Recovery tool for recovering solid elements, in particular radioactive substances, comprising a capture head and a cup

Abstract

The present invention relates to a recovery tool (7) for recovering solid elements, in particular radioactive substances. The recovery tool (7) comprises a frame (70), a capture head (30) and at least one cup (84). The capture head (30) is movable relative to the frame (70) between a retracted position and a deployed position. In the retracted position, the capture head (30) is received within a chamber (75) of the recovery tool (7). In the deployed position, the capture head (30) is capable of capturing a solid element. The cup (84) is movable relative to the frame (70) between an open position and a closed position. In the open position, the cup (84) enables the capture head (30) to be deployed. In the closed position of the cup (84), the cup (84) enables the solid element to be retained within the chamber (75) while the capture head (30) is in the retracted position.

Description

Technical Field

[0001] The present invention relates to a tool for retrieving solid elements that are not directly accessible to humans and are difficult to grip with traditional gripping devices, and the tool can ensure that the solid elements are "not lost" after retrieval. The tool is particularly suitable for dense and / or radioactive solid elements, such as dermal fragments. Background Art

[0002] When performing operating projects, demolition projects or sanitation projects in a nuclear environment, it may be necessary to capture and radiologically isolate highly radioactive elements or substances of different sizes, densities and masses, such as dermal fragments.

[0003] The capture of such solid elements or radioactive substances may be carried out in areas that are inaccessible or difficult to access by humans, while attempting to limit the radiation exposure of human operators, the mass and overall dimensions of the retrieval tool. Due to these limitations, the capture and isolation of solid elements or radioactive substances is difficult to achieve.

[0004] Due to the geometry or surface condition of the solid element, it is difficult to grip it with tools of the prior art (such as pliers or suction storage buckets). In addition, once captured, the solid element must not fall or be lost during subsequent operations (such as transportation to a measuring device or an analysis device). Summary of the Invention

[0005] The present invention aims to at least partially solve the problems encountered in the solutions of the prior art.

[0006] In this regard, an object of the present invention is a tool for retrieving solid elements, particularly radioactive substances. The retrieval tool includes a frame, a capture head and at least one storage bucket.

[0007] The capture head is movable relative to the frame between a retracted position and an extended position to capture a solid element. In the retracted position, the capture head is received within the housing of the retrieval tool.

[0008] The storage bucket is movable relative to the frame between an open position and a closed position. In the open position, the capture head is extended. In the extended position of the capture head, the storage bucket is in the open position.

[0009] In the closed position, the capture head is in the retracted position to hold the solid element within the housing. In the retracted position of the capture head, the storage bucket is in the closed position.

[0010] The capture head includes a fluid-expandable gasket. The capture head is configured to hold the solid element relative to the frame by suction, particularly when the capture head is in the extended position, at least in part by evacuating fluid from the expandable gasket.

[0011] With the retrieval tool according to the present invention, solid elements, in particular radioactive substances such as dermal fragments, can be captured to hold the solid elements within the retrieval tool while protecting the operator from radiation. The recess generated in the capture head enables more effective capture of the solid elements. The retrieval tool is relatively light and has a small overall size. The retrieval tool can be purifying, reliable and easy to use. The retrieval tool can be remotely controlled, particularly by remote operation.

[0012] Due to the gasket, the capture head can capture solid elements more effectively. The gasket is deformable to capture solid elements by adapting to the shape of the solid elements without damaging them. The expandable gasket enables more effective capture of solid elements by sucking at least some fluid into the expandable gasket.

[0013] The present invention can optionally include one or more of the following features, either in combination with each other or individually.

[0014] Specifically, the housing is at least partially closed by a storage bucket in the closed position. In particular, when the capture head is in the extended position, the gasket is located outside the frame.

[0015] Preferably, the gasket is made of a material including an elastomer, such as silicone or latex.

[0016] Preferably, the capture head includes a filter for the fluid.

[0017] Preferably, the fluid is air.

[0018] According to one feature, the capture head is removably connected to the frame of the retrieval tool.

[0019] Preferably, the capture head is removably connected to the frame of the retrieval tool by threading.

[0020] The capture head can be easily replaced. In particular, the retrieval tool can be equipped with interchangeable capture heads, such as capture heads specifically adapted to the solid elements to be captured.

[0021] According to one feature, the movable storage bucket is the first storage bucket. The retrieval tool includes a second storage bucket that can move between an open position for extending the capture head and a closed position, in which the capture head is in the retracted position to hold the solid elements within the housing.

[0022] In the open position of each storage bucket, the capture head is extended. In the extended position of the capture head, each storage bucket is in the open position.

[0023] In the closed position of each storage bucket, the capture head is in the retracted position to hold the solid elements within the housing. In the retracted position of the capture head, each storage bucket is in the closed position.

[0024] Preferably, the second storage bucket is substantially identical in structure to the first storage bucket.

[0025] Very preferably, the second storage bucket is configured to have a position symmetrical to that of the first storage bucket with respect to the plane of symmetry passing through the capture head when opening and / or closing the storage bucket.

[0026] According to one feature, each storage bucket is configured to remain in the closed position when the capture head is in the retracted position and when a solid element impacts the storage bucket, especially in the case where the solid element drops due to the capture head accidentally losing its hold on the solid element.

[0027] According to one feature, each storage bucket is rotatably movable relative to the frame between its open position and its closed position.

[0028] Preferably, each storage bucket is rotatably movable relative to the frame when the storage bucket moves from its open position to its closed position.

[0029] According to one feature, each storage bucket is rigidly integral with an arm, and the arm is movably connected to the movable body of the recovery tool.

[0030] Then, when the capture head extends, each storage bucket tends to move further away from the capture head, thus facilitating the capture of the solid element.

[0031] According to one feature, the recovery tool includes an elastic return member configured to elastically bias the capture head towards the retracted position.

[0032] Preferably, the elastic return member includes a tension spring.

[0033] Very preferably, the tension spring is a helical spring.

[0034] In the absence of external control of the recovery tool, especially in the case of a failure of the control system of the recovery tool, the elastic return member biases the capture head into the interior of the housing to keep the solid element inside the recovery tool. By means of the elastic return member, the retracted position of the capture head and the closed position of at least one storage bucket are the safe positions of the recovery tool.

[0035] Preferably, the frame includes a housing, and the recovery tool includes a movable body that is different from the capture head and is translatably movable relative to the frame.

[0036] According to one feature, the movable body includes a bracket and at least two legs, and each leg projects from the bracket. Each leg is configured to mechanically engage the arm of the storage bucket to move the storage bucket relative to the frame.

[0037] Then, as the capture head extends, each bucket tends to move further away from the capture head, thus facilitating the capture of solid elements.

[0038] Preferably, each leg is configured to mechanically engage the arm of the bucket by mechanically engaging a rack and a gear to move the bucket relative to the frame.

[0039] According to one feature, the retrieval tool includes means for guiding the movable body relative to the frame.

[0040] Preferably, the retrieval tool includes means for guiding the movable body translationally relative to the frame.

[0041] Preferably, the guiding means includes a groove configured to mechanically engage a pin received in the groove.

[0042] The retrieval tool includes a linear actuator to move the capture head relative to the frame between a retracted position and an extended position.

[0043] Preferably, the linear actuator includes a cylinder.

[0044] Preferably, the linear actuator includes a pneumatic actuator.

[0045] Due to the linear actuator, the operation of the retrieval tool can be more easily automated, and the retrieval tool can be remotely controlled by an operator to protect the operator from radiation when the solid element is radioactive.

[0046] According to one feature, the retrieval tool includes a booster pump fluidly connected to the capture head to inflate the capture head by at least partially filling the capture head with fluid and / or to deflate the capture head by at least partially evacuating the fluid in the capture head.

[0047] The present invention also relates to a retrieval device for retrieving solid elements, the retrieval device including the retrieval tool as described above.

[0048] According to one feature, the retrieval device further includes a control system for the retrieval tool and / or a holding member for the retrieval tool.

[0049] According to one feature, the retrieval device includes retrieval monitoring means for monitoring the retrieval of solid elements by the retrieval tool.

[0050] Preferably, the retrieval monitoring means includes an image capture device.

[0051] Very preferably, the image capture device is housed in a housing at least when the bucket is in the closed position.

[0052] The monitoring means helps to capture solid elements, especially radioactive substances.

[0053] The present invention also relates to a method for recovering solid elements, in particular radioactive substances, using a recovery tool or a recovery device as described above.

[0054] According to the present invention, the recovery method includes a step of capturing a solid element, which includes depressurizing the capture head to hold the solid element relative to the capture head, moving the capture head from its extended position to its retracted position, and closing at least one storage bucket to hold the solid element within the housing of the recovery tool.

[0055] By the recovery method according to the present invention, solid elements, in particular radioactive substances such as dermal fragments, can be captured to hold the solid elements within the recovery tool while protecting the operator from radiation.

[0056] According to one feature, the recovery method includes the following steps before the step of capturing the element: opening at least one storage bucket and extending the capture head, in particular extending the capture head facing the solid element.

[0057] Preferably, the step of opening at least one storage bucket and extending the capture head includes expanding the capture head by at least partially filling the capture head with fluid.

[0058] According to one feature, the capture step includes pressing the capture head against the solid element to capture the solid element.

[0059] By pressing the capture head against the solid element, it is convenient to capture the solid element.

[0060] Preferably, the capture step includes depressurizing the capture head by at least partially evacuating the fluid in the capture head. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The present invention will be better understood by reading the description of exemplary embodiments given in a schematic and non-limiting manner with reference to the accompanying drawings, in which:

[0062] - Figure 1 is a partial perspective schematic view of a device for recovering solid elements (in this case radioactive substances);

[0063] - Figure 2 is a schematic longitudinal sectional view of a tool for recovering solid elements (in this case radioactive substances);

[0064] - Figure 3 is a partial perspective schematic view of the recovery tool, where the storage bucket is in the closed position;

[0065] - Figure 4 is a partial perspective schematic view of the recovery tool, where the storage bucket is in the open position;

[0066] - Figure 5A 、 Figure 5B 、 Figure 5C and Figure 5D illustrate a method for using a recovery tool to recover a solid element (in this case, a radioactive substance). Detailed Description

[0067] Identical, similar, or equivalent components in different figures have the same reference numerals so as to jump from one figure to another.

[0068] Figure 1 Illustrated is a device 1 for recovering a solid element 2 according to a first embodiment. The solid element 2 may be dense, having variable dimensions and mass, which makes it more difficult to recover the solid element. For example, the solid element is a radioactive substance, particularly a dermal fragment.

[0069] Such radioactive substance 2 is supported on a base 3, which may be open-air, in an enclosed housing, or even submerged in water. The radioactive substance 2 may be located in a place that is difficult for a human operator to access and / or particularly dangerous.

[0070] The recovery device 1 includes a recovery tool 7, a holding member 40 for the recovery tool, an actuation system for the recovery tool 7, at least one control system 4, and a recovery monitoring device 10.

[0071] In the illustrated example, the holding member 40 includes a hinged arm. The holding member is configured to support and move the recovery tool 7 to capture the radioactive substance 2 and transport the radioactive substance before radioactive isolation of the radioactive substance (e.g., placing the radioactive substance in a container).

[0072] The control system 4 of the device includes a control system 42 for the holding member 40. The control system 42 for the holding member includes, for example, at least one computer. The control system for the holding member is configured to remotely control, in particular by remote operation, the holding member 40 to move the recovery tool 7.

[0073] The recovery tool 7 includes a capture head 30.

[0074] The system for actuating the recovery tool 7 includes an extension system 5 and an inflation system 6 for the capture head 30.

[0075] The extension system 5 for the capture head includes a pressurizing member, an actuation conduit 53, and an extension control system 54. The extension system for the capture head is configured to enable the capture head 30 to extend relative to the frame 70 of the recovery tool 7 to capture the radioactive substance 2.

[0076] In the illustrated embodiment, the pressurizing member includes at least one compressor 50. An actuation conduit 53 fluidly connects the pressurizing member to a linear actuator 90, which in the illustrated embodiment is of the pneumatic type. The actuation conduit 53 includes, for example, at least one flexible tube. The actuation conduit 53 is used to supply pressurized fluid to the actuator 90.

[0077] An extension control system 54 is used to control the operation of the pressurizing member. For example, the extension control system includes at least one computer.

[0078] In the illustrated embodiment, the fluid is air. The extension system 5 and the inflation system 6 are configured to inject pressurized air into the recovery tool 7.

[0079] The inflation system 6 for the capture head includes a pumping member, a fluid supply conduit 63, a pressure monitoring device 62, and a pneumatic control system 64.

[0080] The pumping member includes at least one pump 60, which in the illustrated embodiment is a peristaltic pump for example. The supply conduit 63 fluidly connects the pumping member to a booster pump 96, which is visible in Figure 2 and which in the illustrated embodiment is of the pneumatic type. The supply conduit 63 includes, for example, at least one flexible tube. The supply conduit is used to supply pressurized fluid to the booster pump 96 or to relieve the pressure of the booster pump 96.

[0081] The pressure monitoring device 62 includes at least one pressure gauge configured to monitor the pressure of the fluid injected into the recovery tool 7 by the pumping member.

[0082] The pneumatic control system 64 is used to control the operation of the pumping member to at least partially fill the capture head 30 with fluid and / or to empty the capture head. For example, the pneumatic control system includes at least one computer. In the illustrated embodiment, the pneumatic control system 64 and the extension control system 54 form a single fluid control system. This fluid control system is in particular part of the control system 4.

[0083] In the illustrated embodiment, the recovery tool 7 is reusable. In other words, the recovery tool can be used to continuously recover a plurality of radioactive substances 2. The recovery tool is elliptical when closed, exhibiting an outer surface that rotates about the longitudinal axis Z-Z of the recovery tool 7.

[0084] Joint reference Figures 1 to 4 , the recovery tool 7 includes a frame 70, a movable assembly 8, a guiding device 44, a linear actuator 90, an elastic return member 91, a booster pump 96, a capture head 30, and a recovery monitoring device 10.

[0085] The capture head 30 is movable relative to the frame 70 between a retracted position and an extended position. Each bucket 84 of the movable assembly 8 is movable relative to the frame 70 between an open position and a closed position. The recovery tool 7 has a closed position and an open position. In the closed position, the capture head 30 is in the retracted position and each bucket 84 is in the closed position. In the open position, the capture head 30 is in the extended position and each bucket 84 is in the open position.

[0086] The frame 70 of the recovery tool 7 includes a housing 71 and a bottom 72.

[0087] The housing 71 is annular about a longitudinal axis Z-Z. The lower and upper ends of the housing are open along the longitudinal axis Z-Z. The housing is integral.

[0088] The bottom 72 seals the upper end of the housing 71 and is attached to the upper end of the housing, for example, by threading. A first port 73a, which is a passage hole for the actuation conduit 53, and a second port 73b, which is a passage hole for the supply conduit 63, pass through the bottom 72.

[0089] The frame 70 of the recovery tool 7 and the bucket 84 define a housing 75 inside the recovery tool 7 to accommodate the capture head 30 when the capture head 30 is in the retracted position.

[0090] The movable assembly 8 of the recovery tool 7 includes an internally movable body 80, two arms 82, two buckets 84, a bucket drive device 20, and a guiding device 44. The movable assembly is movable relative to the frame 70 to enable the capture head 30 to extend and retract.

[0091] The movable body 80 includes a sliding portion 81, a bracket 83, and at least two legs 85, each leg protruding from the bracket 83 towards the capture head 30. The movable body is particularly integral.

[0092] In the illustrated embodiment, the movable body 80 is movable relative to the frame 70 along the longitudinal axis Z-Z of the recovery tool 7 between Figure 3 the upper position shown and Figure 4 the lower position shown, such that the recovery tool 7 is switched from its closed position to its open position, or from its open position to its closed position. The upper position of the movable body 80 corresponds to the closed position of the recovery tool 7. The lower position of the movable body 80 corresponds to the open position of the recovery tool 7.

[0093] More generally, the movable body 80 is configured to be movable relative to the frame 70 with a translational component along the actuation direction Z-Z to switch the recovery tool 7 from its closed position to its open position, or from its open position to its closed position.

[0094] Unless otherwise specified in the following disclosure, the direction parallel to the longitudinal axis Z-Z of the retrieval tool 7 is also referred to as the actuation direction. The circumferential direction is the direction around the actuation direction. The transverse direction is the direction perpendicular to the actuation direction Z-Z.

[0095] The sliding part 81 extends from the bracket 83 in the direction of the longitudinal axis Z-Z of the retrieval tool 7 relative to the leg 85. The sliding part 81 includes a wall having an annular shape around the longitudinal axis Z-Z. When the storage bucket 84 and the capture head 30 are in the closed position, the sliding part is supported on the bottom 72. The sliding part is configured to slide along the actuation direction Z-Z against the housing 71 surrounding the sliding part.

[0096] The bracket 83 has a symmetric plate shape that is symmetric about the longitudinal axis Z-Z of the retrieval tool 7. The bracket is mechanically connected on the one hand to the linear actuator 90 and on the other hand to the elastic return member 91, and the linear actuator and the elastic return member are designed to bias the bracket in opposite directions in a direction parallel to the longitudinal axis Z-Z.

[0097] Each leg 85 projects from the bracket in the direction of the longitudinal axis Z-Z towards the capture head 30. The legs 85 are laterally spaced apart from each other in the transverse direction of the retrieval tool 7. Each leg 85 includes a first tooth portion 23. In the illustrated embodiment, each leg 85 includes a rack 22 near its lower end in the actuation direction Z-Z, and the rack carries the first tooth portion 23.

[0098] More specifically referring to Figure 3 and Figure 4 , the guiding device 44 includes a groove 45 and a pin 47 received in the groove 45. The guiding device is configured to guide the movable body 80 relative to the frame 70. In the illustrated embodiment, the guiding device 44 is configured to guide the movable body 80 translationally relative to the frame 70.

[0099] The pin 47 is rigidly integral with the housing 71, and the pin projects from the housing into the interior of the frame 70, particularly radially with respect to the longitudinal axis Z-Z. The pin 47 is configured to mechanically engage the groove 45 and move in the groove 45 when the retrieval tool 7 transitions from its closed position to its open position or from its open position to its closed position.

[0100] The groove 45 is formed in the sliding part 81. The groove passes through the sliding part 81. The groove has an elongated shape in the direction of the longitudinal axis Z-Z.

[0101] For each bucket 84, the movable assembly 8 includes at least one arm 82. In the illustrated embodiment, each bucket 84 is rigidly integral with a single arm 82. Each arm 82 extends from its proximal end, where it is connected to the movable body 80, to a distal end, where each arm is connected to one of the buckets 84.

[0102] Each arm 82 is connected to a rack 22 of a corresponding leg 85 of the movable body 80 by a gear 24. Each arm 82 is rotatably movable relative to the frame 70 about a rotation axis X1-X1 or X2-X2 that passes through the center of the gear 24. When the retrieval tool 7 is switched from the open position to the closed position or from the closed position to the open position, the arm 82 can also move relative to the movable body 80 in the actuation direction Z-Z, having a translational component.

[0103] Each gear 24 includes a second tooth portion 25 that is configured to mechanically engage a first tooth portion 23 of the corresponding rack 22 to move the corresponding arm 82 relative to the movable body 80 and relative to the frame 70.

[0104] The gear 24, the rack 22, and the arm 82 together form a drive device 20 that is configured to transition each bucket 84 relative to the frame 70 between its open position and its closed position or between its closed position and its open position.

[0105] The movable assembly 8 includes a first bucket 84 and a second bucket 84 that is structurally substantially identical to the first bucket 84. The second bucket 84 is configured to have a position that is symmetric with respect to the position of the first bucket 84 relative to a symmetry plane passing through the capture head 30 when the bucket 84 is opened or closed. The bucket 84 is designed to seal the housing 75 in the closed position and optionally retain the radioactive material 2 in the housing 75 in the closed position.

[0106] In the illustrated embodiment, each bucket 84 is rigidly integral with one of the arms 82 and thus forms a single piece with the corresponding arm 82. Each bucket 84 is a trough having a generally quarter-spherical shape.

[0107] Each bucket 84 is rotatably movable relative to the frame 70 about a rotation axis X1-X1 or X2-X2 that passes through the center of one of the gears 24 when moving from its open position to its closed position or from its closed position to its open position. More generally, the stroke of each bucket 84 relative to the frame 70 includes a rotational component.

[0108] In the open position, each bucket 84 is configured to enable the capture head 30 to extend. Each bucket 84 is laterally spaced apart from the capture head 30 and the other of the buckets 84 relative to the closed position.

[0109] In the closed position, each bucket 84 seals the housing 75 and the capture head 30 is in the retracted position to keep the radioactive material 2 within the housing 75. Then, the buckets 84 are joined along the joint line J-J, which is located substantially transversely to the center of the retrieval tool 7.

[0110] In particular, each bucket 84 is configured to remain in the closed position when the radioactive material 2 falls from the capture head 30 onto the bucket 84.

[0111] The linear actuator 90 is a pneumatic actuator. The linear actuator 90 includes a receiving portion 92 and a rod 94, and the rod is translatable relative to the receiving portion 92 along the actuation direction Z-Z. The linear actuator 90 thus forms a cylinder. In the illustrated embodiment, the linear actuator 90 is supplied with pressurized air from the compressor 50 and forms a pneumatic cylinder.

[0112] The linear actuator 90 is configured to move the capture head 30 relative to the frame 70 between the retracted position and the extended position via the movable body 80 and the drive device 20.

[0113] The receiving portion 92 is rigidly integral with the frame 70, for example attached to the bottom 72. The receiving portion 92 has an annular shape, typically cylindrical, and in the illustrated example, the receiving portion has a circular cross-section around the longitudinal axis Z-Z of the retrieval tool 7.

[0114] The rod 94 extends longitudinally along the actuation direction Z-Z. The rod is mechanically connected at its lower end to the bracket 83 of the movable body 80, and the rod biases the bracket downwardly in translation along the actuation direction Z-Z to extend the capture head 30. The rod forms a piston.

[0115] The elastic return member 91 includes a tension spring, in particular a helical spring. The elastic return member extends longitudinally along the actuation direction Z-Z from the bracket 83 of the movable body 80 to the capture head 30. The elastic return member 91 is configured to elastically bias the capture head 30 towards the retracted position and bias the movable body 80 towards the upper position.

[0116] The elastic return member 91 is configured to automatically bias the capture head 30 towards the retracted position without external control from the retrieval tool 7, in particular without pneumatic control from the extension control system 54 via the compressor 50.

[0117] In particular, the elastic return member is configured to automatically bias the capture head 30 into the interior of the housing 75 once the capture head 30 has captured the radioactive material 2 to isolate the radioactive material 2 within the housing 75.

[0118] The resilient return member is also configured to automatically bias the capture head 30 into the interior of the housing 75 to retain the radioactive material 2 within the housing 75 in the event of a failure of the control system 4 after the radioactive material 2 has been captured.

[0119] The pressurizing pump 96 includes a tip 98 and an internal pressurizing and depressurizing conduit 99. The pressurizing pump 96 is rigidly integral with the capture head 30, in particular fixed to the bottom plate 36 of the capture head. The pressurizing pump is in fluid connection with the capture head 30 to inflate the capture head by at least partially filling it with air and / or to deflate the capture head by at least partially evacuating the air in the capture head.

[0120] The tip 98 of the pressurizing pump 96 is in fluid connection with the supply conduit 63 and leads to an inner conduit 99 located inside the pressurizing pump 96, and the tip is substantially annular around the actuation direction Z-Z. The inner conduit 99 is in fluid connection with the air supply channel 37 of the capture head 30.

[0121] Joint reference Figures 2 to 4 to, the capture head 30 includes a gasket 32, a bottom plate 36, connection means for the capture head, and a filtering means 38. The capture head 30 is carried relative to the frame 70 by the lower end of the resilient return member 91.

[0122] The capture head 30 is translatably movable relative to the frame 70 along the actuation direction Z-Z between an upper position and a lower position. In the upper position, the capture head is in a retracted position, and in the lower position, the capture head is in an extended position. The capture head is configured to capture the radioactive material 2 and retain it within the housing 75 until the radioactive material is transported out of the recovery tool 7, for example, transported into a container.

[0123] In the retracted position, the capture head 30 is received within the housing 75 of the recovery tool 7. The capture head is in an upper position relative to the frame 70 in the actuation direction Z-Z. The gasket 32 is partially deflated.

[0124] In the extended position, at least the gasket 32 of the capture head 30 is located outside the outer housing 71. The capture head 30 is in a lower position relative to the frame 70 in the actuation direction Z-Z. The gasket 32 is at least partially inflated. The capture head 30 is capable of capturing the radioactive material 2.

[0125] The gasket 32 is made of a material including an elastomer such as silicone or latex. The material of the gasket 32 has dimensions and deformation capabilities suitable for the radioactive material 2 to be captured. If necessary, the gasket can be sufficiently deformed to press onto the radioactive material 2 without damaging the radioactive material, while having sufficient rigidity to retain the radioactive material 2 when the capture head 30 moves.

[0126] In the illustrated embodiment, the gasket 32 can be inflated and / or deflated by a booster pump 96. The capture head 30 is configured to hold the radioactive material 2 by partially evacuating the capture head 30, at least in part by suction relative to the frame 70.

[0127] In the example shown, the bottom plate 36 has a shape that rotates about the longitudinal axis Z-Z of the recovery tool 7. In particular, the bottom plate generally has a cylindrical shape with a circular cross-section. The supply channel 37 passes through the bottom plate. The bottom plate is mechanically connected to the elastic return member 91 and fluidly connected to the booster pump 96, which is attached to the bottom plate 36.

[0128] The supply channel 37 extends between the inner conduit 99 of the booster pump and the inner cavity of the gasket 32. The supply channel 37 leads to the inner cavity of the gasket 32 to inflate the gasket by at least partially filling the inner cavity of the gasket with fluid and / or deflate the gasket by evacuating the fluid in the inner cavity of the gasket.

[0129] The capture head 30 includes a filtering device 38 that is fluidly located between the inner conduit 99 of the booster pump and the supply channel 37 of the capture head. The filtering device 38 includes a filter located at the entrance of the supply channel 37. The filtering device 38 is used to filter the fluid entering and / or leaving the gasket 32.

[0130] The capture head 30 is detachably connected to the frame 70 by at least one fastener. In the illustrated embodiment, the bottom plate 36 is connected to the lower end of the elastic return member 91 by screws 34. The screws 34 form a means for connecting the capture head 30.

[0131] The recovery monitoring device 10 includes an image capture device (not shown), such as a camera. The recovery monitoring device 10 is configured to monitor the recovery of the radioactive material 2 by the recovery tool 7, thereby facilitating the capture of the radioactive material 2.

[0132] The image capture device is housed within the housing 75 at least when the storage bucket 84 is in the closed position. In the illustrated embodiment, the image capture device is attached, for example, to the bottom plate 36 of the capture head.

[0133] In Figure 3 , the recovery tool 7 is in the closed position. The capture head 30 is in the retracted position, inside the housing 75. Each storage bucket in the storage bucket 84 is in the closed position to seal the lower end of the housing 75. The rod 94 of the linear actuator 90 is in the retracted position. The movable body 80 is in the upper position relative to the chassis 70. The pin 47 is located in the lower part of the groove 45 in the actuation direction Z-Z. Each gear 24 engages the corresponding rack 22 at the lower part of the rack 22.

[0134] In Figure 4In this case, the recovery tool 7 is in the open position. The capture head 30 is in the extended position, outside the housing 75. Each storage bucket 84 in the storage bin is in the open position to enable the capture head 30 to extend, that is, to exhibit the capture head 30. The rod 94 of the linear actuator 90 is in the extended position. The movable body 80 is in the lower position relative to the frame 70. The pin 47 is located in the upper part of the groove 45 along the actuation direction Z-Z. Each gear 24 engages the corresponding rack 22 in the upper part of the rack 22.

[0135] Combined reference Figures 5A to 5D To illustrate the method 100 for recovering radioactive substances. The recovery method 100 is implemented by the recovery device 1.

[0136] Reference Figure 5A Referring to, the recovery method 100 begins with step 101 of moving the recovery tool via the articulated arm and control system 42 of the holding member 40 to bring the recovery tool 7 closer to the radioactive substance, and then aligning the capture head 30 with the radioactive substance 2 along the actuation direction Z-Z during step 102 of orienting the recovery tool 7 towards the radioactive substance 2.

[0137] Reference Figure 5B Referring to, the recovery method 100 continues with the following step 103: when the linear actuator 90 biases the movement of the movable body 80 along the actuation direction, the storage bucket 84 is opened and the capture head 30 facing the radioactive substance 2 is extended. As the movable body 80 moves along the actuation direction Z-Z relative to the frame 70 and the arm 82 pivots relative to the frame 70 to move away the storage bucket 84, opening the storage bucket 84, extending the capture head 30 in the actuation direction Z-Z, and moving the pin 47 along the groove 45 occur step by step.

[0138] Extending the capture head along the actuation direction Z-Z is accompanied by step 104 of expanding the capture head 30. The booster pump 96 fills the gasket 32 of the capture head with air to increase the pressure inside the gasket 32.

[0139] Reference Figure 5C Referring to, the recovery method 100 includes the step of moving the capture head 30 closer to the radioactive substance 2 along the actuation direction Z-Z until the capture head 30 is pressed against the radioactive substance 2 in step 108, thereby facilitating capture.

[0140] Pressing the capture head 30 against the radioactive substance 2 is accompanied by step 109 of decompressing the capture head 30. The booster pump 96 evacuates the air in the gasket 32 of the capture head to reduce the pressure inside the gasket 32 and at least partially suck in the radioactive substance 2, thereby making it easier to capture and store the radioactive substance 2.

[0141] Reference Figure 5D, the recovery method 100 includes a step 110 of closing each bucket 84 and retracting the capture head 30 towards the housing 75. Step 110 is a step of capturing and holding the radioactive material 2 fixed to the capture head 30. The recovery method 100 includes a step 112 of storing the radioactive material 2 within the housing 75 (including when the radioactive material 2 may fall from the capture head 30 onto at least one of the buckets 84), and then, the housing is enclosed by the buckets 84.

[0142] If desired, the recovery method 100 includes a verification step 113, in which it is verified, for example via the monitoring device 10 or by shaking the recovery tool 7 and checking that the buckets 84 remain closed, that the radioactive material 2 is properly stored within the housing 75. The verification step 113 is to prevent the accidental release of the radioactive material 2, which may pose a risk to the operator.

[0143] The recovery method 100 ends with the following step 114: moving the recovery tool 7 and transporting the radioactive material 2 to a container (not shown) where the radioactive material 2 is radiologically isolated.

[0144] With the aid of the recovery tool 7, the radioactive material 2 can be captured, stored within the recovery tool 7 while protecting the operator from radiation. The recovery tool 7 is relatively light and small in overall size. The recovery tool can be purified, reliable and easy to use. The recovery tool can be remotely controlled, for example via a linear actuator 90 and a booster pump 96, by remote operation.

[0145] The inflatable capture head 30 and the recess formed in the capture head 30 enable more effective capture of the radioactive material 2. The retracted position is a safe position for the capture head 30, to which the capture head tends without the control of the recovery tool 7, thus better storing the radioactive material 2 within the housing 75 in case of an accident.

[0146] By removing it from the frame 70, the capture head 30 can be easily replaced. The recovery tool 7 can be equipped with an interchangeable capture head 30, in particular a capture head 30 that is particularly suitable for each radioactive material 2 to be captured.

[0147] Of course, those skilled in the art can make various modifications to the present invention just described without departing from the scope of the present invention disclosure.

[0148] Alternatively, the fluid is a liquid, such as water. The fluid can also be a gas other than air, such as an inert gas.

[0149] Alternatively, the holding member of the recovery tool 7 includes, for example, a rod instead of the articulated arm 40.

[0150] Alternatively, the recovery tool 7 is for single use and can capture at most one radioactive material 2.

[0151] The structure of the recovery tool 7 can vary. In particular, the structure of the frame 70 and the movable component 8 can vary. Generally, the shape of the movable body 80 is adapted to the shape of the frame 70 to be movable relative to the frame 70.

[0152] Alternatively, the movable body 80 can move relative to the frame 70 and have a rotational component in addition to the translational component along the actuation direction Z-Z.

[0153] The structure of the drive device 20 can vary. The drive device 20 can include as many gears 24 and racks 22 as there are legs 85 of the movable body 80. Further alternatively, at least one of the arms 82 includes at least one rack 22, and at least one of the gears is rigidly integrated with one of the legs 85 of the movable body 80.

[0154] Alternatively, the recovery tool 7 does not have the guiding device 44 of the movable body 80.

[0155] The structure of the guiding device 44 can vary. For example, the number of grooves 45 and pins 47 of the guiding device 44 is variable. The guiding device 44 can include as many grooves 45 as there are storage buckets 84. Generally, the guiding device 44 includes as many pins 47 as there are grooves 45. Further alternatively, the housing 71 includes at least one groove 45 and each pin 47 is rigidly integrated with the movable body 80.

[0156] Alternatively, the arms 82 are mechanically connected to the frame instead of the movable body 80. Then, each of the arms 82 is configured to pivot between the open position and the closed position of each storage bucket 84 by mechanical engagement with the frame 70.

[0157] The structure of the storage bucket 84 can vary. In particular, the storage buckets can have different shapes from each other, especially complementary shapes to enclose the housing 75 when in the closed position.

[0158] The number of storage buckets 84 of the recovery tool 7 is variable. For example, the recovery tool 7 can include a single storage bucket 84 or at least three storage buckets 84.

[0159] Alternatively, at least one of the storage buckets 84 can move relative to the frame 70 and have a translational component in addition to the rotational component relative to the frame 70.

[0160] The structure of the linear actuator 90 can vary. For example, the linear actuator 90 can include a spring, a hydraulic actuator, and / or an electric actuator.

[0161] The structure of the elastic reset member 91 can vary. Alternatively, the elastic reset member 91 includes a leaf spring or a block of elastically deformable material, such as an elastomer.

[0162] Alternatively, the housing 75 is defined by the frame 70, in particular the outer housing 71. In this case, when the capture head is in the retracted position, the capture head 30 is completely received within the frame 70.

[0163] Alternatively, the recovery tool 7 does not have a pressure boosting pump 96, especially when the capture head 30 is not supplied with fluid.

[0164] The structure of the capture head 30 can vary: for example, the capture head 30 includes a suction nozzle instead of the gasket 32.

[0165] Alternatively, the capture head 30 is removably connected to the frame 70 by other types of fasteners, such as pins. Further alternatively, the capture head 30 is non-removably connected to the frame 70, for example by crimping.

[0166] Alternatively, the recovery monitoring device 10 includes an image capture device located outside the recovery tool 7, for example attached to the outside of the frame 70.

[0167] The order of the steps of the recovery method 100 can vary. In particular, the step 103 of opening the storage bucket can occur before the recovery tool 7 faces the radioactive material 2. The capture head 30 can be at least partially inflated before the step 103 of opening the storage bucket.

[0168] The recovery method 100 can omit the step 108 of pressing the capture head 30, especially when the depression generated in the capture head 30 is sufficient to capture the radioactive material 2 during the decompression step 109.

[0169] The step 113 of verifying the preservation of the radioactive material can be omitted, especially when the recovery tool 7 has recovered a similar radioactive material 2.

Claims

1. A recovery tool (7) for recovering a solid element (2), the recovery tool comprising: a frame (70), a capture head (30) that is movable relative to the frame (70) between a retracted position and an extended position, wherein, in the retracted position, the capture head (30) is received within a housing (75) of the recovery tool (7), and wherein, in the extended position, the capture head (30) is for capturing the solid element (2), at least one storage bucket (84) that is movable relative to the frame (70) between an open position and a closed position, wherein when the storage bucket (84) is in the open position, the capture head (30) is in the extended position, and wherein when the capture head (30) is in the extended position, the storage bucket (84) is in the open position, wherein when the storage bucket (84) is in the closed position, the capture head (30) is in the retracted position to hold the solid element (2) within the housing (75), and wherein when the capture head (30) is in the retracted position, the storage bucket (84) is in the closed position, wherein the capture head (30) includes a gasket (32) that can be inflated by a fluid, and wherein the capture head (30) is configured to hold the solid element (2) relative to the frame (70) at least in part by suction by at least partially evacuating the fluid in the gasket (32).

2. The recovery tool (7) according to claim 1, wherein, The storage bucket (84) is a first storage bucket, wherein the recovery tool (7) includes a second storage bucket that is movable between an open position and a closed position, wherein the open position is for extending the capture head (30) and wherein when the second storage bucket is in the closed position, the capture head (30) is in the retracted position to hold the solid element (2) within the housing (75).

3. The recovery tool (7) according to claim 1, wherein, Each storage bucket (84) is configured to remain in the closed position when the solid element (2) impacts the storage bucket (84) when the capture head (30) is in the retracted position.

4. The recovery tool (7) according to claim 1, wherein, Each storage bucket (84) is rotatably movable relative to the frame (70) between its open position and its closed position.

5. The recovery tool (7) according to claim 1, wherein, Each storage bucket (84) is rigidly integral with an arm (82), and the arm is movably connected to a movable body (80) of the recovery tool (7).

6. The recovery tool (7) according to claim 1, the recovery tool including an elastic return member (91) configured to elastically bias the capture head (30) toward the retracted position.

7. The recovery tool (7) according to claim 1, wherein, The frame (70) includes an outer shell (71), wherein the recovery tool (7) includes a movable body (80) that is different from the capture head (30) and is translatably movable relative to the frame (70).

8. The recovery tool (7) according to claim 7, wherein, Each bucket (84) is rigidly integrated with an arm (82), the arm being movably connected to a movable body (80) of the recovery tool (7), wherein the movable body (80) includes a bracket (83) and at least two legs (85), each leg protruding from the bracket (83), wherein each leg (85) is configured to mechanically engage the arm (82) of the bucket (84) to move the bucket (84) relative to the frame (70).

9. The recovery tool (7) according to claim 5, the recovery tool including guiding means (44) for guiding the movable body (80) relative to the frame (70).

10. The recovery tool (7) according to claim 1, the recovery tool including a linear actuator (90) for linearly moving the capture head (30) relative to the frame (70) between the retracted position and the extended position.

11. The recovery tool (7) according to claim 1, the recovery tool including a booster pump (96) fluidly connected to the capture head (30) for expanding the capture head by at least partially filling the capture head with fluid and / or contracting the capture head by at least partially evacuating the fluid in the capture head.

12. The recovery tool (7) according to claim 1, wherein, The gasket (32) is made of a material including an elastomer.

13. The recovery tool (7) according to claim 1, wherein, The capture head (30) is detachably connected to the frame (70).

14. The recovery tool (7) according to claim 1, wherein, The solid element is a radioactive substance.

15. A recovery device (1) for recovering a solid element (2), the recovery device including the recovery tool (7) according to claim 1, Among them, the recovery device (1) further including a control system (4) for controlling the recovery tool (7) and / or a holding member (40) for holding the recovery tool (7).

16. The recovery device (1) according to claim 15, wherein the recovery device comprises a recovery monitoring device (10) for monitoring the recovery of the solid element (2) by the recovery tool (7), wherein, The recovery monitoring device (10) includes an image capture device.

17. The recovery device (1) according to claim 15, wherein, The solid element is a radioactive substance.

18. A recovery method for recovering a solid element (2) by the recovery tool (7) according to claim 1, the recovery method including: a step of capturing (110) the solid element (2), the step including depressurizing (109) the capture head (30) to hold the solid element (2) relative to the capture head (30), moving the capture head (30) from its extended position to its retracted position, and closing at least one bucket (84) to hold the solid element (2) within the housing (75) of the recovery tool (7).

19. The recovery method according to claim 18, the recovery method including the following steps before the step of capturing (110) the solid element (2): when the capture head (30) faces the solid element (2), opening (103) the at least one bucket (84) and extending the capture head (30), and expanding (104) the capture head (30) by at least partially filling the capture head with fluid.

20. The recovery method according to claim 18, wherein, The capture step (110) includes pressing the capture head (30) onto the solid element (2) and decompressing the capture head (30) (109) by at least partially evacuating the fluid in the capture head.

21. The recovery method according to claim 18, wherein, The solid element is a radioactive substance.

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