Automatic radioactive waste sorting device

Abstract

The utility model relates to an automatic sorting device for radioactive waste. The automatic radioactive waste sorting device comprises a shearing device used for shearing waste, an overturning and dumping device used for dumping the radioactive waste into the operation space, a conveying device used for conveying the sheared radioactive waste into a transfer barrel, and a conveying device arranged corresponding to a conveying rail and used for conveying the sheared radioactive waste into the transfer barrel. And the identifying and sorting device is used for identifying the types of the radioactive wastes and sorting different types of radioactive wastes to different transmission tracks. According to the utility model, radiation hazards possibly generated by manual sorting can be avoided, the sorting efficiency is improved, and the workload of personnel is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of nuclear power, in particular to an automatic sorting device for radioactive waste. Background Art

[0002] During the operation and maintenance of nuclear power plants, solid wastes with certain radioactivity, such as plastics, filters, clothes, rubber, wall metal, glass, and instruments, will be generated. These solid wastes need to be sorted manually and put into compressible steel barrels according to certain classifications and proportions. The steel barrels are compressed and reduced in volume by super presses, and the compressed barrel cakes are fixed by cement grouting.

[0003] At present, nuclear power plants use sorting boxes and manual sorting to sort radioactive solid waste. The sorting process mainly includes: the steel barrels containing waste are transported by electric forklifts to the lifting and dumping device of the sorting box, and the lifting and dumping device dumps the waste in the barrel onto the conveyor belt in the sorting box. The empty barrels with the waste dumped out are moved by the operator to the conveyor roller, and are connected to the sorting hole of the sorting box through roller transmission and jacking. The operator opens the dumped plastic bags at the shearing station and spreads the waste on the conveyor belt. For large waste, the hydraulic shears are used to cut it into small pieces. The conveyor belt continues to transport the waste to the sorting station, and the operator sorts the waste into different steel barrels according to different types. The steel barrels filled with waste are transported to the primary compressor through the transmission roller for compression in the barrel, and then transported back to the sorting box to continue filling the waste. This process is repeated until the steel barrel is full. For steel drums filled with relatively wet waste after sorting, the operators will transport them to the dryer for drying, and sorting will continue after drying.

[0004] The existing sorting devices rely entirely on manual sorting, which has low work efficiency and places the sorting personnel in an irradiated environment for a long time, posing a potential risk of radiation exposure. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide an automatic sorting device for radioactive waste.

[0006] The utility model adopts the following technical solutions:

[0007] Construct an automatic radioactive waste sorting device, comprising:

[0008] a shearing device for shearing waste, the shearing device defining an operating space;

[0009] a turnover dumping device for dumping radioactive waste into the operating space, comprising a turnover mechanism, the turnover mechanism comprising a waste guide assembly for guiding the radioactive waste into the operating space, the waste guide assembly rotating back and forth between a first position and a second position;

[0010] A transfer device for transferring the sheared radioactive waste to a transfer barrel, wherein the transfer device comprises at least two transfer tracks, wherein one end of at least one of the transfer tracks extends into the operating space to receive the sheared radioactive waste; and

[0011] An identification and sorting device is arranged corresponding to the transfer track, identifies the type of the radioactive waste and sorts different types of radioactive waste onto different transfer tracks.

[0012] In some embodiments, the flipping and dumping device also includes a fixed frame, the flipping mechanism is arranged on the fixed frame, the flipping mechanism also includes a rotating shaft and a first driving member for driving the rotating shaft to rotate, both ends of the rotating shaft are installed on the fixed frame through connecting bearings, and the waste guide assembly is arranged on the rotating shaft and rotates between the first position and the second position under the drive of the rotating shaft.

[0013] In some embodiments, the first driving member is a first cylinder disposed outside one end of the rotating shaft, the first cylinder comprising a first cylinder body hinged on the fixing frame, and a first piston rod telescopically disposed in the first cylinder body;

[0014] The flip mechanism also includes a rotating connecting member that reciprocates under the drive of the first driving member, one end of the rotating connecting member is hinged to the output end of the first piston rod, and the other end of the rotating connecting member is fixedly connected to the rotating shaft.

[0015] In some embodiments, the flip mechanism further includes a limit assembly for limiting the rotation angle of the rotation shaft, and the limit assembly includes a first limit member and a second limit member installed on the fixing frame;

[0016] Wherein, when the waste guide assembly is in the first position, the first limit member is triggered to control the first driving member to turn or stop; when the waste guide assembly is in the second position, the second limit member is triggered to control the first driving member to turn or stop.

[0017] In some embodiments, the waste guide assembly includes a connection cover for connecting to a loading bucket loaded with radioactive waste, the connection cover is hollow and includes an access end for connecting to the loading bucket and an output end for outputting the radioactive waste to the operation space;

[0018] The connecting cover also includes a connecting portion fixed on the rotating shaft.

[0019] In some embodiments, the flipping and dumping device also includes a lifting mechanism for connecting a loading barrel loaded with radioactive waste with the waste guide assembly, the lifting mechanism includes a movable frame for placing the loading barrel, the movable frame is connected to the flipping mechanism so as to move up and down between a third position and the second position, and is driven by the flipping mechanism to rotate back and forth between the first position and the second position together with the waste guide assembly.

[0020] In some embodiments, the lifting mechanism further comprises a connecting assembly and a second driving member, the flipping mechanism comprises a rotating shaft driving the waste guiding assembly to rotate back and forth between the first position and the second position, the connecting assembly is fixedly connected to the rotating shaft, and is relatively movably connected to the movable frame through at least one guide rail structure;

[0021] The second driving member is a second cylinder arranged on the rotating shaft, and the second cylinder comprises a second cylinder body vertically hinged on the rotating shaft and a second piston rod telescopically arranged in the second cylinder body;

[0022] The upper end of the second cylinder body is hinged to the rotating shaft, the lower end of the second piston rod is hinged to the moving frame, and the upper end of the second piston rod is telescopically arranged in the second cylinder body.

[0023] In some embodiments, the cross-section of the mobile frame is L-shaped, including a horizontal first part and a vertical second part. The second part is relatively movably connected to the connecting assembly through the guide rail structure, and a positioning member for limiting the position of the loading barrel loaded with radioactive waste is provided on the upper end surface of the first part.

[0024] In some embodiments, the connecting assembly includes at least one connecting rod, at least one third limiting member and at least one fourth limiting member, one end of the connecting rod is fixed to the rotating shaft, and the third limiting member and the fourth limiting member are both arranged on the connecting rod;

[0025] When the movable frame is in the second position, the third limiter is triggered to control the second driving member to turn or stop; when the movable frame is in the third position, the fourth limiter is triggered to control the second driving member to turn or stop.

[0026] In some embodiments, the transfer track includes a dry waste transfer track and a wet waste transfer track, and one end of the dry waste transfer track or the wet waste transfer track extends into the operating space.

[0027] In some embodiments, the dry waste transfer track includes a compressible waste transfer track and an incompressible waste transfer track, and one end of the compressible waste transfer track, the incompressible waste transfer track, or the wet waste transfer track extends into the operating space.

[0028] In some embodiments, the identification and sorting device includes two identification cameras and two manipulators;

[0029] The two manipulators include a first manipulator for sorting dry and wet wastes and a second manipulator for sorting compressible and incompressible wastes, the first manipulator being arranged between the dry waste transfer track and the wet waste transfer track, and the second manipulator being arranged between the compressible waste transfer track and the incompressible waste transfer track;

[0030] The two recognition cameras include a first recognition camera for recognizing dry and wet wastes and a second recognition camera for recognizing compressible and incompressible wastes, which are respectively arranged corresponding to the first manipulator and the second manipulator.

[0031] In some embodiments, the transmission device further comprises a transmission frame for setting the transmission track, the two manipulators are arranged on the transmission frame, and the two recognition cameras are arranged on the transmission frame or the shearing device;

[0032] Wherein, the first manipulator is arranged at the end of the transmission frame close to the shearing device, and the second manipulator is arranged at a side of the first manipulator away from the shearing device.

[0033] In some embodiments, the identification and sorting device further includes a lighting module, and the lighting module is arranged corresponding to the identification camera.

[0034] The utility model has the following advantages:

[0035] The utility model can automatically sort different types of radioactive waste into different loading barrels by arranging at least two transmission tracks and an identification and sorting device, thereby avoiding radiation hazards that may be caused by manual sorting and improving the sorting efficiency; the utility model can automatically dump the radioactive waste into the operating space by arranging a flipping and dumping device, thereby avoiding radioactive irradiation caused by manual dumping, improving operating efficiency and reducing personnel workload. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solution of the utility model, the utility model will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show certain embodiments of the utility model, and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0037] Figure 1 It is a schematic diagram of the three-dimensional structure of the automatic sorting device for radioactive waste in one embodiment of the utility model;

[0038] Figure 2 yes Figure 1 The state diagram of the automatic radioactive waste sorting device shown is in the first position;

[0039] Figure 3 yes Figure 1 The state diagram of the automatic radioactive waste sorting device shown is in the third position;

[0040] Figure 4 yes Figure 1 The schematic diagram of the structure of the overturning and dumping device in the automatic radioactive waste sorting device shown;

[0041] Figure 5 yes Figure 4 The structure schematic diagram of the flipping and dumping device shown is shown in another perspective. DETAILED DESCRIPTION

[0042] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation methods of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "rear", "up", "down", "left", "right", "vertical", "horizontal", "bottom", "inside", "inside", "outside", etc. are based on the directions or positional relationships shown in some of the drawings, and are constructed and operated in a specific direction. They are only for the convenience of describing the present technical solution, and do not indicate that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0043] It should also be noted that, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed", "set" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intermediate elements. The terms "first", "second", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances.

[0044] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details that hinder the description of the present invention.

[0045] Figure 1 The present invention shows an automatic radioactive waste sorting device 1 in one embodiment, which is used to shear and classify radioactive waste in a loading barrel and then repack it. The automatic radioactive waste sorting device 1 includes a flipping and dumping device 10, a shearing device 20, a transmission device 30 and an identification and sorting device.

[0046] The shearing device 20 defines an operating space 211 for shearing larger radioactive waste in the loading barrel. The overturning and dumping device 10 is used to dump the radioactive waste in the loading barrel into the operating space 211. The transmission device 30 includes at least two transmission tracks 32 for transmitting the sheared radioactive waste to a new loading barrel for repackaging. At least one end of the transmission track 32 extends into the operating space 211 to receive the sheared radioactive waste. The identification and sorting device 40 is arranged corresponding to the transmission track 32, and is used to identify the type of radioactive waste and sort different types of radioactive waste onto different transmission tracks 32.

[0047] Specifically, the overturning and dumping device 10 includes a overturning mechanism 12, which includes a waste guide component 121 for guiding radioactive waste into the operating space 211. The waste guide component 121 can rotate back and forth between a first position and a second position to drive the loading bucket 2 to rotate together to achieve the dumping of waste.

[0048] When the waste guide assembly 121 is located at the first position, the guide barrel connected to the waste guide assembly 121 is lifted and turned over, and the radioactive waste in the barrel is dumped into the operation space 211 under the action of its own gravity. When the waste guide assembly 121 is located at the second position, the guide barrel connected to the waste guide assembly 121 is in a vertically placed state, that is, the dumping has been completed or has not yet been dumped.

[0049] In this embodiment, the radioactive waste automatic sorting device 1 is used in conjunction with a first loading barrel 2 and a second loading barrel 3. The first loading barrel 2 is a loading barrel for loading unsheared radioactive waste, and the second loading barrel 3 is a loading barrel for loading sheared and sorted radioactive waste.

[0050] Read also Figure 4 and Figure 5 In some embodiments, the flipping and dumping device 10 further includes a fixing frame 11, which is disposed adjacent to the shearing device 20, and the flipping mechanism 12 is disposed on the fixing frame 11 so that the flipped and dumped radioactive waste can fall into the operating space 211.

[0051] Specifically, the vertical cross-section of the fixing frame 11 is L-shaped, and the vertical surface thereof is fixedly or detachably connected to the shearing device 20 to ensure that the waste guiding assembly 121 can dump the radioactive waste into the operating space 211 .

[0052] The turning mechanism 12 includes a rotating shaft 122 and at least one first driving member 123. Both ends of the rotating shaft 122 are mounted on the fixed frame 11 through connecting bearings. The waste guide assembly 121 is disposed on the rotating shaft 122 and rotates back and forth between a first position and a second position driven by the rotating shaft 122. The first driving member 123 is used to drive the rotating shaft 122 to rotate.

[0053] In some embodiments, the first driving member 123 is a first cylinder, which is vertically arranged outside one end of the rotating shaft 122 and includes a first cylinder body and a first piston rod. The first cylinder body is hinged on the fixing frame 11, and the two are rotatably connected. The first piston rod is telescopically arranged in the first cylinder body, one end of which is connected to the piston in the cylinder body, and the other end is connected to the rotating shaft 122. Figure 5As shown, the flip mechanism 12 also includes at least one rotating connection member 124, which is rotatably disposed between the connecting bearing and the first driving member 123 to convert the back-and-forth telescopic movement of the first driving member 123 into back-and-forth rotation, thereby driving the rotating shaft 122 to rotate back and forth through the connecting bearing. One end of the rotating connection member 124 is fixed to the connecting bearing, and then fixed to the rotating shaft 122. The other end is hinged to the other end of the first piston rod, thereby realizing a rotatable connection between the two.

[0054] In this embodiment, there are two first driving members 123, which are respectively disposed at two ends of the rotating shaft 122. Correspondingly, there are also two rotating connecting members 124.

[0055] like Figure 4 As shown, in some embodiments, the flipping mechanism 12 further includes a limit assembly 125 for limiting the rotation angle of the rotating shaft 122, so that the rotation angle of the rotating shaft 122 can only drive the waste guiding assembly 121 to rotate back and forth between the first position and the second position.

[0056] Specifically, the limiting assembly 125 includes a first limiting member 1251 and a second limiting member 1252, both of which are mounted on the fixing frame 11. When the waste guiding assembly 121 is in the first position, the first limiting member 1251 is triggered to transmit a trigger signal to the control system to control the first driving member 123 to turn or stop, thereby realizing the transition or stop of starting to move to the second position. When the waste guiding assembly 121 is in the second position, the second limiting member 1252 is triggered to transmit a trigger signal to the control system to control the first driving member 123 to turn or stop, thereby realizing the transition or stop of starting to move to the first position.

[0057] In some embodiments, the first stopper 1251 and the second stopper 1252 are both infrared distance measuring sensors, which measure the distance in a specific direction. When the waste guide assembly 121 moves to a specific position so that its distance measuring data changes, it is triggered to transmit a trigger signal to the control system to control the movement of the waste guide assembly 121. The automatic radioactive waste sorting device 1 also includes a control system, which is electrically connected to the first stopper 1251, the second stopper 1252 and the first driving member 123, respectively, and controls the first driving member 123 through the induction of the first stopper 1251 and the second stopper 1252, thereby controlling the waste guide assembly 121 to rotate back and forth between the first position and the second position.

[0058] In some embodiments, the limiting assembly 125 further includes a support frame 1253, which is used to install the first limiting member 1251 and the second limiting member 1252 on the fixing frame 11. Specifically, the cross section of the supporting frame 1253 is U-shaped, and its two ends are respectively fixed to the fixing frame 11, and define a space with the fixing frame 11, and the rotating connecting member 124, the first limiting member 1251, the second limiting member 1252 and part of the first driving member 123 are all located in the space, and the first limiting member 1251 and the second limiting member 1252 are respectively installed on the inner wall surface of the supporting frame 1253. That is, the appearance of the automatic radioactive waste sorting device 1 can be made beautiful, and the exposure of parts can be avoided, and the flip mechanism 12 can be protected to a certain extent.

[0059] In some embodiments, the waste guide assembly 121 includes a connection cover 1211 and a telescopic cover 1212 sleeved outside the connection cover 1211, wherein the connection cover 1211 is used to connect with the first loading barrel 2 loaded with radioactive waste to establish a guide channel, and guide the radioactive waste in the first loading barrel 2 to be dumped into the operating space 211 through the guide channel. The telescopic cover 1212 is sleeved outside the connection cover 1211.

[0060] Specifically, the connection cover 1211 is hollow and includes an access end and an output end. The access end is used to connect with the first loading bucket 2 to receive the radioactive waste in the first loading bucket 2. The output end is used to output the radioactive waste to the operation space 211. The access end and the output end are connected through the hollow connection cover 1211 to form a guide channel.

[0061] The connection cover 1211 also includes a connection portion, which is used to be fixed to the rotating shaft 122, so that the connection cover 1211 can rotate along with the rotating shaft 122, and cooperate with other components to realize the flipping and dumping operation of the first loading bucket 2.

[0062] The telescopic cover 1212 is hollow and is arranged outside the connecting cover 1211. It includes a first end and a second end. The first end and the second end are telescopically arranged, and the first end is connected to the access end of the connecting cover 1211. The second end is fixed on the fixing frame 11 and communicated with the operating space 211, so that the connecting cover 1211 is completely accommodated in the space defined by the telescopic cover 1212 and the operating space 211, thereby providing a certain degree of protection for the connecting cover 1211.

[0063] It should be understood that the shape of the access end of the connection cover 1211 can be adapted to the shape of the first loading bucket 2 to ensure that the barrel mouth of the first guide bucket 2 can be connected to the access end of the connection cover 1211. The access end of the connection cover 1211 can also be provided with a stopper for connecting with the first guide bucket 2 to prevent the two from falling off during the process of flipping and tipping. No specific limitation is made here.

[0064] In some embodiments, the overturning and dumping device 10 further includes a lifting mechanism 13 for connecting the first loading barrel 2 loaded with radioactive waste with the waste guide assembly 121 to prevent the radioactive waste from being scattered outside the operating space 211 during the overturning and dumping process.

[0065] Specifically, the lifting mechanism 13 includes a moving frame 131, which is used to place the first loading bucket 2 and drive the first loading bucket 2 to move back and forth between the second position and the third position, so as to achieve the docking and separation of the first loading bucket 2 and the waste guide assembly 121. The moving frame 131 is connected to the flip mechanism 12 so as to move up and down between the third position and the second position, and is driven by the flip mechanism 12 to rotate back and forth between the first position and the second position together with the waste guide assembly 121.

[0066] In some embodiments, the lifting mechanism 13 further includes a connecting component 132 and a second driving member 133. The connecting component 132 is fixedly connected to the rotating shaft 122 and is relatively movably connected to the mobile frame 131 through at least one guide rail structure. The guide rail structure enables the mobile frame 131 to move up and down between the third position and the second position along the connecting component 132, and the connection between the connecting component 132 and the rotating shaft 122 enables the mobile frame 131 to rotate back and forth between the second position and the first position. The two ends of the second driving member 133 are respectively connected to the mobile frame 131 and the rotating shaft 122, and are used to drive the mobile frame 131 to move up and down between the second position and the third position along the connecting component 132 through the guide rail structure.

[0067] For example Figure 5 As shown, in some embodiments, the vertical cross-section of the mobile frame 131 is L-shaped, including a horizontal first part and a vertical second part, wherein the second part is connected to the guide rail, and at least one positioning member 1311 is provided on the upper end surface of the first part, which is used to limit the position of the first loading bucket 2 on the mobile frame 131 to prevent the first loading bucket 2 from falling from the mobile frame 131 during the flipping and tipping process.

[0068] Read also Figure 4In this embodiment, the positioning member 1311 is a positioning ear block, and there are four of them, which are evenly spaced. When the first loading bucket 2 is placed on the movable frame 131, the four positioning members 1311 are clamped on the outer periphery of the lower end of the first loading bucket 2 to achieve circumferential positioning of the first loading bucket 2.

[0069] In some embodiments, the vertical second portion is relatively movably connected to the connecting assembly 132 via a guide rail structure. Specifically, the connecting assembly 132 includes at least one connecting rod in a longitudinal structure. One end of the connecting rod is fixed to the rotating shaft 122, and the other end extends vertically downward. The driving direction of the second driving member 133 is parallel to the extension direction of the connecting rod, so that the mobile frame 131 can move up and down along the extension direction of the connecting rod through the guide rail structure under the drive of the second driving member 133.

[0070] In some embodiments, the second driving member 133 is a second cylinder, and its setting direction is parallel to the extension direction of the connecting rod. The second cylinder includes a second cylinder body vertically hinged to the rotating shaft 122 and a second piston rod telescopically arranged in the second cylinder body, and the upper end of the second cylinder body is rotatably connected to the rotating shaft 122. The upper end of the second piston rod is telescopically arranged in the second cylinder body, and the lower end is hinged to the first part of the mobile frame 131. Thereby realizing the rotatable connection of the second driving member 133 with the rotating shaft 122 and the first part. Specifically, the connection between the lower end of the second piston rod and the first part is located at the junction of the first part and the second part.

[0071] In the present embodiment, there are two connecting rods, namely a first connecting rod 1321 and a second connecting rod (not shown in the figure). One end of the first connecting rod 1321 and the second connecting rod are respectively fixed to the two end portions of the rotating shaft 122, and extend vertically downward to be relatively movably connected to the two sides of the second part through a guide rail structure, and can rotate with the rotating shaft 122, thereby driving the movable frame 131 to rotate together.

[0072] In some embodiments, the connecting assembly 132 also includes at least one third limit member 1322 and at least one fourth limit member 1323, and the third limit member 1322 and the fourth limit member 1323 are both arranged on the connecting rod, and are used to limit the distance that the movable frame 131 moves up and down along the connecting rod, so that it can only move up and down between the second position and the third position.

[0073] Specifically, in this embodiment, the number of the third stopper 1322 and the fourth stopper 1323 are both two, one of which is disposed on the first connecting rod 1321, and the other is disposed on the second connecting rod. The third stopper 1322 and the fourth stopper 1323 on the first connecting rod 1321 and the second connecting rod are disposed one by one in correspondence, so as to ensure the consistency of signal transmission and monitor whether the movable frame 131 is tilted during movement.

[0074] The third limit member 1322, the fourth limit member 1323 and the second driving member 133 are respectively electrically connected to the control system to control the second driving member 133 through the induction of the third limit member 1322 and the fourth limit member 1323, thereby controlling the movable frame 131 to move back and forth between the third position and the second position.

[0075] Specifically, taking the first connecting rod 1321 as an example: when the mobile frame 131 is located at the second position, the third limiter 1322 is triggered, and a trigger signal is generated and sent to the control system, so that the control system controls the second driving member 133 to turn or stop, thereby causing the mobile frame 131 to stop, or change the moving direction, and start to move to the third position. When the mobile frame 131 is located at the second position, the fourth limiter 1323 is triggered, and a trigger signal is generated and sent to the control system, so that the control system controls the second driving member 133 to turn or stop, thereby causing the mobile frame 131 to stop, or change the moving direction, and start to move to the second position.

[0076] It should be understood that when the movable frame 131 is located at the second position, the upper end of the first loading bucket 2 located on the movable frame 131 is just connected to the access end of the connecting cover 1211 of the waste guide assembly 121, so that the overturning and dumping action can be performed.

[0077] The third stopper 1322 and the fourth stopper 1323 provided on the second connecting rod are similar, and are not described in detail here. In this embodiment, the third stopper 1322 and the fourth stopper 1323 are also infrared distance measuring sensors.

[0078] In some other optional embodiments, the third stopper 1322 and the fourth stopper 1323 may be provided in only one number, and only provided on the first connecting rod 1321 or the second connecting rod. The number of the connecting rod may also be provided in only one number, such as only providing the first connecting rod 1321 or only providing the second connecting rod.

[0079] In the specific operation process, the first loading bucket 2 needs to be placed on the movable frame 131, and the lower end of the first loading bucket 2 is limited by the positioning member 1311 (such as Figure 3 shown).

[0080] Furthermore, the second driving member 133 is controlled by the control system, so that the mobile frame 131 is driven by the second driving member 133 and moves upward along the first connecting rod 1321 and the second connecting rod through the guide rail structure until the second position. At this time, the third stopper 1322 is triggered and sends a trigger signal to the control system, and the control system controls the second control member 133 to stop. At the same time, the upper end of the first loading bucket 2 arranged on the mobile frame 131 is connected to the access end of the connecting cover 1211 located at the second position.

[0081] Furthermore, the control system controls the first driving member 123, so that the rotating shaft 122 is driven by the first driving member 123 to rotate through the rotating connecting member 124, driving the waste guide assembly 121 fixed to the rotating shaft 122, the lifting mechanism 13 and the first loading bucket 2 located on the mobile frame 131 to rotate synchronously until the first position (such as Figure 2 At this time, the first position-limiting member 1251 is triggered and sends a trigger signal to the control system, and the control system controls the first driving member 123 to stop.

[0082] At this time, the lifting mechanism 13 and the first loading bucket 2 located on the lifting mechanism 13 are both in a tilted state. Since the first loading bucket 2 is limited by the positioning piece 1311 in the circumferential direction and by the first part of the movable frame 131 and the waste guide assembly 121 in the axial direction, it can also be in a relatively stable state in this position. The space inside the bucket is connected to the guide channel defined by the connecting cover 1211. The radioactive waste inside slides downward due to its own gravity and is output to the operating space 211 through the output end of the connecting cover 1211.

[0083] Further, after all the radioactive waste in the first loading barrel 2 is removed from the barrel, the control system controls the first driving member 123, so that the rotating shaft 122 rotates in the opposite direction under the drive of the first driving member 123 through the rotating connecting member 124, driving the waste guide assembly 121 fixed to the rotating shaft 122, the lifting mechanism 13 and the first loading barrel 2 located on the mobile frame 131 to rotate synchronously until returning to the second position. At this time, the second stopper 1252 is triggered, and a trigger signal is sent to the control system, and the control system controls the first driving member 123 to stop.

[0084] Furthermore, the second driving member 133 is controlled by the control system so that the movable frame 131 moves downward along the first connecting rod 1321 and the second connecting rod through the guide rail structure until it returns to the third position (eg Figure 3 At this time, the fourth limiter 1323 is triggered and sends a trigger signal to the control system, and the control system controls the second driving member 133 to stop driving. The dumping of the radioactive waste in the first loading barrel 2 is completed.

[0085] For example Figure 1 As shown, in some embodiments, the shearing device 20 includes a shearing frame 21 and a hydraulic shear (not shown in the figure), and an operating space 211 is defined in the shearing frame 21. The hydraulic shear is disposed in the operating space 211 to perform shearing operations.

[0086] Specifically, in this embodiment, the shear frame 21 is in the shape of a rectangular parallelepiped, and its upper end is hollow to form an operating space 211. A first window is formed on one side for connecting with the guide channel of the waste guide assembly 121, and a second window is formed on the other side for allowing at least one transmission track to extend into the operating space 211.

[0087] In some embodiments, an operation window 212 is formed on the side wall of the shear frame 21 . The operation window 212 is connected to the operation space 211 , and is used for an operator to reach into the operation space 211 to perform shearing operations using hydraulic shears.

[0088] In some embodiments, an observation window is provided above the operation window 212 for operators to observe.

[0089] In some other optional embodiments, the hydraulic shears may also be set as automatic hydraulic shears to achieve automatic shearing of radioactive waste through a mechanical arm and a control module.

[0090] In some embodiments, the transmission device 30 further includes a transmission frame 31, and the transmission track is disposed on the transmission frame 31. The transmission frame 31 is connected to the shear frame 21, so that one end of at least one transmission track extends into the operating space 211.

[0091] Specifically, in this embodiment, the transfer frame 31 is arranged in a longitudinal direction, and the longitudinal transfer track is horizontally arranged on the transfer frame 31. At least two second loading buckets 3 are arranged at one end of the transfer track away from the shearing device 20. Each transfer track corresponds to a second loading bucket 3 for loading the radioactive waste after shearing and classification.

[0092] In some embodiments, the transfer track 32 includes a dry waste transfer track 321 and a wet waste transfer track 322 , which are arranged in parallel on the transfer frame 31 , and one end of the dry waste transfer track 321 or the wet waste transfer track 322 extends into the operating space 211 .

[0093] It should be understood that “extending into the operating space 211” can be understood as that the lower end surface of the operating space 211 is the upper end surface of the transfer track, and the radioactive waste poured out from the first loading barrel 2 is poured onto the transfer track in the operating space 211. During the transfer process on the transfer track, the hydraulic shears perform shearing operations on it.

[0094] In some embodiments, the dry waste transfer track 321 also includes a compressible waste transfer track 3211 and an incompressible waste transfer track 3212, wherein the compressible waste transfer track 3211, the incompressible waste transfer track 3212, and the wet waste transfer track 322 are arranged in parallel, and one of the transfer tracks extends into the operating space 211.

[0095] In some embodiments, the identification and sorting device 40 includes at least one identification camera 41 and at least one manipulator 42. The identification camera 41 is disposed on the transmission frame 31 and / or the shearing device 20, and is used to identify the type of the sheared radioactive waste, such as identifying whether the radioactive waste is dry waste or wet waste. The manipulator 42 is disposed on the transmission frame 31, and is used to sort the sheared radioactive waste to the corresponding transmission track, such as sorting dry waste to the dry waste transmission track 321, and sorting wet waste to the wet waste transmission track 322.

[0096] In some embodiments, the compressible waste transfer track 3211 is disposed adjacent to the incompressible waste transfer track 3212, and the wet waste transfer track 322 is disposed on one side of the compressible waste transfer track 3211 or the incompressible waste transfer track 3212 to facilitate identification and sorting.

[0097] In this embodiment, the incompressible waste transfer track 3212 is disposed between the compressible waste transfer track 3211 and the wet waste transfer track 322 , and one end of the incompressible waste transfer track 3212 extends into the operating space 211 .

[0098] Specifically, a vertically upward supporting portion is provided on one side of the length direction of the transport frame 31 for installing the identification camera 41, so that the identification camera 41 is located above the transport track, which is convenient for identifying the radioactive waste on the transport track.

[0099] In some embodiments, the number of the recognition camera 41 and the manipulator 42 are both two, namely, the first recognition camera 411, the second recognition camera 412, the first manipulator 421 and the second manipulator 422. The first manipulator 421 is arranged between the dry waste transfer track 321 and the wet waste transfer track 322, and is used to sort the identified dry and wet wastes to the corresponding tracks. The second manipulator 422 is arranged between the compressible waste transfer track 3211 and the incompressible waste transfer track 3212, and is used to sort the identified compressible and incompressible wastes to the corresponding tracks. The first recognition camera 411 is arranged correspondingly to the first manipulator 421, and is used to identify dry and wet wastes. The second recognition camera 412 is arranged correspondingly to the second manipulator 422, and is used to identify compressible and incompressible wastes.

[0100] In this embodiment, the first robot 421 is disposed between the incompressible waste transfer track 3212 and the wet waste transfer track 322 .

[0101] In some embodiments, the first manipulator 421 is disposed at the end of the transmission frame 31 close to the shearing device 20, and the second manipulator 422 is disposed at the side of the first manipulator 421 away from the shearing device 20. The radioactive waste transmitted from the operation space 211 is first identified, classified, and sorted into dry and wet wastes, and then identified, classified, and sorted into compressible and incompressible wastes.

[0102] In this embodiment, the second manipulator 422 is disposed at the middle position in the length direction of the transmission frame 31, and is spaced a certain distance from the first manipulator 421, so that a certain operating space is guaranteed between the two. The first recognition camera 411 is disposed at the upper end of the shearing frame 21, and is disposed toward the transmission track, so as to identify the radioactive waste transmitted from the operating space 211. The second recognition camera 412 is disposed on the support portion of the transmission frame 31, and is disposed at a position away from the shearing device 20 in the length direction of the support portion, and is disposed toward the second manipulator 422.

[0103] In some other optional embodiments, the compressible waste transfer track 3211 may also be arranged between the incompressible waste transfer track 3212 and the wet waste transfer track 322. One end of the wet waste transfer track 322 or the dry waste transfer track 321 (which may be the compressible waste transfer track 3211 or the incompressible waste transfer track 3212) not arranged adjacent to the wet waste transfer track 322 may also be extended into the operation space 211. It should be understood that when the position setting of the transfer track changes, the position of the recognition camera 41 and the manipulator 42 also need to be adjusted accordingly, which will not be discussed one by one here.

[0104] In some embodiments, the identification and sorting device 40 further includes a lighting module 43, which is arranged corresponding to the identification camera 41 to improve the identification accuracy of the identification camera 41 and facilitate clearer shooting and positioning of the radioactive waste. The lighting module 43 includes at least one lighting lamp, which is arranged on the supporting part of the transmission frame 31. In this embodiment, the number of the lighting lamps is also two, corresponding to the two identification cameras 41.

[0105] It should be understood that the lighting lamp, the recognition camera 41 and the manipulator 42 are all radiation-resistant and all use existing technologies to achieve the above effects.

[0106] During the specific operation process, after the hydraulic shears cut the radioactive waste in the operating space 211, the radioactive waste is transferred to the outside of the operating space 211 along the incompressible waste transfer track 3212. At this time, the first recognition camera 411 identifies the dry and wet types of the radioactive waste and transmits the recognition result to the control system. If it is wet waste, the control system controls the first manipulator 421 to sort the wet waste onto the wet waste transfer track 322.

[0107] Furthermore, the dry waste remaining on the incompressible waste transfer track 3212 continues to be transferred until it is within the recognition range of the second recognition camera 412. The second recognition camera 412 identifies the compressible and incompressible types of the dry waste and transmits the recognition result to the control system. If the result is compressible waste, the control system controls the second manipulator 422 to sort it onto the compressible waste transfer track 3211. Finally, only incompressible waste remains on the incompressible waste transfer track 3212.

[0108] Furthermore, the three transfer tracks continue to transfer the sorted radioactive waste respectively until the radioactive waste is transferred to the end of the transfer track and falls into the second loading bucket 3 placed at the end of the transfer track, completing the sorting and reloading of the sheared radioactive waste.

[0109] The utility model also constructs a radioactive waste automatic sorting method, which is applied to any of the above radioactive waste automatic sorting devices 1. The radioactive waste automatic sorting method includes:

[0110] Step S1 : driving the turning mechanism 12 to rotate the waste guide assembly 121 from the second position to the first position, and dumping the radioactive waste to be sorted from the first loading bucket 2 onto the transfer track in the operating space 211 .

[0111] Step S2: controlling the shearing device 20 to shear the radioactive waste.

[0112] Step S3: Control the transport track to transport the sheared radioactive waste, identify the type of the radioactive waste through the identification and sorting device 40, and sort the radioactive waste to different transport tracks.

[0113] Step S4: Control different transfer tracks to transfer the sorted radioactive waste to loading buckets placed at the ends of the transfer tracks.

[0114] The utility model also constructs a control system, which includes a processor and a memory storing a computer program. The processor implements each step of the radioactive waste automatic sorting method when executing the computer program.

[0115] In some embodiments, the processor identifies and determines the type of radioactive waste through a boundary pixel detection algorithm and a deep neural network recognition training algorithm to facilitate accurate positioning and image segmentation of the target radioactive waste to be sorted.

[0116] In some embodiments, the processor controls the identification and sorting device 40 through a multinomial interpolation method to sort different radioactive wastes onto different transfer tracks.

[0117] In some embodiments, the identification and sorting device 40 includes an identification camera 41 for identifying the type of radioactive waste and a manipulator 42 for sorting radioactive waste. The control system also includes an image acquisition card for identifying, comparing and processing the acquired images to classify the radioactive waste photographed by the identification camera 41, and inputting an execution signal to the manipulator 42 so that the manipulator 42 performs a sorting operation according to the classification result.

[0118] The identification and sorting device 40 further includes a lighting module 43 for improving the accuracy of identification and positioning.

[0119] In the specific operation process, when the radioactive waste moves along the transport track to the center of the field of view of the identification camera 41, the image acquisition card receives a trigger pulse.

[0120] Furthermore, the image acquisition card sends a start pulse to the recognition camera 41 according to the set program and delay, and the recognition camera 41 starts a new frame scan (or the recognition camera 41 is in a waiting state before the start pulse is sent, and starts a frame scan after the start pulse is sent).

[0121] Furthermore, the recognition camera 41 starts exposure before starting a new frame scan (the exposure time can be set in advance and is not limited here), and another start pulse turns on the lighting module 43 for lighting (the lighting time should match the exposure time of the recognition camera 41). After the recognition camera 41 is exposed, the scanning and output of a frame of image officially begins.

[0122] Furthermore, the image acquisition card receives the analog video signal and digitizes it (it can also directly receive the digital video data after digitization by the recognition camera 41).

[0123] Furthermore, the image acquisition card stores the digital image in the processor, and the processor processes, analyzes, and recognizes the image to obtain a measurement result or a logic control value.

[0124] Furthermore, the results of the processor are used to control the actions of the robot 42, perform positioning and sorting operations on it, and sort the radioactive waste to be sorted onto different transmission tracks.

[0125] In this embodiment, the processor plans the spatial motion trajectory of the manipulator 42 by using a multinomial interpolation method to control the manipulator 42 and obtain the optimal motion trajectory.

[0126] It can be understood that the above embodiments only express the preferred implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the utility model. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the utility model, the above-mentioned technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the utility model. Therefore, all equivalent changes and modifications made to the scope of the claims of the utility model should fall within the scope of the claims of the utility model.

Claims

1. An automatic radioactive waste sorting device, characterized in that: include: A shearing device (20) for shearing waste, wherein the shearing device (20) defines an operating space (211); A turnover dumping device (10) for dumping radioactive waste into the operating space (211), comprising a turnover mechanism (12), wherein the turnover mechanism (12) comprises a waste guide assembly (121) for guiding the radioactive waste into the operating space (211), wherein the waste guide assembly (121) rotates back and forth between a first position and a second position; The sheared radioactive waste is transferred to a transfer device (30) in a transfer barrel, wherein the transfer device (30) comprises at least two transfer tracks (32), wherein one end of at least one of the transfer tracks (32) extends into the operating space (211) to receive the sheared radioactive waste; as well as An identification and sorting device (40) is arranged corresponding to the transfer track (32), identifies the type of the radioactive waste, and sorts different types of radioactive waste onto different transfer tracks (32).

2. The automatic radioactive waste sorting device according to claim 1, characterized in that: The overturning and dumping device (10) further comprises a fixed frame (11), the overturning mechanism (12) is arranged on the fixed frame (11), the overturning mechanism (12) further comprises a rotating shaft (122) and a first driving member (123) for driving the rotating shaft (122) to rotate, both ends of the rotating shaft (122) are mounted on the fixed frame (11) through connecting bearings, and the waste guiding assembly (121) is arranged on the rotating shaft (122) and rotates between a first position and a second position under the drive of the rotating shaft (122).

3. The automatic radioactive waste sorting device according to claim 2, characterized in that: The first driving member (123) is a first cylinder arranged outside one end of the rotating shaft (122), the first cylinder comprising a first cylinder body hinged on the fixing frame (11), and a first piston rod telescopically arranged in the first cylinder body; The flipping mechanism (12) also includes a rotating connecting member (124) that reciprocates under the drive of the first driving member (123), one end of the rotating connecting member (124) is hinged to the output end of the first piston rod, and the other end of the rotating connecting member (124) is fixedly connected to the rotating shaft (122).

4. The automatic radioactive waste sorting device according to claim 3 is characterized in that: The turning mechanism (12) further comprises a limiting assembly (125) for limiting the rotation angle of the rotating shaft (122), wherein the limiting assembly (125) comprises a first limiting member (1251) and a second limiting member (1252) mounted on the fixing frame (11); Wherein, when the waste guide assembly (121) is in the first position, the first limit member (1251) is triggered to control the first driving member (123) to turn or stop; when the waste guide assembly (121) is in the second position, the second limit member (1252) is triggered to control the first driving member (123) to turn or stop.

5. The automatic radioactive waste sorting device according to claim 2, characterized in that: The waste guide assembly (121) comprises a connection cover (1211) for connecting to a loading barrel loaded with radioactive waste, the connection cover (1211) being hollow and comprising an access end for connecting to the loading barrel and an output end for outputting the radioactive waste to the operating space (211); The connection cover (1211) also includes a connection portion fixed on the rotating shaft (122).

6. The automatic radioactive waste sorting device according to claim 1, characterized in that: The overturning and dumping device (10) further comprises a lifting mechanism (13) for connecting a loading barrel loaded with radioactive waste to the waste guide assembly (121); the lifting mechanism (13) comprises a movable frame (131) for placing the loading barrel; the movable frame (131) is connected to the overturning mechanism (12) so as to move up and down between a third position and the second position, and is driven by the overturning mechanism (12) to rotate back and forth between the first position and the second position together with the waste guide assembly (121).

7. The automatic radioactive waste sorting device according to claim 6, characterized in that: The lifting mechanism (13) further comprises a connecting assembly (132) and a second driving member (133); the turning mechanism (12) comprises a rotating shaft (122) for driving the waste guiding assembly (121) to rotate back and forth between a first position and a second position; the connecting assembly (132) is fixedly connected to the rotating shaft (122) and is relatively movably connected to the movable frame (131) via at least one guide rail structure; The second driving member (133) is a second cylinder arranged on the rotating shaft (122), the second cylinder comprising a second cylinder body vertically hinged on the rotating shaft (122) and a second piston rod telescopically arranged in the second cylinder body; The upper end of the second cylinder body is hinged to the rotating shaft (122), the lower end of the second piston rod is hinged to the movable frame (131), and the upper end of the second piston rod is telescopically arranged in the second cylinder body.

8. The automatic radioactive waste sorting device according to claim 7, characterized in that: The movable frame (131) has an L-shaped cross-section, comprising a horizontal first part and a vertical second part, the second part being connected to the connecting assembly (132) via the guide rail structure so as to be relatively movably connected, and a positioning member (1311) for limiting the position of a loading barrel loaded with radioactive waste is provided on the upper end surface of the first part.

9. The automatic radioactive waste sorting device according to claim 7, characterized in that: The connecting assembly (132) comprises at least one connecting rod, at least one third limiting member (1322) and at least one fourth limiting member (1323), one end of the connecting rod is fixed on the rotating shaft (122), and the third limiting member (1322) and the fourth limiting member (1323) are both arranged on the connecting rod; When the movable frame (131) is at the second position, the third position-limiting member (1322) is triggered to control the second driving member (133) to turn or stop; When the movable frame (131) is at the third position, the fourth position-limiting member (1323) is triggered to control the second driving member (133) to turn or stop.

10. The automatic radioactive waste sorting device according to claim 1, characterized in that: The transfer track (32) comprises a dry waste transfer track (321) and a wet waste transfer track (322), and one end of the dry waste transfer track (321) or the wet waste transfer track (322) extends into the operating space (211).

11. The automatic radioactive waste sorting device according to claim 10, characterized in that: The dry waste transfer track (321) includes a compressible waste transfer track (3211) and an incompressible waste transfer track (3212), and one end of the compressible waste transfer track (3211) or the incompressible waste transfer track (3212) or the wet waste transfer track (322) extends into the operating space (211).

12. The automatic radioactive waste sorting device according to claim 11, characterized in that: The identification and sorting device (40) comprises two identification cameras (41) and two manipulators (42); The two manipulators (42) include a first manipulator (421) for sorting dry and wet wastes and a second manipulator (422) for sorting compressible and incompressible wastes, the first manipulator (421) being arranged between the dry waste transfer track (321) and the wet waste transfer track (322), and the second manipulator (422) being arranged between the compressible waste transfer track (3211) and the incompressible waste transfer track (3212); The two recognition cameras (41) include a first recognition camera (411) for recognizing dry and wet wastes and a second recognition camera (412) for recognizing compressible and incompressible wastes, which are respectively arranged corresponding to the first manipulator (421) and the second manipulator (422).

13. The automatic radioactive waste sorting device according to claim 12, characterized in that: The transmission device (30) further comprises a transmission frame (31) for setting the transmission track, the two manipulators (42) are arranged on the transmission frame (31), and the two recognition cameras (41) are arranged on the transmission frame (31) or the shearing device (20); The first manipulator (421) is arranged at the end of the transmission frame (31) close to the shearing device (20), and the second manipulator (422) is arranged at a side of the first manipulator (421) away from the shearing device (20).

14. The automatic radioactive waste sorting device according to claim 12, characterized in that: The identification and sorting device (40) further comprises a lighting module (43), and the lighting module (43) is arranged corresponding to the identification camera (41).

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