CA1072497A - Crane apparatus - Google Patents

Abstract

ABSTRACT OF THE DISCLOSURE

Systems, apparatus and methods are disclosed for disposing of radioactive waste materials by placing them into a container such as a steel drum, together with cement or other solidifying agent and water or other suitable liquid in amount sufficient to provide eventually a solidified mixture of predetermined amounts of cement or other solidify-ing agent and radioactive material, closing the drum, agitat-ing the mixture in the drum for mixing the contents, and then storing the drum for at least a period of time sufficient to permit partial decay of radioactive materials or to await available time for shipment. Also disclosed are remotely controlled apparatus for handling both empty and filled drums, for placing the drums in and removing drums from enclosed drumming equipment where they have been filled and agitated, for accurately placing the drums containing radioactive material in storage, and for removing the drums from storage and loading them on a vehicle for transportation. All of these operations are done by remote control with a high degree of safety to the operators and maintenance personnel from radiation and freedom of the ambience from radiation pollution.

Description

7f~497 This invention relates -~o apparatus and method for disposti-tion of radioactive waste materi~ls.
While the invention may be used Eor the packaging and disposition of various -types of radioac-tive or chemically dangerous wastes, it can be exceptionally advantageously employed in the disposition of radloactive wastes as they occur in nuclear electric power generating stations.
In known boiling water reac-tor plants, water is passed through the nuclear reactor through suitable conduits and is heated and converted to steam by the heat of the reactor. This steam passes through a turbine tha-t drives an electric generator, then is recondensed and re-turned to the reactor to be reheated and converted into steam and so on~.
This is a closed system.
In pressurized water reactor systems, there is a ~irst closed conduit loop extending through the nuclear reactor and then outside the reactor where it passes through a heat exchanger. The body of water or other liquid in the first closed loop is heated by the nuclear reactor, but the liquid is kept at such a high pressure, usually several - thousand pounds per square inch, that it is not converted into s-team or vapor. There is a second closed conduit loop carrying a body of water that extends through the heat exchanger out of contact with the liquid in the first loop.
The water in this second circuit is heated by transfer of ~ heat from the liquid in the first circuit and thereby converted into steam which passes in the usual manner throu~h a turbine driving an electric generator after which the steam is condensed and returned to the heat exchanger where it is again reheated.
In each such system water of the greatest possible purity is used. Nevertheless, rninor amounts of impuri-ties

-2~

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)7291~'7 are pre~ent in the water initially introduced into the conduits. Further impurities appear because of the action of the water on the me-tal of pipes and conduits through `
which it passes. These impurities may become radioactive~
particularly in water that passes through the reactor Traces of cobalt leached out of stainless steel piping are particularly troublesome, since cobalt develops an intense form of radioaetivity having a long half life.
In both boiling water and pressurized water reac-tors, it is a practice to subject the water to cleaning action by passing it through beds of ion-exchange resins.
Such resins are of known composition. In general, they act similarly to natural or synthe-tic materials used in commer-cial water treating equipment. Through chemical and filter-ing action, ~hey remove dissolved and suspended impurities, thus maintaining ~he water at the desired high purity.
Otherwise the accumulation of impurities could result in scaling on the heat transfer surfaces, which would result in loss o~ efficiency or di~ficulty in operations. Resin parti-cles of one type widely used for this purpose are those approximately 20 mesh in size. Resin particles of another widely used type are much smaller, approximating 300 mesh in size.
The contaminated resins of either type are removed fr~m the water treating vessel by sluicing them out with water. The resulting slurry or dispersion is collec-ted in a waste resin tank at the plant. The apparatus disclosed hereafter is particularly well adapted to disposition of this type of radioactive slurry.
Another type o~ radioactive waste material that may be handled by the present invention is known as "evapor-ator bo-ttoms". These include concentrated li.quid wastes _3~

~0~7~249~

Erom -the plant, ~,uch as solutlons containing borlc acid, borax, sodium sulphate and the like which are used in the control of the reactor or Eor washdown of equipment for decontamination. Evaporator bot~oms are also obtained from the collected wa~er that is used for washing down portions of equipment or plant, wash water for employees, and chemi-cal laboratory liquid wastes. This ~ater containing radio-active impurities is temporarily stored and periodically portions of it are evaporated, leaving a solution or disper-sion containing reactive materials in water that are kno~nas "evaporator bottoms", Stringent laws, rules and regulations govern the disposition of radioactive wastes and their transportation over highways, on railroads and by other modes of transpor-tation. In general, the material must be shielded so that radiations emanating ~rom the material do not exceed maximum levels established by ~he~laws and regulations. Furthermore, it is desired that in a case of an accident causing dumping of a radioactive load, there should be no fluidic materials that can penetrate the ground or mix with streams or ground water and cause radioactive contamination. It has therefore been proposed to provide a~mixture of resin particles con-taining radioactive material, cement as a solidifying agent, and water in a container such as a steel drum, and to allow the mixture to solidify in the drum.
However, prior systems for putting radioactîve materials into a drum or other container in general require that operators and maintena~ce personnel be exposed to radia-tion, even though such system may be intended to protect personnel. For example, -the operators in many cases must go into areas containing radiation to open drums or close them or to insert nozzles ln the drums or to handle the ,~, ,' ~1~'7~Z49~

drums in s-tordge. In some s~stems ~ln operator m~ stand behind a shield wall, but Must extend his arms into a radio-active zone, and e~pose his ~ead to see, to connect pipes for feeding radioactive material. If spills occur, the operator must go into the radioactive zone to clean up spills. In prior opera-tions where drums are s-tacked in multiple la~ers in decay storage areas, the operator must often go into such areas to place planks between the layers. Maintenance men must go into radioactive areas to work on equipment requir-ing maintenance at intervals,ssuch as conveying equipment,motors, and switches. The total amount of radiation -to which personnel can be safely eY~posed is limited by physio-logical reasons; therefore, personnel must be controlled as to their duties, and the amount of radiation to which they are exposed frequently checked to avoid their exposure to an excessive amount of radiation tha-t can adversely affec-t health. Moreover, in operation of the nuolear plant, if an emergency should arise correction of which would require exposure of operators or maintenance men to radi~tion during a time when all available men had reached their limits of radiation tolerance, a shutdown of the plant might be neces-sary or other adverse consequences might result because of lack of operators or maintenance men having safe radiation tolerances.
Moreover, prior systems do not in general provide desired close control to insure that proper amounts of radioactive material, cement, or water are put in-to -the drum to insure proper solidification of drum contents. It is imperative to avoid improper loading of the drum or mixing of drum contents.
Moreover, prior systems can on occasion 5piIl radioactive materials on the outside of the drums or on -the 7Z~7 floor. If the 5pill iS on the drum, it is necessary to decontaminate the drum prior -to shipmen-t. I~ the spill is on -the floor, then a certain amount of dust can be generated as the material dries. Such dust, which is radioactive, could ~ind its way through the plant and thus make the plant unsafe because of radioactivity. Spilled materials also can collect in floor drains and clog them. Prior systems for putting radioactive material into drums in general have loaded drums in an open space, so there was no way of con-taining or taking care of the problems caused by spills ofradioactive material.
Some previous systems have numerous operating mechan-ical parts requiring periodic maintenance, swch as motors and electrical switches, in radioactive areas. Maintenance of such equipment can expose personnel to considerable radia-tion.
Previous equipment loads drums containing radio~
active material onto trucks or casks in a haphazard fashion, and thus, not loading the -truck or ~ask to full capacity, would lose lading and could cause damage to the drums or drum enclosure.
Previous system, because of loss of electrical power or air pressure or improper handling of the drum hand-ling means, could topple a drum or cause irregularities in operation which could cause spillage of radioactive material.
Previous systems did not provide for an accurate weight of resin to a weight of cement ratio in order to insure that the drum contents would be properly solidified with ~he most economical use of cement and with the lowest transporta-tion costs. ~n prior systems that filter the resin in the drums to remove water, costs are understandabl~ higher for the drum because of the added equipment contained therein.

Some prior systems mi~ radioactive resins, cement ; .,: . , ,. :, . . ,:

~nd water in a mixture outside o-E a dru~. This involves exposuxe of considerable amounts of eqUipment to radioactiv-ity and possibilities o~ considerable exposure of personnel to radioactivity. Moreover, the mixer must be cleaned after each use, which is. difficult because the cement sticks to the mixer; moreover, the mixer will become radioactive and hence unsafe in time considerable shorter than the life of the plant, necessitating replacement expense.Some prior systems mix these materials in the drum; but if an open top drum is used, considerable spillage occurs during the mi~ing, and if the drum is rolled about its lengthwise axis to mix its contents a core of poorly mixed materials is formed in the center of the drum.
Most if not all prior systems lack fail-safe features to prevent unsafe conditions in the event of fail-ure o~ operations of any portion of the equipment.
It is a general object of the present invention to overcome the above and other problems relating to the disposition of radioactive waste materials. Another object is to provide apparatus and methods for moving containers into the filling and mixing location, moving the containers into storage and accurately locating them there, moving them out o~`storage to another location such as on a transportation --vehicle and locating them there, and for recovering a container i~ it should upset; and apparatus and methods that can eliminate undesired radiation from areas in which personnel work. A further object is to provide apparatus for carrying out such operations by remote control so personnel need not be exposed to radiation during operations and to very little lf any radiation during maintenance oE
equipment. A further object is provision of apparatus which can be easily repaired or maintained with little if any exposure of personnel or surrounding environment to hazardous radiation.

sm/~c _ 7 _ , . 107:~9'7 Another object is to provlde apparatus that has fail-safe ~ea~ures that prevent the development of dangerous or unsafe conditions in the event of failure of operation of the apparatus as because of failure of power, air pressure of other energy source.
This application is a division o~ application Serial number 151,515, filed September 12th 1972.
To accomplish these and other objects, the parent invention provides apparatus for packaging fluent material such as dangerous or radioactive liquids slurries without direct human handling, comprising movable supporting means controllable by remote control for supporting and moving a container into any of a plurality of preselected locations, the container having an opening initially closed by removableclosure means; means controllable by remote control, while the container is in a preselected location, for removing the closura means from said container, retaining the closure means, and replacing the closure means on the container to close the opening after the container has fluent material introduced therein; means controllable b~ remote control for introducing into the container an amount of the fluent material while the container is in a different pres~lected location;
and means controllable by remote control for agitating the container to mix the contents of the container while the opening of the container is closed by the closure means and while the container is in a preselected lo~ation different fron the one in which the closure means is removed and replaced, the movable supporting means supporting the container at all times while it is so moved and located in each of the preselected locations and also while the container is being agitated.
The parent invention also provides a process of packaging fluent material without direct human handling, sm/~c - 8 -;

comprising moving a con-tainer into preselected loc~tion, the container having an opening initially closed by rernovable closure means; removing and retaining the closure means from the opening of the container while the container is in a pre-selected location providing in the container through the open-ed opening while the container is in a different preselected location an amount of the fluent material; closing said con-tainer by replacing the same closure means to close the open-ing while the container is in the preselected location in which the closure means was removed and retained; agitating the con-tainer to mix the content thereof while the container is in a preselected location different from the one in which the clos-ure means was removed, retained and replaced; and thereafter removing the container.
The present invention, on the other hand, compliments the parent invention and consists in the provision of crane apparatus comprising a trolley; means for supporting said trolley for transverse movement to a variety of locations;
means for moving said trolley transversely to said locations, ; .-operation of said means being controllable from a fixed control location off of and remote from said trolley and said means for supporting said trolley; indicia means offset from said trolley designating at least one fixed location at which the trolley is to be located; means carxied by said trolley and means at said fixed control location for indicating at said fixed control location the position of said trolley with re-spect to said indicia means; means at said fixed control lo-cation for controlling operation of said means for moving said trolley transversely to cause movement of said trolley in ac-cordance with its position relative to the indicia means asindicated by said indicating means; means for holding an object to be lifted by said trolley; and hoist means on said trolley for raising and lowering said holding means, said hoist means being adapted -to raise and lowex said holding means in such a _9~

3~
manner that said holding means is a-t all times in the same transversa location relative to said trolley means.
These and other objects and features of the invention will be apparent from the following description of a preferred embodiment of the invention in connection -9a-~L~7~4~7 with the accompanyi.n~ drawi.ngs in which:
Figure 1 is a plan section along line 1-1 of Figure 2, of a building and internal equipment embodying the present invention and for carrying out processes of -the in-vention, the scale being much smaller than full size;
Figure 2 is a section along line 2~2 of Figure 1 and to the same scale;
Figure 3 is a section along line 3-3 of Figure 1 and to the same scale;
Figure 4 is a plan section along line 4-4 oî
Figure 2 and to a somewhat larger scale showing the over-head crane apparatus, the crane being in a somewhat differ-ent position than in Figure 2;
Figure 5 is a section along line 5~5 of Figure 4 and to the same scale showing the crane apparatus, portions of the apparatus of Figures 1, 2 and 3 being broken away for the sake of clearness;
Figure 6 is a sectional view along ~ine 6-6 of Figure 4;
Figure 7 is a plan o* the trolley of the crane apparatus along line 7-7 of Figure 5 and to a considerably larger scale;
Figure 8 is a detail, along line 8-8 of Figure 7, showing means for automatically limiting and halting upward movement of -the grab carried by the trolley;
Figure 9 is a view from line 9-9 of Figure 7 and to the same scale;
Figure 10 is a view from line 10-10 of Figure 7 and to the same scale;
Figure 11 is a view to a considerably larger scale of means for driving wheels of the tro].ley;
Figure 12 is a view along ].ine 12-12 of Figure 7 _10--: . .
.: .. ... . ..

~07Zg~7 and -to a consi~er~bl~J lar~er scale showing the -transmission box for the driving ~eans o:F the trolley;
Figure 13, on the same sheet as Figure 6~ ~6 a view along line 13-13 of Figure 4 but to a smaller scale than Fig-ure 12, showing driving means for ~heels of the crane bridge, parts being omi-tted for clarity;
Figure 1l~ is a view along line 14-14 of Figure 7 showing a portion of the means for hoisting,the crane grab, Figure 15 is a view of the means for hoisting the grab, from line 15 15 of Figure 7; ~::
Figure 16 is a section along line 16-16, Figure 7;
Figure 17 is a view from line 17-17 of Figure 7;
Figure 18 is a plan view of the grab of the over-head crane, with the cover removed, the scale being consider~
ably larger than that of the preceding Figures; ;
Figure 19 is a section along line 19~19 of Figure 18;
Figure 20, on the same sheet as Figure 18, is a sectDon along line 20-20 of Figure 18 and to a larger scale showing limit switch means for controlling rotational move-ment of a portion of the grab;
Fig. 21, on the same sheet as Figure 18, is a section along line 21-21 of Figure 1 showing limit sw.itch means for limiting vertical movement of a part for actuating the fingers of the grab;
Figure 22, on the same sheet as Figure 19, is a de-tail along line 22-22 of Figure 18 showing guide members on the grab engaging guide members on the trolley to locate the grab in its uppermos-t position laterally relative to the trolley;
Figures 23 to 27 inclusive show how the television camera on the grap can be used -to locate the height of the grab above a drum, figures 24 to 27 inclusive partlcularly .. . :. - ~

- ~7Z497 showing the view on -the televl5ion monitor screen;
Figure 2 8 is a view lookin~ upw~rdly to sho~ the in-dicating means that is viewe~ by the -television screen on the trolley to locate -the position of the trolley;
Figure 29 is an enlarged detail showing one of the indicators of Figure 28;
Figure 30 is a view of drumming appara-tus in the drum-ing station, from line 30 30 of Figure l and to a scale con-siderably larger than that of Figure 1;
Figure 31 is a side view of the drumming apparatus of Figure 28, parts being broken away to show the interior mechanism in the housing;
Figure 32 is a plan view along line 32-32 of Figure 30 and to a somewhat larger scale, parts, mostly piping, being omitted for the sake of clarity;
Figure 33 is a side elevation of the lower portion of the drumming apparatus, in general corresponding to the side elevation of Figure 32;
Figures 34A and 34B show to an enlarged scale and in plan the cradle frame and cradle, as well as associated appar-atus for holding the drum in the drumming apparatus;
Figure 35 is a detail to a still larger scale, show-;~
ing means for securing the cradle frame in each elevated pos-ition, the view of the securing pin being generally from line 35-35 of Figure 34A;
Figure 36 is a section through the cap-handling means for unscrewing a cap of a drum, holding it until it is desired to insert it again, and for re inserting and tightly screwing in the cap of a drum, the scale being considerably larger than that of Figures 30-33;
Figure 37~ in the same sheet as Figure 33, is a sec-tion along line 37-37 of Figure 36;

Figure 38, on -the same shee-t as Figure 33, is a ~7;~497 section al.ong line 38-38 of Figure 36;
Figure 39 is an enlarged plan view of the filler nozzle for filling a drum while it is in the drumming apparatus;
Figure 40 is a sect:ion along line 40-40 of Figure 39;
Figure 41 is a sectional elevation along line 41-41 :~;
of Figure 31 and to a considerably larger scale, of two liquid level sensors for the decanting tank;
Figure 42 is a view along line 42-42 of Figure 41 -~
10 and to the same scale;
Figure 43 is a section along line 43-l~3 of Figure 41 and to the same scale;
F~gure 44 is an enlarged vertical sec-tion of one of the metering pumps of the invention, along line 44-44 of Fig-ure 4S;
Figure 45 is an end elevation of the pump of Figure 41; ~ :
Figure 46 is an enlarged section of a portion of one of the valve mechanisms o~ the metering pump;
Figure 47 is a schematic piplng diagram for a drum-ming station;
Figure 48 is a face view of a record board for re-cording the locations of drums in the equipment;
Figure 49 is an enlarged view showing one of the tags that can be used on the record board to record information per- .
taining to a drum and its location~
Figures 50 and 51 are side and front views of the ~
control console equipment~ shown in Figure 1 in the control ~:
station, for controlling the apparatus, these Figures being to a larger scale than Figure l;

.:
. ~ . , 37~ 7 Eigure 52 is a plan ~rom line 52-52 of Figure 50;
Figures 53 to 56 incluslve are views showing how the grab of the illustrated crane apparatus can be used to grasp a drum even if it should be lying on i-ts side rather than standing upright on its end;
Figure 57 is a plan of a modified form of trolley for -the overhead crane apparatus, this trolley embodying a heavy duty hoist capable of lifting heavy portions of the apparatus, such as the shield wall or other equipment, out of or into the illust~ated apparatus; and Figure 58 is a side elevation showing the trolley of Figure 57 as used in hoisting a shield wall and associ-ated equipment mounted on the shield wall.
General ~rrangement: For illustrative purposes, the below described embodiment of the invention will be described in connection with the disposition of radioactive waste material in the form of resin particles containing radioactive ma*erials like those described above, and in the form of evaporator bottoms, by putting the radioactive mater-ial including water, and cement as a solidifying agent, intoa steel drum; mixing these materials in the drum; moving the drum into storage; allowing the mixture to solidify and radioactivity to decay in storage; and then moving the drum to a vehicle for transportation.
For convenience, the term "drum" is used here-after to designate steel drums or barrels as such, as well as suitable other types of containers for the indicated purposes. While for convenience cement is disclosed as the solidifying agent and water as the liquid, it is to be understood that other suitable -types of solidifying agents such as asphalt or certain natural or synthetic resins, and that suitable liquids other than water, may be used.

- ~V7~

The emb~dimen-t generally ahown in ~igures 1-3 comprises a building 1 of rectangular configuration in plan, of which building uprigh-t walls 2, 3, ll and 5, the ceiling 6 and the floor 7 are preferably formed of poured rein~orced concrete, of sufficient -thickness to prevent escape o~ harm-ful radiation from the interior of the building. The build-ing interior is subdivided into an area 3, two drumming stations 10 and 11~ two storage vaults or decay pits 12 and 13, and a control station 14 in which an opera-tor is loca-ted to operate the system by remote control.
Area 8, which is free of radioactive materials or radioactivity at all times except temporarily when radio-active materials are being shipped from the building, is shown as used for storage of non-radioac-tive materials such as drums D that contain no radioactive materials but may, and in this illustrative embodiment do, contain accurately weighed preloaded amounts of cement as a solidifying agent. The area 3 has in wall 2 a vehicle doorway 16 having a door 17 which may be of conventional automatically controlled type. A
personnel doorway 18, having a conventional door 19, is in wall 4 near station 14.
Each drumming station 10 and 11 is equipped, as described below, with apparatus 21, operable by remote control from apparatus 23, 24 in operator control station 14, for introducing radioactive materials and water into drums D, each preloaded with accura-tely determined amounts of dry cement as a solidifying agent, all in proper propor-tions -to permit these materials after thorough mixing to form in the drum a solid body of controlled weight, and for then thoroughly mixing these ingredients.
~ drum D containing the resulting mixed radio-active material, cement and water may then be stored in a -15_ ~ ;

.
- ' ' ' . :: ': . . ' , ' ' , . . .

~07Z~97 storage vault 12 or 13 to perrnit solidification oE drum ' contents and decay of radiatlon unt.il its ln-tensity is reduced to sh;.pable limits. The drums are individually identified, and location of and ti.me that each is placed in storage is recorded. A~ter lapse of an appropriate time 7 the drums are moved out of the storage vault onto a vehicle V Eor transportation away from building 1 for sui-table dis-position. If the radiation intensity of the drum contents is initially so high that it is not reducible by sotrage for a permissible or reasonable time, the drum can be put into a known type of radiation shielding cask that renders the drum safe for shipment. If, on -the other hand, the initial radia-tion intensity is sufficiently low, the drum may be shipped immediately, without skorage.
A drum D is picked up from area 8, put into a selected drumming station 10 or 11 then after proper filling and mixing moved if desired into a selected storage vault 12 or 13; and when desired moved onto vehicle V by remotely controlled overhead crane apparatus 25 (Figures 2, 3, ~) to be described later.
These operations are performed by remote control without actual visual access, the operations being viewed through television screens and monitored by other means described below.
Building:~J The interior of the building 1 is sub-divided (Figures 1, 2, 3) into the s-torage vaults 12 and 13 by a thick center interior wall 26 and transverse end walls 27 and 28 that are joined to wall 26 and extend in-to rela-tively close proximity to but s-top short of exterior side walls 21and 4. Transverse wa].ls 29 and 30 longitudinally spaced from interior walls 26 and 27~ and stub walls 32 and 33 joined to outer side walls 2 and 3 and spaced from trans-. .

`` 1~72497 verse walls 3~ and 30 se-t of~ the area 8 and s-tation lLI
from the vaul-ts and drumming sta-tion. Spaced transverse walls 27 and 29, and 2~ and 30 together with a portion oE
center wall 26 and longitudinally ex-tending intermediate stub walls 34 and 35 define the drumming stations 10 and 11 .
An extension of wall 35 and a short transverse wall 36 joined to it define the operator station 14.
Walls 34 and 35 together with overlapping longi-tudinal wall portions 37 and 38 respectively fixed to trans-verse walls 27 and 28 and respectively spaced from walls 2 and 34 and from walls 4 and 35, together with the transverse walls 27 and 28 and walls 32 and 33, define labyrinthian passages 39, 40, 41 and 42 that prevent lateral escape of radiation from storage vaults 12 and 13 and the drumming stations 10 and 11 into area 8 and control station 14, ~ ;
while permitting access to the drumming sta~ion and vaults during construction and later i~ necessary.
All of these walls are o~ sufficient thickness and formed of suitahle material such as poured concrete, ,~
to prevent passage through the walls of harmful radioactive radiations. ~-;
The interior walls defining the control station, drumming stations, storage vaults and labyrintnian passages extend to locations below ceiling 6 and are suitably shaped at their tops to permit clearance for -the overhead crane apparatus 24 so that it can move over and service the entire interior areas of building 1. The labyrinthian passages and the control s-tation have roofs 44,ll45 for safety and added shielding of personnel.
Crane Apparatus: The crane apparatus including a system for locating the drums is illustrated in Figures .. .
;. . . - : .: . ~ .

: . - ' ' :

~7Z~7 2 -through 2 9 .
The crane apparatus comprises a track ~7 includ-.ing rails ~ 9 extendin~ leng-thwise of -the building, a bridge 51 that travels on the -trac]c, a trolley 52 that travels on the bridge and a grab 53, adapted to carry a drum D, that ls carried by and raised and lowered and manipula-ted from the trolley. As described be~ow, the gra~ is provided with remotely controlled means to mechanically grasp secure-ly a drum D a-t its upper upstanding circumferential edge 50.
Indicating means 5~ above the trolley is provided to aid the operator, by remote control ~rom control station 14, in accurately locating and grasping a selected drum~ or accurately locating and placing a selected drum, or moving it, in or out of storage area 8, a drumming station 10 or 11, or a storage vault 12 or 13.
The indicating means, to be described below, has on it indicia 55 (Figures 2, 3, 28, 29) marked, as by number and letter combinations, that can be viewed and identified by an upwardly directed television camera 56 (Figures 4, 7) on the trolley that transmits an image to a television monitor screen 57 (Figures 1, Sl) in control station 14.
By suitable movement oftthe bridge and the trolley on the bridge the trolley can be moved to and accurately located over a desired location for a drum by scanning through the television camera to find a desired indication on the ceil-ing, the camera preferably having cross hairs or other mark-ings to aid location as described later.
The grab will also be provided with a downwardly facing television camera 58 ~Figures 17, l9) -that can focus on the center of the drum. Pre~erably this camera has on it markings that, when the grab carrying the camera is lowered a suitable distance, coincide with markings or -18~

~07'~97 structural features on a selected drum to indica~e the heig}lt of the grab rela-tive to the drum on a second tele-vision monitor screen 59 tFigures 1, 51) located in control station 14. By this means, -the grab can be accurately located over the proper drum a-t the proper height, after which the grab can be actuated to grasp and li~t the drum;
and the grab while carrying a drum can be loca-ted in a proper location to place the drum.
Four adjustable surveillance television cameras 60~ 61 tFigures 3, 4) are mounted on the bridge 51 at suit-able locations so they can scan downwardly to view other locations; these cameras can respectively show their viewed scenes on monitor screens 62, 63 in station 14 (Figures 1, 51).
As further indicated below, the grab is designed to grasp the edge of a drum that may have toppled to turn the drum so its top is up, or to remove the drum.
The track rails 48, 49 are supported from brackets 64 extending from the walls of the buildingi -the rails extend substantially throughout the length of the building so thàt the grab 53 carried by the trolley, by suitable manipulation of the bridge and trolley can service substantially the entire internal area of the building between the rails. Suitable control means, which may be of known type, are provided in the control station 14 at the monitor screens so that-lthe crane and grab can be operated by an operator at that station. A record board 65 (Figure ~8) will be provided on which tags will be hooked bearing location indicia, date of filling and storage, radiation level and other data for drums that have been filled and are stored in the storage area.

The interior of the building is desl~ned to .

:~7i~97 provide a racZiatlon ~ree area a~ one en~ in which mairlten-ance work may be carried out on the crane. Such area is protected by shiel~ walls from radiation ~rom radioactive materials in -the s~orage vaults 12, 13 or in druMming stations 10, ll; area 8 may be used for such purpose in the illustrated em~odimen-t.
Bridge 51 comprises beams 66, 67 fixed at each end to carriage structures 68 and 69 each having flanged wheels 71 and 72 that travel on one of the rails of the track. In each carriage structure one of the wheels is power driven as described later to move the bridge along the track as desired. The bridge beams carry spaced parallel rails 75, 76.
At each side, the trolley 52 has two wheels 77 and 78 that travel on these rails 75 and 76~ One set of wheels 78 is freely rotatable; the wheels 77 o~ the other set are power-driven by electrically energizable drive means 79 on the trolley, that is controlled by suitable known means from the control station 14.
Drive means 79 comprises (Figures 7-13) a trans-mission unit 81 adapted to drive the wheels 77 of thepower-driven set from shaft 82 (Figures ll, 12) through universal joints 83 connected to the drive axles 84 on which the wheels are rigidly fixed. Shaft 82 is rotated by a gear 85 driven by pinion 86 mounted coaxial with and rigidly connected to gear 87 which is rotated in turn by pinion 88 rigidly mounted on the same shaft as gear 89.
Gear 89 is rotated by a pinion 91 mounted on a shaft 92 directly connected to an electric motor 93 o~ substantial power. Shaft 92 ls also adapted to be connected through an electrically operated m~gnetic clutch 94 to shaft 95 of an electric motor 96 of less power which~drives shaft :94 at a sllbstantially lower speed than motor shaft 92, through ~7~a~97 gear reducer 97 integral with motor 95. Motors 93 and 96 may be oE known types.
When the clutch 9~1 is disconnected and the motor 93 is energized and motor 96 preferably de-energized, the trolley 52 can travel at a relatively high speed on -the bridge 51. When clutch 94 is engaged and motor 93 is de-energîzed while unit 96 is energized, the trolley 52 travels at a substantially lower speed. Therefore, while~mo-tor 96 is energized for low speed operation o~ the trolley the ~motor 93 is de-energized and is rotated from mo-tor 96; while motor 93 is energized for hîgh speed operation of -the trolley motor 96 îs de-energized and disconnected by clutch 94 from ., the transmission unît and motor 96 to prevent damage to motor 96 from overspeeding. These differences of speeds are to enable the trolley to be moved along the bridge by motor 93 at a relatively high speed to wîthin a close distance of its destination, and then to be moved slowly by motor 96 to its final location. More~ver, each of mo-tors 93 and 96 respec-tively has its own isolated power lines forming part o~ known energizing and control means diagrammatically indicated at 93e and 96e ~Figures 10, 50) connected to ar.d controlled from control station 14. The clutch is also energized and controlled from the control station 1~ by ~. :
means diagrammatically indicated at 94e which may be of ~:` :
known type. Consequently, in the event of failure of either one of the motors or i~s power lines, the trolley can still be moved on the bridge by the other motor to a deæired location on the bridge.
Two wheels 71 of the bridge are freely rotatable, while th~ other two wheels 72 are d*iven (Figures 5, 13) by means similar to that which drives the trolleyO In this case, each wheel 72 is connected to a drlve shaft 97 that ~ILO'7~ 7 is connected through universal join~s 98 to the OlltpUt sha~t 9~ of a transmission unit 100 sub9tantially identi~al With the transmission unit 81 that drives the trolley. Power is supplied to this transmission uni-t by a motor lol of sub-stantial power that is adapted to provide a relatively high speed drive, and alternatively by geared down motor 102 of lower power to drive the bridge at a relatively low speed.
The mechanism inside of transmission unit 100 is essentially the same as -that of transmission unit 81 on the trolley and includes a clutch adapted to be electrically energized and controlled through means 103e from control sta-tion 14 by known means to connec-t and disconnect motor 102 from trans-mission output shaft 99. Motors 101 and 102?are also adap-ted to be elec-tricàlly energized and controlled by known means lOle and 102e from station 14. In this case also, higher speed motor 101 is adapted to move the bridge to the vicinity of its final destination at a relatively high speed, and then can be de-energized and lower speed motor 102 can be energized to move the bridge slowly to its final destina-tion. Moreover, each of motors 101 and 102 has its own isolated iAdependent electrical power supply means and is independently controlled from statlon 14, so that in the event of failure of either of the motor units or its power supply means, the other motor unit can be used to move the bridge to area 8 as far away as possible from vaults 12 and 13 so maintenance can be safely performed.
Trolley 52 also contains grab hoisting means 104 (Figures 5-10, lL~-17) which comprises a winch drum 105 -adapted to wind on and unwind from it lifting ca~les 106, 107 and 108 that support and raise and lower the grab 53.
This three cable arrangemen-t supports -the grab in a level position with great stability so that tilting of the grab ~(~72~7 .is pr~vented and sw:i.n~i.ng .is ~lirninated; it also helps insure accur~cy of grab loca-tions and provides added safety.
~he ~inc}l drum 105 is ac1apted to be rotated by a power unit 109 tFigure 7), and .i.s also adapted by means 110 to be moved longitudinally as required to cause the cables to wind on and un~Jind ~rom the drum without pili.ng up on the drum and ~lso -Lo cause thelocations where the cables wind on and 1eave the drurn to remain ].aterally fixed with respect to the trolley.
The power unit for rota-ting the drum comprises (Figures 7 ~ 9, 10 ~ 14~ 15) a known commercial unit such as the "Reuland Hydraulic Pump Mount Motor", manufactured by Reuland Electric Company of Howell, Michigan and Industry, California. This uni.t comprises a first relatively high power, high speed electric motor 112, and a second relatively low power, low speed electric motor 113 each directly con-nected to a shaft 114 (Fi~ure 14) that through a gear redu-cer unit 115 rotates the shaft 116. ~n individually elec-trically operable brake unit 117 is also connected to shaft ~ :
114. Each of motors 112 and 113 has its own isolated power lines and is independently controll.ed from control station 14 by known means 112e and 113e (Flgures 10,50); brake unit 117 is also lndependently controlled as required from the control station 1l~ hy either of two i.solated electrical circuits 117e and 117e'. By this means motor 112 (operat~
ing for example at `2.800 rpm) can cause the winch drum to rotate at a relatively high speed for relatively high speed opcration to brin~ Lhe grab into rela-tively close proximity to its ultimate hei~ht level for i.ts destinatlon, and then mo-tor 112 can be de-energized and the other motor 113 (oper-ating for ex.lJrlple a-t 450 rpm) can be energized to ro-tate the drum rela^tively sl.owly to accura-tely ].ocaLe the grclb a-t i-ts -~3 ~72497 proper level. ~loreover, this arrangement makes possible a safety feature in that iP either of -the motors ~ails or i ts power supply unit Eails, the other rnotor can be energized to lower~the grab or to raise it, with or withou-t a drum D, and enable the trolley to be moved and bridge to be moved to a place where the failed unit can be corrected.
The brake unit 117 is of -the spring loaded type tha-t applies braking force to the shaft 114 when the brake unit is not energized, and mus-t be energized to release the brake to allow the sha~t to turn, which provides another safety feature.
Shaft 11~ (Figures 14, 16) drives a worm 118 that meshes with a worm wheel 119 rigidly mounted on a rotatable axle portion 121 that slidably hut non-rotatably carries shaft 116 on which the winch drum 105 is rigidly mounted.
One end of shaft 116 is carried by a bearing 122 in a sleeve 123 that rotatably and slidably suppor-ts shaft 116. The other end of shaft 116 has an internal screw thread portion 124 that meshes with an externally threaded screw 125 ri~idly carried at the end of the housing reducer 115. As the worm wheel 119 rota*es, it rotates shaf~ 116 and the drum 105 on it. Since screw 125 is stationary on the trolley, rotation of shaft 116 causes the shaft and i-ts winch drum to move axially by interaction of threaded portions 124, 125. The thread pitch of these portions is such that they cause the drum so to move axially that the cables 106, 107, 108 wind on and off of the drum without lateral movement relative to the trolley of the location where any cable winds on or unwinds from the drum. The winch dru~n is of the saMe dia-meter where the cables 106, 107, 108 wind on and off the drum and these portions of the drum preferably have helical grooves 126 for each cable to aid in insuring level unwind--2l~-:. ; . , ing and wlndin~ oE the cahles and maintain;n~, lateral posi-tions of -the cables relative to the -trolley. Therefore all cables unwind ~nd wind evenly and at the same rate and in un~hanged la~eral ~ositlons relative to the trolley to prevent tilting of the grab, provide a stable level p~sition of the grab, simplify control of the grab, and contribute -to safety.
Because of the worm 118 and worm gear 119 and brake 117, the winch is self braking and halts when its power supply is de-energized. The apparatus also includes (Figure 14) a disk 127 fixed to the end of the worm, having a notched periphery that passes through a proximity switch 128 that acts as a counter connected to known means 123e comprising known indicating means in the control station 1~
to indicate thennumber of revolutions of the worm and hence of the winch drum 105. The height of the grab can thus be -indicated in the control station.
The trolley also carries an upwardly directed television camera 56 of known type connected by known means 56e (Figures 17, 50) to the monitor screen 56 and controls in the control station, to show on the screen the scene that is viewed by the camera, including locating indicia 55.
Utilizing this means, and by suitable control of the bridge and the trolley, the trolley can be properly positioned -to enable the grab 53 to be located over a drum or other item to be handled, as will be described later. ~ight fixtures 129 of known type may be mounted adjacent the television camera to illuminate upwardly the scene viewed by the up-wardly facing television camera. These light fixtures are divided into two separa-te sets each set having its own isolated known circuit means 129e by which i-t is electric-ally energized and controlled frorn control station 14.

-25~

- ~072~97 The trolley 52 has an opening 130 through which the three cables 106, 107 and 108 ex-tend downwardly to suppor-t the grab 53. These cables are arranged so that they support the grab at locations that are equidistantly and equiangularly spaced around an axis A of the grab. To accomplish this, cable 107 passes directly from winch drum 105 to the grab, while cables 106 and 108 pass from the w~i~nch drum 105 over guide pulleys 131 and 132 Eixed to the trolley and under weighted pulleys 133 and 134 fixed to suppor-ting and tension sensing means 135. Means 135 oper-ates so that if cable 106 or 108 becomes slack or loses tension its weighted pulley 133 or 1~4 will lower and also trip a known limiting device 136 (Figure 7) such as a limit switch, the function of which will be later described.
Trolley 52 includes means for automatically limit-ing and halting upward travel o~ the grab 53. The illus-trated means comprises ~Figures 7, 8) dupllcate limit switches 137 mounted on the trolley and havlng a common actuating lever 138, the free movable end o~ which extends over trolley opening 130 so the end can be contacted and moved by the top of the grab 53 when it reaches the upper end of its travel. The lever 138 is affixed to duplicate cams 139lthat actuate the limit switches to interrupt electrical current to whichever of hoist motors 112 or 113 is operating; the circuitry is such that when the grab is to be lowered, the circuits to the motors can be completed.
Thus the trolley has redundancy of power means and controls so that if one power means that moves the trolley or grab fails, another completely separate power and control system is available, and if one set of lights 129 fails, the other is independen-tl~ available.

Grab: The grab 53 (Figures 9, 10, 18-22) which .

~0~ 7 is adapted to be raised a~d lowered by three cables ln~, 107 and 108 co~prises a rigid frame 140 -to which the lower ends of the cables are connected~ each through a length adjusting means 1l~1 to permlt the length of all of the cables to be accurately equalized to support the grab in the desired level horizontal position. Frame 140 is of generally circular configuration and has a central axis A
about which the cables are equidistantly and equiangularly loc~ted. Frame 140 rotatably supports by bearing structure 142 a subframe 143 that is rotatable about axis A. Subframe 143 carries, equidistantly and equiangularly about axis A, three sets of clamping fingers 144 adapted to clamp the up-standing edge 50 of each drum D. Each set of fingers com-prises (Figures 9~ 10, 19) a finger member 145 that is pivotally supported at its upper end from frame 143 and has a toothed jaw portion 146 rigidly joined to its lower end.
This finger member is limited against inward tilting move-ment by its inwardly transverse lug 147 that bears against a stop nut 148 adjustably mounted on a bolt 149tthreaded into subframe 143; and the finger member is yieldably limited against outward -tilting movement by compression spring 151 that bears agains-t the other side of transverse lug 147 and against a nut 152 adjustably threaded on bolt 149.
Finger member 145 pivotally carries near its lower end a cooperating finger member 153 that has a down-wardly extending portion 154 carrying a jaw portion 155 adapted to cooperate with jaw portion 146 of member 145 and a guide portion 156 that engages the outer side of the drum to assist alignment of the grab wlth the drum. Finger member 153 is of bell crank shape and has a -transversely extending portion 157 pivotally connected through yoke ,:
, 107Z~97 link 15~, compression sprin~T 159 and holt 160 to vertic-ally movable actuating member 162. Actuating member 162 comprises a lo~er portion 163 to which link 153 of each set of fingers is connected, and a guide portion 164 that engages a grooved guide member 165 fixed -to rotatable sub-frame 143 to prevent rotation of the actua-ting member rela-tive to the subframe.
Actuating member 162 is moved vertically as re-quired by asgear member 166 ro-tatably but immovably axially supported on subframe 143 and having external teeth 167 and ' internal threads 16~ tha-t engage extern~l threads 169 on , actuating member 162. Gear member 166 is rotated by a pinion 171 non-rotably mounted on a shaft 172 rotatably carried by subframe 143 and rigidly mounting a gear 173 that , is rotated as required (Figure 1~) by either or both of gears 174 and 175 mounted on electric mo-tors 176 and 177. Prefer- ,, ' ' ably only one of these motors will be energized at a time, ''`
although both could be. Each of the motors has an individ-ual isolated power supply and is individually controlled from control s-t~tion 14 by known means diagrammatically indicated at 176e and 177e. These two motors are provided ,, to insure that in the event of failure of either motor or its power supply~ the other motor could actuate the finger sets 144. IIt is apparent that when either of the motors is actuated and gear member 166 is rotated to raise the actuating member 162, the ~inger members 145~and 153 of ~ ~ .
each set will close to grasp an edge of the drum; and when either of the motors is rotated to cause the actuating member to move downwardly~ the finger members o~ each set are opened. Upward and downward movement of member 162 is properly limited (Figure 21) by engagement of vertically spaced stop members 176 and 179 adjustably molm-ted on the -2~-.

Z4~

upper end of actuating member 162, w;th actua-ti.ng members 180 of duplica-te electrical limit switches 181 that are suitably connected -to motors 176, 177. Known circuit means ]81e makes -this possible and also sends signals to con-trol station 14 giving information of the open or closed posi-tions of the finger members 153. Operation of the finger sets 144 is also reported visually by camera 58 to the control station.
Subframe 143 carrying finger sets 144 and motors 176 and 177 is adapted to be rotated on frame 140 as required by an electric motor 183 on subframe 143 driving a worm 184 engaging a worm gear 185 that drives through shaft 186 and flexible coupling 187 asshaft 188 ~rotably ;
mounted on the subframe. Shaft 188 rigidly carries a drive pinion 189 having external teeth that engage in-ternal -teeth of an internal annular gear 190 bolted to frame 140. Motor 183 has its own independent power supply and is adapted to be controlled as required from the control station 14 by known means 183e. By energization of motor 183, subframe 143 carrying finger sets 144 can be rotated as required about axis A to locate the grab fingers properly to grasp the desired drum or other object to be grasped, or-to orient the fingers or load carried by the grab to a desired angular position about axis A to clear parts of the appara-tus or durms or other objects. In the illustrated embodi-ment, the amount of rotation is controlled and limited by engagement of the movable member 192 (Figures 18, 20) of limit switch 193 mounted on subframe 143 w;th angularly spaced stops 194 and 195 fixed on frame 140. ~he angular distance between stops 194 and 195 is somewhat over 120, permitting the subframe and its fingers to be rotated so that the sets of Eingers can cover a 360 circumference.

1(~72~97 The fingers thus can be turn~d -to engage any de6ired portlon of the circumfercntial edge 50 of a drum D. The fingers can readily grasp drums of varying sizes or out o~ roun~ shapes, because of the pivoted suppor-ts of generally parallel members 145 and 158 and the spaced pivotal connections to -these mem-bers of portion 157 of member 153. These supports and connec-tions permit the finger sets to move substantial distances laterally and still be operative to grasp a drum edge. Guide portions 156 of members 153 can move the finger sets to accom-modate out of round or differently sized drums.
Grab 53 also includes the television camera 5~ thatis directed downwardly. This television camera is mounted on a cover member 196 that is rigidly carried by main frame 140 of the grab, and is coaxial with the axis Aoof frame 140.
It is located within the actuating member 162 which is made tubular for the purpose. Cable 197 carries the necessary wiring for the camera. Cover member 196 completely encloses the upper portion of the grab. The cover member and seals 198 and 199 between the main frame 140 and the subframe 143 insure against entrance of dust or other contamination to the bearings and gears to reduce maintenance problems.
Electric power is supplied to the grab by cables one of which is shown at 200; each of the cables is:llooped in a ~-housing 201 to provide a length of cable that maintains elect~ical connections as portion lL~ 3 of the grab rotates;
the housing prevents snagging of -the cable on other parts of the grab apparatus. Downward il~umination is provided by lamps 202 connected to the subframe 143 around the lower edge of television camera 62; the lamps are divided into two sets each having its own individual isolated circui-t means 202e by which it is energiæed and controlled from control station 14. ~rackets 202a may be provided to .' ,~ :

~'7~

protec-t the lamps against ~amage.
Equiangularly spaced annular guides 203 on the outer periphery of the grab engage slotted guide brackets 204 (Figures 18, 22) on the trolley when the grab is in its uppermost position, thus laterally steadying the grab and its load when the trolley or bridge is accelerated or decel-era-ted.
It is apparent from Figures 23-27 that the tele-vision camera 58 has, on or adjacent -to its lens where it will show- on the viewing screen 59, crossshairs 205 and markings 206, 207, 208, shown on the viewing screens illus-trated in Figures 24-27. The centers of the cross hairs are located on axis A o~ the grab and the markings 206-208 indicate radial distances from the axis A. Consequently an operator at control station 14 viewing the monitor screen 59 connected to camera 58 can determine the distance of the grab from -the top of a selected drum after the grab has been located over the drum. Figures 23-27 illustrate how an operator can determine the distance of the grab from drum D.
Reference numeral 58a lndicates television camera 58 and grab 53 at the farthest distance from the drum, and Figure 24 illustrates the corresponding view of the drum as shown on screen 59. The next far-thest camera and grab position is indicated by 58b, while corresponding Figure 25 shows the drum D as larger. The next farthest position of the ca~era and grab are indicated by 58c, while Figure 26 depicts the corresponding view on screen 59 in which drum D occupies almost the entire depth of the screen. The closest position of the camera and grab to drum D are indicated by 58d and the view on screen 59 is represented by Figure 27 showing the outline o~ the cap opening structure C at the center of the top surface of the drum.

~)7Z~7 When the cap open.ing structure C is of proper size on -the screen -to correspond wlth marklngs 207 at -the camera lens, the operator knows that -the grab is a-t the proper height and properly aligned with the axis o~ the drum -to enable finger members 1~5 and 153 of the grab to be actuated to grasp properly the top edge of-the drum as shown in Figures 8 and 9. ~en the grab is at the proper height as shown in Figure 27 on screen 59, he reduces the lowering speed; as the fingers of the grab contac-t the -top of the :
drum, the cables 106, 107, 108 become loose, allowing ~ :
weighted pulleys 133, 134 to move down on the trolley and trip limit switch 136, which through known circuit means stops operation of the grab hoisting means 104. This limit switch also serves as an interlock to prevent the fingers of sets 14~ from opening when the drum D is in hoisted position.
The trolley 52 and grab 53 can be readiiy properly located with reference to a drum to be picked up or deposi-ted, by use of indicating means 54 (~Figures 2~ 3, 28, 29) :
that is viewed by the upwardly directed television camera56 on the trolley. The means 54 illustrated comprises supporting frames 209 supported and extending near the ceiling of the building to support the location indicators 55 at predetermined loca~ions, so they clear all parts of the crane apparatus. One indicator 55 is provided for each horizontal drum location, Indicators are therefore provi-ded to locate all drums in each of the storage vaults, to locate a drum for each position in each drumming station ~ :~
where the crane is -to handle a drum, and to locate all drums in the general storage location 8. Crossing ~rame portions 209 at each indicator provide a target for the camera 56. Indicators bear an accurate relationshlp -to ~72497 the center position desirecl for a drum. By sultable con-trol from station lL~, trolley 52 may be moved so a~ appro-priate mark on or near the lens, and preferably at the center of the lens, of television camera 56 on the trolley is aligned with ~he target on the appropria-te indica-tor 55 for the desired location. By suitable further con~rol from station 1~ of trolley 52 and grab 53 the gra~ can be lowered and caused to grasp the drum as previously described, and to be raised to liEt the drum and lower it and release it in a desired location.
Preferably, each indica-tor 55 has two designations, one for a direction parallel to an X axis extending longi-tudinally of the building and one for a direction parallel to a Y axis extending across the building; in the embodi-ment illustrated (Figure 29), each indicator 55 is made up of two portions 55a and 55b fixed to frame 209 at the proper location, por-tion 55a carrying a number designation and portion 55b carrylng letter designation.
The indicators 55 and hence the drums are located on centers a predetermined distance apart in the Xa~and Y
directions in the storage vault and in general storage area 8. The drums inthe lowermost layer in the vaults and storage area are equidistantly spaced in the horizontal X
and Y directions; the drums in the second layer are offset by half the distance between the centers of the drums in the first layer in the horizontal X and Y directions, so that each of the drums in the second layer is firmly sup~
ported by four drums below it in the lowermost layer; the drums in the third or top layer are also equldistantly located in the layer 90 that each drum is supported by four drums below it in the second layer and direc-t~y over a drum in the first layer. The lndicators 55 on the 24~7 îndica-ting means S~ are properl~ located and identified to provide for this.
When the drums are stacked in tiers as in the illustrated embodiment so that drums in a higher tier are directly over drums in a lower tier, it is de~irable to have additional coded markings to indicate each location in which a drum may be directly over another, to alert the operator to watch the appropriate surveillance camera screen to check which tier of drums for which he is handling a drum;
he could then watch the grab the grab elevation read-out in the control station to decelerate-~and halt the grab at the proper level.
In the illustrated crane apparatus the various wires for transmitting electrical energy for power and control purposes are encased in cables, which are passed through means that compensate for changes in length of the cable due to movement of parts of the crane apparatus.
Thus, as shown in Figure 5, cable 210 passes through means 211 that compensates for changes in cable length as the `
bridge 51 passes along the track 47; and as shown in Figure 6, cable 212 passes through means 213 that compensates for changes in the cable length as the trolley 52 travels on the bridge. The length ccmpensating means 211 and 213 shown are like that disclosed in British ~atent 979,862 published January 6~ 1965, but other types may be employed.
If desired, means may also be provided for the trolley ~o compensate for changes in length of cable be-~ween the trolley and grab.
Drumming Station General Arrangement of Drumming Station: Each drumming station (Figures 1, 2, 30-33) has subs-tan-tially identical apparatus; for convenience only the apparatus in 3L~_ 7Z~7 drumming station 10 will be described, it being understood that -the apparatus ln the other drumming station is identi-cal except for situations where parts may be of the other hand for convenience in installation or operation. Corre-sponding parts will have identical reference characters in both drumming s-tations.
The apparatus in each drumming station comprises substantially the same four basic components~ a metal shield wall 214, drumming equipment 215, a decanting tank 216 and a set of metering pumps 217a~b,c. While the relative posi-tions of these components could be changed the basic func-tion of each remains the same, so the drumming station apparatus can be installed in a right or left hand arrange-ment, if such positioning is required or desired.
Shield Wal1: The shield wall 214 serves as a locating and anchoring means ior the other components 215, 216, 217a, b, c. It is formed of strong metal to support the other components and to serve as a barrier to stop the escape of harmful radiation from the side of the shield wall carrying these components, to the other side. The shield wall may be of any of various thicknesses, depend-ing on the intensity of radiation expected to be encountered;
since it is formed of metal its thickness is substantially less than conventional shielding such as concrete; moreover the faces of the shield wall may be machined, drilled and bored to present accurate surfaces for equipment mounting and uniform smooth surfaces for cleaning if required. Use of the metallic shield wall and its resulting lesser thick-ness simplifies drive connections and maintenance work done through the shield wall. A shield wall of steel approx-imately 12 inches thick is advantageous for most uses of the invention.

--` 107~37 The shield wall is ri~idltJ hu-t demollntabl~J
attached to the concre~e building ~all 29 or 30 by an accur-ately machined, grollted in ~rame 218 (~igures 31, 32) sur-rounding wall opening 219 to which the shield wall is secured by bolts and nuts 220 on the safe side of the shield wall. Preferably, the shield wall has a supporting eye 221 at its top. Therefore, the shield wall can be~'demounted with the other components still a~tached, and bodily re-moved as by an overhead crane to a remote location for main-tenance or repair; the cantilever mounting of the componen-ts mounted on the shield wall, as described below, facilitates this; the cantilever supporting of components also eliminates floor supports and facilitates cleaning. The shield wall preferably overlaps the opening 219 to provide an offset joint that prevents possible radiation leakage around the shièld wall edges.
The shield wall may be divlded into sections 214a, ~ -~
214b, 214c, by transverse jolnts 214d to facilitate easier handling and shipping. These joints are offset or stepped as shown in Figure 31 to prevent radiation leakage outwardly to the safe side of the shield wall outside af the drumming station. As explained later, parts such as drives that pass through the shield wall are also sealed to removable plugs, as at 222, 223, 224 that ~orm similar offse-t or stepped joints to prevent radiation leakage. ~Jhere space or design does not permit sealing to an offset or stepped plug, a secondary shield 225 is provided to block radiation escape.
Drumming Equipment: The drumming equipment 215 il-lustrated a closed housing 226 supported from the slde of the shield wall faci~g into the drumming station. This housing (Figures 30-33) has upstanding sides 227, 223 carrying detachably mounted access plates 229. The top 231 _36-, .. ~: : ',: ' :

of the housing has a hatch opening 232 surrounded by upward flange 233, closed by a hinged ha-tch cover 234 having inner and outer downward flanges 235 that overlap flange 233 in the closed position to prevent escape o~ radloactive mater-ial. The housing and hatch cover when closed provide a closed enclosure in which drum loading and mixing oocurs.
The hatch cover permits access to the enclosure for intro-duction or removal of drums, while preventing escape into the atmosphere of air displaced by materials loaded into the drum, and while preventing escape of radioactive mater-ial due to splashing should the drum being processed develop a leak or should material be accidentally spilled during the loading operation. Hatch cover 234 can be m~véd to closed and open positions by a lever 236 pivotally supported on housing 226 and is rigidly secured to an arm 237 carrying the hatch cover -through a resilient connection 23~. Lever 236 is actuated from the safe side of the~shield wall by a known fluid-operated cylinder 239, the fluid valves 240 of which are controlled by known means 240e from the control station 14. The cylinder is spring loaded to close the hatch if the energizing flu~d fails, for safety; the spring load can be overridden by hand or by mechanical means.
Housing 226 has a venting conduit 226a preferably connected to a closed venting system.
A fixed loading dock 2L~1 is externally mounted at one side of the housing 226 and is adapted to support a drum to be filled that is first deposited by the crane on this dock. A fixed unloading dock 2L~2 is externally mounted on the other side of h~using 226; a drum removed from housing 226 is set by the crane on this unloading dock,~and;~he~intensity of radiation emanating from the drum is measured by known radiation monitor means 2~3 that 3LO~Z4~7 s~nds by known means 243e electrical signals to the control station 14 where the informat:;on is no-ted. ~ach of the loading and unloadlng docks carries a scale 244 connected wi-th known means for reporting the scale reading to -the control station. The scales are adapted to be removed from and placed on their supporting stations by the grab, so if necessary the scales can be serviced in a radiation free area.
Inside of drumming equipment 216 ia a drum posi-tioner cradle mechanism 245 ~Figures 31, 34a, 34b) adap-ted to carry a drum and move it (Figure 32) about a vertical axis P from a drum loading and unloading position "I", then -to a first lntermediate position "II" in which the drum is clamped into its cradle in a vertical position, then to a second intermediate position "III" in which the drum is opened by unscrewing and removing its cap, then to a third intermediate positîon "IV" where the drum is filled then back to intermediate position "III~" in which the drum is closed or capped, then to intermediate position "II" where the drum is turned end-over-end to agitate and mix its contents, from which position the cradle returns the drum tollocation "I" under the hatch from where the drum can be removed by grab S3. The cradle mechanism comprises a vertical shaft 246 (Figures 30-32, 34a) on which a cradle frame 247 is rigidly mounted; the shaft is rotatably and vertically slidably moun-ted in bearings 248, 249 mounted at the top and bottom of housing 226. A cradle 251 rotat-ably supported in the cradle frame by bearings in two spaced hub portions 252, 253 of the crad].e frame for rota-tion about a horizontal axis ll on its cradle frame which thus forms a trunnion in which the cradle can be rotated to impart to the drum the desired end-over-end motion -to - ' , ~ ~ L37Z~7 thoroughly mix -the contents o~ -t~e drurn, tumbling movement of -the loose mixing weigh-ts DW (Figues 5, 6, 31) in the drum aiding -this mixing.
The cradle frame 2l~7 is moved to angular positions I, II, III, IV indicated above by ac-tuating means (Figures ~0, 31) comprising a lever arm 254 rigidly mounted on the lower end of shaft 246 and pivotally connected to a rod 255 that may be reciprocated as required by a known mechanism 256 driven from an electric motor 257 energization of which is controlled by known means 257e from c~ntrol station ll~.

The linear travel provided by mechanism 256 may be controlled by known means accurately to stop the cradle in the various ~-angular positions as described above.
The cradle frame 247, its suppor-ting shaft 246 and cradle 251 carrying a drum can be raised and lowered as required to permit movement ofthe cradle and performance of necessary steps in the positions I_IV, by a known type of screw jack mechanism 258 (Figures 30~ 31,32) actuated by a drive shaft 259 extending through the shield wall to its safe side. Shaft 259 is rotated as requlred by a gear box electric motor combination 260, controlled by known means 260e from the control station to raise the cradle to an upper elevation referred hereafter as the "U" elevation in positions III and IV, and to lower the cradle to a lower elevation hereinafter referred to as the "L" elevation for movement between the positions and for operating in posi~
tions I and II.
When the cradle frame 247 is raised to elevation U in either of positions III or IV, an upwardly projecting tapered dowel pin 261 (Figures 31, 3L~a, 35) Pixed ~o the top of the cradle frame engages in the opening 261a of the appropriate one of two hardened steel bushings 26lb in the -39_ Y~ 7~ 7 top w~11 231 of -the housing 226. This assures accurate and posi~ive location o~ the cradle in positions III and IV f~r the filling and capping operations that are ~arried ou~ in these positionsO
When the cradle Erame 247 is in any of positions I, III, IV, cradle 251 can be held in a vertical position in the cradle frame by a latch member 262 (Figure 34a) pivo-tally mounted on the cradle frame and biased by compression spring 263 to latching posi-tion where the beveled free end 26'~ of member 262 engages between a pair of spaced lugs 265 on the -~
cradle. The latch member can be released from the cradle by the tapered end 266 of a pin 267 taht extends through the shield wall and is adapted to be axially inserted into a flare-mouthed socket 26~ on the cradle to a depth sufficient to contact and release the latch member. When pin 267 is so inserted, it secured frame 247 against angular or other movement whil~i-thè!cradle is being ro-tated about its hori~
zontal axis H to agitate the contents of the drum. After such cradle rotation has ceased and the cradle has been properly located with the drum vertical and its cap side up by suitable known means such as conventional el~ec~ricai interlocking means, pin 267 is withdrawn from socket 268, and latch member 262 by the force of spring 263 re-engages the cradle to lock it in the vertical position with respect to its frame 247. Pin 267 is moved axially as required by a double acting fluid energized cylinder 269 having control valves that are actuated in a known manner from control -station 14 by known electrical means 269e (Figure 50).
Cylinder 269 is equipped with limit swltches 270a and 270b, operat~d by s-top 270c on the cylinder rod to interlock through suitable conventional circuit means to prevent starting of the below described means for rotating . ~
~C)'7Z4~7 the cradle while the latch member 262 engagefi the cradle.
The drurn m~y be centered ~nd fi.rmly ~lamped in its cradle 251 by clamping means as shown in Figures 34A, B. Two opposing clamping arms 271 and 272 pivotally carry clamping members 273, 274 and are rigidly mounted on shafts 275, 276 pivotally mounted in the cradle about axes parallel to the drum axis. These shafts rigidly carry arms 277, 278 having rounded outer ends 279 that ride in an external groove 281 of a member 282 that is axially slidable mounted in hub portion 283 of the cradle in hub portion 253 of the cradle frame nearest the shield wall when the cradle frame is in position II-L. ~en member- 282 moves axially away from the drum carried by the cradle, the clamping arms 271, 272 move toward the~'drum and their clamping members firmly engage the drum. When!the member 282 moves toward the drum, the clamp-ing members release the drum.
Member 282 is so moved by engagement of an intern-ally threaded nut 28~ rigidly mounted in member 282 with an externally threaded screw 285 rotatably but axially immov-ably mounted on hub portion 283 of cradle 251. Screw 285 has a projecting end 286 that has a polygonal pre~erably hexagonal cross section. ~1hen~ as will be described later, this polygonal end portion is engaged and rotated relative to the cradle, member 282 will moveaaxially and, depending on its direction of rotation, will clamp or unclamp the drum.
The clamping means of the cradle is actuated 7 and the cradle itself may be rotated, provided that latch member 262 is released, by the means shown in Figures 31~A, B which comprises stepped plug 224 that fits th~ough the shield wall and carries at the drumming station side an internal bearing 287 and its other slde a removable gear box 28B carrying another bearing 289. These bearings carry an elongated _41-~L~7;2497 member 291 for rotation about an axis that is coaxial with the axis H of the cradle when the cradle is in drum rotating position II. ~ember 291 has an axial opening 292. Cn the drumming station side~ member 291 carries a driving coupling portion 293 adapted to engage and drive a driven coupling portion 294 on hub portion 283 of the cradle when the cradle is in position II.
Driven coupling portion 294 has axial and radial dogs 295 adapted to fit loosely in corresponding slots 296 of an intermediate coupling member 297 that is flexibly mounted, as by bolts 298 threaded onto rubber mounts 299 on driving coupling portion 293. Intermediate member 297 on its side away from portion 293 has slots 300 al~ernating with and spaced 90 angularly from its slots 296. Driving coupling portion 293 has radial and axial dogs 301 that can loosely fit in slots 300. The driving eoupling member 297 ~:
thus flexibly mounted so it is capable of substantial but limited lateral movement, so the driven coupling member can ` ~ ?
engage and so the cradle can be rotated even if there is substantial misalignment of the two coupling portions 293 and 294. By suitable means of known type, the dogs 295 of driven cradle coupling portion 294 and the slots 296 of intermediate member 297 flexibly mounted on driving portion : ::
293 will always be positioned to extend horizontally when ;~
the cradle is not ro~a~ing~ so that these dogs and slots :
can mate and engage when the cradle is swung into position II-L and to readily disengage when the cradle is moved out of such position. The power means for rotating the cradle when it is in position II-L is electric motor 303 (Figure 31) controlled by known means 303e from control station 14, that is adapted to rotate member 291 through suitable gears 304 in gear box 288.

' .. . . . . . . .

72~7 The ~exagonal portion 286 for actuating th~ clamp-in~ arms can be engaged by a socket 305 mounted on a shaft 306 that is rotatable and axially movable in member 291~
Shaft 306 is moved axially as required by a double acting fluid operated cylinder 307 conneGted through bracket 308 to the end of the shaft on the safe side of the shield wall and controlled by conventional means 307e from station 14.
After its socket is engaged with polygonal end portion 28~, the shaft is rotated as required to clamp or unclamp the drum, by an electric motor 309 (Figure 31) that rotates the shaft through suitable gears 310 in gearbox 3119 motor 309 is controlled from station 14 by suitable known means 309e.
Means for insuring that the cradle cannot be rotated until the drum is clamped in the cradle comprises a feeler rod 313 slidably coaxially mounted in shaft 306 and biased toward hexagonal portion 286 by spring 214, and limit switches 315, 316 adapted to be actuated by a stop 317 on the other end of the rod as it moves. When the rod is retracted sufficiently because of sufficient clamping travel of screw 285, the limit switches through suitable conven-tional interlocking circuit means 315e, 316e permit rotation of the cradle; otherwise they do not.
The dru~ming station also includes cap handling means 320 for removing and replacing a screw cap 3~1 in the top of a drum~ (Figures 33, 36-38)~ After the drum is at position III for cap removal, the cradle frame 247 is raised to elevation U to raise the drum D carried by the cradle 251 so its cap 321 can be engaged by means 320.
When brought into the drumming station according to the illustrative process, each drum will contain a pre-loaded accurately determincd amount of cement or other solidifying agent Da and one or more freely movable mixing .

1~7Z~917 weights Dw (~igures S~ 6, 31) which may take the form of oblong pieces of steel about 1-1/2~ x 1-lt2l x 6l in dimen-sions; a cap 321 closes the drum.
i/ The drum~ which is of generally cylindrical form~
has (Figure 36) a cap opening structure C at the center of the top wall 322 of the drum, comprising a steel collar 323 having an internal threaded opening 324, fixed in ~he top wall 322 of the drum. Collar 323 has a radial flange 325 around the outer edge of which the top wall metal is crimped at 326 to hold the collar securely in the drum; preferably a sealing ring 327 is clamped between the drum metal and the flange 325 to provide a fluid-tight seal between the collar and the drum. The internally threaded opening 32~ is adapted to be closed by cap 321 that has an external thread that permits the cap to be screw~d into the ~hreaded opening.
The cap has a central depression 328 of circular cross section with vertical serrations or other suitable gripping surface, and an outward radial flange 329; cap 321 also carries a sealing ring 330 that forms a fluid-tight seal between the cap and the drum~
Cap handling means 320 comprises frame structure 331 rigidly mounted on housing 226, and a wrench 332 rotat-ably and axially movably supported on the stru~ture 331 to grasp and remove and replace cap 321. The wrench is a resilient expandable slotted collet that is resiliently biased to contract and has an outer surface shaped to fi~
inside depression 323 of the cap so that when the colle~ ~
is expanded it firmly grasps the inner wall of the de- ;
pression. The wrench is expanded by a pull rod 333 having an ex~ernally conical expanding portion 334 that bears against a matching internally conical surface 335 in the wrench, so that when the pull rod is drawn upwardly it ,~ .
~4 _ . . .- , ........................................ -, - . . .. . .

~7~29L97 expands the wrench to grasp the cap.
The pull rod is drawn upwardly and moved down-wardly as required by a cam 336 (figures 37, 3~) that is rotated about its horizontal axis to lift and lower a follower 337 ~hat is slidably mounted on frame structure 331, and supports the pull rod for rotatable but no rela-tive axial movement. The cam is connected to and rotated (Figures 32, 33, 36) by a shaft 338 that extends through shield wall 215 to a gearbox and electric motor unit 339 the motor being controllable by conventional means 339e from the station 1~. The cam is shaped to provide a pre-determined amount of tension on the pull rod and colle~
wrench 332 to permit the cap to be gripped with adequate force to hold it securely for removal, but not to deform it. When the cam 336 is turned so it moves the cam follow- -er down, rod 333 is lowered, thus moving its conical por~
tion 334 down~ardly of the collet wrench and allowing the wrench to contract to release the cap~
While the wrench is engaged in the cap, the cap is rotated by the cap handling means 320 to uns~rew the cap to open the drum, and after the radioactive material has been placed in the drum to screw the cap in the drum to close it. For this purpose a hollow shaft 341 surrounds and is coaxial with the wrench pull rod and is adapted to support and rotate wrench 332. It is supported from frame structure 331 for rotational and axial movement correlated with the pitch of the threads of cap 321 and opening 324.
The shaft 341 is rotated by a worm gear 342 that drives a worm wheel 343 rotatably but axially immovably supported from frame 331. It is rotated (Figures 33~ 36, 38) as required by a shaft 344 extending through the shield wall to a gearbox and electric motor unit 345 controlled from - 45 _ ,' ' " ' `

~07Z~97 station 14 by means 345~.
Shaft 341 ls slldably but non-rotatably connected to worm gear 343 and has pro~ecting dogs 346 at its lower end that enga~e shoulders 347 on the wrench 332 to rotate it when shaft 341 is rotated. Vertical travel of the wrench shaft and wrench are correlated with axial movement of the cap as it screws in or out by a nut 348 rigidly carried by frame 331 engaging a lead screw 349 fixed to shaft 341, the nut and lead screw having threads o the same linear pitch as the thread on the drum and cap, so as to retain exact relationship between threads in the drum and on the cap to facilitate recapping without crossthreading. The cap hand-ling means is so designed that cam 336 maintains and holds tension on the pull rod that causes the wrench to grasp and `
firmly hold the cap during the removal of the cap and in the interim period while the drum is being filled. Sensing means 350 embodying spring loaded feeler 350a and limit switch 350b senses when the drum is in the proper position to have the cap removed or inserted~ and through interlock means permits the apparatus 320 to operate otherwise it `
prevents operation.
After the cap has been removed at position III
the drum is ready to have the radioactive material put in ~`
it. This is accomplished by locating the drum carrying cradle 251 in the filling position IV and lifting the cradle and drum to engage the opening 324 with the fill nozzle 351 (Figures 32~ 39~ 40) in the top wall 231 of housing 226. Nozzle 351 comprises a mounting boss 352 fixed to the top wall 231 and rlgidly detachably carrying a nozzle portion 353 having a tapered lower end adapted to project through opening 324 in~o the drum D, and carrying several downwardly through openings 354a, b, c; 354a being .. . ~ , ~ , -, ,, lO~Z9L97 for introduction into the drum of radioactive resin disper-sion from the decanting tank, 354b for evaporator bottoms, and 354c being for venting during filling, being connected by conduit 354d to a closed venting system, not shown. ~he nozzle portion also has a smaller opening 355 that may be connected to means 355a for sensing the level of liquid in the drum, such as known means for sensing back pressure when the drum has been filled to the level of the bottom opening of vent 355.
Nozzle portion 353 slidably carried a collar 356 that is biased downwardly by compression spring 357 and downwardly limited by stop bolts 358. Collar 356 engages the drum top and seals with collar sealing ring 35~ around the drum opening 324 to insure venting through the proper passage and prevent splashing or leakage during the filling operation. Openings 354a and 354b in the nozzle will be respectively connected to a decanting tank and to a source of evaporator bottoms through metering pumps to be des-cribed later.
Decantin~ Tank: Decanting tank 216 (Figures 30, 31, 47) is a closed tank formed of corrosion resistant durable metal, such as stainless steel, and is cantilever supported fro~ shield wall 214. The tank has a frusto-conical lower portion 360 to aid in emptying material from the tank. A dispersion or slurry of radio-active resin particles in water is supplied to the tank from a suitable source such as a pipe 361 connected to a plant holding tank, by pump 217b connected to pipe 362 opening into the bottom of tank 216. The decanting tank has an lnternal mixer 363 for stirring the material in the tank when desired. That shown comprises three propellers 364 mounted on a common shaft 365 rotatable about a vertical _ 47 -1~7Z~97 axis aligned with the central axls of the tank. This shaft is rotated through a gearbox 366 by a drive shaft 367 extendin~ through the shield wall from an electric drive motor 368 on the safe side of the shield wall~ As desired the motor can be energized and con~rolled from control station 14 by conventional means 368e to cause propellers 364 to mix thoroughly the material in the tank, regardless of the level of materials in the tank.
Tank 216 also has means for providing an adequate supply to the drumming station of a mixture of radioactive containing resin and water in a predetermined proportion.
In general, the slurry supplied to the decanting tank con-tains excess water; and the decanting tank includes means for removing excess water by decanting.
A dewatering or decanting pipe 369 is pivotally mounted in the tank at its inner end by a leakproof joint.
~he outer end of the pipe carries a float 370 so that the end of the pipe can rise and fall with the liquid level. A
conduit 371 connects the inner end of pipe 369 to one of the metering pumps 217a the outlet of which is connected by pipe 372 through a fine strainer 373~ such as lO0 microns, to an outlet pipe system 374 forming part of a plant equipment drain system.
The levels of the water and of ~he radioactive resin particles in the decanting tank 216 are sensed by sensors 375, 376 (Figures 31, 41-43) that transmit electric-al signals giving information as to levels to the control station 14. Both sensors are identical except for the specific gravities of their floats, so only sensor 375 for sensing the water level will be described in detail. This sensGr comprises a frame 377 having a lateral portion 378 that extends through an opening through a stepped plug 379 ~ 48 -.

~L07Z497 in shield wall 214 and through a housing 380 into the tank.
Frame 377 is pivotally ~ounted hetween its ends at the end portion 378 on a bracket 381 fixed outside of wall 214r The outer end of frame portion 378 ~arries a pulley 382 o~er which passes a strand 383 such as a stain-less steel cable or wire, that at its free end suspends a float 383a and extends along the frame and around intermed-iate pulleys 384 to a winch drum 385 that is driven by a motor 386 mounted on the inner end of frame 377. Frame 377 includes an upwardly extending portion 387 adapted to bear against an adjustable stop 388 on the outside of shield wall 215 and carrying a rearward portion 389 on which the winch and motor are mounted. Portion 389 also carries ad-justable balance weight 391 threaded on support 392 extend-ing above portion 389 to permit accurate balancing of the pivotally mounted frame 377 and its associated apparatus.
Stop 388 when engaged by frame portion 387 limits tilting of frame 375 about its pivot support in a direction that causes the outer end of frame portion 378 to move downwardly~
Frame 377 also rigidly carries a ~ransversely extending metal member 393 adapted alternately to actuate proximity switches 394 and 395, depending on the position of the frame and hence of member 393.
As shown (Figures 41, 42) the other sensor unit 376 is substantially identical, except that its electric motor and winch extends in the opposite direction trans-versely of frame member 377 to conserve space, and except that its float 383b has a different specific gravity than float 383a of sensor 375.
Float 383b may have a specific gravity of about 0.5 and is used to determine the level of the surface of the water in tank 216.

_ 49 -~072497 Float 383a has a specific gravity of approxinately 1.05 so that it will sink in the water but will float at the surface of the resin in the tank.
When tank 216 is filled, and also when the resin and water are being mixed in the tank by agitator 363 both floats are raised to the top of their travel by their winch drums 385 and motors 386. When the float of a sensor is in its ~ppermost position with the float unsupported by liquid, the weight of the float causes the frame portion 378 to tilt downwardly until frame portion 387 contacts stop 388. This causes member 303 to actuate upper switch 394. Circuitry is provided so that if the circuit is energized from the control station, actuation of upper switch 394 energizes the motor 386 of the sensor to rotate its winch to lower the float.
When the float floats, its weight i5 removed from the ~rame 377, which then tilts the other way around its pivot support until member 393 actuates lower switch 395. This stops the motor.
Each motor 386 has on its shaft a notched rotor 396 so designed that when its notches pass a conventional -~
electronic pickup 397 electrical pulses are generated that are transmitted to the control station through circuit means 397 including conventional electronic counting means that makes it possible to determine the distance down to the float elevation and hence the level of the liquid on which the float floats.
Both sensors operate in essentially identical manner~ except that the float of which one has a specific gravity such that it detects and senses the level of water, while the other senses the level of the resin particles after they settle.

The operator at control station 14 can therefore - 50 _ .: , . .

determine, as from a predetermined curve or chart, the amount of water that should be left with the resin to pro~ide the desired proportion of raclioactive resin particles ~o the water. He can then actuate metering pump 217a to remove excess water through the floating and of decanting pipe 369, conduit 371, pump 217a~ strainer 273 and conduit 37~ until the desired level is reached, as indicated by the sensors 375, 376 to provide a dispersion in the tank of the desired predetermined proportion of water to resin particles.
After the proper proportion has been achieved, a proper amount of the dispersion can be caused to pass through conduit 362 from the bottom of tank 216 through metering pump 217b and conduit 398 to port 354a of filler nozzle 351 into a drum D (Figures 31, 32, 40).
Preferably, spray heads 399 (Figure 30) are provid-ed inside of the decanting tank to spray clear water to cleanse the floats 383a and 383b when they are lifted to their highest elevations; their valves can be controlled by suitable means, as from proximity switches 39~
Metering Pump: While a pump of any of various types may be employed to pump the dispersion of radioactive particles in water from the decanting tank 216 through filler nozzle 351 unto the drum D, the pump illustrated in Figures 44-46 is exceptionally advantageous. It delivers accurately measured quantities of liquid and thus makes possible accurate remote control of the amount of liquid passed from the decanting tank into the drum. It also makes possible the pumping of clean water for disrupting sedimentation of the par~icles in the tank or conduits, the use of clean water for sealing purposes, and has safety features in making possible maintenance of the pump from the safe side of the shield wall 214.

~, i , ..
:......................... :~ , . .. ~ :
- . - .. ", . .
.:, . : : .

~07~97 Th~ illus~rated pu~p 217b shown in the above Figures comprises a cylinder 400 made up of cylinder barrel 401~ head 402 containing inlet ports 403 and 404 and ou~let ports 4059 406, and another head 407 made up of internal member 408 and that closes the end of the cylinder and a surrounding member 409 that contains portions of valve actuating mechanism. The heads are secured to the ends of barrel 401 by being bolted to the ends of a flanged cylinder 410 that surrounds barrel 401 and has inlet and outlet con-duits 411 and 412 for clear water flow~
The pump is mounted as by bolts 413 on a mounting bracket 414 that is itself mounted by through bolts 415 on the shield wall 214. Bracket 414 has a drain opening 416 for escape of leakage if it might occur.
The pump also comprises a piston 417 fixed to piston rod 418 that extends through head 407 and shield wall 214. The piston has sealing rings 419 and rod 41~ sealed by ~ -means 420 in head 407. The piston rod is reciprocated as -~
required by an air cylinder 421 (Figure 31) supplied with air from pipe 422 connected to suitable source and controlled by an air valve system 423. The valve is controlled by suit able known means 423e from the control station 14 so that it can cause a predetermined number of strokes of the pump~ and hence the pumping of a predetermined amount of slurry of radioactive waste particles and wa~er into the drum D.
Valve 424 for port 405 comprises a cylinder bar-rel 425 that is rigidly connected and sealed to heads 402 and 407, and a movable member 426 including a clGsure member 427 adapted to bear against a valve seat 428 in head 402.
Movable member 426 also includes piston 429 carrying sealing rings 430 that seal against escape of liquld from the space on the side at which closure member 427 is located to the . .

1C~7Z4~7 space on the other side of piston 429~ ~ovable member 426 is actuated by a valve rod 432 actuated by an air cylinder 433 on the safe sidc of the shield wall and supplied with air from source 422 under control of suitable valves in system 423 remotely controlled from control station 14 by known electrical means 423e.
Valve rod 432 is connected to closure member 427 by a loose connection (Figure 46) comprising a stop nut 434 on the end of the rod and a compression spring 435 operating between closure member 427 and piston 429. Another compres-sion spring 436 operatinb between piston 429 and a head 437 at the inner end of valve barrel 425 urges movable member 426 toward the position where its closure member 427 contacts valve seat 428 in sealing engagement3 except when the valve is opened by air cylinder 433.
The air cylinder 433 positively opens the valve by pulling closure member ~27 away from its seat 420. The valve is lmpositively closed by the force of the spring 436 as the rod moves in the other direction; the preset force of spring 435 also insures that closure member 427 will not strike seat 428 with excessive force, thereby eliminating possibil- -ities of chipping or spalling of the valve seat or the clo- -sure member and thus reducing maintenance problems.
All valves are similar in construction and opera-tion. Each is operable independently of the piston 417, and each can be operated as an outlet or as an inlet valve, depending on how it is operated relative to the piston operation.
Conduit 411 provides clean water from a sultable course such as an elevated tank or a pressurized tank, to the space between the outer housing 410 and the cylinder barrel 401 of the pump and the valve barrels 425; and 107Z~g~ :~
through ports 438 to the space on the rod side of piston 417 in cylinder 400, and through ports 439 to the spaces on the rod side of the piston 429 of each valve.
In the illustrated embodiment (Figures 30, 47) this clean water is supplied to such spaces in all pumps -217a, 217b, 217c from an elevated tank 440 through an expan-sion tank 441 and conduit 4}1. Therefore~ as is preferable, the clean water in these spaces at alL times is at a pres-sure higher ~han the mixture of water and radioactive particles at ~he piston sides of the pump and its valves.
Consequently, any leakage that may occur past a piston pack- ;
ing in the pump or a valve will be leakage of clean water into the portion of the apparatus containing the radioactive materials, and noe the reverse. Consequently there is much less opportunity for the parts including sealing rings~ to pick up radioactive material and thereby make the entire assembly radioactive. This is another feature that greatly reduces maintenance problems.
Preferably~ the piping may be arranged so that one valve of each pump is connected to a clean water source such as line 450, and the valves are operable either as inlet or outlet valves) so that clean water may be pumped from the source by each pump. Thus pump 217b can be used to pump clean water when desired back through conduit 362 into the decanting tank. This is advantageous since such back flush-ing can break up any mass of resin particles that may tend to settle ~n the decanting tank to form a cake that is diffi-cult to start with the agitator 363. Any settling of resin particles that tends ~o occur, between drum fillings, in conduit 362 can also be readily disrupted to prevent clog-ging by pumping a small amount of liquid such as clean water back through conduit 362 by the pump. Such back pump-- 54 ~

107i~ 7 ing of clean water can also provide additional llquid for agitation in tank 216.
All of the piston and valve ~ods for each pump 218 pass through a stepped plug 223 that fits into a correspond-ing opening ln the shield wall9 the steps providing a laby-rinthian joint between the shield wall and plug that pre-vents passage of radiation or radioactive materials. This plug can be removed from the safe side of ~he shield wall.
The design is such that after the piston and valve rods are disconnected from their air cylinders and plug 223 is removed, it is possible to remove head 408 that closes the end of pump cylinder 400 and members 437 that close the ends of the valve barrels~ This permi~s removal of the piston or movable valve portions for maintenance, as for examination, lubrication, replacement of packings, from the safe side of shield wall 214 without removing the pump as a whole. If there should be any radioactivity in these parts~ then by means of long handled wrenches and mirrors a maintenance man can inspect or take corrective act~on with-out exposing himself to radiation.
Bracket 414 as indicated has opening 416 through which any liquid leaking from the pump apparatus into the housing will drip out into a small tank 444 (Figure 30).
If the operator finds liquid in this tank he will know that there is a packing leak somewhere and take corrective action.
~he small tank can be drained into the overall drain system.
Pump 217c may be identical to that described above. This pump is adapted to accept liquid carrying evap-orator bottoms (Figure 47) from a suitable source, such as conduit 445 connected to a holding tank not shown and dis-charge through conduit 446 a measured quantity of such liquid through fill nozzle 351 into a drum in the drumming ., ~7~97 statlon.
Chemicals in the evaporator bottoms may have a tendency to c~ystallize out of solution, and if so it is preferable that the pump 217c together with its valve and the piping a~sociated therewith be provide~ with heating means, such as wound heating elements, to prevent crystal-lization at lower temperatures.
Pump 217c also is adapted to flush clean water through the pump back through the evaporator bottoms line in order to clean the pump and line at the end of a drum-ming session.
Pump 217a which removes excess water from the decanting tank may, if desired, be identical with pump 217b and filled with clean sealing water in the same manner as that described above, although it is not necessary that it be a measuring pump. Preferably the excess water removed from the decanting tank by this pump passes eventually to the nuclear plant system that supplies evaporator bottoms to the drumming station.
; By suitable operation of the proper pumps 217a, b, c~ clean water can also be flushed through other lines to clear blockages or clean the system, such as the lines that discharge into the drum; clean water can also be added, as to the decanting tank if desired. This is facilitated because all valves of each pump are identical and indepen-dently operable so each can be used as an inlet or outlet valve, and the piston is operable independently of the valves; these capabilities provide features of safety and redundancy for maintenance of operations.
In each of the illustrated drumming stations, two types of radioactive waste prodllcts, slurries of radioactive resin particles and liquids containing evaporator bottoms, ~0~2497 may be alternately put into drums, or if desired, both may be put into a single drum in proportional quantities. If desired, the system can be modified to handle more than two waste materi~ls alterna~ely or put all simul~aneously in a drum.
Drumming Station Cleaning System: Spray heads 4~9 (Figure 31) connected to clean water source 440 and controlled from station 14, are provided inside of drumming equipment enclosurP 226 to wash down the walls and equipment in the enclosure if desired. The spray water used flushes down the sloped bottom 451 of enclosure 226 and drains out through a bottom opening 452 into a sump tank 453 (Figures 30~ 31~ 33).
This sump tank has internal baffles 454, 455 to provlde a settling tank for Eines that might be in the flush water, thus trapping solids that might be radioactive and that other-wise could contaminate downstream equipment if they entered a plant drain system. Excess water free of fines flows out through an overflow gate 456 into a drainage spout 457 dis-charging into a drain 458 located in the drumming station floor and connected to plant equipment drain system 459 that if desired may discharge into the system for producing evap- ;
orator bottoms. The sump tank is so designed that it can be moved laterally on rollers 460 on a track 461 to a location where it can be removed by the crane. It can be placed by the crane for disposal into a drum, having a completely removable top, which top can be replaced after the sump tank and its radioactive contents, water and cement or other solid-ifying agent if desired, are placed in the drum.
Another drain in each drumming statlon floor forms part of a plant floor drain system 462 to remove liquids or wastes that may have collected on the floor, as from drum leakage or washdown of the drumming station _ 57 -., ~LO'7~49~

The conduit system of Figure 47 is shown for a single drumming station, but it can be dupllcated~ In such case lines 361, 4451 450~ 459~ 462 and 463 as well as other lines, can be common to two or more drumming stations.
As disclosed above, the illustrative embodiment has separate piping for each type of radioactive waste to and in the drumming station equipmentJ for safety and contin-uity of operation. The drumming apparatus 215 is completely enclosed and sealed to allow no escape of liquids, solids or gasses except through conduits planned and provided for such purposes. Thus~ a vent system 463 removes and cleanses by known means~ air or gases from decanting tank 216 through vent conduit 216a, and from drumming housing 226 through vent conduit 226a, as well as from other locations. The interior of housing 226, and the equipment in it~ can be washed down by remotely controlled spray heads 449 for decontamination purposes if necessary.
Materials such as radioactive-containing solids washed out of the housing 226 are removed in the described removable sump by remote control. The above disclosed filling means is also designed to eliminate the possibility of radioactive waste material being spilled on the exter~or of the appratus of the drumming station by error or accident As disclosed~ two separate and independent means are used to determine the amount of material in the drum and to prevent overfill; one means comprises metering pumps that pump accurately determined amounts of fluids into the drums;
the other means comprises the liquid level sensing system indicated.
In the illustrative apparatus and process, the solidifying agent, cement for example~ and mixing weights are placed in the drums before they enter the gystem~ and - 58 ~
, ~6~7Z~9';~
the drums are i~nediately sealed. Each drum remains sealed until the drum is opened in th~ dru~ning s~ation immediately prior to introduction of radioactive material, after which the drum is immediately closed. This prevents entrance into the drum of undesired moisture or other contaminants that could harmfully affect the solidifying agent or other mater-ials in the drum.
Operation of Drumming Station: A typical cycle of operations of the drumming station is as follows9 assuming that the cradle frame 247 is located so its cradle 251 is properly located in position I under the hatch cover 2349 the cradle being locked by latch 262 in the cradle frame ~o receive a drum in the vertical position; the hatch cover 234 is open; and a capped drum D containing cement and mixing weights Dw is on the loading dock 241 of the drumming station to be operated as shown in broken lines in Figure 30. The operator in control station 14 then controls the overhead crane 25 and its drum grab S3 to pick up the drum from the loading dock and load it into the cradle~ The operator then causes the hatch cover to close and the cradle frame 247 to move to position II. The clamping members 271, 272 are then actuated by engaging socket 305 on shaft 306 with polygonal clamp actuating portion 286 of the cradle and rotating the shaft as described above, to clamp the drum. The socket 305 is then disengaged and the cradle frame angularly moved to locate the drum at position III for cap removal. The cradle frame is then raised to cause its pin 261 to enter the socket 261a for position III, and to raise the drum so its cap 231 can be engaged by the wrench 332 of cap handling means 320, which is then caused to operate to remove the drum cap. The cradle frame 247 is then lowered, and moved angularly to the drum filling position IV.

1~:)72~7 The cradle frame 19 here raised to cause its pin 261 to enter the socket 261a for position III, and to raise the drum so the fill no~zle 351 extends into the drum. The filling cycle is then carried out as described previously by supplying a metered amount of a dispersion of radioactive particles in water from decanting tank 216 or from evapora-tor bottoms supply line 445.
After the proper predetermined amount of the dis-persion of radioac~ive particles in the proper proportion of water has been put into the drum7 the cradle frame is then lowered and moved angularly to the capping position III where the cradle frame will again raise the drum so it is in cap~
ping relation to the cap handling means 320 the wrench of which is still holding the cap in a position so that when rotated the cap moves downwardly and engages the threads in the drum~ The cap is then reinserted and screwed tight as described above. The wrench of the cap handling means is then released and the cradle frame lowered.
The cradle frame is next moved to position II to locate the closed drum for mixing, As the cradle frame moves~
into position IIg the clutch portions 293 and 294 engage as described above. The tapered pin 267 is pushed in to secure the cradle frame against movement and to release the cradle for rotation. The drive motor 303 for rotating the cradle is then started and the drum is rotated end-over-end about axis H to mix the drum contents thoroughly, the freely mov-able mixing weights Dw in the drum greatly aiding thorough mixing. During the latter part of the mixing cycle, the drum may be washed as it ls rotating by water sprayed from heads 449 so that drum and the interior of the drum housing 226 can be thoroughly washed down. When the mixing cycle has been completed, the mixer stops with the drum in an - 60 _ .

`- ~O'~Z~97 upright vertical position as described. Sock~t 305 on sha~t 306 is then en8aged wlth polygonal end portion 286 of the clamp mechanism on the cradle, and shaft 306 is rotated to unclamp the drum in the cradle. After the drum is unc]amped and shaft 306 is retracted~ pin 267 is also retracted to secure the cradle to the cradle frame with the drum in its upright vertical posltion and to release the cradle frame from the housing so that it may be angularly moved to posi-tion I for unloading.
Hatch cover 234 is then opened and drum grab 55 lowered through the hat into the housing 226 to pick up the drum. The drum is then placed on the unloading dock 242 where its weight is checked by scale 2~4 and its radiation level is monitored by monitor 243 and the information trans-mitted electrically to control station 14 for recording.
The operator places another drum with its prede-termined quantity of dry cement on the loading dock 241 as shown in Figure 30 while the drum being filled is in housing 226 in its filling cycle. The scale 244 on the loading dock is used to verify the cement quantity in the drum, and the drummin~ apparatus is ready for the next cycle.
After the operator loads the next drum into the cradle and starts the drumming cycle, he then places the processed drum in one of the decay vaults 12~ 13 for stor-age and brings another drum into position on the loading dock. Modifications may be made in this illustrative process of operations.
Control Station: Equipment in the control sta-. .
tion 14 is shown in Figures 1~ 50~ 51 and 52.
The control station includes a control console 23 at which the operator will sit and from which he can control the operation of ths apparatus by remote control. The _ 61 -, , :, :

~7Z497 control station also includes unit 24 space~ rearw~rdly from the control console and containing other apparatus and the television monitor screens 57, 59, 62 and 63, so that they are at a distance from the operator to avoid eyestrain.
As indicated previously, screen 57 is connected to the television camera 56 on the trolley and is used to locate the trolley with reference to the indicators 55 on the indicating meanS 54. As also indicated previously~
screen 59 shows what is viewed by the camera 58 mounted on the grab 53 and particularly to indicate the distance of the grab from the tops of drums as indicated below. Television screens 62 and 63 are adapted to be connerted to selected surveillance television cameras 60, 61, mounted on the bridge 51 of the overhead crane.
Switches 475 and 476 are used to select the sur-veillance cameras to be used and to tilt the selected sur-veillance television cameras, which may be of known types tiltable by remote control. The switches are of the type having control levers that if moved down will cause the camera to tilt downward and if moved up will cause the camera to tilt upward to a desired degreeO The surveillance cameras may be provided with zoom lenses, and these can be controlled by switches associated with the switches 477 and 478~
Control console 23 is provided with camera control knobs 479 for proper~y focusing and controlling the cameras to provide a good image on the television monitor screens.
The control console also has electronic counters 481 and 482, 483 and 484. Counters 481 and 482 are connect-ted to the scales 244 in the drumming statlons and used torecord the weights of the drums as they go into the drum-ming stations and the weights of the drums as they come out - 62 ~

1~;)7Z4~7 of the drumming stations. Counters 483 and ~4 indicate the grab elevation, and are actuated by the proximity switch 127 that counts the rotations of the winch drum 105. By this means the elevation of the grab can be determined without use of the lines on the grab camera screens, as when it is desired to determine or check the elevation of the grab in locations or at times other than when it is used to grasp a drum. Push but~ons 485 and lights at the center of the console are used to control the various operations of the drumming station manually if desired as indicated above.
Switch 486 is used to control the movement of the trolley on the bridge of the crane; switch 487 is used to move the bridge itself. A switch 488 is used to control the grab hoisting means 104 on trolley 52 to move the grab 53 up and down. Switch 489 is used to open and close the grab fingers, while switch 490 is used to control the rotation of the sub-frame 143 and grab fingers around axis A of the grab. A
switch 491 is provided to control a heavy duty hoist if ~ -used (Figure 47).
The switches 486 and 487 for moving the crane bridge and the trolley on the crane bridge are five posltion switches of known type operating in an "~1'l pattern, in which the fifth position is the neutral (off center position).
When each of these switches is moved in the forward direction it will move the bridge or the trolley controlled by the switch in a give~ direction; when it is moved in the reverse direction it will move the bridge or trolley in the oppcsite direction. When the switch is moved to the left it will provide high speed control; when it is moved to the right it will provide low speed control. These switches are so de~
signed that the switch must go through all positions so that there is no possibillty of energi~ing a low speed motor when ~ 63 -- ~

Z~7 a hi~h speed motor is cner~ized, or the reverse situation.
The switches 488 and 489 used for controlling the raising and lowering of ~he grab and for controlling opening and closing of the grab fingers are similar.
A record board 65 (Figure 48) showing the plan of the building and having hooks 492 for drum locations will be mounted in the control station at a location readily access-ible to the operator. On these hooks, tags 493 illustrated in Figure 49 will be hung~ Each of these tags preferably is marked with a drum number identifying the drum, and has a place for the operator to mark the radiation level and the date. The operator thus can readily keep track of all of the locations and duration in storage of all drums that have been handled. For convenience only a portion of the hooks and tags are shown in Figure 47, but a hook will be provided for each drum position, and tags will be used wherever a drum is located.
By a suitable drum log, it is also possible for the operator to keep a record of each drum to identify it by number, indicate its weight before filling with radioactive material and water, the weight after filling with radioactive material and water, the type of radioactive material, the start and completion time of the drumming operation, the radiation intensity of the drum immediately after it has left the drumming station, and the radiation intensity of the drum at the time of shipment, together with the date of shipment and the destination.
Lights 494 are preferably on the control box 24 to indicate that the crane circuitry in the drumming sta-tion circuitry is ready for operation. Control box 24 mayalso contain disconnect switches to shut down the plant.

Modificatlons: It is apparent that various modi-- ~4 .

. ~ ~' ', fications may be made ln the illustrated system, apparatuses and processes, and also that some or all portions of the illustrated apparatus may be used for purposes other than those indicated.
For example, it is possible thàt, in the course o operation, a drum containing radioactive material could be inadvertently caused to be in a horizontal or tilted position.
Should the radiation be such that it would not be advisable for a person to approach the drum, the drum can be advanta-geously retrieved by the previously described drum grab 53, trolley 52, and crane bridge 51. Figures 53-56 illustrate a step-by-step procedure whereby this can be accomplished.
The first step, illustrated in Figure 53 is to align one of the grab support cables, in this illustrative case cable 106, with one of the grab finger sets 144. The grab is then `-~
aligned and lowered until the end portion 154 of finger mem-ber 153 contacts the top side of the drum adjacent its top edge 50 at its uppermost portion when the druM is on its side. The operator then (Figure 54) continues to lower the grab 53 with the portion 154 of finger member 153 acting as pivot. The cable 107 is then slack and the grab is sup-ported between finger member 153 and cables 106 and 108.
When the view from the center of television camera 58 on screen 59 appears to be centered on a point midway between the drum closure portion C and the drum rim 50, the drum finger sets are actuated to cause the finger set contacting the drum edgé 50 to grip it firmly. The grab is then raised as shown in Figure 559 after the fingers have gripped the edge 56 to lift the drum toward a vertical position, Figure 55. It is not necessary to lift the drum clear of the floor but only to a point where its center of gravity (I~C.G.~
Figures 55, 56) is loca~ed between the fingers gripping the . , :, . . . , ~
.
' .' ; ' ': ' ' ' .. : ~

~:37Z~g7 drum and the lower edge o the drum resting on the floor.
The grab is then lowered to allow the drum to settle to a normal upright position. Thereafter the grab can be con-trolled to grasp ~he drum normally by the three sets o~
fingers, and the drum can be hoisted and moved to and de-posited at a desired location.
Another modification can be the addition of a second heavy duty hoist 496 constructed and powered by con-ventional means, to the crane trolley (Figures 57, 58). The trolley 497 shown in these figures is otherwise similar to trolley 52 previously described. Hoist 496 which would be controlled as indicated previously from the control station 14, makes it possible to move considerably heavier articles than could be lifted by the grab 53 and its hoisting appara-tus. For example, this heavy duty hoist makes it possible to remove the entire shield wall 214 and all of the equip-ment mounted on it, including the decanting tank 216, drum~
ming equipment 215, and pumps 217a, 217b, 217c and their drives from the drumming station to another area for main-tenance, as shown in Figure 58. Furthermore, if any part or all of the unit made up of the shield wall and its asso-ciated apparatus, should become unusuable due to radiation or other causes, it can be removed by the hoist for disposal as by burial. It is apparent that when such a heavy duty hoist adapted to carry a large load is provided, the crane bridge 51, the trolley 497, and the track structure 47 should be designed and made to support and carry the addi-tional loads.
As a further example of modification, while in the illustrated embodiment the decanting tank 216 is located above the drumming equipment 215, the decanting tank may be located in other locations and even outside of the drumming ..
, 72~97 station; or a common d~canting tanlc o,uch as a power pl~nt radioactive wastes storage tank could be used as a decanting tank for one or more drumming stations.
In the illustrated embodiment two drurmning stations are shown in the building; they provide added capacity and reliability if one station should be inoperative for any reasons. It is apparent tha~ for smaller installations or where the reliability of two stations is not desired one drumming station may be used. For larger installations more than two drumming stations can be used.
While the illustrative embodimen~ discloses advan~
tageous process and apparatus in which e~cess water is de-canted from a tank to provide in the tank a proper proportion of water and radioactive particulate material which proper proportion is introduced in a predetermined amount into a drum by a metering pump, it is apparent that desired amounts of a mixture of radioactive material, solidifying agent and liquid in proper proportions may be in~roduced into drums or other containers by other means; and that a solidifying agent be added at a time other than as disclosed above. Moreover, drums may be loaded or filled with predetermined amounts of radioactive materials in the form of liquids or slurries, without use in the drums of solidifying agents, and the drums may be handled and shipped with liquid contents. Since it appears that present regulations do not require shipment -of radioactive wastes in solid form, it may be desirable to ship drums containing wastes in liquid or slurry form, and the inventive apparatus and process may be used for such purpose.
The term "fluent material" is intended to cover slurries or dispersions of particulate materials in liquids;

liquids not containing particulate materials; and other ' ` ~7Z4~7 ~lowable materials that may be handled according to the apparatus and process of the invention. The particulate materials may be of sizes different from those indicated above, as substan~ially larger.

While the container has been disclosed as a steel drum, it is apparent that other types of containers may be used.
Furthermore~ although the invention has been discussed above in connection with the radioactive wastes resulting from boiling water or pressure water plants~ the process and apparatus of the invention may be employed in connection with the disposition of other types of radio~
active wastes, or radioactive wastes from other types of nuclear plants, such as those utilizing sodium or heavy water as heat transfer fluid; and the invention may be em ployed in connection with the handling of dangerous wastes or chemicals from other types of plants.
Furthermore, it is apparent that the overhead crane appara~us disclosed, in whole or in part or with mod-ifications within the scope of the inven~ion, may be used for purposes other than that disclosed; such other purposes may for example include the handling of other dangerous wastes or radioactive materials or bodies such as radio-active fuel elements.
From the above disclosure, it is apparent that the invention provides process and apparatus in which, by remote control~ radioactive waste or other dangerous mater-ials may be handled, put into containers which are sealed, and the containers handled and moved, without e~posure of personnel to dangerous radioactivity or other dangers aris-ing from the materials. Wherever necessary~ all portions of the system are fail safe, so failure of electric supply - 6~ _ 107Z~L97 or energy fluid such as pressuri~e~ air will not cause damage or unsafe conditions, All possible drives~ fluid cylinders~
controls, and switches are located in safe areas, usually on the safe side of a shield wall. All equipment for handling radioactive waste material can be moved from areas of high radiation to areas of little or no radiation. For these reasons routine as well as essentially all major maintenance or repair work can be done safely with little if any exposure of maintenance or other personnel to any radiation.
~herever the metal shield wall 214 that carries the operative drumming apparatus is penetrated by a drive, the drive is by means of a rotating or reciprocating shaft in such a manner that the operation is accurately performed and escape of radiation is prevented; this makes for relia-bility and safety.
To insure that the apparatus performs satisfactor~
ily with the utmost safety to personnel and the environment, the apparatus of the invention has a high degree of redun-dancy or dualism in drives, controls, viewing means, lights, and monitoring means. For example, the apparatus is de-signed to avoid completely any spills of radioac~ive mater-ial during placement of the radioactive material in the drums, closing the drums and rotating them. But if a spill should occur druing any of these steps, it is contained in the housing of the drumming equipment. Sprays are provided to wash the spills into a movable container or sump at the bottom of the housing, these sprays also cleanse the inside of the housing and equipment in it to deter radioactive contamination. The movable container is designed to cause the solid material to settle out and to be discharged into the plant drain. Also~ the crane apparatus is provided with double drives and circuits for the bridge, trolley, , z49~

~rab hoisting m~ans, ar~d gr~b fin~ers, so if there is ~
failure of one drive of a double~ the crane apparatus can be operated with the other drive.
~11 necessary lighting in areas exposed to radia-tion is provided on the crane apparatus on the trolley and grab, and the lights and lighting circuits are duplicated for safety and maintenance of operations; and if light fix~
tures or bulbs or television cameras must be replaced or repaired, the movable crane portions can be moved to radia-tion free areas for such purpose. The only fixed lighting that need be supplied is in the control station 14~ where it is in a radiation free area~ -Where necessary for a high degree of fail safe characteristics, fluid actuated drive cylinders are spring loaded to close in the event of electrical or fluid power failure; examples are the cylinders for the drumming station hatch, and the decanting tank valves including those on the pumps. The spring load may be overridden manually or by external mechanical means if necessary.
From the above, it is also apparent the grab and its finger sets and actuating mechanisms will wor~ with out-of-round or out of size drums, or drums in which the top head or gripping surface are not completely in a horizontal plane.
Moreover, the grab can be used to grasp and move articles other than drums. If necessary or desired, other grab means ~han that disclosed can be used, particularly for grasping articles other than drums.
The television camera on the grab is designed and located to view the fingers at least in their grasping rela-tion so that the operator can be certain the fingers are in proper grasping position before hoisting; this provides a means in addition to the limit switch means previotlsly . .

~7~'Z497 described, for indicating the position and operability of the fingers.
These and other modifications may be made in the apparatus or process disclosed, and other modifications~
advantages, and modes of operation wi;l become apparent without departing from the spirit of the invention.

Claims (29)

The embodiments of the invention in which an ex-clusive property or privilege is claimed are defined as follows:

1. Crane apparatus comprising a trolley; means for supporting said trolley for transverse movement to a variety of locations; means for moving said trolley transversely to said locations, operation of said means being controllable from a fixed control location off of and remote from said trolley and said means for supporting said trolley; indicia means offset from said trolley designating at least one fixed location at which the trolley is to be located; means carried by said trolley and means at said fixed control location for indicating at said fixed control location the position of said trolley with respect to said indicia means; means at said fixed control location for controlling operation of said means for moving said trolley transversely to cause movement of said trolley in accordance with its position relative to the indicia means as indicated by said indicating means; means for holding an object to be lifted by said trolley; and hoist means on said trolley for raising and lowering said holding means, said hoist means being adapted to raise and lower said holding means in such a manner that said holding means is at all times in the same transverse location relative to said trolley means.

2. The apparatus of claim 1 in which said holding means includes television camera means directed downwardly to view the object to be held by said holding means.

3. The apparatus of claim 2 in which said holding means is adapted to grasp an object that has a top that is generally horizontal when grasped and in which said downwardly directed television camera means has indicia at its lens, which, when compared with the object top, enables the distance between the holding means and the object top to be determined as the grasping means approaches the object, said apparatus also including television monitor means at said fixed control location by which the scene viewed by said downwardly facing television camera can be viewed.

4. The apparatus of claim 1 or claim 2 in which said holding means is adapted to grasp an object.

5. The apparatus of claim 1 in which said holding means comprises grab means adapted to hold an object to be lifted and carrying television camera means directed downwardly to view the object to be lifted by said grab means, and in which apparatus said hoist means on said trolley raises and lowers said grab means in an essentially fixed essentially vertical path relative to said trolley, and which apparatus comprises television monitor means located at a fixed control location remote relative to said trolley for viewing the scene viewed by said television camera means carried by said grab means to determine when the grab means is properly located to pick up said object.

6. The apparatus of either claim 1 or claim 5 in which a plurality of said indicia means are provided to de-signate a plurality of locations at which said trolley is to be located, said means carried by the trolley for indicating the position of the trolley indicates the position of the trolley relative to any selected one of said indicia means, and said means at said fixed control location for controlling operation of said means for moving said trolley is adapted to control movement of the trolley to locate it at a position corresponding to said selected indicia means.

7. The apparatus of claim 2 in which said means for indicating the position of said trolley comprises second tele-vision camera means mounted on the trolley and adapted to scan in a direction directed transversely of the direction of move ment of the trolley and adapted to view said indicia means.

8. The apparatus of claim 1 in which said hoist means on said trolley comprises three cables connected to said holding means at locations thereon to prevent tilting of said holding means, said hoist means including means for raising and lowering all said cables at an equal rate while keeping said cables at all times in their same transverse locations relative to said trolley.

9. The apparatus of claim 1 comprising means for securing said holding means to said trolley against lateral movement relative to said trolley when said holding means is in a raised position.

10. The apparatus of claim 8 comprising means for determining when said cables are slack when said holding means is contacting an object below it.

11. The apparatus of claim 10 in which said holding means comprises actuatable means for grasping an object, and in which said means for determining when said cables are slack permits release of said actuatable means only when said cables are slack.

12. The apparatus of claim 1 wherein said hoist means comprises at least three cables connected to said holding means at locations thereon to prevent tilting of said holding means, said hoist means including means for raising and lowering all of said cables at an equal rate while keeping said cables at all times in their same transverse locations relative to said trol-ley, and means for determining when said cables are slack when said holding means is contacting an object below it, said hold-ing means comprising actuatable means for grasping an object, said means for determining when said cables are slack permitting release of said actuatable means only when said cables are slack.

13. The apparatus of claim 1 in which said means for supporting said trolley for transverse movement to a variety of locations comprises elongated track means, elongated bridge means adapted to travel along said track means in a direction longitudinally of said track means, and means on said bridge means supporting said trolley for movement longitudinally of said bridge means and in a direction transverse to the direction of travel of said bridge means on said track means; means for driving said bridge means on said track means; means for driv-ing said trolley on said bridge means; and means for driving said hoist means; each of said driving means comprising two separate independently energizable driving means so that fail-ure of one will not prevent driving by the other.

14. Crane apparatus comprising a trolley, means for supporting said trolley for transverse movement to a variety of locations, said means comprising elongated track means;
elongated bridge means adapted to travel along said track means in a direction longitudinally of said track means, and means on said bridge means supporting said trolley for movement longi tudinally of said bridge means and in a direction transverse to the direction of travel of said bridge means on said track means; grab means for holding an object to be lifted by said trolley; hoist means on said trolley for raising and lowering said grab means; means for driving said bridge means on said track means and for driving said trolley on said bridge means to move the trolley to a variety of locations, operation of said last-named means being controllable from a fixed control location off of and remote from said trolley and said bridge means; indicia means for designating a plurality of fixed locations at which the trolley is to be located; means carried by said trolley and means at the fixed control location for in-dicating at said fixed control location the position of said trolley relative to any selected one of said indicia means;
means at said fixed control location for controlling operation of said means for driving said bridge means on said track means and said track means on said bridge means to cause movement of said trolley in accordance with its position relative to the indicia means as indicated by said indicating means; television camera means carried by said grab means and directed downwardly to view the object to be lifted by said grab means; and tele-vision monitor means at said fixed control location for viewing the scene viewed by said television camera to determine when the grab means is properly located to pick up said object.

15. Crane apparatus comprising a trolley; means supporting said trolley for longitudinal and transverse move-ment to a plurality of locations; means for moving said trolley longitudinally and transversely to said locations, operation of said means being controllable from a fixed control location off of and remote from said trolley and said means for supporting said trolley; means for holding an object to be lifted by said trolley; hoist means on said trolley for raising and lowering said holding means in an essentially vertical path essentially fixed relative to said trolley; indicia means offset from said trolley and from the object to be lifted for designating a plurality of positions at which the trolley is to be located and to locate a plurality of said objects; television camera means mounted on said trolley and adapted to scan in a direct-ion to view said indicia means; monitor means at said fixed control location for viewing the scene viewed by said tele-vision camera means on said trolley to determine the direction of movement of the trolley and to determine when the trolley is located at a selected position; and means at said fixed control location for controlling operation of said means for moving said trolley transversely to cause movement of the trolley in accordance with its position relative to said in-dicia means as indicated by said monitor means.

16. Crane apparatus comprising a trolley; means for supporting said trolley for transverse movement to a variety of locations; means for moving said trolley transversely to said locations, operation of said means being controllable from a fixed control location off of and remote from said trolley and said means for supporting said trolley; indicia means offset from the trolley and from the object to be lifted designating a plurality of locations at which the trolley is to be located; television camera means mounted on said trolley and adapted to scan in a direction directed transversely of the direction of movement of the trolley and adapted to view said indicia means when the trolley is at the location designated by said indicia means; monitor means at said fixed control location for viewing the scene viewed by said television camera means on said trolley to determine when the trolley is properly lo-cated; means at said fixed control location for controlling operation of said means for moving said trolley transversely to cause movement of the trolley in accordance with its po-sition relative to said indicia means as indicated by said monitor means; means for holding an object to be lifted by said trolley, said holding means including television camera means directed downwardly to view the object to be held by said holding means and comprising grasping means adapted to grasp an object; hoist means on said trolley for raising and lowering said holding means in an essentially vertical path essentially fixed relative to the trolley; and monitor means by which the scene viewed by said downwardly facing television camera can be viewed.

17. Crane apparatus comprising a trolley; means for supporting said trolley for transverse movement to a variety of locations; means for moving said trolley transversely to said locations, operation of said means being controllable from a fixed control location off of and remote from said trolley and said means for supporting said trolley; indicia means offset from the trolley designating at least one location at which the trolley is to be located; television camera means mounted on the trolley and adapted to scan in a direction di-rected transversely of the direction of movement of the trolley and adapted to view said indicia means when the trolley is at the location designated by said indicia means; monitor means at said fixed control location for reviewing the scene viewed by said television camera means on the trolley to determine when the trolley is properly located; means at said fixed control location for controlling operation of said means for moving said trolley transversely to cause movement of the trolley in accordance with its position relative to said in-dicia means as indicated by said monitor means; means for hold-ing an object to be lifted by said trolley; hoist means on said trolley for raising and lowering said holding means, said holding means including television camera means directed down-wardly to view the object to be held by said holding means and comprising grasping means adapted to grasp an object that has a top that is generally horizontal, said downwardly di-rected television camera means having indicia at its lens which, when compared with the object top, permits the distance between the holding means and the object top to be determined as the grasping means approaches the object; and television monitor means by which the scene viewed by said downwardly facing television camera can be viewed.

18. The apparatus of claim 17 in which said hoist means is adapted to raise and lower said holding means in such a manner that said holding means is at all times in the same transverse location relative to said trolley.

19. The apparatus of either claim 16 or claim 17 in which said grasping means comprises a plurality of pairs of clamping members adapted to grasp said object.

20. The apparatus of any of claims 15, 16 or 17 in which said hoist means on said trolley for raising and lowering said holding means comprises a plurality of cables connected to said holding means at locations thereon to prevent tilting of said holding means, said hoist means including means for rais-ing and lowering all said cables at an equal rate while keeping said cables at all times in their same transverse locations relative to said trolley.

21. The apparatus of claim 1 or claim 2 wherein said hoist means comprises three cables mounted on a common drum and connected to said holding means at locations thereon to prevent tilting of said holding means, said hoist means in-cluding means for raising and lowering all said cables at an equal rate while keeping said cables at all times in their same transverse locations relative to said trolley and while causing said holding means to move in an essentially vertical path essentially fixed relative to said trolley, and means for determining when said cables are slack when said holding means is contacting an object below it, said holding means compris-ing actuatable means for grasping an object.

22. The apparatus of claim 1 or claim 2 in which said holding means comprises grab means adapted to be moved by said hoist means and adapted to hold an object, said grab means comprising means carried by said grab means actuatable to hold an object, means for actuating said means adapted to hold an object, and means for driving said actuating means comprising two separate independently energizable driving means so that failure of one will not prevent driving by the other.

23. The apparatus of claim 1 in which said holding means comprises grab means adapted to be raised and lowered by said hoist means on said trolley and adapted to grasp an object, said grab means comprising a frame adapted to be raised and lowered, and means carried by said frame for grasping the object.

24. The apparatus of claim 23 in which said grab means comprises said main frame, a rotatable subframe mounted on said main frame that is adapted to rotate with respect to said frame about a substantially vertical axis, and means on said subframe for grasping the object; and means operating be-tween said main frame and said subframe for rotating said sub-frame to angular positions relative to the main frame.

25. The apparatus of claim 23 in which said grab means comprises television camera means directed downwardly to view the object grasped by said grasping means.

26. The apparatus of claim 24 comprising television camera means located substantially coincident with the axis Of rotation of said subframe on said main frame.

27. The apparatus of claim 23 in which said means for grasping an object comprises pairs of clamping members spaced around said frame and adapted to grasp said object.

28. The apparatus of claim 24 in which said means for grasping an object comprises pairs of clamping members that are equidistantly and equiangularly spaced around the axis of rotation.

29. The apparatus of either claim 27 or claim 28 in which said pairs of clamping members are adapted to be closed to grasp flange means on the object and to be opened to release the object.