Radioactive solid waste cleaning and control-releasing multifunctional system

Abstract

The utility model discloses a multifunctional system for cleaning and controlling radioactive solid waste. The clamping device is arranged on the machine table and used for clamping solid waste, the decontamination device is arranged on the machine table and used for decontaminating the solid waste, and the purification device is located in the machine table and used for purifying radioactive aerosol generated after the solid waste is cleaned and decontaminated. The recovery device is connected with the machine table and used for recovering the radioactive aerosol, and the monitoring control device is used for monitoring and controlling the solid waste cleaning and decontamination process. According to the device, the multifunctionality of the radioactive solid waste cleaning and control removing multifunctional system is achieved, meanwhile, the decontaminating device comprises the dry ice decontaminating spray gun and the laser decontaminating spray gun, dry ice and laser composite decontaminating can be achieved, the defect that the decontaminating effect of a single decontaminating mode is insufficient is overcome, and the cleaning effect of the radioactive solid waste cleaning and control removing multifunctional system is improved. And more radioactive solid wastes can meet the cleaning and control standards.

Description

Technical Field

[0001] The utility model relates to the field of radioactive decontamination of nuclear power plants, in particular to a multifunctional system for cleaning and controlling radioactive solid waste. Background Art

[0002] At present, the main decontamination methods for solid radioactive waste in nuclear power plants at home and abroad are mechanical decontamination and chemical decontamination. Mechanical decontamination methods include wiping, brushing, grinding, high-pressure water washing, ultrasonic immersion decontamination and other methods; chemical decontamination methods include high-concentration chemical decontamination methods (AP-AC method, AP-CITROX method) and low-concentration chemical decontamination methods (CORD method, CAN method). However, the efficiency of mechanical grinding and wiping methods is low, and the radiation dose to personnel is large; high-pressure water produces a lot of secondary waste liquid; ultrasonic immersion method requires the design of decontamination tanks according to different decontamination parts, and the secondary waste liquid after decontamination is difficult to handle; chemical methods are mainly used for online pipelines and complex structural parts decontamination, with high decontamination efficiency, but there are also secondary waste liquids, and incorrect proportions are easy to damage the matrix material and cause harm to personnel health.

[0003] As emerging decontamination technologies, dry ice decontamination and laser decontamination technologies are gradually being used in nuclear power plants, and they have good decontamination effects on specific contaminated components. However, with the increasing types of solid waste generated in nuclear power plants, including scrap metals, scrap filters, scrap plastics, concrete, etc., the size structure has also changed from metal plates to special-shaped components such as pipes. Single laser decontamination and dry ice technology are difficult to meet on-site decontamination needs: lasers are directional and can only remove areas where the laser can reach. Contaminants in narrow pipes and grooves cannot be reached by lasers and cannot be removed; dry ice decontamination is mainly aimed at paint, oil and other attached pollutants, and it is difficult to completely remove rust, oxides, etc. When the two decontamination technologies are used alone, it is difficult to ensure that most parts meet the clean control standards, and the scope of use is limited. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a multifunctional system for cleaning and controlling radioactive solid waste.

[0005] The technical solution adopted by the utility model to solve the technical problem is: construct a multifunctional system for cleaning and decontaminating radioactive solid waste, which includes a machine platform, a clamping device arranged on the machine platform and used to clamp the solid waste, a decontamination device arranged on the machine platform and used to decontaminate the solid waste, a purification device located in the machine platform and used to purify the radioactive aerosol generated after the solid waste is cleaned and decontaminated, a recovery device connected to the machine platform and used to recover the radioactive aerosol, and a monitoring and control device used to monitor and control the solid waste cleaning and decontamination process;

[0006] The decontamination device comprises a robot arm mounted on the machine platform, and a dry ice decontamination spray gun and a laser decontamination spray gun separately mounted on the robot arm.

[0007] In some embodiments, the clamping device includes a slide rail provided on the machine platform, a positioning base movably connected to the slide rail, a clamp connected to the positioning base and used to clamp solid waste, and a rotating motor driven by the clamp and used to drive the clamp to rotate.

[0008] In some embodiments, the decontamination device further comprises a rangefinder mounted on the robot.

[0009] In some embodiments, the purification device includes a primary filter and a high efficiency filter installed in the machine, and an air duct interface is provided on the machine.

[0010] In some embodiments, the recovery device includes a nuclear air purification cart, which is connected to the air duct interface, and the radioactive aerosol passes through the primary filter, the high efficiency filter, and the air duct interface in sequence before entering the nuclear air purification cart.

[0011] In some embodiments, the multifunctional system for cleaning and clearing radioactive solid waste further includes a positioning frame covered on the machine platform, and the clamping device and the decontamination device are both located in the positioning frame.

[0012] In some embodiments, a shielding layer is arranged on the outer surface of the positioning frame.

[0013] In some embodiments, the monitoring and control device includes a temperature and humidity sensor, a radioactivity detector, and a camera arranged in the positioning frame.

[0014] In some embodiments, the monitoring and control device also includes a control panel and a display screen arranged on the positioning frame.

[0015] In some embodiments, an operation hole is opened on the positioning frame.

[0016] The implementation of the utility model has the following beneficial effects: the radioactive solid waste cleaning and control multifunctional system realizes the clamping and decontamination functions of solid waste through the setting of the clamping device, the decontamination device, the purification device, the recovery device and the monitoring and control device, and realizes the purification and recovery functions of the radioactive aerosol generated after decontamination, and also uses the monitoring and control device to monitor and control the solid waste cleaning and decontamination process, realizing the versatility of the radioactive solid waste cleaning and control multifunctional system. At the same time, the decontamination device includes a dry ice decontamination spray gun and a laser decontamination spray gun, which can realize dry ice and laser composite decontamination, solve the shortcomings of insufficient decontamination effect of a single decontamination method, and make more radioactive solid waste meet the cleaning and control standards. The manipulator can realize the setting and programming of complex paths, and can drive the rotation and rotation of the dry ice spray gun and the laser gun head, and can realize decontamination at complex and difficult-to-reach locations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the utility model, the utility model will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show certain embodiments of the utility model, and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0018] Figure 1 It is a schematic diagram of the internal structure of the multifunctional system for cleaning and controlling radioactive solid waste in some embodiments of the utility model;

[0019] Figure 2 It is a schematic diagram of the internal structure of the multifunctional system for cleaning and controlling radioactive solid waste in some embodiments of the utility model from another direction;

[0020] Figure 3 It is a schematic diagram of the overall structure of a multifunctional system for cleaning and controlling radioactive solid waste in some embodiments of the utility model;

[0021] Figure 4 It is a schematic diagram of the overall structure of the multifunctional system for cleaning and controlling radioactive solid waste in some embodiments of the utility model from another direction;

[0022] Figure 5 It is a schematic diagram of the structure of the recovery device in some embodiments of the utility model. DETAILED DESCRIPTION

[0023] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation methods of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0024] It should also be noted that, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intermediate elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third", etc. can explicitly or implicitly include one or more of the features. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances.

[0025] See also Figures 1 to 5 , is a radioactive solid waste cleaning and control multifunctional system in some embodiments of the utility model, which includes a machine 1, a clamping device 2 provided on the machine 1 and used to clamp the solid waste, a decontamination device 3 provided on the machine 1 and used to decontaminate the solid waste, a purification device 4 located in the machine 1 and used to purify the radioactive aerosol generated after the solid waste is cleaned and decontaminated, a recovery device 5 connected to the machine 1 and used to recover the radioactive aerosol, and a monitoring and control device 6 for monitoring and controlling the solid waste cleaning and decontamination process. In this embodiment, the solid waste can be objects such as a wrench, a screwdriver, and a motor impeller.

[0026] The decontamination device 3 includes a manipulator 34 mounted on the machine 1, a dry ice decontamination spray gun 31 and a laser decontamination spray gun 32 separately mounted on the manipulator 34, and the manipulator 34 is used to fix the dry ice decontamination spray gun 31 and the laser decontamination spray gun 32, and the manipulator 34 can realize the switching selection of the dry ice decontamination spray gun 31 and the laser decontamination spray gun 32, the multi-axis automatic movement of the spray gun, the rotation of the spray gun, and the distance detection between the spray gun and the working surface. In order to facilitate the decontamination operation, the manipulator 34 adopts a collaborative robot, which can drag and teach, coordinate positioning, path planning, and offline programming. It can automatically realize the full coverage of the movement of the dry ice / laser spray gun in the decontamination area, and can achieve the maximum decontamination sample size of 50×50×50cm. The robot has a load-bearing capacity of ≥8kg, 6-axis degrees of freedom, a maximum working radius of ≥120cm, a repeat positioning accuracy of ±0.03mm, a maximum moving speed of ≤4m / s, and is controlled by a teaching pendant. The application technology of the manipulator 34 and the collaborative robot is a mature technology currently available on the market. The specifications of the manipulator 34 of corresponding specifications and models can be selected according to actual conditions, and no further details will be given here.

[0027] like Figure 2 As shown, the decontamination device 3 further includes a rangefinder 33 mounted on a manipulator 34. The rangefinder 33 is preferably a laser rangefinder, which is an instrument that uses a certain parameter of a modulated laser to measure the distance to a target, and can detect the distance between the dry ice decontamination spray gun 31 or the laser decontamination spray gun 32 and the surface of the solid waste. In some other embodiments, the rangefinder 33 may also be an infrared rangefinder.

[0028] like Figure 1 and Figure 2 As shown, the clamping device 2 includes a slide rail 21 disposed on the machine 1, a positioning base 22 movably connected to the slide rail 21, a clamping jaw 23 connected to the positioning base 22 and used to clamp the solid waste, and a rotating motor 24 drivingly connected to the clamping jaw 23 and used to drive the clamping jaw 23 to rotate. Specifically, the slide rail 21 can be installed on the machine 1 by bolts, and the slide rail 21 is specifically installed on the groove of the machine 1. The setting of the slide rail 21 enables the entire clamping device 2 to have mobility in a certain direction, and the clamping jaw 23 is used to clamp the solid waste to be decontaminated, and the clamping jaw 23 is a chuck clamping jaw. In addition, the rotating motor 24 is preferably a rotating servo motor, which can drive the clamping jaw 23 to rotate so that the solid waste also rotates, so that the solid waste has a certain rotation speed to facilitate decontamination.

[0029] like Figure 2 and Figure 4As shown, the purification device 4 includes a primary filter 41 and a high-efficiency filter 42 installed in the machine 1, and the machine 1 is provided with an air duct interface 43, and the recovery device 5 includes a nuclear air purification cart 51, and the nuclear air purification cart 51 is connected to the air duct interface 43, and the radioactive aerosol passes through the primary filter 41, the high-efficiency filter 42, and the air duct interface 43 in sequence and then enters the nuclear air purification cart 51. The primary filter 41 and the high-efficiency filter 42 are specifically located at the bottom of the machine 1, and the radioactive aerosol generated by the solid waste during the decontamination process falls to the bottom of the machine 1 and enters the primary filter 41. The setting of the air duct interface 43 ensures the circulation and recovery of the radioactive aerosol generated during dry ice / laser decontamination. It is understandable that since radioactive aerosols are generated during the decontamination of solid waste, the radioactive aerosols need to be filtered and pre-filtered through a primary filter 41. The primary filter 41 can be a sand filter and a deep bed glass fiber filter, etc., and the high-efficiency filter 42 can be a high-efficiency particulate air filter, which can achieve a maximum capture efficiency of 99.99% or higher for 0.3-micron particles. After being processed by the high-efficiency filter 42, the radioactive aerosols pass through the air duct interface 43 and enter the nuclear air purification cart 51 for subsequent processing.

[0030] The nuclear air purification trolley 51 is a mobile radioactive air purification device for efficiently filtering and removing radioactive aerosols and gaseous radioactive iodine in the air of the air isolation room SAS. The application of the nuclear air purification trolley 51 is an existing mature technology and will not be described in detail here.

[0031] The multifunctional system for cleaning and controlling radioactive solid waste also includes a positioning frame 7 covered on the machine 1, and the clamping device 2 and the decontamination device 3 are both located in the positioning frame 7. The positioning frame 7 is used to protect the clamping device 2 and the decontamination device 3 therein, and prevent the escape of harmful substances during the solid waste decontamination process. A shielding layer is arranged on the outer surface of the positioning frame 7, and the shielding layer is preferably made of tungsten-based shielding material, which can provide a good shielding effect and ensure the safety of the solid waste decontamination process.

[0032] The monitoring and control device 6 includes a temperature and humidity sensor, a radioactivity detector and a camera arranged in a positioning frame 7. The temperature and humidity sensor is used to measure the humidity and temperature during the solid waste decontamination process. The radioactivity monitor can be a dose rate detection probe, which can be used to detect the surface contamination level of a local area of ​​solid waste and realize the solid waste decontamination effect monitoring function. The camera is used to obtain on-site images during the decontamination process.

[0033] like Figure 3As shown, the monitoring and control device 6 also includes a control panel 61 and a display screen 62 arranged on the positioning frame 7. The control panel 61 can realize the selection of the decontamination method and the parameter call and the setting control of the decontamination path, such as controlling the movement of the positioning base 22, controlling the rotation speed of the fixed waste, and controlling the movement of the manipulator 34. The display screen 62 is used to display the image obtained by the camera and the parameter information in the solid waste decontamination process.

[0034] The positioning frame 7 is provided with an operation hole 71 . The setting of the operation hole 71 can make the entire positioning frame 7 similar to a glove box structure, providing manual operation and ensuring safety.

[0035] In addition, a plurality of moving wheels are connected to the bottom of the machine 1 to facilitate movement.

[0036] The working steps of the multifunctional system for cleaning and controlling radioactive solid waste are as follows:

[0037] ① On the machine 1, the solid waste to be decontaminated is clamped by the clamping device 2, and the position is adjusted and the speed is set;

[0038] ② Determine the surface contamination level and type of pollutants of solid waste through radioactive detectors and cameras;

[0039] ③ According to the type of pollutants, the decontamination mode is selected through the control panel 61 to control the robot 34 to decontaminate;

[0040] 1) If the pollutants are oil or paint, first select dry ice decontamination for decontamination, and then detect the surface contamination level; if the contamination level does not meet the standard, and the camera video monitors that obvious oil or paint pollutants have been removed, switch to laser decontamination for another decontamination;

[0041] 2) If the pollutants are rust or oxides: first select laser decontamination for decontamination, and then detect the surface contamination level; if the contamination level does not meet the standard, and the camera video monitors that obvious rust and oxide pollutants have been removed, switch to dry ice decontamination for another decontamination and cleaning (dust is easily attached after laser decontamination, and dry ice decontamination can clean the attachments and perform secondary decontamination on the remaining pollutants);

[0042] ④ The manipulator 34 can perform path planning according to the surface shape, size and contamination condition of the decontamination object, in combination with the rangefinder 33 and the teaching pendant, to achieve automated decontamination; the radioactive aerosol generated by decontamination passes through the primary filter 41, the high-efficiency filter 42, and the air duct interface 43 in sequence and then enters the nuclear air purification cart 51 to achieve radioactive aerosol purification.

[0043] The practical working example of the multifunctional system for cleaning and controlling radioactive solid waste:

[0044] 1. Determine the decontamination object: motor impeller, surface contamination level > 5Bq / cm 2 , dose rate>3000nSv / h;

[0045] 2. Determine the pollutants: mainly oil pollution, with some oxides attached to the surface;

[0046] 3. Control the manipulator 34 to scan the impeller surface through the control panel 61, determine the decontamination area in combination with the camera video monitoring, and plan the decontamination path in combination with the manipulator 34 teaching pendant;

[0047] 4. At the beginning, dry ice decontamination is selected. After decontamination along the decontamination path, the surface contamination level is detected by a radioactive detector. When the value exceeds the standard (surface contamination level> 0.4Bq / cm 2 , dose rate>40nSv / h), continue to perform dry ice decontamination until the surface oil is completely removed, but the radioactivity detection value still exceeds the standard;

[0048] 5. Select laser decontamination through the control panel 61. After decontamination along the decontamination path, the surface contamination level is detected by the radioactive detector. If the value exceeds the standard, repeat the laser decontamination operation.

[0049] 6. After multiple decontaminations, the radioactive detector found that the value was qualified, and the decontamination was completed. During the decontamination process, the nuclear air purification vehicle 51 has been working to purify and recover the radioactive aerosol. The radioactive monitor placed at its exit has not alarmed, indicating that the radioactive aerosol has been completely purified and recovered without leakage.

[0050] 7. The radioactive detector detected that the overall contamination level of the motor impeller was less than 0.4Bq / cm 2 , dose rate <40nSv / h, meeting the clean clearance standard.

[0051] The beneficial effects of the multifunctional system for cleaning and controlling radioactive solid waste are:

[0052] 1. Through the arrangement of the clamping device 2, the decontamination device 3, the purification device 4, the recovery device 5 and the monitoring and control device 6, the clamping and decontamination functions of the solid waste are realized, and the purification and recovery functions of the radioactive aerosol generated after decontamination are realized. The monitoring and control device 6 is also used to monitor and control the solid waste cleaning and decontamination process, realizing the multifunctionality of the radioactive solid waste cleaning and control multifunctional system;

[0053] 2. The decontamination device 3 includes a dry ice decontamination spray gun 31 and a laser decontamination spray gun 32, which can realize dry ice and laser composite decontamination, solve the shortcomings of insufficient decontamination effect of a single decontamination method, and make more radioactive solid waste meet the clean clearance standards;

[0054] 3. The manipulator 34 can realize the setting and programming of complex paths, and can also drive the rotation and rotation of the dry ice decontamination spray gun 31 and the laser decontamination spray gun 32, so as to realize the decontamination of complex and difficult-to-reach locations;

[0055] 4. The monitoring and control device 6 can realize automatic switching of decontamination modes, solid pollutant detection, decontamination parameter setting and path planning, which can greatly improve the decontamination efficiency;

[0056] 5. The radioactive aerosol passes through the primary filter 41, the high efficiency filter 42, and the air duct interface 43 in sequence and then enters the nuclear air purification vehicle 51, which can achieve a radioactive aerosol purification rate of ≥ 99.9%.

[0057] It can be understood that the above embodiments only express the preferred implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the utility model. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the utility model, the above-mentioned technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the utility model. Therefore, all equivalent changes and modifications made to the scope of the claims of the utility model should fall within the scope of the claims of the utility model.

Claims

1. A multifunctional system for cleaning and controlling radioactive solid waste, characterized in that: The invention comprises a machine (1), a clamping device (2) disposed on the machine (1) and used for clamping solid waste, a decontamination device (3) disposed on the machine (1) and used for decontaminating the solid waste, a purification device (4) located in the machine (1) and used for purifying radioactive aerosols generated after cleaning and decontaminating the solid waste, a recovery device (5) connected to the machine (1) and used for recovering the radioactive aerosols, and a monitoring and control device (6) used for monitoring and controlling the solid waste cleaning and decontamination process; The decontamination device (3) comprises a robot (34) mounted on the machine platform (1), and a dry ice decontamination spray gun (31) and a laser decontamination spray gun (32) separately mounted on the robot (34).

2. The multifunctional system for cleaning and controlling radioactive solid waste according to claim 1 is characterized in that: The clamping device (2) comprises a slide rail (21) arranged on the machine platform (1), a positioning base (22) movably connected to the slide rail (21), a clamping jaw (23) connected to the positioning base (22) and used for clamping solid waste, and a rotating motor (24) drivingly connected to the clamping jaw (23) and used for driving the clamping jaw (23) to rotate.

3. The multifunctional system for cleaning and controlling radioactive solid waste according to claim 1 is characterized in that: The decontamination device (3) further comprises a distance meter (33) mounted on the manipulator (34).

4. The multifunctional system for cleaning and controlling radioactive solid waste according to claim 1 is characterized in that: The purification device (4) comprises a primary filter (41) and a high-efficiency filter (42) installed in the machine (1), and an air duct interface (43) is provided on the machine (1).

5. The multifunctional system for cleaning and controlling radioactive solid waste according to claim 4 is characterized in that: The recovery device (5) comprises a nuclear air purification trolley (51), which is connected to the air duct interface (43). The radioactive aerosol passes through the primary filter (41), the high efficiency filter (42), and the air duct interface (43) in sequence before entering the nuclear air purification trolley (51).

6. The multifunctional system for cleaning and controlling radioactive solid waste according to claim 1 is characterized in that: The multifunctional system for cleaning and clearing radioactive solid waste also includes a positioning frame (7) covered on the machine platform (1), and the clamping device (2) and the decontamination device (3) are both located in the positioning frame (7).

7. The multifunctional system for cleaning and controlling radioactive solid waste according to claim 6 is characterized in that: A shielding layer is arranged on the outer surface of the positioning frame (7).

8. The multifunctional system for cleaning and controlling radioactive solid waste according to claim 6 is characterized in that: The monitoring and control device (6) comprises a temperature and humidity sensor, a radioactivity detector and a camera which are arranged in the positioning frame (7).

9. The multifunctional system for cleaning and controlling radioactive solid waste according to claim 6 is characterized in that: The monitoring and control device (6) also includes a control panel (61) and a display screen (62) arranged on the positioning frame (7).

10. The multifunctional system for cleaning and controlling radioactive solid waste according to claim 6, characterized in that: An operating hole (71) is provided on the positioning frame (7).

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