JPS5970987A - Remote smearing apparatus - Google Patents

Abstract

PURPOSE:To evaluate the sides and upper and lower surfaces of an object while preventing the lowering of the reliability by arranging a device for pressing a smear paper on the surface thereof to be made up of a 3-axis robot capable of spiraling, lifting and transversing. CONSTITUTION:First, a lift table 15 is positioned at an upper level to turn a drum can 1. A jig head 28 is advanced below the drum can 1 with a transversing device 29 and then displaced upward with a jig index device 31. The jig head 28 is moved at a proper speed to wipe the entire undersurface of the drum can 1 by a smearing paper 42 with a smear jig 40 pressing at the center thereof 1 with an appropriate pressure. Then, the lift table 15 is positioned at a lower level to rotate the drum can 1 and the transversing device 29 is positioned upward. The jig head 28 is arranged above the drum can 1 and displaced upward to wipe the entire top surface thereof with the smear jig pressed at the center thereof.

Description

Detailed Description of the Invention This invention relates to a remote smear device that remotely inspects the presence or absence of contaminants on the surface of an object. Generally, the present invention relates to a remote smear device that remotely inspects the presence or absence of contaminants on the surface of objects. When cleaning, inspect the surface for contamination and check if there is any contamination. Is there no contamination, excluding dust? '7i? It is necessary to calculate the label displaying the necessary data for the F1 fog.In such f1 fog'n, it is important to avoid the risk of radiation exposure as much as possible, especially if it is medium or high. Avoiding exposure is an essential requirement when handling high-level radioactive materials.

Conventionally, a method called a smear test has been used to inspect the W (W) surface of a drum for contamination by radioactive materials. A wiping paper called smear paper is brought into contact with Yu, and it is collected and inspected for the presence of contaminants and the degree of contamination, and based on the results, the contamination state of the drum fB is determined. There are also methods for performing these tasks remotely.

However, in the past, it was not possible to perform the above smear test on the bottom surface of the drum, so the presence or absence of contamination was determined based on the inspection results of the top and side surfaces. Therefore, in the 17% case where only the lower surface is contaminated, there is a possibility that it will be determined that there is no contamination. In addition, since force cannot be detected when pressing the smear piece, there is a fear that excessive pressing may damage the smear paper, or insufficient pressing may result in incomplete adhesion of contaminants, leading to misunderstandings. Furthermore, 1.1, the decontamination work and labeling work performed based on the results of the above smear test have traditionally been done while wearing protective clothing. It requires manual work by one person or the use of separate equipment, and there are problems in terms of safety, productivity, and cost.

This invention can eliminate the drawbacks of the conventional smear test for inspecting the presence or absence of radioactive substance contamination on the surface of drums as described above, and can also solve the same problems with other contaminants such as toxic substances and harmful microorganisms, as well as other objects other than drums. We provide a long-range Ff7+ smear device that can be used continuously for testing. That is, this 5-light device is a 4ζ position for pressing smear paper, and includes a base equipped with a turntable that rotates in a horizontal plane, an elevating device equipped with a trolley that moves up and down on the turntable, and a lifting device that is attached to the trolley. a traverse device that presses the smear paper against the work, and a pressure detection mechanism that is attached to the = C1, 1 part of the traversal device and is equipped with a jig for holding the smear paper, and that detects the force when the jig is pressed. The %fa is to use a remote-controlled 8-axis robot equipped with a jig head with a built-in jig head.

An embodiment of the present invention will be described below with reference to the drawings.

In Figures 1 and 2, (1) is a drum containing radioactive island waste, and (2) is a drum containing the drum (1).
(3) is an 8-axis robot; (4) is an operation room (6) equipped with an operation panel (5);
(8) is a monitoring window installed in the protective wall (4), and (9) is a protective wall that separates the smear paper making room (7) from the protective wall (4). 4) is the communication port opened, and (10) is its shielding door.

The holding device (2) has eight ball screws (12) connected to a horseshoe-shaped guide frame plate (12) at the top on the base (11).
) are erected at intervals of C7, and the ball screws 03)... are equipped with an annular lifting table θ, which is lowered by a driving device rC(14)...'! It is set up. It's a lump, lift table Q5) J: ni t, each motor (16) P7 '47) 4 yen% IIt
Three supporting devices θ→... are arranged at equal intervals, including a t+ type drum rotating Q 斡Qη and a group Tll1+ type guide roller (1 ne), and each of them has a guide roller (20) at the tip. Three pillars (21)...
are arranged with equal width. Then, the drum can (1) is mounted with the peripheral part of the lower surface of the drum (1) t, 1'r F, 1 (17), and is rotated by the vomiting of the driving wheel θ. , the position is regulated by a guide roller Q8) which is in contact with the lower part of the side surface, so that the center of rotation does not shift 1.

The 3-axis robot (3) has a base (2) with a horizontal axis of 120 mm.
A turntable (23) that rotates in an angle range of
11 Eh, the guide post erected on this turntable ←1) (2I)? This is a drive IGJJ device that raises and lowers a trolley (2 yen is provided. (A) is a safe by rotating a ball screw). Trolley (2→
is equipped with a jig head (21 pivotally mounted, nine jig head traverse devices f;, ++) at the tip, and a traverse device (
29) are two bars (80c) with a jig index coating 01) fixed to their tips by a ball screw (30b) rotated by a motor (80a) as shown in FIG.
) (80c) consists of an electric Φb cylinder country that moves forward and backward. In addition, the jig index device (3+) has a function of swinging the jig head (two lines) at an angle of 90° in each direction up and down.

FIG. 4 shows the internal structure of the jig head (c). The jig head (2fQ is a case (3) consisting of a base (82/Z) connected to a jig indexing device (31), a cylindrical part (82b) and an annular connector (82c), and a stroke bearing shaft. ), the chuck machine 4', 'J section 05) is slidable in the Fij1 direction via the coil spring (34) and is attached to the base (B4C) via the coil spring (34), and this chuck mechanism section (the rear end of the It is equipped with a differential transformer 0η that changes the potential depending on the position of the iron piece (36) connected to the part.

The chuck mechanism section 631:9 is open on the front end side and has a compressed 2F air inlet (88n) for jig removal and removal and a compressed air inlet (88n) for rotating the decontamination brush and for attaching labels on a part of the side surface.
The base body (85a) has a substantially cylindrical configuration in which the base body (85a) is bored with the
Insert the inner and outer cylinders (35b) (85C) which are connected to a) and are slidable in one direction.
When the smear jig (locking sphere! 41) fitted with the mounting part (40a) of 1(+) fits 1μ to the tip of the smear jig (40), attach the smear jig (40) and Is this book about how to remove the smear jig i1+l) by introducing compressed air from the pressure device air inlet (88α)? It is constructed. In addition, the smear jig 0 (support) has smear paper (the main body (40b)
) and a fastener (40c) that is attached to the circumferential end thereof.

To conduct a smear test using the remote smear device configured as described above, first, the drum +11 to be tested is placed in the smear making room (7) in the overhead running lane (not shown), and then suspended. While holding the drum fi1, raise the lift table 00 of the holding company (2) and place the drum fi1 on the driving wheels O so as to receive it from below. And for the smear test on the bottom of the drum (1)? Figure 5 (A
), position the lifting table (lii) at the upper position, turn the drum f1), move the jig head (c) below the drum il+ using the traverse device (two), and then Jig head (2) Jig indexing device:
31) and press the smear jig (river) against the center of the lower surface of the drum can fi+ with appropriate pressure.

Next, this pressing is performed by moving the jig head (2) in the direction of the Fj+ arrow at a speed corresponding to the rotation of the drum (1), so that the entire bottom surface of the drum (1) is covered with the smear paper 142. The smear test on the upper surface of the drum can il+ is performed by lowering the elevating table 05) to the lower position f, :/l and rotating the drum can +1), as shown in Fig. 5(n). Place the jig head (c) above the drum can (1) by positioning the jig head (a9) upward, and then displace the jig head (2→ downwards to place the jig head (c) above the drum can tl+
It is sufficient to push the smear jig (j4o) onto the center of the upper surface of the smear jig, and then move the jig head (two ladles) in the direction of the arrow shown in the figure.

Furthermore, the smear test of 1111 drums (ft)
As shown in figure (0), place the elevating table 0C1) in the middle position, rotate the can (1), and place it on the side of the drum (tl)! 4 or by pressing the smear jig (4@) on the lower end to lower or raise the traversing device (c).

In these operations, the force of pressing the smear paper (4) is
When the smear jig 0Q is pressed against the can (1), the jig head will move back against the force of the jig head. By doing so, it is detected via the differential transformer 07). Therefore, based on the detected value, the jig head position signal is adjusted and adjusted by the 41 line equipment, and the smear paper (
4″4 pressing can correct the force to the optimum value.

After completing the contact with the necessary smear paper ha, the smear jig h11 is transferred from the drum can +11 using the main transport device (29).
The smear jig (4 o
) facing the dπ prevention wall (4), open the shield μ (10) and insert it into the communication port (9), and insert the smear jig (= +0) and move it out to the 11/Western-style room (6) side and determine the radioactivity of the smear paper to determine whether there is contamination.In addition, this judgment is based on the fact that the entire surface of the drum fl) is covered with smear paper. This is not necessarily carried out after contacting I42, but may be carried out every time a preset partial surface is contacted in order to reduce the decontamination work to be described later.

If contamination is found by the above smear test,
A decontamination brush jig (as shown), which has the same mounting shape as the smear jig (40) and rotates with the air pressure introduced from the compressed air inlet (88b) of the jig head (c), is attached to the smear jig (40). It is attached to the jig head (c) instead of the jig (40), and the surface of the drum (1) is decontaminated in the same manner as the smear test.

During this decontamination, various cross-agents may be used or water may be poured as necessary. The effectiveness of decontamination can be confirmed by another smear test.

Further, for drums (1) for which no contamination was found in the initial and post-decontamination smear tests, labels indicating non-contamination and necessary data such as radioactivity measurements are attached to the surface.

As shown in FIG. Recess (44b)
Attach the label pasting jig 0→, which has an air hole (44, =) that reaches the mounting end surface, to the jig head □□□, and provide adhesive or an adhesive layer in the recess (44b). label(
) and suction-hold the label through the compressed air inlet (88b), and in the manner described above, apply the jig 04) to a predetermined part of the surface of the tram can +1+, and then apply the compressed air inlet This is done by sending compressed air from the (ssb) and attaching the label using the air pressure.

After the label has been affixed, the drums il+ can be lifted up on the ceiling running lane and placed outside the smear production chestnut room (7). Incidentally, all of the above operations are performed by remote control from the operation room (6).

In the above embodiments, the smear test and border-dyed labeling work for drums containing low-level, medium- to high-level radioactive waste have been described. It can be similarly applied to contamination inspection and decontamination, and can also be applied to cases where the contaminants are substances other than radioactive substances, harmful organisms, etc. Furthermore, the above is the crotch ('iii) attached to the building.
As explained above, the invented device can combine 41Y components including corrosion protection into a mobile unit that can be moved or transported, and all operations can be performed automatically according to a predetermined program. so that it can be carried out
It's easy to do.

As described above, according to the remote smearing RK according to the present invention, the device for pressing the smear paper onto the surface of the object is configured by an 8-axis robot capable of turning, outer diameter, and traversing. It is possible to perform a smear test on the side and top surfaces of an object, and since the force in pressing can be measured using a pressure sensor, it is possible to maintain the force at an appropriate value and prevent damage to the smear paper. It is possible to avoid a decrease in reliability due to a shortage. Furthermore, if the jig head can be exchanged and attached to the smear paper holding jig, decontamination brush jig, and labeling jig (4), smear testing, decontamination operations, and labeling operations can be performed remotely. Depending on the operation, it can be carried out in one place without the need for a separate mounting part.

[Brief explanation of the drawing]

1-1 is a plan view showing an example of a smear device according to an embodiment of the present invention, FIG. 2 is a side view thereof, and FIG.
Vertical Hr plane view showing the internal structure of the traversing device, =1<4 Figure is a sectional view of the jig head equipped with the smear jig, Figure 5 (
A) (B) (C) are schematic diagrams showing smear test preparation,
? I) Figure 6 is a sectional view of the jig head on which the label sticking jig is attached. (1)...drum (object), (2)...holding device, (3)...3-axis robot, (4)...proofing wall, (6)...operation room, ( 7)...Smear's room,
(22)...Base, (2+)...Turntable, F, h)...Dolly, 4...Jig head, (
Jun...4A line 1, η...difference 1fit + transformation 3 (pressure detection imitation), inl...smear jig, (
,4()...Jig for label pasting

Claims (1)

[Scope of Claims] (1+ A device for inspecting the presence or absence of contaminants on the surface of an object by remote control, which includes an object holding device that supports, rotates, and raises and lowers the object to be inspected; the object r, 1 m;
Smear paper for adhering contaminants can be pushed onto the surface with a specified pressure.
;) The 8-axis robot described above is equipped with a turntable that rotates in a horizontal plane. a lifting device including a base provided with a platform, a lifting device including a cart that moves up and down on the turntable, a traversing device that is attached to the cart and presses the smear paper against an object, and a traversing device that is attached to one end of the traversing device and that A pressure detector 41 is attached to the paper holding jig and detects the force when the jig is pressed. A smear/shallow t that features an inner smear, a smear jig head, and a smear head.
i. (2) The 7 bodies to be inspected are drums containing contaminated materials, and 47Y was constructed to inspect the presence or absence of contaminants attached to the top, bottom, and sides of the drums. A remote smear device according to claim 1. (3) The contaminant is radioactive, MA'i! 71J quality,
The remote smear device according to Claim 1 or Section S2, which is any harmful organism (4) The jig head is configured to rotate up and down at an angle of 90 degrees each around the mounting base. 4: The remote smear device according to any one of claims 1 to 8, which is attached to an ik loading field. (6) So that the jig head can replace and mount the smear paper holding jig, decontamination brush jig, and label pasting jig.4. ”
7. A remote smear device according to any one of claims 2111 to 4.