CN113020658B

CN113020658B - Hole opening and grabbing device

Info

Publication number: CN113020658B
Application number: CN202110307523.0A
Authority: CN
Inventors: 杨洪广; 占勤; 韩志博; 何长水; 陈国强; 连旭东
Original assignee: China Institute of Atomic of Energy
Current assignee: China Institute of Atomic of Energy
Priority date: 2021-03-23
Filing date: 2021-03-23
Publication date: 2022-10-28
Anticipated expiration: 2041-03-23
Also published as: CN113020658A

Abstract

The embodiment of the invention discloses a tapping and grabbing device, which comprises: a body configured to be movable in at least one direction in a horizontal direction; a grasping mechanism disposed on the main body for grasping a stopper of a storage device to expose a radioactive sample container stored in the storage device; and the hole opening mechanism is arranged on the main body and used for opening holes in the radioactive sample container in the storage device so as to communicate the interior of the radioactive sample container with the external environment. The technical scheme of the invention can realize the operation of opening the hole of the radioactive sample container and the operation of grabbing and putting back the plug body of the storage device by using the same device.

Description

Hole opening and grabbing device

Technical Field

The invention relates to the technical field of radioactive product grabbing, in particular to a hole opening and grabbing device.

Background

In nuclear engineering applications, radioactive isotope irradiation production is often required to obtain certain artificial elements or rare and precious elements with low abundance in nature. In this production process, the target material to be irradiated is made into a target to be irradiated in the reactor. The irradiated target is loaded into a radioactive sample container and temporarily stored in a storage well. When the radioactive sample container needs to be taken out of the storage well, the plug body of the storage well is firstly removed by using the special grabbing device, and then the radioactive sample container is extracted by using the special grabbing and transferring device and transferred to other process devices for corresponding treatment.

Disclosure of Invention

The invention provides a tapping and grabbing device, comprising:

a body configured to be movable in at least one direction in a horizontal direction;

a grasping mechanism disposed on the main body for grasping a stopper of a storage device to expose a radioactive sample container stored in the storage device; and

and the hole opening mechanism is arranged on the main body and used for opening the radioactive sample container in the storage device so as to communicate the interior of the radioactive sample container with the external environment.

Drawings

Other objects and advantages of the present invention will become apparent from the following description of the invention which refers to the accompanying drawings, and will assist in a comprehensive understanding of the invention.

FIG. 1 is a schematic cross-sectional view of a radioactive sample container placed in a storage device;

FIG. 2 is a schematic structural diagram of a gripping and transferring device according to an embodiment of the present invention;

FIG. 3 is a schematic view of a cross section of the second slide shown in FIG. 2;

fig. 4 is a schematic view of a cross section of the slide guide shown in fig. 2;

FIG. 5 is a schematic view of the second slide and the slide guide cooperating;

FIG. 6 is a partial schematic view of a robot gripping plug with jaws in an open position; and

figure 7 is a partial schematic view of a robot gripping plug with the jaws in a closed position.

It is noted that the drawings are not necessarily to scale and are merely illustrative in nature and not intended to obscure the reader.

Description of reference numerals:

10. a main body; 11. a base plate; 111. a first sliding section; 112. a first gear; 113. a first motor; 12. mounting a plate; 121. a second sliding part; 1211. a protrusion; 13. a connecting plate; 131. a slide guide portion; 1311. a groove; 132. a second rack; 133. a second gear; 134. a second motor; 21. a shield case; 211. a chamber; 22. a manipulator; 222. a clamping jaw; 2221. a vertical portion; 2222. a first retaining part; 2223. a second chucking part; 23. a winch; 231. a hauling rope; 232. a winding drum; 233. a first fixed pulley; 234. a second fixed pulley; 235. a limiting wheel set; 24. a counterweight portion; 241. a hoisting ring; 31. a tapping machine; 32. an electric push rod; 400. a radioactive sample container; 401. sealing the sheet; 500. a storage device; 510. a plug body; 511. and (4) a groove.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention. It should be apparent that the described embodiment is one embodiment of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without inventive step, are within the scope of protection of the invention.

It is to be noted that technical terms or scientific terms used herein should have the ordinary meaning as understood by one of ordinary skill in the art to which the present invention belongs, unless otherwise defined. If the description "first", "second", etc. is referred to throughout, the description of "first", "second", etc. is used only for distinguishing similar objects, and is not to be construed as indicating or implying a relative importance, order or number of technical features indicated, it being understood that the data described in "first", "second", etc. may be interchanged where appropriate. Furthermore, spatially relative terms, such as "above," "below," "top," "bottom," and the like, may be used herein for ease of description to describe one element or feature's spatial relationship to another element or feature as illustrated in the figures, and should be understood to encompass different orientations in use or operation in addition to the orientation depicted in the figures.

In the related art, a radioactive sample container for storing an irradiated target is a sealed container having gas flow lines at upper and lower ends thereof, and an electromagnetic valve is disposed on the gas flow line to control the on/off of the gas flow line. When the process device is used for processing, an air inlet pipeline and an air outlet pipeline of the process device are respectively in sealing butt joint with two gas circulation pipelines of the radioactive sample container. Since the above operation involves radiation risk, the sealed butt joint between the pipelines is achieved in the related art by using a robot. However, since the size of the pipelines to be butted is small, finding the butted pipelines and butt-jointing the two corresponding pipelines in a sealing manner makes the operation difficult for the robot.

Accordingly, the inventors of the present application have improved the radioactive sample container in the related art, and have provided the radioactive sample container in a vertically penetrating structure, and provided sealing sheets at the upper opening and the lower opening, respectively, in order to prevent leakage of radioactive gas (see sealing sheet 401 in fig. 1). Before the radioactive sample container is transferred to the process device by the grabbing and transferring device, the sealing sheet can be perforated by an external perforating device, so that the inside of the radioactive sample container is communicated with the external environment through the perforation, and the radioactive sample or the radioactive gas in the radioactive sample container can be treated by the process device.

In the related art, as shown in fig. 1, a radioactive sample container 400 is placed in a storage device 500 of a subterranean well type. The storage device 500 includes a sample receiving chamber having an upper opening for receiving the radioactive sample container 400, and a stopper 510 is provided at the upper opening of the sample receiving chamber to seal the sample receiving chamber. Before transferring the radioactive sample container 400, the stopper 510 of the storage device 500 needs to be removed by a robot arm having a grasping function. Since the modified radioactive sample container 400 needs to be perforated, an additional mechanical arm having a perforating function is required. However, it is too costly to perform the grasping and replacing operation of the stopper 510 of the storage apparatus 500 and the opening operation of the radioactive sample container by using both the robot arm having the grasping function and the robot arm having the opening function. In addition, the operation target can be aligned only when the mechanical arm needs to be arranged on a track at present, if the mechanical arm and the operation target share the same track, the mechanical arm and the operation target interfere with each other, and the working efficiency is low; if the two are separately provided with respective rails, the arrangement is inconvenient due to the limitation of the space of the site. Thus, the inventor of the present application has improved the grasping apparatus in the related art to be more suitable for the perforating operation of the modified radioactive sample container 400 and the grasping and replacing operation of the stopper body 510 of the storage apparatus 500.

As shown in fig. 2, the drilling and gripping device of the embodiment of the present application includes: a main body 10 and a grasping mechanism provided on the main body 10. Wherein the body 10 is configured to be movable in at least one direction in a horizontal direction, and a grasping mechanism for grasping the stopper 510 of the storage device 500 to expose the radioactive sample container 400 stored in the storage device 500. It will be readily appreciated that the grasping mechanism may also replace the plug body 510 back into the storage device 500.

In some embodiments, the body 10 is configured to be movable along a transfer path to transfer the gripped plug bodies 510 to other areas for storage. Those skilled in the art will readily understand that the "transfer path" may be a predetermined moving path, that is, the drilling and gripping device can automatically move according to the predetermined moving path; or the moving path can be a moving path for the operator to remotely control the hole opening and grabbing device to move from the initial position to the target position; of course, it may also be a transfer rail along which the opening and gripping device can be moved.

In order to open the radioactive sample container 400 after the modification, in particular, the opening and grasping device of the embodiment of the present application further includes an opening mechanism disposed on the main body 10 for opening the radioactive sample container 400 in the storage device 500 so as to communicate the inside of the radioactive sample container 400 with the external environment.

Thus, the puncturing and grasping apparatus according to the embodiment of the present application can perform the puncturing operation on the radioactive sample container 400 and the grasping and retrieving operation on the stopper 510 of the storage apparatus 500 by using the same apparatus.

As will be readily appreciated by those skilled in the art, in the present embodiment, the plug body 510 is located on top of the storage device 500, and the grasping mechanism first grasps the plug body 510 of the storage device 500 to expose the radioactive sample container 400 stored in the storage device 500; the opening mechanism then opens the upper end portion (i.e., the upper sealing plate 401) of the radioactive sample container 400.

Those skilled in the art will readily appreciate that in the present embodiment, the opening mechanism only opens the sealing plate 401 on the top of the radioactive specimen container 400. The sealing plate 401 at the lower part of the radioactive sample container 400 is opened by other means or opening means. After being vented, the radioactive sample container 400 may have a small amount of radioactive gas leaking out, and therefore, in such embodiments, the venting and grasping means can only operate within the hot chamber to prevent the radioactive gas from leaking out to the outside environment.

Referring to fig. 2, the main body 10 includes: a bottom plate 11 extending in a first direction in a horizontal direction and a mounting plate 12 extending in a vertical direction, wherein the bottom plate 11 is configured to move in a second direction perpendicular to the first direction in the horizontal direction; the tapping mechanism and the gripping mechanism are arranged on the mounting plate 12.

Further, the hole opening mechanism and the grabbing mechanism are arranged on the mounting plate 12 side by side along the first direction; the mounting plate 12 is arranged to be movable in a first direction relative to the base plate 11.

In such an embodiment, since the bottom plate 11 is movable in the second direction and the mounting plate 12 is movable in the first direction relative to the bottom plate 11, the alignment operation of the tapping mechanism and the grasping mechanism with the same radioactive sample container 400 can be performed, so that the grasping operation and the tapping operation can be performed smoothly.

In some embodiments, the base plate 11 is configured to move on a track extending in the second direction. In these embodiments, the base plate 11 may be provided with slides or rollers that cooperate with the tracks. Referring to fig. 2, the base plate 11 is provided at both lateral (i.e., first-direction) sides thereof with a first sliding portion 111, respectively. The movement of the hole-forming and gripping device on the rail is realized by the movement of the first sliding portion 111 in the rail.

The tapping and gripping device may further comprise: the first driving device is arranged on the bottom plate 11 and is configured to drive the bottom plate 11 to move relative to the track.

Referring to fig. 2, the first driving means may include: a first gear 112 and a first motor 113 for driving the first gear 112 to rotate, the first gear 112 being for engaging with a rack provided at the track. Therefore, the first gear 112 is meshed with the rack to move, so that the hole opening and grabbing device is driven to move on the track.

In some embodiments, the first sliding portion 111 may be a slider disposed within the track.

In some embodiments, the mounting plate 12 may be slidably coupled with the base plate 11 by a slide guide extending in the first direction and a slide slidable in the slide guide. In such an embodiment, a sliding guide portion or a sliding portion may be disposed at the bottom of the mounting plate 12, and a sliding portion or a sliding guide portion may be disposed on the bottom plate 11, respectively, and the mounting plate 12 may be moved in the first direction relative to the bottom plate 11 by driving the sliding portion to slide relative to the sliding guide portion through a driving device.

Referring to fig. 2, in some embodiments, the body 10 further comprises: a connecting plate 13, and a mounting plate 12 connected to the base plate 11 through the connecting plate 13, wherein the connecting plate 13 is fixedly disposed on the base plate 11, and the mounting plate 12 is configured to be movable in a first direction with respect to the connecting plate 13.

Referring to fig. 2, the connecting plate 13 and the mounting plate 12 may be disposed parallel to each other, and both the connecting plate 13 and the mounting plate 12 are perpendicular to the bottom plate 11 and parallel to the extending direction of the bottom plate 11, i.e., the first direction.

Trompil and grabbing device still includes: and a second driving device configured to drive the mounting plate 12 to move in the first direction relative to the connecting plate 13.

The link plate 13 is provided with a slide guide portion 131 extending in the first direction, and the mounting plate 12 is provided with a second slide portion 121 slidably engaged with the slide guide portion 131. The second driving device is configured to drive the second sliding portion 121 to slide relative to the sliding guide portion 131 so as to move the mounting plate 12 relative to the connecting plate 13 in the first direction.

Referring to fig. 2, the second driving means may include: a second rack 132, a second gear 133 engaged with the second rack 132, and a second motor 134 for driving the second gear 133 to rotate, wherein the second rack 132 is disposed on the connecting plate 13 in the first direction; a second gear 133 and a second motor 134 are provided on the mounting plate 12.

In an alternative embodiment, the slide guide 131 may also be provided on the mounting plate 12 in the first direction, and accordingly, the second slide 121 may be provided on the connecting plate 13. In such an embodiment, the second rack 132 may be provided on the mounting plate 12, and accordingly, the second gear 133 and the second motor 134 may be provided on the connecting plate 13.

When the punching and grabbing device is used, the gears and the racks are meshed by controlling the first motor 113 and the second motor 134, so that the punching and grabbing device can move at any position in the track plane, and the punching and grabbing device can be accurately positioned due to the transmission relationship of the gears and the racks.

In addition, for a plug body 510 with a large mass, the load capacity of the main body 10 is highly required. Therefore, referring to fig. 3 to 5, in the present application, the cross section of the rail and the slide guide 131 is particularly set to be i-shaped; the cross sections of the first sliding part 111 and the second sliding part 121 are inverted concave shapes, and three recessed edges of the inverted concave shapes are matched with corresponding edges of the I shapes.

Specifically, both lateral sides of the cross section of the slide guide 131 have grooves 1311 recessed inward, and both lateral sides of the cross section of the second slide part 121 have protrusions 1211 protruding outward, so that the second slide part 121 is stably held on the slide guide 131 by the engagement between the protrusions 1211 and the grooves 1311.

By this arrangement, the mounting plate 12 can be prevented from overturning when the gripping mechanism grips the plug body 510 with a large weight. And the phenomenon that the bottom plate 11 is derailed and overturned due to uneven stress of the rail when the mounting plate 12 moves on the connecting plate 13 along the first direction can be avoided.

In some embodiments, the aperture mechanism comprises: a tapping machine 31 and a third drive. The drill of the tapping machine 31 is disposed vertically downward. The third driving device is used for driving the tapping machine 31 to move up and down along the vertical direction, so that the drill bit of the tapping machine 31 can extend downwards to the sealing sheet 401 of the radioactive sample container 400 to perform tapping operation; and can be retracted upward to an initial position after the tapping operation is completed. In some embodiments, the third drive means is an electric push rod 32. In other embodiments, the third driving device is a pneumatic cylinder.

In some embodiments, the grasping mechanism includes: a manipulator 22 for grasping or releasing the plug body 510 of the storage device 500 and a traction device for drawing the manipulator 22 up and down in the vertical direction.

In such an embodiment, when mounting plate 12 is moved to an arbitrary position in the first direction with respect to base plate 11, the projection of tapping machine 31 and manipulator 22 on the horizontal plane does not coincide with the projection of base plate 11 on the horizontal plane. That is, the bottom plate 11 cannot interfere with the hole-opening mechanism and the grasping mechanism. In some embodiments, the mounting plate 12 may be proximate the front side of the base plate 11 such that the front side of the mounting plate 12 (i.e., the mounting plane of the opening and grasping mechanisms) projects forwardly beyond the front side edge of the base plate 11 or is substantially flush with the front side edge of the base plate 11. In other embodiments, as shown in fig. 2, the front side edge of floor 11 may be recessed rearwardly to form a relief groove in floor 11 that allows tapping machine 31 and robot 22 to perform related operations.

In order to reduce radiation leakage and to better position the robot, the tapping and gripping device may further comprise a shielding housing 21 disposed on the main body 10, the shielding housing 21 defining a chamber 211 therein having a lower opening. The robot 22 of the grasping mechanism is disposed in the chamber 211 to place the plug body 510 of the grasped storage device 500 in the chamber 211 of the shield case 21. The traction device is used for drawing the mechanical arm 22 to vertically move up and down in the chamber 211, so that under the cooperation of the mechanical arm 22 and the traction device, the mechanical arm 22 can move downwards to the position below the lower opening of the chamber 211 to grab the plug body 510 of the storage device 500; and after grasping the plug body 510 of the storage device 500, the plug body 510 carrying the storage device 500 is collectively moved upward until the plug body 510 of the storage device 500 is completely accommodated in the cavity 211.

In some embodiments, shield shell 21 is made of lead. In other embodiments, the shielding shell 21 may be made of other radiation shielding materials, such as tungsten.

In these embodiments, a retractable shutter (not shown in the drawings) and a cylinder for driving the retractable operation of the shutter to close or open the chamber 211 may be further provided at the bottom of the chamber 211, whereby, when the robot 22 is ready to move downward to grab or release the plug 510 of the storage device 500, the cylinder drives the shutter to retract toward the outside of the chamber 211 to expose the chamber 211; when the robot 22 carries the plug 510 of the storage device 500 into the chamber 211, the cylinder drives the baffle to extend toward the inside of the chamber 211, so that the baffle closes the chamber 211 to prevent radiation from leaking out.

In some embodiments, the traction device is a hoist 23, and a traction rope 231 of the hoist 23 is connected to the manipulator 22 for vertically moving the manipulator 22 upward or downward by winding or releasing the traction rope 231. Specifically, the hoist 23 moves the robot 22 downward by releasing the drag rope 231, and the hoist 23 moves the robot 22 upward by winding the drag rope 231. The gripping and releasing of the plug 510 of the storage device 500 are realized by the cooperation of the hoist 23 and the manipulator 22.

In the embodiment shown in fig. 2, the winding machine 23 is disposed outside the shield shell 21, specifically, on the main body 10 on one side of the shield shell 21 in the radial direction (i.e., the lateral direction). The grasping mechanism further includes a pulley assembly disposed on the body 10 for threading the pull cord 231 therethrough.

Specifically, the pulley assembly includes a first fixed pulley 233 and a second fixed pulley 234 provided on the main body 10, wherein the first fixed pulley 233 is provided above the winding machine 23, the second fixed pulley 234 is provided above the shield case 21, and the traction rope 231 of the winding machine 23 sequentially passes upward around the first fixed pulley 233 and the second fixed pulley 234 and then downward into the chamber 211 of the shield case 21 to be connected to the robot 22.

In some embodiments, the first fixed sheave 233 may be disposed above the drum 232 of the hoist 23, preferably directly above the drum 232, i.e., directly above the center of the drum 232. The second fixed pulley 234 may be disposed directly above the shielding shell 21, and a through hole for the pulling rope 231 to enter the inside of the chamber 211 is opened at the center of the upper wall of the shielding shell 21, so that the pulling rope 231 can vertically extend downwards into the inside of the chamber 211 after passing around the second fixed pulley 234 to be connected with the manipulator 22, so that the pulling rope 231 is not subjected to friction at the through hole of the upper wall of the shielding shell 21, and the pulling rope 231 is abraded.

Further, the grabbing mechanism further comprises: and the limiting wheel set 235 is arranged on the main body 10 and is positioned between the position right below the first fixed pulley 233 and the position right above the winding drum 232 of the winch 23, and is used for limiting the swing amplitude of the traction rope 231 and reducing the jitter of the traction rope 231. A limiting pulley set 235 may be provided near the spool 232 to minimize whipping of the pull line 231.

Specifically, the limiting wheel set 235 includes: two fixed pulleys provided in parallel on the main body 10 in the first direction, and the traction rope 231 of the hoist 23 passes through a gap between the two fixed pulleys and then winds up to the first fixed pulley 233.

Referring to fig. 6 and 7, in order to increase the stability of the system during the traction of the winding machine 23, the gripping mechanism further includes: the counterweight 24 is disposed in the chamber 211, and the drag rope 231 is connected to the robot 22 through the counterweight 24. Specifically, a hanging ring 241 may be welded to the top end of the weight 24, and the pulling rope 231 is tied to the hanging ring 241 after entering the interior of the cavity 211 of the shielding housing 21. The hoist 23 moves the robot 22 and the counterweight 24 together downward or upward by releasing or winding the traction rope 231. Further, the shape of the weight 24 may be adapted to the shape of the chamber 211. Thus, the robot 22 may be centered in the chamber 211 to be more easily aligned with the plug 510 of the storage device 500. In some embodiments, the chamber 211 is cylindrical, and correspondingly, the weight 24 is also cylindrical; the gap between the weight 24 and the chamber 211 is small, and the weight 24 and the robot 22 are allowed to move up and down together in the chamber 211.

The upper end of the plug body 510 of the storage device 500 may be provided with a catching portion for catching or releasing in cooperation with the robot 22. In the embodiment shown in fig. 1, the catching part may be a groove 511 having an upper end opened, and the inner size of the groove 511 is larger than the upper end opened size thereof.

The manipulator 22 may be a pneumatic manipulator, and the grasping mechanism may further include an air inlet pipe for providing a driving gas to an air cylinder of the manipulator 22, one end of the air inlet pipe is connected to the air cylinder of the manipulator 22, and the other end of the air inlet pipe passes through a through hole formed in the shielding case 21 and is connected to an external air supply system, so that the external air supply system is used to provide the driving gas to the air cylinder of the pneumatic manipulator to drive the pneumatic manipulator to perform grasping or releasing operation.

Referring to fig. 6-7, the robot 22 includes a pair of jaws 222 driven by a cylinder, and the cylinder drives the jaws 222 to move toward or away from each other to move the jaws 222 to a closed position and an open position. When the plug body 510 of the storage device 500 is in the closed position, the air cylinder drives the two clamping jaws 222 to move towards each other, and when the two clamping jaws 222 move downwards under the action of the winch 23 until at least part of the structure extends into the groove 511 of the plug body 510 of the storage device 500, the air cylinder drives the two clamping jaws 222 to move away from each other to be in the open position, so that at least part of the structure of the two clamping jaws 222 is limited in the groove 511, and the operation of taking and transferring the plug body 510 of the storage device 500 can be realized.

Specifically, referring to fig. 6 and 7, the jaw 222 includes: a vertical part 2221 extending downward, a first catch 2222 extending outward at the tip of the vertical part 2221, and a second catch 2223 extending outward from the vertical part 2221 above the first catch 2222. The length of the second latching part 2223 is greater than the length of the first latching part 2222. And the length of the first catching part 2222 is less than a half of the length of the upper opening of the groove 511 of the plug body 510 of the storage device 500, and the length of the second catching part 2223 is greater than a half of the length of the upper opening of the groove 511 of the plug body 510 of the storage device 500. When the plug body 510 of the storage device 500 is grabbed, the air cylinder drives the two clamping jaws 222 to move towards each other to be in a closed position; referring to fig. 7, then, the winch 23 releases the pulling rope 231 to make the first catching portions 2222 of the two jaws 222 extend downwards into the groove 511, and the second catching portions 2223 of the two jaws 222 are caught above the groove 511; thereafter, the air cylinder drives the two jaws 222 to move away from each other to be in the open position, so that the first chuck 2222 is confined inside the groove 511. Referring to fig. 6, the first catching part 2222 is located below the upper wall of the groove 511, and the first catching part 2222 and the second catching part 2223 catch the upper wall of the groove 511 together, so that the catching and transferring operation of the plug body 510 of the storage device 500 can be achieved. In contrast, releasing the plug 510 of the storage device 500 (i.e., the process of disengaging the robot 22 from the notch 511) is not described herein.

The following describes in detail the working process of the preferred embodiment of the present invention with reference to the accompanying drawings and specific application scenarios of the embodiments of the present application. One application scenario of the embodiment of the present application is that in a hot room, the radioactive sample container 400 is stored in a storage device 500 located underground, a storage device for storing a plug 510 of the storage device 500 is located in a pit, and a transfer track is laid between the storage device 500 and the storage device. When the plug body 510 is transferred from the storage device 500 to the storage device by using the tapping and grabbing device of the embodiment of the present application, the tapping and grabbing device is moved to the storage device 500 along the transfer track, then the mounting plate 12 is moved relative to the connecting plate 13 to align the manipulator 22 with the plug body 510 of the storage device 500, the pulling rope 231 is released by the winch 23 to make the manipulator 22 extend downward into the groove 511 of the plug body 510, so that the manipulator 22 grabs the plug body 510, and the pulling rope 231 is wound by the winch 23 to make the manipulator 22 enter the shielding housing 21 upward and keep the plug body 510 in the shielding housing 21; the plugs 510 are then transferred from the storage device 500 to the storage device by the bottom plate 11 moving along the transfer track. Then, the robot 22 is aligned with the storage tank of the storage apparatus, the robot 22 is moved downward by releasing the traction rope 231 through the hoist 23, the plug body 510 is placed at the storage tank of the storage apparatus, and then the robot 22 is retracted.

When the radioactive sample container 400 is punched by using the punching and grabbing device of the embodiment of the present application, the punching and grabbing device is moved to the storage device 500 along the transfer track, then the mounting plate 12 is moved relative to the connecting plate 13, the punching machine 31 is aligned with the exposed radioactive sample container 400 (i.e., the radioactive sample container 400 with the stopper 510 removed by the manipulator 22), the punching machine 31 is driven by the electric push rod 32 to extend downwards to punch the sealing sheet 401 of the radioactive sample container 400 by using the punching machine 31, and then the punching machine 31 is retracted upwards by the electric push rod 32, thereby completing the punching operation. The radioactive sample container 400 is then extracted from the storage device 500 using a dedicated gripping and transfer device and transferred to another processing device for processing.

It should also be noted that, in the case of the embodiments of the present invention, features of the embodiments and examples may be combined with each other to obtain a new embodiment without conflict.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and the scope of the present invention is subject to the scope of the claims.

Claims

1. A working method of a hole drilling and grabbing device, which is characterized in that,

the trompil and grabbing device includes:

a body (10) configured to be movable in at least one direction in a horizontal direction;

a grasping mechanism disposed on the main body (10) for grasping a stopper (510) of a storage device (500) to expose a radioactive sample container (400) stored in the storage device (500); and

a hole opening mechanism arranged on the main body (10) and used for opening a sealing sheet (401) at the upper part of the radioactive sample container (400) in the storage device (500) so as to communicate the interior of the radioactive sample container (400) with the external environment;

the storage device (500) is an underground well type storage device, the storage device (500) is provided with a sample accommodating cavity with an upper opening, a plug body (510) is arranged at the upper opening of the sample accommodating cavity, a grabbing part is arranged at the upper end of the plug body (510), the grabbing part is a groove (511) with an upper opening, and the inner size of the groove (511) is larger than that of the upper opening;

the radioactive sample container (400) is of a structure which is communicated up and down, and sealing sheets (401) are respectively arranged at the upper opening and the lower opening of the radioactive sample container (400);

wherein, snatch the mechanism and include:

a manipulator (22) for gripping or releasing a plug (510) of the storage device (500); and

the traction device is used for drawing the manipulator (22) to vertically move up and down;

the manipulator (22) comprises a pair of clamping jaws (222) driven by a cylinder, and the two clamping jaws (222) are driven by the cylinder to move towards or away from each other so that the two clamping jaws (222) have a closed position and an open position;

the jaw (222) comprises: a vertical part (2221) extending downward, a first catching part (2222) extending outward at the tip of the vertical part (2221), and a second catching part (2223) extending outward from the vertical part (2221) above the first catching part (2222); wherein the length of the second holding part (2223) is greater than the length of the first holding part (2222); the length of the first clamping part (2222) is less than half of the length of the upper opening of the groove (511) of the plug body (510) of the storage device (500), and the length of the second clamping part (2223) is greater than half of the length of the upper opening of the groove (511) of the plug body (510) of the storage device (500);

the tapping mechanism includes:

a tapping machine (31) with a drill positioned vertically downward; and

the third driving device is used for driving the tapping machine (31) to vertically move up and down;

the working method comprises the following steps: in operation, the hole drilling and grabbing device is moved to the storage device (500), the mechanical arm (22) is aligned with the plug body (510) of the storage device (500), the mechanical arm (22) extends downwards into the groove (511) of the plug body (510), so that the mechanical arm (22) is used for grabbing the plug body (510), and the plug body (510) is transferred from the storage device (500) to a storage device;

then, moving the tapping and gripping device to the storage device (500) to align the tapping machine (31) with the exposed radioactive sample container (400); opening the sealing sheet (401) of the radioactive sample container (400) by the opening machine (31).

2. The working method according to claim 1, characterized in that said main body (10) comprises: a bottom plate (11) extending in a first direction in a horizontal direction and a mounting plate (12) extending in a vertical direction; wherein

The base plate (11) is configured to move in a horizontal direction in a second direction perpendicular to the first direction; and is provided with

The hole opening mechanism and the grabbing mechanism are arranged on the mounting plate (12).

3. The operating method according to claim 2,

the perforating mechanism and the grabbing mechanism are arranged on the mounting plate (12) side by side along the first direction;

the mounting plate (12) is configured to be movable in the first direction relative to the base plate (11).

4. The working method according to claim 3, characterized in that said main body (10) further comprises: a connecting plate (13), through which connecting plate (13) the mounting plate (12) is connected with the base plate (11), wherein

The connecting plate (13) is fixedly arranged on the base plate (11), and the mounting plate (12) is arranged to be movable in the first direction relative to the connecting plate (13).

5. Working method according to claim 4, characterized in that the bottom plate (11) is provided with a first sliding portion (111) to be in sliding engagement with a rail extending in the second direction.

6. The method of claim 5, wherein said tapping and grasping device further comprises: and a first driving device which is arranged on the bottom plate (11) and is configured to drive a first sliding part (111) of the bottom plate (11) to slide relative to the track.

7. The method of operation of claim 6, wherein the first drive means comprises: a first gear (112) and a first motor (113) for driving the first gear (112) to rotate, wherein the first gear (112) is used for being meshed with a rack arranged at the track.

8. Working method according to claim 5, characterized in that the mounting plate (12) or the connecting plate (13) is provided with a sliding guide (131) extending in the first direction, and the connecting plate (13) or the mounting plate (12) is provided with a second sliding part (121) which is in sliding engagement with the sliding guide (131).

9. The method of claim 8, wherein said tapping and gripping device further comprises: and a second driving device configured to drive the second sliding portion (121) to slide relative to the sliding guide portion (131) so as to move the mounting plate (12) relative to the connecting plate (13) in the first direction.

10. The operating method according to claim 9, characterized in that said second driving means comprise: a second rack (132), a second gear (133) engaged with the second rack (132), and a second motor (134) for driving the second gear (133) to rotate, wherein

The second rack is arranged on the mounting plate (12) or the connecting plate (13) along the first direction; the second gear (133) and the second motor (134) are provided on the connection plate (13) or the mounting plate (12).

11. The working method according to claim 8, characterized in that the section of the rail and of the sliding guide (131) is i-shaped;

the sections of the first sliding part (111) and the second sliding part (121) are in an inverted concave shape, and three inwards-recessed edges of the inverted concave shape are matched with corresponding edges of the I shape.

12. Working method according to claim 3, characterized in that the third driving means is an electric push rod (32).

13. Working method according to claim 12, characterized in that the projection of the tapping machine (31) and the manipulator (22) on the horizontal plane does not coincide with the projection of the base plate (11) on the horizontal plane when the mounting plate (12) is moved to any position in the first direction with respect to the base plate (11).

14. The method of claim 12, wherein said tapping and gripping device further comprises: a shield case (21) disposed on the mounting plate (12), the shield case (21) defining therein a chamber (211) having a lower opening, wherein

The robot (22) is disposed within the chamber (211) to place the gripped plug body (510) of the storage device (500) within the chamber (211) of the shield case (21).

15. The working method according to claim 14, characterized in that the traction device is a hoist (23), and a traction rope (231) of the hoist (23) is connected with the robot (22) for vertically moving the robot (22) up or down in the chamber (211) by winding or releasing the traction rope (231).

16. Operating method according to claim 15, characterised in that the winch (23) is arranged on the mounting plate (12) on one radial side of the shielding housing (21),

the grabbing mechanism further comprises: a first fixed sheave (233) and a second fixed sheave (234) provided on the mounting plate (12), wherein the first fixed sheave (233) is provided above the hoist (23), the second fixed sheave (234) is provided above the shield case (21),

and a traction rope (231) of the winch (23) sequentially bypasses the first fixed pulley (233) and the second fixed pulley (234) and then enters the chamber (211) of the shielding shell (21) downwards to be connected with the manipulator (22).

17. The method of operation of claim 16, wherein the grasping mechanism further comprises: and the limiting wheel set (235) is arranged on the mounting plate (12) and is positioned between the position right below the first fixed pulley (233) and the position right above a winding drum (232) of the winch (23) and used for limiting the swing amplitude of the traction rope (231).

18. Working method according to claim 17, characterized in that said set of limit wheels (235) comprises: two fixed pulleys arranged on the mounting plate (12) in parallel along the first direction, wherein a traction rope (231) of the winch (23) firstly passes through a gap between the two fixed pulleys and then winds up to the first fixed pulley (233).

19. The method of operation of claim 15, wherein the grasping mechanism further comprises: a weight portion (24) disposed within the chamber (211), the weight portion (24) being connected between the pull rope (231) and the robot arm (22).

20. Working method according to claim 19, characterized in that the shape of the counterweight (24) is adapted to the shape of the chamber (211).