METHOD FOR STACKING BRIQUETTES OBTAINED BY PRESSING SOLID RADIOACTIVE WASTE PLACED IN BARRELS INTO CONTAINER Russian patent published in 2017 - IPC B25J11/00 B25J19/04 B65G69/00 

FIELD: technological processes.

SUBSTANCE: method comprises placing the briquettes on the storage table using a manipulator with a software control system, and then storing the dimensions and position in the space and on the storage table of each of the briquettes, scanning the dimensions of the container cavity, determining briquettes suitable by size from the placed on the storage table for dense stacking in a container and stacking the briquettes in the container in a certain order with the help of the manipulator. A computer vision system is used, connected with the program control system of the manipulator and containing an electronic camera. Before stacking the briquettes into the container, the inclination of the base of each briquette is additionally determined, and when briquettes are placed in the container, the briquette inclination is oriented to the side of the container wall or the previous row with support on them.

EFFECT: stacking speed and positioning accuracy of the stacked briquettes are increased, which increases the productivity, reliability of the stacking process and the density of the compacted briquettes stacking in the container.

4 cl, 1 dwg