S. Crosby
Westinghouse Savannah River Company
Aiken, SC 29808

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The Bucket Translation Unit (BTU) and the Drum Handler are two of the HANDSS-55 subsystems identified as linking components. Both subsystems link other modules together by moving material to or from another module.

The BTU provides two linking functions in the HANDSS-55 repackaging process. First, the BTU moves the PWR output (The PWR shreds the 55-gallon drum, polyethylene liner, and polyethylene TWRM waste container remnant when no longer needed in the repackaging process.) and places the shredded contents inside the TWRM waste container, and second, the BTU moves the remnant of the TWRM waste container cutting process (TWRM output) to the drum handler (see Figure 5). (TWRM output is a hollow cylindrical tube of polyethylene, roughly the same diameter as inside a 55-gallon drum.)

The BTU moves on tracks when transporting PWR output or TWRM output. Although it is comprised of a number of distinct components, the BTU is herein discussed as a single device (see Figure 6). The BTU’s motion is accommodated by a system of rails and a single linear drive unit. The associated rails and drive span the length of travel required to complete the BTU’s tasks. The total linear travel of the unit along these rails is approximately 15 feet.

Figure 6 Rear Perspective of BTU in Home Position (see Figure 1)

The BTU moves between the PWR, the drum handler, and the TWRM. The BTU is positioned, as required, at various points along its travel path. The BTU design uses a single linear drive to induce all required motions. The linear drive is connected to the BTU via a mounting plate and yoke (see Figure 6). This arrangement simplifies the design by requiring only one powered device to operate the BTU and also minimizes the space required to operate.

Figure 7 Front Perspective of BTU in Home Position

The BTU’s home position is located under the PWR (see Figure 1), which does not interfere with any other operation. When home, the BTU waits to receive the PWR output. Once the BTU receives the PWR output, the BTU translates under the sorting table (see Figure 3) and toward the TWRM. As the BTU moves toward the TWRM the BTU remnant tray is allowed to rotate down. As the BTU nears the TWRM, the carrier frame is elevated as the leading carrier frame rollers encounter the ramp section of the outer rails (see Figures 6 and 7). The elevation change provided by the ramp section clears the TWRM Sphincter Seal (see Figure 3) and orients the bucket into proper pouring position. The BTU extension arm design ensures that the carrier frame, and consequently the bucket and remnant tray, elevates in pure translation. This ensures that the bucket is not rotated before it is moved into position. This design feature eliminates the possibility of premature pouring.

Once the bucket cradle reaches the stop pedestals, the bucket begins to rotate. The rotation is accomplished by a double notch and bar mating arrangement, formed when the bucket cradle and pedestals come in contact. Once the bucket rotates approximately 10 degrees, it is prevented from backing out of the notch in the stop pedestals. This design feature ensures that the bucket can not move in any motion other than pure rotation. The stop pedestals also prevent the bucket from moving rectilinearly. The bucket is, however, free to rotate around the cradle bar axis. Carrier frame roller bearings traveling inside slots on the bucket cradle cause the cradle to rotate. The carrier frame continues to move linearly as the bucket rotates.

When the BTU is sent to retrieve the TWRM waste container remnant, the operation is identical to that described above, except that the unit stops at the point where the bucket cradle bar meets the stop pedestals. Bucket rotation does not occur when the BTU is in this position. The BTU is now ready to accept the TWRM output from the TWRM Deployment System. (The TWRM Deployment System consists of a robotic crane designed to service the operational needs of the TWRM.)

Once the TWRM Deployment System places the TWRM waste container remnant on the remnant tray (see Figure 7), the BTU returns to the area in front of the Drum Handler. The drum handler then takes the TWRM waste container remnant from the BTU and the BTU begins to move to its home position. Just before the BTU reaches its home position, the remnant tray is pushed into a vertical orientation by the lift inducers permanently positioned on the glovebox deck. This keeps the remnant tray clear of the Load-In port seal area.

The drum handler is electro-pneumatically powered. All drive components for the drum handler’s gripper are located inside its column. The drum handler is capable of dumping at various heights of the column as needed. The drum handler is required to handle two distinct items. The first item is the full 55-gallon drum that is introduced into the HANDSS-55 system for repackaging. The second item is the TWRM waste container remnant.

The HANDSS-55 repackaging process requires that 55-gallon drums be translated and rotated within the glovebox in support of TWRM, PWR, AD&LO, and Sorting Station operations. Drum handler control is automatic during normal drum processing. The drum handler performs the following tasks:

• Retrieve the drum from the Load-In port,
  
• Support the drum during AD&LO drum lid and liner top opening,
  
• Invert the drum at the sort table,
  
• Transport the empty drum and drum liner to the PWR, and
  
• Retrieve the TWRM waste container remnant from the BTU and drop it into the PWR.

The drum handler (see Figure 8) is a vendor-supplied component, capable of grasping, raising, tilting, and conveying a 55-gallon drum. The drum handler is installed in the HANDSS-55 glovebox envelope on the side of the sorting table and the PWR (see Figure 3). The drum handler moves to its home position (The drum handler’s home position is located directly above the Load-In port.) and retrieves the drum from the glovebox Load-In port. The drum handler then moves the drum to a position above the PWR. The drum is held in this position while the AD&LO moves down, contacts the drum lid, and removes the lid. The drum handler then moves back to its home position and allows the AD&LO to release the drum lid. The drum handler then moves back over the PWR and the same lid removal process is repeated for the drum liner lid.

The drum handler translates the opened drum to a location in proximity to the sorting table, rotates the drum clockwise, and dumps the drum contents onto the sorting table. Operator verification of drum inventory disengagement is required after drum dumping has been attempted. If inspection reveals that there has been no or partial disengagement of inventory, the operator initiated drum handler shaking features are invoked. The drum handler’s capability to shake the drums is an inherent design feature. If the automatic drum shaking feature cannot dislodge the inventory, a manual waste extraction tool is used to reach into the drum and remove the trapped inventory. Once the inventory has been dislodged, the drum handler returns the drum to its upright position, and then transfers the drum to the PWR where the drum is subsequently released into the PWR and shredded.

Figure 8 Drum Handler with 55-Gallon Drum Concept