Note : Les descriptions sont présentées dans la langue officielle dans laquelle elles ont été soumises.
CA 02300700 2003-11-20
REVOLVING DUSTPAN FOR DEBRIS REMOVAL
This invention provides apparatus, sometimes called a
revolving dustpan, for easy removal (a kind of cleaning) of various
debris, through a narrow access hole, scattered in the deep tank like the
nuclear reactor tank, the reactor pool, or other industrial tanks.
BACKGROUND OF THE INVENTION
This invention relates to the removal (a kind of cleaning)
method of various sized debris (such as dowel pins, plain washers, split
pins, metal pieces sized 1-2 nun), through a narrow access, scattered in
the tank or pool situated with very difficult working conditions (hard to
access and to see due to physical configurations, radiation, or opacity of
liquid in the tank), For example as shown in figure 8, the inlet plenum of
the research reactor HANARO'(High-flux Advanced Neutron
Application Reactor) in Korea, is located in the pool 13.4 meters deep
and has small(50 mm in diameter) access holes to the plenum.
There are lots of possibilities that debris go into the reactor
tanks or pool during structure installation or system operation. This
invention is useful to take out such kinds of debris that are not
-2-
CA 02300700 2003-11-20
magnetic or too heavy to suck by pumping from deep area, or to take out
the debris through the accessible holes which are too small to insert a
conventional robot mechanism, or to take out the debris which are in the
highly irradiated tank not allowable for workers to approach.
The prior art for taking objects out of a tank is achieved by
picking with robot hands. This concept is easily applicable to pick
objects with limited shapes and sizes in the easily accessible area. But it,
using the prior art to take out various debris in very difficult working
conditions described above, is very hard to design and manufacture very
sophisticated robot hands, arms, visual systems and control logic. Those
systems need extraordinary cost and time to get the product on hands.
SUMMARY OF THE INVENTION
The object of this invention provides apparatus for easy
removal of various debris, through a narrow access hole, scattered in the
deep tank or the pool where there are very difficult working conditions
(hard to access and to see due to physical configurations, radiation, or
opacity of liquid in the tank).
According to one embodiment of the invention, there is
provided apparatus for removing debris from a tank comprising a
-3-
CA 02300700 2004-12-10
a plurality of dustpans which are each quadrilaterally-piped shaped with one-
side-
opening through which said debris can be collected, a cover connected to one
dustpan to drag in the debris and to close the respective dustpan, a central
pipe
assembly connected to another dustpan to support and revolve the dustpans, a
plurality of joints between each dustpan and between the dustpan and a central
pipe of said assembly, handles connected to the top of another pipe of said
assembly, a plurality of wires routed to the top of said assembly and
connected to
said dustpans and said cover and capable of being pulled to adjust the angles
between the dustpans and to close the cover, and whereby an operation of
revolving the apparatus and adjusting the respective wire to collect and take
out
the debris is facilitated.
BRIEF DESCRIPTION OF THE FIGURES
FIG. 1 is an example of apparatus in the form of a Revolving Dustpan
(Handles and Wires are not shown).
FIG. 2 is an example of Central Pipes with Handles and Wire Holders,
FIG. 3 is a detail of Joint 1 and Cover,
FIG. 4 is a detail of Joint 2,
FIG. 5 is a detail of Joint 3,
FIG. 6 is a control Wires,
FIG. 7 is a detail of Wire Routing,
FIG. 8 is a concept of Debris Removal from a Reactor, Interior Using the
Revolving Dustpan,
FIG. 9 is an insertion and Withdrawal of the Revolving Dustpan,
FIG. 10 is an example of an operating concept of the Revolving Dustpan, and
-4-
CA 02300700 2000-03-15
FIG.11 is an another Example of Operating Concept of the
Revolving Dustpan.
* Captions for the mayor parts of these FIGS.
(1) Dustpan Assembly (2) Cover
(3) Central Pipe Assembly (4) Joint
(5) Wire (6) Wire Holder
(?) Handle (8) Reactor
(9) Flexible Hose (11) 1st dustpan
(12) 2nd dustpan (21) A1 wire guide
(31) 1st central pipe (32) 2nd central Pipe
(33) 3rd central Pipe (34) Bushing
(35) Screw (36) Reducer
(41) lat point (42) 2nd aoint
(43) 3rd point (51) 1st wire
(52) 2nd wire (53) 3rd wire
(91) End of flexible hose
(111) 1st connection part of 1st dustpan
(111') Inclination
(113) Collection part of 1st dustpan
(114) A2 wire guide (115) A3 wire guide
(116) A4 wire guide (11?) Bl wire guide
(121) 1st connection part of 2nd dustpan
(122) 2nd connection part of 2nd dustpan
(123) Open-side of 2nd
dustpan (124) A5 wire
guide
(125) A6 wire guide (12fi) B2 Wire guide
(127) B3 wire guide (128) B4 wire guide
(129) Cl wire guide
- 5 -
CA 02300700 2003-11-20
( 121' ), ( 122' ), (311 ) Inclination (312) A7 wire guide
(313) BS wire guide (321) 02 wire guide
(411 ) Spring
DETAILED DESCRIPTION OF THE INVENTION
Figure 1 shows, by way of example, an embodiment composed of
apparatus in the form of a dustpan assembly composed of two
dustpans( 1 ) which collect and contain debris, a cover(2) which drags in
debris, a central pipe assembly(3) which supports the dustpans, and
three joints(4) which connect the cover, the dustpans and the central
pipe assembly. Figure 2 shows an example of the part of the central pipe
assembly with handles(7) and wire holders(6) of the invention. Figure 3
shows the detail of the cover and the joint # 1 of the embodiment. Figure
4 shows the detail of the joint #2 of the embodiment. Figure 5 shows the
detail of the joint #3 of the embodiment.
'The central pipe assembly is composed of the cylindrical central
pipe #3(33) with wire holders(6) and handles(7), the cylindrical central
pipe #2(32) connected to the central pipe #3(33) by a bushing(34) and
screws(3 5 ), the quadrilateral central pipe # 1 (31 ) welded to the bottom of
the central pipe #2(32) with a reducer(36). The lower part of this
embodiment is composed of the dustpan #2( 12) which is connected to
the central pipe # 1 (31 ) by joint #3(43), the dustpan # 1 ( 11 ) which is
connected to the dustpan #2(12) by joint #2(42), the cover(2) which is
connected to the dustpan # 1 ( 11 ) by joint # 1 (41 ), and three wires
-6-
CA 02300700 2003-11-20
(S1, 52 & 53) which adjust the angle of each joint.
The proper length of this embodiment is mainly adjusted by
the length of central pipe #3(33), as shown in the figure 2, which has
wire holders(6) and handles(7) oriented to the folding direction of
dustpans(11,12).
The central pipe #2(32), cylindrically shaped, connected to
the central pipe #3(33) by the bushing(34) has a wire guide hole
#C2(321 ) oriented to handles(7) for the wire to pass through.
'The central pipe # 1 (31 ), quadrilaterally shaped, is welded to
the lower end of the central pipe #2(32) with a reducer(36), and the
lower end is connected to the dustpan #2(12) by joint #3(43).
The dustpan #2(12), a basket for debris collection, is composed
of the connection part # 1 ( 121 ) at one end which is connected to the
central pipe # 1 (31 ) by the joint # 3 (43 ), the connection part #2( 122) at
the other end which is connected to the dustpan # 1 ( 11 ) by the j oint
#2(42), and the collection part(one-side-open part) through which the
debris are collected. The dustpan is quadrilaterally-shaped thin pipe with
the sharp edge at bottom of open-side to easily drag in tiny debris.
The dustpan # 1 ( 11 ), a basket for debris collection, is composed
of connection part # 1 ( 111 ) at one end which is connected to the dustpan
#2(12) by the joint #2(42) and the collection part(one-side-open part)
through which the debris are collected. The dustpan is quadrilaterally-
shaped thin pipe with the sharp edge at the bottom of the open-side to
easily drag in tiny debris.
CA 02300700 2003-11-20
There are proper inclinations(311, 121', 122' & 111') at the lower
end of central pipe # 1 (31 ), the connection part # 1 ( 121 ) of the dustpan
#2,
the connection part #2( 122) of the dustpan #2, the connection part
# 1 ( 111 ) of the dustpan # 1 for 95 degrees folding at the j oints(42 & 43 )
to the orientation of the handles(7) by the adjustment of the wires(52 &
53). One side, inner side when folding, of the connection parts is open
for the routing of the wires.
The open-sides are at the same direction in the connection part
# 1 ( 121 ) and #2( 122) of the dustpan #2( 12) and the connection part
# 1 ( 111 ) of the dustpan # 1 ( 11 ). The other open-sides, provided for
debris
collection, are at the side right angled from the opening of connection
parts.
The joint #2(42) is a pin joint between the dustpan #1(11) and the
dustpan #2(12), and the joint #3(43) is a pin joint between the dustpan
#2( 12) and the central pipe # 1 (31 ). These two joints are folded in the
same direction.
The cover(2), which can be tightly closed to the open-side of the
collection part(113), is connected to the end of the collection part of the
dustpan # 1 ( 11 ) by the joint # 1 (41 ) which is a hinge joint with a
spring.
Both ends of the central pipes(31, 32 & 33), both ends of the
dustpan #2( 12), and one end of the dustpan # 1 are open. The other end
of the dustpan # 1 ( 11 ), at which the cover(2) is connected, is a
completely closed face.
_8_
CA 02300700 2000-03-15
There are three wires in the example of this
invention. As shown in the figure 6 and the figure 7, the
wire #1(51) is provided for the cover(2) pivots on the
point #1(41). The wire #2(52) is provided for the
dustpan#1(11) pivots on the point #2(42). The wire #3(53) is
provided for the dustpan#2(12) pivots on the point #3(43).
The wire #1(51), which actuates the cover(2)
pivoting on the point #1(41), is sequentially routed from
the wire guide Al(21) at the top around the end of the
inside the cover(2) to the wire guide A2(114) and A3 (115)
inside the dustpan #1, to the wire guide A4(116) inside
the connection part #1(i11) of the dustpan #1 and below
the point #2(42), to the wire guide A5(124) inside the
connection part #2(122) of the dustpan #2 and below the
~ oint #2(42), to the wire guide A6(125) inside the
connection part #1(121) of the dustpan #2 and below the
~ oint #3(43), to the wire guide A7(312) at the bottom of
the central pipe #1(31) and below the point #3(43), and
finally to the wire holder(6) at the top of the central
pipe #3(33) through the inside of the central pipe #1, #2
& #3(31, 32 & 33).
The wire #2(52), which actuates the dustpan #1(11)
pivoting on the point #2(42), is sequentially routed from
the wire guide B1(117) at the top end of the inside the
collection part(113) of the dustpan #1 to the wire guide
B2(126) at the top and inside of the connection part
#2(122) of the dustpan #2, to the wire guide B3(127) in the
collection part(123) of the dustpan #2, to the wire guide
B4(128) at the inside the connection part #1(121) of the
_ g _
CA 02300700 2003-11-20
dustpan #2 and below the joint #3(43), to the wire guide BS(313) at the
bottom of the central pipe #1(31) and below the joint #3(43), and finally
to the wire holder(6) at the top of the central pipe #3(33) through the
inside of the central pipe #1, #2 & #3(31, 32 & 33). The wire #2(52)
pass the hole beside the wire guide B1(117) and routed to the wire guide
B2(126) through outside the dustpan # 1 ( 11 ).
The wire #3(53), which actuates the dustpan #2(12) pivoting
on the joint #3(43), is sequentially routed from the wire guide Cl(129) at
the top and inside of the connection part #2( 122) of the dustpan #2, to
the wire guide hole C2(321) on the central pipe #2(32), and finally to the
wire holder(6) at the top of the central pipe #3(33) through the inside of
the central pipe #2 and #3(32 & 33). The wire #3(53) pass the hole
beside the wire guide C1(129) and routed to the wire guide C2(321) through
outside the dustpan # 1 ( 11 ).
The figure 8 and figure 9 show the concept of inserting an
example of this invention to remove debris scattered in the HANARO
reactor tank which has very narrow access holes in addition to radiation
environment.
Here are the procedures to use the revolving dustpan from
the working platform to take out the debris in the reactor tank(8): Pull up
the wire # 1 (51 ) until the cover(2) closes the open-side ( 113) of the
dustpan #1, and fix the wire to the wire holder(6). Leave the wire #2(52)
and wire #3(53) loose. Lower the embodiment through the access hole
until the end of the dustpan # 1 ( 11 ) touches the bottom of the tank(8).
- 10-
CA 02300700 2003-11-20
Pull up the wire #2(52) and fold the joint #2(42) as shown in the figure
6. Lower the embodiment until the end of the joint #2(42) touches the
bottom of the tank. Leave the wires #2(52) loose whilst the embodiment
is going down. Pull up the wire #3(53) and lower the embodiment until
the joint #3(43) touches the bottom of the tank as shown in the figure 7.
Leave the wires #3(53) loose whilst the embodiment is going down.
Release the wire # 1 (51 ) so that the cover opens by spring force. The
opening angle of the cover can be adjusted by the wire # 1 (51 ) as shown
in the example of figure 10. For the removal of debris, the contact area
of the dustpan assembly on the floor and the cover(2) can be adjusted by
the wires and the elevation of the central pipe assembly considering
sweep area. Slowly revolve the embodiment clockwise so that the debris
can be collected in the dustpan #1 and/or the dustpan #2. Close the
cover(2) by pulling up the wire # 1 (51 ) to drag in the remaining debris
that are left in the tank. Fix the wire # 1 (51 ) to the wire holder(6). Take
out the embodiment. During removal of the embodiment with the wire
# 1 (51 ) pulled up, leave the wire #2(52) and wire #3(53) loose not to fold
the joint #2(42) and the joint #3(43). During lifting up the example of
this embodiment, all debris will be collected in the dustpan # 1. Move the
embodiment to the designated storage basket for debris and release the
wire # 1 to empty the dustpan.
There are more varieties of debris that can be taken out using this
invention if the number, length or cross dimensions of the dustpans
-11-
CA 02300700 2003-11-20
are changed according to the tank to be cleaned.
Another example of usage for this invention is shown in the
figure 11: The invention can be used to generate vortex flow in the
tank(8) by inserting, before lowering an embodiment to the tank, a
flexible hose(9) through the central pipes(31, 32 & 33) and the dustpans
(11 & 12), and supplying jet water to the corner of the tank. 'The vortex
flow generated by the embodiment can gather tiny debris to the central
area of the tank.
ADVANTAGE OF THE DESCRIBED EMBODIMENT OF THE
INVENTION
The embodiment has a cover that functions to drag in even tiny
debris in addition to closing the dustpan so as not to drop the debris
during lifting the tool. This embodiment does not require accurate
positional control during insertion of the tool, collecting taking out the
debris scattered in the tank. This embodiment, during the removal of
debris, does not need visual assistance like a video camera. It is very
easy to operate this embodiment due to the simple composition. The
fabrication cost is very economic comparing to a conventional robot
mechanism for the same function. The fabrication period is very short
so that the effect on operation schedule for the reactor, which should be
cleaned, can be minimized.
- 12-
CA 02300700 2000-03-15
It is possible to collect and take out the
debris even though the diameter of the tank is irregular
because flexible spring point between the dustpan and
the cover makes sure full contact with the edge of the
tank. If the dimensions and number of dustpans are
varied in this invention, it is also possible to take
out more varieties of debris or components scattered in
the spent fuel storage pools of power reactor or the
industrial tanks.
- 13 -
