JPH11142594A - Structure for leading-in/out work robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a structure for leading-in/out a work robot between a storage pit which stores glassified bodies which is a high-level radioactive waste and a passage. SOLUTION: A leading-in/out chamber 10 is demarcated in the bottom section of a passage 8 through an opening/closing lid 12 and, at the same time, a commnunicative hole 15 is formed through a shielding wall 7 which separates the chamber 10 from a storage pit 2 and a transfer member 16 which clogs the hole 15 and delivers and receives a work robot 23 is slidably provided in the hole 15. Therefore, the leading-in/out work of the robot between the storage pit 2 and the passage 8 can be conducted safely, because leaking-out radiation can be prevented effectively.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vitrified waste storage facility for storing vitrified waste, which is a high-level radioactive waste, and more particularly, to a work robot between a storage pit containing a vitrified waste and a passage. The present invention relates to a work robot introduction / extraction structure for introduction / extraction.

[0002]

2. Description of the Related Art At present, high-level radioactive liquid waste remaining after recovering useful uranium and plutonium from spent fuel of a nuclear power plant is melted together with glass raw materials,
It is housed in a stainless steel cylindrical container called a canister and solidified into a stable form as a vitrified body. Since this vitrified material generates a high temperature due to decay heat, it is stored for cooling for about 30 to 50 years in a vitrified material storage facility as shown in FIG. It is planned to be disposed of in the formation.

The vitrified storage facility has a storage pit 2 in a reinforced concrete building 1 constructed in a semi-underground state as shown in FIG. 8, and a plurality of storage tubes 3 are provided in the storage pit 2. An air flow path 4 is formed from the side to the bottom of the storage pit 2, and a plurality of vitrified products are vertically stacked in individual storage tubes 3 by an upper crane 5 provided above the storage pit 2. It was housed.

Then, the air (cooling air) introduced from the air inlet 6a formed in the upper part of the building 1 is introduced into the bottom of the storage pit 2, and this air is provided around the storage pipe 3 by natural wind power. After passing through the ventilation pipe and flowing to the ceiling side of the storage pit 2, it is passed through a chimney 6 formed in the building 1.
By exhausting air from the air outlet 6b of c, the vitrified body housed in the housing tube 3 is indirectly air-cooled.

[0005]

However, as described above, in this vitrified waste storage facility, one vitrified waste is stored as it is for a long period of 30 to 50 years. It is necessary to periodically clean the inside of the storage pit 2 because dust and dirt, dead insects, and the like may gradually accumulate at the bottom of the storage pit 2. In addition, it is necessary to periodically inspect the storage pipe 3 in the storage pit 2 to find any inconvenience such as damage or corrosion.

However, as described above, since a high level of radiation is constantly emitted from the vitrified body, the worker cannot directly enter the storage pit 2 and performs cleaning and inspection work. It is almost impossible to do it directly by personnel.

For this reason, it has been considered that the cleaning and inspection work is performed by a work robot which can be remotely controlled. However, when such a work robot is inserted into the storage pit 2 from the outside, the storage pit 2 is required.
At present, there is no conceivable structure for introducing and emitting radiation while effectively shielding radiation leaking from the device.

The present invention has been devised in order to effectively solve such a problem, and an object of the present invention is to introduce a working robot into a storage pit while effectively shielding radiation. It is intended to provide a new working robot introduction / ejection structure which can perform the operation.

[0009]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a structure for introducing and removing a working robot between a passage and a storage pit containing a vitrified material partitioned by a shielding wall for shielding radiation. , A lead-in / out chamber is defined at the bottom of the passage via an opening / closing lid, and a communication hole is formed in a shielding wall that partitions the lead-in / out chamber and the storage pit. The delivery member for delivering is slidably provided.

That is, when the working robot is introduced / exited through the communication hole formed between the storage pit and the passage, a lead-in / out chamber and a delivery member are provided between the storage pit and the passage, and the working robot is inserted through these. Since the radiation is introduced and discharged, the radiation leaking from the storage pit is not shielded by the transfer member or the lead-in / out chamber, and does not leak to the passage side. Therefore, it is possible to safely and reliably perform the operation of introducing and removing the working robot between the storage pit and the passage while effectively shielding the radiation.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 1 shows an embodiment of a working robot introduction / exit structure according to the present invention, and specifically shows part A of a vitrified material storage facility shown in FIG. .

As shown in the figure, a passage 8 is formed on the side of the storage pit 2 in which the vitrified material is accommodated via a radiation shielding wall 7. Entry room 1 through shielding floor 9 that shields
0 is formed so as to be adjacent to the storage pit 2.

The ceiling of the passage 8 and the lead-in / out room 1
Each of the shielding floors 9 that define the ceiling of the
1 and 12 are formed, and can be freely arbitrarily communicated by opening and closing lids 13 and 14, respectively.

A communication hole 15 communicating the storage pit 2 with the lead-in / out chamber 10 is formed at the lowermost part of the shielding wall 7. The delivery member 16 for delivering the work robot 23 is slidably fitted.

The delivery member 16 is formed in a box shape provided with shielding plates 17 and 18 for shielding radiation in the front and rear directions in the sliding direction. In addition to partitioning, radiation coming from the storage pit 2 side is effectively shielded. Further, a telescopic means 21 composed of a hydraulic cylinder 19 and a piston 20 is provided on the shielding plate 18 located on the side of the lead-in / out chamber 10, and the delivery member 16 is moved in the direction of the shielding wall 7 by expanding and contracting the piston 20 by hydraulic pressure. You can slide freely.

On the ceiling of the storage pit 2 and the passage 8, an overhead crane 2 which can travel in the direction of the shielding wall 7 is provided.
2 and 24 are provided so that the work robot 23 which can be remotely operated and the opening / closing lid 13 fitted into the opening 12 of the shielding floor 9 can be gripped and transported to an arbitrary position.

The working robot 23 is provided with cleaning means such as a brush and a suction device and monitoring and inspection means such as a CCD camera together with the running wheels, and is remotely controlled from outside the building 1 by remote control. The inspection and cleaning work can be performed while being operated and traveling freely within the delivery member 16 and the floor of the storage pit 2. In addition, since the shielding wall 7 for partitioning the storage pit 2 shields not only radiation but also control radio waves for remotely controlling the working robot 23, an appropriate inside of the storage pit 2 is required in advance in actual operation. It is necessary to provide a remote control antenna 28 at a position, for example, at the delivery member 16 as shown.

Next, the operation of the present invention will be described.

As shown in FIG. 2, first, the opening / closing lid 13 fitted to the opening 11 in the ceiling of the passage 8 is removed, and the crane 2
After the work robot 23 is carried into the passage 8 by 6 or the like, the opening / closing lid 13 is fitted into the opening 11 to close the passage 8. Next, after the opening / closing lid 14 fitted into the opening 12 of the shielding floor 9 is removed by the overhead crane 22 in the passage 8 to open the opening 12, the work robot 23 carried into the passage 8 is similarly moved. While being transported while being gripped by the overhead crane 22, this is transferred to the opening 12 as shown in FIG.
Is housed in the delivery member 16 via. At this time, the delivery member 16 is moved toward the passage 8 by the expansion / contraction means 21,
By locating the communication hole 15 below the opening 12, the upper end of the shield plate 17 of the transfer member 16 located on the storage pit 2 side contacts the end of the communication hole 15 of the shield wall 7 as shown in the drawing. Will close it. Therefore, the working robot 23
Can be safely placed on the delivery member 16 without the radiation on the storage pit 2 side leaking from the communication hole 15 to the carry-in / out room 10 or the passage 8 side when accommodating in the delivery member 16. .

Next, as shown in FIG.
2, the opening / closing lid 14 is fitted to the opening 12 to close the passage 8, and then the work robot 23 is moved to the storage pit 2 side, and at the same time, the telescopic mechanism 21 is extended to transfer the delivery member 16 to the storage pit. Slide to the 2 side. Thereby, the work robot 23 can be moved to the storage pit 2 side through the communication hole 15. At the time of this sliding movement, as shown in FIG. 4, a part of the radiation in the storage pit 2 passes through the delivery member 16 and passes through the communication hole 1.
Even if it leaks from the inlet / outlet 5 to the inlet / outlet chamber 10, since the inside of the passage 8 is already closed by the opening / closing lid 14 at this time as described above, the radiation flowing to the inlet / outlet chamber 10 is not There is no risk of flowing directly to the 8 side.

Then, as shown in FIG.
By taking out the work robot 23 in the delivery member 16 by the overhead crane 24 on the side, the work robot 23 can be carried into the storage pit 2 while effectively shielding radiation. When the work robot 23 carried into the storage pit 2 in this way is taken out to the passage 8 side, the same operation as described above can be performed to carry out the work robot while effectively shielding the radiation. it can.
These loading and unloading operations are performed on the storage pit 2 side and in the passage 8.
Obviously, the monitoring is performed by the TV cameras 29, 29 provided on the side.

Next, FIG. 5 to FIG. 7 show another embodiment of the present invention.

In this embodiment, the delivery member 16 described above is used.
As shown in FIG. 7, the overhead crane 24 on the storage pit 2 side as in the above embodiment is unnecessary.

That is, the delivery member 16 has a horizontally extending base plate 26 at one bottom of the shielding plate 17 located on the storage pit 2 side as shown in the drawing, and a telescopic mechanism at the other end of the base plate 26. 21 are connected to each other, and slopes 27 and 27 are formed on both edges of the base plate 26.

Therefore, as shown in FIGS. 5 and 6, after the transfer member 16 is slid to the storage pit 2 side, the working robot 23 moves by itself and easily moves from the slope 27 of the base plate 26. Since it is possible to move to the floor of the storage pit 2, there is no need for the overhead crane 24 for transporting the work robot 23 in the transfer member 16 to the floor of the storage pit 2 as in the above embodiment. Become. As shown in FIG. 5, when the work robot 23 is placed on the delivery member 16, the work robot 23 is moved toward the passage 8 by the expansion and contraction mechanism 21 so that the shielding plate 17 is in contact with the communication hole 15. Therefore, leakage of radiation in the storage pit 2 can be effectively prevented.

[0027]

In summary, according to the present invention, when a working robot is introduced into and out of a storage pit, leakage of high-level radiation in the storage pit can be effectively prevented. It has excellent effects, such as that it is possible to safely and reliably perform the introduction / exit work.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing one embodiment of the present invention.

FIG. 2 is a state diagram showing a state before the work robot is carried in from a passage to a delivery member side.

FIG. 3 is a state diagram showing a state in which the working robot is carried in from a passage to a delivery member side.

FIG. 4 is a state diagram showing a state in which the working robot is carried into the storage pit via a transfer member.

FIG. 5 is a configuration diagram showing another embodiment of the present invention.

FIG. 6 is a state diagram showing a state in which the working robot is carried into the storage pit via a transfer member.

FIG. 7 is a perspective view showing a delivery member according to another embodiment of the present invention.

FIG. 8 is an overall view showing the structure of a conventional vitrified storage facility.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Building 2 Storage pit 7 Shielding wall 8 Passage 14 Opening / closing lid 16 Delivery member 23 Work robot

Claims (1)

[Claims] 1. A structure in which a working robot is introduced between a storage pit accommodating a vitrified body partitioned by a shielding wall for shielding radiation and a passage, and a lead-in / out chamber is provided at the bottom of the passage via an opening / closing lid. Forming a partition, forming a communication hole in a shielding wall that separates the lead-in / out chamber and the storage pit, and slidably provided a transfer member that closes the communication hole and transfers the work robot. Work robot introduction and removal structure.