JP3100321B2 - Transfer container with manipulator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a facility for transporting dangerous substances such as radioactive objects which should be handled in a state of being isolated from humans, and more particularly to a transport container for storing and transporting such dangerous substances.

[0002]

2. Description of the Related Art When transporting or transferring a dangerous object such as a radioactive object, it is practiced to put it in a closed container or the like to ensure safety. For example, a so-called spent fuel that has completed a predetermined combustion in a nuclear power plant is sent to a reprocessing plant, where fuel rods are cut,
The cladding tube is put in a container and temporarily stored in a storage tank. After storage for a certain period of time, it is taken out of the storage tank for transportation to the next storage place. For the purpose of performing such storage and removal, the following facilities and devices have been proposed. That is, referring to FIG.
A temporary storage tank 105 having an opening 103 that can be freely opened and closed by 01 defines a storage space 107 in which water 109 is filled to a predetermined depth. The water 109 is for shielding radiation emitted from the small container 108 to be transferred containing a radioactive object such as a cladding tube. And the small container 108
Is provided in the temporary storage tank 105, and the upper end of the lifting mast 111 is fixed to the ceiling surface. A body 113 that is provided on the lifting mast 111 so as to be able to move up and down and that can rotate around its axis is
An arm 115 is supported so as to be rotatable around a vertical axis.
7 is supported. Gripping arm 11 for gripping small container 108
Reference numeral 9 denotes an arm 1 which is pivotable about a horizontal axis and a vertical axis.
15 attached. As a result, manipulator 1
Rotation and lifting and lowering of the trunk 113 of the ten, arms 115 and 117
About the vertical axis of each of the
By appropriately combining the rotations around the two axes 9, the small container 108 can be approached, grasped and moved below the opening 103.

A transfer container 120 for transferring the small container 108 outside the temporary storage tank 105 is configured as follows.
That is, the frame 12 with the rail 123 below the body 121
5 is attached and the bottom cover 1 with the guide block 127 is attached.
29 moves on the rail 123 to open and close the bottom of the body 121. The following lifting device is provided on the upper part of the body 121. A wire rope take-up motor 131, a wire drum 133, and an accessory member are installed in a cover 135, and a hook 137 at the tip of the wire extending therefrom is attached to the body 1
21 hangs inside. A cleaning nozzle 139 is provided inside the body 121.

The procedure for handling the temporary storage tank 105 and the transfer container 120 as described above is as follows. As shown in FIG. 9, the transfer container 12 is placed on the opening 103 of the temporary storage tank 105.
Put 0 in line. Then, the bottom cover 127 is moved on the rail 123 to open the bottom of the body 121 as shown. Next, the plug 103 is moved horizontally to open the opening 103 as shown, and the hook 137 is moved from the transfer container 120 to the temporary storage tank 10.
5 is lowered into the storage space 107. Further manipulator 1
10 to grip the target small container 108
Grab with 9. After that, the torso 11 of the manipulator 110
3. The small container 108 is moved below the opening 103 by operating the arms 115 and 117 and the holding arm 119, and the small container 108 is hooked on the hook 137 (FIG. 10). Further, as shown in FIG. 11, the wire rope 133 is driven by the wire rope
Is pulled up into the body 121.
Then, after the cleaning liquid is ejected from the cleaning nozzle 139 to clean the outer surface of the small container 108, the plug 103 is moved to close the opening 103, and the bottom lid 127 is similarly returned to return the body 121.
Close the bottom entrance. After that, the small container 108 is transferred to the destination using a normal cargo handling and transporting device.

[0005]

The transfer container proposed in the prior art as described above has only a simple lifting equipment, and the handling of the transfer object in the temporary storage tank is difficult.
The operation was performed by a manipulator provided in the storage tank. For this reason, there has been a problem that the effective storage volume of the storage space in the temporary storage tank is reduced, or the size of the entire storage tank becomes excessively large in order to secure a predetermined storage volume. In addition, since the manipulator is provided in the storage space for storing the shielding water, there are restrictions on maintenance, inspection, and the like for securing the function. Further, when cleaning the transferred object in the transfer container, there is a possibility that the used contaminated cleaning liquid may scatter outside from between the transfer container and the storage tank. Therefore, an object of the present invention is to provide a transfer container which completely solves the above problems.

[0006]

In order to solve the above-mentioned problems, a transfer container according to the present invention comprises a body having a storage space therein, a wire winding mechanism provided at an upper part of the body, and a radius at a lower part of the body. Openable and closable bottom lid, which is provided to be movable in the direction
An inner cylinder movably provided in a lower portion of the body, and protruding and retracting from a lower opening of the body, a vertically movable cylinder movably provided in the body, freely movable in the axial direction, freely rotatable and tiltable within the vertically movable cylinder A multi-stage cylinder extending / retracting mechanism, and a pivotable and tiltable gripping arm provided on a center float member of the multi-stage cylinder extending / retracting mechanism. The multi-stage cylinder extending / retracting mechanism and the gripping arm grip an object to be transferred. It constitutes a manipulator to put in and out.

[0007]

Embodiments of the present invention will be described below with reference to the accompanying drawings. Referring to FIG. 1, a transfer container 10 according to the present invention includes a body 11 having a radiation shielding function, and a frame 15 having a horizontal rail 13 at a lower portion thereof.
Is attached. The bottom cover 17 having a radiation shielding function for opening and closing the lower opening of the body 11 is provided with a guide block 19 fitted on the horizontal rail 13 on its lower surface, and is driven in the horizontal direction, that is, in the radial direction of the body 11 by a drive motor 21 to open the opening. Open and close. The bottom cover 17 is provided with a packing 23 on the upper surface to provide a sealing function when closed.

The upper part of the body 11 is fixedly closed by an upper lid 24 having a radiation shielding function provided with a hole for passing a wire as described later. The following wire winding mechanism 30 is provided on the upper lid 24. That is, the motor 31 and the support 33 are mounted on the upper lid 24, and the input shaft of the wire drum 35 rotatably supported by the support 33 is connected to the shaft of the motor 31 via the coupling 37. A packing 3 provided on the upper surface of the upper lid 24 along the outer periphery.
A cover 41 is attached through the cover 9 to isolate the motor 31, the wire drum 35, and the like from the outside. The above-mentioned packings 23 and 39 are both hollow structures and inflate by injecting air into the inside to exhibit a sealing function. Then, the wire drum 35 is driven by the motor 31 to wind or unwind a wire (not shown) as described later. In addition,
In the cover 43, a hose winder 43 that winds an air hose for air supply described later is also provided.

[0009] A multi-stage cylinder expansion / contraction mechanism 50 is suspended in the body 11, and its structure is shown in FIG. 2. FIG.
At the center of the multi-stage tubular expansion / contraction mechanism 50, a hollow float member 51 is provided, to which the tip of the wire 45 wound around the wire drum 35 is connected. The cylindrical members 53 and 55 and the float member 51 of the multi-stage cylindrical expansion / contraction mechanism 50 can move relative to each other in the axial direction.
Guide rollers 57 projecting from the inner surfaces of
Are guided by the guide rails 61 on the outer surface of the float member 51 and the guide rails 59 on the outer surface of the tubular member 55, respectively, so that the turning operation between them is prevented. Tube members 53, 55
A wire sheave 63 is provided at the upper end and the lower end of the
An elongated wire rope 65 whose leading end is connected to the outer periphery of the upper end of the float member 51 is wound around the sheave 63. The base end of the elongated wire rope 65 is wound around a wire drum (not shown). Therefore, if the wire 45 and the telescopic wire rope 65 are fed out in synchronization, the multi-stage cylindrical telescopic mechanism 50
Moves in the vertical direction (in the drawing) in the retracted state shown in the drawing, and expands as shown by the two-dot chain line when only the elongate wire rope 65 is involved. Conversely, if only the wire 45 is wound by the wire drum 35, the multi-stage cylindrical expansion / contraction mechanism 50
Returns from the extended state to the contracted state.

Referring again to FIG. 1, the multi-stage tubular expansion / contraction mechanism 5
The elevating cylinder 71 surrounding the upper part of the cylinder 0 is guided by a vertical rail 75 via rollers 73 on the outer surface and is vertically movable. The vertical rail 75 is fixed to the inner surface of the body 11 so as to extend in the axial direction. A support ring 77 provided in the elevating cylinder 71 so as to be movable in the axial direction rotatably supports a rotating ring 79 on the inner side.
Between 0, a support rod 81 and a support link 83 are interposed by pin bonding. The upper end of the tilt cylinder 85 is connected to the support link 83 via a pin,
The lower end of a link arm 87 pin-joined to the piston rod of the tilt cylinder 85 is pin-joined to the support link 83. The lower end of the link arm 89, which is further pin-joined to the piston rod, is pin-joined to the multi-stage cylinder expansion / contraction mechanism 50, and the multi-stage cylinder expansion / contraction mechanism 50 is tilted by the expansion / contraction of the tilt cylinder 85. Support ring 7
7, a turning motor 93 is fixed to a pedestal 91 thereon,
The output shaft is connected to a rotating ring 79 via a gear train (not shown).
Is configured to be able to rotate. That is, the multistage cylinder expansion / contraction mechanism 50 is rotated around the vertical axis by the turning motor 93.

The inner cylinder 95, which is attached to the lower end flange of the outer cylinder member of the multistage cylinder expansion / contraction mechanism 50 shown in FIG. positioned. Therefore, if the multi-stage cylinder expansion / contraction mechanism 50 moves up and down by the operation of the wire winding mechanism 30 as described later,
Accompanying this, it moves out of the body 11. Further, a ring gear 97 is provided on a support disk 84 attached to the lower surface of the float member 51 of the multi-stage tubular expansion / contraction mechanism 50 as shown in FIG. It is attached by joining. The gear of the output shaft of the arm turning motor 98 fixed to the support disk 84 meshes with the ring gear 97, and this motor 9
When the arm 8 is driven, the arm support 99 turns. A pair of gripping arms 96 are pin-joined to both ends of the arm support 99, and the grip metal 9
4 is attached. An arm opening / closing cylinder 92 is interposed between the base end (upper end) of the holding arm 96 and the arm support 99, and an arm swing cylinder 88 is interposed between the arm support 99 and the support disk 95. Have been. The tilting cylinder 85, the arm swing cylinder 88, and the arm opening / closing cylinder 92 expand and contract by air supply / discharge through an air hose (not shown) extending from the air hose winder 43 using a normal air-operated cylinder.
Perform the required action. Therefore, the intervening structure is also normal,
One end of the cylinder and the outer end of the piston rod are pin-joined to the mounting side, respectively.

Next, a procedure for handling the small container 108 to be transferred, which is stored in the temporary storage tank 105 as described above, using the transfer container 10 having the above structure will be described with reference to FIGS.
Will be described step by step with reference to FIG. However, the manipulator 110 is not provided inside. First, as shown in FIG. 3, the opening 1 of the temporary storage tank 105 closed by the plug 101
The transfer container 10 is placed on 03 in alignment therewith. Then, the bottom cover 17 is driven by the drive motor 21 to
3 to move radially outward to open the lower opening of the body 11. Further, when the plug 101 is moved out of the opening 103,
As shown in FIG. FIG. 4 further illustrates a wire winding mechanism 3.
0 shows a state in which the wire is fed out and the multi-stage cylindrical expansion / contraction mechanism 50 is lowered into the storage space 107 of the temporary storage tank 105. In this state, the inner cylinder 95 projects downward from the body 11 of the transfer container 10 and
, And the lower end thereof is aligned with the lower end surface of the opening 103 and stopped.

Further, when the extension wire 65 is wound in and the wire 45 is paid out, the multistage cylinder expansion / contraction mechanism 50 extends in such a manner that the float member 51 of the multistage cylinder expansion / contraction mechanism 50 is pushed out and the telescope is extended. In addition to this, when the multi-stage cylinder expansion / contraction mechanism 50 is tilted by the tilt cylinder 85, the state shown in FIG. 5 is obtained. In this state, the gripping arm 96 is close to the small container 108 to be transferred and is in a position where the small container 108 can be immediately gripped. The multi-stage tubular expansion / contraction mechanism 50 is driven to rotate to rotate the multi-stage cylinder expansion / contraction mechanism 50 so that the holding arm 96 comes to a target area when tilted. For the same purpose, the extension amount of the multi-stage tubular expansion / contraction mechanism 50 is also adjusted. Then, the arm support 99 and the holding arm 96 are driven and rotated by the motor 98 in accordance with the direction of the small container 108 to be transferred. Finally, the arm opening / closing cylinder 92 is driven to close the gripping arm 96 and grip the small container 108. If necessary, the angle of the central axis of the gripping arm 96 is adjusted by expanding and contracting the arm swing cylinder 88.

Next, while holding the small container 108 to be moved by the gripping arm 96, the air supply / discharge path to the cylinder 85 and the arm swing cylinder 88 is opened to the atmosphere, and the float member 51 of the multistage cylinder expansion / contraction mechanism 50 is opened. The air is supplied to the multistage tubular expansion / contraction mechanism 50 to contract. Due to the above-described supply of air, opening to the atmosphere, and physical characteristics of the small container 108, the state shown in FIG. Of course, the wires 45 and 65 are wound by operating the motor 31 and the wire drum 35 of the wire winding mechanism 30 so as not to be loosened. In the same sense, the air hose winder 43 is also driven to appropriately wind the extended air hose into each cylinder. As described above, since the shrinking and restoring actions of the multistage tubular expansion and contraction mechanism 50 are based on the self-returning function using the buoyancy, a large impact does not occur even when colliding with another small container or the like.

Thereafter, the wires 45 and 65 are wound by using the wire winding mechanism 30, and the small container 108 gripped by the multi-stage cylindrical expansion / contraction mechanism 50 and the gripping arm 96 is transferred to the transfer container 10.
Into the torso 11. In this case, the inner cylinder 95 is also drawn into the body 11 in conjunction with the rise of the multi-stage cylinder expansion mechanism 50, but before that, the washing water is injected from the cleaning nozzle 86 to discharge the outer surface of the multi-stage cylinder expansion mechanism 50 and the small container. The outer surface of 108 is cleaned. The cleaning water thus ejected falls into the storage tank 105 through the opening 103 which is kept open at that time. Finally, the drive motor 21 is driven to close the bottom cover 17 and the plug 101 is further moved to open the opening 10.
Close 3. Although not shown, the bottom cover 17 is provided with a drain pipe and an electromagnetic valve, and can discharge residual washing water dropped from the small container 108 or the like to another appropriate container.

When the small container 108 to be transferred is completely stored in the transfer container 10 in this manner, the packing 23,
Air is injected into 39 to expand it, and the inside of the body 11 is sealed to be transferred to a destination. The transfer is performed by a suitable transport device (not shown).

[0017]

As described above, according to the present invention, since the manipulator composed mainly of the multi-stage tubular expansion and contraction mechanism and the gripping arm is freely inserted into and removed from the transfer container, the object to be transferred is transferred only by the manipulator. Objects can be loaded and unloaded, and transfer can be performed efficiently.
In addition, there is no need to install a handling mechanism such as a manipulator in a storage tank for storing objects to be transferred, and the structure is simplified, storage efficiency is improved, and inspection and repair of the manipulator in the transfer container can be easily performed. it can. Further, since the washing is performed when the inner cylinder is out of the transfer container, it is possible to prevent the used washing liquid from scattering outside.

[Brief description of the drawings]

FIG. 1 is an overall elevation view showing an embodiment of the present invention.

FIG. 2 is a partial cross-sectional view showing a main part of the embodiment.

FIG. 3 is an operation explanatory view showing one operation stage of the embodiment.

FIG. 4 is an operation explanatory view showing one operation stage of the embodiment.

FIG. 5 is an operation explanatory view showing one operation stage of the embodiment.

FIG. 6 is an operation explanatory view showing one operation stage of the embodiment.

FIG. 7 is an operation explanatory view showing one operation stage of the embodiment.

FIG. 8 is an explanatory diagram of a conventional device.

FIG. 9 is an explanatory diagram of a conventional device.

FIG. 10 is an explanatory diagram of a conventional device.

FIG. 11 is an explanatory diagram of a conventional device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Transfer container 11 Body 17 Bottom cover 24 Top cover 30 Wire take-up mechanism 31 Motor 35 Wire drum 45 Wire 50 Multistage cylinder expansion and contraction mechanism 51 Float member 53, 55 Tube member 65 Extension wire rope 71 Elevating cylinder 95 Inner cylinder 96 Gripping arm

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G21F 9/36 G21C 19/32 G21F 5/14 G21F 9/28

Claims (1)

(57) [Claims] 1. A body having a storage space therein, a wire winding mechanism provided at an upper part of the body, an openable and closable bottom cover provided at a lower part of the body so as to be movable in a radial direction, and a lower part of the body An inner cylinder movably provided in the lower cylinder, an elevating cylinder movably provided in the cylinder, and an axially movable, pivotable and tiltable cylinder provided in the elevating cylinder. It has a multistage cylinder expansion / contraction mechanism and a pivotable and tiltable gripping arm provided on a center float member of the multistage cylinder expansion / contraction mechanism, and the multistage cylinder expansion / contraction mechanism and the gripping arm cooperate to constitute a manipulator. A transfer container with a manipulator.