JP2019011988A - Carrying-out device for radioactive material, carrying-in device for radioactive material, storage device for radioactive material, carrying system for radioactive material, and method thereof - Google Patents

Abstract

To simplify devices and improve the efficiency of the work, in a carrying-out device for radioactive material, a carrying-in device for radioactive material, a storage device for radioactive material, a carrying system for radioactive material, and a method therefor.SOLUTION: A carrying-out device 11 is installed adjacent to a first container 201, and a storage device 13 is installed adjacent to the carrying-out device 11. A first articulated arm 23 in the carrying-out device 11 enters a first container 201, grasps a radioactive waste RW, takes the radioactive waste RW into the carrying-out device 11 and carries it out to the storage device 13. Then, a carrying-in device 12 is installed adjacent to a second container 211, the storage device 13 is installed adjacent to the carrying-in device 12, a second multi-joint arm 63 in the carrying-in device 12 enters the second container 211, and takes the radioactive waste RW in the storage device 13 into the carrying-in device 12, and the second multi-joint arm 63 is used to carry the radioactive waste RW into the second container 211.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a radioactive substance carry-out apparatus, a radioactive substance carry-in apparatus, a radioactive substance storage apparatus, a radioactive substance conveyance system, and a method thereof for conveying a radioactive substance such as radioactive waste.

  Radioactive waste is generated in nuclear power plants, nuclear fuel reprocessing facilities, and various research facilities. The radioactive waste is stored in a small-capacity radioactive waste container, and is then transported to and stored in a large-capacity radioactive waste container. When transporting radioactive waste, it is necessary to take into account the exposure to the worker, so that it is common to perform the work by sufficiently shielding and remotely operating the work robot.

  Examples of such a transfer device for transferring a radioactive substance include those described in the following patent documents. The transfer container with a manipulator described in Patent Document 1 is provided with a wire take-up mechanism at the upper part of the trunk, a multi-stage cylinder expansion / contraction mechanism is provided inside, a grip arm is provided at the tip of the multi-stage cylinder expansion / contraction mechanism, The container of the water tank is collected. In the submerged solid substance take-out device described in Patent Document 2, the guide device guides the solid matter in the storage pool to the recovery device through the opening provided in the ceiling of the storage pool, and the recovery device is the storage pool. The solid material is collected outside the storage pool through an opening in the ceiling of the storage pool.

JP 09-090093 A Japanese Patent Laying-Open No. 2015-058838

  The transfer container with a manipulator described in Patent Document 1 collects containers one by one inside the trunk, and transports the entire transfer container with the container inside, so that the workability is not good. Further, in the liquid solid substance take-out device of Patent Document 2, the guide device and the recovery device are separately accessed from the opening in the ceiling portion of the storage pool to recover the solid matter outside the storage pool. However, since the guide device and the collection device are directly mounted on the ceiling of the storage pool, it is necessary to shield when the device is attached or removed, which may complicate the device.

  SUMMARY OF THE INVENTION The present invention solves the above-described problems, and simplifies the apparatus, improves work efficiency, and improves work safety. Radioactive substance carry-out apparatus, radioactive substance carry-in apparatus, radioactive substance storage It is an object of the present invention to provide an apparatus, a radioactive material transfer system, and a method thereof.

  In order to achieve the above object, an apparatus for carrying out a radioactive substance according to the present invention includes a first containment vessel having a first inlet portion and a first outlet portion, which is constituted by a shielding wall, and the first containment vessel in the first containment vessel. A first moving device disposed toward one inlet, a first multi-joint arm supported by the first moving device and having a distal end portion that can extend outward from the first inlet, and the first multi-arm. And a gripping tool provided at the tip of the joint arm for gripping the radioactive substance.

  Accordingly, the first articulated arm having the gripping tool is movably stored by the first moving device in the first storage container formed by the shielding wall, so that the configuration of the carry-out device can be simplified. In addition, after installing the first storage container storing the first articulated arm on the upper part of the container containing the radioactive substance, the first entrance part is opened by the first entrance part opening / closing lid, and the first articulated part is opened. The tip of the arm can enter the container, the radioactive material can be grasped by a grasping tool, and the radioactive substance can be carried into the first storage container, so that work efficiency can be improved. As a result, the exposure to the worker is reduced, and the safety of work can be improved.

  In the radioactive substance carrying-out apparatus of the present invention, the first inlet portion and the first outlet portion are provided to be shifted in the horizontal direction and the vertical direction.

  Therefore, the operability of the first articulated arm can be improved by providing the first inlet portion and the first outlet portion so as to be shifted in the horizontal direction and the vertical direction.

  In the radioactive substance carry-out device according to the present invention, the first moving device is capable of moving the first articulated arm along the vertical direction, and the first articulated arm moves the gripping tool along the vertical direction. And a movable first extending / contracting portion is provided.

  Accordingly, the first articulated arm is moved along the vertical direction by the first moving device, so that the tip of the first articulated arm is exposed to the outside. In this state, the gripping tool is moved along the vertical direction by the first telescopic portion. Therefore, workability can be improved by expanding the movable range of the gripping tool.

  In the radioactive substance carrying-out apparatus of the present invention, the first articulated arm has a horizontal turning portion and a swinging portion on the distal end side of the first extendable portion.

  Accordingly, the gripping tool is moved by the horizontal turning portion and the swinging portion on the distal end side of the first telescopic portion exposed to the outside of the first storage container, and the operability of the gripping tool can be improved.

  The radioactive substance carry-in device according to the present invention includes a second containment vessel having a second inlet portion and a second outlet portion, which is configured by a shielding wall, and facing the second exit portion in the second containment vessel. A second moving device disposed; a second articulated arm supported by the second moving device and having a distal end portion that can extend outward from the second outlet portion; and a distal end portion of the second articulated arm. And a slope that sends out the radioactive substance.

  Accordingly, since the second articulated arm having a slope is movably stored in the second storage container formed by the shielding wall by the second moving device, the configuration of the carry-in device can be simplified. In addition, after the second storage container in which the second articulated arm is stored is installed on the upper part of the container containing the radioactive substance, the second outlet part is opened by the second outlet part opening / closing lid, and the second articulated arm The radioactive substance can be slowly carried out into the container by using the slope by intruding the tip of the container into the container, and the work efficiency can be improved. As a result, the exposure to the worker is reduced, and the safety of work can be improved.

  In the radioactive substance carrying-in device according to the present invention, the second articulated arm has a guide portion communicating with the slope.

  Therefore, when the radioactive substance is delivered to the second articulated arm, the radioactive substance moves through the guide portion to the slope, and can be safely carried in without damaging the radioactive substance.

  In the radioactive substance carrying-in apparatus of the present invention, a transport mechanism is provided that takes in the radioactive substance from the second inlet part and transports it to the guide part.

  Therefore, the radioactive substance taken in from the second inlet part is transferred to the guide part by the transfer mechanism, so that the radioactive substance can be easily transferred and workability can be improved.

  In the radioactive substance carrying-in apparatus of the present invention, the second inlet portion and the second outlet portion are provided to be shifted in the horizontal direction and the vertical direction.

  Therefore, the operability of the second articulated arm can be improved by providing the second inlet portion and the second outlet portion so as to be shifted in the horizontal direction and the vertical direction.

  In the radioactive substance carrying-in device according to the present invention, the second moving device can move the second articulated arm along the vertical direction, and the second articulated arm can move the slope along the vertical direction. It has the 2nd expansion-contraction part which can move freely, It is characterized by the above-mentioned.

  Therefore, the second articulated arm is moved along the vertical direction by the second moving device, so that the tip of the second articulated arm is exposed to the outside. In this state, the slope is moved along the vertical direction by the second telescopic portion. Since it moves, the movable range of a slope can be expanded and workability | operativity can be improved.

  In addition, the radioactive substance storage device of the present invention includes a third storage container that is configured by a shielding wall and has an entrance / exit part, an entrance / exit opening / closing lid that can open and close the entrance / exit part, and the entrance / exit in the third storage container. And a third moving device that is arranged toward the part and is capable of moving the radioactive substance in the horizontal direction.

  Accordingly, since the third moving device that moves the radioactive substance is stored in the third storage container configured by the shielding wall, the configuration of the storage device can be simplified. Moreover, after installing the 3rd storage container in which the 3rd moving apparatus was stored in the upper part of a container, etc., a radioactive substance in the inside of a container may be carried out, or a radioactive substance may be carried in into an external container. It is possible to improve work efficiency. As a result, the exposure to the worker is reduced, and the safety of work can be improved.

  The radioactive substance storage device of the present invention is characterized in that a partitioning device for preventing interference between radioactive substances moving by the third moving device is provided.

  Accordingly, when the radioactive substance is moved by the third moving device, interference between the radioactive substances is blocked by the partition device, and damage to the radioactive substance can be suppressed.

  In the radioactive substance storage device of the present invention, the entrance / exit portion is provided to face an end of the third moving device.

  Therefore, by providing the entrance / exit portion so as to face the end portion of the third moving device, it is possible to easily take in and out the radioactive substance and improve workability.

  In the radioactive substance storage device of the present invention, the third moving device is characterized in that the radioactive substance can move toward and away from the entrance / exit part.

  Therefore, when the third moving device moves the radioactive substance closer to or away from the entrance / exit part, the radioactive substance can be easily taken in and out and the workability can be improved.

  In the radioactive substance storage device of the present invention, the partition device includes a partition member disposed between a plurality of radioactive materials, and a moving mechanism that moves the partition member along a vertical direction. .

  Therefore, by moving the partition member along the vertical direction by the moving mechanism, the partition member can be moved to the partition position and the retracted position, and workability can be improved.

  The radioactive substance transport system of the present invention includes the radioactive substance carry-out apparatus, the radioactive substance carry-in apparatus, and the radioactive substance storage apparatus.

  Therefore, since the multi-joint arm, the moving device, and the like are stored in the storage container configured by the shielding wall, the configuration of the device can be simplified. In addition, after installing the unloading device on the upper part of the container, etc., using the first articulated arm, the radioactive substance in the container is unloaded into the storage device, and after installing this storage container on the upper part of another container, The radioactive material in the storage device can be carried into the container using the second articulated arm, and the work efficiency can be improved. As a result, the exposure to the worker is reduced, and the safety of work can be improved.

  In addition, the method for transporting a radioactive substance according to the present invention includes a step of installing a carry-out device adjacent to a first container in which a radioactive substance is stored, a step of installing a storage device adjacent to the carry-out device, and the carry-out A step of allowing the first articulated arm in the apparatus to enter the first container and grasping the radioactive substance; and taking the radioactive substance grasped by the first articulated arm into the carrying-out apparatus and carrying it out to the storage apparatus. A step of installing a loading device adjacent to a second container containing a radioactive substance, a step of installing the storage device adjacent to the loading device, and a second articulated arm in the loading device. A step of intruding into the second container, and a step of taking the radioactive substance in the storage device into the carrying-in device and carrying it into the second container using the second articulated arm. It is what.

  Therefore, it is possible to simplify the apparatus and improve the work efficiency, and to improve the work safety.

  According to the radioactive substance carry-out apparatus, radioactive substance carry-in apparatus, radioactive substance storage apparatus, radioactive substance conveyance system and method therefor according to the present invention, the apparatus can be simplified and the work efficiency can be improved. It is possible to improve safety.

FIG. 1 is a schematic diagram showing a radioactive waste carry-out apparatus applied to the radioactive waste transport system of the present embodiment. FIG. 2 is a schematic view showing a gripping tool in the radioactive waste carry-out device. FIG. 3 is a schematic diagram showing the operation of the radioactive waste carry-out device. FIG. 4 is a schematic diagram showing a radioactive waste carry-in device applied to the radioactive waste transport system of the present embodiment. FIG. 5 is a schematic diagram showing the operation of the radioactive waste carry-in device. FIG. 6 is a schematic view showing another operation of the radioactive waste carry-in apparatus. FIG. 7 is a longitudinal sectional view showing a radioactive waste storage device applied to the radioactive waste transport system of this embodiment. 8 is a cross-sectional view taken along the line VII-VII in FIG. 6 showing a radioactive waste storage device. FIG. 9 is a schematic diagram showing a drive system of a conveyance roller in the radioactive waste storage device.

  Exemplary embodiments of a radioactive substance carry-out apparatus, a radioactive substance carry-in apparatus, a radioactive substance storage apparatus, a radioactive substance conveyance system, and a method thereof according to the present invention will be described below in detail with reference to the accompanying drawings. In addition, this invention is not limited by this embodiment, and when there are two or more embodiments, what comprises combining each embodiment is also included.

  The radioactive waste transport system (radioactive material transport system) of this embodiment transports radioactive waste as a radioactive material from a small-capacity container to a large-capacity container. Radioactive waste transport system consists of a radioactive waste carry-out device (radioactive material carry-out device) that carries out radioactive waste from a small-capacity container, and a radioactive waste carry-in that carries radioactive waste into a large-capacity container. Equipment (radioactive material carrying-in device) and radioactive waste storage device (radioactive material storage device) that stores radioactive waste taken out from a small-capacity container and transports it to a large-capacity container Yes.

  FIG. 1 is a schematic view showing a radioactive waste carry-out device applied to the radioactive waste transfer system of the present embodiment, FIG. 2 is a schematic view showing a gripping tool in the radioactive waste carry-out device, and FIG. It is the schematic showing the action | operation of the carrying-out apparatus of a radioactive waste.

  As shown in FIG. 1, the small-capacity first container 201 is constituted by a shielding wall 202, and radioactive waste RW (see FIG. 3) is accommodated therein. The first container 201 has an opening 203 at the top, and the opening 203 can be opened and closed by an open / close lid 204 that moves in the horizontal direction.

  A radioactive waste carry-out device (hereinafter referred to as a carry-out device) 11 can be installed on the first container 201. The carry-out device 11 includes a first storage container 21, a first moving device 22, a first articulated arm 23, and a gripping tool 24.

  The first storage container 21 is configured by a shielding wall 31 around the first storage container 21, and is provided with a first inlet portion 32 and a first outlet portion 33. The first inlet portion 32 and the first outlet portion 33 open along the vertical direction at the lower portion of the first storage container 21 and are shifted in the horizontal direction and the vertical direction. That is, the first inlet portion 32 is one side portion in the horizontal direction of the first storage container 21, and the position facing the opening 203 of the first container 201 when the carry-out device 11 is installed on the first container 201. Is formed. The first outlet portion 33 is the other side portion in the horizontal direction of the first storage container 21, and is a position that is separated from the first container 201 by a predetermined distance in the vertical direction when the carry-out device 11 is installed on the first container 201. Is formed.

  The first storage container 21 is provided with a first inlet opening / closing lid 34 that can freely open and close the first inlet 32. The first inlet opening / closing lid 34 can open and close the first inlet 32 by moving in the horizontal direction. The first storage container 21 is provided with a first outlet opening / closing lid 35 that can open and close the first outlet 33. The 1st exit part opening-and-closing lid | cover 35 can open and close the 1st exit part 33 by moving to a horizontal direction. The first inlet opening / closing lid 34 and the first outlet opening / closing lid 35 can be operated remotely by an opening / closing device (not shown).

  The first moving device 22 is disposed in the first storage container 21 and is disposed toward the first inlet portion 32. In the first storage container 21, the first rail 36 is fixed along the vertical direction to the inner wall surface of the shielding wall 31 on one side in the horizontal direction, and the moving frame 38 is attached to the first rail 36 via the first guide 37. It is supported movably. The moving body 39 is movably supported by the second rail 41 fixed to the moving frame 38 via the second guide 40. The first articulated arm 23 is supported by the moving body 39 via a bracket 42. The first storage container 21 is provided with a winch 43 on the inner wall surface of the shielding wall 31 on the other side portion in the horizontal direction and on the upper end portion in the vertical direction. The winch 43 has one end of the pulling wire 44 wound around it, and the other end connected to the moving body 39 via a pulley 45. Therefore, when the winch 43 is driven, the movable body 39 can be moved in the vertical direction via the pulling wire 44 and the first multi-joint arm 23 can be moved up and down.

  The first articulated arm 23 is supported by hanging at the base end of the bracket 42 of the moving body 39 constituting the first moving device 22, and a gripping tool 24 capable of gripping the radioactive waste RW at the distal end. It is installed. In the first articulated arm 23, a support portion 46 is fixed to the bracket 42, a first rotation portion 47 is rotatably supported by the support portion 46 with a rotation axis along the vertical direction, and a horizontal direction is supported by the first rotation portion 47. The first oscillating part 48 is supported so as to freely oscillate with a rotation axis along the axis, and the first oscillating part 48 supports an extendable part (first extendable part) 49. The telescopic portion 49 has a telescopic structure, and a second rotating portion (horizontal turning portion) 50 is rotatably supported with a rotating shaft center along the vertical direction, and the rotating shaft along the horizontal direction is supported by the second rotating portion 50. The second swinging part 51 is swingably supported by a core, the third swinging part 52 is swingably supported by the second swinging part 51 by a rotating shaft core along the vertical direction, and the third swinging part is supported. A gripping tool 24 is supported by 52. The first multi-joint arm 23 is equipped with a drive motor (not shown) at each joint, and can be operated by remote control.

  The first articulated arm 23 is disposed to face the first inlet portion 32 (the opening 203 of the first container 201) of the first storage container 21 in the vertical direction, and the first moving device By lowering by 22, the lower part can extend from the first inlet portion 32 to the outside and enter the first container 201 through the opening 203. At this time, the first articulated arm 23 has at least a part of the telescopic part 49, the second rotating part 50, the second swinging part 51, the third swinging part 52, and the gripping tool 24 intruded into the first container 201. To do. Further, the lower part of the first articulated arm 23 can extend from the first outlet 33 to the outside.

  As shown in FIG. 2, the gripping tool 24 is fixed to the distal end portion of the third swinging portion 52. The third swinging part 52 is connected to a pair of left and right support plates 54 via a connecting member 53, and a guide rail 55 having a downward arc shape is fixed to the pair of left and right support plates 54. The pair of left and right moving members 56 are supported so as to be movable along the guide rails 55, and grip portions 57 each having an arc shape are formed. In addition, a pair of air cylinders 58 is swingably mounted on the pair of left and right support plates 54, and the distal end portion of the drive rod is connected to the moving member 56. Therefore, when each air cylinder 58 is extended from the position indicated by the solid line in FIG. 2, the moving member 56 moves along the guide rail 55, and each gripping portion 57 moves to the position indicated by the two-dot chain line in FIG. The radioactive waste RW can be grasped. The gripping tool 24 for the radioactive waste RW is not limited to this structure. For example, the gripping part may have a structure in which the upper part or the lower part of the radioactive waste RW is gripped or sucked and gripped. The suction part sucks the upper part of the radioactive waste RW, and the gripping part is radioactive. The configuration may be such that the side of the waste RW is gripped.

  The first articulated arm 23 is provided with a tool changer (not shown) in the third swinging part 52, and the first storage container 21 is provided with a tool box 59 inside. Therefore, the first articulated arm 23 can exchange the gripping tool 24 with another tool stored in the tool box 59 by the tool changer. The tool box 59 stores, for example, scooping tools, crushing tools, cutting tools, gripping tools, and the like. Further, the first storage container 21 is provided with a temporary placement table 60 for temporarily placing the radioactive waste RW adjacent to the first inlet portion 32. Although the temporary placement table 60 is disposed on the right side of the first articulated arm 23 in FIG. 1, the temporary placement table 60 is not limited to this position. You may arrange | position in the back side or near side of 23.

  FIG. 4 is a schematic diagram showing a radioactive waste carry-in device applied to the radioactive waste transport system of the present embodiment, FIG. 5 is a schematic diagram showing the operation of the radioactive waste carry-in device, and FIG. It is the schematic showing another operation | movement of the carrying-in apparatus of a radioactive waste.

  As shown in FIG. 4, the large-capacity second container 211 is configured by a shielding wall 212 and contains radioactive waste RW (see FIG. 5). The second container 211 is provided with an opening 213 at the top, and the opening 213 can be freely opened and closed by an opening / closing lid 214 that moves in the horizontal direction.

  A radioactive waste carry-in device (hereinafter referred to as a carry-in device) 12 can be installed on the second container 211. The carry-in device 12 includes a second storage container 61, a second moving device 62, a second articulated arm 63, and a slope 64.

  The periphery of the second storage container 61 is configured by a shielding wall 71, and a second inlet portion 72 and a second outlet portion 73 are provided. The second inlet portion 72 and the second outlet portion 73 open along the vertical direction below the second storage container 61 and are shifted in the horizontal direction and the vertical direction. That is, the second outlet portion 73 is one side portion in the horizontal direction of the second storage container 61, and is a position facing the opening 213 of the second container 211 when the carry-in device 12 is installed on the second container 211. Is formed. The second inlet portion 72 is the other side portion in the horizontal direction of the second storage container 61 and is a position that is separated from the second container 211 by a predetermined distance in the vertical direction when the carry-in device 12 is installed on the second container 211. Is formed.

  The second storage container 61 is provided with a second inlet opening / closing lid 74 that can open and close the second inlet 72. The 2nd entrance part opening-and-closing lid 74 can open and close the 2nd entrance part 72 by rotating in the perpendicular direction. The second storage container 61 is provided with a second outlet portion opening / closing lid 75 that can freely open and close the second outlet portion 73. The 2nd exit part opening-and-closing lid 75 can open and close the 2nd exit part 73 by moving in the horizontal direction. The second inlet opening / closing lid 74 and the second outlet opening / closing lid 75 can be remotely operated by an opening / closing device (not shown).

  The second moving device 62 is disposed in the second storage container 61 and is disposed toward the second outlet portion 73. In the second storage container 61, a rail 76 is fixed along the vertical direction to the inner wall surface of the shielding wall 71 on one side portion in the horizontal direction, and a moving body 78 is movably supported on the rail 76 via a guide 77. Yes. The second articulated arm 63 is supported by the moving body 78. Although not shown, the second moving device 62 is provided with a winch in the second storage container 61 as in the first moving device 22 (see FIG. 1), and the end of the pulling wire moves via a pulley. It is connected to the body 78. Therefore, when the winch is driven, the moving body 78 can be moved in the vertical direction via the pulling wire, and the second articulated arm 63 can be moved up and down.

  In addition, the second storage container 61 is provided with a transport mechanism 79 that takes the radioactive waste RW from the second inlet 72 into the second articulated arm 63. That is, in the second storage container 61, the rail 80 is fixed along the horizontal direction on the inner wall surface of the shielding wall 71 at the upper end portion in the vertical direction, and the moving block 81 is movably supported on the rail 80. The moving block 81 is movable along the horizontal direction by the rail 80, and the gripping tool 83 is suspended via the suspension wire 82. The gripping tool 83 can grip the radioactive waste RW and take it into the inside from the second inlet 72.

  The second articulated arm 63 is supported at its proximal end by a moving body 78 constituting the second moving device 62, and a slope 64 for sending out the radioactive waste RW is attached to the distal end. In the second articulated arm 63, the support portion 84 is fixed to the moving body 78, and the rotation portion 85 is rotatably supported by the support portion 84 with a rotation axis along the vertical direction. (Extensible part) 86 is supported. The telescopic part 86 has a telescopic structure, and is constituted by a plurality (three in the present embodiment) of cylindrical parts 87, 88, and 89. The telescopic part 86 (cylindrical part 89) is supported at the tip part thereof so that the slope 64 can swing freely with a rotation axis along the horizontal direction. In the slope 64, a moving body 91 is provided at the tip of the main body 90 so as to be movable in the axial direction. The slope 64 may be the main body 90 alone, and the moving body 91 may be eliminated. The second multi-joint arm 63 is equipped with a drive motor (not shown) at each joint, and can be operated by remote control.

  The second articulated arm 63 has a hollow shape inside because the expansion / contraction part 86 is constituted by the cylindrical parts 87, 88 and 89. In addition, the moving body 78, the support portion 84, and the rotating portion 85 also have hollow portions formed therein, and communicate with the extendable portion 86. Therefore, the second multi-joint arm 63 has a guide part 92 that is hollow inside because the movable body 78, the support part 84, the rotation part 85, and the expansion / contraction part 86 (cylindrical parts 87, 88, 89) form a hollow shape. (See FIG. 6) is formed. The main body 90 of the slope 64 has a cylindrical shape, and the moving body 91 has a U-shaped cross-sectional shape with one side opening.

  The second articulated arm 63 is disposed so as to face the second outlet 73 of the second storage container 61 (the opening 213 of the second container 211) in the vertical direction, and is connected to the second moving device. By descending by 62, the lower portion can extend outside from the second outlet portion 73 and enter the second container 211 through the opening 213. At this time, in the second articulated arm 63, at least a part of the expansion / contraction part 86 and the slope 64 enter the second container 211. In addition, the gripping tool 83 can be inserted through the guide portion 92 (see FIG. 6) of the second articulated arm 63 while gripping the radioactive waste RW. 4 to 6, the gripping tool 83 and the like are illustrated in an enlarged manner in order to clarify the configuration of the gripping tool 83. The lower part of the second articulated arm 63 can extend from the second inlet portion 72 to the outside.

  FIG. 7 is a longitudinal sectional view showing a radioactive waste storage device applied to the radioactive waste transport system of this embodiment, and FIG. 8 is a sectional view taken along the line VIII-VIII in FIG. 7 showing the radioactive waste storage device. FIG. 9 is a schematic diagram showing a drive system of a conveyance roller in the radioactive waste storage device.

  As shown in FIGS. 7 to 9, the radioactive waste storage device (hereinafter referred to as storage device) 13 can be installed on the first container 201 or the second container 211. The storage device 13 includes a third storage container 101, a third moving device 102, and a partition device 103.

  The third storage container 101 is configured by a shielding wall 111 at the periphery, and an entrance / exit part 112 is provided. The entrance / exit part 112 opens along the vertical direction above the third storage container 101, and is provided at an end in the horizontal direction. That is, as shown in FIG. 1, when the storage device 13 is installed adjacent to the carry-out device 11 on the first container 201, the entrance / exit part 112 faces the opening 203 of the first container 201 in the vertical direction. Formed in position. Further, as shown in FIG. 4, when the storage device 13 is installed adjacent to the carry-in device 12 on the second container 211, the entrance / exit part 112 faces the opening 213 of the second container 211 in the vertical direction. Formed in position. As shown in FIGS. 7 to 9, the third storage container 101 is provided with an entrance / exit opening / closing lid 113 that can open and close the entrance / exit 112. The entrance / exit part opening / closing lid 113 can open and close the entrance / exit part 112 by moving in the horizontal direction. The entrance / exit opening / closing lid 113 can be remotely operated by an opening / closing device (not shown).

  The 3rd moving apparatus 102 is arrange | positioned in the 3rd storage container 101, and is arrange | positioned toward the entrance / exit part 112, and can move radioactive waste RW to a horizontal direction freely. In the present embodiment, the third mobile device 102 is composed of two rows of mobile devices 102A and 102B, and the mobile devices 102A and 102B have substantially the same configuration, so A description will be given.

  The third storage container 101 has a pair of left and right support plates 114 arranged in parallel along the longitudinal direction on the bottom surface, and is fixed to the bottom surface. The plurality of support rollers 115 are arranged horizontally and at a predetermined interval along the horizontal direction, and each end in the axial direction is rotatably supported by a pair of left and right support plates 114. The plurality of support rollers 115 can place the radioactive waste RW on the top, and each support roller 115 rotates to move the radioactive waste RW in the parallel direction. Note that the third storage container 101 is provided with an inlet / outlet part 112 facing above one end part in the parallel direction of the support rollers 115.

  The plurality of support rollers 115 are coaxially connected to the plurality of sprockets 116 disposed between the moving devices 102A and 102B. In the third storage container 101, a drive motor 117 is disposed at the other end of the support rollers 115 in the parallel direction, and a drive sprocket 118 is fixed to the output shaft. A chain 120 is wound around a plurality of sprockets 116, a drive sprocket 118, and an idler 119. Therefore, when the drive motor 117 is driven, the drive sprocket 118 is driven to rotate, and the rotational force is transmitted to each sprocket 116 via the chain 120 to rotate, and the plurality of support rollers 115 can be rotated. At this time, when the drive motor 117 is driven to rotate forward and the plurality of support rollers 115 are rotated forward, the radioactive waste RW placed on each of the support rollers 115 can be moved away from the entrance / exit portion 112. If the drive motor 117 is driven in reverse and the plurality of support rollers 115 are rotated in the reverse direction, the radioactive waste RW placed on each support roller 115 can be moved in a direction approaching the entrance / exit part 112. Note that the configuration of the moving device 102 is not limited to the configuration described above.

  Further, the third storage container 101 is provided with a moving handle 131 that moves the radioactive waste RW to the entrance / exit part 112 when the drive motor 117 fails. The movable handle 131 is rotatably provided outside the third storage container 101, and an extruding member 132 is connected to a tip portion that has entered the inside of the third storage container 101 by a ball screw (not shown). Therefore, even if the plurality of support rollers 115 cannot rotate, when the moving handle 131 is rotated, the push-out member 132 moves forward, and the radioactive waste RW can be moved to the entrance / exit part 112. Although not shown, the third storage container 101 is provided with a moving handle that moves the radioactive waste RW away from the entrance / exit part 112 when the drive motor 117 fails. It should be noted that each moving handle 131 for failure of the drive motor 117 may be only one, or may be omitted if necessary.

  Further, the third storage container 101 includes a partition member 121 as a partition device 103 that prevents interference between the radioactive wastes RW that move on the support rollers 115 by the third moving device 102, and the partition member 121 in the vertical direction. An air cylinder 122 is provided as a moving mechanism that moves along the direction. In this embodiment, the partition device 103 is composed of two rows of partition devices 103A and 103B, and the partition devices 103A and 103B have substantially the same configuration, and therefore are given the same reference numerals. explain. In other words, the pair of left and right support plates 114 are connected to the pair of left and right mounting plates 124 via the connection plate 123 above them. Each support plate 114 and each mounting plate 124 are parallel to each other. A plurality of air cylinders 122 are fixed on each mounting plate 124 at a predetermined interval in the longitudinal direction of the mounting plate 124. The partition member 121 is disposed along a horizontal direction perpendicular to the moving direction of the radioactive waste RW with a predetermined interval in the longitudinal direction of the mounting plate 124, and each end is driven to extend and contract in the vertical direction of each air cylinder 122. It is connected to the tip of the rod. Therefore, by extending and contracting each air cylinder 122, each partition member 121 can be moved to a partition position between each adjacent radioactive waste RW and a comparison position above the radioactive waste RW. Note that the partition device 103 may be omitted when there is no possibility of interference between the radioactive wastes RW.

  The drive motor 117 and the air cylinder 122 can be operated remotely by an operating device (not shown).

  The third storage container 101 has a rotating shaft 126 rotatably supported by a mounting bracket 125 at a lower portion, and a wheel 127 is fixed to each shaft end of the rotating shaft 126. As shown in FIG. 1, rails 205 are laid on the upper surface of the first container 201, and rails 215 are laid on the upper surface of the second container 211, as shown in FIG. Each wheel 127 can move along the rail 205 of the first container 201 or the rail 215 of the second container 211. In the above description, the rails 205 and 215 are laid on the upper surfaces of the containers 201 and 211, respectively, and the third storage container 101 can be lifted from the rails 205 and 215 to be transported. However, the present invention is limited to this configuration. It is not something. For example, the rail of the third storage container 101 may be shared, and the third storage container 101 and the rail may be transported integrally while the wheels 127 of the third storage container 101 are on the rail. At this time, a cart with rails may be prepared and the third storage container 101 may be transported using the cart. Furthermore, raising / lowering jacks may be provided at four corners of the carriage, and the height of the carriage may be adjusted by the raising / lowering jacks.

  As shown in FIG. 1, the carry-out device 11 transports the radioactive waste RW from the carry-out device 11 to the storage device 13 in a state where the storage device 13 is disposed below the first outlet portion 33 side. When the storage device 13 becomes full, the storage device 13 is separated from the carry-out device 11. At this time, the carry-out device 11 is provided with the support device 151 because the weight balance may be lost depending on the movement position of the first articulated arm 23. That is, the support device 151 is provided on the wall surface on the first outlet portion 33 side of the first storage container 21 in the carry-out device 11, and is provided with a plurality of support legs 152 that extend and contract in the vertical direction. The support device 151 supports the weight of the carry-out device 11 by extending the support legs 152 downward and grounding the first container 201 at a position where the storage device 13 is not placed.

  Here, the conveyance method by the radioactive waste conveyance system of this embodiment is demonstrated.

  The method for transporting radioactive waste includes a step of installing the unloading device 11 adjacent to the first container 201 in which the radioactive waste RW is stored, a step of installing the storage device 13 adjacent to the unloading device 11, and an unloading The step of causing the first articulated arm 23 in the device 11 to enter the first container 201 and grasping the radioactive waste RW, and the radioactive waste RW grasped by the first articulated arm 23 to be taken into the unloading device 11. A step of carrying out to the storage device 13, a step of installing the carry-in device 12 adjacent to the second container 211 containing the radioactive waste RW, a step of installing the storage device 13 adjacent to the carry-in device 12, and The step of allowing the second articulated arm 63 in the device 12 to enter the second container 211, the radioactive waste RW in the storage device 13 is taken into the carry-in device 12, and the second articulated arm 63 is used to perform the second operation. Container 211 And a step of loading.

  Here, “adjacent installation” represents a state in which they are arranged adjacent to each other in the vertical direction or the horizontal direction. And in this embodiment, workability | operativity is improved by installing the carrying-out apparatus 11, the carrying-in apparatus 12, and the storage apparatus 13 in the upper part of the 1st container 201 or the 2nd container 211. FIG.

  Specifically, as shown in FIG. 1, first, the unloading device 11 is installed on the first container 201 in which the radioactive waste RW is accommodated. In addition, the storage device 13 is installed adjacent to the carry-out device 11 on the first container 201. At this time, the opening 203 of the first container 201 and the first inlet 32 of the carry-out device 11 are made to coincide with each other, and the first outlet 33 of the carry-out device 11 and the inlet / outlet 112 of the storage device 13 are made to coincide. Adhere closely. Then, the opening / closing lid 204 and the first inlet opening / closing lid 34 are opened to allow the first container 201 and the unloading device 11 (first storage container 21) to communicate with each other, and the first outlet opening / closing lid 35 and the inlet / outlet opening / closing lid 113 are communicated. And the unloading device 11 (first storage container 21) and the storage device 13 (third storage container 101) communicate with each other.

  Next, as shown in FIG. 3, the first moving device 22 is actuated to lower the first articulated arm 23, and the distal end portion is moved from the first storage container 21 to the first through the opening 203 and the first inlet portion 32. Invade into the container 201. Then, the first articulated arm 23 is operated and the radioactive waste RW in the first container 201 is gripped by the gripping tool 24. At this time, the first articulated arm 23 is provided with a camera and illumination at the distal end thereof, and visually confirms the mounting state of the radioactive waste RW in the first container 201 and is held by the gripping tool 24. Visually check the soundness of the waste RW. Further, the first storage container 21 is provided with a camera and illumination, and the first articulated arm 23, the first inlet portion 32, and the first outlet portion 33 can be visually recognized.

  Here, when the radioactive waste RW is damaged and its soundness is impaired, the holding of the radioactive waste RW grasped by the grasping tool 24 is released. That is, the first articulated arm 23 first grasps only the radioactive waste RW that is secured. When the grasping tool 24 grasps the radioactive waste RW, the first articulated arm 23 activates the first articulated arm 23 and also activates the first moving device 22 to raise the first articulated arm 23. The radioactive waste RW is taken into the first storage container 21.

  Subsequently, the first articulated arm 23 is operated in the first storage container 21, and the radioactive waste RW gripped by the gripping tool 24 is carried out into the storage device 13 through the first outlet portion 33 and the inlet / outlet portion 112. . At this time, in the storage device 13, the third moving device 102 is stopped, and the radioactive waste RW is placed on the plurality of support rollers 115. When the radioactive waste RW is placed on the support roller 115, the storage device 13 raises the partition member 121 by the partition device 103, and then rotates each support roller 115 forward by the drive motor 117. The RW is moved by a predetermined distance in a direction away from the entrance / exit part 112. When the radioactive waste RW moves by one on each support roller 115, the rotation of each support roller 115 is stopped and the partition member 121 is lowered by the partition device 103. By repeating the operations of the first moving device 22 and the first articulated arm 23 in the carry-out device 11 and the operations of the third moving device 102 and the partition device 103 in the storage device 13, the inside of the first container 201 is repeated. A plurality of radioactive wastes RW are carried out to the storage device 13 by the carry-out device 11.

  When the first articulated arm 23 carries out all of the undamaged radioactive waste RW in the first storage container 21 to the storage device 13, the first articulated arm 23 is then damaged. The waste RW is carried out to the storage device 13. In this case, a storage device (not shown) containing a new empty container is installed on the first container 201 adjacent to the carry-out device 11. Then, an empty container in the storage device is taken into the carry-out device 11 by the first multi-joint arm 23 and placed on the temporary table 60. The first articulated arm 23 finely crushes the damaged radioactive waste RW using a scooping tool, crushing tool, cutting tool or the like in the tool box 59 and stores it in a container on the temporary table 60. And the 1st articulated arm 23 carries out the new container in which the crushed radioactive waste RW was accommodated to the storage apparatus 13 similarly to the carrying out method of the radioactive waste RW which was not damaged mentioned above.

  When a predetermined number of radioactive wastes RW are stored in the storage device 13, the opening / closing lid 204 and the first inlet opening / closing lid 34 are actuated to close the opening 203 and the first inlet 32, and the first outlet The opening / closing lid 35 and the entrance / exit opening / closing lid 113 are operated to close the first outlet 33 and the entrance / exit 112. And as shown in FIG. 4, the carrying-in apparatus 12 is installed on the 2nd container 211 which accommodates the radioactive waste RW from now on. Further, the storage device 13 installed on the first container 201 is transported by a crane or the like, and installed on the second container 211 at a position adjacent to the carry-out device 11. At this time, the opening portion 213 of the second container 211 and the second outlet portion 73 of the carry-in device 12 are made to coincide with each other, and the second inlet portion 72 of the carry-in device 12 and the inlet / outlet portion 112 of the storage device 13 are made to coincide. Adhere closely. Then, the opening / closing lid 214 and the second outlet portion opening / closing lid 75 are opened to allow the second container 211 and the carry-in device 12 (second storage container 61) to communicate with each other, and the second inlet portion opening / closing lid 74 and the inlet / outlet portion opening / closing lid 113. Is opened, and the carry-in device 12 (second storage container 61) communicates with the storage device 13 (third storage container 101).

  Then, as shown in FIG. 5, the second moving device 62 is actuated to lower the second articulated arm 63, and the tip of the second container is passed through the opening 213 and the second outlet 73 from the second storage container 61. 211. Note that a camera and illumination are provided in any or all of the distal end portion of the second articulated arm 63, the inside of the second storage container 61, and the movement block 81 (or the gripping tool 83), and the inside of the second container 211. The second articulated arm 63, the second inlet 72, and the second outlet 73 can be visually recognized. Then, the second articulated arm 63 is operated to cause the slope 64 to follow the bottom surface of the second container 211. At this time, it is desirable that the slope 64 has an angle in the range of 1 to 10 degrees with respect to the horizontal direction. Subsequently, the transport mechanism 79 is operated, and the gripping tool 83 suspended from the suspension wire 82 is caused to enter the storage device 13 through the second inlet portion 72 and the inlet / outlet portion 112, and the radioactive waste RW on the support roller 115 is removed. grab. Then, the radioactive waste RW gripped by the gripping tool 83 by the transport mechanism 79 is taken out from the storage device 13 and taken into the carry-in device 12.

  The transport mechanism 79 throws the radioactive waste RW gripped by the gripping tool 83 and taken into the carry-in device 12 into the guide portion 92 of the second articulated arm 63. Then, the radioactive waste RW freely falls through the guide portion 92 of the second articulated arm 63 and moves to the slope 64. Since the slope 64 is maintained at a predetermined inclination angle, the radioactive waste RW slides on the inclined slope 64 and is carried into the second container 211.

  Further, the method for carrying in the radioactive waste RW by the carry-in device 12 is not limited to the method described above. As shown in FIG. 6, the second moving device 62 is operated to lower the second articulated arm 63, and the tip portion is passed through the opening 213 and the second outlet portion 73 from the second storage container 61 and into the second container 211. To invade. Subsequently, the transport mechanism 79 is operated, and the gripping tool 83 suspended from the suspension wire 82 is caused to enter the storage device 13 through the second inlet portion 72 and the inlet / outlet portion 112, and the radioactive waste RW on the support roller 115 is removed. grab. Then, the radioactive waste RW gripped by the gripping tool 83 by the transport mechanism 79 is taken out from the storage device 13 and taken into the carry-in device 12. The transport mechanism 79 causes the radioactive waste RW gripped by the gripping tool 83 to enter the guide portion 92 of the second articulated arm 63, and moves down the guide portion 92 as it is to carry the radioactive waste RW into the second container 211. .

  On the other hand, the storage device 13 causes the third moving device 102 to raise the partition member 121 by the partition device 103, and then reversely rotates each support roller 115 by the drive motor 117, so that the radioactive waste RW enters the entrance / exit portion 112. Moves a predetermined distance in the approaching direction. When the radioactive waste RW moves by one on each support roller 115 and comes directly under the entrance / exit part 112, the rotation of each support roller 115 is stopped and the partition member 121 is lowered by the partition device 103. By repeating the operations of the second moving device 62 and the second articulated arm 63 in the carry-in device 12 and the operations of the third moving device 102 and the partition device 103 in the storage device 13 described above, a plurality of units in the storage device 13 are obtained. The radioactive waste RW is carried into the second container 211 by the carry-in device 12.

  During the various operations described above, the carry-out device 11, the carry-in device 12, and the storage device 13 placed on the containers 201 and 211 need to be shielded by arranging a shield (not shown). By providing the shield separately from the carry-out device 11, the carry-in device 12, and the storage device 13, the weight of the carry-out device 11, the carry-in device 12, and the storage device 13 can be reduced.

  As described above, in the radioactive waste carry-out apparatus according to the present embodiment, the first storage container 21 including the first inlet portion 32 and the first outlet portion 33 which are configured by the shielding wall 31, and the first inlet portion 32. The first inlet portion opening / closing lid 34 and the first outlet portion opening / closing lid 35 that can freely open and close the first outlet portion 33, and the first moving device 22 disposed in the first storage container 21 toward the first inlet portion 32. A first articulated arm 23 supported by the first moving device 22 and having a distal end portion that can be extended to the outside from the first inlet portion 32; a radioactive waste disposed at the distal end portion of the first articulated arm 23; A gripping tool 24 for gripping the RW is provided.

  Accordingly, the first articulated arm 23 having the gripping tool 24 is movably stored by the first moving device 22 in the first storage container 21 formed by the shielding wall 31, so that the configuration of the carry-out device 11 is simplified. Can be In addition, after the first storage container 21 in which the first articulated arm 23 is stored is installed on the upper part of the first container 201 in which the radioactive waste RW is stored, the first inlet portion 32 is opened by the first inlet portion opening / closing lid 34. Is opened, the tip of the first articulated arm 23 enters the first container 201, the radioactive waste RW is grasped by the grasping tool 24, and the radioactive waste RW is carried into the first storage container 21. It is possible to improve work efficiency. As a result, the exposure to the worker is reduced, and the safety of work can be improved.

  In the radioactive waste carry-out apparatus of the present embodiment, the first inlet portion 32 and the first outlet portion 33 are provided along the vertical direction and are shifted in the horizontal direction and the vertical direction. Accordingly, since the opening directions of the first inlet portion 32 and the first outlet portion 33 of the first storage container 21 are the same vertical direction, the external radioactive waste RW is transferred from the first inlet portion 32 to the first storage container 21. The direction in which the radioactive waste RW is put out from the first outlet 33 is the same direction, and the operability of the first articulated arm 23 can be improved.

  In the radioactive waste carry-out device of the present embodiment, the first moving device 22 can move the first articulated arm 23 along the vertical direction, and the first articulated arm 23 moves the grasping tool 24 in the vertical direction. And a telescopic part 49 that is movable along the axis. Therefore, the first articulated arm 23 is moved along the vertical direction by the first moving device 22 to allow the distal end of the first articulated arm 23 to enter the first container 201, and in this state, the expansion / contraction part 49 Since the gripping tool 24 is moved along the vertical direction, the workability can be improved by expanding the movable range of the gripping tool 24.

  In the radioactive waste carry-out device of the present embodiment, the first articulated arm 23 has a second rotating part 50, a second oscillating part 51, and a third oscillating part 52 on the distal end side of the telescopic part 49. ing. Therefore, the gripping tool 24 moves on the tip side from the expansion / contraction part 49 that has entered the first container 201 of the first storage container 21, and the operability of the gripping tool 24 can be improved.

  Moreover, in the radioactive waste carrying-in apparatus of the present embodiment, the second storage container 61 including the second inlet portion 72 and the second outlet portion 73, which is configured by the shielding wall 71, the second inlet portion 72, and A second inlet portion opening / closing lid 74 and a second outlet portion opening / closing lid 75 which can freely open and close the second outlet portion 73; a second moving device 62 which is disposed in the second storage container 61 toward the second outlet portion 73; The second articulated arm 63 supported by the second moving device 62 and having a distal end portion that can be extended to the outside from the second outlet 73, and the radioactive waste RW provided at the distal end portion of the second articulated arm 63 And a slope 64 that feeds out the water.

  Accordingly, since the second articulated arm 63 having the slope 64 is movably stored in the second storage container 61 formed by the shielding wall 71 by the second moving device 62, the configuration of the carry-in device 12 is simplified. can do. In addition, after the second storage container 61 in which the second articulated arm 63 is stored is installed on the upper part of the second container 211, the second outlet part 73 is opened by the second outlet part opening / closing lid 75, and the second articulated joint The distal end portion of the arm 63 is allowed to enter the second container 211, and the radioactive waste RW can be slowly carried into the second container 211 using the slope 64, so that work efficiency can be improved. As a result, the exposure to the worker is reduced, and the safety of work can be improved.

  In the radioactive waste carry-in device of the present embodiment, the second articulated arm 63 has a guide portion 92 that communicates with the slope 64. Therefore, when the radioactive waste RW is delivered to the second articulated arm 63, the radioactive waste RW moves to the slope 64 through the guide portion 92, and it is safe without damaging the radioactive waste RW. Can be carried out to

  In the radioactive waste carry-in device of the present embodiment, a transport mechanism 79 that takes in the radioactive waste RW from the second inlet 72 and transports it to the guide 92 is provided. Therefore, the radioactive waste RW taken in from the second inlet 72 is transported to the guide 92 by the transport mechanism 79, so that the radioactive waste RW can be easily carried in and workability is improved. Can do.

  In the radioactive waste carry-in device of the present embodiment, the second inlet portion 72 and the second outlet portion 73 are opened along the vertical direction and are shifted in the horizontal direction and the vertical direction. Therefore, since the opening directions of the second inlet portion 72 and the second outlet portion 73 of the second storage container 61 are the same vertical direction, the radioactive waste RW is put into the second storage container 61 from the second inlet portion 72. And the direction which takes out a radioactive substance from the 2nd exit part 73 becomes the same direction, and the operativity of the 2nd multi joint arm 63 can be improved.

  In the radioactive waste carry-in device of the present embodiment, the second moving device 62 can move the second articulated arm 63 along the vertical direction, and the second articulated arm 63 can move the slope 64 in the vertical direction. It has a stretchable part 86 that is movable along. Therefore, the second articulated arm 63 is moved along the vertical direction by the second moving device 62 to allow the tip of the second articulated arm 63 to enter the second container 211, and in this state, the telescopic part 86 Since the slope 64 is moved along the vertical direction, the movable range of the slope 64 can be expanded and workability can be improved.

  Further, in the radioactive waste storage device of the present embodiment, the third storage container 101 having the entrance / exit part 112 that is configured by the shielding wall 111, the entrance / exit part opening / closing lid 113 that can freely open and close the entrance / exit part 112, and Interference between the third moving device 102 arranged in the third storage container 101 toward the entrance / exit part 112 and capable of moving the radioactive waste RW in the horizontal direction and the radioactive waste RW moved by the third moving device 102 A partition device 103 for blocking is provided.

  Accordingly, since the third moving device 102 that moves the radioactive waste RW is stored in the third storage container 101 configured by the shielding wall 111, the configuration of the storage device 13 can be simplified. In addition, after the third storage container 101 in which the third moving device 102 is stored is installed on the upper part of the first container 201, the radioactive waste RW in the first container 201 is carried out, or the second container 211 is radioactive. Waste RW can be carried in, and work efficiency can be improved. Furthermore, when the radioactive waste RW is moved by the third moving device 102, the partitioning device 103 prevents interference between the radioactive wastes RW, and the damage of the radioactive waste RW can be suppressed. As a result, the exposure to the worker is reduced, and the safety of work can be improved.

  In the radioactive waste storage device of the present embodiment, the entrance / exit part 112 opens along the vertical direction and is provided to face the end of the third moving device 102. Therefore, since the moving direction of the radioactive waste RW by the third moving device 102 and the opening direction of the entrance / exit part 112 are orthogonal, the radioactive waste RW can be easily taken in and out and the workability can be improved.

  In the radioactive waste storage device of this embodiment, the third moving device 102 can move the radioactive waste RW toward and away from the entrance / exit part 112. Therefore, when the 3rd movement apparatus 102 makes the radioactive waste RW approach or separate from the entrance / exit part 112, taking in / out of the radioactive waste RW becomes easy, and workability | operativity can be improved.

  In the radioactive waste storage device of this embodiment, the partition device 103 includes a partition member 121 disposed between the plurality of radioactive wastes RW, and an air cylinder (moving mechanism) that moves the partition member 121 along the vertical direction. ) 122. Therefore, by moving the partition member 121 along the vertical direction by the air cylinder 122, the partition member 121 can be moved to the partition position and the retracted position, and workability can be improved.

  Further, the radioactive waste transport system of the present embodiment includes a radioactive waste carry-out device 11, a radioactive waste carry-in device 12, and a radioactive waste storage device 13. Therefore, since the moving devices 22, 62, 102 and the articulated arms 23, 63 are stored in the storage containers 21, 61, 101 formed by the shielding walls 31, 71, 111, the configuration of the device is simplified. be able to. Further, after the unloading device 11 is installed on the top of the first container 201 or the like, the radioactive waste RW in the first container 201 is unloaded into the storage device 13 using the first articulated arm 23, and the storage device 13 Can be carried into the second container 211 using the second articulated arm 63 and the work efficiency can be improved. be able to. As a result, the exposure to the worker is reduced, and the safety of work can be improved.

  Further, in the method for transporting radioactive waste according to the present embodiment, a step of installing the unloading device 11 adjacent to the first container 201 in which the radioactive waste RW is accommodated, and a storage adjacent to the unloading device 11 are stored. A step of installing the device 13, a step of allowing the first articulated arm 23 in the carry-out device 11 to enter the first container 201 and grasping the radioactive waste RW, and a radioactive waste grasped by the first articulated arm 23 The step of taking RW into the carry-out device 11 and carrying it out to the storage device 13, the step of installing the carry-in device 12 adjacent to the second container 211 containing the radioactive waste RW, and the storage device 13 into the carry-in device 12 The step of installing adjacently, the step of causing the second articulated arm 63 in the carry-in device 12 to enter the second container 211, and the radioactive waste RW in the storage device 13 are taken into the carry-in device 12 and second. Articulated arm And a step of carrying the second container 211 with 3. Therefore, it is possible to simplify the apparatus and improve the work efficiency, and to improve the work safety.

  In the above-described embodiment, the open / close lids 34 and 35 of the carry-out device 11 and the open / close lids 74 and 75 of the carry-in device 12 can be opened and closed by moving in the horizontal direction. However, the present invention is not limited to this configuration. Alternatively, the opening / closing lid may be opened and closed by rotating in the vertical direction. The open / close lids 34 and 35 of the carry-out device 11 and the open / close lids 74 and 75 of the carry-in device 12 may be omitted.

  In the above-described embodiment, the carry-out device 11, the carry-in device 12, and the storage device 13 are installed on the upper portions of the containers 201 and 211, but may be installed on the side floor.

  In the above-described embodiment, the radioactive substance is described as radioactive waste. However, the radioactive material is not limited to radioactive waste, and may be nuclear reactor fuel or the like.

11 Radioactive waste carry-out device (radioactive material carry-out device)
12 Radioactive waste carry-in device (radioactive material carry-in device)
13 Radioactive waste storage device (radioactive material storage device)
DESCRIPTION OF SYMBOLS 21 1st containment vessel 22 1st moving apparatus 23 1st multi-joint arm 24 Grasp tool 31 Shielding wall 32 1st inlet part 33 1st outlet part 34 1st inlet part opening / closing lid 35 1st outlet part opening / closing lid 39 Moving body 43 Winch 46 Supporting portion 47 First rotating portion 48 First swinging portion 49 Telescopic portion (first telescopic portion)
50 2nd rotation part (horizontal direction turning part)
51 2nd swing part 52 3rd swing part 61 2nd storage container 62 2nd moving device 63 2nd articulated arm 64 slope 71 shielding wall 72 2nd entrance part 73 2nd exit part 74 2nd entrance part opening-and-closing lid 75 Second outlet opening / closing lid 78 Moving body 79 Transport mechanism 81 Moving block 83 Holding tool 84 Supporting portion 85 Rotating portion 86 Extendable portion (second extendable portion)
91 moving body 92 guide portion 101 third storage container 102 third moving device 102A, 102B moving device 103, 103A, 103B partition device 111 shielding wall 112 entrance / exit portion 113 entrance / exit portion opening / closing lid 115 support roller 117 drive motor 121 partition member 122 air Cylinder (movement mechanism)
201 First container 203 Opening 204 Opening / closing lid 211 Second container 213 Opening 214 Opening / closing lid RW Radioactive waste (radioactive material)

Claims (16)

A first containment vessel configured by a shielding wall and having a first inlet portion and a first outlet portion;
A first moving device disposed in the first storage container toward the first inlet portion;
A first articulated arm supported by the first moving device and having a distal end portion that can extend outward from the first inlet portion;
A gripping tool that is provided at the tip of the first articulated arm and grips a radioactive substance;
A radioactive substance carry-out apparatus comprising:   The radioactive substance carry-out apparatus according to claim 1, wherein the first inlet portion and the first outlet portion are provided to be shifted in a horizontal direction and a vertical direction.   The first moving device is capable of moving the first articulated arm along a vertical direction, and the first articulated arm is provided with a first telescopic part capable of moving the gripping tool along the vertical direction. The radioactive substance carrying-out apparatus according to claim 1 or 2, wherein   The radioactive substance carrying-out apparatus according to claim 3, wherein the first articulated arm has a horizontal turning portion and a swinging portion on a distal end side of the first extendable portion. A second containment vessel configured by a shielding wall and having a second inlet portion and a second outlet portion;
A second moving device disposed in the second storage container toward the second outlet portion;
A second articulated arm supported by the second moving device and having a distal end portion that can extend outward from the second outlet portion;
A slope that is provided at the tip of the second articulated arm and sends out radioactive material;
A radioactive substance carrying-in apparatus comprising:   6. The radioactive substance carrying-in apparatus according to claim 5, wherein the second articulated arm has a guide portion communicating with the slope.   The radioactive substance carrying-in apparatus according to claim 6, further comprising a conveyance mechanism that takes in the radioactive substance from the second inlet part and conveys the radioactive substance to the guide part.   The radioactive substance carrying-in device according to any one of claims 5 to 7, wherein the second inlet portion and the second outlet portion are provided to be shifted in a horizontal direction and a vertical direction.   The second moving device can move the second articulated arm along a vertical direction, and the second articulated arm has a second extendable part that can move the slope along a vertical direction. The radioactive substance carrying-in apparatus according to any one of claims 5 to 8. A third containment vessel configured by a shielding wall and having an entrance and exit;
An entrance / exit opening / closing lid that can freely open and close the entrance / exit,
A third moving device arranged in the third containment vessel toward the entrance / exit and capable of moving the radioactive substance in a horizontal direction;
A radioactive substance storage device comprising:   The radioactive substance storage device according to claim 10, further comprising a partition device that prevents interference between radioactive substances moving by the third moving device.   The radioactive substance storage device according to claim 10, wherein the entrance / exit part is provided to face an end of the third moving device.   The radioactive substance storage device according to claim 12, wherein the third moving device is capable of moving the radioactive substance toward and away from the entrance / exit part.   12. The storage of radioactive material according to claim 11, wherein the partition device includes a partition member disposed between a plurality of radioactive materials, and a moving mechanism that moves the partition member along a vertical direction. apparatus. The radioactive substance carry-out device according to any one of claims 1 to 4,
The radioactive substance carrying-in device according to any one of claims 5 to 9,
The radioactive substance storage device according to any one of claims 10 to 14,
A radioactive material transport system comprising: Installing an unloading device adjacent to the first container in which the radioactive material is stored;
Installing a storage device adjacent to the unloading device;
Intruding the first articulated arm in the unloading device into the first container and gripping the radioactive material;
Taking the radioactive material grasped by the first articulated arm into the carry-out device and carrying it out to the storage device;
Installing a loading device adjacent to the second container containing the radioactive material;
Installing the storage device adjacent to the carry-in device;
Allowing the second articulated arm in the carry-in device to enter the second container;
Taking the radioactive substance in the storage device into the carry-in device and carrying it into the second container using the second articulated arm;
A method for transporting a radioactive substance, comprising:

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