WO1998055380A1 - Procede et dispositif pour la manipulation de corps presentant une stabilite mecanique reduite ou un etat non agrege - Google Patents

Procede et dispositif pour la manipulation de corps presentant une stabilite mecanique reduite ou un etat non agrege Download PDF

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Publication number
WO1998055380A1
WO1998055380A1 PCT/ES1998/000024 ES9800024W WO9855380A1 WO 1998055380 A1 WO1998055380 A1 WO 1998055380A1 ES 9800024 W ES9800024 W ES 9800024W WO 9855380 A1 WO9855380 A1 WO 9855380A1
Authority
WO
WIPO (PCT)
Prior art keywords
pad
liquid
mat
mechanical stability
bodies
Prior art date
Application number
PCT/ES1998/000024
Other languages
English (en)
Spanish (es)
Inventor
Joaquín PEREZ PALLARES
Original Assignee
Hispano-Francesa De Energia Nuclear, S.A.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hispano-Francesa De Energia Nuclear, S.A. filed Critical Hispano-Francesa De Energia Nuclear, S.A.
Publication of WO1998055380A1 publication Critical patent/WO1998055380A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the present invention is intended to disclose a method and its device for the manipulation of bodies that have reduced mechanical stability or non-aggregated state, that is, that they have insufficient mechanical resistance to allow manipulation similar to that of rigid objects or semi-rigid or even in an aggregate state, that is, in the form of several adjacent masses but not joined together.
  • the invention is especially applicable to physical and physical-chemical processes in which there are bodies that must be manipulated and have little physical consistency, being able to reach states of non-aggregation of the components.
  • conventional mechanical systems are not applicable since the bodies to be handled do not offer guarantees of physical stability since their mechanical resistance is not sufficient to guarantee the stability of the body against the stresses exerted during handling by the clamping or by the body's own weight.
  • One of the applications envisaged for the present invention is the handling of radioactive waste in which problems of selection and handling occur.
  • the present invention is intended precisely to solve the aforementioned drawbacks, by disclosing a method and device to allow the safe handling of bodies that have the indicated mechanical stability deficiencies or even states with no aggregation.
  • the device is based on the adhesion that is revealed between two wet surfaces brought into contact, when freezing occurs, for example, by expansion of a cryogenic fluid.
  • one of the two surfaces is sufficiently soft, it adapts to the irregularities of the other by applying light pressure on it.
  • the device While the product remains adhered, the device is transferred to a container of confinement and transport (this in the practical case that is being contemplated), to which it will be introduced when the adhesion disappears by recovery of the temperature.
  • the recovery of the temperature occurs naturally or forcedly, after the injection of cryogenic fluid ceases when it is used.
  • the acceleration of defrosting can be done by means of a heating device associated with the device for handling.
  • the shape and dimensions of the soft surface can be defined at will, depending on the disposition of the residue and affected area. Therefore, although the telemanipulated arm or the handling system of the extraction device does not offer the necessary precision, adhesion to the extraction device of only a limited portion of waste that is not dispersed by such manipulation allows the selection of the extracted product on a reduced amount thereof.
  • the invention is fundamentally based on a device in which the adhesion that is revealed between two wet surfaces brought into contact is produced, causing the freezing of the wet sheet preferably by expansion of a cryogenic fluid.
  • the device to be used in the present invention consists of the following components:
  • a pad consisting of a moldable, flexible and porous element, which can absorb a certain amount of moisture and create a thin wet film between this element and the waste to be extracted. Latex has been used as a flexible material in the application.
  • the pad must also allow the expansion of a cryogenic fluid inside.
  • a cryogenic fluid which must be able to produce the cooling of the assembly formed by the claw and the residues in contact, until the formation of an ice film between them. This ice film must be maintained during the movement of the pieces to a confinement and transport container.
  • a ballast to adapt the pad to the surface of the residue by a predetermined pressure.
  • This ballast can be suppressed if the claw assembly already has the weight that produces the desired pressure, or if the claw manipulator device directly transmits the force necessary for its correct pressure of adaptation to the material or residue.
  • a copper or stainless steel tube to drive the cryogenic fluid from storage to the pad.
  • a feeding tube of the pad moisturizer A feeding tube of the pad moisturizer.
  • a heating system to supply heat to the pad and cause it to defrost (by electrical resistance, coil fed by heating fluid, etc.).
  • the device can be manipulated with any maintenance element adapted to the needs, weight and size of the waste and the distance that these are.
  • the dimensions of the extraction device will be chosen according to the dimensions and weight of the product to be extracted, being a suitable option for the pad to cover the object to be collected with some excess.
  • the spatial precision of the handling element of the extraction device can influence the choice of the size of the device, so that poor precision will force the use of a larger extraction device.
  • the maintenance mechanism of the extraction device of the invention will be chosen, that is, a telemanipulated arm, hoist, crane bridge, etc.
  • the process object of the present invention will comprise the following phases: a) With the help of the maintenance device, place the extraction device with the pad previously moistened, with a freezing liquid, on the residue to be extracted. If the work area is outside the operator's direct field of vision, TV cameras may be available. Care must be taken that the portion of waste to be taken at once is completely under the pad, since the adhesion depends on the contact surface between the pad and the product to be extracted. However, if the pieces are not very heavy it is not necessary that they be completely covered by the pad. The adhesion limit depends on the quality of the pad. For pads constructed with commercial latex, this limit is 0.8 kg / cm.
  • the extraction device Once the extraction device is placed covering the residue, the freezing of the liquid occurs, for example, by opening the cryogenic fluid inlet to the pad and the temperature is controlled by the sensor.
  • the temperature reaches a regime value between -60 ° and -90 ° C, the extraction device can be lifted, since the contact residue will already be attached to the pad. At this time you can move the assembly to the place where you want to deposit the product and close the passage of cryogenic fluid.
  • the temperature to be reached in the cooling depends on the environmental conditions in the environment of the waste and the type and size of the pieces to be extracted.
  • the temperature To release the object or waste removed, the temperature must be recovered, so that the film of the frozen humectant between the pad and the adhered product melts. If the environment is not warm enough, and you want to speed up the operation, you can use the built-in heater.
  • the pad replacement can be carried out keeping the rest of the extraction device.
  • the pad is attached to the support structure only by its perimeter, so that it is completely removable. Disassembly can be carried out remotely in case of handling contaminated products.
  • the clamping allows only the vacuum pad to be supported, since, when cooling is carried out, a sheet of frozen humectant is also established between the support structure and the pad, just as on its opposite face in contact with the product to adhere.
  • the amount of humectant necessary for the proper functioning of the cryogenic claw is very small and will be defined according to the dimensions. From 100 to 200 cm are enough to perform several maneuvers with a claw of about 800 cm of pad surface.
  • moisturizer feed tube for compensate for losses in successive maneuvers.
  • the consistency of the adhesion of the cryogenic extraction device depends on the temperature at which the wet part remains solidified, and on the density and surface shape of the waste to be extracted. In order to ensure adhesion in most cases, it is recommended that the working temperature in the gas expansion zone be lower than -60 ° C (60 ° C below zero). Therefore, all gases that, when expanded below this temperature, do not manifest solidifications thereof, which would obstruct the gas flow are valid.
  • the pad receives the cryogenic fluid from commercial pressure bottles, expanding to atmospheric pressure, from the bottle outlet to the inside of the pad.
  • a commercial latex sponge about 10 cm thick or expanded polyurethane may be used in an embodiment.
  • the following range can be indicated for guidance and not limited to 0.01 kg / cm to 0.1 kg / cm.
  • the wetting liquid although it may be any freezing liquid, will preferably be water, with the chemical corrections that may be necessary due to the nature of the process, taking into account, however, the changes that could be introduced at the freezing point.
  • Figures 1 and 2 are respectively a schematic section of an extraction device according to the invention and a plan view thereof.
  • FIGS 3, 4, 5, 6 and 7 are schematic views representing, respectively, different operational phases of the process object of the present invention.
  • an extraction device with a freezing surface layer is essential, for example, by cryogenic means that could be designated by "cryogenic claw", as schematically observed in Figures 1 and 2.
  • Said collection device or “cryogenic claw” comprises an adaptable area or pad -1- consisting of a moldable, flexible and porous element, capable of absorbing a certain amount of moisture creating a thin film on the underside -2- and in the moment of application on an object to be handled, between the lower face of the pad and the adjacent surface of the object.
  • the pad will be made of latex. Given the characteristics of the process, the pad should allow the expansion of the cryogenic fluid inside.
  • the pad -1- will be coupled to a support -3- preferably made of a metal material, such as a steel plate.
  • a ballast -4- adapted to adapt the pad to the surface of the residue or body to be manipulated when exerting a predetermined pressure will preferably be adapted on the support structure.
  • Said ballast may be suppressed in the case where the cryogenic claw or extraction device is of sufficient weight to give rise to the desired pressure, or in the case in which the claw handling device directly transmits the necessary force to it. for adaptation to the material to be handled.
  • the pad assembly with the support and eventually the ballast is incorporated into a central arm -5- provided superiorly with a handle -6- which can take any variable shape.
  • the arm -5- will drive inside a conduit -7- preferably made of copper or stainless steel to drive the cryogenic fluid from the storage point to the pad inside which said duct -7- will communicate with some arms preferably in radial arrangement -8-, in variable number, provided with liquid distribution nozzles Cryogenic to the mass of the flexible pad -1-.
  • the arm -5- will contain the electric conductor -9- destined to feed a heating battery -10- integrated in the pad -1- and destined to allow a quick defrosting of the extraction device to release the object or mass of transported waste .
  • the arm itself -5- allows the passage of the conduit -11- destined to the feeding of moisturizing liquid that is connected inferiorly with some radial distribution arms -12- equipped with nozzles for the exit of the liquid.
  • the arm -5- also allows the passage of the conductor -13- for the connection to a thermocouple represented schematically with the numeral -14-, designed to control the temperature of the pad in the different phases of the process that make it necessary.
  • the extraction device or cryogenic claw will also have an insulating mass -15- opposite the area of contact with the object to be handled, intended to improve the cooling rate.
  • the example shown shows a cryogenic claw or extraction device that has been indicated with the joint numeral -16- that has the flexible pad -17- and that by means of a remote control system -18-, not shown in detail, has been arranged on a little stable mass -19- that you want to manipulate.
  • the maneuver will consist of depositing the dough in an adjacent collector -20-.
  • the cryogenic claw After placing the cryogenic claw by means of the maintenance device on the waste mass -19-, with the pad -17- previously moistened, It will then proceed to adapt the pad -17- on the mass to be handled -19-, as shown in Figure 4 at which time, given the flexibility characteristics of the pad -7- a good adaptation is achieved of said pad on the dough to be handled.
  • the cryogenic fluid will be entered by controlling its temperature by means of the sensor, reaching the expected temperature regime that may be preferably between -60 ° C and -90 ° C, which will cause the layer of humidification transformed into ice has resulted in the union of the unstable mass -19- on the underside of the pad -17-.
  • the next phase consists of lifting the extraction device -16-, as shown in Figure -5- and moving the mobile assembly -18- to place it above the collection area -20-, in which At the moment, the previously formed frozen layer will be liquefied to allow the detachment of the dough to be handled -19-, which may consist of a total of the previously manipulated dough or only part of it, which would force Repeat the process until its complete completion.
  • the liquefaction of the ice layer previously formed can be achieved simply by heating due to the atmospheric temperature if it is sufficiently high or with the help of the heating system formed by the heating battery -10- previously explained.
  • the wetting of the pad will be carried out with an easily frozen liquid, for example, water and the application of the liquid sheet can be carried out by impregnating the pad or by other means.
  • an easily frozen liquid for example, water
  • the application of the liquid sheet can be carried out by impregnating the pad or by other means.
  • the device will be able to start another work cycle.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mattresses And Other Support Structures For Chairs And Beds (AREA)

Abstract

Procédé et dispositif pour la manipulation de corps présentant une stabilité mécanique réduite ou un état non agrégé. Ce procédé est caractérisé par la mise en place d'un coussinet flexible et adaptable sur l'objet à manipuler. On humecte la face inférieure du coussinet avec un liquide congelable, puis on place le coussinet sur la masse de l'objet à manipuler à l'aide d'une pression déterminée afin de permettre son adaptation, on congèle ensuite la couche de liquide congelable en contact simultanément avec un mat flexible et avec la surface du corps à manipuler. On soulève ensuite l'ensemble constitué du mat et le corps à manipuler unis par la couche de liquide congelable et on déplace l'ensemble jusqu'à l'emplacement prévu pour son dépôt. A ce moment, on décongèle le liquide afin de séparer le corps à manipuler du mat.
PCT/ES1998/000024 1997-06-06 1998-02-05 Procede et dispositif pour la manipulation de corps presentant une stabilite mecanique reduite ou un etat non agrege WO1998055380A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES9701332A ES2115566B1 (es) 1997-06-06 1997-06-06 Procedimiento y dispositivo para la manipulacion de cuerpos que presentan reducida estabilidad mecanica o estado no agregado.
ESP9701332 1997-06-06

Publications (1)

Publication Number Publication Date
WO1998055380A1 true WO1998055380A1 (fr) 1998-12-10

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES1998/000024 WO1998055380A1 (fr) 1997-06-06 1998-02-05 Procede et dispositif pour la manipulation de corps presentant une stabilite mecanique reduite ou un etat non agrege

Country Status (2)

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ES (1) ES2115566B1 (fr)
WO (1) WO1998055380A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3140890A (en) * 1963-03-04 1964-07-14 Sidney A Schwartz Thermoelectric lift
US3611744A (en) * 1970-05-11 1971-10-12 Richard K Sutz Cryogenic pickup
DE3212741A1 (de) * 1982-04-06 1983-10-06 Peter Uhren Gmbh Festfriergreifer
GB2232656A (en) * 1989-06-16 1990-12-19 Pa Consulting Services Article handling apparatus and methods
US5452932A (en) * 1993-11-16 1995-09-26 Griffin; David Freeze holding device and process

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3140890A (en) * 1963-03-04 1964-07-14 Sidney A Schwartz Thermoelectric lift
US3611744A (en) * 1970-05-11 1971-10-12 Richard K Sutz Cryogenic pickup
DE3212741A1 (de) * 1982-04-06 1983-10-06 Peter Uhren Gmbh Festfriergreifer
GB2232656A (en) * 1989-06-16 1990-12-19 Pa Consulting Services Article handling apparatus and methods
US5452932A (en) * 1993-11-16 1995-09-26 Griffin; David Freeze holding device and process

Also Published As

Publication number Publication date
ES2115566B1 (es) 1999-09-16
ES2115566A1 (es) 1998-06-16

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