A recovery tool for recovering solid elements, particularly radioactive materials, including a capture head and a cup.

Abstract

The present invention relates to a retrieval tool (7) for retrieving solid elements, particularly radioactive materials. The retrieval tool (7) includes a chassis (70), a capture head (30), and at least one cup (84). The capture head (30) is movable relative to the chassis (70) between a retracted position and a deployed position. In the retracted position, the capture head (30) is housed within a chamber (75) of the retrieval tool (7). In the deployed position, the capture head (30) is capable of capturing solid elements. The cup (84) is movable relative to the chassis (70) between an open position and a closed position. In the open position, the cup (84) allows the capture head (30) to be deployed. In the closed position, the cup (84) allows the solid elements to be retained in the chamber (75) with the capture head (30) in the retracted position.

Description

Technical Field

[0001] The present invention relates to a tool for recovering solid elements that are not directly accessible to humans, difficult to grip by conventional gripping means, and whose "unlosability" can be guaranteed after recovery. It is particularly applicable to dense and / or radioactive solid elements, such as fragments of columbium.

Background Art

[0002] In the context of operations, dismantling, or sanitation projects in a nuclear environment, it may be necessary to capture and radiologically isolate highly radioactive elements or substances (such as fragments of columbium) having various sizes, densities, and masses.

[0003] The capture of such solid elements or radioactive substances is likely to be carried out in zones that are inaccessible or difficult to access by humans, while attempting to limit the radiation exposure of human operators and the mass and overall size of the recovery tool. The capture and isolation of solid elements or radioactive substances is difficult to carry out given these limitations.

[0004] Due to the geometry or surface conditions of the solid elements, it is difficult to grip them using prior art tools such as tongs or suction buckets. Moreover, once captured, the solid elements must not fall or be lost during subsequent operations (such as transportation to measurement or analysis devices).

Summary of the Invention

Problems to be Solved by the Invention

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

[0006] In this regard, one object of the present invention is a tool for recovering solid elements (in particular, radioactive substances). The recovery tool includes a chassis, a capture head, and at least one bucket.

Means for Solving the Problems

[0007] The capture head is movable relative to the chassis between a retracted position and an extended position and captures the solid element. In the retracted position, the capture head is housed inside the enclosure of the recovery tool.

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

[0009] In the closed position, the capture head is in the retracted position and holds the solid element inside the enclosure. In the retracted position of the capture head, the bucket is in the closed position.

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

[0011] With the recovery tool according to the present invention, it is possible to capture a solid element (in particular, a radioactive substance such as fragments of curium) while protecting the operator from radiation and hold the solid element inside the recovery tool. The depression generated in the capture head allows the solid element to be captured more effectively. The recovery tool is relatively light and has a small overall size. It is decontaminable, highly reliable, and easy to use. It can be controlled remotely, particularly by remote operation.

[0012] Due to the cushion, the capture head can capture solid elements more effectively. The cushion is deformable to capture the solid element by conforming to its shape without damaging the solid element. The inflatable cushion allows the solid element to be captured even more effectively by sucking at least some of the fluid into the inflatable cushion.

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

[0014] In particular, the enclosure is at least partially closed by a bucket in the closed position. In particular, the cushion is positioned outside the chassis when the capture head is in the extended position.

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

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

[0017] Preferably, the fluid is air.

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

[0019] Preferably, the capture head is removably connected to the chassis of the recovery tool by screwing.

[0020] The capture head can be easily replaced. In particular, the recovery tool can be equipped with interchangeable capture heads (for example, in particular, capture heads adapted to the solid elements to be captured).

[0021] According to one feature, the movable bucket is the first bucket. The recovery tool includes a second bucket, and the second bucket is movable between an open position and a closed position for the extension of the capture head. In the closed position, the capture head is in a retracted position and holds the solid element inside the enclosure.

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

[0023] In the closed position of each bucket, the capture head is in a retracted position and holds the solid element inside the enclosure. In the retracted position of the capture head, each bucket is in the closed position.

[0024] Preferably, the second bucket has a substantially identical structure to the first bucket.

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

[0026] According to one feature, when the solid element collides with this bucket when the capture head is in the retracted position, especially in the case of a fall due to an accidental loss of the holding of the solid element by the capture head, each bucket is configured to remain in the closed position.

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

[0028] Preferably, each bucket is rotatably movable relative to the chassis when it is moved from its open position to its closed position.

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

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

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

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

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

[0034] The elastic return member biases the capture head inwardly of the enclosure and holds the solid element inside the recovery tool when there is no external control of the recovery tool, especially in the case of a failure of the control system for the recovery tool. By the elastic return member, the retracted position of the capture head and the closed position of at least one bucket are the safe positions of the recovery tool.

[0035] Preferably, the chassis includes a casing, the recovery tool includes a movable body part, the movable body part is separate from the capture head, and the movable body part is movable in a translational direction with respect to the chassis.

[0036] According to one feature, the movable body part includes a mount and at least two legs protruding from the mount respectively. Each leg is mechanically engaged with a bucket arm and is configured to move its bucket with respect to the chassis.

[0037] Next, each bucket attempts to move further away from the capture head as the capture head extends, thereby facilitating the capture of the solid element.

[0038] Preferably, each leg is configured to move this bucket relative to the chassis by mechanically engaging the bucket arm and mechanically engaging a rack and pinion wheel.

[0039] According to one feature, the recovery tool includes a device for guiding a movable body part relative to the chassis.

[0040] Preferably, the recovery tool includes a device for guiding the movable body part in a translational direction relative to the chassis.

[0041] Preferably, the guide device includes a groove portion, and the groove portion is configured to mechanically engage a pin received in the groove portion.

[0042] The recovery tool includes a linear actuator for moving the capture head relative to the chassis between a retracted position and an extended position.

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

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

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

[0046] According to one feature, the recovery tool includes an inflator, and the inflator is fluidly connected to the capture head to inflate the capture head by at least partially filling the capture head with fluid and / or to deflate the capture head by removing fluid to at least partially empty the capture head.

[0047] The present invention also relates to an apparatus for recovering solid elements, including a recovery tool as defined above.

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

[0049] According to one feature, the recovery apparatus includes a recovery monitoring device for monitoring the recovery of solid elements by the recovery tool.

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

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

[0052] The capture of solid elements (especially radioactive substances) is facilitated by the monitoring device.

[0053] The present invention also relates to a method for recovering solid elements, especially radioactive substances, by a recovery tool as defined above or a recovery apparatus as defined above.

[0054] According to the present invention, the recovery method includes the step of capturing a solid element, which involves depressurizing the capture head and holding the solid element against the capture head, moving the capture head from its extended position to its retracted position, closing at least one bucket, and holding the solid element inside the enclosure of the recovery tool.

[0055] With the recovery method according to the present invention, it is possible to capture a solid element (in particular, a radioactive substance such as a fragment of colium) while protecting the operator from radiation and hold the solid element inside the recovery tool.

[0056] According to one feature, the recovery method includes the step of opening at least one bucket and, prior to the step of capturing the element, extending the capture head, in particular so as to face the solid element.

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

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

[0059] By pressing the capture head against the solid element, its capture is facilitated.

[0060] Preferably, the capture step includes the step of depressurizing the capture head by removing the fluid and at least partially emptying the capture head.

[0061] The present invention will be better understood by reading the description of exemplary embodiments (which is given for illustrative purposes only and not for limiting purposes at all) with reference to the accompanying drawings.

Brief Description of the Drawings

[0062]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5A

Figure 5B

Figure 5C

Figure 5D

DETAILED DESCRIPTION OF THE INVENTION

[0063] Identical, similar, or equivalent parts in the various figures are given the same reference numerals to facilitate switching from one figure to another.

[0064] FIG. 1 represents an apparatus 1 for recovering a solid element 2 according to a first embodiment. The solid element 2 may have a high density, variable dimensions and mass, which makes it more difficult to recover. It is, for example, a radioactive substance, and in particular, fragments of curium.

[0065] This radioactive material 2 is located on the base 3, which may be outdoors, in an enclosed enclosure, or in water. The radioactive material 2 may be in a place that is difficult to access and / or particularly dangerous for human operators.

[0066] The recovery device 1 includes a recovery tool 7, a holding member 40 for the recovery tool, an operating system for the recovery tool 7, at least one control system 4, and a recovery monitoring device 10.

[0067] In the example shown, the holding member 40 includes an articulated arm. It is configured to support and move the recovery tool 7, capture the radioactive material 2, and transport it before its radiological isolation (e.g., in a container).

[0068] The control system 4 of the device includes a control system 42 for the holding member 40. The control system 42 for the holding member includes, for example, at least one computer. It is configured to control the holding member 40 and move the recovery tool 7 remotely (especially by remote operation).

[0069] The recovery tool 7 includes a capture head 30.

[0070] The system for operating the recovery tool 7 includes an extension system 5 and an inflation system 6 for the capture head 30.

[0071] The extension system 5 for the capture head includes a pressurizing member, an operating conduit 53, and an extension control system 54. It is configured such that the extension of the capture head 30 relative to the chassis 70 of the recovery tool 7 enables the capture of the radioactive material 2.

[0072] The pressurizing member includes at least one compressor 50 in the illustrated embodiment. The actuating conduit 53 fluidly connects the pressurizing member to the linear actuator 90, and the linear actuator 90 is of the pneumatic type in the illustrated embodiment. The actuating conduit 53 includes, for example, at least one flexible pipe. The actuating conduit 53 is used to supply pressurized fluid to the actuator 90.

[0073] The extension control system 54 is used to control the operation of the pressurizing member. It includes, for example, at least one computer.

[0074] In the illustrated embodiment, the fluid is air. The extension system 5 and the inflation system 6 are configured to inject pressurized air into the recovery tool 7.

[0075] The inflation system 6 for the capture head includes a pumping member, a fluid supply conduit 63, a pressure monitoring device 62, and a pneumatic control system 64.

[0076] The pumping member includes at least one pump 60 (for example, a peristaltic pump) in the illustrated embodiment. The supply conduit 63 fluidly connects the pumping member to the inflator 96, which can be seen in Figure 2 and is of the pneumatic type in the illustrated embodiment. The supply conduit 63 includes, for example, at least one flexible pipe. It is used to supply pressurized fluid to the inflator 96 or to depressurize the inflator 96.

[0077] The pressure monitoring device 62 includes at least one pressure gauge, and at least one pressure gauge is configured to monitor the pressure of the fluid injected into the recovery tool 7 by the pumping member.

[0078] The pneumatic control system 64 is used to control the operation of the pumping member, at least partially fill the capture head 30 with fluid, and / or evacuate the fluid to at least partially empty the capture head 30. It includes, for example, at least one computer. The pneumatic control system 64 and the extension control system 54 form a single fluid control system in the illustrated embodiment. This fluid control system is, in particular, part of the control system 4.

[0079] In the illustrated embodiment, the recovery tool 7 is reusable. In other words, it can be utilized to continuously recover some radioactive substances 2. It has an ogive shape when closed and shows an outer surface that rotates around the longitudinal axis Z-Z of the recovery tool 7.

[0080] Referring together to FIGS. 1 to 4, the recovery tool 7 includes a chassis 70, a movable assembly 8, a guide device 44, a linear actuator 90, an elastic return member 91, an inflater 96, a capture head 30, and a recovery monitoring device 10.

[0081] The capture head 30 is movable relative to the chassis 70 between a retracted position and an extended position. Each bucket 84 of the movable assembly 8 is movable relative to the chassis 70 between an open position and a closed position. The recovery tool 7 has a closed position and an open position. In the closed position, the capture head 30 is in the retracted position and each bucket 84 is in the closed position. In the open position, the capture head 30 is in the extended position and each bucket 84 is in the open position.

[0082] The chassis 70 of the recovery tool 7 includes a casing 71 and a bottom 72.

[0083] The casing 71 is shaped annularly around the longitudinal axis Z-Z. It is open along the longitudinal axis Z-Z at its lower end and at its upper end. It is in one piece.

[0084] The bottom 72 seals the upper end of the casing 71 and is attached to the casing 71, for example, by screwing. The first port 73a, which is a passage hole for the actuating conduit 53, and the second port 73b, which is a passage hole for the supply conduit 63, penetrate the bottom 72.

[0085] The chassis 70 and the bucket 84 of the recovery tool 7 define the boundary of the enclosure 75 inside the recovery tool 7 and accommodate the capture head 30 when the capture head 30 is in the retracted position.

[0086] The movable assembly 8 of the recovery tool 7 includes an inner movable body part 80, two arms 82, two buckets 84, a bucket drive device 20, and a guide device 44. It is movable relative to the chassis 70 and enables the extension and retraction of the capture head 30.

[0087] The movable body part 80 includes a slide part 81, a mount 83, and at least two legs 85, and the at least two legs 85 each protrude from the mount 83 towards the capture head 30. It is in one piece in particular.

[0088] In the illustrated embodiment, the movable body part 80 is movable translationally relative to the chassis 70 along the longitudinal axis Z-Z of the recovery tool 7 between an up position (which is shown in FIG. 3) and a down position (which is shown in FIG. 4) such that the recovery tool 7 moves from its closed position to its open position (and vice versa). The up position of the movable body part 80 corresponds to the closed position of the recovery tool 7. The down position of the movable body part 80 corresponds to the open position of the recovery tool 7.

[0089] More generally, the movable body part 80 is configured to be movable relative to the chassis 70 with a translational component along the operating direction Z-Z, and to move the recovery tool 7 from its closed position to its open position (and vice versa).

[0090] The direction parallel to the longitudinal axis Z-Z of the recovery tool 7 is also referred to as the operating direction, unless otherwise specified in the following disclosure. The circumferential direction is the direction around the operating direction. The transverse direction is the direction orthogonal to the operating direction Z-Z.

[0091] The slide portion 81 extends from the mount 83 along the longitudinal axis Z-Z of the recovery tool 7 to the opposite side of the leg portion 85. The slide portion 81 includes a wall portion having an annular shape around the longitudinal axis Z-Z. It presses against the bottom 72 when the bucket 84 and the capture head 30 are in the closed position. It is configured to slide along the operating direction Z-Z relative to the casing 71 surrounding it.

[0092] The mount 83 has a plate shape symmetric about the longitudinal axis Z-Z of the recovery tool 7. On the one hand, it is mechanically connected to the linear actuator 90, and on the other hand, it is mechanically connected to the elastic return member 91, which are designed to bias it in opposite directions in a direction parallel to the longitudinal axis Z-Z.

[0093] Each leg portion 85 protrudes from the mount towards the capture head 30 along the longitudinal axis Z-Z. The leg portions 85 are arranged transversely spaced from each other along the transverse direction of the recovery tool 7. Each leg portion 85 includes a first tooth portion 23. In the illustrated embodiment, each leg portion 85 includes a rack 22 near its lower end along the operating direction Z-Z, which carries the first tooth portion 23.

[0094] More specifically, referring to FIGS. 3 and 4, the guide device 44 includes a groove portion 45 and a pin 47, and the pin 47 is accommodated in the groove portion 45. It is configured to guide the movement of the movable body portion 80 with respect to the chassis 70. In the illustrated embodiment, the guide device 44 is configured to guide the movable body portion 80 with respect to the chassis 70 in the translational direction.

[0095] The pin 47 is rigidly integrated with the casing 71, and the pin 47 protrudes from the casing 71 inwardly of the chassis 70 (particularly, radially with respect to the longitudinal axis Z-Z). The pin 47 is configured to mechanically engage with the groove portion 45 and is configured to move in the groove portion 45 when the recovery tool 7 moves from its closed position to its open position (and vice versa).

[0096] The groove portion 45 is formed in the slide portion 81. It penetrates the slide portion 81. It has an elongated shape along the direction of the longitudinal axis Z-Z.

[0097] The movable assembly 8 includes at least one arm 82 for each bucket 84. In the illustrated embodiment, each bucket 84 is rigidly integrated with a single arm 82. Each arm 82 extends from a proximal end to a distal end, and at the proximal end, it is connected to the movable body portion 80, and at the distal end, it is connected to one of the buckets 84.

[0098] Each arm 82 is connected to the rack 22 of the corresponding leg portion 85 of the movable body portion 80 by a toothed wheel 24. Each arm 82 is rotatably movable about the respective rotation axes X1-X1, X2-X2 with respect to the chassis 70, and the rotation axes pass through the centers of the toothed wheels 24. Also, when the recovery tool 7 moves from the open position to the closed position (and vice versa), the arm 82 is movable with a translational component along the operating direction Z-Z with respect to the movable body portion 80.

[0099] Each toothed wheel 24 includes a second tooth portion 25, and the second tooth portion 25 is configured to mechanically engage with the first tooth portion 23 of the corresponding rack 22, and moves the corresponding arm 82 relative to the movable body portion 80 and relative to the chassis 70.

[0100] The toothed wheel 24, the rack 22, and the arm 82 together form a drive device 20 for each bucket 84 relative to the chassis 70 (and vice versa) between their open and closed positions.

[0101] The movable assembly 8 includes a first bucket 84 and a second bucket 84, and the second bucket 84 is substantially identical in structure to the first bucket 84. The second bucket 84 is configured to have a position symmetric to that of the first bucket 84 with respect to the plane of symmetry passing through the capture head 30 when opening and closing the bucket 84. The bucket 84 is designed to seal the enclosure 75 in the closed position, and optionally, is designed to hold the radioactive material 2 inside the enclosure 75 in the closed position.

[0102] In the illustrated embodiment, each bucket 84 is rigidly integrated with one of the arms 82 and is formed as a single piece with the corresponding arm 82. Each bucket 84 is generally a trough having the shape of a quarter sphere.

[0103] Each bucket 84 is rotatably movable about the respective axis of rotation X1-X1, X2-X2 relative to the chassis 70 when being moved from its open position to its closed position (and vice versa), and the axis of rotation passes through the center of one of the toothed wheels 24. More generally, the stroke of each bucket 84 relative to the chassis 70 includes a rotational component.

[0104] In the open position, each bucket 84 is configured to allow the capture head 30 to extend. Each bucket 84 is laterally spaced from the other of the capture head 30 and the bucket 84 relative to the closed position.

[0105] In the closed position, each bucket 84 seals the enclosure 75, the capture head 30 is in the retracted position, and holds the radioactive material 2 inside the enclosure 75. Then, the buckets 84 are joined along the joining line J-J, and the joining line J-J is substantially transverse at the center of the recovery tool 7.

[0106] In particular, each bucket 84 is configured to remain in the closed position when the radioactive material 2 falls from the capture head 30 onto that bucket 84.

[0107] The linear actuator 90 is a pneumatic actuator. The linear actuator 90 includes a housing 92 and a rod 94, and the rod 94 is movable relative to the housing 92 in a translational direction along the operating direction Z-Z. Thereby, the linear actuator 90 forms a cylinder. In the illustrated embodiment, the linear actuator 90 is supplied with pressurized air from the compressor 50 and forms a pneumatic cylinder.

[0108] The linear actuator 90 is configured to move the capture head 30 relative to the chassis 70 between the retracted position and the extended position via the movable body portion 80 and the drive device 20.

[0109] The housing 92 is rigidly integrated with the chassis 70 and is attached, for example, to the bottom 72. In the illustrated example, the housing 92 has an annular shape, is typically cylindrical, and has a circular cross-section around the longitudinal axis Z-Z of the recovery tool 7.

[0110] The rod 94 extends longitudinally along the direction of operation Z-Z. It is mechanically connected at its lower end to the mount 83 of the movable body portion 80, which biases the movable body portion 80 downward in the translational direction along the direction of operation Z-Z and extends the capture head 30. It forms a piston.

[0111] The elastic return member 91 includes a tension spring, in particular, a coil spring. It extends longitudinally from the mount 83 of the movable body portion 80 to the capture head 30 along the direction of operation Z-Z. The elastic return member 91 is configured to elastically bias the capture head 30 toward the retracted position and to elastically bias the movable body portion 80 toward the up position.

[0112] The elastic return member 91 is configured to automatically bias the capture head 30 toward the retracted position when there is no external control from the recovery tool 7, that is, in particular, when there is no pneumatic control from the extension control system 54 via the compressor 50.

[0113] In particular, it is configured to automatically bias the capture head 30 inwardly of the enclosure 75 as soon as the capture head 30 captures the radioactive material 2, isolating the radioactive material 2 inside the enclosure 75.

[0114] Also, it is configured to automatically bias the capture head 30 inwardly of the enclosure 75 in the event of a failure of the control system 4 after the radioactive material 2 has been captured, keeping the radioactive material 2 inside the enclosure 75.

[0115] The inflator 96 includes a tip portion 98 and an inner pressure and decompression conduit 99. The inflator 96 is rigidly integrated with the capture head 30, and in particular, is fixed to the base plate 36 of the capture head. It is fluidly connected to the capture head 30 and is inflated by at least partially filling it with air and / or deflated by removing air to at least partially empty it.

[0116] The tip portion 98 of the inflator 96 is fluidly connected to the supply conduit 63 and opens into the inner conduit 99 positioned inside the inflator 96. The inflator 96 is substantially annular around the direction of operation Z-Z. The inner conduit 99 is fluidly connected to the air supply channel 37 of the capture head 30.

[0117] Referring together to FIGS. 2 to 4, the capture head 30 includes a cushion 32, a base plate 36, a connection device for the capture head, and a filtration device 38. The capture head 30 is carried by the lower end portion of an elastic return member 91 with respect to the chassis 70.

[0118] The capture head 30 is movable translationally along the direction of operation Z-Z with respect to the chassis 70 between an up position (in which it is in a retracted position) and a down position (in which it is in an extended position). It is configured to capture the radioactive material 2 and to keep it within the enclosure 75 until it is transported from the recovery tool 7 (for example, into a container).

[0119] In the retracted position, the capture head 30 is received inside the enclosure 75 of the recovery tool 7. It is in an up position with respect to the chassis 70 in the direction of operation Z-Z. The cushion 32 is partially deflated.

[0120] In the extended position, at least the cushion 32 of the capture head 30 is positioned outside the casing 71. The capture head 30 is in a down position relative to the chassis 70 along the direction Z-Z of operation. The cushion 32 is at least partially inflated. The capture head 30 can capture the radioactive material 2.

[0121] The cushion 32 is made of a material containing an elastomer such as silicone or latex. The material of the cushion 32 has dimensions and deformability adapted to the radioactive material 2 to be captured. It is deformable enough to press against the radioactive material 2 without damaging it if necessary, but is rigid enough to hold the radioactive material 2 when the capture head 30 is moved.

[0122] In the illustrated embodiment, the cushion 32 can be inflated and / or deflated by an inflater 96. The capture head 30 is configured to at least partially hold the radioactive material 2 by suction relative to the chassis 70 by partially emptying the capture head 30.

[0123] In the example shown, the base plate 36 has a shape that rotates around the longitudinal axis Z-Z of the recovery tool 7. In particular, it generally has a cylindrical shape with a circular cross-section. A supply channel 37 passes through it. It is mechanically connected to an elastic return member 91 and is fluidly connected to an inflater 96 attached to the base plate 36.

[0124] The supply channel 37 extends between the inner conduit 99 of the inflater and the inner cavity of the cushion 32. The supply channel 37 opens into the inner cavity of the cushion 32 and inflates and / or deflates it by at least partially filling it with fluid and / or by removing fluid to at least partially empty it.

[0125] The capture head 30 includes a filtration device 38 which is fluidly positioned between the inner conduit 99 of the inflator and the supply channel 37 of the capture head. The filtration device 38 includes a filter which is positioned at the inlet of the supply channel 37. The filtration device 38 is used to filter the fluid entering and / or exiting the cushion 32.

[0126] The capture head 30 is removably connected to the chassis 70 by at least one fastener. In the illustrated embodiment, the base plate 36 is connected by screws 34 to the lower end of an elastic return member 91. The screws 34 form a device for connecting the capture head 30.

[0127] The recovery monitoring device 10 includes an image capture device (not shown) such as a camera. The recovery monitoring device 10 is configured to monitor the recovery of the radioactive material 2 by the recovery tool 7, thereby facilitating the capture of the radioactive material 2.

[0128] The image capture device is housed inside the enclosure 75, at least when the bucket 84 is in the closed position. In the illustrated embodiment, the image capture device is attached, for example, to the base plate 36 of the capture head.

[0129] In Figure 3, the recovery tool 7 is in the closed position. The capture head 30 is in the retracted position and is inside the enclosure 75. Each of the buckets 84 is in the closed position, sealing the lower end of the enclosure 75. The rod 94 of the linear actuator 90 is in the retracted position. The movable body portion 80 is in the up position relative to the chassis 70. The pin 47 is in the lower part of the groove 45 in the direction Z-Z of actuation. Each toothed wheel 24 is engaged with the corresponding rack 22 in the lower part of the rack 22.

[0130] In FIG. 4, the recovery tool 7 is in the open position. The capture head 30 is in the extended position and is outside the enclosure 75. Each of the buckets 84 is in the open position, enabling the extension of the capture head 30 (i.e., the outlet of the capture head 30). The rod 94 of the linear actuator 90 is in the extended position. The movable body portion 80 is in the down position with respect to the chassis 70. The pin 47 is in the upper portion of the groove 45 along the operating direction Z-Z. Each toothed wheel 24 is engaged with the corresponding rack 22 in the upper portion of the rack 22.

[0131] A method 100 for recovering radioactive substances is illustrated with reference to FIGS. 5A through 5D together. The recovery method 100 is implemented by the recovery device 1.

[0132] Referring to FIG. 5A, the recovery method 100 begins with step 101 of moving the recovery tool via the articulated arm and control system 42 of the holding member 40 to bring the recovery tool 7 closer to the radioactive substance, and then aligning the capture head 30 with the radioactive substance 2 along the operating direction Z-Z during step 102 of causing the recovery tool 7 to face the radioactive substance 2.

[0133] Referring to FIG. 5B, the recovery method 100 continues with step 103 of opening the bucket 84 and extending the capture head 30 facing the radioactive substance 2 when the linear actuator 90 biases the movement of the movable body portion 80 along the operating direction Z-Z. Opening the bucket 84, extending the capture head 30 along the operating direction Z-Z, and moving the pin 47 along the groove 45 are progressive. The reason is that the movable body portion 80 moves along the operating direction Z-Z with respect to the chassis 70, the arm 82 pivots with respect to the chassis 70, and moves to release the bucket 84.

[0134] Extending the capture head along the Z-Z direction of actuation involves step 104 of inflating the capture head 30. The inflator 96 fills the cushion 32 of the capture head with air, increasing the pressure inside the cushion 32.

[0135] Referring to FIG. 5C, the recovery method 100 includes the step of bringing the capture head 30 closer to the radioactive material 2 along the Z-Z direction of actuation until the capture head 30 is pressed against the radioactive material 2 in step 108, thereby facilitating capture.

[0136] Pressing the capture head 30 onto the radioactive material 2 involves step 109 of depressurizing the capture head 30. The inflator 96 evacuates the air from the cushion 32 of the capture head, reducing the pressure inside the cushion 32, sucking in at least partially the radioactive material 2, and more easily capturing and retaining the radioactive material 2.

[0137] Referring to FIG. 5D, the recovery method 100 includes step 110 of closing each bucket 84 and retracting the capture head 30 towards the enclosure 75. Step 110 includes the step of capturing the radioactive material 2 that remains attached to the capture head 30. The recovery method 100 includes step 112 of keeping the radioactive material 2 inside the enclosure 75 closed by the bucket 84, including when the radioactive material 2 may fall onto at least one of the buckets 84 from the capture head 30.

[0138] If necessary, the recovery method 100 includes a verification step 113 in which it is verified that the radioactive material 2 is properly retained inside the enclosure 75, for example, via the monitoring device 10, or by shaking the recovery tool 7, and by checking that the bucket 84 remains closed. The verification step 113 is for preventing the accidental release of the radioactive material 2, which may pose a risk to human operators.

[0139] The recovery method 100 ends with step 114 of moving the recovery tool 7 and transporting the radioactive substance 2 to a container (not shown), and the radioactive substance 2 is radiologically isolated within the container.

[0140] The recovery tool 7 can capture the radioactive substance 2 while protecting the operator from radiation and keep the radioactive substance 2 inside the recovery tool 7. The recovery tool 7 is relatively light and small in overall size. It has decontamination properties, high reliability, and is easy to use. It can be remotely controlled, for example, via a linear actuator 90 and an inflator 96 by remote operation.

[0141] The inflatable capture head 30 and the depression generated within the capture head 30 enable the radioactive substance 2 to be captured more effectively. The retracted position is the safe position of the capture head 30, which is configured to move towards the safe position when there is no control of the recovery tool 7, thereby better keeping the radioactive substance 2 inside the enclosure 75 in case of an accident.

[0142] By being removable from the chassis 70, the capture head 30 can be easily replaced. The recovery tool 7 can be equipped with interchangeable capture heads 30 (especially capture heads 30 that are particularly adapted to each radioactive substance 2 to be captured).

[0143] Of course, various modifications to the present invention described herein can be made by those skilled in the art without departing from the scope of the present disclosure of the present invention.

[0144] Alternatively, the fluid is a liquid (e.g., water). Also, the fluid can be a gas other than air (e.g., an inert gas).

[0145] Alternatively, the holding member of the recovery tool 7 includes, for example, a pole instead of the articulated arm 40.

[0146] Alternatively, the recovery tool 7 is disposable and is for capturing at most one radioactive substance 2.

[0147] The structure of the recovery tool 7, particularly the structure of the chassis 70 and the movable assembly 8, can be changed. Generally, the shape of the movable body part 80 is adapted to the shape of the chassis 70 so as to be movable relative to the chassis 70.

[0148] Alternatively, the movable body part 80 can be movable relative to the chassis 70 with a rotational component in addition to the translational component along the operating direction Z-Z.

[0149] The structure of the drive device 20 can be changed. The drive device 20 can include as many toothed wheels 24 and racks 22 as there are legs 85 of the movable body part 80. Further alternatively, at least one of the arms 82 includes at least one rack 22, and at least one of the toothed wheels is rigidly integrated with one of the legs 85 of the movable body part 80.

[0150] Alternatively, the recovery tool 7 has no guide device 44 for the movable body part 80.

[0151] The structure of the guide device 44 can be changed. For example, the number of the groove part 45 and the pin 47 of the guide device 44 is variable. The guide device 44 can include as many groove parts 45 as there are buckets 84. Generally, the guide device 44 includes the same number of pins 47 as the groove parts 45. Further alternatively, the casing 71 includes at least one groove part 45, and each pin 47 is rigidly integrated with the movable body part 80.

[0152] Alternatively, the arm 82 is mechanically connected to the chassis instead of the movable body portion 80. Each of the arms 82 is then configured to pivot by mechanical engagement of the chassis 70 between the open and closed positions of the respective bucket 84.

[0153] The structure of the buckets 84 can be changed. In particular, they can be of different shapes from each other and, in particular, can be of complementary shapes for closing the enclosure 75 when in the closed position.

[0154] The number of buckets 84 of the recovery tool 7 is variable. For example, the recovery tool 7 can include a single bucket 84 or at least three buckets 84.

[0155] Alternatively, at least one of the buckets 84 can be movable relative to the chassis 70 with a translational component in addition to a rotational component relative to the chassis 70.

[0156] The structure of the linear actuator 90 can be changed. For example, the linear actuator 90 can include a spring, a hydraulic actuator, and / or an electric actuator.

[0157] The structure of the elastic return member 91 can be changed. Alternatively, the elastic return member 91 includes a leaf spring or a block of an elastically deformable material such as an elastomer.

[0158] Alternatively, the enclosure 75 is bounded by the chassis 70, in particular by the casing 71. In this case, the capture head 30 is fully housed within the chassis 70 when it is in the retracted position.

[0159] Alternatively, the recovery tool 7, in particular when the capture head 30 is not supplied with fluid, has no inflator 96.

[0160] The structure of the capture head 30 can be changed. For example, the capture head 30 includes a suction nozzle instead of the cushion 32.

[0161] Alternatively, the capture head 30 is removably connected to the chassis 70 by other types of fasteners such as dowels. Further alternatively, the capture head 30 is non-removably connected to the chassis 70, for example, by crimping.

[0162] Alternatively, the recovery monitoring device 10 includes an image capture device, and the image capture device is positioned outwardly of the recovery tool 7 and is attached, for example, outwardly of the chassis 70.

[0163] The order of the steps of the recovery method 100 can be changed. In particular, the step 103 of opening the bucket can be performed before the recovery tool 7 faces the radioactive material 2. The capture head 30 can be at least partially inflated before the step 103 of opening the bucket.

[0164] In particular, when the depression generated in the capture head 30 in the depressurization step 109 is sufficient to capture the radioactive material 2, the recovery method 100 may not include the step 108 of pressing the capture head 30.

[0165] In particular, when the recovery tool 7 has already recovered the same radioactive material 2, the step 113 of verifying the retention of the radioactive material can be omitted.

Explanation of Reference Numerals

[0166] 1 Recovery device 2 Solid element, radioactive material 3 Base 4 Control system 5 Extension system 6 Inflation system 7 Recovery tool 8 Movable assembly 10 Recovery monitoring device 20 Drive device 22 Rack 23 First tooth part 24 Toothed wheel 25 Second tooth part 30 Capture head 32 Cushion 34 Screw 36 Base plate 37 Supply channel 38 Filtration device 40 Holding member 42 Control system 44 Guide device 45 Groove part 47 Pin 50 Compressor 53 Actuating conduit 54 Extension control system 60 Pump 62 Pressure monitoring device 63 Supply conduit 64 Pneumatic control system 70 Chassis 71 Casing 72 Bottom part 73a First port 73b Second port 75 Enclosure, chamber 80 Movable body part 81 Slide part 82 Arm 83 Mount 84 Bucket, cup 85 Leg part 90 Linear actuator 91 Elastic return member 92 Housing 94 Rod 96 Inflator 98 Tip part 99 Inner conduit J-J joint line X1-X1 rotation axis X2-X2 rotation axis Z-Z longitudinal axis, direction of operation

Claims

1. A retrieval tool (7) for retrieving the solid element (2), said retrieval tool (7) comprising: Chassis (70) and a capture head (30) movable relative to the chassis (70) between a retracted position and an extended position, in which the capture head (30) is housed inside an enclosure (75) of the retrieval tool (7), and in which the capture head (30) is for capturing the solid element (2); at least one bucket (84), said at least one bucket (84) movable relative to said chassis (70) between an open position and a closed position, said capture head (30) being in an extended position when said bucket (84) is in said open position, and said bucket (84) being in an open position when said capture head (30) is in said extended position; Including, When the bucket (84) is in the closed position, the capture head (30) is in the retracted position to keep the solid element (2) inside the enclosure (75), and when the capture head (30) is in the retracted position, the bucket (84) is in the closed position; the capture head (30) includes a fluid inflatable cushion (32), the capture head (30) being configured to hold the solid element (2) against the chassis (70) at least in part by suction, by drawing fluid out of the cushion (32) to at least partially empty it; The retrieval tool (7) includes a resilient return member (91), the resilient return member (91) configured to resiliently bias the capture head (30) towards the retracted position.

2. the movable bucket (84) is a first bucket (84); 2. The retrieval tool (7) of claim 1, comprising a second bucket (84) movable between an open position and a closed position, the open position being for extending the capture head (30), the capture head (30) being in a retracted position to keep the solid element (2) inside the enclosure (75) when the second bucket (84) is in the closed position.

3. each bucket (84) is configured to remain in the closed position when the solid element (2) impacts that bucket (84) when the capture head (30) is in the retracted position; Retrieval tool (7) according to claim 1 or 2, wherein each bucket (84) is rotatably movable relative to the chassis (70) between its open position and its closed position.

4. A retrieval tool (7) as claimed in any one of claims 1 to 3, wherein each bucket (84) is rigidly integral with an arm (82) which is movably connected to the movable body part (80) of the retrieval tool (7).

5. The retrieval tool (7) of any one of claims 1 to 4, wherein the chassis (70) includes a casing (71), and the retrieval tool (7) includes a movable body part (80), the movable body part (80) being separate from the capture head (30), and the movable body part (80) being movable in a translational direction relative to the chassis (70).

6. The movable body portion (80) includes a mount (83) and at least two legs (85) each protruding from the mount (83); Each leg (85) is configured to mechanically engage an arm (82) of a bucket (84) to move the bucket (84) relative to the chassis (70); the retrieval tool (7) includes a guide device (44) for guiding the movable body portion (80) relative to the chassis (70); 6. The retrieval tool (7) of claim 5, further comprising a linear actuator (90) for linearly moving the capture head (30) relative to the chassis (70) between the retracted position and the extended position.

7. 7. The retrieval tool (7) of any one of claims 1 to 6, comprising an inflator (96) fluidly connected to the capture head (30) for inflating the capture head (30) by at least partially filling it with fluid and / or for deflating the capture head (30) by at least partially emptying it of fluid.

8. The retrieval tool (7) according to any one of claims 1 to 7, wherein the cushion (32) is made from a material comprising an elastomer.

9. 9. The retrieval tool (7) of any one of claims 1 to 8, wherein the capture head (30) is removably connected to the chassis (70).

10. A retrieval device (1) for retrieving a solid element (2), said retrieval device (1) comprising a retrieval tool (7) according to any one of claims 1 to 9, The retrieval device (1) further comprises a control system (4) for controlling the retrieval tool (7) and / or a holding member (40) for holding the retrieval tool (7); The retrieval apparatus (1) includes a retrieval monitoring device (10) for monitoring the retrieval of the solid element (2) by the retrieval tool (7), the retrieval monitoring device (10) including an image capture device.

11. A method for retrieving a solid element (2) by means of a retrieval tool (7) according to any one of claims 1 to 9 or a retrieval device (1) according to claim 10, comprising: The method includes a step of capturing (110) the solid element (2), which includes the steps of applying a pressure (109) to the capturing head (30) to hold the solid element (2) against the capturing head (30), moving the capturing head (30) from its extended position to its retracted position, and closing the at least one bucket (84) to hold the solid element (2) inside the enclosure (75) of the retrieval tool (7).

12. 12. The method of claim 11, further comprising the steps of: opening (103) the at least one bucket (84); extending the capture head (30) when the capture head (30) faces the solid element (2); and expanding (104) the capture head (30) by at least partially filling the capture head (30) with a fluid prior to the step (110) of capturing the solid element (2).

13. 13. The method according to claim 11 or 12, wherein the capturing step (110) comprises pressing the capture head (30) onto the solid element (2) and applying a pressure (109) to the capture head (30) by drawing fluid therefrom to at least partially empty the capture head (30).

Images