The internal drive components 13, clutch 17, lubricating oil, etc. are all made of radiation-resistant products, so that the radiation-resistant redundant drive device as a whole has good radiation resistance performance.

[0068] The radiation-resistant redundant drive device provided in this embodiment of the invention is characterized by: (1) It includes two drive systems (i.e. two radiation-resistant power components) and can be freely switched between the two drive systems. Emergency measures under fault conditions are taken into account, which improves the reliability of the device. (2) Both drive systems are modularly designed, allowing for quick disengagement and installation, facilitating maintenance and replacement under irradiation conditions; (3) Considering radiation resistance design, the radiation-resistant redundant drive device can be used in the radiation environment.

[0069] Example 2: This invention also provides a radioactive material handling system, which includes a radioactive material handling device and the radiation-resistant redundant drive device from Embodiment 1. The radioactive material handling device includes an actuation component. The actuation component is used to handle the radioactive material. The power output component of the radiation-resistant redundant drive device is drively connected to the actuation component of the radioactive material handling device.

[0070] For example, a radioactive material handling system may be a mixing and clarification tank for mixing and clarifying radioactive materials. The actuating component is the impeller of the mixing and clarification tank. The power output component of the radiation-resistant redundant drive is connected to the impeller drive to drive the impeller to rotate.

[0071] With the above settings, even if one drive component fails, the normal power output of the radiation-resistant redundant drive device can be maintained, thus ensuring the normal operation of the radioactive material handling system and improving the stability of the system during operation.

[0072] Example 3: This invention also provides a power switching method for a radiation-resistant redundant drive device. The switching method uses the radiation-resistant redundant drive device in Embodiment 1. The switching method includes: simultaneously applying control signals to two clutches 17 to make the two clutches 17 operate simultaneously, switching one clutch 17 in the engaged state to the disengaged state, and switching the other clutch 17 in the disengaged state to the engaged state.

[0073] When one of the drive components 13 in the radiation-resistant redundant drive device fails, the above method can be used to disconnect the failed drive component 13 from the power output component in a timely manner through the corresponding clutch 17, cutting off the connection between the failed drive component 13 and the power output component. Then, the power output component can be connected to the other drive component 13 in a timely manner through another clutch 17, so that the other drive component 13 can output power through the power output component in a timely manner, thereby realizing the switching of power in the radiation-resistant redundant drive device and maintaining the continuous power output state of the radiation-resistant redundant drive device.

[0074] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A radiation-resistant redundant drive device, characterized in that, include: Power output components; and, Two radiation-resistant power components are provided; each radiation-resistant power component includes a drive element (13) and a clutch (17), wherein the drive element (13) is connected to the power output component via the clutch (17); Among them, the two clutches (17) can operate simultaneously under the control of an external control signal, so that one clutch (17) switches from the disengaged state to the engaged state, and the other clutch (17) switches from the engaged state to the disengaged state.

2. The radiation-resistant redundant drive device according to claim 1, characterized in that, One of the clutches (17) is a normally closed electromagnetic clutch, and the other clutch (17) is a normally open electromagnetic clutch. The control lines of the two clutches (17) are connected to each other so that the two clutches (17) can operate simultaneously under the action of the same control signal, so that when one clutch (17) switches to the engaged state, the other clutch (17) switches to the disengaged state.

3. The radiation-resistant redundant drive device according to any one of claims 1-2, characterized in that, The power output assembly includes two commutators (9) and an output shaft (3). The output ends of the two commutators (9) are connected in series and then connected to the output shaft (3) for transmission. The two radiation-resistant power assemblies are arranged corresponding to the two commutators (9). The radiation-resistant power assembly also includes a radiation-resistant protective shell, which is sealed on the corresponding commutator (9); the drive unit (13) and the clutch (17) are both disposed inside the radiation-resistant protective shell, and the drive unit (13) is connected to the input end of the corresponding commutator (9) through the clutch (17).

4. The radiation-resistant redundant drive device according to claim 3, characterized in that, The radiation-resistant power assembly also includes: The power unit mounting base (7) is sealed between the radiation-resistant protective shell and the commutator (9); and, The coupling includes a first half coupling and a second half coupling that are adapted to each other; the first half coupling (6) is rotatably disposed in the power unit mounting base (7) and is connected to the input end of the corresponding commutator (9); the second half coupling (19) is rotatably disposed in the radiation-resistant protective shell and is connected to the clutch (17).

5. The radiation-resistant redundant drive device according to claim 4, characterized in that, The first half-coupling (6) forms a mating block extending radially thereon on the side facing the second half-coupling (19); the second half-coupling (19) forms a mating groove extending radially thereon on the side facing the first half-coupling (6). The docking block can be inserted into the docking groove along the axial direction of the coupling to complete the docking of the first half coupling (6) and the second half coupling (19).

6. The radiation-resistant redundant drive device according to claim 5, characterized in that, The radiation-resistant protective shell is detachably connected to the power unit mounting base (7); The second half coupling (19), together with the clutch (17), the drive component (13), and the radiation-resistant protective shell, form a quick-change power module (5).

7. The radiation-resistant redundant drive device according to claim 6, characterized in that, The power unit mounting base (7) is provided with a positioning pin (4) on the side facing the radiation-resistant protective shell, and the radiation-resistant protective shell is provided with a positioning hole on the side facing the power unit mounting base (7), and the positioning pin (4) is adapted to the positioning hole.

8. The radiation-resistant redundant drive device according to claim 6, characterized in that, The top of the radiation-resistant protective shell is equipped with a quick-release head; The quick-release head has a threaded hole in the middle that is compatible with external disassembly tools.

9. The radiation-resistant redundant drive device according to claim 4, characterized in that, The second half coupling (19) is rotatably mounted inside the radiation-resistant protective shell via a bearing (18).

10. The radiation-resistant redundant drive device according to claim 4, characterized in that, A waterproof connector (8) is provided on the outer wall of the power unit mounting base (7); the cable of the drive component (13) is introduced into the power unit mounting base (7) through the radiation-resistant protective shell, and after passing through the outer wall of the power unit mounting base (7), it is connected to the external cable through the waterproof connector (8).

11. A radioactive material handling system, characterized in that, include: A radioactive material handling device includes an actuation component; the actuation component is used to handle radioactive material. and, The radiation-resistant redundant drive device according to any one of claims 1-10, wherein the power output component of the radiation-resistant redundant drive device is connected to the execution component of the radioactive material handling device.

12. A power switching method for a radiation-resistant redundant drive device, characterized in that, Using the radiation-resistant redundant drive device according to any one of claims 1-10, the switching method includes: A control signal is simultaneously applied to both clutches (17) to cause both clutches (17) to operate simultaneously, causing one of the clutches (17) in the engaged state to switch to the disengaged state, and causing the other clutch (17) in the disengaged state to switch to the engaged state.

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