Automatic radioactive waste barrel pollution measuring method and radiation monitor

Abstract

The invention belongs to the technical field of radiation monitoring, and provides an automatic radioactive waste bin pollution measurement method and a radiation monitor in order to solve the problem that manual detection is needed when a nuclear pollution waste bin is treated at present. Then a waste bin rotating and positioning device is controlled to conduct centering and positioning, roundness detection is conducted on the waste bin, after it is confirmed that the deformation degree of the waste bin meets the standard, a mechanical arm is controlled to wipe the waste bin, and meanwhile a coincidence detector is controlled to detect the surface pollution level of the waste bin in real time; the dose rate level around and on the surface of the waste bin is monitored in real time through the control area radiation monitoring probe, and finally whether pollution of the whole waste bin exceeds the standard or not is judged according to the detection result and the preset alarm threshold value, so that the monitoring process is fully automatic, manual participation is reduced, and the efficiency is improved. In addition, the automatic radioactive waste barrel pollution measuring method can achieve batch rapid detection, and the detection efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of radiation monitoring, and particularly relates to a radioactive waste barrel pollution automatic measurement method and a radiation monitor. BACKGROUND

[0002] Radiation environmental monitoring refers to the measurement of the radiation and radioactivity level outside the perimeter of a facility that handles radioactive substances, which is related to the operation of the facility. The object of radiation environmental monitoring is the environment and organisms, and the radiation monitor is an instrument for measuring the radiation and radioactive rays in the environment and equipment. 、 Radiation and radioactive rays.

[0003] When handling the waste barrels contaminated by nuclear pollution, manual detection by relevant staff is still required, which is dangerous to a certain extent. Therefore, it is necessary to design an automatic measurement method of the radiation monitor to reduce the participation of personnel and improve the automation degree of radiation measurement. SUMMARY

[0004] The present application provides a radioactive waste barrel pollution automatic measurement method and a radiation monitor to solve at least one of the above technical problems in the prior art.

[0005] According to the first aspect, the present application provides a radioactive waste barrel pollution automatic measurement method, comprising the following steps: S1: performing background measurement, and waiting for waste barrel pollution measurement after confirming that the background is normal; S2: performing waste barrel in-place detection, and controlling the waste barrel rotation positioning device to perform centring positioning and self-rotation of the waste barrel after confirming that the waste barrel is in place; S3: performing waste barrel roundness detection, and controlling the mechanical arm to grab the wiping paper after confirming that the deformation degree of the waste barrel meets the standard; S4: controlling the wiping end of the mechanical arm to contact the to-be-measured position of the waste barrel, then controlling the waste barrel rotation positioning device to rotate the waste barrel, and simultaneously controlling the regional radiation monitoring probe to detect the dose rate level around the waste barrel and the surface of the barrel; after wiping is completed, controlling the mechanical arm to move the wiped wiping paper to the surface detected by the coincidence probe, and then controlling the coincidence probe to detect the pollution of the wiped wiping paper to obtain a pollution detection result; S5: recording the pollution detection result, and based on the pollution detection result, controlling the mechanical arm to classify and place the wiped wiping paper; S6: controlling the mechanical arm to replace the wiping paper, and simultaneously controlling the wiping end of the mechanical arm to move to the next to-be-measured position of the waste barrel, and repeating steps S4 and S5 until each to-be-measured position of the waste barrel is detected for pollution, and then outputting the pollution situation, position and pollution type of the waste barrel. ​​

[0006] Preferably, before performing background measurements, the method further includes: performing a self-test, the self-test items of which include, but are not limited to, the communication and status of the radiation monitor and the communication and status of the detection components, and performing background measurements after confirming that the self-test is normal.

[0007] Preferably, the detector is used to detect contamination on wiped paper, including detecting contamination on the surface of waste bins. Radiation pollution level.

[0008] Preferably, the method further includes: dividing the waste bin into at least five test positions, namely top, upper, middle, lower, and bottom; after wiping and testing one test position is completed, the robotic arm is controlled to grab a new wiping paper and move it to the next test position for wiping, and the robotic arm is controlled to attach the new wiping paper to the next test position of the waste bin until the entire waste bin is measured.

[0009] According to a second aspect, the present invention provides a radiation monitoring instrument for radioactive waste bins, used to perform the automatic measurement method for radioactive waste bin contamination described in the first aspect and any embodiment above, comprising: the radiation monitoring instrument includes a detection component, a wiping paper dispensing device, a robotic arm, a waste bin rotation and positioning device, a wiping paper collector, an equipment electrical cabinet, a robotic arm electrical cabinet, and a main frame; the main frame is a square frame structure, with the upper part of the two side baffles being arc-shaped, and one side baffle having a window; the equipment electrical cabinet is located inside the rear of the main frame, close to the baffle on the side with the window; the detection component includes a coincidence detector, a first area radiation monitoring probe, and a second area radiation monitoring probe, wherein the coincidence detector is installed inside the rear of the main frame, arranged side by side with the equipment electrical cabinet, for detecting the surface of the waste bin. , To assess pollution levels, a first-zone radiation monitoring probe is installed at the gripping end of the robotic arm to detect the location of the waste bin to be tested. To detect dose contamination, a second area radiation monitoring probe is installed inside the main frame at the front to detect the area around the waste bins. Dose rate level; the wiping paper collector is installed inside the main frame and close to the side of the unopened baffle; the wiping paper dispensing device is installed inside the main frame and arranged in the same column as the wiping paper collector; the robotic arm electrical cabinet is installed inside the front of the main frame, close to the side of the unopened baffle and near the front baffle of the main frame; the waste bin rotation positioning device is installed inside the front of the main frame and is flush with the second area radiation monitoring probe; the robotic arm is installed inside the main frame, with its control end flush with the coincidence detector and its gripping end located above the waste bin rotation positioning device.

[0010] Preferably, the robotic arm specifically includes: a control system, a follower kit, an actuator, a wiping paper pre-tightening device, and a mechanical gripping device; the mechanical gripping device grabs the wiping paper, and then the wiping paper pre-tightening device automatically approaches, controlling the mechanical gripping device to adhere the wiping paper to the outer wall of the waste bin, the actuator feeding back the compression distance of the follower kit to the control system, the control system sets the wiping position and path according to the feedback information, and then controls the robotic arm to perform wiping.

[0011] Preferably, the wiping paper collector specifically includes: a contaminated area and a non-contaminated area; when the wiping paper is contaminated, the robotic arm places the contaminated wiping paper in the contaminated area, and when the wiping paper is not contaminated, the robotic arm places the contaminated wiping paper in the non-contaminated area.

[0012] Preferably, the waste bin rotation positioning device specifically includes: a rotation device and a centering positioning device; wherein, the rotation device consists of a return support, a planetary reducer and a servo system, used to control the rotation angle and rotation speed of the waste bin, and the centering positioning device consists of a servo system, a planetary reducer and a limit module, used to drive the waste bin to the center position of the rotation support.

[0013] Preferably, it also includes a fixed arm and a movable arm. The movable arm is rotatably mounted at both ends of the fixed arm. Five mechanical clamping devices are provided, three of which are equidistantly mounted on the fixed arm, and the other two are mounted on the two movable arms respectively. The five mechanical clamping devices are used to simultaneously sample the top, upper, middle, lower and bottom of the waste bin. The five mechanical clamping arms are arranged in a straight line and pass through the detector in sequence to be detected.

[0014] Preferably, the mechanical clamping device includes a sampling head, an isolation cover, and a first power unit. One isolation cover is provided on each side of the sampling head. The rear end of the isolation cover is rotatably engaged with the sampling head. When the front ends of the two isolation covers are closed, they wrap the wiping paper and press it tightly onto the sampling head. The first power unit is installed on the sampling head and is used to control the opening and closing of the isolation covers.

[0015] Compared with the prior art, the beneficial effects of the present invention are: The automatic measurement method for radioactive waste bin contamination designed in this invention controls a robotic arm to wipe the waste bin and controls a conformal detector to monitor the surface of the waste bin in real time. , Pollution levels are monitored in real time around and on the surface of waste bins using radiation monitoring probes in the control area. The dose rate level is determined, and finally, based on the detection results and preset alarm thresholds, it is determined whether the overall contamination of the waste bin exceeds the standard. This fully automates the monitoring process, reducing manual intervention. Furthermore, the automatic measurement method for radioactive waste bin contamination of the present invention can also achieve rapid batch detection, greatly improving detection efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the judgment process of the automatic measurement method for radioactive waste bin contamination according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of the radiation monitoring device for radioactive waste bins according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the detector structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the robotic arm structure according to an embodiment of the present invention; Figure 5 This is an enlarged view of the mechanical clamping device in an embodiment of the present invention; Figure 6 This is a schematic diagram of the wipe paper collector structure according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the waste bin rotation and positioning device according to an embodiment of the present invention; Figure 8 This is a schematic diagram of another embodiment of the mechanical clamping device of the present invention; Figure 9 This is the present invention. Figure 8 Enlarged view of a single mechanical clamping device in the image; Figure 10 This is the present invention. Figure 9 Enlarged view of point A; Figure 11 This is the present invention. Figure 9 A schematic diagram of the structure of the mechanical clamping device after the isolation cover is opened; Figure 12 This is the present invention. Figure 11 Enlarged view of point B; Figure 13 This is the present invention. Figure 11 Another perspective view; Figure 14 This is the present invention. Figure 13 Enlarged view of point C; Figure 15 This is the present invention. Figure 13 A schematic diagram of the structure of the wiping paper is hidden in the middle; Figure 16 This is a schematic diagram of the first suction channel and the second suction channel of the present invention; Figure 17 is a schematic diagram of the suction pipe in the isolation cover of the present application; Figure 18 is a schematic diagram of the air inlet cavity and the air outlet cavity of the present application after being cut open; Figure 19 is a detailed view of the D-shaped suction pipe of the present application Figure 18 .

[0018] In the figure: 1-main frame, 2-equipment electrical cabinet, 3.1-compliant detector, 3.2-first area radiation monitoring probe, 3.3-second area radiation monitoring probe, 4-wiping paper collector, 4.1-contaminated area, 4.2-non-contaminated area, 5-wiping paper taking device, 6-mechanical arm electrical cabinet, 7-waste barrel rotating positioning device, 7.1-rotating device, 7.2-homing positioning device, 8-mechanical arm, 8.1-control system, 8.2-following kit, 8.3-actuator, 8.4-wiping paper pre-tightening device, 8.5-mechanical clamping device, 9-fixed arm, 10-movable arm, 11-sampling head, 12-second power device, 13-incomplete gear, 14-driving gear, 15-suction pump, 16-first suction channel, 17-air inlet hole one, 18-air inlet hose, 19-straight part, 20-arc-shaped part, 21-guide plate, 22-sliding groove, 23-sliding block, 24-second suction channel, 25-air inlet hole two, 26-suction pipe, 27-air inlet cavity, 28-valve ball, 29-cannula one, 30-air inlet hole three, 31-cannula two, 32-middle channel, 33-lateral channel, 34-air outlet, 35-air outlet cavity, 36-air outlet channel, 37-air outlet hose, 38-connection plate, 39-driving plate, 40-strip-shaped groove, 41-sliding rod, 42-driving rod, 43-spiral groove, 44-straight groove, 45-spherical body, 46-top rod, 47-return spring, 48-roller, 49-first power device, 50-rod sleeve. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application are clearly and completely described in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0020] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0021] At the end of the nuclear fuel cycle, it is necessary to determine whether waste bins meet the management restrictions on surface contamination and external irradiation of radioactive waste transport containers to prevent the illegal transport and spread of radioactive waste bins exceeding the threshold. Currently, the detection of waste bins is mostly done manually, which is somewhat dangerous. Therefore, this invention provides an automatic measurement method to detect the contamination status of the area around and on the surface of waste bins in a timely manner, determine whether they are contaminated and identify the type of contamination, and take timely action against the source of contamination to avoid the spread of contamination and reduce harm.

[0022] According to an embodiment of the present invention, an automatic measurement method for radioactive waste bin contamination is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0023] This embodiment provides an automatic method for measuring radioactive waste bin contamination, which can be used on mobile terminals such as mobile phones, tablets, and integrated industrial computers. This embodiment uses an integrated industrial computer as a terminal operating console to execute the automatic radioactive waste bin contamination measurement method of this invention. It acquires data from the detection components via a 485 communication interface and issues commands to the mechanical structure via an RJ45 communication interface to achieve automatic measurement and control. Figure 1 This is a flowchart illustrating the judgment process of an automatic measurement method for radioactive waste bin contamination according to an embodiment of the present invention, such as... Figure 1 As shown, pollution detection is automatically performed according to this judgment process, which includes the following steps: S1: Conduct baseline measurements and wait for waste bin contamination measurements after confirming that the baseline is normal; S2: Perform waste bin positioning detection. After confirming that the waste bin is in place, control the waste bin rotation positioning device 7 to center the waste bin and rotate it. S3: Perform roundness detection on the waste bin, and after confirming that the degree of deformation of the waste bin meets the standard, control the robotic arm 8 to grab the wiping paper; S4: the wiping end of the mechanical arm 8 is controlled to be in contact with the to-be-measured position of the waste barrel, then the waste barrel rotating positioning device 7 is controlled to rotate the waste barrel, and the first area radiation monitoring probe and the second area radiation monitoring probe detect the surroundings of the waste barrel and the surface of the waste barrel the dose rate level; after the wiping is completed, the wiped wiping paper is moved to the detected surface of the coincidence probe 3.1 by controlling the mechanical arm 8, and then the coincidence probe 3.1 is controlled to detect the contamination of the wiped wiping paper; S5: the above contamination detection result is recorded, and based on the above contamination detection result, the wiped wiping paper is classified and placed by controlling the mechanical arm 8; S6: the wiping paper is replaced by controlling the mechanical arm 8, and the wiping end of the mechanical arm 8 is moved to the next to-be-measured position of the waste barrel, and steps S4 and S5 are repeated until each to-be-measured position of the waste barrel is detected, and the contamination of the waste barrel, the position and the contamination type are output.

[0024] In the embodiment, before the contamination of the waste barrel is measured, background detection is required to determine the surface emissivity of the waste barrel, so as to improve the accuracy of subsequent contamination measurement of the waste barrel. The radioactive source on the surface of the waste barrel is generally or The radioactive source on the surface of the waste barrel needs to be detected by the radiation detector, and the coincidence probe 3.1, the first area radiation monitoring probe 3.2 and the second area radiation monitoring probe 3.3 calculate the surface emissivity response of the or The surface emissivity response calculation formula of the radioactive source is: , wherein is the total count rate, is the background count rate, is the surface emissivity of the radioactive source.

[0025] In the embodiment, the surface emissivity response of the coincidence probe 3.1 is: , The relative inherent error of the monitoring probe of the area detector is not more than ± 15%.

[0026] In the embodiment, when the coefficient of variation of the measuring device is large, the measuring result is unstable, and further inspection and maintenance are required. Therefore, before the contamination of the waste barrel is measured, the coefficient of variation of the detection assembly also needs to be determined. In the embodiment, the coefficient of variation calculation formula is: , wherein is the standard deviation of the measurement value, is the net count of the measurement, is the average value of the measurement.

[0027] ​​​In this embodiment, the coefficient of variation standard range is set to be ≤10%, at this time, the measurement accuracy and measurement result of the detection assembly meet the relevant standards.

[0028] In this embodiment, after wiping is completed, the control mechanical arm 8 moves the wiped wiping paper to meet the detector 3.1 detection surface and stays for a certain time, so as to calculate the detection limit of the unit area activity of the wiping paper by the coincidence detector 3.1, and analyze the contamination of the wiping paper according to the preset detection limit standard.

[0029] In this embodiment, the detection limit of the unit area activity (MDA) is an important index for evaluating the performance of the radiation monitoring equipment, which represents the minimum radioactive activity that can be quantitatively analyzed by the equipment. In practical application, the MDA is closely related to the detection limit, when the net count / count rate (radiation measurement data-background measurement data) is greater than the detection limit, the radioactive activity of the contaminant can be quantitatively analyzed.

[0030] In this embodiment, the preset standard of the detection limit of the unit area activity is: under the environmental background of 0.2 (microsievert / hour), the confidence is 95%, the measurement time is 20s, the minimum detectable lower limit of the detection assembly is for 0.2 (microsievert / hour), the minimum detectable lower limit of the detection assembly is for 0.2 (microsievert / hour), the minimum detectable lower limit of the detection assembly is (microsievert / hour), the minimum detectable lower limit of the detection assembly is

[0031] (microsievert / hour), the minimum detectable lower limit of the detection assembly is (microsievert / hour), the minimum detectable lower limit of the detection assembly is (microsievert / hour), the minimum detectable lower limit of the detection assembly is (microsievert / hour), the minimum detectable lower limit of the detection assembly is (microsievert / hour), the minimum detectable lower limit of the detection assembly is (microsievert / hour), the minimum detectable lower limit of the detection assembly is (microsievert / hour), the minimum detectable lower limit of the detection assembly is (microsievert / hour), the minimum detectable lower limit of the detection assembly is (microsievert / hour), the minimum detectable lower limit of the detection assembly is (microsievert / hour), the minimum detectable lower limit of the detection assembly is (microsievert / hour), the minimum detectable lower limit of the detection assembly is

[0032] Optionally, before the background measurement, it further includes: self-checking, the self-checking items include but are not limited to the communication and state of the radiation monitor and the communication and state of the detection assembly, and the background measurement is performed after confirming that the self-checking is normal.

[0033] In this embodiment, when the self-checking is abnormal, the system fails, and the automatic measurement process is stopped.

[0034] Optionally, before the mechanical arm 8 moves the wiping paper to the waste barrel to be measured position to start wiping, the detection assembly measures the pollution of the environment around the waste barrel, and when the environment is polluted, the mechanical arm 8 regrasps the wiping paper.

[0035] In the embodiment, the detection assembly measures the distance between the surface of the waste barrel and the surface of the waste barrel The detector starts to measure the distance between the surface of the waste barrel and the surface of the waste barrel The dose rate level, when the pollution is detected, the pollution position and the pollution type are prompted, the contaminated wiping paper is put into the wiping paper collector 4, and then the wiping paper is regrasped.

[0036] Optionally, the waste barrel is divided into at least five to be measured positions, which are top, upper, middle, lower and bottom respectively; when wiping and detection of one to be measured position are completed, the mechanical arm 8 regrasps new wiping paper, and the mechanical arm 8 is controlled to adhere the new wiping paper to the next to be measured position of the waste barrel, until the whole waste barrel is measured.

[0037] In the embodiment, when the self-checking is abnormal, the system prompts a fault, waits for maintenance, and after the maintenance is completed, the system self-checking is performed again, when the self-checking is normal, the background measurement is performed, when the background measurement is abnormal, the system prompts a background fault, waits for maintenance, when the maintenance is completed, the background measurement is performed again, when the background measurement is normal again, whether the waste barrel is in place is detected, when the waste barrel is not in place, the system prompts that the waste barrel is not in place, at this time, the related staff repositions the waste barrel, after the positioning is completed, the system rechecks whether the waste barrel is in place, when the waste barrel is in place, the waste barrel is positioned by the waste barrel rotating positioning device 7, the waste barrel is driven to rotate at a constant speed, and the deformation degree of the waste barrel is checked, when the deformation degree of the waste barrel meets a preset deformation standard, the mechanical arm 8 is controlled to rotate to the wiping paper taking device 5 to grasp the wiping paper, then the mechanical arm 8 moves the wiping paper to the to be measured position of the waste barrel, the waste barrel rotating positioning device 7 drives the waste barrel to rotate at a constant speed, so that the wiping paper wipes the to be measured position, when the wiping is completed, the mechanical arm 8 moves the wiping paper to the position of the detection assembly, the detection limit of the activity per unit area of the wiping paper is calculated, and the pollution of the wiping paper is analyzed according to a preset detection limit standard, when the wiping paper is polluted, the polluted wiping paper is put into the wiping paper collector 4, then the mechanical arm 8 grasps new wiping paper to wipe other to be measured positions, until wiping of the five to be measured positions is completed; finally, the pollution position and the pollution type are determined according to the pollution of the wiping paper, and data storage is performed.

[0038] According to the embodiment of the application, a radioactive waste barrel radiation monitor is provided, as shown in Figure 2 for realizing the method as Figure 1The radioactive waste bin contamination automatic measurement method shown includes a radioactive waste bin radiation monitoring instrument comprising: a detection component, a wiping paper dispensing device 5, a robotic arm 8, a waste bin rotation and positioning device 7, a wiping paper collector 4, an equipment electrical cabinet 2, a robotic arm electrical cabinet 6, and a main frame 1. The main frame 1 is a square frame structure with rounded upper parts on both side baffles, and one side baffle has a window. The equipment electrical cabinet 2 is located inside the rear of the main frame 1, close to the baffle with the window. The detection components include a coincidence detector 3.1, a first-area radiation monitoring probe 3.2, and a second-area radiation monitoring probe 3.3. The coincidence detector 3.1 is installed inside the rear of the main frame 1, side by side with the equipment electrical cabinet 2, and is used to detect the surface of the waste bin. , Pollution level: The first area radiation monitoring probe 3.2 is installed at the gripping end of the robotic arm 8 to detect the location of the waste bin to be tested. To detect dose contamination, the second area radiation monitoring probe 3.3 is installed inside the front of the main frame 1 to detect the area around the waste bin. Dose rate level; Wipe paper collector 4 is installed inside the main frame 1 and close to the side of the unopened baffle; Wipe paper dispensing device 5 is installed inside the main frame 1 and arranged in the same column as wipe paper collector 4; Robotic arm electrical cabinet 6 is installed inside the front of the main frame 1, close to the side of the unopened baffle and near the front baffle of the main frame 1; Waste bin rotation positioning device 7 is installed inside the front of the main frame 1 and is flush with the second area radiation monitoring probe 3.3; Robotic arm 8 is installed inside the main frame 1, with its control end flush with the coincidence detector 3.1 and its gripping end located above the waste bin rotation positioning device 7.

[0039] In this embodiment, the main body dimensions of the radiation monitoring instrument are: (2240±5)mm×(2800±5)mm (length×width); <2500mm (height).

[0040] In this embodiment, the wiping paper picking device 5 delivers the wiping paper placed in the paper storage box through a matching transmission mechanism, so that the robotic arm 8 can pick up the wiping paper.

[0041] In this embodiment, the detection assembly consists of a set of plastic scintillator coincidence detectors 3.1 and two area radiation monitoring probes. The plastic scintillator coincidence detectors 3.1 are as follows... Figure 3 As shown, it has a double-layer structure and is used to inspect the surface of the waste bin. , Pollution level. The plastic scintillator coincidence detector 3.1 has a thin sheet of ZnS-coated plastic scintillator on the upper layer and a large-volume plastic scintillator on the lower layer, using a double-layer coincidence to reduce pollution. right , The influence of the measurement. The coincidence detector 3.1 detects the rays using a photomultiplier tube for light collection, and the light output is performed on the two end faces of the detector respectively. The second area radiation monitoring probe 3.3 is installed inside the main frame 1 and is consistent with the middle height of the waste barrel, and is 1m away from the outer surface of the waste barrel, which is used to detect the 1m place of the waste barrel and the outer surface of the waste barrel The dose rate level.

[0042] Optionally, as shown in Figure 4 , Figure 5 , the mechanical arm 8 specifically comprises: a control system 8.1, a following kit 8.2, an actuator 8.3, a wiping paper pre-tightening device 8.4 and a mechanical clamping device 8.5; the mechanical clamping device 8.5 grabs the wiping paper, and then the wiping paper pre-tightening device 8.4 automatically approaches, the control system 8.1 controls the mechanical clamping device 8.5 to adhere the wiping paper to the outer wall of the waste barrel, and the actuator 8.3 feeds back the compression distance of the following kit 8.2 to the control system 8.1, and the control system 8.1 sets the wiping position and path according to the feedback information, and then controls the mechanical arm 8 to wipe.

[0043] In this embodiment, the mechanical arm 8 selects a Chai Fu six-axis robot mechanical arm 8, the front end of the mechanical arm 8 is configured with a customized mechanical clamping device 8.5, the mechanical arm 8 is matched with the following kit 8.2, the compression distance of the following kit 8.2 is fed back to the control system 8.1 by the actuator 8.3, and then the wiping position and path are controlled to ensure that the wiping paper wipes the plane uniformly, and then the mechanical arm 8 is controlled to wipe. In this embodiment, the mechanical clamping device 8.5 can also be replaced by other clamps to realize the remaining processing function of the waste barrel, so that the equipment has stronger expandability.

[0044] Optionally, as shown in Figure 6 , the wiping paper collector 4 specifically comprises: a contaminated area 4.1 and a non-contaminated area 4.2; when the wiping paper is contaminated, the mechanical arm 8 places the contaminated wiping paper in the contaminated area 4.1; when the wiping paper is not contaminated, the mechanical arm 8 places the contaminated wiping paper in the non-contaminated area 4.2.

[0045] In this embodiment, the contaminated area 4.1 is arranged on the left side of the wiping paper collector 4, and the non-contaminated area 4.2 is arranged on the right side of the wiping paper collector 4, so as to facilitate radioactive waste sorting.

[0046] Optionally, as shown in Figure 7 , the waste barrel rotating positioning device 7 specifically comprises: a rotating device 7.1 and a centering positioning device 7.2; wherein the rotating device 7.1 is composed of a return support, a planetary reducer and a servo system, which is used to control the rotation angle and rotation speed of the waste barrel, and the centering positioning device 7.2 is composed of a servo system, a planetary reducer and a limiting module, which is used to drive the waste barrel to move to the center position of the center of the rotary support.

[0047] In this embodiment, the rotating device 7.1 is composed of a return support, a planetary reducer and a servo system, which can precisely control the rotation angle and speed of the waste barrel and can cooperate with the mechanical arm 8 to complete the sampling process on the surface of the waste barrel. The rotation speed of the platform is 1-10 r / min. The centering positioning device 7.2 is composed of a servo system, a planetary reducer and a limiting module, which can drive the waste barrel to move to the center position of the rotating support and can be limited at multiple angles to prevent falling.

[0048] As shown in Figure 8 , the radioactive waste barrel radiation monitor of the embodiment of the present application further comprises a fixed arm 9 and a movable arm 10, one of which is rotatably arranged at both ends of the fixed arm 9, and five mechanical clamping devices 8.5 are arranged, three of which are equidistantly installed on the fixed arm 9, and the other two are installed on the two movable arms 10, wherein the five mechanical clamping devices 8.5 are used for synchronously sampling the top, upper, middle, lower and bottom five to-be-measured positions of the waste barrel respectively, and the five mechanical clamping arms pass through the coincidence detector 3.1 in a straight line state in turn.

[0049] As shown in Figure 8 , the fixed arm 9 is fixed on the wiping paper pre-tightening device, and the second power device 12 for driving the movable arm 10 to rotate is installed on the fixed arm 9. The second power device 12 can be a rotary motor, which can control the movable arm 10 to be perpendicular to the fixed arm 9 or control the movable arm 10 to be in a straight line with the fixed arm 9.

[0050] When sampling, the second power device 12 controls the movable arm 10 to rotate to a state perpendicular to the fixed arm 9, at this time, the mechanical clamping devices 8.5 on the two movable arms 10 can make the wiping paper adhere to the top and bottom of the waste barrel respectively. After sampling is completed, the second power device 12 controls the movable arm 10 to rotate to a state parallel to the fixed arm 9, at this time, the five mechanical clamping devices 8.5 are kept horizontal and pass through the coincidence detector 3.1 in turn, which can detect the five wiping papers in turn.

[0051] When each wiping paper is detected, the wiping paper is released by the mechanical clamping device 8.5 and falls into the collection area.

[0052] As shown in Figure 9 and Figure 10 , the mechanical clamping device 8.5 comprises a sampling head 11, an isolation cover and a first power device 49, one isolation cover is arranged on both sides of the sampling head 11, the rear end of the isolation cover is rotatably connected with the sampling head 11, and the front ends of the two isolation covers are closed to wrap and press the wiping paper on the sampling head 11, and the first power device 49 is installed on the sampling head 11 and used for controlling the opening and closing of the isolation cover.

[0053] In the embodiment, the rear end of each of the two isolation covers is fixedly provided with an incomplete gear 13, the two incomplete gears 13 are engaged, one of the two incomplete gears 13 is engaged with a driving gear 14, the first power device 49 is a rotary motor, the driving gear 14 is fixed on the power shaft of the rotary motor, and the opening or closing of the isolation cover can be controlled by the forward rotation or reverse rotation of the rotary motor. When the isolation cover is opened, the two isolation covers are in a parallel state, at this time, the wiping paper is completely exposed and used for wiping the sampling head 11.

[0054] As shown in Figure 9 , Figure 15 and Figure 16 , the mechanical clamping device 8.5 further comprises a suction pump 15 and a first suction channel 16, the suction pump 15 is installed on the sampling head 11, the first suction channel 16 is arranged in the sampling head 11, and the air inlet hole 17 of the first suction channel 16 corresponds to the two sides of the wiping paper, the suction pump 15 is connected with the first suction channel 16 through an air inlet hose 18, and the wiping paper is stably fixed on the sampling head 11 by the suction pump 15 through the first suction channel 16 when the suction pump 15 operates.

[0055] As shown in Figure 9 , the isolation cover comprises a flat portion 19 and an arc-shaped portion 20, the flat portion 19 presses the wiping paper on the sampling head 11 when the isolation cover is closed, the arc-shaped portion 20 is in sliding cooperation with the flat portion 19, the arc-shaped portion 20 can be away from the waste barrel in an inclined direction under the pressure of the waste barrel, so that a channel for the wiping paper to extend and contact the waste barrel is formed between the two arc-shaped portions 20.

[0056] As shown in Figure 10 , the front end of the outer side surface of the flat portion 19 is provided with a guide plate 21, the two ends of the guide plate 21 are provided with sliding grooves 22, the rear end of the arc-shaped portion 20 is provided with sliding blocks 23, the sliding blocks 23 are slidingly arranged in the sliding grooves 22, the front end of the arc-shaped portion 20 is provided with a roller 48 for abutting against the waste barrel, when the mechanical clamping device abuts against the waste barrel, the roller 48 is pressed by the waste barrel, the arc-shaped portion 20 is driven to move away from the wiping paper along the sliding grooves 22, so that the wiping paper can be attached to the barrel wall of the waste barrel through the gap between the two arc-shaped portions 20.

[0057] In the sampling operation, the first power device 49 keeps the flat portion 19 in a closed state, the flat portion 19 presses the wiping paper on the sampling head 11, and the stability of the wiping paper is ensured. Since the arc-shaped portion 20 is opened in an inclined direction, there is a gap between the inner wall surface of the arc-shaped portion 20 and the wiping paper in the closed state of the arc-shaped portion 20.

[0058] As shown in Figure 12 , Figure 13 , Figure 15 to Figure 17As shown in Figure 19, a second suction channel 24 is provided inside the sampling head 11. The second suction channel 24 is connected to the first suction channel 16. When the wiping paper is fixed on the sampling head 11, the second air inlet 25 of the second suction channel 24 is located behind the wiping paper. A suction tube 26 that can be connected to the second air inlet 25 is installed inside the straight part 19. Both ends of the sampling head 11 are provided with air inlet chambers 27 that can be connected to the suction tubes 26. A valve ball 28 is provided inside the air inlet chambers 27.

[0059] like Figure 13 , Figure 16 and Figure 17 As shown, the suction tube 26 has a first insertion tube 29 in the middle, which can be inserted into the second air inlet 25. Both the first insertion tube 29 and the second air inlet 25 are arc-shaped, and the center of the arc of the first insertion tube 29 and the second air inlet 25 coincides with the rotation center of the isolation cover. When the isolation cover is rotated open, the first insertion tube 29 is withdrawn from the second air inlet 25. When the isolation cover is closed, the first insertion tube 29 is inserted into the second air inlet 25.

[0060] like Figure 12 , Figure 14 , Figure 15 , Figure 17 and Figure 19 As shown, air inlet holes 30 are provided on both sides of the air inlet chamber 27. Insertion tube 31 is inserted into the air inlet holes 30. Insertion tube 31 is connected to both ends of the suction tube 26. Valve ball 28 is located between the two air inlet holes 30. Air inlet channel is provided in the valve ball 28. The air inlet channel includes a vertical central channel 32 and lateral channels 33 that communicate with the top two sides of the central channel 32.

[0061] The valve ball 28 rotates 90° clockwise, aligning the two side channels 33 with the two air inlets 30. Airflow enters from the bottom of the central channel 32, passes through the side channels 33 and air inlets 30, and then enters the suction tube 26. Afterward, the airflow passes through the insertion tube 29 and air inlet 25 into the suction pump 15. At this time, sufficient airflow is supplied to the suction pump 15 through the air inlet chamber 27, enabling the suction pump 15 to maintain full-power suction, resulting in a large airflow rate within the suction pump 15.

[0062] like Figure 11 , Figure 14 and Figure 19 As shown, the suction pump 15 is provided with an exhaust port 34, and the front side of the air inlet chamber 27 is provided with an exhaust chamber 35. The edge of the exhaust chamber 35 is provided with an exhaust channel 36. The exhaust port 34 can send the airflow discharged by the suction pump 15 into the exhaust chamber 35. After the airflow passes through the exhaust channel 36, it is ejected to form an air curtain.

[0063] like Figure 9 As shown, the exhaust chamber 35 and the exhaust port 34 are connected by an exhaust hose 37.

[0064] In the sampling process, when the two arc-shaped portions 20 are opened, the air flow in the exhaust cavity 35 forms a wind curtain by being inclined outward from the outer side of the end of the arc-shaped portion 20, which can prevent impurities from entering the wiping paper from the gap at the end of the arc-shaped portion 20, and at the same time, the roller 48 is always in contact with the nuclear waste barrel, and the arc-shaped portion 20 is in a state of adhesion with the guide plate 21, which effectively isolates the wiping paper from the outside and improves the sampling accuracy.

[0065] As shown in Figure 10 and Figure 12 , the rear end of the isolation cover is fixedly connected with a connecting plate 38, the outer part of the connecting plate 38 is slidably sleeved with a driving plate 39, the driving plate 39 is provided with a strip-shaped groove 40, the sliding block 23 is provided with a sliding rod 41, and the sliding rod 41 is located in the strip-shaped groove 40. When the sliding block 23 is displaced along the sliding groove 22 to make the two arc-shaped portions 20 move reversely to open, the pressure of the waste barrel is applied to the driving plate 39 through the arc-shaped portion 20 and the sliding rod 41, and when the sliding rod 41 is displaced in the strip-shaped groove 40, the driving plate 39 is pushed backward, so that the driving plate 39 moves backward on the connecting plate 38. After the isolation cover is turned to open, the connecting plate 38 penetrates through the driving plate 39, which can prevent the driving plate 39 from malfunctioning in the rotation direction of the isolation cover.

[0066] As shown in Figure 10 and Figure 18 , the top end of the exhaust cavity 35 is rotatably installed with a driving rod 42, the bottom end of the driving rod 42 is fixedly connected with the top of the valve ball 28, and when the driving plate 39 is displaced backward, the driving rod 42 can be rotated, the driving rod 42 controls the valve ball 28 to rotate, and the suction pipe 26 can suck air from the air inlet cavity 27.

[0067] As shown in Figure 10 , Figure 18 and Figure 19 , the surface of the driving rod 42 is provided with a spiral groove 43 and a straight groove 44, the top end of the spiral groove 43 communicates with the top end of the straight groove 44, the surface of the driving rod 42 is sleeved with a rod sleeve 50, the inner wall surface of the rod sleeve 50 is fixedly provided with a spherical body 45 which can slide in the spiral groove 43 and the straight groove 44, and the opposite ends of the two driving plates 39 are fixedly provided with a top rod 46.

[0068] When the two arc-shaped portions 20 move reversely to form a gap for the front end of the wiping paper to extend out of the surface of the waste barrel, the driving plate 39 drives the top rod 46 to move backward, the top rod 46 pushes the sliding sleeve to move backward on the surface of the driving rod 42, and in this process, the spherical body 45 moves backward from the front end of the spiral groove 43, so that the driving rod 42 drives the valve body to rotate.

[0069] When the front end of the wiping paper contacts the waste bin, the spherical body 45 is located at the rear end of the spiral groove 43, at this time, the two lateral channels 33 are respectively aligned with the air inlet holes three 30, so that the suction pump 15 can suck air from the air inlet cavity 27. The suction of the suction channel one to the wiping paper is weakened, but the wiping paper is still pressed on the sampling head 11 by the flat part 19, which can ensure the fixation of the wiping paper.

[0070] As shown in Figure 10 and Figure 18 , the outer sleeve of the driving rod 42 is provided with a reset spring 47 for applying force to the rod sleeve 50. When the rod sleeve 50 is displaced backward, the reset spring 47 is compressed, and when the sampling head 11 is away from the waste bin, the rod sleeve 50 is reset forward under the action of the reset spring 47, so that the two arc-shaped parts 20 return to the closed state, the valve ball 28 is reset, the suction channel two is closed, and the suction of the suction pump 15 to the wiping paper is restored.

[0071] The embodiment has the following working process during sampling: The fixed arm 9 and the movable arm 10 are located on the same straight line, so that the three mechanical clamping devices 8.5 on the fixed arm 9 are tightly close to the waste bin, the second power device 12 makes the movable arm 10 rotate to be perpendicular to the fixed arm 9, at this time, the five mechanical clamping devices 8.5 are tightly close to the waste bin, realizing synchronous sampling of the five to-be-tested positions of the waste bin.

[0072] During the process that the mechanical clamping device 8.5 is tightly close to the waste bin, the waste bin exerts a reverse force on the roller 48, so that the arc-shaped part 20 moves away from the waste bin along the direction of the sliding groove 22, and the two arc-shaped parts 20 move reversely and form a gap in which the front end of the wiping paper extends to contact the surface of the waste bin.

[0073] When the arc-shaped part 20 moves, the sliding rod 41 and the driving plate 39 drive the top rod 46 to displace backward, the top rod 46 pushes the rod sleeve 50 to displace backward, and the spherical body 45 moves from the front end to the rear end of the spiral groove 43. During this process, the valve ball 28 is rotated by 90 degrees, the two lateral channels 33 are respectively aligned with the two air inlet holes three 30, the second nozzle 31 is communicated with the air inlet cavity 27, at this time, the suction pump 15 can directly suck air from the air inlet cavity 27, the suction pump 15 is in a full-power working state, and the air flow in and out is large.

[0074] After the air passes through the suction pump 15, an air flow is formed, and then the air flow is sprayed from the air outlet channel 36 to form an air curtain, which blocks the gap between the two arc-shaped parts 20 from the outside, effectively reducing the impurities entering the isolation cover and falling on the wiping paper.

[0075] During the whole sampling process, the flat part 19 is fixed by the first power device 49, and the flat part 19 is pressed against the wiping paper, so as to ensure the stability of the wiping paper.

[0076] After the sampling is completed, the embodiment has the following working process: The second power device 12 drives the movable arm 10 to rotate to the state that the fixed arm 9 is located on the same straight line, and the fixed arm 9 is away from the waste barrel.

[0077] During the process that the mechanical clamping device 8.5 is away from the waste barrel, the rod sleeve 50 is reset under the action of the reset spring 47, so that the valve ball 28 and the arc-shaped part 20 are reset, the two arc-shaped parts 20 return to the closed state, the isolation cover re-wraps the wiping test paper, the suction pump 15 cannot suck the airflow from the air inlet cavity 27, so that the suction effect of the suction pump 15 on the wiping paper is restored. At the same time, since there is a gap between the inner wall surface of the arc-shaped part 20 and the wiping paper when the arc-shaped part 20 is closed, the arc-shaped part 20 will not touch the surface of the wiping paper, and will not affect the sampling result.

[0078] From the completion of the sampling to the detection, the mechanical clamping device 8.5 keeps the state that the isolation cover isolates the wiping paper from the outside, effectively alleviating the interference of the sampling result by the outside. And the five mechanical clamping devices 8.5 are located on a straight line, and in the subsequent process of detecting the five wiping papers in turn, the five mechanical clamping devices 8.5 only need to pass through the coincidence detector 3.1 to be detected in a horizontal state.

[0079] During the detection of the wiping paper, the mechanical clamping device 8.5 is opposite to the coincidence detector 3.1, and the isolation cover is rotated and opened by the first power device 49. At this time, the wiping paper is fixed by the suction effect of the suction pump 15. After the detection is completed, the suction pump 15 stops running, and the wiping paper is automatically separated from the sampling head 11. During this process, the wiping paper that has not been detected is wrapped by the isolation cover, so as to avoid the interference of the wiping papers on the adjacent two sampling heads 11 on the detection result when the multiple sampling heads 11 are detected in turn, and improve the detection precision.

[0080] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any change or replacement within the technical range disclosed by the present application can be easily thought by those skilled in the art, and should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An automatic method for measuring contamination in radioactive waste containers, characterized in that, Includes the following steps: S1: Conduct baseline measurements and wait for waste bin contamination measurements after confirming that the baseline is normal; S2: Perform waste bin positioning detection. After confirming that the waste bin is in place, control the waste bin rotation positioning device (7) to perform the waste bin centering positioning and rotation. S3: Perform roundness detection of the waste bin, and after confirming that the degree of deformation of the waste bin meets the standard, control the robotic arm (8) to grab the wiping paper; S4: Control the wiping end of the robotic arm (8) to contact the position to be tested in the waste bin, and then control the waste bin rotation positioning device (7) to rotate the waste bin. At the same time, the area radiation monitoring probe detects the area around the waste bin and the surface of the bin. Dose rate level; After wiping, control the robotic arm (8) to move the wiped paper to the detection surface of the coincidence detector (3.1), and then control the coincidence detector (3.1) to perform contamination detection on the wiped paper to obtain the contamination detection result; S5: Record the pollution detection results, and based on the pollution detection results, control the robotic arm (8) to classify and place the wiped paper; S6: Control the robotic arm (8) to replace the wiping paper, and at the same time control the wiping end of the robotic arm (8) to move to the next test position of the waste bin, and repeat steps S4 and S5 until each test position of the waste bin is contaminated and outputs the contamination status, position and contamination type of the waste bin.

2. The automatic measurement method for radioactive waste bin contamination according to claim 1, characterized in that: Before conducting background measurements, the following also includes: Perform a self-test, including but not limited to the communication and status of the radiation monitor and the communication and status of the detection components. After confirming that the self-test is normal, perform a background measurement.

3. The automatic measurement method for radioactive waste bin contamination according to claim 1, characterized in that: The conformal detector (3.1) is used to detect contamination on wiped paper, including on the surface of waste bins. Radiation pollution level.

4. The automatic measurement method for radioactive waste bin contamination according to claim 1, characterized in that, Also includes: Divide the waste bin into at least five test locations: top, upper, middle, lower, and bottom. Once a test location is wiped and tested, the robotic arm (8) is controlled to grab a new wiping paper and attach the new wiping paper to the next test location of the waste bin until the entire waste bin is measured.

5. A radiation monitoring instrument for radioactive waste bins, used to implement the automatic measurement method for radioactive waste bin contamination as described in any one of claims 1 to 4, characterized in that, include: Detection components, wiping paper dispensing device (5), robotic arm (8), waste bin rotation and positioning device (7), wiping paper collector (4), equipment electrical cabinet (2), robotic arm electrical cabinet (6), main frame (1); The main frame (1) is a square frame structure, with the upper part of the two side baffles in an arc shape, and one side baffle has a window; The equipment electrical cabinet (2) is located inside the rear of the main frame (1), close to the baffle on the side with the window; The detection assembly includes a coincidence detector (3.1), a first-area radiation monitoring probe (3.2), and a second-area radiation monitoring probe (3.3). The coincidence detector (3.1) is installed inside the rear of the main frame (1) and is arranged side by side with the equipment electrical cabinet (2) for detecting the surface of the waste bin. , The pollution level is monitored by a first-area radiation monitoring probe (3.2) installed at the gripping end of the robotic arm (8) to detect the pollution level at the location of the waste bin. To detect dose contamination, a second area radiation monitoring probe (3.3) is installed inside the front of the main frame (1) to detect the area around the waste bin. Dose rate level; The wiping paper collector (4) is installed inside the main frame (1) and close to the side of the unopened window baffle; The wiping paper dispensing device (5) is installed inside the main frame (1) and is set in the same column as the wiping paper collector (4); The robotic arm electrical cabinet (6) is installed inside the front of the main frame (1), close to the side of the unopened baffle and near the front baffle of the main frame (1); The waste bin rotation positioning device (7) is installed inside the front of the main frame (1) and is flush with the second area radiation monitoring probe (3.3); The robotic arm (8) is installed inside the main frame (1), with its control end flush with the detector (3.1) and its gripping end located above the waste bin rotation positioning device (7).

6. The radiation monitoring device for radioactive waste bins according to claim 5, characterized in that, The robotic arm (8) includes: a control system (8.1), a follower kit (8.2), an actuator (8.3), a wiping paper pre-tightening device (8.4), and a mechanical gripping device (8.5); The mechanical gripping device (8.5) grabs the wiping paper, and then the wiping paper pre-tightening device (8.4) automatically approaches and controls the mechanical gripping device (8.5) to adhere the wiping paper to the outer wall of the waste bin. The actuator (8.3) feeds back the compression distance of the follower kit (8.2) to the control system (8.1). The control system (8.1) sets the wiping position and path according to the feedback information, and then controls the robotic arm (8) to wipe.

7. The radiation monitoring device for radioactive waste bins according to claim 5, characterized in that, The wiping paper collector (4) includes: a contaminated area (4.1) and a non-contaminated area (4.2); When the wiping paper is contaminated, the robotic arm (8) places the contaminated wiping paper in the contaminated area (4.1), and when the wiping paper is uncontaminated, the robotic arm (8) places the contaminated wiping paper in the uncontaminated area (4.2).

8. The radiation monitoring device for radioactive waste bins according to claim 5, characterized in that, The waste bin rotation positioning device (7) includes: a rotation device (7.1) and a centering positioning device (7.2); The rotating device (7.1) consists of a return support, a planetary reducer and a servo system, and is used to control the rotation angle and rotation speed of the waste bin. The centering positioning device (7.2) consists of a servo system, a planetary reducer and a limit module, and is used to drive the waste bin to the center position of the rotating support.

9. The radiation monitoring device for radioactive waste bins according to claim 6, characterized in that, It also includes a fixed arm (9) and a movable arm (10). The movable arm (10) is rotatably installed at both ends of the fixed arm (9). There are five mechanical clamping devices (8.5). Three mechanical clamping devices (8.5) are installed equidistantly on the fixed arm (9), and the other two mechanical clamping devices (8.5) are installed on the two movable arms (10) respectively. The five mechanical clamping devices (8.5) are used to simultaneously sample the top, upper, middle, lower and bottom of the waste bin. The five mechanical clamping arms are detected by the detector (3.1) in sequence by being arranged in a straight line.

10. The radiation monitoring device for radioactive waste bins according to claim 9, characterized in that, The mechanical clamping device (8.5) includes a sampling head (11), an isolation cover, and a first power device (49). There is one isolation cover on each side of the sampling head (11). The rear end of the isolation cover rotates with the sampling head (11). When the front ends of the two isolation covers are closed, they wrap the wiping paper and press it onto the sampling head (11). The first power device (49) is installed on the sampling head (11) and is used to control the opening and closing of the isolation cover.

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