JP4533961B2 - Radioactive waste storage container gripping device - Google Patents

Description

  The present invention relates to a gripping device used to place a radioactive waste container in a predetermined storage position.

Radioactive waste is stored in storage containers and stored in deep formations. Specifically, a vertical hole having a predetermined depth (several hundred meters) is dug, a horizontal hole is dug therein, a plurality of storage container storage holes are formed downward from the horizontal hole, and the storage container is disposed in the storage hole.
Therefore, a rail is laid in the lateral hole, the transport carriage moves on the rail, and a gripping device is attached to the transport carriage so that it can be raised and lowered. Such an entire process and configuration are described in Patent Document 1.

  Here, the storage container is formed by hardening bentonite or the like, and has a diameter of 2 to 3 m, a height of 2 to 3 m, and a weight that reaches several tons. Moreover, the clearance gap with the storage hole is made into several cm. Therefore, the gripping device is required to securely grip the storage container without having a member that projects to the outside of the storage container.

JP 7-174893 A

Patent Document 1 discloses a gripping device that uses a net and that uses a suction disk. However, if the net is used, the net is left behind, so the net cost is high, the posture is unstable, and the corner of the storage container may be damaged. In addition, the suction disk type has a problem that the suction force depends on the surface state of the storage container.
An object of this invention is to provide the holding | grip apparatus which can hold | grip a storage container reliably in view of the said problem.

According to the first aspect of the present invention, there is provided a holding device for a radioactive waste storage container, wherein the storage container has an integrally formed main body portion having a vertical side wall and a bottom wall and an upper side being open. The gripping device includes a base, gripping pad moving means attached to the base, a gripping pad attaching part pivotally supported on the base by the gripping pad moving means, and a wedge-shaped have a cross section and a gripping pad slidably mounted on the inclined surface of the gripping pad mounting portion, in a state in which the said gripping pad and the gripper pad mounting portion is disposed inside the container, said gripping The grip pad is brought into contact with the inner surface of the side wall of the storage container by swinging the grip pad attaching portion in a direction away from the center side of the storage container by a pad moving means. While holding the grip pad against the inner surface of the side wall of the storage container, by swinging the grip pad attaching portion by the grip pad moving means and pulling it toward the center of the storage container A gripping device is provided that is configured to release gripping by moving the gripping pad to a position that does not contact the inner surface of the side wall of the storage container .

According to the invention of claim 2, in the invention of claim 1 ,
The gripping pad moving means has a link mechanism comprising a bar arranged at the center and moved in the vertical direction, and a plurality of bars each pivotally supported at one end so as to be pivotable to the bar. There is provided a gripping device characterized in that a plurality of divided grip pads are attached.

According to a third aspect of the present invention, there is provided a gripping device for a radioactive waste storage container, wherein the storage container has an integrally formed main body portion having a vertical side wall and a bottom wall and an upper side being open. And a gripping device having a base, a gripping pad moving means attached to the base, a gripping pad attaching part moved in the horizontal direction by the gripping pad moving means, and a gripping pad attaching part having a wedge-shaped cross section A gripping pad that is slidably attached to the inclined surface of the gripping pad, and the gripping pad mounting portion is moved by the gripping pad moving means in a state where the gripping pad mounting portion and the gripping pad are disposed inside the storage container. The holding pad is held in contact with the inner surface of the side wall of the storage container by horizontally moving in a direction away from the center side of the storage container. From the state in which the grip pad is in contact with the inner surface of the side wall of the storage container, the grip pad attaching part is horizontally moved by the grip pad moving means and pulled toward the center side of the storage container to store the grip pad. A gripping device is provided that is configured to move to a position that does not contact the inner surface of the side wall of the container to release gripping.

According to the invention of claim 4, in the invention of claim 3 ,
A gripping device is provided in which the gripping pad moving means includes a pinion rotated around a vertical axis and a rack that engages with the pinion and moves in the horizontal direction, and the gripping pad is attached to the rack. The

According to the invention of claim 5, in the invention of claim 3 ,
The gripping pad moving means assembles two rods each having one end movable on a vertical central axis so as to be pivotable with respect to each other at one point, and the distance between the ends of the two rods on the central axis And a link mechanism for changing the horizontal distance between the central axis and the other end of the two bars, and a gripping pad is attached to the other end of the two bars. A gripping device is provided.

According to the invention of claim 6 , in any one of claims 1 to 5 ,
A gripping device is provided in which the gripping device is attached to a transport carriage so as to be movable up and down.

The gripping device according to the first to fifth aspects of the present invention includes a radioactive waste container having a cup-shaped portion formed integrally with a vertical side wall and a bottom wall and open on the upper side, and having a wedge-shaped cross section. The grip pad attached to the grip pad mounting portion so as to be slidable can be securely gripped from the inside.
The gripping device according to the invention of claim 6 can be moved by a transport carriage.

It is a figure which shows a mode that a storage container is dropped by the holding | grip apparatus of 1st Embodiment. It is an enlarged view of the holding | grip apparatus of 1st Embodiment, Comprising: (A) shows the state which is holding the storage container. (B) shows a state of gripping the storage container. FIG. 3 is a cross-sectional view taken along line III-III in FIG. 2. It is a figure which shows the case where a holding | grip pad is divided into 3 by sectional drawing similar to FIG. It is an enlarged view of the holding | gripping apparatus of 2nd Embodiment, Comprising: (A) shows the state which is holding the storage container. (B) shows a state of gripping the storage container. (C) shows the part of the grip pad moving device. It is an enlarged view of the holding | gripping apparatus of 2nd Embodiment, (A) is sectional drawing cut | disconnected by the VIA-VIA line | wire of (A) of FIG. (B) is sectional drawing cut | disconnected by the VIB-VIB line | wire of (B) of FIG. It is the enlarged view of the holding | gripping apparatus of 3rd Embodiment, Comprising: (A) It is the figure shown by the side cross section. (B) It is sectional drawing cut | disconnected by the VII-VII line of (A) of FIG. It is a figure which shows the modification of 3rd Embodiment similarly to (A) of FIG. It is an enlarged view of the grasping device of examination example 1 which this inventor examined concerning the present invention, and (A) shows the state where the storage container is grasped. (B) shows a state of gripping the storage container. It is the enlarged view of the holding | gripping apparatus of the examination example 1, Comprising: (A) It is sectional drawing cut | disconnected by the XA-XA line of FIG. (B) It is sectional drawing cut | disconnected by the XB-XB line | wire of FIG. It is a figure explaining the divided | segmented block of the container of the examination example 2 which this inventor examined in connection with this invention. It is a figure explaining the whole grasping device structure of examination example 2. It is a figure which shows the cyclic | annular stage to which the side wall block holding apparatus of the examination example 2 is attached. It is an enlarged view of the side wall block holding | gripping apparatus of the examination example 2, Comprising: The state which is holding the storage container is shown. It is a figure which shows the grip pad drive device of the side wall block grip apparatus of the examination example 2. FIG. It is a figure which shows the push-down apparatus of the side wall block holding | grip apparatus of the examination example 2. FIG. It is a figure which shows the procedure which piles up a side wall block using the side wall block holding | grip apparatus of the examination example 2. FIG. It is the figure which shows the center block holding | gripping apparatus of the examination example 2, and is the figure shown by the (A) perspective view. (B) It is sectional drawing cut | disconnected by the XVIIIB-XVIIIB line | wire of (A) of FIG. It is a figure which shows the procedure which arrange | positions a center block using the center block holding | grip apparatus of the examination example 2. FIG. It is a top view of the grasping device of examination example 3 which this inventor examined concerning the present invention. It is side sectional drawing of the holding | grip apparatus of the examination example 3, Comprising: (A) It is a figure which shows the state which does not hold | grip the lid | cover of the holding apparatus of the examination example 3. FIG. (B) It is a figure which shows the state which hold | gripped the cover of the holding | gripping apparatus of the examination example 3. FIG. It is a top view of the grasping device of examination example 4 which this inventor examined concerning the present invention. It is sectional drawing cut | disconnected by the XXIII-XXIII line | wire of FIG. It is a side view which shows how to hang the wire of the examination example 4. It is a three-dimensional view showing how to wire the examination example 4. It is a top view of the grasping device of examination example 5 which this inventor examined concerning the present invention. It is sectional drawing cut | disconnected by the XXVII-XXVII line of FIG. It is a figure which shows the structure of the examination example 6 which this inventor examined regarding this invention. It is a figure explaining the whole work.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention and examination examples studied by the inventor according to the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a diagram illustrating a gripping apparatus having the gripping apparatus according to the first embodiment.
As described above, a vertical hole is excavated to a predetermined depth, a horizontal hole is formed therein, and the rail 1 is laid in the horizontal hole. A transport cart 10 is placed on the rail 1. A driving device (for example, a storage battery and a motor) (not shown) is built in the traveling unit 11 of the transport cart 10, and the transport cart 10 rotates on the wheels 11 a by the drive device and travels on the rail 1.

A frame 12 is attached on the traveling unit 11. The underframe 12 has only an outer frame part or an opening / closing part so that a container 20 described in detail later can pass through. An auxiliary frame 14 having only an outer frame portion is attached to the base frame 12 via a positioning actuator 13, and a housing 15 having four columns 15 a and a top plate 15 b is attached to the auxiliary frame 14. Note that the housing 15 is shown by only one line.
The positioning actuator 13 can finely adjust the position in the extending direction of the rail 1 and the position perpendicular to the rail 1 so that the container 20 is in the correct position with respect to the storage hole 2.

  A pulley 16 is attached to the top plate 15 b of the housing 15. Note that the pulley 16 is shown only in position, and details of attachment are omitted. And the wire 18 extended from the raising / lowering apparatus 17 attached on the auxiliary | assistant frame 14 has suspended the holding | gripping apparatus 100 via the pulley 16. FIG.

  The gripping device 100 has a base 101 on the upper side, and the wire 18 is attached to the base 101. On the lower side of the base 101, a grip pad mounting member 102 is pivotally mounted with its upper end pivotally supported. A grip pad 103 having a wedge-shaped cross section is slidably mounted on the grip pad mounting member 102. A link driving device 104 is attached to the lower center of the base 101.

One end of each of the two or more link rods 105 is pivotally supported at the lower end of the link driving device 104 so as to be rotatable. The other end of each of the link bars 105 is pivotally supported by the lower part of the grip pad mounting member 102 so as to be rotatable.
The upper side of FIG. 1 shows a state in which the link bar 105 is positioned in the horizontal direction by the link driving device 104 and the container 20 is gripped by the grip pad 103.

  2A and 2B are enlarged views of the gripping device 100, where FIG. 2A shows a state where the container 20 is gripped, and FIG. 2B shows a state where the container 20 is not gripped. Show. Note that the thickness of the container 20 is reduced. 2 (A) and 2 (B), reference numeral 106 denotes a joint for pivotally supporting the grip pad mounting member 102 on the base 101.

  2C shows the inside of the link driving device 104. The link driving device 104 includes a motor 104m, a trapezoidal screw 104a attached to the shaft of the motor 104m, and a nut into which the trapezoidal screw 104a is screwed. 104b and a sleeve 104c coupled to the outside of the nut 104b. The upper part of the motor 104m is attached to the base 101 of the gripping device 100, and one end of each link bar 105 is pivotally supported on the lower part of the sleeve 104c.

  As shown in FIG. 2A, when the container 20 is gripped, the sleeve 104C of the link driving device 104 is pushed downward and the link bar 105 extends substantially in the horizontal direction. As a result, the grip pad mounting member 102 The lower side is opened left and right in the figure, and the grip pad 103 is brought into contact with the inner surface of the side wall 21 of the container 20.

  Here, as described above, the grip pad 103 has a wedge-shaped cross section and is slidably attached to the grip pad mounting member 102. Therefore, when the gripping device 100 is in a state of gripping and suspending the container 20, the grip pad 103 tries to open outward in the horizontal direction by the wedge effect. As a result, the container 20 is gripped with a strong force.

  On the other hand, when the container 20 is not gripped, as shown in FIG. 2B, the sleeve 104C of the link driving device 104 is pulled upward, and the link bar 105 is formed in an inverted Y shape. The lower side of the member 102 is pulled toward the center, and the grip pad 103 is not in contact with the side wall 21 of the container 20.

  The first embodiment is configured and operates as described above, and can reliably hold the container 20 using a simple link mechanism.

Here, an operation procedure for arranging the container 20 in the storage hole 2 will be described.
First, the container 20 is lowered to the side hole through the vertical hole described above. Next, the transporting carriage 10 is moved with the gripping device 100 in the state of FIG. 2B, and horizontally moved to a place with a predetermined storage hole. Then, the gripping device 100 is operated as shown in FIG. 2A so that the container 20 is gripped and positioned in the housing 15, the positioning actuator 13 is operated, and the position of the container 20 is set with respect to the storage hole. Match exactly. Then, the lifting device 17 is operated to lower the container 20 into the storage hole. If the container 20 is placed in the storage hole, the gripping device 100 is operated as shown in FIG. 2B to remove the gripping device 100 from the container 20, and the lifting device 17 is operated to housing the gripping device 100. Pull up to 15 and finish.

  3 is a cross-sectional view taken along line III-III in FIG. As shown in FIG. 3, the grip pad mounting member 102 and the grip pad 103 are divided into two in the circumferential direction. However, it is possible to divide into three as shown in FIG. 4, or to divide into a larger number if necessary.

Next, a second embodiment will be described.
In the second embodiment, the grip pad is moved in the horizontal direction using a rack and pinion mechanism.
FIG. 5A is a side sectional view showing a state in which the container 20 is gripped, and FIG. 5B is a side sectional view showing a state in which the container 20 is not gripped. The entire gripping device in the second embodiment is indicated by 110. As shown in FIG. 5C, the base 111 of the gripping device 110 includes a motor 112m, a worm 112a attached to the shaft of the motor 112m, a worm wheel 112b meshing with the worm 112a, and a worm wheel 112b. A pad moving device 112 including a pinion 112c attached to the shaft is assembled and attached.

6A is a cross-sectional view taken along line VIA-VIA in FIG. 5A, and FIG. 6B is a cross-sectional view taken along line VIB-VIB in FIG. is there. As shown in FIGS. 6A and 6B, a pair of racks 112d is engaged with the pinion 112c. The pair of racks 112d are guided by the guide member 113 so that the engagement with the pinion 112c is not released. In FIGS. 5A and 5B, the guide member 113 is omitted.
A grip pad attaching member 114 is attached to each of the pair of racks 112d, and a grip pad 115 having a wedge-shaped cross section is slidably attached to the grip pad attaching member 114 in the same manner as in the first embodiment. .

  When the pinion 112C rotates counterclockwise as shown in FIG. 6A, the pair of gripping pad mounting members 114 are pushed outward in opposite directions. It is brought into contact with the inner surface of the side wall 21. Since the wedge effect can be used as in the first embodiment, the pad moving device 112 only needs to make the grip pad 115 lightly contact the inner surface of the side wall 21 of the container 20.

  On the other hand, as shown in FIG. 6B, when the pinion 112c rotates clockwise, the pair of gripping pad mounting members 114 are pulled back toward the center facing each other. The 20 side walls 21 are separated.

Next, a third embodiment will be described.
The third embodiment moves the grip pad in the horizontal direction as in the second embodiment, but uses a link instead of a rack and pinion mechanism.
FIG. 7A is a side sectional view of the third embodiment.
The entire gripping device in the third embodiment is indicated by 120. A motor 122m is attached to the upper side of the substrate 121. A shaft 122n on which a trapezoidal screw is processed (not shown) is attached to the motor 122m.

  On the other hand, the substrate 121 protrudes downward, and the first link rod mounting member 123 is fixed to the lower surface thereof. The first link bar mounting member 123 does not have a mechanism for engaging with the shaft 122n. A second link bar mounting member 124 is engaged with the shaft 122n below the first link bar mounting member 123. Therefore, the second link bar mounting member 124 has a nut (not shown) that is screwed with the trapezoidal screw of the shaft 122n.

One end of the first link rod 125a is pivotally supported by the first link attachment member 123, and one end of the second link rod 125b is pivotally supported by the second link attachment member 124. It is pivotally supported. The other end of the first link rod 125a is pivotally supported at the same location of the grip pad mounting member 126 together with the second end of the second link rod 125b.
A grip pad 127 having a wedge-shaped cross section is slidably attached to the grip pad attaching member 126.

Since the third embodiment is configured as described above, the second link attaching member 124 can be moved up and down by rotating the motor 122m, and accordingly, the first link rod 125a and the second link are moved. The opening angle of the rod 125b changes. As a result, the horizontal position of the grip pad mounting member 126 changes, and the grip pad 127 can be gripped or released.
FIG. 7B is a cross-sectional view taken along line VIIB-VIIB in FIG. 7A, and shows a case where the grip pad 127 is divided into three in the circumferential direction.

  FIG. 8 shows a modification of the third embodiment, in which the first link bar 125a and the second link bar 125b are crossed in the middle with respect to the third embodiment, and the grip pad mounting member 126 has two locations. The only difference is that it is attached in the third embodiment, and the others are the same as in the third embodiment. As a result, the posture of the grip pad 127 is more stable than in the third embodiment.

Next, Study Example 1 studied by the present inventors in connection with the present invention will be described.
In this examination example, the grip pad is moved in the horizontal direction using air pressure.
9A is a side sectional view showing a state where the container 20 is gripped, and FIG. 9B is a side sectional view showing a state where the container 20 is not gripped. FIG. 10A and FIG. It is sectional drawing cut | disconnected by the XA = XA line | wire of (A), and sectional drawing cut | disconnected by the XB-XB line | wire of (B) of FIG.

  The whole gripping device in Study Example 1 is represented by 130. The base 131 of the gripping device 130 has a cylindrical shape having a height that is slightly larger than the height of the side wall 21 of the container 20. A sealed rubber bag 132 is attached along the outer peripheral surface of the base 131. The bag 132 has an outer member 132a and an inner member 132b, and a plurality of iron cores 133 are attached to the inner side of the outer member 132a. Air is supplied into the bag 132 from the pump 134 through the air supply pipe 135. A switching valve 134a for turning on / off air supply, a safety valve 134b for preventing excessive air pressure, and an accumulator 134c for stably supplying air pressure are attached to the air supply pipe 135.

By operating the pump 134 and opening the switching valve 134a to supply air into the bag 132, the bag 132 is inflated as shown in FIGS. 9A and 10A, The outer member 132 a of the air bag 132 is in close contact with the inner surface of the side wall 21 of the container 20. The container 20 is gripped by maintaining the frictional force between the bag 132 and the inner surface of the side wall 21 of the container 20 by the pressure of the air in the bag 132. When it is not necessary to hold the container 20, the contact between the outer member 132 a of the bag 132 and the side wall 21 of the container 20 is released by setting the switching valve 134 a to the drain state and stopping the air pump 134.
A liquid such as oil or water can be used instead of air.

Next, Example 2 examined by the inventor in connection with the present invention will be described.
In the first to third embodiments and the examination example 1, the container 20 has the side wall 21 and the bottom wall 22 formed integrally. However, in this examination example 2, the container is disassembled into a plurality of blocks.
FIG. 11 is a diagram illustrating a disassembled block, which is disassembled into a plurality of side wall blocks 21B divided into a circumferential direction and a height direction and a central block 22B for one bottom.
Among these blocks, the lowermost side wall blocks 21B are arranged, then the central block 22B is disposed, and then the remaining side wall blocks are overlapped to complete the container 20.

For this purpose, as shown in FIG. 12, Study Example 2 includes a side wall block gripping device 140 and a central block gripping device 150.
Therefore, the pulley 16A for suspending the annular stage 140s to which the side wall block gripping device 140 is attached and the central block gripping device 150 are suspended on the housing 15 of the same transport carriage 10 as described with respect to the first embodiment. Both pulleys 16B for lowering are attached. Correspondingly, the wire 18A and the wire 18B are used.
However, the lifting actuator 17 is made common, and the shaft around which the wire 18A and the wire 18B are wound is selectively coupled to the lifting actuator 17 by a switching mechanism (not shown).

FIG. 13 is an enlarged view of the annular stage 140s to which the side wall block gripping device 140 is attached, and a plurality of positioning members 140p are attached to the annular stage 140s. This is such that the amount of protrusion can be adjusted by a motor (not shown) disposed inside the annular stage 140s, and the amount of protrusion of the positioning member 140p is adjusted so that the annular stage 140s is placed in the storage hole 2. Is accurately positioned.
A side wall block gripping device 140 is attached to the lower surface of the annular stage 140s so as to be movable in the circumferential direction.

  FIG. 14 is an enlarged view of a single item of the side wall block gripping device 140. The side wall block gripping device 140 has a base portion 141. A guide plate 142 is attached to the outer end near the wall surface of the storage hole 2 on the lower side of the base 141. A claw 142a that can be retracted by a built-in spring is attached to the lower end of the guide plate 142.

  A grip pad driving device 143 (see FIG. 15) for pressing the side wall block 21 </ b> B against the guide plate 142 is attached to a portion near the center of the inside of the base portion 141. A block push-down device 144 (see FIG. 16) for pushing down the side wall block carried to above the predetermined position is attached to a portion closer to the outside inside the base portion 141. Further, a turning movement device 145 for moving the side wall block gripping device 140 in the circumferential direction of the annular stage 140s is provided on the upper side of the base portion 141.

  FIG. 15 is a diagram showing the gripping pad driving device 143 as a single product. The motor 143m, a trapezoidal screw 143a attached to the shaft of the motor 143m, a nut 143b screwed to the trapezoidal screw 143a, and a sleeve attached to the outside of the nut 143b. 143c and a support member 143d attached to the sleeve 143c. FIG. 14 shows the support member 143d. A grip pad attaching member 146 is attached to the support member 143d, and a grip pad 147 having a wedge-shaped cross section is slidably attached to the grip pad attaching member 146 in the same manner as in the first embodiment.

  FIG. 16 is a diagram showing the structure of the block push-down device 144. The three push-down pistons 144c are moved up and down by one motor 144m, a total of six pulleys 144a, and three belts 144b. The FIG. 14 shows only one part of two of the three push-down pistons 144c.

  The swivel moving device 145 is configured by attaching a gear to the shaft of the motor 144m of the block pressing device 144, and this is engaged with a ring-shaped gear (not shown) formed in the annular stage 140s to hold the gripping device 140. Turn and move. Therefore, the pulley of the block pressing device 144 and the gear of the turning device 145 are selectively engaged with the motor 144m of the block pressing device 144 by a clutch device (not shown).

FIGS. 17A to 17D show a procedure for stacking the side wall blocks 21B using the side wall block gripping device 140 of the examination example 2 configured as described above.
First, as shown in FIG. 6A, the claws 142a of the guide member 142 are aligned with the outer peripheral surface of the side wall block 21B that has been placed first, while the side wall block 21B is gripped. Next, as shown in (B), while the gripping force of the gripping pad driving device 143 is loosened, the block pushing device 144 is operated to push down the side wall block 21B.

  (C), (D) shows a procedure for correcting when the side wall block 21B is overlapped by the operations of (A), (B) but the position is shifted. First, as shown in (C), the lower end of the main body of the height guide member 142 is brought into contact with the upper side surface of the lower side wall block 21B without holding the side wall block 21B. Then, the grip pad driving device 143 is operated to press the side wall block 21 </ b> B against the guide 142. Thereby, a position shift can be corrected.

Next, the center block gripping apparatus 150 of Study Example 2 will be described. FIG. 18 shows the central block gripping device of Study Example 2.
18A is a perspective view showing the entire central block gripping device 150, and a gripping pad driving device (not shown) having the same structure as the gripping pad driving device 143 shown in FIG. Is installed. A plurality of grip pad attaching members 152 are attached to the grip pad driving device, and a grip pad 153 having a wedge-shaped cross section is slidably attached to each grip pad attaching member 152. 18B is a cross-sectional view taken along line XVIII-XVIII in FIG. 18 and shows a case where three grip pads 153 are provided.

FIG. 19 is a diagram showing a procedure of using the central block gripping device 150 to arrange the central block 22B in the central portion surrounded by the lowermost side wall block 21B that has already been arranged. First, as shown in FIG. 19A, the central block 22B is gripped and adjusted to a predetermined position by the positioning actuator 13 of the transport carriage 10.
The central block gripping device 150 is lowered by the lifting / lowering actuator 17 and stopped when the bottom portion of the grip pad mounting member 152 of the central block gripping device 150 contacts the upper surface of the side wall block 21B.

  Next, the gripping pad driving device is loosened to weaken the gripping force of the gripping pad 153. A push-down device 154 having the same structure as that shown in FIG. 2C is disposed in the center of the central block gripping device 150. With this push-down device 154, the lower surface of the central block 22B is brought to the bottom of the storage hole. Press down until touching.

  Next, the gripping devices of the study examples 3 to 6 studied by the present inventor according to the present invention will be described. The gripping devices of the first to third embodiments and the study examples 1 and 2 are the main body portion of the container. In contrast, in Examination Examples 3 to 6, the lid of the container is gripped. These are also suspended by a wire 18 passing through a pulley attached to a housing 15 on the transport carriage 10 in the same manner as in the first to third embodiments and Examples 1 and 2.

  FIG. 20 is a top view of the lid gripping device 200 of the third study example. Six jacks 202 are mounted on a circular substrate 201. The jack 202 is, for example, an electric type configured as shown in FIG. A grip block 203 is attached to the piston 202 a of the jack 202. Reference numeral 201a indicates a hook for hanging the wire 18.

FIGS. 21A and 21B are diagrams for explaining the cross-sectional configuration and the operation. FIG. 21A shows a state before the lid 23 is gripped, and FIG. 21B shows a state where the lid 23 is gripped.
As illustrated, the grip block 203 includes a first portion 203 a that grips the side surface of the lid 23 and a second portion 203 b that is slidably engaged with the inside of the substrate 201. The gap between the lid 23 and the storage hole is several tens of mm, and the first portion 203a is formed to have a thickness slightly smaller than the gap.

  In order to grip the lid 23 from the state (A), the jack 202 is actuated to the extending side to push the first portion 203a of the gripping block 203 to the outside of the lid 23, and then the lifting device 17 is operated to hold the lid 200. The whole is lowered so that the substrate 201 is in contact with the upper surface of the lid 23. Next, as shown in (B), the jack 202 is operated to the contraction side, and the side surface of the lid 23 is gripped by the first portion 203 a of the gripping block 203. And the raising / lowering apparatus 17 is made to act, the whole holding | grip apparatus 200 is dropped, and the lid | cover 23 is mounted on the side wall of the container which is not shown in figure.

Next, Study Example 4 will be described. In this examination example 4, the lid 23 is clamped by tightening with a wire, and the grip is released with a jack.
22 is a top view of Study Example 4, and FIG. 23 is a cross-sectional view taken along XXIII-XXIII in FIG. The entire gripping device of this examination example 4 is represented by 210. The gripping device 210 has six gripping blocks 213A to 213F having the same external shape as the substrate 211 and the gripping block 203 of the examination example 2, and the first portions 213Aa to 213Fa are slidable in the substrate 211. Is in attendance. Each of the second portions 213Ab to 213Fb extends downward.

  On the upper surface of the substrate 211 of the gripping device 210, three wire winding devices 214 (only one is shown) and six jacks 212 (only one shown) as in the examination example 2 are attached. The wire winding device 214 includes a motor 214m, a worm gear 214a, a worm wheel 214b, and a winding shaft 214c coaxially attached to the worm wheel 214b.

  A tightening wire 215 wound up by a wire winding device 214 shown close to the gripping block 213F enters the gripping block 213F through the wire insertion hole 213Fa of the gripping block 213F, passes through the gripping block 213A, and passes through the gripping block 213A. After reaching the counterclockwise end, it passes through the gripping block 213A again and is fixed inside the gripping block 213F.

  A fastening wire 215 wound up by a wire winding device 212 (not shown) disposed near the gripping block 213B enters the gripping block 213B from the wire insertion hole 213Ba of the gripping block 213B, passes through the gripping block 213C, and After reaching the counterclockwise end of the gripping block 213D, it passes through the gripping block 213C again and is fixed inside the gripping block 213B.

  A fastening wire 215 wound up by a wire winding device 214 (not shown) disposed near the gripping block 213D enters the gripping block 213D from the wire insertion hole 213Da of the gripping block 213D, passes through the gripping block 213E, After reaching the counterclockwise end of the gripping block 213F, it passes through the gripping block 213E again and is fixed inside the gripping block 213D.

  FIG. 24 is a diagram showing how to wire 215 from the direction of XXIV-XXIV in FIG. FIG. 25 is a perspective view showing how the wire 215 is hung. As shown in the drawing, a passage for passing a wire is formed in the gripping blocks 213F, 213A, and 213F. For example, a vertical hole is formed in the gripping block 213F provided with the wire insertion port, and a hole for fixing a wire is formed below the vertical hole, and two lateral holes are formed in the gripping block 213A. In addition, a U-turn hole is formed in the gripping block 213B.

When the lid 23 that has been gripped is opened, the jack 212 is operated in the extending direction to separate the second portions 213Ab to 213Fb of the grip blocks 213A to 213F from the lid 23.
Study Example 4 is configured and operates as described above, and by winding the wire, the gripping block 213 can be tightened to grip the lid 23 and the lid 23 gripped by the jack 212 can be opened. One wire winding device 212 may be used.

Next, Study Example 5 will be described. In this examination example 5, the lid 23 is clamped by a wire and the grip is released by a jack. However, the wire is not wound up but pulled through a spring in the middle.
FIG. 26 is a top view of the gripping device of Example 5, and FIG. 27 is a cross-sectional view taken along XXVII-XXVII in FIG. The entire gripping device of this examination example 5 is represented by 220. The gripping device 220 has six gripping blocks 223 having the same external shape as the base plate 221 and the gripping block 203 of the examination example 3, and each first portion 223a is slidably engaged in the base plate 221. ing. Each second portion 223b extends downward.

  Six inclined columns 221a are erected on the upper surface of the substrate 221 of the gripping device 220, and a wire pulling device 224 for pulling the wire 225 is attached on the column 221a. The wire pulling device 224 has the same structure as that shown in FIG. 2C with respect to the first embodiment. One end of six wires 225 each having a spring 226 interposed in the middle is attached to the lower end of the wire pulling device 224. The wire 225 extends through the pulley 227 and the other end is attached to the gripping block 223. In addition, six jacks 222 that are the same as those in the examination example 3 are attached.

  The lid 23 can be gripped by operating the wire pulling device 224 in the direction in which the piston 224a is pulled and pulling the wire 225. At this time, since the spring 226 is interposed in the wire 225, the lid 23 can be gripped with an equal force. When the lid 23 that has been gripped is opened, the jack 222 is caused to act in the extending direction to separate the second portion 213b of the grip block 213 from the lid 23.

Next, Study Example 6 will be described. In this examination example 6, the lid 23 is gripped by a magnetic force.
FIG. 28 is a diagram showing the structure of Study Example 6. The whole gripping device of this examination example 6 is indicated by 230. An electromagnet 232 is attached under the substrate 231. A current is supplied to the electromagnet 232 from the power source 234 via the electric wire 233, and a switch 235 is interposed in the middle. On the other hand, an iron plate 236 is embedded in the lid 23.

When the switch 235 is turned on, the electromagnet 232 generates magnetic force and attracts the iron plate 23M inside the lid 23, so that the entire lid 23 can be gripped (lifted). When the switch 235 is turned OFF, the grip is released.
Study Example 6 is configured and operates in this manner, and is simple in structure and operation.

As mentioned above, about the holding apparatus of the container which stores radioactive waste, the holding apparatus which hold | maintains the main-body part of a container by 1st-3rd embodiment and examination examples 1 and 2 is grasped by the examination examples 3-6. A gripping device has been described.
Therefore, in FIG. 29, using the container body gripping device and the lid gripping device, the entire process of putting the container body (integrated type) into the storage hole, putting the stored item in the container, and covering the lid. Will be explained.

In (A), the container 20 is gripped by the gripping device (the gripping device of the first embodiment is shown in the drawing) as in the first to third embodiments or the examination examples 1 and 2, and the transport carriage 10 is used. The container 20 is conveyed to the position of the storage hole. Further, alignment with the storage hole is performed by the alignment actuator.
In (B), the container is lowered into the storage hole by the lifting device.
In (C), the gripping device is opened and the gripping device is pulled up by the lifting device.

  Thereafter, the overpack 24 (see (D) to (F)) is placed inside the container 20 by another transfer carriage or by changing the transfer carriage to the wire. An overpack is a metal container containing radioactive waste.

In (D), by another transfer carriage or by changing the transfer carriage to the wire, the lid gripping device as in Examination Examples 3 to 6 (however, this is considered in (D) to (F) of FIG. 29). The container 20 is conveyed to the position of the storage hole by the conveyance carriage 10 by gripping the lid 23 using the outer shape different from those in Examples 3 to 6. In addition, alignment is performed.
In (E), the gripping device of the lid is lowered by the lifting device, and the lid 23 is placed on the container body in the storage hole.
In (F), the lid gripping device is opened and pulled up by the lifting device.

  The present invention is a gripping device used to place a container for storing radioactive waste at a predetermined storage position. However, it can also be used when performing similar operations on other similar shapes.

2 ... Storage hole 10 ... Conveyor carriage 13 ... Positioning actuator 15 ... Housing 18 ... Wire 20 ... Container 21 ... (container) side wall 21B ... Side wall block (consideration example 2)
22B ... central block (examination example 2)
100: gripping device (first embodiment)
103 ... gripping pad 104 ... link driving device 105 ... link rod 110 ... gripping device (second embodiment)
112 ... Pad moving device 112c ... Pinion 112d ... Rack 113 ... Guide member 115 ... Grip pad 120 ... Gripping device (third embodiment)
122m ... motor 123 ... first link rod mounting member 124 ... second link rod mounting members 125a, 125b ... first and second link rods 127 ... gripping pad 130 ... gripping device (examination example 1)
132 ... bag 133 ... iron core 140 ... side wall block gripping device (examination example 2)
140s ... annular stage 140p ... positioning member 142 ... guide plate 142a ... claw 143 ... gripping pad drive device 144 ... block push-down device 145 ... swivel moving device 150 ... central block gripping device (Study Example 2)
153... Gripping pad 154... Push-down device 200... Gripping device (examination example 3)
202 ... Jack 203 ... Gripping block 210 ... Gripping device (Examination example 4)
212 ... Jack 213 ... Grip block 214 ... Wire hoisting device 215 ... Wire 220 ... Gripping device (examination example 5)
222 ... Jack 223 ... Grasp block 224 ... Wire pulling device 225 ... Wire 226 ... Spring 230 ... Grasp device (Study Example 6)
232 ... Electromagnet 236 ... Iron plate

Claims (6)

A device for holding a radioactive waste storage container,
The storage container has an integrally molded body portion with a vertical side wall and a bottom wall, the upper side being open,
The gripping device
The base,
A gripping pad moving means attached to the base,
A grip pad mounting portion whose upper end is pivotally supported by the base portion so as to be swingable by the grip pad moving means;
A wedge-shaped cross-section and a gripping pad slidably mounted on the inclined surface of the gripping pad mounting portion,
With the grip pad mounting portion and the grip pad disposed inside the storage container, the grip pad moving portion is swung in a direction away from the center side of the storage container by the grip pad moving means. While gripping the storage container by bringing a gripping pad into contact with the inner surface of the side wall of the storage container,
From the state in which the grip pad is in contact with the inner surface of the side wall of the storage container, the grip pad attaching part is swung by the grip pad moving means and pulled toward the center side of the storage container to pull the grip pad. A gripping device configured to release the gripping by moving to a position not in contact with the inner surface of the side wall of the storage container . The gripping pad moving means has a link mechanism comprising a bar arranged in the center and moved in the vertical direction, and a plurality of bars each pivotally supported by the bar so that the other end of each of the bars is pivoted. The gripping device according to claim 1 , wherein the plurality of gripping pads divided into two are attached. A device for holding a radioactive waste storage container,
The storage container has an integrally molded body portion with a vertical side wall and a bottom wall, the upper side being open,
The gripping device
The base,
A gripping pad moving means attached to the base,
A grip pad attaching portion that is moved in the horizontal direction by the grip pad moving means;
A wedge-shaped cross-section and a gripping pad slidably mounted on the inclined surface of the gripping pad mounting portion,
With the grip pad attaching portion and the grip pad arranged inside the storage container, the grip pad attaching portion is horizontally moved in a direction away from the center side of the storage container by the grip pad moving means. While gripping the storage container by bringing a gripping pad into contact with the inner surface of the side wall of the storage container,
From the state in which the grip pad is brought into contact with the inner surface of the side wall of the storage container, the grip pad attaching part is horizontally moved by the grip pad moving means and pulled toward the center of the storage container to pull the grip pad. A gripping device configured to release the gripping by moving to a position not in contact with the inner surface of the side wall of the storage container . Said gripping pad moving means comprises a rack which moves in the horizontal direction engages with the pinion and the pinion is rotated about the vertical axis, the gripping pad is attached to the rack to claim 3, wherein The gripping device described. The gripping pad moving means assembles two rods each having one end portion movable on a vertical central axis so as to be rotatable with respect to each other at one point. wherein the distance by changing the have a link mechanism for changing the horizontal distance between the other end of the central shaft and two bars, the gripping pad is attached to the other end of the two bars, that The gripping device according to claim 3 . The gripping device according to any one of claims 1 to 5 , wherein the gripping device is attached to the transport carriage so as to be movable up and down.

Images