CN208103326U - A long tubular workpiece handling device that can work in a radiation environment - Google Patents

Abstract

The utility model discloses a long tubular workpiece handling device capable of working in a radiation environment, wherein a fixed mounting rack is provided with an X-axis movable rack driven by an X-axis driving motor, an X-axis reduction box, an X-axis driving gear and an X-axis driving rack, the upper end side of the X-axis movable rack is provided with a Y-axis movable rack driven by a Y-axis driving motor, a Y-axis reduction box, a Y-axis driving gear and a Y-axis driving rack, the upper end side of the Y-axis movable rack is provided with a rotary movable rack driven by a rotary driving motor, a rotary reduction box, a rotary driving gear and a rotary driving gear ring, the upper end part of the rotary movable rack is provided with a lifting movable rack driven by a lifting driving motor, a lifting reduction box, a lifting driving screw rod and a lifting screw rod nut, the lifting movable rack is provided with a swinging movable rack driven by a swinging driving motor, the swing movable frame is provided with a workpiece carrying hand. The utility model has the advantages of structural design is novel, degree of automation is high.

Description

A long tubular workpiece handling device that can work in a radiation environment

technical field

The utility model relates to the technical field of handling devices in radiation environments, in particular to a long tubular workpiece handling device that can work in radiation environments.

Background technique

The moderator and reflector are one of the core components of the target station. Due to the impact of radiation on the life of the component materials, these components need to be replaced every 5 years. When replacing, the moderator and the reflector need to be hoisted out of the helium container in the shielding body of the target station in sections. The upper part of the insert can be placed in a temporary shielding barrel for reuse due to its low degree of activation, while the middle and lower parts of the insert can be reused due to the low degree of activation. If the degree is higher, the helium container needs to be hoisted out one by one, transported to the top of the hot cell by using the transport shielding barrel, and then hoisted into the maintenance tooling platform of the hot cell through the hoisting hole above the hot cell, and passed through the hot cell It is dismantled, disassembled, packaged and replaced by equipment and tooling.

It should be further pointed out that during the moderator replacement process, it is necessary to remove the moderator tube and transport it to a designated place and transport the new workpiece placed in a specific area to the installation station; due to the radiation environment, it is necessary to design the corresponding Automatic handling device.

Utility model content

The purpose of this utility model is to provide a long tubular workpiece handling device that can work in a radiation environment in view of the deficiencies of the prior art. The long tubular workpiece handling device that can work in a radiation environment has a novel structure design and a high degree of automation. And it can be effectively applied to the long tubular workpiece handling operation in the radiation environment.

In order to achieve the above object, the utility model is realized through the following technical solutions.

A long tubular workpiece handling device that can work in a radiation environment. It includes a fixed mounting frame arranged horizontally and horizontally. The upper surface is screw-mounted with two X-axis guide rails arranged at left and right intervals and extending horizontally along the front and rear directions. The lower surface of the X-axis movable frame is respectively screw-mounted with X-axis roller mounting brackets corresponding to each X-axis guide rail, and each X-axis roller is installed The frames are respectively equipped with X-axis guide rollers that roll along the corresponding X-axis guide rails; the edge of the fixed mounting frame is provided with an X-axis rack mounting plate that protrudes upwards and extends horizontally along the front-to-back direction, and the X-axis rack is installed The upper surface of the plate is screwed with an X-axis drive rack extending horizontally along the front-to-back direction, and the edge of the X-axis movable frame is screwed with an X-axis drive mounting bracket located on the upper end side of the X-axis drive rack. Equipped with an X-axis drive motor, an X-axis reducer, and an X-axis drive gear, the power output shaft of the X-axis drive motor is connected to the power input shaft of the X-axis reducer, and the power output shaft of the X-axis reducer is connected to the X-axis drive Gear drive connection, the X-axis drive gear meshes with the X-axis drive rack;

The upper end side of the X-axis movable frame can be equipped with a Y-axis movable frame relative to the left and right horizontally. The upper surface of the X-axis movable frame is screwed with two Y-axis guide rails arranged at intervals before and after and extending horizontally along the left and right directions. The lower surface of the movable frame of the axis is respectively screwed with a Y-axis roller mounting frame corresponding to each Y-axis guide rail, and each Y-axis roller mounting frame is respectively equipped with a Y-axis guide roller rolling along the corresponding Y-axis rail; the edge of the X-axis movable frame The upper part is provided with a Y-axis rack mounting plate protruding upwards and extending horizontally along the left and right directions. The upper surface of the Y-axis rack mounting plate is screwed with a Y-axis drive rack extending horizontally along the left-right direction. The Y-axis is movable. The edge of the frame is screwed with a Y-axis drive installation frame located on the upper end side of the Y-axis drive rack. The Y-axis drive installation frame is equipped with a Y-axis drive motor, a Y-axis reduction box, a Y-axis drive gear, and a Y-axis drive motor. The power output shaft is drivingly connected to the power input shaft of the Y-axis reduction box, the power output shaft of the Y-axis reduction box is drivingly connected to the Y-axis driving gear, and the Y-axis driving gear is meshed with the Y-axis driving rack;

The upper end side of the Y-axis movable frame can be relatively rotatably equipped with a vertically arranged rotating movable frame, and the lower end of the rotating movable frame is provided with a disk-shaped bottom disk of the movable frame arranged horizontally, and the bottom disk of the movable frame The central position of the center position of the movable frame can be relatively rotatably installed on the Y-axis movable frame, and the outer periphery of the disc at the bottom of the movable frame is clamped with a rotating drive ring gear that rotates synchronously with the bottom disc of the movable frame; the edge of the Y-axis movable frame is screwed Equipped with a rotary drive mounting bracket located next to the rotary drive ring gear, the rotary drive mounting frame is equipped with a rotary drive motor, a rotary reducer, and a rotary drive gear, and the power output shaft of the rotary drive motor is driven by the power input shaft of the rotary reducer Connecting, the power output shaft of the rotary reduction box is drivingly connected with the rotary drive gear, and the rotary drive gear meshes with the rotary drive ring gear;

The upper end of the rotating movable frame can be equipped with a lifting movable frame relatively up and down. The rotating movable frame is equipped with a vertically arranged lifting drive screw rod corresponding to the lifting movable frame. The screw nut, the lifting drive screw and the lifting screw nut cooperate to form a screw transmission pair; the rotating movable frame is equipped with a lifting drive motor, a lifting reducer box, a power output shaft of the lifting drive motor and a lifting reducer corresponding to the lifting drive screw. The drive connection of the power input shaft of the box, and the drive connection of the power output shaft of the lift reduction box with the lift drive screw;

The side of the lifting movable frame can be relatively swingingly equipped with a swinging movable frame, and the swinging movable frame is equipped with a workpiece handling hand. The upper end of the frame is screwed with a swing drive motor beside the swing drive shaft, and the power output shaft of the swing drive motor is drivingly connected with the swing drive shaft; the upper end of the swing movable frame is screwed with a swing drive block, and the swing drive block is clamped The swing drive block and the swing drive shaft rotate synchronously on the periphery of the swing drive shaft.

Wherein, an angle sensor is installed on the upper end of the swing movable frame.

Wherein, the workpiece transporting hand is provided with two positioning pins arranged at intervals and protruding upwards respectively.

The beneficial effects of the utility model are: a long tubular workpiece handling device that can work in a radiation environment described in the utility model, which includes a fixed mounting frame arranged horizontally and horizontally, and the upper end side of the fixed mounting frame can be opposite to the front and back The X-axis movable frame is installed horizontally. The upper surface of the fixed mounting frame is screwed with two X-axis guide rails arranged at intervals from left to right and extending horizontally along the front and rear directions. The lower surface of the X-axis movable frame corresponds to each X-axis guide rail. The X-axis roller mounting frame is respectively screw-mounted, and each X-axis roller mounting frame is respectively equipped with an X-axis guide roller rolling along the corresponding X-axis guide rail; The horizontally extending X-axis rack mounting plate, the upper surface of the X-axis rack mounting plate is screwed with the X-axis driving rack extending horizontally along the front and rear directions, and the edge of the X-axis movable frame is screwed with the X-axis driving gear The X-axis driving installation frame on the upper end side of the bar, the X-axis driving installation frame is equipped with an X-axis driving motor, an X-axis reduction box, an X-axis driving gear, a power output shaft of the X-axis driving motor and a power input shaft of the X-axis reduction box Drive connection, the power output shaft of the X-axis reduction box is driven and connected with the X-axis drive gear, and the X-axis drive gear is meshed with the X-axis drive rack; the upper end side of the X-axis movable frame can be horizontally movable relative to the left and right. The upper surface of the X-axis movable frame is screw-mounted with two Y-axis guide rails arranged at intervals before and after and extending horizontally along the left and right directions, and the lower surface of the Y-axis movable frame is respectively screw-mounted with Y-axis rollers corresponding to each Y-axis guide rail. Mounting frame, each Y-axis roller mounting frame is respectively equipped with Y-axis guide rollers rolling along the corresponding Y-axis guide rail; the edge of the X-axis movable frame is provided with Y-axis teeth that protrude upward and extend horizontally along the left and right directions Bar mounting plate, the upper surface of the Y-axis rack mounting plate is screwed with a Y-axis driving rack extending horizontally along the left and right directions, and the edge of the Y-axis movable frame is screwed with a Y-axis driving rack located at the upper end side of the Y-axis driving rack. The drive mounting frame, the Y-axis drive mounting frame is equipped with a Y-axis drive motor, a Y-axis reducer, and a Y-axis drive gear. The power output shaft of the Y-axis drive motor is connected to the power input shaft of the Y-axis reducer. The power output shaft of the box is drivingly connected with the Y-axis drive gear, and the Y-axis drive gear is meshed with the Y-axis drive rack; the upper end side of the Y-axis movable frame can be relatively rotatably equipped with a vertically arranged rotary movable frame, which rotates The lower end of the movable frame is provided with a disk-shaped bottom disc of the movable frame arranged horizontally, and the center position of the bottom disc of the movable frame can be relatively rotatably installed on the Y-axis movable frame through a pivot shaft. The peripheral sleeve has a rotary drive ring gear that rotates synchronously with the disc at the bottom of the movable frame; the edge of the Y-axis movable frame is screwed with a rotary drive mounting bracket that is located next to the rotary drive ring gear, and the rotary drive mounting frame is equipped with a rotary drive. The motor, the rotary reduction box, the rotary drive gear, the power output shaft of the rotary drive motor is drivingly connected to the power input shaft of the rotary reducer, the power output shaft of the rotary reducer is drivingly connected to the rotary drive gear, the rotary drive gear is connected to the rotary drive ring gear The upper end of the rotating movable frame can be equipped with a lifting movable frame relatively up and down, and the rotating movable frame corresponds to The lifting movable frame is equipped with a vertically arranged lifting driving screw rod, and the lifting movable frame is equipped with a lifting screw nut corresponding to the lifting driving screw screw, and the lifting driving screw rod and the lifting screw nut are matched to form a threaded rod transmission pair; The movable frame is equipped with a lifting drive motor and a lifting gear box corresponding to the lifting drive screw rod. The power output shaft of the lifting drive motor is drivingly connected with the power input shaft of the lifting gear box, and the power output shaft of the lifting gear box is drivingly connected with the lifting drive screw rod. The side of the lifting movable frame can be relatively swingingly equipped with a swinging movable frame, and the swinging movable frame is equipped with a workpiece handling hand. The upper end of the movable frame is screwed with a swing drive motor beside the swing drive shaft, and the power output shaft of the swing drive motor is drivingly connected with the swing drive shaft; the upper end of the swing movable frame is screwed with a swing drive block, and the swing drive block sleeve It is clamped on the periphery of the swing driving shaft and the swing driving block rotates synchronously with the swing driving shaft. Through the above structural design, the utility model can be effectively applied to the long tubular workpiece handling operation in the radiation environment, that is, the utility model has the advantages of novel structural design and high degree of automation.

Description of drawings

The utility model is further described below using the drawings, but the embodiments in the drawings do not constitute any limitation to the utility model.

Fig. 1 is the structural representation of the utility model.

FIG. 2 is a partially enlarged schematic diagram of the position "A" shown in FIG. 1 .

Fig. 3 is a structural schematic diagram of another viewing angle of the utility model.

FIG. 4 is a partially enlarged schematic diagram of the position "B" shown in FIG. 3 .

FIG. 5 is a partially enlarged schematic view of the position "C" shown in FIG. 3 .

In Figures 1 to 5 include:

1——fixed mounting frame 2——X-axis movable frame

31——X-axis guide rail 32——X-axis roller mounting frame

33——X-axis guide roller 34——X-axis rack mounting plate

35——X-axis drive rack 36——X-axis drive mounting bracket

37——X-axis drive motor 38——X-axis reducer

39——X-axis drive gear 4——Y-axis movable frame

51——Y-axis guide rail 52——Y-axis roller mounting frame

53——Y-axis guide roller 54——Y-axis rack mounting plate

55——Y-axis drive rack 56——Y-axis drive mounting bracket

57——Y axis drive motor 58——Y axis reducer

59——Y-axis driving gear 6——rotating movable frame

61——The disc at the bottom of the movable frame 71——The rotating drive ring gear

72——rotary drive mounting bracket 73——rotary drive motor

74——rotary reduction gearbox 75——rotary drive gear

81——Elevating movable frame 82——Elevating drive screw rod

83——Elevating screw nut 84——Elevating drive motor

85——lifting reducer 91——swing movable frame

92——swing drive shaft 93——swing drive motor

94——Swing drive block 100——Workpiece handling hand

101——locating pin.

Detailed ways

The utility model will be described below in conjunction with specific embodiments.

As shown in Figures 1 to 5, a long tubular workpiece handling device that can work in a radiation environment includes a fixed mounting frame 1 arranged horizontally and horizontally. An X-axis movable frame 2 is provided, and the upper surface of the fixed mounting frame 1 is screwed with two X-axis guide rails 31 arranged at intervals from left to right and extending horizontally along the front and rear directions respectively. The lower surface of the X-axis movable frame 2 corresponds to each X-axis guide rail 31 are respectively screwed with X-axis roller mounts 32, and each X-axis roller mounts 32 are respectively equipped with X-axis guide rollers 33 rolling along the corresponding X-axis guide rails 31; Out and along the X-axis rack mounting plate 34 extending horizontally in the front-to-back direction, the upper surface of the X-axis rack mounting plate 34 is screwed with an X-axis driving rack 35 extending horizontally in the front-to-back direction, and the X-axis movable frame 2 The edge portion is screwed with an X-axis drive installation frame 36 positioned at the upper end side of the X-axis drive rack 35, and the X-axis drive installation frame 36 is equipped with an X-axis drive motor 37, an X-axis reduction box 38, and an X-axis drive gear 39. The power output shaft of the shaft drive motor 37 is drivingly connected with the power input shaft of the X-axis reduction box 38, and the power output shaft of the X-axis reduction box 38 is drivingly connected with the X-axis driving gear 39, and the X-axis driving gear 39 is connected with the X-axis driving rack 35 meshed.

Further, the upper end side of the X-axis movable frame 2 can be equipped with a Y-axis movable frame 4 relatively horizontally and horizontally. The Y-axis guide rail 51, the lower surface of the Y-axis movable frame 4 corresponds to each Y-axis guide rail 51, and the Y-axis roller mounting frame 52 is respectively screwed, and each Y-axis roller mounting frame 52 is respectively equipped with a roller that rolls along the corresponding Y-axis guide rail 51. The Y-axis guide roller 53; the edge of the X-axis movable frame 2 is provided with a Y-axis rack mounting plate 54 that protrudes upwards and extends horizontally along the left-right direction, and the upper surface of the Y-axis rack mounting plate 54 is screwed. Along the Y-axis drive rack 55 extending horizontally in the left-right direction, the edge of the Y-axis movable frame 4 is screwed with a Y-axis drive mounting bracket 56 located at the upper end side of the Y-axis drive rack 55, and the Y-axis drive mounting frame 56 is installed There are Y-axis drive motor 57, Y-axis reduction box 58, Y-axis drive gear 59, the power output shaft of Y-axis drive motor 57 is drivingly connected with the power input shaft of Y-axis reduction box 58, and the power output shaft of Y-axis reduction box 58 It is drivingly connected with the Y-axis driving gear 59 , and the Y-axis driving gear 59 is meshed with the Y-axis driving rack 55 .

Furthermore, the upper end side of the Y-axis movable frame 4 can be relatively rotatably equipped with a vertically arranged rotating movable frame 6, and the lower end of the rotating movable frame 6 is provided with a disk-shaped bottom circle of the movable frame arranged horizontally. Disk 61, the central position of the disc 61 at the bottom of the movable frame can be relatively rotatably installed on the Y-axis movable frame 4 through a pivot shaft, and the outer periphery of the disc 61 at the bottom of the movable frame is locked with a rotation that rotates synchronously with the bottom disc 61 of the movable frame. Drive ring gear 71; The edge portion of Y-axis movable frame 4 is screw-equipped with the rotation drive installation frame 72 that is positioned at the side of rotation drive ring gear 71, and rotation drive installation frame 72 is equipped with rotation drive motor 73, rotation reduction box 74, rotation Drive gear 75, the power output shaft of the rotary drive motor 73 is drivingly connected with the power input shaft of the rotary reduction box 74, the power output shaft of the rotary reduction box 74 is drivingly connected with the rotary drive gear 75, and the rotary drive gear 75 is connected with the rotary drive ring gear 71 Mesh.

In addition, the upper end of the rotating movable frame 6 can be equipped with a lifting movable frame 81 relatively up and down. The lifting drive screw 82 is screwed with a lifting screw nut 83, and the lifting drive screw 82 cooperates with the lifting screw nut 83 and forms a screw drive pair; the rotating movable frame 6 is equipped with a lifting drive motor 84 corresponding to the lifting drive screw 82 , lifting reduction box 85, the power output shaft of lifting drive motor 84 is drivingly connected with the power input shaft of lifting reduction box 85, and the power output shaft of lifting reduction box 85 is drivingly connected with lifting drive screw mandrel 82.

In addition, the side of the lifting movable frame 81 can be equipped with a swinging movable frame 91 relatively swingingly, and the swinging movable frame 91 is equipped with a workpiece handling hand 100, and the corresponding swinging movable frame 91 of the upper end of the lifting movable frame 81 can rotate relatively. The ground is equipped with a swing drive shaft 92, and the upper end of the lifting movable frame 81 is screwed with a swing drive motor 93 beside the swing drive shaft 92, and the power output shaft of the swing drive motor 93 is driven and connected with the swing drive shaft 92; The upper end of the frame 91 is screw-mounted with a swing drive block 94 , which is sleeved on the periphery of the swing drive shaft 92 and rotates synchronously with the swing drive shaft 92 .

Wherein, the upper end of the swing movable frame 91 is equipped with an angle sensor.

It should be further pointed out that the workpiece handling hand 100 is provided with two positioning pins 101 arranged at intervals and protruding upwards respectively.

It should be explained that the utility model is equipped with a corresponding controller, which can be a PLC controller, and the utility model's X-axis drive motor 37, Y-axis drive motor 57, rotation drive motor 73, lifting drive motor 84 , the swing drive motor 93, and the angle sensor are respectively electrically connected to the controller.

In the working process of the utility model, the X-axis driving motor 37 drives the X-axis driving gear 39 to rotate after being decelerated by the X-axis reduction box 38. Since the X-axis driving gear 39 meshes with the X-axis driving rack 35, the rotating X-axis drives The gear 39 drives the rack 35 to roll along the X-axis. During this process, the X-axis movable frame 2 cooperates with the X-axis guide roller 33 and the X-axis guide rail 31 to realize forward and backward movement guidance. Similarly, during work, the Y-axis drive motor 57 drives the Y-axis drive gear 59 to rotate after being decelerated by the Y-axis reduction box 58. Since the Y-axis drive gear 59 meshes with the Y-axis drive rack 55, the rotating Y-axis drive gear 59 The rack 55 is driven to roll along the Y-axis. During this process, the Y-axis movable frame 4 cooperates with the Y-axis guide roller 53 and the Y-axis guide rail 51 to realize left and right movement guidance.

For the rotary movable frame 6 of the present utility model, in the process of its rotary activity, the rotary drive motor 73 drives the rotary drive gear 75 to rotate after being decelerated by the rotary reduction box 74, because the rotary drive gear 75 is in phase with the rotary drive ring gear 71 Engaging, under the premise that the rotary drive gear 75 rotates, the rotary drive ring gear 71 rotates with the rotary drive gear 75, and the rotary drive ring gear 71 drives the movable frame bottom disk 61 to rotate synchronously, and then realizes the rotary motion of the rotary movable frame 6 . Wherein, the rotary drive gear 75 of the utility model is a pinion, and the rotary drive ring gear 71 is substantially a large gear, that is, the gear transmission mechanism composed of the rotary drive gear 75 and the rotary drive ring gear 71 is substantially a reduction gear set structure.

For the lifting movable frame 81 of the present utility model, in the process of its lifting activity, the lifting driving motor 84 drives the lifting driving screw 82 to rotate after being decelerated by the lifting reduction box 85, and the rotating lifting driving screw 82 drives the lifting screw. Nut 83 moves up and down, and the lifting screw nut 83 that moves up and down drives lifting movable frame 81 and moves up and down synchronously.

For the swinging movable frame 91 of the present utility model, in the process of its swinging activity, the swinging drive motor 93 drives the swinging drive shaft 92 to rotate, and the rotating swinging drive shaft 92 drives the swinging drive block 94 to rotate synchronously, and the rotating swinging drive block 94 rotates synchronously. 94 drives the swing movable frame 91 to swing synchronously. During this process, the angle sensor sends the angle signal of the swing movable frame 91 to the controller in real time, so as to realize the precise control of the swing angle.

During the process of the utility model carrying out the long tubular workpiece handling operation under the radiation environment, the X-axis drive motor 37 drives the X-axis movable frame 2 to move horizontally back and forth, and the Y-axis drive motor 57 drives the Y-axis movable frame 4 to move horizontally from side to side, so as to The workpiece handling hand 100 is moved horizontally to the handling position; after the workpiece handling hand 100 is horizontally moved in place, the rotating drive motor 73 drives the rotating movable frame 6 to rotate, so that the workpiece handling hand 100 is horizontally rotated to the handling position; when the workpiece handling hand 100 is horizontally After rotating to the handling position, the lifting drive motor 84 drives the lifting movable frame 81 to move up and down, so that the workpiece handling hand 100 moves up and down to the handling position; in addition, the utility model can adjust the angle of the workpiece handling hand 100 according to the handling position, specifically , the swing drive motor 93 drives the swing drive block 94 to rotate through the swing drive shaft 92, and the swing drive block 94 rotates to drive the swing movable frame 91 to rotate, thereby adjusting the angle of the workpiece handling hand 100.

For the workpiece handling hand 100 of the present invention, when the workpiece handling hand 100 touches the workpiece, the workpiece handling hand 100 cooperates with the corresponding positioning hole of the workpiece through the positioning pin 101 to realize the positioning of the workpiece handling.

Based on the above situation, it can be seen that through the above structural design, the utility model can be effectively applied to the long tubular workpiece handling operation in the radiation environment, that is, the utility model has the advantages of novel structural design and high degree of automation.

The above content is only a preferred embodiment of the present utility model. For those of ordinary skill in the art, according to the idea of the present utility model, there will be changes in the specific implementation and scope of application. The content of this specification should not be understood as Limitations on the Invention.

Claims (3)

1. A long tubular workpiece handling device that can work in a radiation environment, characterized in that it includes a fixed mounting frame (1) arranged horizontally and horizontally, and the upper end side of the fixed mounting frame (1) can move horizontally relative to the front and back An X-axis movable frame (2) is installed, and the upper surface of the fixed mounting frame (1) is screw-mounted with two left and right intervals and respectively horizontally extending X-axis guide rails (31) along the front and rear directions, and the X-axis movable frame (2 The lower surface of each X-axis guide rail (31) is respectively threaded with X-axis roller mounts (32), and each X-axis roller mount (32) is respectively equipped with X-axis rollers that roll along the corresponding X-axis guide rails (31). Axis guide rollers (33); the edge of the fixed mounting frame (1) is provided with an X-axis rack mounting plate (34) that protrudes upwards and extends horizontally along the front-to-back direction, and the X-axis rack mounting plate (34) The upper surface is screwed with an X-axis driving rack (35) extending horizontally along the front-to-back direction, and the edge of the X-axis movable frame (2) is screwed with an X-axis driving device located on the upper end side of the X-axis driving rack (35). Frame (36), the X-axis drive mounting frame (36) is equipped with the X-axis drive motor (37), the X-axis reduction box (38), the X-axis drive gear (39), the power output of the X-axis drive motor (37) The shaft is drivingly connected to the power input shaft of the X-axis reduction box (38), the power output shaft of the X-axis reduction box (38) is drivingly connected to the X-axis driving gear (39), and the X-axis driving gear (39) is connected to the X-axis driving gear Bar (35) is meshed; The upper end side of the X-axis movable frame (2) can be equipped with a Y-axis movable frame (4) horizontally and horizontally relative to the left and right. The Y-axis guide rail (51) that extends horizontally in the direction, the lower surface of the Y-axis movable frame (4) corresponds to each Y-axis guide rail (51) and the Y-axis roller mounting frame (52) is screwed respectively, and each Y-axis roller mounting frame (52 ) are respectively equipped with Y-axis guide rollers (53) rolling along the corresponding Y-axis guide rails (51); the edge of the X-axis movable frame (2) is provided with a Y-axis that protrudes upward and extends horizontally along the left-right direction The rack mounting plate (54), the upper surface of the Y-axis rack mounting plate (54) is screwed with the Y-axis driving rack (55) extending horizontally along the left-right direction, and the edge portion of the Y-axis movable frame (4) is screwed. A Y-axis drive installation frame (56) positioned at the upper end side of the Y-axis drive rack (55) is installed, and the Y-axis drive installation frame (56) is equipped with a Y-axis drive motor (57), a Y-axis reduction box (58), The Y-axis driving gear (59), the power output shaft of the Y-axis driving motor (57) is drivingly connected with the power input shaft of the Y-axis reduction box (58), and the power output shaft of the Y-axis reduction box (58) is connected with the Y-axis driving gear (59) drive connection, the Y-axis drive gear (59) meshes with the Y-axis drive rack (55); The upper end side of the Y-axis movable frame (4) is relatively rotatably equipped with a vertically arranged rotating movable frame (6), and the lower end of the rotating movable frame (6) is provided with a disc-shaped movable frame arranged horizontally Bottom disk (61), the central position of the bottom disk (61) of the movable frame can be relatively rotatably installed on the Y-axis movable frame (4) through the pivot shaft, and the peripheral cover of the bottom disk (61) of the movable frame is clamped with The rotary drive ring gear (71) that rotates synchronously with the disc (61) at the bottom of the movable frame; the edge of the Y-axis movable frame (4) is screwed with a rotary drive mounting bracket (72) located next to the rotary drive ring gear (71) , the rotary drive mounting bracket (72) is equipped with a rotary drive motor (73), a rotary reduction box (74), a rotary drive gear (75), a power output shaft of the rotary drive motor (73) and a rotary reduction box (74) The power input shaft is driven and connected, the power output shaft of the rotary reduction box (74) is driven and connected with the rotary drive gear (75), and the rotary drive gear (75) meshes with the rotary drive ring gear (71); The upper end of the rotating movable frame (6) can be equipped with a lifting movable frame (81) relatively up and down, and the rotating movable frame (6) is equipped with a vertically arranged lifting drive screw rod (81) corresponding to the lifting movable frame (81). 82), the lifting movable frame (81) corresponding to the lifting driving screw (82) is screwed with a lifting screw nut (83), and the lifting driving screw (82) cooperates with the lifting screw nut (83) to form a screw transmission pair The rotating movable frame (6) is equipped with a lifting drive motor (84), a lifting gear box (85) corresponding to the lifting drive screw mandrel (82), and the power output shaft of the lifting drive motor (84) and the lifting gear box (85) The power input shaft is driven and connected, and the power output shaft of the lifting reduction box (85) is driven and connected with the lifting drive screw rod (82); The side of the lifting movable frame (81) can be equipped with a swinging movable frame (91) relatively swingingly, and the swinging movable frame (91) is equipped with a workpiece handling hand (100), and the upper end of the lifting movable frame (81) is correspondingly swinging The movable frame (91) is relatively rotatably equipped with a swing drive shaft (92), and the upper end of the lifting movable frame (81) is screwed with a swing drive motor (93) on the side of the swing drive shaft (92). The power output shaft of the motor (93) is drivingly connected with the swing drive shaft (92); the upper end of the swing movable frame (91) is screwed with a swing drive block (94), and the swing drive block (94) is sleeved on the swing drive shaft ( 92) and the swing drive block (94) rotates synchronously with the swing drive rotating shaft (92). 2. A long tubular workpiece handling device capable of working in a radiation environment according to claim 1, characterized in that: an angle sensor is installed on the upper end of the swing movable frame (91). 3. A long tubular workpiece handling device that can work in a radiation environment according to claim 2, characterized in that: the workpiece handling hand (100) is provided with two spaced apart and protruding upwards respectively dowel pin (101).