US3295700A - Method and apparatus for handling radioactive materials - Google Patents

Method and apparatus for handling radioactive materials Download PDF

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Publication number
US3295700A
US3295700A US350130A US35013064A US3295700A US 3295700 A US3295700 A US 3295700A US 350130 A US350130 A US 350130A US 35013064 A US35013064 A US 35013064A US 3295700 A US3295700 A US 3295700A
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United States
Prior art keywords
cabin
operator
handling
radioactive
shielding
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Expired - Lifetime
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US350130A
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English (en)
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Ziegler Albert
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Siemens Schuckertwerke AG
Siemens AG
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Siemens AG
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    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F3/00—Shielding characterised by its physical form, e.g. granules, or shape of the material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/06—Manipulators combined with a control cab for the operator

Definitions

  • the handling of radioactive materials is carried out today generally in so-called hot cells.
  • devices, apparatuses and machines necessary for inspection, machining, transporting and the like are surrounded by shielding so that the service personnel on the outside thereof can move about without danger and can carry out their operations from the outside with the help of remotely controlled manipulators.
  • This method is very suitable for relatively simple operations; however, it becomes very troublesome and costly when the parts to be operated on become larger and when a transfer of material must take place from operating machine to operating machine, such as, for example, in the case of the production of nuclear fuel elements from irradiated fuel such as plutonium and the like.
  • a particular disadvantage of such remotely controlled plants is the great ditliculty in the repair of apparatuses and machines, often only possible after shutdown of the hot cell and after a suitable decontamination period.
  • each member of the servicing personnel is protected by his own radiation shielding, is freely movable within a chamber that is shielded from the outside, and supervises or controls the working operations or transports the material or tools himself.
  • the radiation-proof device for each member of the service personnel furnishes protection similar to the concrete Walls of hot cells that are often meters thick, and is consequently of relatively heavy construction.
  • a simple special protective suit but rather mobile one-man compartments or cabins constructed of steel or lead for instance, are pro vided. From these cabins the service personnel can observe the surroundings and any machine tools, that are to be serviced or operated, through radiation-proof glass -or an optical device which prevents direct passage of nuclear radiation.
  • a cabin of this type is either provided with air-tight rubber gloves by means of which the service attendant can directly manipulate the operating machine, or
  • the principle of the Hovercraft or of the air cushion is employed, that is, the cabin whose lower edge is first placed directly on the floor of the work chamber so that the cabin has excellent stability, is then raised by an air cushion which is produced by a blower. It is only necessary for this purpose, that the cabin, for example, be raised only a few millimeters, so that for a cabin Weight of 10 tons and 1 square meter of floor area a pressure of only about 1 atmosphere is suilicient. In its raised condition, the heavy cabin can be moved practically frictionfree in all directions.
  • the drive wheels, for example, that are provided therefor, are accordingly pressed against the floor by springs in order to furnish the necessary frictional contact.
  • the cabin is provided with its own air-conditioning plant which produces circulation, cooling and drying of the air and maintains besides a slight over-pressure Within the cabin due to which no radioactive particles can infiltrate from the outside through any possible leaks in the cabin walls.
  • air-conditioning plant which produces circulation, cooling and drying of the air and maintains besides a slight over-pressure Within the cabin due to which no radioactive particles can infiltrate from the outside through any possible leaks in the cabin walls.
  • Such devices can be installed, for example, inside the cabin under the seat of the service attendant. These devices are suitably driven by electricity as are the Wheels hereinafter described, the power being supplied through a drag cable or by an overhead trolley-wire mesh or grid and a takeoff contact brush, as well as through an electrically conducting floor of the work chamber and Wheel rollers which are made of conducting metal.
  • the wheels or component rollers as hereinafter described may be driven by the service attendant himself, for example by means of a suitably variable bicycle transmission.
  • FIG. 1 is a top plan view of a workshop or chamber in which the shielding cabin constructed in accordance with my invention is to be located.
  • FIG. 2 is a front elevational view of FIG. 1 showing several of the shielding cabins at various locations.
  • FIG. 3 is a longitudinal sectional view of one of the shielding cabins shown in FIG. 2.
  • FIG. 4 is a diagrammatic plan view of the drive wheels which constitute a component of the cabin shown in FIG. 3.
  • FIG. 5 is a longitudinal sectional view of the cabin of FIG. 3 showing the manner in which a service attendant gains access thereto and is sealed therein.
  • FIG. 6 is an enlarged perspective view partly in section of one of the drive wheels forming part of the drive mechanism of the cabin shown in FIG. 4.
  • FIG. 7 is a top plan view of FIG. 6.
  • FIG. 8 is a plan view of another component of the drive mechanism of the cabin.
  • FIG. 9 is a perspective view of a shielding cabin in a work chamber showing means for electrically energizing the drive mechanism of the shielding cabin.
  • FIG. 10 is a circuit diagram showing the means for driving the cabin from within the same.
  • FIGS. 1 and 2 there is schematically shown a workshop or work chamber 2 in which two rows of operating machines and apparatuses 21 are located.
  • the workshop is sealed off from the outside by strong walls 22, such as of reinforced concrete, and can be additionally embedded at least partly, for example about two meters deep, in the earth. Furthermore, the walls extending out of the ground can be at least partly covered with earth on their sides so that there is no danger of any harmful radioactive radiation penetrating through the sides.
  • a system of locks 23 located on two opposite sides of the work chamber permits the machines and materials to be brought in and to be taken out of the chamber.
  • a decontamination space 24 through which the service personnel are required to pass in order to reach the access shaft 25.
  • FIG. 2 a shielding cabin 3 furnished with manipulators 33 is shown in the work chamber.
  • the service attendant or operator who is located inside the cabin 33, is shown operating a machine tool 21.
  • Another shielding cabin is shown in the decontamination space 24 and is being sprayed with water so that any possible radioactive dust that might have settled thereon is not carried any farther.
  • a third shielding cabin is shown at the access shaft 25.
  • the access shaft is installed in such a way that the cabin is held by a shaft-way 251 which extends downwardly from the upper story and the lid 39 of the cabin (FIG. 5) is able to be loosened and also raised upward from it.
  • a suspension 5 in the form of a trapeze on which the service attendant places himself when he is prepared to leave the cabin, and is accordingly raised upwardly in this manner as the lid is raised.
  • the access shaft 25 has a side opening 252 in its upper portion through which the service attendant can step out into a radiation-free chamber. Entrance into the shielding cabin by the service attendant is effected in an exactly opposite manner as that described hereinbefore for leaving the cabin.
  • the shielding consists of an essentially cylindrical part 31 and the aforementioned lid 39 which are separated from each other by a centering gap or joint 40, i.e. having a centering shoulder.
  • the joint 40 can additionally hold a gasket ring so that a fully airtight closure of the lid against the cylindrical housing is assured.
  • the lid and housing can be screwed to each other or secured by belts or by any other suitable means.
  • the operating attendant observes the surroundings through a reflecting device such as a periscope 32 or a radiationproof window in the cylindrical wall, and can, for example, actuate manipulators that are mounted on the outside of the shielding cabin by means of the lever 33.
  • An air-conditioning unit 35 is located under the seat of the cabin which is additionally suitably connected with an oxygen apparatus.
  • the operator normally stands on a base plate 34, as is shown in top plan view in FIG. 8, which is movable on ball bearings 349.
  • the plate 34 can be displaced sidewise within the periphery limited by the surrounding stops 341. It is held in its central position normally by springs such as represented diagrammatically by the dotted lines in FIG. 8.
  • various non-illustrated contacts are actuated to switch on individual drives, of the rollers 37.
  • the blower 36 (FIG.
  • FIGS. 6 and 7 The arrangement of the drive wheels is readily seen in FIGS. 3 and 4 and the rather unique construction of the component rollers 62, 63 is shown in FIGS. 6 and 7, this construction affording the cabin complete freedom to move about in all directions. This is made possible by the fact that these drive wheels do not consist of a simple circular disc with rubber tires but are rather constructed of individual spokes 61 with the rollers 62 and 63 mounted thereon and secured by means of a common hub 64 on the drive shaft 6.
  • a drive wheel consists of two rings of rollers of this type located alongside one another and further located at any given time in staggered and overlapping relationship to one another as shown in FIGS. 6 and 7.
  • rollers 62 and 63 are of barrel-shape construction, the generatrix lines thereof constituting a segment or intercepts of the periphery 60.
  • the drive wheels are consequently able to roll around the shaft 6 like an ordinary wheel without jogging the support or base and can, however, also be moved relatively without friction, in the embodiment illustrated, in the direction of its shaft 6, since the rolls 62 and 63 forming the periphery of the Wheel can be so arranged that they are easily rotatable about a shaft 65 extending perpendicular to the drive shaft 6.
  • the operator applies pressure against the Wall of the cabin in the direction in which he wishes to move. Due to the reactive force, the base plate 34 is pushed in the opposite direction and thereby automatically actuates ter minal switches which turn on the drive motor that is located thereunder at the time. This advantageously occurs somewhat slowly so that the blower 36 which has been switched on simultaneously therewith has an opportunity to build up the air cushion for raising the cabin.
  • the pressure on the base plate 34 is involuntarily relaxed as the operator straightens 11p and the cabin returns to its central position due to the restoring spring force, and the drive motor and blower are accordingly switched off.
  • the operator located in the cabin can then carry out the necessary operations from a steady position.
  • the operator is also in a position, as the case may be, to raise heavy loads by means of the manipulators since an absolutely stable position is afiorded by the cabin that is set down on the floor and by the weight of the load itself.
  • a load such as raw materials or semi-manufactured components held by the manipulators from one machine to another. Complicated automatic transporting equipment is, therefore, unnecessary, and the operations can be carried out flexibly as in the usual workshop.
  • this movable cabin is also suited for carrying tools and the like about with it.
  • Such tools are advantageously hung on the outside of the cabin so that they can be easily grasped with the manipulators.
  • the cabin can, for example, have a diameter of about 1 meter and can have an over-all height of about 2 /2 to 3 meters.
  • the thickness of the cabin wall depends upon the activity which is to take place in the work chamber and is naturally kept as small as is at all possible.
  • a steel wall of about 20 centimeters thickness corresponds, for example, in its shielding effect to a concrete thickness of about 1 meter.
  • It is not particularly difiicult to provide energy for the drive mechanism of such one-man shielding cabins. It can, for example, be supplied by a builtin internal combustion engine or by electric motors energized from storage batteries or through drag cables connected to an electric main.
  • an electrically conductive wire net 354 is located at a predetermined height in the work chamber and can be electrically energized.
  • Each cabin is provided with its own take-off contact brush 355 which is in continuous engagement with the net.
  • a circuit is completed by providing a metallic surface 353 on the floor of work chamber with which the metal rollers 62, 63 are in engagement.
  • FIG. 9 shows the mobile one-man cabin 3 as having two possible energy connecting means, one of which is redundant but employable in the event of the failure of the other means. It is, of course, self-evident that the shielding cabin constructed in accordance with my invention, is movable by employing only one of these energy connections and can in fact have only one of them if it is so desired.
  • a rotatable cable drum 352 which rotates as the cabin is displaced and is suitably biased by spring action or the like, as is well known in the art, to roll up any excess length of the electric current supply cable 351.
  • One end of the cable 351 is connected to a main electric power line (not shown), while the other end is connected to the devices in the cabin.
  • the other current supply means consists, as heretofore described, of the electrically conductive floor surface layer 353 connected to a terminal N of the electric power source and the wire net 354 with which the terminal P of the power source is connected.
  • the electric current thus passes on the one hand through the drive rollers 62, 63 of the one-man cabin and on the other hand through the take-off contact brush 355 which is mounted on the lid of the cabin.
  • FIG. 10 shows a diagrammatic circuit of the electrical system within the one-man cabin and its essential features.
  • Switches 341 and 344 with contacts a and b for reversing directions constitute the switch mechanism aforementioned which are actuated by the displaceable base plate 34 of the one-man cabin.
  • These switches have two contact pairs by which the blower 36 for producing the air cushion is started up each time before the drive motors 371 to 374, the delay elements 381 to 384 being connected in series with the motors 371 to 374 respectively.
  • the delay elements can consist of one or more circuits or one or more separate units known to the man of ordinary skill in the art.
  • a second switch is provided parallel thereto (although only one of these auxiliary switches 344' is actually illustrated in FIG. 10) which can, for example, be actuated by hand.
  • a switch 346 permits the four drive motors to be switched on simultaneously so that the cabin can be turned in all directions at its desired location.
  • the manipulator drive mechanism is shown symbolically at 81 and is also connected into this circuit network in the case where the manipulator is of the type known in the art that is electrically operated.
  • a fuse is connected into the main supply line and is located within the cabin so that it can be readily replaced if necessary. The type of current and voltage is not a critical feature.
  • My inventive method permits a simple and efficient operation of handling and fabricating equipment with radioactive materials; special construction of machine tools and of automated apparatus is hardly necessary.
  • the employment of shielding cabins which are freely rotatable and movable in any direction additionally permits the displacement of heavy loads on narrowly limited areas without great floor compression, for which obviously other cabin constructions are also possible. None of the bearings are heavily loaded because of the air cushion principle that is employed.
  • the workshop floor can be completely fiat and smooth whereby the maintenance of cleanliness and the cleaning thereof which are of particular importance when radioactive materials are used, are essentially facilitated. Due to the weight of the settled cabin whose lower outer rim is supported on the floor, rather good stability is provided also for heavy loads. On the other hand, practically no vibrations or swaying motions occur during the displacement of the cabin.
  • a connecting nipple or valve (not shown) can be attached with the help of a second cabin so that the air cushion for the broken-down cabin can be restored by the blower of this auxiliary cabin.
  • the cabin with the faulty lifting mechanism can then proceed under its own power or be drawn by the auxiliary cabin through the decontamination chamber to the access shaft. T hereby the greatest possible safety is afforded to the servicing personnel in the event of a possible accident or damage.
  • Method of performing handling operations in a closed radioactive environment which comprises shielding an operator individually in a radiation-proof enclosure freely movable within the closed radioactive environment, controlling the operations by the operator from within said enclosure, decontaminating the outer surface of the enclosure, and guiding the enclosure into a chamber shielded from the radioactive environment for permitting entry and exit of the operator.
  • Method of performing a handling operation in a radioactive environment which comprises enclosing an operator individually in a freely displaceable cabin having walls impermeable to radioactive radiation and provided on the outside of said walls with manipulating means for performing the handling operation, displacing said cabin under the control of the operator to a location in the radioactive environment at which the handling operation is to be performed, moving said manipulating means under the control of the operator to perform the handling operation at said location, decontaminating the outer surface of the cabin, and guiding the cabin into a chamber shielded from the radioactive environment for permitting entry and exit of the operator.
  • An installation for performing handling operations in a closed radioactive environment comprising means for shielding the surroundings from said radioactive environment, a radiation-proof enclosure for an individual operator freely movable within said radioactive environment, means controllable by the operator from within said enclosure for performing the handling operations in the radioactive environment, means for decontaminating the outer surface of the enclosure, and means for guiding the enclosure into said shielded surroundings for permitting entry and exit of the operator.
  • said enclosure comprises a cabin having walls impermeable to radioactive radiation, drive means controllable by the operator within said cabin for universally displacing said cabin to a location in the radioactive environment at which the handling operation is to be performed, and handling means provided on the outside of said cabin walls and controllable by the operator from within said cabin for performing the handling operation at said location.
  • said handling means comprises at least one glove of radiationimpermeable material adapted to receive a hand of the operator from within said cabin for directly performing the handling operation.
  • said handling means comprises a remotely controlled manipulator.
  • blower means carried by said cabin and actuated by the operator for providing an air cushion beneath said cabin whereby said cabin walls are raised from the floor, said drive means being relieved of the weight of said cabin by said air cushion and being spring-biased into frictional engagement with the floor of said chamber.
  • said drive means comprise four individually driven wheels having axes extending radially to the vertical axis of said cabin.
  • each of said wheels comprises a pair of adjacent coaxial rings, said rings comprising a plurality of rollers rotatably mounted on shafts disposed substantially circumferentially about the respective wheel.
  • blower means carried by said cabin for providing an air cushion beneath said cabin and switch means for actuating said blower means, said last-mentioned switch means also being actuated by movement of said base plate means.
  • said radioactive environment is a closed chamber shielded from its surroundings, said drive means being electrically actuated and electrically conductive, an electrically conductive grid mounted at the top of said chamber substantially parallel and coextensive with the ceiling thereof, electric contact brush means carried by said cabin and slidingly engaging said grid, the floor of said chamber having an electrically conductive surface engaged by said drive means, said grid and said conductor floor surface being connected to opposite terminals of a power source, and circuit means in said cabin connected between said brush and said drive means for actuating said drive means.
US350130A 1963-03-08 1964-03-06 Method and apparatus for handling radioactive materials Expired - Lifetime US3295700A (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3363735A (en) * 1966-03-16 1968-01-16 Lockheed Aircraft Corp Roller
US4237990A (en) * 1979-01-02 1980-12-09 Hau T Omnidirectional vehicle
US4258815A (en) * 1979-01-29 1981-03-31 The United States Of America As Represented By The Secretary Of The Navy Ambulator drive mechanism
US4850380A (en) * 1985-05-21 1989-07-25 Pall Corporation Entry/exit decontamination system using adsorbent powder
US5010907A (en) * 1989-12-22 1991-04-30 General Dynamics Corporation Mobile enclosure for allowing access to a vehicle in an unsafe environment
US5551349A (en) * 1995-06-29 1996-09-03 The United States Of America As Represented By The Secretary Of The Navy Internal conduit vehicle
US6885718B1 (en) * 1998-03-19 2005-04-26 Framatome Anp Gmbh Method and apparatus for transferring an article between fluid-filled vessels
US20090256044A1 (en) * 2008-04-14 2009-10-15 Steve Miller Suspension system and method
WO2010009878A1 (de) * 2008-07-22 2010-01-28 Robotics Technology Leaders Gmbh Luftkissenplattform zum tragen eines manipulatorarms und verfahrbarer roboter
US9579927B2 (en) 2013-11-30 2017-02-28 Saudi Arabian Oil Company Magnetic omni-wheel

Citations (10)

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Publication number Priority date Publication date Assignee Title
US1305535A (en) * 1919-06-03 Vehicle-wheei
US1645437A (en) * 1924-05-13 1927-10-11 Lusse Brothers Current collector
US2285860A (en) * 1938-05-06 1942-06-09 Jeffrey Mfg Co Electrical cable reel
DE822660C (de) * 1949-12-01 1951-11-26 Dr Christian Fuchs Rad, das eine unmittelbare Fortbewegung in jeder Richtung gestattet
US2603301A (en) * 1948-05-08 1952-07-15 Joseph F Sipior Motor propelled amusement device
US2985129A (en) * 1957-01-28 1961-05-23 Brooks & Perkins Apparatus for performing operations in controlled atmosphere
FR77717E (fr) * 1960-05-16 1962-04-13 Commissariat Energie Atomique Appareil télécommandé d'intervention sur des matériels dangereux
US3043448A (en) * 1958-09-19 1962-07-10 Gen Mills Inc Vehicle-mounted manipulator
US3125232A (en) * 1964-03-17 Transfer device
US3174571A (en) * 1960-06-16 1965-03-23 Hovercraft Dev Ltd Means for supporting loads

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1305535A (en) * 1919-06-03 Vehicle-wheei
US3125232A (en) * 1964-03-17 Transfer device
US1645437A (en) * 1924-05-13 1927-10-11 Lusse Brothers Current collector
US2285860A (en) * 1938-05-06 1942-06-09 Jeffrey Mfg Co Electrical cable reel
US2603301A (en) * 1948-05-08 1952-07-15 Joseph F Sipior Motor propelled amusement device
DE822660C (de) * 1949-12-01 1951-11-26 Dr Christian Fuchs Rad, das eine unmittelbare Fortbewegung in jeder Richtung gestattet
US2985129A (en) * 1957-01-28 1961-05-23 Brooks & Perkins Apparatus for performing operations in controlled atmosphere
US3043448A (en) * 1958-09-19 1962-07-10 Gen Mills Inc Vehicle-mounted manipulator
FR77717E (fr) * 1960-05-16 1962-04-13 Commissariat Energie Atomique Appareil télécommandé d'intervention sur des matériels dangereux
US3174571A (en) * 1960-06-16 1965-03-23 Hovercraft Dev Ltd Means for supporting loads

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3363735A (en) * 1966-03-16 1968-01-16 Lockheed Aircraft Corp Roller
US4237990A (en) * 1979-01-02 1980-12-09 Hau T Omnidirectional vehicle
US4258815A (en) * 1979-01-29 1981-03-31 The United States Of America As Represented By The Secretary Of The Navy Ambulator drive mechanism
US4850380A (en) * 1985-05-21 1989-07-25 Pall Corporation Entry/exit decontamination system using adsorbent powder
US5010907A (en) * 1989-12-22 1991-04-30 General Dynamics Corporation Mobile enclosure for allowing access to a vehicle in an unsafe environment
US5551349A (en) * 1995-06-29 1996-09-03 The United States Of America As Represented By The Secretary Of The Navy Internal conduit vehicle
US6885718B1 (en) * 1998-03-19 2005-04-26 Framatome Anp Gmbh Method and apparatus for transferring an article between fluid-filled vessels
US20050100123A1 (en) * 1998-03-19 2005-05-12 Framatome Anp Gmbh Apparatus for transferring an article between fluid-filled vessels
US7321650B2 (en) 1998-03-19 2008-01-22 Areva Np Gmbh Apparatus for transferring an article between fluid-filled vessels
US20090256044A1 (en) * 2008-04-14 2009-10-15 Steve Miller Suspension system and method
WO2010009878A1 (de) * 2008-07-22 2010-01-28 Robotics Technology Leaders Gmbh Luftkissenplattform zum tragen eines manipulatorarms und verfahrbarer roboter
US20110174563A1 (en) * 2008-07-22 2011-07-21 Stefan Riesner Air cushion platform for carrying a manipulator arm and movable robot
US8464820B2 (en) 2008-07-22 2013-06-18 Robotics Technology Leaders Gmbh Air cushion platform for carrying a manipulator arm and movable robot
CN102105276B (zh) * 2008-07-22 2014-05-07 机器人科技先导公司 用于运载机械臂的气垫平台以及可移动机器人
US9579927B2 (en) 2013-11-30 2017-02-28 Saudi Arabian Oil Company Magnetic omni-wheel
US9849722B2 (en) 2013-11-30 2017-12-26 Saudi Arabian Oil Company Magnetic omni-wheel and method for traversing surface therewith
US10532609B2 (en) 2013-11-30 2020-01-14 Saudi Arabian Oil Company Method for traversing surface with magnetic omni-wheel

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