Waste resin recovery equipment

Abstract

To provide a waste resin collection device that can collect waste resin with high efficiency, and can prevent an inflow of air into a system collecting the waste resin.SOLUTION: A waste resin collection device 10 according to the present invention comprises: nozzles 6 and 7 that are installable in a waste resin storage tank 1 having waste resin 2 and a waste liquid 3 stored, and collect or stir the waste resin 2 when being activated; a nozzle ascending / descending unit 4 that has the nozzles 6 and 7 provided in one end part, and is a mechanism causing the nozzles 6 and 7 to ascend and descend; a distance sensor 21 that is installed in the nozzles 6 and 7, or the nozzle ascending / descending unit 4, and is for measuring a distance between the nozzles 6 and 7 and the waste resin 2; and a computation control unit 100 that is provided with a distance computation unit 101 and a contraction control unit 103. The distance computation unit 101 is configured to obtain a measurement distance serving as a distance between the nozzles 6 and 7 and the waste resin 2 from a measurement result of the distance sensor 21, and the contraction control unit 103 is configured to cause the nozzles 6 and 7 to ascend and descend by the nozzle ascending / descending unit 4, and stop the ascending and descending of the nozzles 6 and 7 when the measurement distance is equal to a preliminarily determined optimum distance.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an apparatus for recovering waste resin. [Background technology]

[0002] In nuclear power plants, radioactive resin generated by the operation of the nuclear reactor is stored in a waste resin storage tank as waste resin. When removing the waste resin from the waste resin storage tank, it is necessary to stir and recover the waste resin accumulated at the bottom of the waste resin storage tank.

[0003] An example of a conventional waste resin recovery device is described in Patent Document 1. The radioactive waste sludge extraction device described in Patent Document 1 includes a device body (underwater remote device) that can be moved by remote control, an extraction pipe connected to the device body and extracts radioactive waste sludge (waste resin) from the waste sludge storage tank, a device (position detection sonar transmitter) that detects the position of the device body by detection waves (sound waves), and a device (sludge surface detection sonar) that detects the position of the radioactive waste sludge in the waste sludge storage tank by detection waves, and the device body is remotely operated based on the results of detection of the positions of the device body and the radioactive waste sludge. The sludge is agitated by air supplied through an agitation air supply pipe. The detection waves generated by the position detection sonar transmitter are received by a position detection sonar receiver floating on the surface of the waste liquid in the waste sludge storage tank. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-128025 Summary of the Invention [Problem to be solved by the invention]

[0005] In waste resin recovery equipment, an agitation nozzle and a recovery nozzle are installed near the layer of waste resin at the bottom of a waste resin storage tank, and the waste resin is recovered by ejecting air or water from the agitation nozzle to agitate the inside of the tank (especially the waste resin), and then sucking up the waste resin with the recovery nozzle.

[0006] Conventional waste resin recovery devices have a problem that when the waste resin layer fluctuates as the waste resin is recovered, the distance between the recovery nozzle and the waste resin surface increases, and the recovery efficiency of the waste resin decreases. In addition, for example, in the device described in Patent Document 1, when the liquid level of the waste liquid in the waste sludge storage tank fluctuates as the waste resin is recovered, the position detection sonar receiver cannot accurately obtain the position of the device body, and the position of the extraction pipe cannot be accurately determined, so there is a concern that the recovery efficiency of the waste resin decreases. Thus, conventional waste resin recovery devices have a problem that the recovery efficiency of the waste resin may decrease as the waste resin is recovered.

[0007] In addition, when the liquid level in the waste resin storage tank drops as waste resin is collected, the collection nozzle is exposed to the air and sucks in air, which may cause air to flow into the system that collects the waste resin and adversely affect the pumps in the system. For this reason, a waste resin collection device that can prevent air from flowing into the system that collects the waste resin is desired.

[0008] An object of the present invention is to provide a waste resin recovery apparatus that can recover waste resin with high efficiency and can prevent air from flowing into a system for recovering the waste resin. [Means for solving the problem]

[0009] The waste resin recovery device according to the present invention can be installed in a waste resin storage tank in which waste resin and waste liquid are stored, and includes a nozzle that recovers or stirs the waste resin when started, a nozzle lifting unit that has the nozzle at one end and is a mechanism for raising and lowering the nozzle, a distance sensor that is installed on the nozzle or the nozzle lifting unit and measures the distance between the nozzle and the waste resin, a distance calculation unit, and an expansion and contraction control unit. The distance calculation unit determines a measured distance, which is the distance between the nozzle and the waste resin, from the measurement result of the distance sensor. The expansion and contraction control unit raises and lowers the nozzle using the nozzle lifting unit, and stops raising and lowering the nozzle when the measured distance is equal to a predetermined optimal distance. Effect of the Invention

[0010] According to the present invention, it is possible to provide a waste resin recovery apparatus that can recover waste resin with high efficiency and prevent air from flowing into the system for recovering the waste resin. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram showing a configuration of a waste resin recovery device according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing a detailed configuration of the waste resin recovery device according to the first embodiment. [Diagram 3] 4 is a flow chart showing a procedure for setting the position of the nozzle when the waste resin recovery device according to the first embodiment is installed in a waste resin storage tank. FIG. [Figure 4] FIG. 3 is a flow chart showing a procedure when the waste resin recovery apparatus according to the first embodiment is operated and recovers the waste resin inside the waste resin storage tank. [Diagram 5] FIG. 11 is a diagram showing the configuration of a waste resin recovery device according to a second embodiment of the present invention. [Figure 6] FIG. 11 is a diagram showing the configuration of a waste resin recovery device according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The waste resin recovery device according to the present invention can always keep the distance between the nozzle (agitation nozzle and recovery nozzle) and the waste resin to be recovered constant even if the layer of waste resin fluctuates when the waste resin is recovered from the waste resin storage tank. Therefore, the distance between the nozzle and the waste resin can be kept optimal, and the waste resin can be recovered with high efficiency. In addition, since the waste resin recovery device according to the present invention measures the liquid level in the waste resin storage tank, it is possible to prevent the recovery nozzle from sucking in air even if the liquid level in the waste resin storage tank drops as the waste resin is recovered, and therefore it is possible to prevent air from flowing into the system for recovering the waste resin.

[0013] Hereinafter, a waste resin recovery device according to an embodiment of the present invention will be described with reference to the drawings. In the drawings used in this specification, the same or corresponding components are designated by the same reference numerals, and repeated description of these components may be omitted. EXAMPLES

[0014] A waste resin recovery device according to a first embodiment of the present invention will be described.

[0015] Fig. 1 is a diagram showing the configuration of a waste resin recovery apparatus 10 according to this embodiment. The waste resin recovery apparatus 10 according to this embodiment can be installed in a waste resin storage tank 1, and is operated while installed in the waste resin storage tank 1. Fig. 1 shows the operating state of the waste resin recovery apparatus 10 according to this embodiment.

[0016] A waste resin 2 and a waste liquid 3 are stored inside the waste resin storage tank 1. The waste resin 2 is, for example, granular. The waste liquid 3 is, for example, water. The waste resin 2 and the waste liquid 3 are present at the bottom of the waste resin storage tank 1.

[0017] The waste resin recovery device 10 according to this embodiment includes an agitation nozzle 6 (6a, 6b), a recovery nozzle 7, a nozzle lifting unit 4 (4a, 4b, 4c), and a calculation control unit 100. The waste resin recovery device 10 further includes sensors (e.g., distance sensors and cameras) described later. The agitation nozzle 6 and the recovery nozzle 7 are disposed above the waste resin 2.

[0018] The stirring nozzles 6a and 6b are installed at one end (lower end) of the nozzle lifting parts 4a and 4b, respectively. The stirring nozzles 6 stir the waste resin 2 by injecting water or air to stir the inside of the waste resin storage tank 1.

[0019] The recovery nozzle 7 is installed at one end (lower end) of the nozzle lifting section 4c. The recovery nozzle 7 recovers the waste resin 2 by sucking the waste resin 2 stored in the waste resin storage tank 1 together with the waste liquid 3.

[0020] The agitation nozzle 6 and the recovery nozzle 7 are disposed near the surface of the waste resin 2. In the example shown in Fig. 1, the waste resin recovery device 10 includes two agitation nozzles 6a, 6b and one recovery nozzle 7. The number of agitation nozzles 6 and recovery nozzles 7 included in the waste resin recovery device 10 is not limited to this and can be determined arbitrarily. Hereinafter, the agitation nozzle 6 may be referred to as nozzle 6, and the recovery nozzle 7 may be referred to as nozzle 7.

[0021] The nozzle lifting unit 4 is equipped with nozzles 6, 7 at one end (lower end) and is a mechanism for raising and lowering the nozzles 6, 7, and is disposed inside the waste resin storage tank 1. In this embodiment, the nozzle lifting unit 4 is configured as an extension mechanism that raises and lowers the nozzles 6, 7 by expanding and contracting its length. The nozzle lifting unit 4 expands and contracts to raise and lower the nozzles 6, 7, thereby making it possible to determine the positions of the nozzles 6, 7 in the up-down direction (vertical direction). For example, the nozzle lifting unit 4 extends and the recovery nozzle 7 descends, making it possible to install the recovery nozzle 7 near the surface of the waste resin 2.

[0022] The other ends (upper ends) of the nozzle lifting parts 4a, 4b, 4c are fixed to a fixing part 5. The fixing part 5 is a fixing mechanism provided on an upper part 8 of the waste resin storage tank 1. In this embodiment, the fixing part 5 is provided on the top part (upper surface) of the waste resin storage tank 1.

[0023] The arithmetic and control unit 100 is disposed outside the waste resin storage tank 1, and controls the nozzle lifting unit 4 to control the lifting and lowering of the nozzles 6, 7. The arithmetic and control unit 100 receives and processes the output of the sensor provided in the waste resin recovery device 10, and controls the nozzle lifting and lowering unit 4.

[0024] Fig. 2 is a diagram showing a detailed configuration of the waste resin recovery apparatus 10 according to this embodiment. Fig. 2 mainly shows the configuration of the sensors provided in the waste resin recovery apparatus 10, the nozzle lifting unit 4 in which the stirring nozzle 6 is installed, and the configuration of the calculation control unit 100.

[0025] In the following, as an example, a nozzle lifting unit 4 on which the stirring nozzle 6 is installed will be described. The nozzle lifting unit 4 on which the recovery nozzle 7 is installed can have the same configuration as the nozzle lifting unit 4 on which the stirring nozzle 6 is installed.

[0026] The waste resin recovery device 10 includes, as sensors, an ultrasonic distance sensor 21 and a depth camera 22 for measuring the liquid level.

[0027] The ultrasonic distance sensor 21 is installed in the nozzle 6. The ultrasonic distance sensor 21 measures the distance between the nozzle 6 and the surface of the waste resin 2 when the waste resin recovery device 10 is installed in the waste resin storage tank 1 and when the waste resin recovery device 10 is in operation.

[0028] The liquid level measuring depth camera 22 is installed on a fixed part 5 provided on the upper part 8 of the waste resin storage tank 1. The liquid level measuring depth camera 22 measures the distance from the upper part 8 of the waste resin storage tank 1 to the liquid level of the waste liquid 3. In this embodiment, the liquid level measuring depth camera 22 can measure the distance from the upper part 8 of the waste resin storage tank 1 to the liquid level of the waste liquid 3 by ultrasonic waves. In other words, the liquid level measuring depth camera 22 also has the function of an ultrasonic distance sensor. Note that, when the strength of the signal from the liquid level measuring depth camera 22 is weak and it is difficult to measure the distance, the calculation control unit 100 may amplify the signal so that the strength of the signal is sufficient.

[0029] The following describes the nozzle lifting and lowering unit 4. In this embodiment, the nozzle lifting and lowering unit 4 includes a plurality of rods 11, a wire 12, and a wire payout device 13.

[0030] The multiple rods 11 are multiple cylindrical members with different inner diameters (thicknesses), and are placed inside the waste resin storage tank 1. The nozzle lifting unit 4 is an extension mechanism configured by connecting the multiple rods 11 in a telescopic manner. The nozzle lifting unit 4 contracts when a rod 11 with a smaller inner diameter enters a rod 11 with a larger inner diameter, and extends when a rod 11 with a smaller inner diameter emerges from a rod 11 with a larger inner diameter.

[0031] The number of rods 11 can be determined arbitrarily depending on the size of the waste resin storage tank 1, the size of the installation space for the waste resin recovery device 10, and the like.

[0032] One end of the wire 12 is fixed to a rod 11 located at the lower end of the nozzle lifting unit 4, and the other end is fixed to a wire payout device 13. The length of the wire 12 in the waste resin storage tank 1 is changed by the wire payout device 13.

[0033] The wire payout device 13 is fixed to the upper part 8 of the waste resin storage tank 1, and includes a drum for winding up the wire 12, and an encoder for measuring the number of rotations of the drum. The wire payout device 13 can wind up and pay out the wire 12 by rotating the drum, and can change the length of the wire 12 in the waste resin storage tank 1.

[0034] In this embodiment, when the wire 12 is wound by the wire payout device 13, the nozzle lifting unit 4 contracts by telescopically storing the rod 11 with a smaller inner diameter inside the rod 11 with a larger inner diameter. Then, when the wire 12 is sent out by the wire payout device 13, the rod 11 with a smaller inner diameter that was stored inside the rod 11 with a larger inner diameter comes out of the rod 11 with a larger inner diameter due to its own weight and extends.

[0035] The calculation control unit 100 includes an extension / retraction control unit 103 , a clock signal generating unit 110 , a distance calculation unit 101 , a liquid surface distance calculation unit 104 , a tip position calculation unit 105 , and a comparison unit 102 .

[0036] The extension / retraction control unit 103 extends and retracts the nozzle lifting unit 4. In this embodiment, the extension / retraction control unit 103 controls the wire payout device 13 to rotate the drum to wind and unwind the wire 12, thereby changing the length of the wire 12 in the waste resin storage tank 1, thereby extending and retracting the nozzle lifting unit 4.

[0037] The clock signal generating section 110 periodically generates a signal (clock signal). In the arithmetic and control section 100, each section can operate according to the clock signal generated by the clock signal generating section 110.

[0038] The distance calculation unit 101 obtains the distance between the nozzles 6 and 7 and the surface of the waste resin 2 from the measurement results of the ultrasonic distance sensor 21 .

[0039] The liquid surface distance calculation unit 104 obtains the position of the liquid surface of the waste liquid 3 from the measurement results of the liquid surface measurement depth camera 22 .

[0040] The tip position calculation unit 105 obtains the up-down (vertical) positions of the nozzles 6, 7 from the elevation state (degree of elevation) of the nozzle elevation unit 4. In this embodiment, the tip position calculation unit 105 determines the elevation state of the nozzle elevation unit 4 using the rotation speed of the drum of the wire payout device 13, and obtains the up-down (vertical) positions of the nozzles 6, 7.

[0041] The comparison unit 102 compares the distance (measured distance) found by the distance calculation unit 101 with the optimal distance (optimum distance) between the nozzles 6, 7 and the surface of the waste resin 2. The comparison unit 102 also compares the position of the liquid surface of the waste liquid 3 obtained by the liquid surface distance calculation unit 104 with the up-down (vertical) positions of the nozzles 6, 7 obtained by the tip position calculation unit 105.

[0042] 3, a procedure for setting the positions of the nozzles 6, 7 when the waste resin recovery device 10 according to this embodiment is installed in the waste resin storage tank 1 will be described. In the following, a procedure for setting the position of the stirring nozzle 6 will be described as an example, but the position of the recovery nozzle 7 is also set in the same manner as the stirring nozzle 6.

[0043] 3 is a flow diagram showing a procedure for setting the position of the nozzle 6 when the waste resin recovery apparatus 10 according to this embodiment is installed in the waste resin storage tank 1. The waste resin recovery apparatus 10 is installed in the waste resin storage tank 1 with the nozzle lifting unit 4 in a contracted state.

[0044] In step S100, the extension / retraction control unit 103 of the arithmetic and control unit 100 rotates the drum of the wire payout device 13 to feed out the wire 12, and starts extending the nozzle lifting unit 4.

[0045] In step S101, when a stop signal is sent from the clock signal generating unit 110 of the arithmetic control unit 100 to the extension control unit 103, the extension control unit 103 stops the extension of the nozzle lifting and lowering unit 4. The clock signal generating unit 110 periodically sends a stop signal to the extension control unit 103 in synchronization with the clock signal.

[0046] In step S102, the ultrasonic distance sensor 21 installed in the nozzle 6 transmits ultrasonic waves to the surface of the waste resin 2 and receives the reflected wave from the waste resin 2. The waveform of the reflected wave received by the ultrasonic distance sensor 21 is sent to the distance calculation unit 101 of the calculation control unit 100. The distance calculation unit 101 analyzes the waveform of the reflected wave to determine the time (propagation time) from when the ultrasonic distance sensor 21 transmits ultrasonic waves to when it receives the reflected wave. The distance calculation unit 101 then multiplies half the propagation time by the speed of ultrasonic waves (sound speed) to determine the distance between the nozzle 6 and the surface of the waste resin 2. The distance between the nozzle 6 and the surface of the waste resin 2 determined by the distance calculation unit 101 is called the "measured distance."

[0047] The ultrasonic distance sensor 21 includes a temperature sensor, and can acquire the temperature inside the waste resin storage tank 1 by the temperature sensor. The distance calculation unit 101 can more accurately calculate the distance between the nozzle 6 and the surface of the waste resin 2 by calculating the speed of sound inside the waste resin storage tank 1 using the temperature inside the waste resin storage tank 1 acquired by the ultrasonic distance sensor 21.

[0048] In step S103, the comparison unit 102 of the calculation control unit 100 compares the measured distance obtained by the distance calculation unit 101 with the optimal distance (optimum distance) between the nozzle 6 and the surface of the waste resin 2. The optimal distance can be determined in advance based on a prior simulation, experiment, or the like.

[0049] Steps S104 to S106 are executed by the expansion / contraction control unit 103 in accordance with the comparison result of the comparison unit 102 in step S103.

[0050] Step S104 is a step executed by the extension / retraction control unit 103 when the measured distance is smaller than the optimal distance. In this case, since the nozzle 6 is too close to the surface of the waste resin 2, the extension / retraction control unit 103 rotates the drum of the wire payout device 13 in the direction opposite to the rotation direction in step S100 to wind up the wire 12 and contracts the nozzle lifting / lowering unit 4. As the nozzle lifting / lowering unit 4 contracts, the nozzle 6 rises and moves away from the waste resin 2.

[0051] Step S105 is a step executed by the extension / retraction control unit 103 when the measured distance is greater than the optimal distance. In this case, since the nozzle 6 is too far from the surface of the waste resin 2, the extension / retraction control unit 103 rotates the drum of the wire payout device 13 in the same direction as the rotation direction in step S100 to feed out the wire 12 and extend the nozzle lifting / lowering unit 4. By extending the nozzle lifting / lowering unit 4, the nozzle 6 descends and approaches the waste resin 2.

[0052] If step S104 or step S105 has been executed, the process proceeds to step S101, and when a stop signal is sent from the clock signal generating unit 110 to the extension / retraction control unit 103, the extension / retraction control unit 103 stops contracting or extending the nozzle lifting / lowering unit 4. Steps S101 to S105 are executed until the measured distance becomes equal to the optimal distance.

[0053] Step S106 is a step executed by the extension / retraction control unit 103 when the measured distance is equal to the optimal distance. In this case, the extension / retraction control unit 103 ends the extension / retraction of the nozzle lifting / lowering unit 4 because the nozzle 6 is at a position that is the optimal distance away from the surface of the waste resin 2. The nozzle 6 ends the lifting and lowering, and the distance from the surface of the waste resin 2 becomes the optimal distance.

[0054] Next, referring to Fig. 4, a procedure will be described in which the waste resin recovery apparatus 10 according to this embodiment is operated and recovers the waste resin 2 inside the waste resin storage tank 1. In the following, the stirring nozzle 6 will be described as an example, but the following description also applies to the recovery nozzle 7. The waste resin recovery apparatus 10 is installed in the waste resin storage tank 1, and operation is started after the positions of the nozzles 6 and 7 are set according to the procedure shown in Fig. 3.

[0055] FIG. 4 is a flow chart showing the procedure when the waste resin recovery apparatus 10 according to this embodiment is operated and recovers the waste resin 2 inside the waste resin storage tank 1. As shown in FIG.

[0056] In step S200, the calculation and control unit 100 starts the operation of the waste resin recovery device 10, and activates the stirring nozzle 6 and the recovery nozzle 7. When the stirring nozzle 6 is started, it starts stirring the waste resin 2. When the recovery nozzle 7 is started, it starts recovering the waste resin 2.

[0057] In step S201, when a stop signal is sent from the clock signal generating unit 110 of the calculation control unit 100 to the extension / retraction control unit 103, the extension / retraction control unit 103 stops the extension / retraction of the nozzle lifting / lowering unit 4 if the nozzle lifting / lowering unit 4 is being extended or retracted (if step S212 or step S222 described below has been executed).

[0058] After step S201, steps S202, S203, and S204 are performed. These steps may be performed in any order, and multiple steps may be performed simultaneously.

[0059] In step S202, the liquid level measuring depth camera 22 (FIG. 2) installed on the upper part 8 of the waste resin storage tank 1 uses ultrasonic waves to measure the distance from the upper part 8 of the waste resin storage tank 1 to the liquid level of the waste liquid 3. The liquid level distance calculation unit 104 of the calculation control unit 100 obtains the position of the liquid level of the waste liquid 3 from the measurement result of the liquid level measuring depth camera 22. The liquid level distance calculation unit 104 can obtain the position of the liquid level of the waste liquid 3 as the height from an arbitrary reference position.

[0060] In step S203, the tip position calculation unit 105 of the calculation control unit 100 obtains the up-down (vertical) position of the nozzle 6 from the number of rotations of the drum of the wire payout device 13 measured by the encoder of the wire payout device 13. For example, the tip position calculation unit 105 can obtain the amount of movement of the wire 12 (the amount of change in length in the waste resin storage tank 1) from the number of rotations and radius of the drum, and obtain the up-down position of the nozzle 6 from this amount of movement and the initial position of the nozzle 6. The tip position calculation unit 105 can obtain the up-down position of the nozzle 6 as the height from a reference position used by the liquid level distance calculation unit 104 to obtain the position of the liquid level of the waste liquid 3.

[0061] In step S204, the ultrasonic distance sensor 21 installed in the nozzle 6 transmits ultrasonic waves to the surface of the waste resin 2 and receives the reflected wave from the waste resin 2. The waveform of the reflected wave received by the ultrasonic distance sensor 21 is sent to the distance calculation unit 101 of the calculation control unit 100.

[0062] In step S205, the comparison unit 102 of the calculation control unit 100 compares the liquid level position of the waste liquid 3 acquired by the liquid level distance calculation unit 104 in step S202 with the up-down (vertical) position of the nozzle 6 acquired by the tip position calculation unit 105 in step S203.

[0063] In step S206, if the vertical position of the nozzle 6 (the position of the tip of the nozzle 6) is above the liquid level of the waste liquid 3, the process proceeds to step S207, and if the vertical position of the nozzle 6 is below the liquid level of the waste liquid 3, the process proceeds to step S208.

[0064] In step S207, since the position of the nozzle 6 is above the liquid level of the waste liquid 3, the calculation and control unit 100 stops the nozzle 6. The stirring nozzle 6 stops stirring the waste resin 2. The recovery nozzle 7 stops recovering the waste resin 2 and does not suck in air. This makes it possible to prevent air from flowing into the system that recovers the waste resin 2.

[0065] In step S208, the distance calculation unit 101 obtains the distance (measured distance) between the nozzle 6 and the surface of the waste resin 2 from the waveform of the reflected wave from the waste resin 2 received by the ultrasonic distance sensor 21, similar to step S102 in FIG.

[0066] The distance calculation unit 101 can obtain the frequency of the reflected wave from the waveform of the reflected wave. The distance calculation unit 101 can obtain the fluctuation speed (the descending speed of the surface position) of the surface of the waste resin 2 using the frequency of the ultrasonic waves transmitted by the ultrasonic distance sensor 21, the frequency of the reflected wave, and the sound speed of the ultrasonic waves. For example, the distance calculation unit 101 can obtain the fluctuation speed of the surface of the waste resin 2 by utilizing the difference between the frequency of the transmitted wave and the frequency of the reflected wave and utilizing the principle of the Doppler effect.

[0067] The distance calculation unit 101 can correct the measured distance by using the fluctuation speed of the surface of the waste resin 2. For example, the distance calculation unit 101 multiplies the fluctuation speed of the surface of the waste resin 2 by the period at which the clock signal generating unit 110 transmits a clock signal to calculate the amount of fluctuation of the surface of the waste resin 2 (the distance the surface position descends) until the next clock signal is transmitted, and can correct the measured distance by increasing the measured distance by the amount of this fluctuation.

[0068] As already mentioned, if the ultrasonic distance sensor 21 is equipped with a temperature sensor, the distance calculation unit 101 can more accurately determine the distance between the nozzle 6 and the surface of the waste resin 2 by using the internal temperature of the waste resin storage tank 1 acquired by the ultrasonic distance sensor 21 to calculate the speed of sound inside the waste resin storage tank 1.

[0069] In step S210, the comparison unit 102 compares the measured distance obtained by the distance calculation unit 101 with the optimum distance between the nozzle 6 and the surface of the waste resin 2.

[0070] Steps S211, S221, and S231 are executed by the comparison unit 102 and the expansion / contraction control unit 103 in accordance with the comparison result of the comparison unit 102 in step S210.

[0071] Step S211 is a step executed by the comparison unit 102 when the measured distance is smaller than the optimum distance. In this case, the comparison unit 102 calculates the difference between the optimum distance and the measured distance.

[0072] In step S212, the extension / retraction control unit 103 rotates the drum of the wire payout device 13 to wind up the wire 12, and contracts the nozzle lifting unit 4 by the difference between the optimal distance and the measured distance. In this way, the nozzle 6 is raised during operation of the waste resin recovery device 10, and is positioned at a position that is the optimal distance away from the surface of the waste resin 2.

[0073] Step S221 is a step executed by the comparison unit 102 when the measured distance is greater than the optimum distance. In this case, the comparison unit 102 calculates the difference between the measured distance and the optimum distance.

[0074] In step S222, the extension / retraction control unit 103 rotates the drum of the wire payout device 13 to feed out the wire 12, and extends the nozzle lifting unit 4 by the difference between the measured distance and the optimal distance. In this way, the nozzle 6 is lowered during operation of the waste resin recovery device 10, and is positioned at a position that is the optimal distance away from the surface of the waste resin 2.

[0075] Step S231 is a step executed by the extension / retraction control unit 103 when the measured distance is equal to the optimal distance. In this case, the extension / retraction control unit 103 stops the extension / retraction of the nozzle lifting / lowering unit 4 because the nozzle 6 is at a position that is the optimal distance away from the surface of the waste resin 2. The nozzle 6 stops lifting and lowering. The extension / retraction control unit 103 waits until the nozzle lifting / lowering unit 4 is next extended or retracted.

[0076] The waste resin recovery apparatus 10 according to this embodiment repeatedly executes the processes from step S201 onwards from the start of operation to the end of operation, thereby being able to position the nozzles 6, 7 at an optimum distance from the surface of the waste resin 2 during operation and always maintain a constant distance between the nozzles 6, 7 and the waste resin 2. The waste resin recovery apparatus 10 according to this embodiment can extend and retract the nozzle lifting unit 4 in response to fluctuations in the surface of the waste resin 2 accompanying the recovery of the waste resin 2, and can always maintain an optimum distance between the nozzles 6, 7 located at one end of the nozzle lifting unit 4 and the surface of the waste resin 2.

[0077] In the waste resin recovery device 10 according to this embodiment, the tip position calculation unit 105 acquires the up-down (vertical) positions of the nozzles 6, 7 using the rotation speed of the drum of the wire payout device 13. Therefore, the waste resin recovery device 10 has the advantage that it can acquire the positions of the nozzles 6, 7 regardless of the properties of the waste resin 2 and waste liquid 3 inside the waste resin storage tank 1, and can accurately acquire the positions of the nozzles 6, 7 even if the liquid level of the waste liquid 3 fluctuates as the waste resin 2 is recovered.

[0078] Furthermore, in the waste resin recovery device 10 according to this embodiment, the distance calculation unit 101 can obtain the fluctuation speed of the surface of the waste resin 2 in real time, and can use this fluctuation speed to correct the measured distance (measured distance) between the nozzle 6 and the surface of the waste resin 2. Therefore, the waste resin recovery device 10 has the advantage that the positions of the nozzles 6 and 7 (positions of the tips of the nozzles 6 and 7) can be made to follow the surface of the waste resin 2 with high accuracy. EXAMPLES

[0079] Second Embodiment A waste resin recovery apparatus 10 according to a second embodiment of the present invention will be described below. In the following, the differences between the waste resin recovery apparatus 10 according to the second embodiment and the waste resin recovery apparatus 10 according to the first embodiment will be mainly described.

[0080] 5 is a diagram showing the configuration of the waste resin recovery device 10 according to this embodiment. The waste resin recovery device 10 according to this embodiment differs from the waste resin recovery device 10 according to the first embodiment mainly in the configuration of the nozzle lifting unit 4, in that the waste resin recovery device 10 according to this embodiment includes a depth camera 204 for measuring the resin surface as a sensor, and in that the waste resin recovery device 10 according to this embodiment includes a video output unit 140.

[0081] In the following, as an example, a nozzle lifting unit 4 on which the stirring nozzle 6 is installed will be described. The nozzle lifting unit 4 on which the recovery nozzle 7 is installed can have the same configuration as the nozzle lifting unit 4 on which the stirring nozzle 6 is installed.

[0082] In the waste resin recovery device 10 according to the present embodiment, the nozzle lifting unit 4 is composed of an articulated robot 201. The nozzle 6 is installed at one end (lower end) of the nozzle lifting unit 4. In the first embodiment, the ultrasonic distance sensor 21 is installed on the nozzle 6 as a distance sensor, but in this embodiment, a depth camera 204 for measuring the resin surface is installed. Note that, in the waste resin recovery device 10 according to the present embodiment, the ultrasonic distance sensor 21 may be installed on the nozzle 6, similarly to the waste resin recovery device 10 according to the first embodiment.

[0083] The articulated robot 201 includes a plurality of link rods 202 (arms) and a plurality of joint mechanisms 203 (joints) that connect the link rods 202 to each other, and the length of the joint mechanisms 203 is expanded or contracted by rotating the link rods 202 to change the connection angle. In other words, the nozzle lifting / lowering unit 4 formed by the articulated robot 201 is an expansion / contraction mechanism that expands or contracts in length to lift or lower the nozzles 6, 7. Each of the joint mechanisms 203 includes an encoder that measures the rotation angle of the joint mechanisms 203.

[0084] The number of link rods 202 and joint mechanisms 203 can be determined arbitrarily depending on the size of the waste resin storage tank 1 and the size of the installation space for the waste resin recovery device 10, etc.

[0085] The tip position calculation unit 105 of the calculation control unit 100 obtains the up-down (vertical) positions of the nozzles 6, 7 from the elevation state of the nozzle elevation unit 4. In this embodiment, the tip position calculation unit 105 obtains the rotation angle measured by the encoder of the joint mechanism 203 at the timing when it receives the clock signal transmitted by the clock signal generation unit 110. Then, the tip position calculation unit 105 obtains the up-down (vertical) position of the nozzle 6 from the lengths of the link rods 202 and the connection angle of the link rods 202 calculated from the obtained rotation angle.

[0086] The resin surface measuring depth camera 204 is installed on the nozzle 6 and is a distance sensor for measuring the distance between the nozzle 6 and the surface of the waste resin 2 by ultrasonic waves. That is, the resin surface measuring depth camera 204 transmits ultrasonic waves to the surface of the waste resin 2 and receives reflected waves from the waste resin 2. The waveform of the reflected waves received by the resin surface measuring depth camera 204 is sent to the distance calculation unit 101 of the calculation control unit 100.

[0087] The distance calculation unit 101 obtains the distance (measured distance) between the nozzle 6 and the surface of the waste resin 2 by analyzing the waveform of the reflected wave in the same manner as described in the first embodiment.

[0088] The comparison unit 102 of the calculation control unit 100 compares the measured distance obtained by the distance calculation unit 101 with the optimum distance between the nozzle 6 and the surface of the waste resin 2 (optimum distance), as described in the first embodiment.

[0089] As described in the first embodiment, the extension / retraction control unit 103 of the arithmetic and control unit 100 extends or retracts the nozzle lifting / lowering unit 4 or stops the extension / retraction of the nozzle lifting / lowering unit 4 depending on the comparison result of the comparison unit 102. The extension / retraction control unit 103 extends or retracts the nozzle lifting / lowering unit 4 by rotating the joint mechanism 203 of the articulated robot 201 to change the connection angle of the link rod 202.

[0090] The waste resin recovery apparatus 10 according to this embodiment can include a video output unit 140. The resin surface measuring depth camera 204 can capture video of the waste resin 2. The video output unit 140 displays the video of the waste resin 2 captured by the resin surface measuring depth camera 204. An operator can monitor the operating status of the waste resin recovery apparatus 10 by viewing the video displayed on the video output unit 140.

[0091] In the waste resin recovery device 10 according to this embodiment, the nozzle lifting unit 4 is composed of the articulated robot 201, so the nozzle lifting unit 4 can not only extend and retract in the vertical direction, but also move in the horizontal direction. Therefore, even if there is an object inside the waste resin storage tank 1 that obstructs the nozzles 6, 7, the nozzles 6, 7 can be advantageously placed at the desired position by avoiding the object.

[0092] In addition, in the waste resin recovery device 10 according to this embodiment, since the resin surface measuring depth camera 204 is used to measure the distance between the nozzle 6 and the surface of the waste resin 2, an image of the waste resin 2 can be acquired by the resin surface measuring depth camera 204. Therefore, by displaying the image of the waste resin 2 on the image output unit 140, there is an advantage that an operator can monitor the operating state of the waste resin recovery device 10 (for example, the state of recovery of the waste resin 2) from outside the waste resin storage tank 1. EXAMPLES

[0093] A waste resin recovery apparatus 10 according to a third embodiment of the present invention will be described below. The following mainly describes the differences between the waste resin recovery apparatus 10 according to the third embodiment and the waste resin recovery apparatus 10 according to the first embodiment.

[0094] 6 is a diagram showing the configuration of the waste resin recovery apparatus 10 according to this embodiment. The waste resin recovery apparatus 10 according to this embodiment differs from the waste resin recovery apparatus 10 according to embodiment 1 mainly in the configuration of the nozzle lifting / lowering unit 4, in that it is provided with an underwater camera 304 as a sensor, and in that it is provided with a video output unit 140. An agitation nozzle 6 is installed in the nozzle lifting / lowering unit 4a. A recovery nozzle 7 is installed in the nozzle lifting / lowering unit 4c adjacent to the nozzle lifting / lowering unit 4a.

[0095] In the following, as an example, a nozzle lifting section 4 (4a) on which the stirring nozzle 6 is installed will be described. The nozzle lifting section 4 (4c) on which the recovery nozzle 7 is installed can have the same configuration as the nozzle lifting section 4a on which the stirring nozzle 6 is installed.

[0096] In the waste resin recovery device 10 according to this embodiment, the nozzle lifting unit 4 includes a plurality of rod parts 302 and a rod connection unit 303 that connects the rod parts 302 to each other. The rod parts 302 can be formed of a rod-shaped member, and the rod connection unit 303 is provided at an end of the rod part 302. The rod connection unit 303 is a member that connects the two rod parts 302 to each other, and can be formed of, for example, a flange.

[0097] The number of rod parts 302 and rod connecting portions 303 can be determined arbitrarily depending on the size of the waste resin storage tank 1 and the size of the installation space for the waste resin recovery device 10, etc.

[0098] The nozzle 6 is installed at one end (lower end) of the nozzle lifting section 4. In the first embodiment, the ultrasonic distance sensor 21 is installed on the nozzle 6, but in this embodiment, the ultrasonic distance sensor 21 is not installed. Note that, in the waste resin recovery device 10 according to this embodiment, the ultrasonic distance sensor 21 may be installed on the nozzle 6 as in the waste resin recovery device 10 according to the first embodiment, and a depth camera 204 for measuring the resin surface may be installed on the nozzle 6 as in the waste resin recovery device 10 according to the second embodiment.

[0099] The multiple rod parts 302 of the nozzle lifting unit 4 are connected to each other by a rod connection mechanism 305 installed on a fixed part 5 at an upper part 8 of the waste resin storage tank 1. The rod connection mechanism 305 is a mechanism that connects the multiple rod parts 302 to each other at rod connection parts 303, and connects the multiple rod parts 302 to each other before the waste resin recovery device 10 starts operating.

[0100] One end of the wire 12 is fixed to the rod part 302 located at one end (lower end) of the nozzle lifting section 4. The other end of the wire 12 is fixed to the wire unwinding device 13. The length of the wire 12 in the waste resin storage tank 1 is changed by the wire unwinding device 13. The wire unwinding device 13 is fixed to the upper part 8 of the waste resin storage tank 1 and has the configuration as described in Example 1, and can change the length of the wire 12 in the waste resin storage tank 1 by winding and unwinding the wire 12.

[0101] In this embodiment, the position of the nozzle lifting unit 4 moves in the vertical direction due to the movement of the wire 12. Specifically, the nozzle lifting unit 4 moves as a whole when the wire 12 is wound by the wire payout device 13, and moves as a whole when the wire 12 is paid out by the wire payout device 13. In other words, the nozzle lifting unit 4, which is made up of a plurality of rod parts 302, is a mechanism that lifts and lowers the nozzles 6, 7 by moving the positions of the rod parts 302 in the vertical direction.

[0102] As in the first embodiment, the tip position calculation unit 105 of the calculation control unit 100 obtains the up-down (vertical) positions of the nozzles 6, 7 from the number of rotations of the drum of the wire payout device 13 measured by the encoder of the wire payout device 13.

[0103] An underwater camera 304 and a laser irradiator 306 are installed at one end (lower end) of the nozzle lifting unit 4. The underwater camera 304 is a distance sensor for measuring the distance between the nozzle 7 of the nozzle lifting unit 4c adjacent to the nozzle lifting unit 4a on which the underwater camera 304 is installed and the surface of the waste resin 2, and in order to measure this distance, it takes an image of the nozzle 7 of the nozzle lifting unit 4c and the surface of the waste resin 2. The laser irradiator 306 constantly irradiates the surface of the waste resin 2 with a laser beam while the waste resin recovery device 10 is in operation. The irradiation point of the laser beam on the surface of the waste resin 2 is used as a measurement point when measuring the distance between the nozzle 7 and the surface of the waste resin 2. Therefore, it is preferable that the laser irradiator 306 irradiates the laser beam on the surface of the waste resin 2 as close as possible to the nozzle 7.

[0104] In this embodiment, the distance (measured distance) between the nozzle 7 and the surface of the waste resin 2 is obtained from images of the nozzle 7 and the surface of the waste resin 2 captured by the underwater camera 304. For this reason, it is preferable that the underwater camera 304 has a wide angle of view so that it can simultaneously capture images of the tip of the nozzle 7 and the surface of the waste resin 2 (the irradiation point of the laser light). It is also preferable that the underwater camera 304 is installed so that the wider of its horizontal and vertical angles of view faces up and down (vertical direction).

[0105] The distance calculation unit 101 of the calculation control unit 100 obtains the distance (measured distance) between the nozzle 7 of the nozzle lifting unit 4c and the surface of the waste resin 2 from an image captured by the underwater camera 304 installed in the nozzle lifting unit 4a. For example, the distance calculation unit 101 obtains the irradiation points of the laser light on the tip of the nozzle 7 and the surface of the waste resin 2 as measurement points by image processing, and calculates the distance between the nozzle 7 and the surface of the waste resin 2 using the distance between the adjacent nozzle lifting units 4 (nozzle lifting unit 4a and nozzle lifting unit 4c), the number of pixels of the underwater camera 304, and the angle of view in the vertical direction.

[0106] The comparison unit 102 of the calculation control unit 100 compares the measured distance obtained by the distance calculation unit 101 with the optimum distance between the nozzle 7 and the surface of the waste resin 2 (optimum distance), as described in the first embodiment.

[0107] As described in the first embodiment, the extension / retraction control unit 103 of the arithmetic and control unit 100 raises and lowers the nozzle lifting / lowering unit 4 or stops the raising and lowering of the nozzle lifting / lowering unit 4 depending on the comparison result of the comparison unit 102.

[0108] The waste resin recovery apparatus 10 according to this embodiment can include a video output unit 140. The underwater camera 304 can capture images of the waste resin 2. The video output unit 140 displays the images of the waste resin 2 captured by the underwater camera 304. An operator can monitor the operating state of the waste resin recovery apparatus 10 by viewing the images displayed on the video output unit 140.

[0109] In the above description, an example has been described in which the underwater camera 304 installed in the nozzle lifting unit 4a captures images of the nozzle 7 of the nozzle lifting unit 4c and the surface of the waste resin 2 in order to measure the distance between the nozzle 7 of the nozzle lifting unit 4c adjacent to the nozzle lifting unit 4a and the surface of the waste resin 2. In this embodiment, the underwater camera 304 installed in any nozzle lifting unit 4 can capture images of the nozzles 6, 7 of the adjacent nozzle lifting unit 4 and the surface of the waste resin 2 in order to measure the distance between the nozzles 6, 7 of the nozzle lifting unit 4 adjacent to this nozzle lifting unit 4 and the surface of the waste resin 2.

[0110] The distance calculation unit 101 can detect whether the orientations of adjacent nozzle lifting units 4 are parallel or not by image processing of the image captured by the underwater camera 304. If the orientations of adjacent nozzle lifting units 4 are not parallel, the distance calculation unit 101 can determine the amount of deviation from parallelism and correct the calculated distance (measured distance) between the nozzles 6, 7 and the surface of the waste resin 2 using this deviation amount.

[0111] In the waste resin recovery device 10 according to this embodiment, the nozzle lifting / lowering part 4 has a simple structure including a rod part 302 and a rod connecting part 303, and is assembled by a rod connecting mechanism 305. Therefore, the nozzle lifting / lowering part 4 can be separated into a plurality of rod parts 302 for transportation, and has an advantage of excellent portability.

[0112] In addition, in the waste resin recovery device 10 according to this embodiment, an underwater camera 304 is used to measure the distance between the nozzles 6, 7 and the surface of the waste resin 2, and therefore an image of the waste resin 2 can be acquired by the underwater camera 304. Therefore, by displaying an image of the waste resin 2 on the image output unit 140, there is an advantage that an operator can monitor the operating state of the waste resin recovery device 10 (for example, the state of recovery of the waste resin 2) from outside the waste resin storage tank 1. The underwater camera 304 may be any camera having a size and weight that can be installed on the nozzle lifting / lowering unit 4 (rod part 302), and can be constructed from an inexpensive camera.

[0113] As described above, the waste resin recovery device 10 according to the first to third embodiments can always keep the distance between the nozzles 6, 7 and the waste resin 2 constant when recovering the waste resin 2 from the waste resin storage tank 1, so that the recovery efficiency of the waste resin 2 does not decrease and the waste resin 2 can be recovered with high efficiency. Furthermore, the waste resin recovery device 10 according to the first to third embodiments can prevent the recovery nozzle 7 from sucking in air by measuring the liquid level of the waste liquid 3 inside the waste resin storage tank 1 when recovering the waste resin 2 from the waste resin storage tank 1, thereby preventing air from flowing into the system for recovering the waste resin 2.

[0114] The present invention is not limited to the above-described embodiments, and various modifications are possible. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to an embodiment having all of the configurations described. It is also possible to replace a part of the configuration of one embodiment with the configuration of another embodiment. It is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to delete a part of the configuration of each embodiment, or to add or replace another configuration. [Explanation of symbols]

[0115] 1...waste resin storage tank, 2...waste resin, 3...waste liquid, 4, 4a, 4b, 4c...nozzle lifting section, 5...fixing section, 6, 6a, 6b...agitation nozzle, 7...recovery nozzle, 8...upper part of waste resin storage tank, 10...waste resin recovery device, 11...rod, 12...wire, 13...wire payout device, 21...ultrasonic distance sensor, 22...depth camera for measuring liquid level, 100...calculation control section, 101...distance calculation section, 102...comparison section, 103...extension control section, 104...liquid level distance calculation section, 105...tip position calculation section, 110...clock signal generating section, 140...video output section, 201...articulated robot, 202...link rod, 203...joint mechanism, 204...depth camera for measuring resin surface, 302...rod parts, 303...rod connection section, 304...underwater camera, 305...rod connection mechanism, 306...laser irradiator.

Claims

1. It can be installed in the waste resin storage tank where waste resin and waste liquid are stored. a nozzle that, when activated, collects or agitates the waste resin; a nozzle lifting unit that is a mechanism having the nozzle at one end and lifting the nozzle; a distance sensor that is installed on the nozzle or the nozzle lifting unit and that measures a distance between the nozzle and the waste resin; A distance calculation unit and a calculation control unit including a telescopic control unit; Equipped with the distance calculation unit calculates a measured distance between the nozzle and the waste resin from a measurement result of the distance sensor; The extension control unit raises and lowers the nozzle using the nozzle lifting unit, and stops the raising and lowering of the nozzle when the measured distance is equal to a predetermined optimal distance. A waste resin recovery device characterized by:

2. A depth camera is provided to measure the distance from the top of the waste resin storage tank to the liquid surface of the waste liquid, The calculation control unit includes a liquid surface distance calculation unit and a tip position calculation unit, the liquid surface distance calculation unit acquires the position of the liquid surface of the waste liquid from a measurement result of the depth camera; a tip position calculation unit that obtains a vertical position of the nozzle from a lifting state of the nozzle lifting unit; the calculation control unit stops the nozzle that is operating when the vertical position of the nozzle is above the liquid level of the waste liquid. The waste resin recovery device according to claim 1.

3. The nozzle lifting unit is an extension mechanism formed by connecting a plurality of cylindrical members having different inner diameters in a telescopic manner, and lifts and lowers the nozzle by extending and contracting its length. The waste resin recovery device according to claim 1.

4. The nozzle lifting unit includes a plurality of arms and a plurality of joints connecting the arms, and lifts and lowers the nozzle by changing a connection angle of the arms. The waste resin recovery device according to claim 1.

5. The nozzle lifting unit includes a rod-shaped member, and moves the nozzle up and down by moving the position of the rod-shaped member in the vertical direction. The waste resin recovery device according to claim 1.

6. The expansion / contraction control unit is When the measured distance is smaller than the optimum distance, the nozzle is raised by the nozzle lifting unit to move the nozzle away from the waste resin; When the measured distance is greater than the optimum distance, the nozzle is lowered by the nozzle lifting unit to bring the nozzle closer to the waste resin. The waste resin recovery device according to claim 1.

7. The expansion / contraction control unit is If the measured distance is less than the optimum distance, the nozzle is raised by the difference between the optimum distance and the measured distance; If the measured distance is greater than the optimum distance, the nozzle is lowered by the difference between the measured distance and the optimum distance. The waste resin recovery device according to claim 6.

8. The distance sensor is a distance sensor that measures the distance between the nozzle and the waste resin by ultrasonic waves. The waste resin recovery device according to claim 1.

9. The distance calculation unit is determining a fluctuation speed of a surface of the waste resin using a difference between a frequency of the ultrasonic wave transmitted by the distance sensor and a frequency of a wave reflected from the waste resin; correcting the measured distance using the fluctuation rate; The waste resin recovery device according to claim 8.

10. The distance sensor is a depth camera that measures the distance between the nozzle and the waste resin by ultrasonic waves and captures an image of the waste resin. The waste resin recovery device according to claim 1.

11. The distance sensor is an underwater camera that captures images of the nozzle and the waste resin. The waste resin recovery device according to claim 1.

12. a video output unit that displays the video captured by the distance sensor; The waste resin recovery device according to claim 10 or 11.

Images