JP2015189535A - Lifting device, radioactive waste solidification device, and method for solidification of radioactive waste - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lifting device which can maintain a position of a disposal container even if a feed material is fed.SOLUTION: A lifting device includes: a first arm; a second arm; a shaft member which supports a midship part of the first arm and a midship part of the second arm so that the arms can be relatively rotated around a second axis orthogonal to a first axis; a lower frame which supports a lower end part of the first arm and a lower end part of the second arm so that the arms can be relatively moved in a direction parallel to a third axis orthogonal of the first axis and the second axis; a first actuator which applies a force onto an intermediate part of the first arm between an upper end part and the midship part of the first arm so that a distance between the upper end part and the lower end part of the first arm in a direction parallel to the first axis can be changed; an upper frame which is supported on the upper end part of the first arm and an upper end part of the second arm, and moves in a direction parallel to the first axis in the state such that a disposal container is supported by operation of the first actuator; and a second actuator which applies a force onto at least one of the lower end part of the first arm and the lower end part of the second arm in a direction parallel to the third axis.

Description

  The present invention relates to a lifting device, a radioactive waste solidification device, and a radioactive waste solidification method.

  The low-level radioactive waste generated in the nuclear power plant is disposed of through a series of processes including volume reduction and solidification. Known solidification methods include a cement solidification method using cement as the solidification material, an asphalt solidification method using asphalt as the solidification material, and a plastic solidification method using plastic as the solidification material.

  In the cement solidification method, a solidified body in which radioactive waste is solidified with cement is manufactured. As a method for producing a solidified body, an in-drum mixing method, an out-drum mixing method, a vacuum injection method, and the like are known. The in-drum mixing method is a method in which a stirrer is inserted into a disposal container such as a drum can, and radioactive waste, cement, and water are stirred and solidified inside the disposal container. The outdrum mixing method is a method in which radioactive waste, cement, and water are kneaded in a kneader different from the disposal container, and the kneaded material is filled in the disposal container and solidified. The vacuum injection method is a radioactive radioactive waste that is filled with a solidified material containing cement and vermiculite in a sealed disposal container and then evacuated to reduce the pressure inside the disposal container. Is impregnated into a solidifying material and solidified.

  In the radioactive waste solidifying apparatus, the disposal container is moved up and down by a lifting device in order to insert the stirrer into the disposal container and to remove the stirrer from the disposal container. Patent Document 1 discloses an example of a radioactive waste solidifying device including a lifting device that lifts and lowers a disposal container (storage container). Patent Document 2 discloses a technique for raising and lowering a lifter table using a cylinder.

Japanese Patent Laid-Open No. 05-027091 JP-A-11-130225

  In the solidification process, the disposal container is lifted by a lifting device so that a stirrer is inserted into a new (empty) disposal container, and is placed in the expected position. And supplies such as radioactive waste. If the load on the lifting device is increased by supplying the supply to the disposal container, the disposal container may be lowered. As a result, the stirring process may not be performed smoothly.

  The aspect of this invention aims at providing the raising / lowering apparatus which can maintain the position of a disposal container, even if a supply is supplied. Moreover, the aspect of this invention aims at providing the radioactive waste solidification apparatus and radioactive waste solidification method which can implement a stirring process smoothly.

  A first aspect of the present invention is a lifting device capable of moving a disposal container in a direction parallel to a first axis orthogonal to a predetermined plane, the first arm, the second arm, and the center of the first arm A shaft member that rotatably supports a central portion of the second arm and the central portion of the second arm about a second axis orthogonal to the first axis, a lower end portion of the first arm, and a lower end portion of the second arm A lower frame that supports the first axis and the third axis orthogonal to the second axis so as to be relatively movable in a direction parallel to the third axis, and an upper end portion and a lower end portion of the first arm in a direction parallel to the first axis A first actuator that applies a force to an intermediate portion of the first arm between the upper end portion and the central portion of the first arm so that a distance between the upper arm portion and the second arm is changed. The disposal volume is supported by the operation of the first actuator. A force in a direction parallel to the third axis is applied to at least one of the upper frame that moves in a direction parallel to the first axis and the lower end of the first arm and the lower end of the second arm while supporting And a second actuator for adding a lift.

  According to a second aspect of the present invention, there is provided the lifting device according to the first aspect, and after the disposal container is positioned with respect to the direction parallel to the first axis by the lifting device, the radioactive waste and the solidified material are disposed in the disposal container. There is provided a radioactive waste solidification device comprising: a supply device that supplies water and water; and a stirrer that stirs the radioactive waste, solidification material, and water supplied to the disposal container.

  According to a third aspect of the present invention, there is provided a radioactive waste solidification method including moving a disposal container using the lifting device according to the first aspect, and comprising a stirrer and a cover member disposed around the stirrer. And disposing a new disposal container supported by the upper frame, and increasing the distance between the upper end and the lower end of the first arm in a direction parallel to the first axis. So that the position of the disposal container in a direction parallel to the first axis is maintained after the disposal container is lifted and the upper end portion of the disposal container and the cover member come into contact with each other. Applying a force to at least one of the lower end of the first arm and the lower end of the second arm with the second actuator, and applying radioactive force to the disposal container with the force applied by the second actuator. The radioactive waste, the solidified material and the water supplied to the disposal container are agitated by the stirrer in a state where a material, a solidified material and water are supplied and a force is applied by the second actuator. And providing a method for solidifying radioactive waste.

  According to the aspect of the present invention, there is provided an elevating device that can maintain the position of a disposal container even when a supply is supplied. Moreover, according to the aspect of this invention, the radioactive waste solidification apparatus and radioactive waste solidification method which can implement stirring processing smoothly are provided.

FIG. 1 is a schematic configuration diagram illustrating an example of a radioactive waste solidification apparatus according to the first embodiment. FIG. 2 is a cross-sectional view showing a part of the radioactive waste solidifying apparatus according to the first embodiment. FIG. 3 is a diagram schematically illustrating an example of a transport device according to the first embodiment. FIG. 4 is a flowchart showing an example of the radioactive waste solidification method according to the first embodiment. FIG. 5 is a diagram schematically illustrating an example of the operation of the radioactive waste solidification apparatus according to the first embodiment. FIG. 6 is a diagram schematically illustrating an example of the operation of the radioactive waste solidification apparatus according to the first embodiment. FIG. 7 is a diagram schematically illustrating an example of the operation of the radioactive waste solidification apparatus according to the first embodiment. FIG. 8 is a block diagram illustrating an example of a radioactive waste solidifying apparatus according to the second embodiment.

  Hereinafter, embodiments according to the present invention will be described with reference to the drawings, but the present invention is not limited thereto. The components of each embodiment described below can be combined as appropriate. Some components may not be used. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

  In the following description, an XYZ orthogonal coordinate system is set, and the positional relationship of each part will be described with reference to this XYZ orthogonal coordinate system. One direction in the horizontal plane is defined as the X-axis direction, a direction orthogonal to the X-axis direction in the horizontal plane is defined as the Y-axis direction, and a direction (vertical direction) orthogonal to each of the X-axis direction and Y-axis direction is defined as the Z-axis direction.

<First Embodiment>
A first embodiment will be described. FIG. 1 is a schematic configuration diagram illustrating an example of a radioactive waste solidifying apparatus SE according to the present embodiment. The radioactive waste solidification device SE solidifies (solidifies) the radioactive waste RW generated in the nuclear power plant using the solidification material SM. The nuclear power plant nuclear reactor includes at least one of a pressurized water reactor (PWR) and a boiling water reactor (BWR).

  As shown in FIG. 1, the radioactive waste solidification device SE includes a first supply device 1 that supplies the radioactive waste RW to the disposal container DC such as a drum, and a second supply that supplies the solidification material SM to the disposal container DC. The device 2, the third supply device 3 for supplying the water WT to the disposal container DC, the exhaust device 4 for discharging the gas GA of the disposal container DC, the radioactive waste RW and the solidification material SM supplied to the disposal container DC A stirrer 5 that stirs the water WT, a transport device 6 that transports the disposal container DC, and a cleaning device 7 that cleans the stirrer 5 are provided. The radioactive waste solidifying device SE is accommodated in the chamber device CH.

  In the present embodiment, the radioactive waste solidification device SE solidifies the radioactive waste RW by a cement solidification method using cement as the solidification material SM. That is, the radioactive waste solidification device SE includes a cement solidification device. The radioactive waste solidification device SE may solidify the radioactive waste RW by at least one solidification method of asphalt solidification method using asphalt as the solidification material SM and plastic solidification method using plastic as the solidification material SM. .

  In this embodiment, the radioactive waste solidification device SE manufactures a solidified body obtained by solidifying the radioactive waste solidification device SE by an in-drum mixing method. The in-drum mixing method is a method in which the stirrer 5 is inserted into the disposal container DC, and the radioactive waste RW, the solidified material SM, and the water WT are stirred and solidified inside the disposal container DC.

  The transport device 6 transports the disposal container DC to a processing unit (processing station) PU in which the stirrer 5 is disposed. The first supply device 1 supplies the radioactive waste RW to the disposal container DC disposed in the processing unit PU. The second supply device 2 supplies the solidified material SM to the disposal container DC disposed in the processing unit PU. The 3rd supply apparatus 3 supplies water WT to the disposal container DC arrange | positioned at process part PU. The stirrer 5 stirs the radioactive waste RW, the solidified material SM, and the water WT supplied to the inside of the disposal container DC in the processing unit PU.

  The radioactive waste solidifying device SE has a cover member 8 called a splash guard arranged in the processing unit PU. The disposal container DC has an opening at the upper end. With the opening of the disposal container DC covered with the cover member 8, the radioactive waste RW, the solidified material SM, and the water WT are supplied into the disposal container DC through the opening of the disposal container DC. With the opening of the disposal container DC covered by the cover member 8, the radioactive waste RW, the solidified material SM, and the water WT supplied to the inside of the disposal container DC are stirred by the stirrer 5.

  The first supply device 1 supplies the radioactive waste RW to the disposal container DC of the processing unit PU. The in-drum mixing method mainly targets powdered radioactive waste RW or liquid radioactive waste RW. In this embodiment, the powdered radioactive waste RW is supplied to the disposal container DC of the processing unit PU. For example, powdered radioactive waste RW is generated from the radioactive concentrated waste liquid by a drying process or the like, and the radioactive waste RW is supplied to the disposal container DC. In the following description, the powdered radioactive waste RW is appropriately referred to as dry powder RW.

  The radioactive waste RW supplied to the disposal container DC of the processing unit PU is not limited to the dry powder RW. The radioactive waste RW supplied to the disposal container DC of the processing unit PU may be liquid or solid.

  The first supply device 1 includes a powder hopper 11 that contains a dry powder RW, a weighing device 12 that includes a powder weighing hopper that measures and delivers the dry powder RW from the powder hopper 11, and a powder hopper. 11 dry powder RW to the weighing device 12 and a first supply pipe 14 through which the dry powder RW supplied from the weighing device 12 to the disposal container DC passes. The conveying device 13 includes a powder hopper discharger 13A and a powder supply screw feeder 13B.

  The second supply device 2 supplies the solidified material SM to the disposal container DC of the processing unit PU. The second supply device 2 supplies cement as the solidifying material SM. The second supply device 2 includes a vacuum transfer device 21, a measurement device 22 including a measurement supply hopper that measures and sends the solidified material SM from the vacuum transfer device 21, and a solidification supplied from the measurement device 22 to the disposal container DC. A second supply pipe 24 through which the material SM passes and a valve mechanism 23 provided in the second supply pipe 24 are provided.

  The third supply device 3 supplies water WT to the disposal container DC of the processing unit PU. The third supply device 3 includes a measurement device 31 including a water measurement tank that measures and sends out the water WT from the water supply source, and a third supply pipe 34 through which the water WT supplied from the measurement device 31 to the disposal container DC passes. And a valve mechanism 33 provided in the third supply pipe 34.

  The exhaust device 4 discharges the gas GA in the disposal container DC of the processing unit PU. The exhaust device 4 includes a discharge pipe 44 through which the gas GA from the disposal container DC passes, and a filter device 41 disposed in the discharge pipe 44.

  The stirrer 5 stirs the dry powder RW, the solidified material SM, and the water WT supplied into the disposal container DC. The stirrer 5 includes a paddle 51 and an actuator 52 that drives the paddle 51. In the present embodiment, the agitator 5 is supported by the cover member 8.

  The transport device 6 transports the disposal container DC. The disposal container DC includes a drum can and has an opening at the upper end. The conveyance device 6 includes a conveyance carriage. The conveying device 6 carries the disposal container DC into the processing unit PU and carries out the disposal container DC from the processing unit PU. In the present embodiment, an exchange unit (exchange station) TU is provided outside the chamber apparatus CH.

  The exchange unit TU includes a transport conveyor 70 and a capping device 71 that attaches a cap member to the disposal container DC so as to cover the opening at the upper end of the disposal container DC. The disposal container DC is transported by the transport conveyor 70 of the exchange unit TU. The disposal container DC stands by in the exchange unit TU.

  The transfer device 6 can move between an exchange unit TU outside the chamber device CH and a processing unit PU inside the chamber device CH. In the present embodiment, a transfer port 9 is formed in a part of the chamber apparatus CH. The transfer device 6 can move between the outside and the inside of the chamber device CH via the transfer port 9. The radioactive waste solidifying device SE has a shielding door 10 that opens and closes the transport port 9. When the transport device 6 passes through the transport port 9, the shielding door 10 is activated and the transport port 9 is opened. When the transport device 6 does not pass through the transport port 9, the transport port 9 is closed by the shielding door 10.

  The transport device 6 includes a support base 61 that supports the disposal container DC, an elevating device 62 that can move the support base 61 up and down, and a traveling device 63 that can move while supporting the support base 61 and the elevating device 62. The traveling device 63 includes wheels and is capable of self-propelling.

  In the exchange unit TU, the disposal container DC before processing is placed on the support 61 of the transport device 6. The disposal container DC before processing includes a new (empty) disposal container DC. The transfer device 6 on which the disposal container DC before processing is placed moves from the exchange unit TU to the processing unit PU via the transfer port 9.

  In this embodiment, the disposal container DC before processing is transported to the replacement unit TU via the transport carriage 72 and the transfer conveyor 73.

  The transfer device 6 moved to the processing unit PU uses the lifting device 62 to raise the disposal container DC supported by the support base 61 so that the cover member 8 and the upper end portion of the disposal container DC are in contact with each other. Thereby, the opening of the upper end part of the disposal container DC is covered with the cover member 8.

  With the cover member 8 and the upper end of the disposal container DC in contact with each other, the dry powder RW, the solidified material SM, and the water are supplied from the first supply pipe 14, the second supply pipe 24, and the third supply pipe 34, respectively. Each of the WTs is supplied to the disposal container DC. The dry powder RW, the solidified material SM, and the water WT are supplied into the disposal container DC through the opening at the upper end of the disposal container DC. The paddle 51 of the agitator 5 is inserted into the disposal container DC through the opening at the upper end of the disposal container DC. By the operation of the actuator 52, the dry powder RW, the solidified material SM, and the water WT supplied to the inside of the disposal container DC are stirred by the paddle 51.

  When the stirring by the stirrer 5 ends, the transport device 6 lowers the support base 61 that supports the disposal container DC after the processing by the lifting device 62. The disposal container DC after the treatment includes a disposal container DC that contains the dried powder RW, the solidified material SM, and the water WT after stirring. The transport apparatus 6 on which the disposal container DC after processing is moved moves from the processing unit PU to the exchange unit TU.

  A cap member is attached by the capping device 71 to the disposal container DC that has been moved to the exchange unit TU. The treated disposal container DC to which the cap member is attached is sent to the transport carriage 72 via the transfer conveyor 73. The treated disposal container DC is transported to the next step by the transport carriage 72.

  The cleaning device 7 cleans the stirrer 5. When the stirring process by the stirrer 5 is not executed, the cleaning device 7 moves to the processing unit PU and cleans the stirrer 5. The stirring process by the stirrer 5 refers to a process in which the dry powder RW, the solidified material SM, and the water WT supplied into the disposal container DC in the processing unit PU are stirred by the stirrer 5. When the cleaning process of the stirrer 5 is not executed, the cleaning device 7 is disposed in the standby unit (standby station) WS.

  The cleaning device 7 includes a liquid tank 91 having an internal space 90, a pump 92 connected to the liquid tank 91, and a transport device 93 that transports the liquid tank 91 and the pump 92. The transport device 93 includes a transport cart, and includes a support base that supports the liquid tank 91 and the pump 92 and a traveling device that is movable while supporting the support base. The traveling device includes wheels and is capable of traveling.

  The liquid LQ is supplied to the internal space 90 of the liquid tank 91. The liquid LQ is a cleaning liquid for cleaning the stirrer 5. In the present embodiment, the liquid LQ is warm water. The temperature of the liquid LQ is, for example, about 70 ° C.

  The cleaning device 7 is movable between the processing unit PU and the standby unit WS. The liquid LQ is accommodated in the internal space 90 in both the state in which the cleaning device 7 is disposed in the processing unit PU and the state in which the cleaning device 7 is disposed in the standby unit WS. That is, the liquid LQ is accommodated in the internal space 90 in each of the cleaning period in which the cleaning process of the stirrer 5 is performed and the non-cleaning period in which the cleaning process of the stirrer 5 is not performed. The non-cleaning period includes a stirring period in which the stirring process by the stirrer 5 is performed.

  In the present embodiment, in a state where the cleaning device 7 is disposed in the standby unit WS, at least a part of the liquid LQ in the internal space 90 is supplied to the third supply device 3 by the pump 92. The third supply device 3 supplies the liquid LQ to the disposal container DC. That is, in this embodiment, a part of the liquid LQ of the cleaning device 7 is used as water WT for producing a solidified body. The liquid LQ in the internal space 90 may be directly supplied to the disposal container DC without going through the third supply device 3. When a part of the liquid LQ in the internal space 90 is supplied to the disposal container DC, a new liquid LQ is supplied to the internal space 90. Thereby, the internal space 90 continues to be filled with the liquid LQ.

  FIG. 2 is a cross-sectional view showing a part of the radioactive waste solidifying device SE according to the present embodiment. As shown in FIG. 2, the radioactive waste solidification device SE supplies a first supply pipe 14 for supplying the dry powder RW, a second supply pipe 24 for supplying the solidified material SM, and water WT. A third supply pipe 34 for discharging the gas GA and a discharge pipe 44 for discharging the gas GA.

  The first supply pipe 14 has a first supply passage 15 through which the dry powder RW supplied to the disposal container DC passes, and a first opening 16 provided at the lower end of the first supply passage 15. The second supply pipe 24 includes a second supply passage 25 through which the solidified material SM supplied to the disposal container DC passes, and a second opening 26 provided at the lower end of the second supply passage 25. The third supply pipe 34 has a third supply passage 35 through which the water WT supplied to the disposal container DC passes, and a third opening 36 provided at the lower end of the third supply passage 35. The discharge pipe 44 has a discharge passage 45 through which the gas GA from the disposal container DC passes, and an opening 46 provided at the lower end of the discharge passage 45.

  The radioactive waste solidifying device SE includes a cover member 8 that is disposed in the processing unit PU and covers the opening at the upper end of the disposal container DC. With the opening at the upper end of the disposal container DC covered with the cover member 8, the dry powder RW, the solidified material SM, and the water are placed inside the disposal container DC through the opening at the upper end of the disposal container DC. WT is supplied.

  The radioactive waste solidification device SE includes a stirrer 5 that is disposed in the processing unit PU and stirs the dry powder RW, the solidified material SM, and the water WT supplied to the disposal container DC. The stirrer 5 includes a paddle 51 at least partially disposed inside the disposal container DC, and an actuator 52 that drives the paddle 51. The actuator 52 includes a rotary motor and can rotate the paddle 51. The stirrer 5 is supported by the cover member 8. With the opening at the upper end of the disposal container DC covered with the cover member 8, the dry powder RW, the solidified material SM, and the water WT supplied to the inside of the disposal container DC are agitated by the agitator 5.

  In the present embodiment, the radioactive waste solidification device SE includes a valve 80 connected to the first opening 16. The valve 80 includes a casing 81, a valve body 82 disposed inside the casing 81, and a moving device 900 that moves the valve body 82.

  The casing 81 is a cylindrical member. A central axis AX of the casing 81 is inclined with respect to a horizontal plane (XY plane). The casing 81 is connected to the cylindrical portion 83 disposed around the central axis AX, and the first opening 16 provided at a part of the cylindrical portion 83 and at the lower end portion of the first supply passage 15 through which the dry powder RW passes. An inflow port 84 and an outflow port 85 provided at the lower end of the cylindrical portion 83.

  The valve body 82 is disposed inside the casing 81 (cylinder portion 83). The valve body 82 is movable in a direction parallel to the central axis AX. The valve body 82 can close the outflow port 85 by being disposed at the outflow port 85. The valve body 82 can open the outflow port 85 by moving so as to retreat from the outflow port 85. FIG. 2 shows a state where the outlet 85 is closed by the valve body 82.

  The disposal container DC is supported by a support base 61 of the transport device 6. In the processing unit PU, the position of the disposal container DC is adjusted by the transport device 6 so that the upper end portion of the disposal container DC and the cover member 8 are in contact with each other. In the present embodiment, the upper end portion of the disposal container DC and the cover member 8 are in contact so that the opening at the upper end portion of the disposal container DC is covered with the cover member 8. An opening is formed at the lower end of the cover member 8. The disposal container DC and the cover member 8 are connected so that the opening at the lower end of the cover member 8 and the opening at the upper end of the disposal container DC are connected.

  The dry powder RW that has passed through the first supply passage 15 is supplied into the cylindrical portion 83 through the first opening 16 and the inflow port 84. In the present embodiment, the outlet 85 is disposed in the cover member 8. The dry powder RW supplied from the inflow port 84 to the inside of the cylindrical portion 83 flows out from the outflow port 85. The dry powder RW that has flowed out from the outlet 85 is supplied into the disposal container DC through the opening at the lower end of the cover member 8 and the opening at the upper end of the disposal container DC.

  In the present embodiment, the second supply pipe 24 merges with the first supply pipe 14. The first supply pipe 14 has a receiving port 17 connected to the second opening 26 of the second supply pipe 24. The solidified material SM that has passed through the second supply passage 25 is supplied to the first supply passage 15 through the second opening 26 and the receiving port 17. The solidified material SM that has passed through the first supply passage 15 is supplied into the cylindrical portion 83 through the first opening 16 and the inflow port 84. The solidified material SM supplied from the inflow port 84 to the inside of the cylindrical portion 83 flows out from the outflow port 85. The solidified material SM that has flowed out from the outlet 85 is supplied to the inside of the disposal container DC through the opening at the lower end of the cover member 8 and the opening at the upper end of the disposal container DC.

  In the present embodiment, the third opening 36 of the third supply pipe 34 is disposed in the cover member 8. The water WT that has passed through the third supply passage 35 flows out from the third opening 36. The water WT flowing out from the third opening 36 is supplied to the inside of the disposal container DC through the opening at the lower end portion of the cover member 8 and the opening at the upper end portion of the disposal container DC.

  The paddle 51 of the agitator 5 is inserted into the disposal container DC through the opening at the upper end of the disposal container DC. By the operation of the actuator 52, the dry powder RW, the solidified material SM, and the water WT supplied to the inside of the disposal container DC are stirred by the stirrer 5.

  In the present embodiment, the opening 46 of the discharge pipe 44 is provided in the cover member 8. The gas GA inside the disposal container DC is discharged from the opening 46 and flows through the discharge passage 45.

  Next, an example of the transport device 6 according to the present embodiment will be described. FIG. 3 is a diagram illustrating an example of the transport device 6 according to the present embodiment.

  The transport device 6 transports the disposal container DC. The transport device 6 includes a support base 61 that supports the disposal container DC, an elevating device 62 that can move the support base 61 up and down, and a traveling device 63 that can move while supporting the support base 61 and the elevating device 62. The traveling device 63 includes a base member 63B that supports the lifting device 62 and a wheel 63R that supports the base member 63B so as to be movable, and is capable of self-propelling. The radioactive waste solidifying device SE may be provided with a guide member such as a rail, and the traveling device 63 may be guided by the guide member. The traveling device 63 is movable in a horizontal plane (in the XY plane).

  The lifting device 62 is capable of moving (moving up and down) the disposal container DC supported by the support base 61 in the Z-axis direction orthogonal to the XY plane. The elevating device 62 supports the first arm 601, the second arm 602, the central portion of the first arm 601, and the central portion of the second arm 602 so as to be relatively rotatable around a rotation axis J0 orthogonal to the Z axis. A shaft member 603, a lower frame 604 that supports a lower end portion of the first arm 601 and a lower end portion of the second arm 602 so as to be relatively movable in a direction parallel to the X axis perpendicular to the Z axis and the Y axis, An upper frame 605 supported by the upper end of one arm 601 and the upper end of the second arm 602 is provided. The rotation axis J0 is parallel to the Y axis. The first arm 601 and the second arm 602 are connected by a shaft member 603. The lower frame 604 is supported by the base member 63B. The upper frame 605 supports the support base 61. The upper frame 605 and the support base 61 may be integrated.

  The first arm 601 is a rod-shaped member, and has an upper end (one end), a lower end (lower end), and a central portion between the upper end and the lower end. A lower end portion of the first arm 601 is connected to the lower frame 604 by a shaft member 606. The lower end portion of the first arm 601 is rotatable with respect to the lower frame 604 about a rotation axis J1 parallel to the Y axis. A roller 607 is provided at the upper end of the first arm 601. The upper frame 605 is provided with a guide groove 608 that guides the roller 607 in the X-axis direction. The roller 607 can move in the X-axis direction along the guide groove 608. Instead of the roller 607, a convex portion that is disposed in the guide groove 608 and can slide with respect to the guide groove 608 may be provided at the upper end portion of the first arm 601.

  The second arm 602 is a rod-shaped member, and has an upper end (one end), a lower end (lower end), and a central portion between the upper end and the lower end. The upper end of the second arm 602 is connected to the upper frame 605 by a shaft member 609. The upper end portion of the second arm 602 is rotatable with respect to the upper frame 605 about a rotation axis J2 parallel to the Y axis. A roller 610 is provided at the lower end of the second arm 602. The lower frame 604 is provided with a guide groove 611 that guides the roller 610 in the X-axis direction. The roller 610 is movable in the X axis direction along the guide groove 611. Instead of the roller 610, a convex portion that is disposed in the guide groove 610 and can slide with respect to the guide groove 610 may be provided at the lower end portion of the second arm 602.

  As the first arm 601 and the second arm 602 rotate relative to each other about the rotation axis JO so that the distance between the lower end of the first arm 601 and the lower end of the second arm 602 in the X-axis direction is shortened. The distance between the lower end portion of the first arm 601 and the upper end portion of the first arm 601 in the Z-axis direction becomes longer, and the distance between the lower end portion of the second arm 602 and the upper end portion of the second arm 602 in the Z-axis direction. Becomes longer. Accordingly, the upper frame 605 and the support base 61 supported by the upper end portion of the first arm 601 and the upper end portion of the second arm 602 move (rise) in the + Z direction.

  By the relative rotation of the first arm 601 and the second arm 602 about the rotation axis JO so that the distance between the lower end portion of the first arm 601 and the lower end portion of the second arm 602 in the X-axis direction is increased. The distance between the lower end portion of the first arm 601 and the upper end portion of the first arm 601 in the Z-axis direction becomes shorter, and the distance between the lower end portion of the second arm 602 and the upper end portion of the second arm 602 in the Z-axis direction. Becomes shorter. As a result, the upper frame 605 and the support base 61 supported by the upper end portion of the first arm 601 and the upper end portion of the second arm 602 move (lower) in the −Z direction.

  Note that at least two of the first arm 601, the second arm 602, the lower frame 604, and the upper frame 605 are arranged in the Y-axis direction. In the present embodiment, the two first arms 601 and the first arm 601 are connected by a first rod member that is long in the Y-axis direction. The two second arms 602 and the second arm 602 are connected by a second rod member that is long in the Y-axis direction. As a result, the two first arms 601 and the first arm 601 can move (rotate) together. The two second arms 602 and the second arms 602 can move (rotate) as a unit.

  The lifting device 62 includes a distance between the lower end portion of the first arm 601 and the upper end portion of the first arm 601 in the Z-axis direction with respect to the Z-axis direction, and the lower end portion of the second arm 602 and the second arm 602 in the Z-axis direction. A first actuator 650 that applies force to an intermediate portion of the first arm 601 between the upper end portion of the first arm 601 and the central portion of the first arm 601 is provided so that the distance from the upper end portion changes.

  In the present embodiment, the first arm 601 has a guide groove 612 formed between the upper end portion of the first arm 601 and the intermediate portion of the first arm 601. The guide groove 612 extends in the longitudinal direction of the first arm 601. In addition, the end of the rod member 613 that is long in the Y-axis direction is disposed in the guide groove 612. The guide groove 612 is formed in each of the two first arms 601. One end portion of the rod member 613 (for example, the end portion on the −Y side) is disposed in the guide groove 612 of one first arm 601. The other end of the rod member 613 (for example, the end on the + Y side) is disposed in the guide groove 612 of the other first arm 601. The rod member 613 is movable along the guide groove 612.

  In the present embodiment, the first actuator 650 applies a force to the rod member 613. The first actuator 650 applies a force to the rod member 613 so that the rod member 613 moves along the guide groove 612.

  When a force is applied to the rod member 613 by the first actuator 650, a force is applied to the inner surface of the guide groove 612 via the rod member 613. The guide groove 612 is formed between the upper end portion of the first arm 601 and the intermediate portion of the first arm 601. Accordingly, the first actuator 650 applies a force to the rod member 613, thereby causing the rod member 613 to be positioned at an intermediate portion of the first arm 601 between the upper end portion of the first arm 601 and the central portion of the first arm 601. Force can be applied.

  In the present embodiment, the first actuator 650 includes an air cylinder. The first actuator 650 includes a cylinder portion 651 and a rod portion 652 that can move relative to the cylinder portion 651 in the axial direction. The distal end portion of the rod portion 652 is connected to the rod member 613. The distal end portion of the rod portion 652 and the rod member 613 are connected so as to be relatively rotatable about a rotation axis parallel to the Y axis. The base end portion of the cylinder portion 651 is connected to, for example, at least a part of the lower frame 604 or at least a part of a fixing member fixed to the lower frame 604. The base end portion of the cylinder portion 651 may be connected to the base member 63B. In the present embodiment, the base end portion of the cylinder portion 651 is connected to the fixing member. The distal end portion of the rod portion 652 and the rod member 613 are connected so as to be relatively rotatable about a rotation axis J5 parallel to the Y axis.

  When the first actuator 650 applies a force to the rod member 613 so that the rod member 613 approaches the upper end portion of the first arm 601 (by extending the air cylinder), the lower end portion of the first arm 601 in the Z-axis direction. And the distance between the upper end of the first arm 601 and the distance between the lower end of the second arm 602 and the upper end of the second arm 602 in the Z-axis direction are increased. Thereby, the upper frame 605 and the support base 61 rise.

  When the first actuator 650 applies a force to the rod member 613 so that the rod member 613 approaches the center portion of the first arm 601 (by the air cylinder contracting), the lower end portion of the first arm 601 in the Z-axis direction And the distance between the lower end of the second arm 602 and the upper end of the second arm 602 in the Z-axis direction are shortened. As a result, the upper frame 605 and the support base 61 are lowered.

  Thus, in the present embodiment, the first actuator 650 is a lifting actuator that moves (lifts) the upper frame 605 and the support base 61 in the Z-axis direction. The upper frame 605 moves in the Z-axis direction with the disposal container DC being supported via the support base 61 by the operation of the first actuator 650.

  The lifting device 62 includes a second actuator 660 that applies a force in the X-axis direction to at least one of the lower end of the first arm 601 and the lower end of the second arm 602. As described above, in the present embodiment, the lower end portion of the second arm 602 is movable in the X-axis direction along the guide groove 611. The second actuator 660 is a lower end of the second arm 602 supported by the lower frame 604 (guide groove 611) so as to be movable in the X-axis direction among the lower end of the first arm 601 and the lower end of the second arm 602. Apply force to the part.

  The second actuator 660 may apply force directly to the lower end of the second arm 602. As described above, in the present embodiment, two second arms 602 are arranged in the Y-axis direction. A connecting member for connecting the lower end of one second arm 602 and the lower end of the other second arm 602 is provided. The connecting member may be a rod member that is long in the Y-axis direction. In the present embodiment, the second actuator 660 applies a force to the connecting member. When the second actuator 660 applies a force in the X-axis direction to the connecting member, a force in the X-axis direction is applied to the lower end portion of the second arm 602.

  The second actuator 660 applies a force to the lower end portion of the second arm 602 from the outside of the lifting device 62. For example, the lower end of the second arm 602 is placed in one direction (the + X direction in FIG. 3) with respect to the lower end of the second arm 602 so that the distance between the lower end of the first arm 601 and the lower end of the second arm 602 is reduced. ), The distance between the lower end portion of the first arm 601 and the upper end portion of the first arm 601 in the Z-axis direction, and the lower end portion of the second arm 602 and the second arm 602 in the Z-axis direction. It is suppressed that the distance with an upper end part becomes short. In other words, by applying a force in the X-axis direction to the lower end portion of the second arm 602 so that the distance between the lower end portion of the first arm 601 and the lower end portion of the second arm 602 in the X-axis direction is shortened. Further, the upper frame 605 and the support base 61 are restrained from descending.

  In the present embodiment, the second actuator 660 includes an air cylinder. The second actuator 660 includes a cylinder part 661 and a rod part 662 that can move relative to the cylinder part 661 in the axial direction. The distal end portion of the rod portion 662 can come into contact with the lower end portion of the second arm 602 (a connecting member in the present embodiment). The cylinder part 661 is fixed to the base member 63B, for example.

  When the air cylinder of the second actuator 660 contracts, the rod portion 662 and the lower end portion (connecting member) of the second arm 602 are separated. When the air cylinder of the second actuator 660 extends, the rod portion 662 and the lower end portion (connecting member) of the second arm 602 come into contact with each other. When the air cylinder of the second actuator 660 extends, the second actuator 660 can apply a force in the + X direction to the lower end portion of the second arm 602 by the rod portion 662.

  Thus, in the present embodiment, the second actuator 660 is a lowering prevention actuator that suppresses the upper frame 605 and the support base 61 from moving (lowering) in the −Z direction.

  Next, an example of the radioactive waste solidification method according to the present embodiment will be described. FIG. 4 is a flowchart showing an example of the radioactive waste solidification method according to the present embodiment. As illustrated in FIG. 4, a new (empty) disposal container DC is transported from the exchange unit TU to the processing unit PU by the transport device 6. As shown in FIG. 5, in the processing unit PU, the transport device 6 is a new disposal supported by the upper frame 605 (support base 61) under the stirrer 5 and the cover member 8 disposed around the stirrer 5. The container DC is disposed (step SP1).

  Next, the disposal container DC supported by the support base 61 is raised by the lifting device 62 (step SP2). In the ascent of the disposal container DC, the distance between the upper end portion of the first arm 601 and the lower end portion of the first arm 601 in the Z-axis direction, and the upper end portion of the second arm 602 and the lower end portion of the second arm 602 in the Z-axis direction. The first actuator 650 is actuated so that the distance between Thereby, the disposal container DC is raised.

  In the present embodiment, the second actuator 660 does not operate when the disposal container DC is raised. In a state where the rod portion 662 of the second actuator 660 and the lower end portion (connection member) of the second arm 602 are separated, the disposal container DC is raised by the operation of the first actuator 650.

  As shown in FIG. 6, the lifting device 62 positions the disposal container DC in the Z-axis direction so that the upper end portion of the disposal container DC and the cover member 8 are in contact with each other (step SP3). That is, the position of the disposal container DC is adjusted by the lifting device 62 so that the upper end portion of the disposal container DC and the cover member 8 are in contact with each other and the opening of the upper end portion of the disposal container DC is sufficiently covered with the cover member 8. The

  After the upper end portion of the disposal container SC comes into contact with the cover member 8 and the disposal container DC is positioned in the Z-axis direction, the rod portion 662 and the lower end portion of the second arm 602 come into contact as shown in FIG. Thus, the second actuator 660 operates. The second actuator 660 applies a force in the + X direction to the lower end portion of the second arm 602 so that the position of the disposal container DC in the Z-axis direction is maintained (so that the disposal container DC does not descend). Add from the outside. Accordingly, the position of the disposal container DC in the Z-axis direction is fixed using the second actuator 660 (step SP4).

  Next, water WT is supplied from the third supply device 3 to the disposal container DC. The third supply device 3 supplies a predetermined amount of water WT measured by the measuring device 31 to the disposal container DC at a time. The water WT that has passed through the third supply passage 35 is supplied to the disposal container DC through the third opening 36.

  In addition, with the valve body 82 retracted from the outlet 85 and the outlet 85 opened, the dry powder RW is supplied from the first supply device 1 to the disposal container DC and solidified from the second supply device 2 to the disposal container DC. The material SM is supplied (step SP5). The first supply device 1 supplies a predetermined amount of dry powder RW measured by the weighing device 12 to the disposal container DC at a time. The second supply device 2 supplies a predetermined amount of the solidified material SM measured by the measuring device 22 to the disposal container DC at a time. The dry powder RW that has passed through the first supply passage 15 passes through the inside of the inflow port 84 and the cylindrical portion 83, and then is supplied to the disposal container DC through the outflow port 85. The solidified material SM that has passed through the second supply passage 25 and the first supply passage 15 passes through the inside of the inflow port 84 and the cylindrical portion 83, and then is supplied to the disposal container DC through the outflow port 85.

  Note that the amount of dry powder RW supplied from the first supply device 1 to the disposal container DC at a time, and the amount of solidified material SM supplied from the second supply device 2 to the disposal container DC at a time, The sum of the amount of water WT supplied from the third supply device 3 to the disposal container DC at a time is smaller than the volume of the disposal container DC.

  Further, after the supply of the dry powder RW and the solidified material SM to the disposal container DC is completed, the outlet 85 is closed by the valve body 82.

  By closing the outflow port 85 by the valve body 82, for example, in the stirring process using the stirrer 5, the dry powder RW and the solidified material SM are suppressed from spilling out from the outflow port 85. In the present embodiment, a predetermined amount of the dry powder RW and the solidified material SM that have been measured are supplied to the disposal container DC at a time. Even after the supply of the dry powder RW, there is a possibility that the dry powder RW remains in at least a part of the inside of the first supply passage 15 and the cylindrical portion 83. Even after the solidifying material SM is supplied, the solidifying material SM may remain in at least a part of the second supply passage 25, the first supply passage 15, and the cylindrical portion 83. In this embodiment, after supplying the dry powder RW and the solidified material SM, the outlet 85 is closed by the valve body 82, so that at least one of the remaining dry powder RW and solidified material SM is removed from the outlet 85. Spilling is suppressed.

  After the supply of the dry powder RW and the solidification material SM to the disposal container DC is completed, the valve body 82 is provided with the outlet 85 until the supply of the dry powder RW and the solidification material SM to the next disposal container DC is started. Keep closing.

  In the present embodiment, the dry powder RW, the solidified material SM, and the water WT are supplied to the disposal container DC while the upper end portion of the disposal container DC and the cover member 8 are in contact with each other. Thereby, it is suppressed that the dry powder RW etc. which are supplied to the disposal container DC are scattered or leaked around.

  In the present embodiment, the second actuator 660 continues to apply a force in the + X direction to the lower end portion of the second arm 602 in supplying the dry powder RW, the solidified material SM, and the water WT to the disposal container DC. The first actuator 650 is also attached to the first arm 601 (rod member 613) so that the position of the disposal container DC is maintained in the supply of the dry powder RW, the solidified material SM, and the water WT to the disposal container DC. Continue to apply force.

  The total weight of the dry powder RW, the solidified material SM, and the water WT supplied to the disposal container DC ranges from 100 kg to 600 kg, for example. Therefore, in the new disposal container DC, even if the positioning of the new disposal container DC can be performed so as to come into contact with the cover member 8 using the lifting device 62, the supply of the dry powder RW and the like to the disposal container DC As a result, the load on the first actuator 650 of the lifting device 62 increases, and the first actuator 650 may not be able to maintain the position of the disposal container DC in the Z-axis direction. As a result, the disposal container DC is lowered and the disposal container DC and the cover member 8 are separated from each other even though it is desired to keep the disposal container DC and the cover member 8 in contact with each other. If the disposal container DC and the cover member 8 are separated from each other, the dry powder RW supplied to the disposal container DC may be scattered or leaked from the gap between the disposal container DC and the cover member 8. There is.

  In the present embodiment, the dry powder RW, the solidified material SM, and the water WT are supplied to the disposal container DC in a state where a force is applied to the lower end portion of the second arm 602 by the second actuator 660. Thereby, even if the load with respect to the 1st actuator 650 increases with supply of those dry powder RW, the position of the disposal container DC regarding a Z-axis direction is maintained. That is, in supplying the dry powder RW or the like, an operation of applying a force to the lower end portion of the second arm 602 by the second actuator 660 is executed in parallel with an operation of applying a force to the rod member 613 by the first actuator 650. This suppresses the disposal container DC from descending. Thereby, in supply of dry powder RW etc., the contact with the disposal container DC and the cover member 8 is maintained. Therefore, the dry powder RW or the like supplied to the disposal container DC is prevented from being scattered or leaked around.

  After the dry powder RW, the solidified material SM, and the water WT are supplied to the disposal container DC, the dry powder RW, the solidified material SM, and the water WT inside the disposal container DC are stirred by the agitator 5 (step) SP6).

  In this embodiment, stirring by the stirrer 5 is performed in a state where the upper end portion of the disposal container DC and the cover member 8 are in contact with each other. Thereby, it is suppressed that the kneaded material inside the disposal container DC containing the dry powder RW is scattered or leaked around.

  In the present embodiment, the second actuator 660 continues to apply a force in the + X direction to the lower end portion of the second arm 602 during stirring by the stirrer 5. The first actuator 650 also continues to apply force to the first arm 601 (rod member 613) so that the position of the disposal container DC is maintained during stirring by the stirrer 5.

  In the present embodiment, the dry powder RW, the solidified material SM, and the water WT supplied to the disposal container DC are stirred by the stirrer 5 in a state where the second actuator 660 applies a force to the lower end of the second arm 602. Is done. Thereby, the position of the disposal container DC in the Z-axis direction is maintained even during the stirring process. That is, even during the stirring process by the stirrer 5, the operation of applying the force to the lower end of the second arm 602 by the second actuator 660 is executed in parallel with the operation of applying the force to the rod member 613 by the first actuator 650. This suppresses the disposal container DC from descending. Thereby, the contact between the disposal container DC and the cover member 8 is maintained during the stirring process. Accordingly, the kneaded material inside the disposal container DC is prevented from being scattered or leaked around.

  After the stirring by the stirrer 5 is completed, the disposal container DC is lowered by the lifting device 62 (step SP7). The treated disposal container DC is unloaded from the processing unit PU by the transport device 6. In addition, the disposal container DC before processing is carried into the processing unit PU by the transport device 6. The pre-processing disposal container DC conveyed to the processing unit PU is connected to the cover member 8.

  After the disposal container DC before the treatment and the cover member 8 are connected, the water WT is supplied from the third supply device 3 to the disposal container DC. Further, in order to supply the dry powder RW and the solidified material SM to the disposal container DC, the valve body 82 moves so that the outlet 85 opens.

  With the outlet 85 open, the dry powder RW is supplied from the first supply device 1 to the disposal container DC, and the solidified material SM is supplied from the second supply device 2 to the disposal container DC. After supplying the dry powder RW and the solidified material SM, the valve body 82 moves so as to close the outlet 85.

  Thereafter, the same processing as described above is executed.

  As described above, according to the present embodiment, even if the dry powder RW or the like is supplied to the new disposal container DC raised by the lifting device 62 and the total weight of the disposal container DC changes, the second By the operation of the actuator 660, the position of the disposal container DC in the Z-axis direction can be maintained. Therefore, the upper end portion of the disposal container DC and the cover member 8 can be kept in contact with each other during the supply of the dry powder RW to the disposal container DC and the stirring using the stirrer 5. Therefore, scattering and leakage of the dry powder RW and the like are suppressed, and the stirring process can be performed smoothly.

  In the present embodiment, air cylinders having a high operating speed are used as the first actuator 650 and the second actuator 660. Thereby, position adjustment of disposal container DC can be performed smoothly.

  Further, by using the air cylinder, the position adjustment of the disposal container DC in the Z-axis direction can be performed in multiple stages (stepless).

Second Embodiment
A second embodiment will be described. In the following description, the same or equivalent components as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof is simplified or omitted.

  FIG. 8 is a block diagram showing an example of the radioactive waste solidifying device SE according to the present embodiment. As shown in FIG. 8, the transport device 6 includes a control device 670 that controls the first actuator 650 and the second actuator 660. The control device 670 may be provided in at least a part of the lifting device 62, may be provided in at least a portion of the traveling device 63, or may be provided in at least a portion of the support base 61.

  The control device 670 includes a CPU and can output control signals to the first actuator 650 and the second actuator 660. The controller 670 operates the first actuator 650 to raise the disposal container DC so that the upper end portion of the disposal container DC and the cover member 8 are in contact with each other, and then the position of the disposal container DC in the Z-axis direction is maintained. Thus, the second actuator 660 is operated.

  In the present embodiment, the travel device 63 of the transport device 6 includes an actuator such as an electric motor, and travels by driving the actuator. The control device 670 can control the actuator. The control device 670 can control the actuator to adjust the position of the transport device 6 in the XY plane.

  In the present embodiment, the transport device 6 includes a monitoring camera 680 that is connected to the control device 670 and can acquire an optical image of the disposal container DC, and a wireless communication device 681 that is connected to the control device 670. The wireless communication device 681 includes a wireless reception device 681A and a wireless transmission device 681B. The wireless reception device 681A and the wireless transmission device 681B may be provided in at least a part of the elevating device 62, may be provided in at least a part of the traveling device 63, or provided in at least a part of the support base 61. May be. The monitoring camera 680 may not be included in the transport device 6 and may be attached to a predetermined position (for example, the cover member 8) of the processing unit PU. Data communication between the monitoring camera 680 and the control device 670 may be performed wirelessly.

  In the present embodiment, a management facility 700 that manages the radioactive waste solidification device SE is provided. The management facility 700 is connected to a control device 701 including a CPU, a control device 701, a wireless communication device 702 capable of wireless data communication with the wireless communication device 681 provided in the transport device 6, and a control device 701. Input device 703, and display device 704 connected to control device 701.

  In the present embodiment, the control device 670 of the transport device 6 controls the actuator of the traveling device 63 and the first actuator 650 and the second actuator 660 of the lifting device 62 based on the command signal received by the wireless reception device 681A. To do.

  In the present embodiment, an image of the disposal container DC is transmitted to the management facility 700 by the monitoring camera 680 via the wireless communication device 681. The control device 701 of the management facility 700 outputs the image data of the monitoring camera 680 received via the wireless communication device 702 to the display device 704. The display device 704 includes a flat panel display and displays an image of the disposal container DC acquired by the monitoring camera 680.

  In the management facility 700, the administrator operates the input device 703 so that the disposal container DC is arranged at an intended position in the processing unit PU while viewing the image of the disposal container DC by the monitoring camera 680. The input device 703 includes operation devices such as a keyboard and a joystick. The control device 701 generates a command signal based on an operation signal generated by operating the input device 703. The command signal generated by the control device 701 is transmitted to the transport device 6 via the wireless communication device 702.

  The control device 670 of the transport device 6 controls the actuator of the traveling device 63 and the first actuator 650 and the second actuator 660 of the lifting device 62 based on the command signal transmitted from the management facility 700.

  The administrator operates the input device 703 so that the upper end portion of the new disposal container DC and the cover member 8 are in contact with each other while looking at the display device 704, and operates the actuator of the traveling device 63 and the first of the lifting device 62. An operation signal for driving one actuator 650 is generated. The actuator of the traveling device 63 and the first actuator 650 of the lifting device 62 are driven based on a command signal based on the operation signal generated by the input device 703. Thereby, the upper end part of the new disposal container DC and the cover member 8 contact.

  The administrator uses the display device 704 to confirm contact between the upper end portion of the new disposal container DC and the cover member 8, and then operates the input device 703 to drive the second actuator 660 of the lifting device 62. Generate an operation signal. The second actuator 660 of the lifting device 62 is driven based on a command signal based on an operation signal generated by the input device 703. The second actuator 660 applies a force in the + X direction to the lower end portion of the second arm 602 using the rod portion 662. Thereby, the position of the disposal container DC in the Z-axis direction is adjusted.

  As described above, the transfer device 6 may be remotely operated by an administrator of the management facility 700. Thereby, stirring processing can be performed smoothly, without dispatching an operator to processing part PU of dry powder RW.

DESCRIPTION OF SYMBOLS 1 1st supply apparatus 2 2nd supply apparatus 3 3rd supply apparatus 4 Exhaust apparatus 5 Stirrer 6 Conveyor apparatus 7 Cleaning apparatus 8 Cover member 9 Conveyance port 11 Powder hopper 12 Weighing apparatus 13 Conveyor apparatus 13A Powder hopper discharge machine 13B Powder Body supply screw feeder 14 First supply pipe 15 First supply passage 16 First opening 17 Receiving port 21 Vacuum transfer device 22 Metering device 23 Valve mechanism 24 Second supply piping 25 Second supply passage 26 Second opening 31 Metering device 33 Valve Mechanism 34 Third supply piping 35 Third supply passage 36 Third opening 41 Filter device 44 Discharge piping 45 Discharge passage 46 Opening 51 Paddle 52 Actuator 61 Support base 62 Lifting device 63 Traveling device 63B Base member 63R Wheel 70 Conveying conveyor 71 Capping device 72 Carriage Cart 73 Transfer Conveyor 80 Valve 81 Casing 82 Valve Element 83 Portion 84 Inlet 85 Outlet 90 Inner space 91 Liquid tank 92 Pump 93 Transfer device 601 First arm 602 Second arm 603 Shaft member 604 Lower frame 605 Upper frame 606 Shaft member 607 Roller 608 Guide groove 609 Shaft member 610 Roller 611 Guide Groove 612 Guide groove 613 Rod member 650 First actuator 651 Cylinder portion 652 Rod portion 660 Second actuator 661 Cylinder portion 662 Rod portion 670 Control device 680 Monitoring camera 681 Wireless communication device 681A Wireless reception device 681B Wireless transmission device 700 Management facility 701 Control Device 702 Wireless communication device 703 Input device 704 Display device AX Central axis CH Chamber device DC Disposal container GA Gas J0 Rotating shaft J1 Rotating shaft J2 Rotating shaft PU Processing section (processing station)
RW Radioactive waste SE Radioactive waste solidification device SM Solidification material WS Standby section (standby station)
WT water

Claims (6)

A lifting device capable of moving a disposal container in a direction parallel to a first axis perpendicular to a predetermined plane,
A first arm;
A second arm;
A shaft member that supports a central portion of the first arm and a central portion of the second arm so as to be relatively rotatable around a second axis orthogonal to the first axis;
A lower frame that supports a lower end portion of the first arm and a lower end portion of the second arm so as to be relatively movable in a direction parallel to the first axis and a third axis orthogonal to the second axis;
A force is applied to an intermediate portion of the first arm between the upper end portion and the central portion of the first arm so that the distance between the upper end portion and the lower end portion of the first arm in a direction parallel to the first axis changes. A first actuator for adding
An upper frame supported by the upper end of the first arm and the upper end of the second arm and moving in a direction parallel to the first axis in a state of supporting the disposal container by the operation of the first actuator;
A second actuator that applies a force in a direction parallel to the third axis to at least one of the lower end of the first arm and the lower end of the second arm;
A lifting device comprising: A lifting device according to claim 1;
After the disposal container is positioned with respect to the direction parallel to the first axis by the lifting device, a supply device that supplies radioactive waste, solidification material, and water to the disposal container;
A stirrer that stirs the radioactive waste, the solidified material, and water supplied to the disposal container;
A radioactive waste solidifying device comprising: A cover member disposed around the stirrer,
The radioactive waste solidifying device according to claim 2, wherein the lifting device positions the disposal container such that an upper end portion of the disposal container and the cover member are in contact with each other. A controller provided in the lifting device for controlling the first actuator and the second actuator;
The control device operates the first actuator to raise the disposal container so that the upper end portion of the disposal container and the cover member are in contact with each other, so that the position of the disposal container is maintained. The radioactive waste solidification device according to claim 2 or 3, wherein the second actuator is operated. A wireless receiver provided in the lifting device;
The radioactive waste solidifying device according to claim 4, wherein the control device controls the first actuator and the second actuator based on a command signal received by the wireless reception device. A radioactive waste solidifying method comprising moving a disposal container using the lifting device according to claim 1,
Placing a new disposal container supported by the upper frame under a stirrer and a cover member disposed around the stirrer;
Actuating the first actuator to raise the disposal container so that the distance between the upper end and the lower end of the first arm in a direction parallel to the first axis is increased;
After the upper end portion of the disposal container and the cover member are in contact, the lower end portion of the first arm and the second arm are maintained by the second actuator so that the position of the disposal container in a direction parallel to the first axis is maintained. Applying a force to at least one of the lower ends of the second arm;
Supplying radioactive waste, a solidifying material, and water to the disposal container with a force applied by the second actuator;
Stirring the radioactive waste, the solidified material, and the water supplied to the disposal container with the stirrer while applying a force with the second actuator;
A method for solidifying radioactive waste.

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