JP2015064304A - Radioactive waste storage container handling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automate handling of a container storing radioactive wastes.SOLUTION: According to an embodiment, a radioactive waste storage container handling device includes: a lorry horizontally movable on a rail; a lift frame 20 supported on this lorry and movable vertically; a lift drive part driving the lift frame 20 vertically while keeping a connection state between the lorry and the lift frame 20; a chuck support frame 10 supported from the lift frame 20; a suspension tool suspended from the lift frame 20, and formed to be able to support the chuck support frame 10 and to make the chuck frame 10 movable relatively upward in a predetermined range when the chuck support frame 10 is pressed upward; and a chuck part 13 supported by the chuck support frame 10 and formed to be able to hold/release a container.

Description

  Embodiments described herein relate generally to a container handling apparatus that contains radioactive waste.

  Low-level radioactive waste generated in nuclear facilities is generally packed in drums and transported to treatment and disposal facilities such as reserve centers. At this time, for example, after a delivery inspection such as an appearance inspection of a drum can or a radioactivity concentration measurement is performed as a shipping inspection before transport, the drum can is packed in a transport container and transported.

  Here, when a drum can filled with low-level radioactive waste is stored in a transport container, a crane using a hoist function is generally used. The reason why the hoist mechanism is used is that there is an error in manufacturing the drum can itself, and there is an error in the installation position of the drum can and the transport container in the handling place. Therefore, a mechanism with passive compliance that absorbs such position error is desirable. Because.

  However, the hoist structure is likely to sway when the drum can is transported. On the other hand, the transport container in which the drum can is stored has a small clearance between the edge of the drum can and the container, particularly at the corners thereof. For this reason, there is a possibility that the drum and the container interfere with each other.

  As a means for preventing such interference, a method of installing an anti-sway mast as in the technique disclosed in Patent Document 1 is conceivable. However, since it is not known which direction the anti-sway direction is, there are about four. It is considered necessary to install a mast. For this reason, the structure may be complicated.

JP-A-5-209966

  In the low-level radioactive waste inspection facility described above, when a drum can is stored in a transport container by a crane after carrying out the inspection, the drum can be manually monitored in order to prevent an increase in the shake by monitoring the interference of the drum can. It is necessary to take such measures. Thus, there are parts that are not automated, and automation is desired.

  Therefore, an embodiment of the present invention aims to automate the handling of containers containing radioactive waste.

  In order to achieve the above-described object, a radioactive waste built-in container handling apparatus according to the present embodiment includes a cart that can move horizontally on a rail, a lifting frame that is supported by the cart and can move vertically up and down, An elevating drive unit that drives the elevating frame vertically up and down while maintaining a coupled state between the carriage and the elevating frame, a chuck support frame supported from the elevating frame, and the chuck support frame suspended from the elevating frame A suspension tool formed so that the chuck support frame can move relatively in a predetermined range upward when the chuck support frame is pushed upward, and the chuck A chuck portion supported by a support frame and configured to be able to grasp and release a container containing radioactive waste. And wherein the Rukoto.

  According to the embodiment of the present invention, handling of a container containing a radioactive waste can be automated.

It is a top view which shows the usage example of the radioactive waste built-in container handling apparatus which concerns on embodiment. It is a front view showing the whole radioactive waste built-in container handling device concerning an embodiment. It is a front view of the part mounted in a trolley | bogie among the radioactive waste built-in container handling apparatuses which concern on embodiment. It is a top view of the alignment mechanism of the chuck | zipper attachment part of the radioactive waste built-in container handling apparatus which concerns on embodiment. It is a top view of the raising / lowering drive part of the radioactive waste built-in container handling apparatus which concerns on embodiment. It is a front view which shows the attachment state of the drum can detection part of the radioactive waste built-in container handling apparatus which concerns on embodiment. It is a front view including the proximity sensor mechanism of the radioactive waste built-in container handling device according to the embodiment. It is a front view including the pressure-sensitive sensor mechanism of the radioactive waste built-in container handling device according to the embodiment. It is a flowchart which shows the flow of the handling using the radioactive waste built-in container handling apparatus which concerns on embodiment.

  Hereinafter, a radioactive waste built-in container handling apparatus according to an embodiment of the present invention will be described with reference to the drawings. Here, the same or similar parts are denoted by common reference numerals, and redundant description is omitted.

  Drawing 1 is a top view showing an example of use of a radioactive waste built-in container handling device concerning an embodiment. When a drum can containing radioactive waste is transferred from a power plant to a treatment facility, the surface radiation level is inspected as a shipping inspection. At the time of this shipping inspection, the radioactive waste built-in container handling apparatus 100 according to the present embodiment is used.

  That is, the drum 1 is carried into the test site with the pallet 503. The drum 1 is cylindrical and stands up and down. The radioactive waste built-in container handling apparatus 100 holds the drum can 1 on the pallet 503 and holds the drum can 1 to the position immediately above the starting point of the inspection table 501, and lowers the drum 1 onto the inspection table 501. Further, when the inspection on the inspection table 501 is completed, the radioactive waste built-in container handling apparatus 100 moves to a position directly above the transport container 502 while holding the drum can 1 on the inspection table 501 and holding it upward. Is transferred into the transport container 502.

  The radioactive waste built-in container handling apparatus 100 includes a first rail 200a, a second rail 200b, and a carriage 210. The first rail 200a is formed so as to be able to run on a second rail 200b that is stationary and fixed in a direction perpendicular to the first rail 200a. The carriage 210 is movable along the first rail 200a on the first rail 200a. The first rail 200a is driven by a cart first drive unit (not shown). Further, the carriage 210 is driven by a carriage second drive unit (not shown). Thus, the carriage 210 can move horizontally within the range where the second rail 200b is laid.

  Drawing 2 is a front view showing the whole radioactive waste built-in container handling device concerning an embodiment. The radioactive waste built-in container handling apparatus 100 includes a chuck support frame 10, a lifting frame 20, a carriage 210, and a control unit 50. Note that the rail portion in FIG. 2 is conceptually shown, the left diagram in FIG. 2 shows a state where the drum can 1 is not gripped, and the right diagram in FIG. 2 shows a state where the drum can 1 is gripped. ing.

  The elevating frame 20 is movable up and down with respect to the carriage 210 while maintaining the coupled state with the carriage 210 by the elevating drive unit 30 (FIG. 5). The elevating frame 20 has a horizontal beam 20a and two columns 20b coupled to both ends of the beam 20a and extending vertically downward.

  The chuck support frame 10 supports a chuck portion 13 that holds and separates the side portion of the drum can 1 that is a container storing low-level radioactive waste. The chuck support frame 10 is supported by the beam 20a of the elevating frame 20 in a state where the chuck portion 13 does not hold the drum 1 and is formed so as to be movable with respect to the column 20b of the elevating frame 20.

  The control unit 50 is mounted on the carriage 210. The control unit 50 issues a command to the first cart driving unit that drives the first rail 200 a and the second cart driving unit that drives the cart 210. Further, as will be described later, it has functions related to the operation of the chuck portion 13, the operation of the elevating drive portion 30, and the like. In addition, although the case where the control part 50 was mounted on the trolley | bogie 210 was shown, it is not limited on the trolley | bogie 210. FIG. For example, it may be installed on the floor and connected to each element of the chuck support frame 10, the lifting frame 20, and the carriage 210 with a cable.

  FIG. 3 is a front view of a portion mounted on the carriage 210 in the radioactive waste built-in container handling device according to the embodiment. The chuck support frame 10 is suspended from the beam 20 a of the elevating frame 20 by the suspension tool 3. The hanging tool 3 includes a shackle support member 21 attached to the lifting frame 20, a shackle attachment member 11 attached to the upper end of the chuck support frame 10, and the shackle 4. The shackle support member 21 has a U-shaped lower portion. The shackle attachment member 11 attached to the upper end of the chuck support frame 10 has a through hole formed in the center. The shackle 4 connects between the shackle support member 21 and the shackle attachment member 11. The shackle 4 has an inverted U shape, and a hole for penetrating a pin is formed at the tip of both linear portions.

  That is, the shackle 4 is coupled to the shackle support member 21 by intersecting the U-shaped portion and the inverted U-shaped portion with each other. Further, the shackle 4 and the shackle attachment member 11 are coupled by the same pin passing through each through hole.

  The chuck support frame 10 has a chuck attachment portion 12 formed at a lower end so that the chuck portion 13 can be attached. The chuck attachment portion 12 is octagonal (FIG. 4) in plan view, and chuck portions 13 are attached to the four corners of the chuck attachment portion 12 respectively. The chuck mounting portion 12 and each chuck portion 13 are fitted so that the upper end of the chuck portion 13 is rotatable around a horizontal rotation shaft provided in the chuck mounting portion 12. The plurality of chuck portions 13 are formed in a shape that restrains the drum can 1 from the periphery. Note that the shape of the chuck attachment portion 12 may not be an octagon but may be, for example, a circle.

  Each chuck portion 13 is driven to open and close by a chuck opening / closing motor 13 a mounted on the chuck mounting portion 12. When the chuck unit 13 grips the drum 1, the chuck opening / closing motor 13 a stops the movement of the chuck by a torque switch (not shown) of the chuck opening / closing motor 13 a. The torque-switch signal is input to the controller 50. The chuck opening / closing motor 13a is activated by a command signal from the control unit 50.

  In addition, although the case where four chuck | zipper parts 13 are shown was shown, it is not limited to this. For example, there may be three. Moreover, the two chuck | zipper parts 13 which have a holding part with a large breadth of the angle of the circumferential direction may be sufficient. Or five or more may be sufficient.

  A pad portion 14 having a pad extending horizontally at the lower end is attached to the lower surface of the chuck attachment portion 12. The pad portion 14 has a flat shape so that a load is not applied to a part of the upper surface of the drum can 1 when contacting the upper surface of the drum can 1.

  FIG. 4 is a plan view of the alignment mechanism of the chuck mounting portion of the radioactive waste built-in container handling device according to the embodiment. The alignment mechanism 40 includes a roller 41, a roller receiver 42, and a roller spring 43. Two rollers 41 are provided, and are supported by the pillars 20b of the elevating frame 20 (FIG. 3) with the rotation axis in the vertical direction. A roller receiver 42 is attached to a position of the chuck attachment portion 12 that faces the roller 41. The roller 41 is pressed against the roller receiver 42 by a roller spring 43 fixed to the column 20b of the elevating frame 20 (FIG. 3).

  The surface of the roller receiver 42 that faces the roller 41 is a concave curved surface in the circumferential direction, and the radius of curvature is smaller as it is closer to the center. That is, due to the force acting from the roller spring 43, the circumferential position of the chuck mounting portion 12 is shaped so that the center of the roller receiver 42 faces the roller 41. Further, this surface extends in the vertical direction while maintaining the horizontal cross-sectional shape.

  FIG. 5 is a plan view of the elevating drive unit of the radioactive waste-containing container handling device according to the embodiment. The lift drive unit 30 includes a pinion gear 36, a pinion gear drive motor 36 a, and a rack gear 37. The pinion gear 36 and the pinion gear drive motor 36 a are attached to the carriage 210. The pinion gear 36 can rotate around a horizontal axis fixed on the carriage 210 and is driven to rotate by a pinion gear drive motor 36a. The pinion gear drive motor 36a is started and stopped by a command signal from the control unit 50. When the lifting frame 20 reaches a predetermined upper position, a position sensor (not shown) outputs a message to that effect to the control unit 50. Here, the upper position is the position of the elevating frame 20 when the carriage 210 moves horizontally with the chuck portion 13 holding the drum 1.

  The rack gear 37 extends in the longitudinal direction of the column 20b of the lifting frame 20, that is, vertically, and is attached to the column 20b. The pinion gear 36 and the rack gear 37 have gears that can mesh with each other, and are arranged so that the gears of each other mesh with each other.

  FIG. 6 is a front view showing an attached state of the drum detection unit of the radioactive waste built-in container handling device according to the embodiment. The drum can detection unit (horizontal position confirmation unit) 15 is attached to the side of the chuck attachment unit 12 so as to face downward in a direction shifted by 45 degrees in the circumferential direction from the chuck unit 13 with an interval of 90 degrees therebetween. ing. The number of drum can detectors 15 is not limited to four. Three or more may be provided at intervals in the circumferential direction.

  The drum can detection unit 15 is attached at a position corresponding to the edge of the drum can 1 in a deformation direction, and is inclined at a slight angle from the vertically downward direction to the central axis direction of the chuck attachment unit 12. When the upper surface or side surface of the drum can 1 is confirmed below, a detection signal is output from each drum can detector 15. For the drum can detection unit 15, for example, a laser sensor is used.

  The output of the drum can detection unit 15 is input to the control unit 50. In the control unit 50, it is determined from the output of each drum can detection unit 15 whether or not the horizontal position of the chuck mounting unit 12 is directly above the drum can 1. The determination is made when all the drum can detectors 15 detect, and when none of the drum can detectors 15 detects, it is determined to be directly above. When the detected drum can detection unit 15 and the undetected drum can detection unit 15 coexist, it is determined that they are not directly above. This is because the drum can 1 may have a band on the top lid portion thereof, and the outer diameter of the drum can 1 may increase. If it is determined that the vehicle is not directly above, the control unit 50 outputs a command of the content of the correction operation to the cart first drive unit and the cart second drive unit of the cart 210.

  FIG. 7 is a front view including the proximity sensor mechanism of the radioactive waste built-in container handling device according to the embodiment. The proximity sensor mechanism 16 includes a proximity sensor 16a, a gap detection member 16b, a pressing portion 16c, and a holding cylinder 16e. The proximity sensor 16a may be, for example, a magnetic proximity sensor.

  The pressing portion 16c is attached to the lower surface of the beam 20a and extends vertically downward, and a horizontal plate portion is provided at the tip. The gap detection member 16b has a roller 16d at its upper end and extends downward. The upper roller 16d is in contact with the horizontal plate portion of the pressing portion 16c. The holding cylinder 16e is attached upright to the upper end of the chuck support frame 10 so that the center is at the horizontal position of the pressing portion 16c.

  The gap detection member 16b penetrates the upper end of the holding cylinder 16e and is supported by the holding cylinder 16e with a spring. The proximity sensor 16a is horizontally attached to the side surface of the holding cylinder 16e. When the tip of the gap detection member 16b is lowered to the height at which the proximity sensor 16a is provided, the proximity sensor 16a detects the gap. That is, it is detected that the height from the chuck support frame 10 has reached a position smaller than the height from the chuck support frame 10 of the proximity sensor 16a. The output of the proximity sensor 16a is output to the control unit 50.

  FIG. 8 is a front view including a pressure-sensitive sensor mechanism of the radioactive waste built-in container handling device according to the embodiment. The pressure-sensitive sensor mechanism 18 includes a pressure-sensitive outer member 18a provided on the lifting frame 20 (FIG. 3) side and a pressure-sensitive inner member 18b provided on the chuck support frame 10 side.

  There are two sets of pressure-sensitive outer members 18a, each extending horizontally around the chuck support frame 10 in a circular arc shape, and the two sets are arranged on opposite sides of the chuck support frame 10. There are also two sets of pressure-sensitive inner members 18b, each of which extends horizontally in a circular arc around the chuck support frame 10 so as to face the pressure-sensitive outer member 18a with a predetermined distance from each other. It is arranged on the opposite side across the chuck support frame 10.

  A pressure-sensitive tape sensor as a pressure-sensitive sensor is attached to the surface of the pressure-sensitive outer member 18a facing the pressure-sensitive inner member 18b. If the amount of horizontal movement of the chuck support frame 10 exceeds a certain amount, the pressure-sensitive sensor is used. The outer member 18a and the pressure-sensitive inner member 18b are in contact with each other, and the contact between the pressure-sensitive outer member 18a and the pressure-sensitive inner member 18b can be detected by this surface pressure. A signal of the pressure-sensitive sensor mechanism 18 due to the contact between the pressure-sensitive outer member 18 a and the pressure-sensitive inner member 18 b is output to the control unit 50. The control unit 50 includes an abnormality detection unit (not shown). When the output of the pressure-sensitive sensor mechanism 18 exceeds a reference value, the control unit 50 determines that an abnormality has occurred and outputs an abnormality signal.

  In the embodiment, the case where there are two sets of the pressure-sensitive outer member 18a and the pressure-sensitive inner member 18b is shown, but the present invention is not limited to this. For example, three or more sets may be used. Moreover, although the case where the pressure sensitive sensor was a pressure sensitive tape sensor was shown, it is not limited to this. Not only the resistance film method but also a capacitance method may be used. Moreover, it may be other than the tape shape.

  FIG. 9 is a flowchart showing a flow of handling using the radioactive waste built-in container handling device according to the embodiment. As described in the explanation of FIG. 1, when a drum can containing radioactive waste is transferred from a power plant to a processing facility, a surface radiation level or the like is inspected as a shipping inspection. At the time of this shipping inspection, the drum 1 on the pallet 503 is transferred onto the inspection table 501 using the radioactive waste built-in container handling apparatus 100 according to the present embodiment, and the inspection on the inspection table 501 is completed. The drum can 1 is transferred into the transport container 502. FIG. 9 shows the procedure for handling the drum 1 at this time.

  First, as shown in FIG. 9, the carriage 210 is moved immediately above the drum can 1 to be handled (step S01). Specifically, the controller 50 instructs the cart first drive unit and the cart second drive unit. The cart first driving unit moves the first rail 200a, and the cart second driving unit moves the cart 210 to a predetermined horizontal position.

  After step S01, in a state where the carriage 210 is stopped, the carriage 210 is centered with respect to the drum can 1 using the plurality of drum can detectors 15 (step S02). That is, the state of the drum 1 below the chuck mounting portion 12 is detected, and the result is output to the control unit 50. When the control unit 50 determines that the horizontal position of the chuck mounting portion 12 is not directly above the drum 1, the control unit 50 calculates the movement of each of the first rail 200 a and the carriage 210 to obtain the first Commands to each of the drive unit and the second drive unit.

  After the carriage 210 moves directly above the drum can 1 to be handled in step S02, the lifting frame 20 is lowered (step S03). The raising / lowering frame 20 is lowered by driving the pinion gear 36 in a direction in which the rack gear 37 descends when the pinion gear drive motor 36a is activated by a command signal from the control unit 50.

  When the elevating frame 20 is lowered in step S03, the pad portion 14 reaches the upper surface of the drum can 1 (step S04). When the elevating frame 20 is further lowered, the chuck support frame 10, the chuck mounting portion 12, and the chuck portion 13 that have been supported by the elevating frame 20 are pushed upward, and only the weight of the drum can 1 is deposited. The tension applied to the shackle 4 is released, and the downward driving force of the lifting frame 20 is not transmitted to the drum can 1 (step S05).

  If step S05 continues, the beam 20a of the raising / lowering frame 20 will approach the upper end of the chuck | zipper support frame 10, and the proximity sensor 16a of the proximity sensor mechanism 16 will operate | move (step S06). That is, the proximity sensor 16 a outputs a signal indicating that the beam 20 a of the lifting frame 20 and the chuck support frame 10 are close to the control unit 50. When receiving the output from the proximity sensor 16a, the control unit 50 instructs the pinion gear drive motor 36a of the lift drive unit 30 to stop.

  After step S06, the drum 1 is gripped by the chuck portion 13 (step S07). The gripping of the drum can 1 is driven by the chuck opening / closing electric motor 13a, and the chuck opening / closing electric motor 13a stops when reaching the specified torque. Further, the fact that the specified torque has been reached is output to the control unit 50.

  In step S07, with the chuck portion 13 holding the drum 1, the lifting frame 20 is raised to the upper position (step S08). That is, the control unit 50 instructs the pinion gear drive motor 36a of the lift drive unit 30 to drive the pinion gear 36 in the direction in which the rack gear 37 is raised. Upon receiving a signal that the lifting frame 20 has reached the upper position, the control unit 50 commands the pinion gear drive motor 36a to stop.

  After step S08, the carriage 210 is moved to the transfer destination of the drum 1 (step S09). That is, the control unit 50 calculates the amount of movement of each of the first rail 200a and the carriage 210 and instructs each of the first drive unit and the second drive unit.

  When the predetermined destination is reached in step S09, the lifting frame is lowered (step S10). Specifically, the control unit 50 instructs the pinion gear drive motor 36a of the lift drive unit 30 to drive the pinion gear 36 in the direction in which the rack gear 37 is lowered. When receiving a signal indicating that the proximity sensor 16a has been operated, the control unit 50 instructs the pinion gear drive motor 36a to stop. When the drum can 1 is placed on the floor in step S10, the chuck portion 13 releases the drum can 1 (step S11).

  The radioactive waste built-in container handling apparatus 100 according to the present embodiment configured as described above has a rack-and-pinion structure as its power transmission method, so that it does not generate shaking or the like when transporting a drum can. It is possible to move up and down. Further, since the chuck portion 13 is supported via the lifting frame 20 and the shackle 4, when the chuck mounting portion 12 lands on the upper surface of the drum can 1, a driving force for lowering the lifting frame 20 by the shackle 4 is provided. It becomes possible to divide, and it is possible to absorb errors in the stop positions of the drum 1 and the carriage 210 in the height direction.

  Further, in the horizontal direction, even when an error occurs in the position of the drum can 1 due to the rotation at the shackle 4 and the alignment mechanism 40 provided in the chuck mounting portion 12, the position error can be absorbed. .

  Next, when the lifting operation of the lifting frame 20 is performed, after the power transmission to the chuck portion 13 by the shackle 4 is interrupted, the lowering operation can be reliably stopped by the proximity sensor mechanism 16. .

  Further, when the carriage 210 is traveling in the horizontal direction, when it collides with other equipment or the like, or when the error in the horizontal position between the drum can 1 to be gripped and the chuck mounting portion 12 is large, the pressure-sensitive sensor mechanism. The above detection is possible by 18.

  As described above, according to the present embodiment, handling of a container containing radioactive waste can be automated.

  As mentioned above, although some embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. For example, although the case where the object to be handled is a drum can is shown, other containers may be used as long as the object can be moved by gripping from the periphery. Moreover, you may combine the characteristic of each embodiment.

  Furthermore, these embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention.

  These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 1 ... Drum can (container), 3 ... Hanging tool, 4 ... Shackle, 10 ... Chuck support frame, 11 ... Shackle attachment member, 12 ... Chuck attachment part, 13 ... Chuck part, 13a ... Chuck opening / closing electric motor, 14 ... Pad part 15 ... Drum can detection unit (horizontal position confirmation unit), 16 ... Proximity sensor mechanism, 16a ... Proximity sensor, 16b ... Gap detection member, 16c ... Pressing part, 16d ... Roller, 16e ... Holding cylinder, 18 ... Pressure-sensitive sensor Mechanism: 18a ... Pressure-sensitive outer member, 18b ... Pressure-sensitive inner member, 20 ... Lifting frame, 20a ... Beam, 20b ... Column, 21 ... Shackle support member, 30 ... Lifting drive unit, 36 ... Pinion gear, 36a ... Pinion gear drive motor 37 ... Rack gear 40 ... Aligning mechanism 41 ... Roller 42 ... Roller receiver 43 ... Roller spring 50 ... Control unit, 100 ... radioactive waste internal container handling apparatus, 200a ... first rail, 200b ... second rail, 210 ... carriage, 501 ... examination table, 502 ... shipping container, 503 ... Palette

Claims (8)

A dolly that can move horizontally on the rail;
A lifting frame supported by the carriage and movable up and down in the vertical direction;
An elevating drive unit that drives the elevating frame vertically up and down while maintaining the coupled state of the carriage and the elevating frame;
A chuck support frame supported from the elevating frame;
The chuck support frame can be supported by being suspended from the lifting frame, and when the chuck support frame is pushed upward, the chuck support frame can move relatively in a predetermined range upward. A hanging tool formed on the
A chuck portion that is supported by the chuck support frame and is configured to be able to grasp and release a container containing radioactive waste;
A device for handling radioactive waste built-in containers.   The elevating drive unit includes a pinion gear that is rotatable around a horizontal axis fixed to the carriage, and a rack gear that engages with the pinion gear and is fixed to the elevating frame and extends vertically. The radioactive waste built-in container handling device according to claim 1.   The radioactive waste built-in container handling apparatus according to claim 1, wherein the hanging tool has a shackle. A plurality of rollers attached to the inner side of the elevating frame with the rotation axis in the vertical direction at intervals in the circumferential direction;
A plurality of plate-like plates that are attached to the chuck support frame so as to face each of the plurality of rollers and extend in the vertical direction, and the radially outer surface forms a concave surface whose center is most depressed with respect to the rotation direction of the rollers. The roller receiver,
The radioactive waste built-in container handling device according to any one of claims 1 to 3, further comprising: It further includes a plurality of horizontal position confirmation units that can confirm the presence or absence of the container in a vertically downward direction from the container clamping unit and are provided at intervals in the circumferential direction of the chuck support frame.
The radioactive waste built-in container handling device according to any one of claims 1 to 4. The lifting frame has a horizontal beam that supports the hanging tool,
A gap detecting member provided on the beam and extending vertically downward;
A proximity sensor that detects that the tip of the gap detection member has reached a position where the height from the chuck support frame is smaller than a predetermined value and detects that the chuck support frame and the lift frame are close to each other; ,
The radioactive waste built-in container handling device according to any one of claims 1 to 5, further comprising: A pressure-sensitive sensor that is provided around the chuck support frame and detects a compressive force acting between the lift frame and the lift frame;
An abnormality detection unit that detects when the output of the pressure-sensitive sensor exceeds a reference value;
The radioactive waste built-in container handling device according to any one of claims 1 to 6, further comprising:   The radioactive waste built-in container handling device according to any one of claims 1 to 7, further comprising a control unit that controls the carriage, the lifting frame, and the chuck unit.

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