Radioactive waste transfer system and method

Abstract

The invention provides a radioactive waste transfer system and method.The transfer system comprises a waste hoisting mechanism in a radioactive environment, at least one waste butt joint station and at least two irradiation-resistant AGVs, and the waste butt joint station is used for receiving or sending out radioactive waste; the waste hoisting mechanism is used for hoisting away the radioactive waste on the faulted AGV; a conveying line is arranged between the waste hoisting mechanism and the waste butt joint station, and the at least two AGVs serve as rescue mechanisms for each other and move along the conveying line to transfer the radioactive waste. According to the radioactive waste transfer system, the mode that the AGV trolley is combined with the conveying line is adopted, high flexibility is achieved, the transportation starting point position and the transportation ending point position of the waste barrel can be replaced at any time, the conveying line does not interfere with personnel passing and other equipment, and universality is higher; and a large number of fixed roller ways in a traditional scheme are saved, the equipment cost is saved, the workload of construction, installation, operation and maintenance is reduced, and meanwhile the operation convenience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of radioactive waste transportation, and in particular to a radioactive waste transportation system and method. Background Art

[0002] At present, the radioactive waste transfer system of traditional nuclear power plants is composed of roller lines to connect various user points. The entire roller is fixedly installed. In order to connect the corresponding user points, multiple sections of rollers need to be set up, which requires a large number of equipment and occupies a large space. On the one hand, the construction of such a large number of rollers results in a large workload; on the other hand, the increase or decrease of user points will involve the disassembly and modification of the rollers, which is very inconvenient and imposes a heavy burden on the owner's subsequent operation and maintenance; in addition, the flexibility of waste transfer is poor, and the single operating track results in low transfer efficiency and difficulty in subsequent modification.

[0003] Based on this, the inventor of the present application proposes a radioactive waste transfer system and method in order to solve the above technical problems. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defects of low waste transfer efficiency and difficult operation and maintenance in the prior art, and to provide a radioactive waste transfer system and method.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] The present invention provides a radioactive waste transport system, which is characterized by comprising:

[0007] A waste lifting mechanism, at least one waste docking station and at least two radiation-resistant AGV trolleys in a radioactive environment, wherein the waste docking station is used to receive or deliver radioactive waste, and the waste lifting mechanism is used to lift the radioactive waste from the failed AGV trolley; wherein,

[0008] A conveyor line is provided between the waste lifting mechanism and the waste docking station, and at least two AGVs serve as rescue mechanisms for each other and move along the conveyor line to transfer radioactive waste.

[0009] According to one embodiment of the present invention, it also includes a power exchange mechanism in a radioactive environment;

[0010] The AGV trolley is provided with a detachable dual-power mechanism, and the power-changing mechanism is used to receive the AGV trolley and replace the dual-power mechanism.

[0011] According to one embodiment of the present invention, the power-changing mechanism is located in a non-radioactive space, and the power-changing process of the AGV vehicle is located in the non-radioactive space.

[0012] According to one embodiment of the present invention, one end of the transmission line extends to the battery replacement mechanism.

[0013] According to one embodiment of the present invention, it also includes a maintenance station in a non-radioactive environment for repairing the faulty AGV vehicle.

[0014] According to one embodiment of the present invention, the waste docking station includes: an empty barrel delivery station, a capping station, a compaction cake filling station, a grouting station, a curing station, a chemical waste liquid drying station, a waste resin filling station, a waste maintenance station and a waste storage station;

[0015] The empty barrel delivery station is used to deliver empty barrels for subsequent filling;

[0016] The capping station is used to cap the waste barrel;

[0017] The compacted cake filling station is used to receive the empty barrel and fill it with compacted cake;

[0018] The grouting station is used to grout the waste barrel containing radioactive waste;

[0019] The solidification station is used to perform cement solidification on radioactive waste;

[0020] The chemical waste liquid drying station is used to put the chemical waste liquid into a barrel for drying;

[0021] The waste resin filling station is used to load the processed waste resin into a waste barrel;

[0022] The waste curing station is used to temporarily store and cur the waste after grouting and curing;

[0023] The waste storage station is used to send the waste to the waste temporary storage for temporary storage.

[0024] According to one embodiment of the present invention, it further includes a control mechanism, which includes a wireless network and a video monitoring mechanism. The wireless network is used to send signals to the AGV vehicle, and the video monitoring mechanism is used to monitor the operating status of the AGV vehicle.

[0025] According to one embodiment of the present invention, a control unit is provided inside the AGV vehicle, and a radiation-resistant mechanism is provided outside the control unit.

[0026] The present invention also provides a method for transporting radioactive waste, which is implemented by using the radioactive waste transport system as described above, and the transport method comprises:

[0027] Step 1: Obtain the transfer signal sent by the waste docking station;

[0028] Step 2: formulate an operation track and send an operation signal to the AGV vehicle, and the AGV vehicle arrives at the waste docking station along the operation track to receive or deliver radioactive waste.

[0029] According to one embodiment of the present invention, in step 1, it also includes:

[0030] Acquire the running status of the AGV in real time, and send a rescue signal to another AGV in case of failure; wherein the AGV receiving the rescue signal moves to the position of the failed AGV and drags the failed AGV to the waste lifting device;

[0031] After determining that the radioactive waste on the faulty AGV has been lifted off, a signal is sent to another AGV to tow the faulty AGV to a maintenance station for maintenance.

[0032] According to one embodiment of the present invention, step one also includes: obtaining the power consumption of the AGV trolley, and sending a charging signal to the AGV trolley when the power is insufficient, so that the AGV trolley is moved to a power exchange mechanism for power exchange.

[0033] The positive and progressive effects of the present invention are:

[0034] The radioactive waste transfer system of the present invention is provided with at least two radiation-resistant AGV carts for mutual rescue, thus eliminating the need for personnel to enter the irradiated area and improving system safety.

[0035] The combination of AGV trolley and conveyor line is highly flexible. The starting and ending points of the waste barrel can be changed at any time. The conveyor line will not interfere with the passage of personnel and other equipment, and has higher sharing.

[0036] Moreover, the transfer system proposed by the present invention saves a large number of fixed rollers in the traditional solution, saves equipment costs, reduces the workload of construction, operation and maintenance, and improves the convenience of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which:

[0038] Figure 1 is a schematic diagram of the radioactive waste transport system of the present invention;

[0039] Figure 2 It is a structural schematic diagram of the AGV trolley of the present invention;

[0040] Figure 3 The figure is a flow chart of the radioactive waste transport method of the present invention.

[0041] 1. Waste lifting mechanism;

[0042] 2. Waste docking station;

[0043] 3. AGV car;

[0044] 4. Conveyor line;

[0045] 5. Battery replacement mechanism;

[0046] 6. Maintenance station. DETAILED DESCRIPTION

[0047] The present invention is further described below in conjunction with specific embodiments and drawings. More details are elaborated in the following description to facilitate a full understanding of the present invention. However, the present invention can obviously be implemented in a variety of other ways different from the description herein. Those skilled in the art can make similar generalizations and deductions based on actual application situations without violating the connotation of the present invention. Therefore, the protection scope of the present invention should not be limited by the content of this specific embodiment.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0049] Please refer to Figure 1 and Figure 2 The present invention proposes a radioactive waste transfer system, comprising a waste lifting mechanism 1 in a radioactive environment, at least one waste docking station 2 and at least two radiation-resistant AGV carts 3, the waste docking station 2 is used to receive or send out radioactive waste, and the waste lifting mechanism 1 is used to lift the radioactive waste off the faulty AGV cart 3; wherein, there is a conveyor line 4 between the waste lifting mechanism 1 and the waste docking station 2, and at least two AGV carts 3 serve as rescue mechanisms for each other and move along the conveyor line 4 to transfer radioactive waste.

[0050] AGV 3 is often used in traditional factory logistics due to its high flexibility, high degree of automation and low equipment requirements. However, radioactive rays can damage the electronic components of conventional AGV 3, the exterior paint surface is prone to aging, the structural materials are prone to aging and deterioration, and conventional AGV 3 requires staff to go to the AGV 3 for maintenance when it fails, which makes AGV 3 unusable in radioactive waste transportation systems.

[0051] Based on this, the present invention improves the AGV trolley 3, concentrates all control components in a control unit inside the AGV trolley 3, and sets a radiation-resistant mechanism outside the control unit. The material of the AGV trolley 3 is selected from materials with higher structural strength, so that the AGV trolley 3 can be used in a radioactive waste transfer system.

[0052] Specifically, the outer shell of the AGV trolley 3 uses stainless steel as a structural part, and no surface spraying is required, so that the AGV trolley 3 will not age due to radiation. The material of the AGV trolley 3 is described here by taking stainless steel as an example, and the specific material is not limited. The radiation-resistant mechanism can be a lead box, and the control unit is placed in the lead box. The lead box is used as an example for description here, but it is not limited.

[0053] A conveyor line 4 is set between the waste lifting mechanism 1 and the waste docking station 2. The AGV trolley 3 and the conveyor line 4 are combined to transport waste, which is more flexible. The transportation starting point and end point of the nuclear waste cylinder can be switched as needed. The set conveyor line 4 will not interfere with the staff or other transportation devices, and has higher commonality. Compared with the traditional fixed roller, the transfer system of this application saves equipment costs, reduces the workload of construction, operation and maintenance, and improves the convenience of operation.

[0054] Optionally, an interface and a latch are respectively provided at the front and rear ends of each AGV trolley 3. When the AGV trolley 3 fails, another AGV trolley 3 reaches the side of the failed AGV trolley 3 and inserts the latch of the normal AGV trolley 3 into the interface of the failed AGV trolley 3, so that the two are connected. Then the normal AGV trolley 3 can drag the failed AGV trolley 3 to the waste docking station 2 or the maintenance station 6. The above description is made by taking the interface and the latch as an example. In some other embodiments, other methods such as magnetic attraction can also be used to connect the normal AGV trolley 3 and the failed AGV trolley 3, which is not limited here.

[0055] Please continue to refer to Figure 1 The transport system also includes a power exchange mechanism 5 in a radioactive environment; a detachable dual-power mechanism is provided on the AGV trolley 3, and the power exchange mechanism 5 is used to receive the AGV trolley 3 and replace the dual-power mechanism.

[0056] In order to prevent the staff from entering the radioactive environment, the AGV trolley 3 is provided with a dual power mechanism, and a power exchange mechanism 5 for exchanging power of the power mechanism is provided in the system.

[0057] That is, the redundant design of the AGV 3 includes but is not limited to: dual transfer motors, dual chain transmission mechanisms and dual batteries.

[0058] Among them, a roller track is arranged on the AGV trolley 3, and the roller containing radioactive waste is placed on the roller track. Double chain conveying mechanisms are arranged on both sides of the roller track, and each transfer motor is connected to a set of double chain conveying mechanisms and operates independently, so that when one set of transfer motors or double chain conveying mechanisms fails, the other set of transfer motors and double chain conveying mechanisms can also drive the pipeline to operate without affecting the conveying of the rollers.

[0059] The AGV trolley 3 is provided with dual batteries, each set of batteries can supply power to the transfer motor and the control unit in the AGV trolley 3, and when one of them is out of power, the other can be switched to supply power.

[0060] Moreover, it is possible to move to the battery exchange mechanism 5 at any time to replace the dead battery and reinstall the fully charged battery. The replaced battery remains in the battery exchange mechanism 5 for charging. In this way, the AGV trolley 3 does not need to stop working for charging, thereby improving the efficiency of waste transportation.

[0061] It should be noted that one end of the conveyor line 4 extends to the battery replacement mechanism 5. In this way, when one of the batteries of the AGV trolley 3 is out of power, it can reach the battery replacement mechanism 5 along the conveyor line 4 for battery replacement.

[0062] Specifically, the power-changing mechanism 5 is located in a non-radioactive space, and the power-changing process of the AGV trolley 3 is located in the non-radioactive space.

[0063] The transfer system of the present application is equipped with a battery replacement mechanism 5, which can replace the battery on the AGV trolley 3 to avoid charging the AGV trolley 3, thereby reducing the risk of fire caused by charging and causing damage to the AGV trolley 3.

[0064] The battery exchange mechanism 5 is located in an independent non-radioactive area and performs battery charging and battery exchange operations. This is conducive to fire protection of the battery exchange mechanism 5 alone and improves the safety of the system.

[0065] In one embodiment, the transport system further includes a maintenance station 6 in a non-radioactive environment for repairing a faulty AGV trolley 3 .

[0066] It can be seen that one end of the conveyor line 4 extends to the maintenance station 6, so that when the AGV cart 3 fails, another AGV cart 3 can rescue it and drag the failed AGV cart 3 to the maintenance station 6 for maintenance. At this time, the radioactive waste on the failed AGV cart 3 has been dragged away, so that the maintenance personnel can be prevented from being exposed to radioactive radiation.

[0067] In one embodiment, the waste docking station 2 includes: an empty barrel delivery station, a capping station, a compaction cake filling station, a grouting station, a curing station, a chemical waste liquid drying station, a waste resin filling station, a waste maintenance station, and a waste storage station;

[0068] The empty barrel delivery station is used to deliver empty barrels for subsequent filling;

[0069] The capping station is used to cap the waste barrel;

[0070] The compacted cake filling station is used to receive empty barrels and fill them with compacted cake;

[0071] The grouting station is used to grout the waste barrels containing radioactive waste;

[0072] The solidification station is used to cement the radioactive waste;

[0073] The chemical waste liquid drying station is used to put the chemical waste liquid into barrels for drying;

[0074] The waste resin filling station is used to load the processed waste resin into the waste barrel;

[0075] The waste curing station is used to temporarily store and cur the waste after grouting and curing;

[0076] The waste storage station is used to send waste to the waste temporary storage warehouse for temporary storage.

[0077] That is, the waste docking station 2 is set according to the process requirements, and the AGV trolley 3 is docked therewith to transport the radioactive waste.

[0078] It can be seen that a fixed roller line is set at the docking station, and the roller containing radioactive waste is placed on the roller line. When the AGV trolley 3 reaches one end of the roller line, it is ensured that the roller running direction of the AGV trolley 3 is consistent with the conveying direction of the roller line, so that the roller on the roller line can be conveyed to the AGV trolley 3, or the roller on the AGV trolley 3 can be conveyed to the roller line. The specific running state of the roller is determined by the actual needs of the docking station.

[0079] In one embodiment, the transfer system further includes a control mechanism, which includes a wireless network and a video monitoring mechanism. The wireless network is used to send signals to the AGV trolley 3 , and the video monitoring mechanism is used to monitor the operating status of the AGV trolley 3 .

[0080] That is, a wireless network is provided for sending signals to the AGV trolley 3, so as to facilitate the control of the AGV trolley 3. A video monitoring mechanism is also provided for remotely checking the waste transfer situation and performing manual auxiliary control in abnormal situations.

[0081] When the system is operating normally, the AGV trolley 3 arrives at the waste docking station 2 along the conveyor line 4 to transfer the rollers.

[0082] When the AGV trolley 3 fails, if the failed AGV trolley 3 has a roller containing radioactive waste, first use another AGV trolley 3 in normal state to drag the failed AGV trolley 3 to the waste lifting mechanism 1, the waste lifting mechanism 1 lifts the roller off the AGV trolley 3, and then the AGV trolley 3 in normal state drags the failed AGV trolley 3 to the maintenance station 6 for maintenance.

[0083] When the AGV 3 sends a signal of low battery, the route of the AGV 3 is adjusted so that the AGV 3 first reaches the battery exchange mechanism 5 for battery exchange. The replaced battery is charged in the battery exchange mechanism 5, and the fully charged AGV 3 is loaded for further transportation, thereby improving the efficiency of waste transportation and reducing the risk of damage to the AGV 3 caused by fire due to charging.

[0084] In summary, the radioactive waste transfer system of the present invention is provided with at least two radiation-resistant AGVs 3 that can rescue each other, so that no personnel are required to enter the irradiation area, and the system safety is higher.

[0085] The combination of the AGV trolley 3 and the conveyor line 4 has a high degree of flexibility. The transportation starting point and end point of the waste barrel can be changed at any time. The conveyor line 4 will not interfere with the passage of personnel and other equipment, and has a higher degree of commonality.

[0086] Moreover, the transfer system proposed by the present invention saves a large number of fixed rollers in the traditional solution, saves equipment costs, reduces the workload of construction, operation and maintenance, and improves the convenience of operation.

[0087] Please refer to Figure 3 The present invention also proposes a method for transporting radioactive waste, which is implemented by using the above radioactive waste transport system. The transport method includes:

[0088] Step 1: Obtain the transfer signal sent by the waste docking station;

[0089] Step 2: Prepare an operation track and send an operation signal to the AGV. The AGV follows the operation track to the waste docking station to receive or deliver radioactive waste.

[0090] Wherein, in step one, it also includes:

[0091] Acquire the running status of the AGV in real time, and send a rescue signal to another AGV in case of a fault; the AGV that receives the rescue signal moves to the location of the faulty AGV and drags the faulty AGV to the waste lifting device;

[0092] After confirming that the radioactive waste of the faulty AGV has been lifted off, a signal is sent to another AGV to tow the faulty AGV to the maintenance station for maintenance.

[0093] Furthermore, in step one, it also includes: obtaining the power consumption of the AGV car, and when the power is insufficient, sending a charging signal to the AGV car, so that the AGV car is moved to the power exchange mechanism for power exchange.

[0094] The operating method provided by the present invention enables a worker to remotely control an AGV trolley to transport radioactive waste. When an AGV trolley fails, another AGV trolley can be controlled for rescue. The system has higher flexibility and improves the efficiency of waste transportation in a radioactive environment.

[0095] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "install", "connect", "connect", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can also be a mechanical connection. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0096] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0097] Although the present invention is disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, any modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A radioactive waste transport system, characterized in that: include: A waste lifting mechanism, at least one waste docking station and at least two radiation-resistant AGV trolleys in a radioactive environment, wherein the waste docking station is used to receive or deliver radioactive waste, and the waste lifting mechanism is used to lift the radioactive waste from the failed AGV trolley; wherein, A conveyor line is provided between the waste lifting mechanism and the waste docking station, and at least two AGVs serve as rescue mechanisms for each other and move along the conveyor line to transfer radioactive waste.

2. The radioactive waste transport system according to claim 1, characterized in that: It also includes power exchange mechanisms in radioactive environments; The AGV trolley is provided with a detachable dual-power mechanism, and the power-changing mechanism is used to receive the AGV trolley and replace the dual-power mechanism.

3. The radioactive waste transport system according to claim 2, characterized in that: The power-changing mechanism is located in a non-radioactive space, and the power-changing process of the AGV vehicle is located in the non-radioactive space.

4. The radioactive waste transport system according to claim 2, characterized in that: One end of the transmission line extends to the power exchange mechanism.

5. The radioactive waste transport system according to claim 1, characterized in that: It also includes a maintenance station in a non-radioactive environment for repairing the faulty AGV vehicle.

6. The radioactive waste transport system according to claim 1, characterized in that: The waste docking stations include: empty barrel delivery station, capping station, compaction cake filling station, grouting station, curing station, chemical waste liquid drying station, waste resin filling station, waste maintenance station and waste storage station; The empty barrel delivery station is used to deliver empty barrels for subsequent filling; The capping station is used to cap the waste barrel; The compacted cake filling station is used to receive the empty barrel and fill it with compacted cake; The grouting station is used to grout the waste barrel containing radioactive waste; The solidification station is used to perform cement solidification on radioactive waste; The chemical waste liquid drying station is used to put the chemical waste liquid into a barrel for drying; The waste resin filling station is used to load the processed waste resin into a waste barrel; The waste curing station is used to temporarily store and cur the waste after grouting and curing; The waste storage station is used to send the waste to the waste temporary storage for temporary storage.

7. The radioactive waste transport system according to claim 1, characterized in that: It also includes a control mechanism, which includes a wireless network and a video monitoring mechanism. The wireless network is used to send signals to the AGV vehicle, and the video monitoring mechanism is used to monitor the operating status of the AGV vehicle.

8. The radioactive waste transport system according to claim 1, characterized in that: A control unit is provided inside the AGV trolley, and a radiation-resistant mechanism is provided outside the control unit.

9. A method for transporting radioactive waste, characterized in that: The method is implemented by using the radioactive waste transfer system according to any one of claims 1 to 8, wherein the transfer method comprises: Step 1: Obtain the transfer signal sent by the waste docking station; Step 2: formulate an operation track and send an operation signal to the AGV vehicle, and the AGV vehicle arrives at the waste docking station along the operation track to receive or deliver radioactive waste.

10. The method for transporting radioactive waste according to claim 9, characterized in that: In step one, it also includes: Acquire the running status of the AGV in real time, and send a rescue signal to another AGV in case of failure; wherein the AGV receiving the rescue signal moves to the position of the failed AGV and drags the failed AGV to the waste lifting device; After determining that the radioactive waste on the faulty AGV has been lifted off, a signal is sent to another AGV to tow the faulty AGV to a maintenance station for maintenance.

11. The method for transporting radioactive waste according to claim 9, characterized in that: In step one, it also includes: obtaining the power consumption of the AGV car, and sending a charging signal to the AGV car when the power is insufficient, so that the AGV car is moved to the power exchange mechanism for power exchange.

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