CN220121499U

CN220121499U - Nuclear waste automatic transfer device

Info

Publication number: CN220121499U
Application number: CN202320711614.5U
Authority: CN
Inventors: 王兴芳; 李利强; 张帅; 傅凯
Original assignee: Tongyu Heavy Industry Co Ltd
Current assignee: Tongyu Heavy Industry Co Ltd
Priority date: 2023-03-30
Filing date: 2023-03-30
Publication date: 2023-12-01
Anticipated expiration: 2033-03-30

Abstract

The utility model belongs to the field of radioactive nuclear waste treatment, and in particular relates to an automatic nuclear waste transfer device, which comprises: the storage device comprises a shielding protection container and a sealing transfer bucket, and the sealing transfer bucket is arranged in a cavity of the shielding protection container; the moving device is provided with a driving piece which moves transversely and is used for aligning the storage device with the bottom of the hot chamber; the cover opening mechanism is arranged at the bottom of the hot chamber and is used for opening or closing a protective door of the hot chamber and a cover of the storage device. According to the utility model, the storage device and the moving device are designed, and the lifting mechanism of the moving device lifts the sealed transfer barrel to the bottom of the hot chamber after the shielding protection container cover is opened so as to automatically barrel nuclear waste; meanwhile, the barrel cover of the sealed transfer barrel is meshed and lifted and positioned through a double-encoder feedback technology, so that high-precision positioning can be realized, and stability problems related to mechanical compliance, clearance and sliding (to a certain extent) are also eliminated.

Description

Nuclear waste automatic transfer device

Technical Field

The utility model belongs to the field of radioactive nuclear waste treatment, and particularly relates to an automatic nuclear waste transferring device.

Background

At present, the dry waste treatment process of protective articles, paper, rubber, waste shells and the like used in the nuclear industry comprises the following steps: firstly, performing pyrolysis, incineration, solidification and other processes to reduce the volume, then filling the volume into a sealed container or a sealed barrel, and after the sealed barrel is transported to a designated place, performing deep stratum burial. However, there is still room for improvement in how to efficiently, quickly, safely and accurately load nuclear waste into a sealed barrel between unmanned equipments, so as to realize automatic barreling and transportation of radioactive nuclear waste.

Disclosure of Invention

In view of the above-described drawbacks of the prior art, an object of the present utility model is to provide an automatic nuclear waste transfer device capable of realizing automatic barreling and transfer of radioactive nuclear waste in an unmanned equipment room.

To achieve the above and other related objects, the present utility model provides an automatic nuclear waste transfer device comprising:

the storage device comprises a shielding protection container and a sealing transfer bucket, and the sealing transfer bucket is arranged in a cavity of the shielding protection container;

the moving device is provided with a driving piece which moves transversely and is used for aligning the storage device with the bottom of the hot chamber;

the cover opening mechanism is arranged at the bottom of the hot chamber and used for opening or closing a protective door at the bottom of the hot chamber and a cover of the storage device.

In an alternative embodiment of the present utility model, the door opening mechanism includes:

the linkage piece is arranged at the bottom of the hot chamber and is used for opening or closing a protective door at the bottom of the hot chamber and the shielding protective container cover;

and the sealing and transferring device is used for opening or closing the sealing and transferring barrel cover.

In an alternative embodiment of the utility model, the moving device is provided with a longitudinally moving lifting mechanism for lifting the sealed transfer cask to the bottom of the hot cell.

In an alternative embodiment of the present utility model, a lifting shielding block is disposed at the bottom of the shielding protection container between the sealed transfer bucket and the jacking mechanism.

In an alternative embodiment of the present utility model, one side of the cover opening mechanism is provided with a positioning device, and the other side of the positioning device is connected with the storage device.

In an alternative embodiment of the utility model, the positioning device comprises an engagement mechanism, the engagement mechanism comprises an engagement positioning motor and a first commutator, the engagement positioning motor is provided with a first encoder, and the first commutator is provided with a first external encoder.

In an alternative embodiment of the present utility model, the positioning device further comprises a lifting mechanism, the lifting mechanism comprises a lifting positioning motor and a second commutator, the lifting positioning motor is provided with a second encoder, and the second commutator is provided with a second external encoder.

In an alternative embodiment of the utility model, the engagement mechanism further includes a first torque limiter disposed between the engagement positioning motor and the first commutator.

In an alternative embodiment of the utility model, the lifting mechanism further comprises a second torque limiter, the second torque limiter being provided between the lifting positioning motor and the second commutator.

In an alternative embodiment of the present utility model, the shielding protection container cover is provided with a fixed guide rail in fit connection with the linkage member.

The automatic nuclear waste automatic barrel filling device has the technical effects that the storage device and the moving device of nuclear waste are automatically designed, the cover opening mechanism is additionally arranged, after the shielding protection container cover of the storage device and the protection door at the bottom of the hot chamber are simultaneously opened, the sealing transfer barrel of the storage device is lifted to the butt joint interface at the bottom of the hot chamber through the lifting mechanism of the moving device, and the sealing transfer barrel cover is opened by the sealing transfer device to automatically fill the nuclear waste; meanwhile, the utility model is provided with the positioning device, and the barrel cover of the sealed transfer barrel is positioned by a double-encoder feedback technology, so that the technology can realize high-precision positioning, and the stability problems related to mechanical compliance, clearance and (to a certain extent) sliding are also eliminated.

Drawings

Fig. 1 is a schematic structural view of an automatic nuclear waste transfer device according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a mobile device according to an embodiment of the present utility model;

FIG. 3 is a side view of a mobile device provided by an embodiment of the present utility model;

FIG. 4 is a schematic view of a storage device according to an embodiment of the present utility model;

FIG. 5 is a top view of a storage device provided by an embodiment of the present utility model;

fig. 6 is a schematic structural diagram of a positioning device according to an embodiment of the present utility model.

Detailed Description

Other advantages and effects of the present utility model will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present utility model with reference to specific examples. The utility model may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present utility model. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.

It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present utility model by way of illustration, and only the components related to the present utility model are shown in the illustrations, not according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.

Fig. 1 is a schematic structural view of an automatic nuclear waste transfer device according to an embodiment of the present utility model, fig. 2 is a schematic structural view of a mobile device according to an embodiment of the present utility model, fig. 3 is a side view of a mobile device according to an embodiment of the present utility model, fig. 4 is a schematic structural view of a storage device according to an embodiment of the present utility model, fig. 5 is a top view of a storage device according to an embodiment of the present utility model, and fig. 6 is a schematic structural view of a positioning device according to an embodiment of the present utility model.

An automatic nuclear waste transfer device as shown in fig. 1, 2, 3, 4, 5 and 6, comprising: the storage device 200 comprises a shielding protection container 210 and a sealing transfer barrel 220, wherein the sealing transfer barrel 220 is arranged in a cavity of the shielding protection container 210; a moving device 300 provided with a drive 310 for lateral movement for aligning the storage device 200 with the hot chamber bottom 100; the cover opening mechanism is provided at the bottom 100 of the heat chamber, and is used for opening or closing the protective door 110 of the bottom 100 of the heat chamber and the cover of the storage device 200.

Specifically, in order to realize automatic barreling and transferring of radioactive nuclear waste in an unmanned workshop, the utility model designs a storage device 200 for transporting and storing nuclear waste to a hot chamber bottom 100 by a moving device 300, designs the storage device 200, shields a protection container 210 to prevent radioactive pollution of the nuclear waste, internally sets a sealed transferring barrel 220 for storing the nuclear waste, designs a cover 213 of the shielding protection container 210 to enable the sealed transferring barrel 220 to be opened through a cover opening mechanism, aligns the sealed transferring barrel 220 to the hot chamber bottom 100, opens a barrel cover of the sealed transferring barrel 220 through the cover opening mechanism, then can remotely control a crane to load the nuclear waste into the sealed transferring barrel 220, restores the barrel cover of the sealed transferring barrel 220 after loading is completed, returns the sealed transferring barrel 220 to the shielding protection container 210, covers the cover 213 of the shielding protection container 210 and transfers the nuclear waste through the moving device 300.

In one embodiment, the door opening mechanism includes: a linkage 410 is provided at the bottom 100 of the heat chamber for opening or closing the shielding door 110 and the shielding cover 213 of the bottom 100 of the heat chamber; and a sealing and transferring device 420 for opening or closing the sealing and transferring barrel 220 cover.

In one embodiment, the shielding protective container cover 213 is provided with a fixed rail 214 cooperatively connected with the linkage 410.

Specifically, in order to open the two-layer covers of the storage device 200, that is, the cover 213 of the shielding protection container 210 and the cover of the sealing transfer tub, the present utility model firstly designs the linkage 410, and the shielding door 110 of the bottom 100 of the hot room and the cover 213 of the shielding protection container 210 are linked by the linkage 410, so that the cover 213 of the shielding protection container 210 can be opened while the opening and closing operation motor for operating the shielding door 110 of the bottom 100 of the hot room opens the shielding door 110. For cooperation with the link 410 and the shield door 110, the shield and shield container cover 213 is provided with a fixed rail 214, as shown in fig. 5. In this embodiment, the linkage member 410 may use a latch; the protective door 110 is provided with an electric push rod, and the switch of the protective door 110 can be positioned through a magnetic switch on the push rod. According to the utility model, the sealing transfer device 420 is used for opening the barrel cover of the sealing transfer barrel 220, when the sealing transfer barrel 220 is aligned to the bottom 100 of the hot chamber, the sealing transfer device 420 starts the meshing driving motor to mesh the gripping apparatus with the barrel cover of the sealing transfer barrel 220, and the meshing driving motor is stopped after the maximum meshing position is reached; starting a lifting driving motor for longitudinal movement, enabling the gripping apparatus to drive the barrel cover to move in a direction away from the sealing transfer barrel 220, and stopping the lifting driving motor after reaching a designated position; and starting the electric push rod driving motor to push the electric push rod, so that the gripping apparatus drives the barrel cover to transversely move, and stopping the electric push rod driving motor after the gripping apparatus reaches a specified position, thereby realizing the opening action of the sealed transfer barrel cover. After the nuclear waste is loaded in the hot chamber, the cover 213 of the sealing transfer barrel cover and the shielding protection container 210 can be closed by performing the opposite actions of the opening operation, namely, an electric push rod driving motor, a lifting driving motor and a meshing driving motor of the sealing transfer device 420 are sequentially started to enable the gripping apparatus to drive the barrel cover to transversely and longitudinally move back to the sealing transfer barrel 220, and the gripping apparatus is disengaged from the barrel cover to realize the cover closing action of the sealing transfer barrel 220; the sealed transfer barrel 220 is lowered back into the shielding protective container 210, the switch operation motor of the protective door 110 of the bottom 100 of the hot room is started after the sealed transfer barrel is in place, the protective door 110 drives the cover 213 of the shielding protective container 210 to push back to the original position, the linkage piece 410 is started, the protective door 110 is separated from the shielding protective container 210, and the cover closing action of the shielding protective container 210 is realized. Finally, the storage device 200 containing the nuclear waste is transported by controlling the moving device 300. Wherein, the positioning of the moving device 300 to drive the storage device 200 to align with the bottom 100 of the hot chamber is realized by the cooperation of a motor encoder and a proximity switch of the moving device 300.

In one embodiment, the moving device 300 is provided with a vertically moving jacking mechanism 320 for jacking the sealed transfer cask 220 to the hot cell bottom 100.

In an embodiment, a bottom of the shielding container 210 is provided with a lifting shielding block 211 between the sealed transfer bucket 220 and the lifting mechanism 320.

In particular, the storage device 200 is secured to the mobile device 300. The present utility model contemplates the shielded containment vessel 210 and the mobile device 300 in order to raise the sealed transfer cask 220 from the shielded containment vessel 210 to align with the docking interface of the bottom 100 of the hot cell. As shown in fig. 3 and 4, a vertically movable lifting mechanism 320 is provided in the moving device 300, and a lifting shield block 211 is provided at the bottom of the shield container 210 connected to the lifting mechanism 320 so as to be pushed by the lifting mechanism 320. After the cover 213 of the shielding and protecting container 210 is opened, the lifting mechanism 320 is controlled to move towards the bottom 100 of the hot chamber, so as to push the lifting shielding block 211 of the shielding and protecting container 210 to move upwards, thereby pushing the sealing transfer bucket 220 to approach the butt joint interface of the bottom 100 of the hot chamber, and stopping the action of the lifting mechanism 320 until reaching a specified position; after the nuclear waste is loaded into the sealed transfer bucket 220 and the bucket cover is closed, the lifting mechanism 320 is started to move away from the bottom 100 of the hot chamber, and under the action of gravity of the sealed transfer bucket 220, the sealed transfer bucket 220 pushes the lifting shielding block 211 to move downwards until the lifting shielding block 211 returns to the bottom position of the shielding protection container 210, and meanwhile, the sealed transfer bucket 220 also returns to the inside of the shielding protection container 210. Wherein, the lifting mechanism 320 is used for positioning the lifting of the sealed transfer barrel 220 through the cooperation of a motor encoder and a proximity switch of the lifting mechanism 320. In the shielding protection container 210, a positioning ring 212 is further disposed between the sealing transfer barrel 220 and the lifting shielding block 211, and is used for positioning the sealing transfer barrel 220 and determining the alignment of the sealing transfer barrel 220. To prevent gaps from being present between the shielded containment 210 and the shield door 110 of the hot cell bottom 100 to affect the linkage 410 to link the lid 213 of the shielded containment 210 with the shield door 110, the mobile device 300 may further be configured with a lifting mechanism to raise the storage device 200 to eliminate the gaps between the shielded containment 210 and the shield door.

In one embodiment, a positioning device 430 is disposed on one side of the cover opening mechanism, and the other side of the positioning device 430 is connected to the storage device 200.

In one embodiment, the positioning device 430 includes an engagement mechanism, where the engagement mechanism includes an engagement positioning motor 431 and a first commutator 432, the engagement positioning motor 431 is provided with a first encoder, and the first commutator 432 is provided with a first external encoder 433.

In an embodiment, the positioning device further comprises a lifting mechanism, the lifting mechanism comprises a lifting positioning motor 434 and a second commutator 435, the lifting positioning motor 434 is provided with a second encoder, and the second commutator 435 is provided with a second external encoder 436.

Specifically, when the sealing and transferring device 420 opens the cover of the sealing and transferring bucket 220, the sealing and transferring bucket 220 needs to be positioned to determine the engagement condition of the cover of the sealing and transferring bucket 220 or to be lifted to a designated position. As shown in fig. 1 and 6, the present utility model is provided with a positioning device 430 that performs positioning using a dual encoder positioning technique. The positioning device 430 comprises a meshing mechanism for meshing and positioning the barrel cover of the sealed transfer barrel 220 and a lifting mechanism for positioning the longitudinal movement height of the barrel cover of the sealed transfer barrel 220, and can test the distance of a specified position in advance and fix the distance by arranging a motor with an encoder and an external encoder. The meshing mechanism comprises a meshing positioning motor 431 and a first commutator 432, the meshing positioning motor 431 is provided with a first encoder, and a first external encoder 433 is arranged at the first commutator 432; the lifting mechanism comprises a lifting positioning motor 434 and a second commutator 435, the lifting positioning motor 434 is provided with a second encoder, and a second external encoder 436 is arranged at the second commutator 435; the signals of the engagement and lifting action of the barrel cover are mainly feedback signals of the first external encoder 433 and the second external encoder 436, the feedback signals of the first encoder of the engagement positioning motor 431 and the feedback signals of the second encoder of the lifting positioning motor 434 are auxiliary, and the two signals are mutually calibrated and complemented for positioning. The engagement positioning motor 431 and the elevation positioning motor 434 may employ servo motors, as shown in fig. 6, and a decelerator is provided between the engagement positioning motor 431 and the first commutator 432, and between the elevation positioning motor 434 and the second commutator 435.

When the sealed transfer barrel 220 reaches a specified position, an engagement driving motor of the sealed transfer device 420 is started to engage the gripping apparatus with the barrel cover of the sealed transfer barrel 220, and after the sealed transfer barrel reaches the set position, feedback signals of the engagement positioning motor 431 with the first encoder and the first external encoder 433 are the same or have the deviation within an allowable range, and the engagement driving motor is stopped after the engagement positioning motor 431 is judged to be engaged in place; then, the lifting driving motor is started to enable the gripping apparatus to drive the barrel cover to move in a direction away from the sealed transfer barrel 220, the feedback signals of the second encoder and the second external encoder 436 are the same or have the same deviation within the allowable range, the barrel cover is judged to be lifted in place, and then the next barrel cover lateral transfer action is carried out to finish the opening of the barrel cover. The whole control process is equivalent to double closed-loop control, and the positioning control precision is high and the stability is strong.

In one embodiment, the engagement mechanism further includes a first torque limiter 437, the first torque limiter 437 being disposed between the engagement positioning motor 431 and the first commutator 432.

In one embodiment, the lift mechanism further includes a second torque limiter 438, the second torque limiter 438 being disposed between the lift positioning motor 434 and the second commutator 435.

Specifically, as shown in fig. 6, the present utility model provides a first torque limiter 437 between the meshing positioning motor 431 and the first commutator 432, and a second torque limiter 438 between the lifting positioning motor 434 and the second commutator 435. In the process of the engagement and lifting action of the barrel cover of the sealed transfer barrel 220, if a problem or a large error occurs in the in-place signal, a first torque limiter 437 and a second torque limiter 438 are arranged for protecting in order to prevent the engagement positioning motor 431 or the lifting positioning motor 434 from being output all the time and damaging equipment. The torque limiter is set with a precise torque value by a torque wrench in advance, when the torque limiter is started in excess, a signal is generated by a detection sensor, the front end of the torque limiter still has torque to keep in-place state, a motor at the rear end is equivalent to idling, the meshing positioning motor 431 or the lifting positioning motor 434 is different from feedback signals of a self-contained encoder and an external encoder, the torque limiter is judged to be in a limit position at the moment, the motor stops rotating, an alarm is sent at the same time, and the device is displayed: "danger! ". The torque limiter is operated and needs to return, and the torque limiter is restored after the motor is manually operated to rotate reversely or the rear end load is eliminated.

The automatic nuclear waste transferring device provided by the utility model can be used for transferring a storage device without nuclear waste to an interface position at the bottom of a hot chamber at a hoisting position to carry out a nuclear waste loading process; the storage device filled with nuclear waste can be transported to the interface position at the bottom of the hot chamber at the hoisting position for unloading operation.

According to the automatic nuclear waste transferring device, the storage device and the moving device of nuclear waste are automatically designed, and the shielding protection container cover of the storage device and the protection door at the bottom of the hot chamber are simultaneously opened through the linkage piece of the cover opening mechanism; the bottom of the shielding protection container is set to be a lifting shielding block, so that a lifting mechanism of the moving device can lift the sealed transfer barrel of the storage device to a butt joint interface at the bottom of the hot chamber; and opening the barrel cover of the sealed transfer barrel through the sealed transfer device to automatically barrel nuclear waste. Meanwhile, the positioning device of the utility model positions the barrel cover of the sealed transfer barrel by a double encoder feedback technology, and the technology can realize high-precision positioning and also eliminates the stability problems related to mechanical compliance, clearance and (to a certain extent) sliding.

The above embodiments are merely illustrative of the principles of the present utility model and its effectiveness, and are not intended to limit the utility model. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the utility model. Accordingly, it is intended that all equivalent modifications and variations of the utility model be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

In the description herein, numerous specific details are provided, such as examples of components and/or methods, to provide a thorough understanding of embodiments of the utility model. One skilled in the relevant art will recognize, however, that an embodiment of the utility model can be practiced without one or more of the specific details, or with other apparatus, systems, components, methods, components, materials, parts, and so forth. In other instances, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the utility model.

Reference throughout this specification to "one embodiment," "an embodiment," or "a particular embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment, and not necessarily all embodiments, of the present utility model. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any specific embodiment of the present utility model may be combined in any suitable manner with one or more other embodiments. It will be appreciated that other variations and modifications of the embodiments of the utility model described and illustrated herein are possible in light of the teachings herein and are to be considered as part of the spirit and scope of the utility model.

It will also be appreciated that one or more of the elements shown in the figures may also be implemented in a more separated or integrated manner, or even removed because of inoperability in certain circumstances or provided because it may be useful depending on the particular application.

In addition, any labeled arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise specifically indicated. Furthermore, the term "or" as used herein is generally intended to mean "and/or" unless specified otherwise. Combinations of parts or steps will also be considered as being noted where terminology is foreseen as rendering the ability to separate or combine is unclear.

As used in the description herein and throughout the claims that follow, unless otherwise indicated, "a", "an", and "the" include plural references. Also, as used in the description herein and throughout the claims that follow, unless otherwise indicated, the meaning of "in …" includes "in …" and "on …".

The above description of illustrated embodiments of the utility model, including what is described in the abstract, is not intended to be exhaustive or to limit the utility model to the precise forms disclosed herein. Although specific embodiments of, and examples for, the utility model are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present utility model, as those skilled in the relevant art will recognize and appreciate. As noted, these modifications can be made to the present utility model in light of the foregoing description of illustrated embodiments of the present utility model and are to be included within the spirit and scope of the present utility model.

The systems and methods have been described herein in general terms as being helpful in understanding the details of the present utility model. Furthermore, various specific details have been set forth in order to provide a thorough understanding of embodiments of the utility model. One skilled in the relevant art will recognize, however, that an embodiment of the utility model can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the utility model.

Thus, although the utility model has been described herein with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosures, and it will be appreciated that in some instances some features of the utility model will be employed without a corresponding use of other features without departing from the scope and spirit of the utility model as set forth. Therefore, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present utility model. It is intended that the utility model not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this utility model, but that the utility model will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the utility model should be determined only by the following claims.

Claims

1. An automatic nuclear waste transfer device, comprising:

2. The nuclear waste automatic transfer device according to claim 1, wherein the door opening mechanism includes:

3. The nuclear waste automatic transfer device according to claim 1, wherein the moving device is provided with a longitudinally moving lifting mechanism for lifting the sealed transfer cask to the bottom of the hot cell.

4. The nuclear waste automatic transfer device according to claim 3, wherein a bottom of the shielding container is provided with a lifting shielding block between the sealing transfer bucket and the lifting mechanism.

5. The nuclear waste automatic transfer device according to claim 1, wherein one side of the cover opening mechanism is provided with a positioning device, and the other side of the positioning device is connected with the storage device.

6. The nuclear waste automatic transfer device of claim 5, wherein the positioning device comprises an engagement mechanism comprising an engagement positioning motor and a first commutator, the engagement positioning motor being provided with a first encoder, the first commutator being provided with a first external encoder.

7. The nuclear waste automatic transfer device of claim 5, wherein the positioning device further comprises a lifting mechanism, the lifting mechanism comprising a lifting positioning motor and a second commutator, the lifting positioning motor being provided with a second encoder, the second commutator being provided with a second external encoder.

8. The nuclear waste automatic transfer device of claim 6, wherein the engagement mechanism further comprises a first torque limiter disposed between the engagement positioning motor and the first commutator.

9. The nuclear waste automatic transfer device of claim 7, wherein the lifting mechanism further comprises a second torque limiter disposed between the lifting positioning motor and the second commutator.

10. The automatic nuclear waste transfer device according to claim 2, wherein a fixed rail is provided on the shielding container cover, which is cooperatively connected with the link.