NUCLEAR TECHNIQUES, Volume. 47, Issue 12, 120301(2024)
The evaluation of equipment remote operation and pyroprocessing verification in hot cell
Figures & Tables(13)
Fig. 1. Schematic diagram of hot cell shielding wall and manipulator structure
Fig. 2. Schematic diagram of remote operation of manipulator by multi view (a) Global view, (b) Manipulator view, (c) Window view
Fig. 3. Schematic diagram of operating range of hot cell manipulator
Fig. 4. Actual equipment layout (a) and plane layout (b) of reprocessing devices in hot cell
Fig. 7. Workload of manipulator remote operation of fluoride volatility and vacuum distillation process
Fig. 8. Illustration of different process operation time consumption
Fig. 9. Appearance photos of molten salt after fluorination (a) and NaF adsorbed uranium products (b)
Table 1. Six basic operation actions of manipulator
View tableView in ArticleTable 1. Six basic operation actions of manipulator
序号
Number
操作动作
Operation action
动作描述
Action description
耗时
Time-consuming / s
操作实例
Operation example
1 螺栓旋紧/旋松BT, Bolttighten / loosen 使用电动扳手将设备上的螺栓固定（或松开）Use an electric wrench to fix the bolts onthe equipment (or loosen) 90 
2 挂钩/摘钩HK,Hook /unhook 通过机械手将钩子挂到（或摘离）目标设备的吊环Hang (or remove) the hook to the lifting ring ofthe target equipment through the manipulator 30 
3 配件移动FM,Fittings move 将目标物体从原始位置移动至其他位置Move the target object from its original positionto another position 15 
4 机械手 旋转MR,Manipulator rotate 通过机械手手腕的旋转，使阀门打开（或关闭）To open or close a valve by means of a rotatinghand of manipulator 20 
5 插入/拔出IS/DI,Insert/disengage 在公差范围内将连接件的两端插入（或反向拔出）Insert (or disengage) both ends of the connectorwithin the tolerance 40 
6 开/关OP/CO,Open/close 通过机械手前端点按，打开（或关闭）电源开关Press the front end of the manipulator toopen(or close) the power switch 10 
Table 2. Typical load scores of remote operation actions
View tableView in ArticleTable 2. Typical load scores of remote operation actions
操作动作
Operation action
负荷因素Workload factors 负荷分数
Workload
scores
归一化负荷系数*
Normalized workload ratio*
物理负荷Physical load 精神负荷Mental load 自由度
DOF motion
强度
Strength
集中度
Concentration
BT 3 3 3 9 0.31 HK 2 1 3 6 0.21 FM 3 1 1 5 0.17 MR 1 0 1 3 0.10 IS/DI 1 1 2 4 0.15 OP/CO 1 1 0 2 0.07
Table 3. Operation frequency of manipulator in different process units
View tableView in ArticleTable 3. Operation frequency of manipulator in different process units
工艺单元
Process unit
操作动作 Operation action BT HK FM MR IS/DI OP/CO 氟化挥发
Fluoride volatility
Process,
FVP
装料Feed, FD 6 8 14 4 4 — 气体置换Gas replacement, GR — — — 12 — 2 氟化反应Fluorination reaction, FR — — — 6 — — 气体吹扫Gas purge, GP — — — 15 — 2 出料Discharge, DC 6 8 10 2 4 — 减压蒸馏
Vacuum distillation
process, VDP
装料Feed, FD 6 8 16 4 2 1 抽真空Vacuum, VC — — — 2 — 2 出料Discharge, DC 6 8 12 4 2 —
Table 4. Distillation experiments of LiCl-KCl and FLiNaK molten salt
View tableView in ArticleTable 4. Distillation experiments of LiCl-KCl and FLiNaK molten salt
熔盐
Molten salt
蒸发量（蒸发比例）
Evaporation mass (evaporation ratio)
冷凝物分布
Distribution of condensate
熔盐回收率
Recovery ratio / %
LiCl-KCl, 700 ℃ 11 g (22%) 组件外盐 2 g（炉膛，炉盖）
Outside the component-2 g (burner and cover)
冷凝罩收集盐9 g
Condensing cover collect salt-9 g
82 LiCl-KCl, 770 ℃ 50 g (100%) 冷凝罩收集盐约50 g
Condensing cover collect salt-50 g
100 FLiNaK, 800 ℃ 54 g (84%) 冷凝罩收集盐约54 g
Condensing cover collect salt-54 g
100
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Yongsheng NIU, Lixin SUN, Baozhu WANG, Han ZHANG, Haiying FU, Qiang DOU, Wei ZHOU, Yuan QIAN, Qingnuan LI. The evaluation of equipment remote operation and pyroprocessing verification in hot cell[J]. NUCLEAR TECHNIQUES, 2024, 47(12): 120301
Paper Information
Category: NUCLEAR CHEMISTRY, RADIOCHEMISTRY, RADIOPHARMACEUTICALS AND NUCLEAR MEDICINE
Received: Jan. 23, 2024
Accepted: --
Published Online: Jan. 15, 2025
The Author Email: SUN Lixin (SUNLixin)
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