PRESSURE TREATMENT

FIELD OF THE INVENTION

The present invention relates to the field of high-pressure technology, in particular pressure treatment. More specifically, the present invention relates to a system for handling a load for isostatic pressure treatment. Also, the invention relates to a method for handling a load for high pressure treatment.

BACKGROUND OF THE INVENTION Isostatic presses may be used for the production, treatment and/or processing of different types of articles, components and/or elements. During a high-pressure pressing operation of a high-pressure press, a pressure medium, which is accommodated in a pressure chamber of a pressure vessel, is pressurized to a very high pressure. If the high-pressure press exerts an equal pressure on every side of the contents in the pressure vessel, the press is called an isostatic press. Depending on the temperature of the pressure medium during an isostatic pressing process, the process can be called hot isostatic pressing or HIP (hereinafter referred to as HIP), the pressure medium is often an inert gas, e.g. argon gas. HIP presses comprise a furnace provided with electric heating elements for increasing the temperature in the furnace chamber where the load, i.e. the articles, is being pressed in a loading space.

HIP presses employ a pressure medium in form of a pressurized heated gas to achieve for example consolidation, densification, or bonding of high performance components and materials. The processed parts can achieve 100 % of a maximum theoretical density, resulting in an exceptional resistance to fatigue, impact, wear and abrasion. The products obtained from the operation of the presses can be used in airplane bodies, aviation engines, car engines, human-body implants, and in the offshore industry, to mention a few. To obtain these outstanding material properties of the products, the HIP presses operate under extreme conditions with pressures reaching up to 310 MPa (3100 bar) and temperatures of 3000 °C. HIP provides many benefits and has become a viable and high performance alternative and/or complement to conventional processes such as forging, casting and machining. The HIP technology may be used for the compaction of metal powders (powder metallurgy HIP or PM HIP) in a container.

It should be noted that there is a wish to handle different kind of loads and subject these loads to HIP in a safe and reliable manner. In particular, in the reprocessing of spent (used) nuclear waste, this waste may for example be converted into a small, granular solid calcine, with a consistency similar to laundry detergent. It has been discovered that HIP may be used to further process canisters comprising the calcine, resulting in e.g. higher waste loadings and an enhanced process flexibility. When handling a load of this kind, it is of vital importance that a safe and reliable handling of the load can be provided. More specifically, it is important to avoid any malfunctioning of the system, and in the case of such a malfunction, minimize the effects thereof. Moreover, as the HIP arrangement and its components often are associated with relatively high costs, a reliable handling of the load with respect to the HIP arrangement is highly important.

Hence, there is a wish to provide a system which is able to provide a safe, reliable and convenient handling operation of a load in association with a (high) pressure treatment of the load.

SUMMARY OF THE INVENTION

It is an object of the present invention to provide a system and a method which are able to provide a safe, reliable and convenient handling operation of a load in association with a (high) pressure treatment of the load. This and other objects are achieved by providing a system and a method having the features defined in the independent claims. Preferred embodiments are defined in the dependent claims.

Hence, according to a first aspect of the present invention, there is provided a system for handling and isostatic pressure treatment of a load.

The system comprises a high-pressure arrangement for isostatic pressure treatment of the load. The high-pressure arrangement comprises a first control system for controlling the operation of the high-pressure arrangement, and a robot arrangement comprising at least one robot configured to transfer a load for isostatic pressure treatment to and from, respectively, the high- pressure arrangement, wherein the robot arrangement comprises a second control system for controlling the operation of the at least one robot. The second control system is operated separately from the first control system.

According to a second aspect of the present invention, there is provided a method for handling and isostatic pressure treatment of a load by a high-pressure arrangement for isostatic pressure treatment of a load. The high-pressure arrangement comprises a first control system for controlling the operation of the high-pressure arrangement, and a robot arrangement comprising at least one robot and a second control system for controlling the operation of the at least one robot. The method comprises the steps of: by the at least one robot, transferring a load for isostatic pressure treatment from a position of the load separate from the high-pressure arrangement to the high- pressure arrangement, and reversely, transferring a load after isostatic pressure treatment from the high-pressure arrangement to a position separate from the high-pressure arrangement, and operating the second control system separately from the first control system.

Thus, the present invention is based on the idea of providing a system for handling a load and for an associated isostatic pressure treatment of the load in a high-pressure arrangement. The high-pressure arrangement of the system comprises a first control system for controlling the operation of the high-pressure arrangement, and the robot arrangement of the system comprises a second control system for controlling the operation of one or more robots of the robot arrangement. Due to the concept of operating the second control system separately from the first control system, the system of the present invention provides a safe, robust and reliable handling of a load for high-pressure treatment.

The present invention is advantageous in that the system results in a safe, reliable, robust and convenient handling and/or transportation of a load for high-pressure treatment. This is manifested by the inventive concept of the present invention of providing a system comprising a robot arrangement and a high-pressure arrangement, wherein the operation of the respective arrangement is provided separately by a first and second control system. For example, in case of a malfunctioning and/or breakdown of the high-pressure arrangement and/or the first control system for the operation thereof, the robot arrangement may be operated independently via the second control system. It will be appreciated that this concept is of particular importance in case of handling a load comprising radioactive material for high-pressure treatment. Notably, it is highly important to avoid that a load of this kind becomes stuck in the high-pressure arrangement and/or is accidentally held in an undesired position inside or outside the high-pressure arrangement, e.g. in case of a malfunctioning and/or breakdown of the high-pressure arrangement. Hence, by the redundant concept of the present invention of separating the control of the handling of the load via the robot arrangement and the control of the isostatic pressure treatment of the load via the high- pressure arrangement, a safe, reliable, robust and convenient handling and/or transportation of the load for high-pressure treatment is provided by the described system and method.

The present invention is further advantageous in that the robot arrangement of the system provides a safe and reliable handling of the load into, and out of, respectively, the high-pressure arrangement. Notably, load transportation devices or systems are disclosed in the prior art which suffer from an insufficient stability and/or reliability when handling one or more loads. Transportation devices or systems of these kind may risk an unsatisfactory handling of loads, and may even lead to losing and/or dropping the loads. In contrast, the robot(s) of the robot arrangement of the system provides a safe and reliable handling of the loads, which is of particular importance in case of radioactive loads.

There is provided a system for handling a load for isostatic pressure treatment in a high-pressure arrangement. By “load”, it is here meant substantially any material, articles, components and/or elements for high- pressure treatment. The load may, for example, be a canister containing calcine of spent (used) nuclear waste. However, the load may alternatively constitute substantially any other material, articles, or the like.

The high-pressure arrangement comprises a first control system for controlling the operation of the high-pressure arrangement. By the term “first control system”, it is here meant a system or unit for the control of the operation of the high-pressure arrangement. More specifically, the first control system may comprise one or more units such as PLC(s) (Programmable Logic Controllers, HMI (Human-Machine Interface) computer(s), etc., which may be configured to communicate with each other.

The system further comprises a robot arrangement comprising at least one robot. By the term “robot”, it is here meant an (industrial) robot known to the skilled man in the art, i.e. a robot which is automated and/or programmable for performing industrial tasks. By the term “robot arrangement”, it is here meant any arrangement, device(s) and/or unit(s) which is provided for the operation of the robot(s), such as power supply, control, etc. The one or more robots is configured to transfer a load for isostatic pressure treatment to and from, respectively, the high-pressure arrangement. Hence, the robot(s) is (are) configured, programmed and/or adapted to move, transport or transfer a load to the high-pressure arrangement before pressure treatment of the load. Analogously, after pressure treatment of the load in the high-pressure arrangement, the robot(s) is (are) configured, programmed and/or adapted to move, transport or transfer the load from the high-pressure arrangement.

The robot arrangement comprises a second control system for controlling the operation of the robot(s). By the term “second control system”, it is here meant a system or unit (e.g. comprising PLC(s), HMI computer(s), etc.) for the control of the operation of the robot(s) of the robot arrangement.

The second control system is operated separately from the first control system. In other words, the second control system for controlling the operation of the robot(s) of the robot arrangement is operated separately (independently) from the first control system for controlling the operation of the high-pressure arrangement.

According to an embodiment of the present invention, the robot arrangement may be arranged separately from the high-pressure arrangement. In other words, the robot arrangement and the robot(s) thereof may be physically separated from the high-pressure arrangement. The present embodiment is advantageous in that the safety and robustness of the system may be even further increased by this concept, which may be of particular interest in case of the handling and treatment of radioactive load(s). For example, the motion(s) and action(s) of the robot arrangement and the robot(s) thereof may benefit from the fact that it is separated from the high- pressure arrangement, e.g. avoiding entanglements and/or collisions. Furthermore, the separated arrangement of the robot and high-pressure arrangements may imply a facilitated service, repair and/or maintenance of the respective robot and/or high-pressure arrangement.

According to an embodiment of the present invention, the robot arrangement may be integrated in the high-pressure arrangement. In other words, the robot arrangement and the robot(s) thereof may be physically integrated in (and/or constitute a part of) the high-pressure arrangement. The present embodiment is advantageous in that the handling of the load may be simplified. According to an embodiment of the present invention, the second control system may be configured to control the operation of the at least one robot with respect to a predetermined space around the at least one robot. In other words, the control system may be configured to control the operation of the robot(s) such that the robot(s) is (are) restricted to operate within a (three- dimensional) predetermined space. The present embodiment is advantageous in that the system hereby may ensure that any part of a robot will only be present in a predetermined space (and hence, never be outside said predetermined space during operation of the robot), leading to an increased safety of the system.

According to an embodiment of the present invention, the high- pressure arrangement may further comprise a vessel arranged to receive a load via an opening provided at an end portion of the vessel, wherein the at least one robot is configured to transfer the load into the vessel via the opening before pressure treatment of the load, and to transfer the load out of the vessel via the opening after pressure treatment of the load. The present embodiment is advantageous in that the robot(s) of the robot arrangement may conveniently and efficiently transfer the load into, and out of, respectively, the vessel of the high-pressure arrangement before, and after, respectively, the high-pressure treatment of the load. The present embodiment is further advantageous in that the robot arrangement may provide a complete transport of the load into, and out of respectively, the vessel of the high-pressure arrangement, before and after the high-pressure treatment of the load, i.e. without any further arrangements, units and/or utilities.

According to an embodiment of the present invention, the high- pressure arrangement may further comprise a vessel arranged to receive a load via an opening provided at an end portion of the vessel. The system may further comprise an elevator unit vertically operable between a first position adjacent the end portion of the vessel and a second position inside the vessel. Before pressure treatment of the load, the at least one robot is configured to transfer the load to the elevator unit, and the elevator unit is configured to transport the load into the vessel via the opening. After pressure treatment of the load, the elevator unit is configured to transport the load out of the vessel via the opening, and the at least one robot is configured to transfer the load from the elevator unit. In other words, the elevator unit may be configured to raise, lift and/or transport the load vertically (or horizontally, in case of a horizontally arranged pressure vessel) into the pressure vessel. Analogously, the elevator unit is further configured to lower and/or transport the load vertically (or horizontally) from the pressure vessel. By “elevator unit”, it is here meant a (freight) elevator, lift, hoist, or the like, suitable for lifting and/or lowering of a load which furthermore may be relatively large and/or heavy. It will be appreciated that the present embodiment of a system comprising a robot arrangement in combination with an elevator unit for transportation of the load into and out of, respectively, the vessel of the high- pressure arrangement is advantageous regarding the safety, stability and/or robustness of the load transportation compared to the prior art. For example, the use of overhead cranes in the prior art for load transportation may lead to movements of the load in two or three dimensions, which consequently may result in an unstable, oscillating transportation of the load. It should be noted that an arrangement of this kind may be dangerous for personnel/staff operating the arrangement and/or for other persons being in the vicinity of the arrangement. Furthermore, the load may be susceptible for damage due to the unstable and/or oscillating transportation by the arrangement. In contrast, by the present embodiment, wherein the load is first handled and transported by the robot arrangement and thereafter transported into the vessel by the elevator unit (and reversely, out of the vessel via the elevator unit and the robot arrangement), a safe and stable operation is provided by the system. The combination of the robot arrangement and the elevator unit for handling and isostatic pressure treatment of the load may be particularly advantageous in case of a bulky and/or heavy load. Furthermore, the present embodiment is advantageous in that the elevator unit of the system may provide a safe and reliable insertion of the load into and out of the pressure vessel, respectively, as a bottom lid of the vessel may be lifted together with the load during its insertion into the pressure vessel and lowered together with the load during its removal out of the pressure vessel.

According to an embodiment of the present invention, the vessel may comprise a lid arranged to close the opening, wherein the at least one robot is configured to remove the lid from the opening before pressure treatment of the load, and to replace the lid to the opening after pressure treatment of the load. In other words, the robot(s) may be configured to remove the lid from the opening, and thereafter replace the lid after the load has been inserted into the vessel before pressure treatment of the load. Analogously, after pressure treatment of the load, the robot(s) may be configured to remove the lid from the opening, and replace the lid after the load has been removed from the vessel. By the term “lid”, it is commonly meant a bottom lid of the vessel in case of a vertically oriented high-pressure arrangement. Alternatively, the lid may constitute a top lid of the vessel of a vertically oriented high-pressure arrangement. In case of horizontally oriented high-pressure arrangement, the lid may be provided at either end of the (horizontally) oriented vessel. The present embodiment is advantageous in that the robot(s) may remove and replace the lid of the vessel in an efficient and reliable manner. The present embodiment is further advantageous in that the system provides a convenient and efficient manner of bottom-loading the pressure vessel by the removable bottom lid. In other words, the system provides an insertion of the load into the pressure vessel from below by the removable bottom lid.

According to an embodiment of the present invention, the high- pressure arrangement may comprise a mantle arranged inside the vessel, and wherein the at least one robot is configured to remove the mantle from the high-pressure arrangement. The present embodiment is advantageous in that the robot(s) may conveniently remove the mantle from the high-pressure arrangement, either in case of ordinary operation of the high-pressure arrangement or in case of a malfunction, such as the mantle becoming stuck in the high-pressure arrangement.

According to an embodiment of the present invention, the system may further comprise at least one tool, wherein the at least one robot is configured to interact with at least one part of the high-pressure arrangement by the at least one tool. The present embodiment is advantageous in that the tool(s) may facilitate the operation of the robot(s) of the robot arrangement of the system.

According to an embodiment of the present invention, the at least one robot, by the at least one tool, may be configured to remove the lid from the opening before pressure treatment of the load, and to replace the lid to the opening after pressure treatment of the load. The present embodiment is advantageous in that the tool(s) may facilitate the removal/replacement operation of the lid by the robot(s) of the robot arrangement.

According to an embodiment of the present invention, there is provided an arrangement for handling and isostatic pressure treatment of a load. The arrangement may comprise a load comprising radioactive material, and a system according to any one of the preceding embodiments for handling and isostatic pressure treatment of the load. The load may, for example, be a canister containing calcine of spent (used) nuclear waste. It should be noted that the redundant concept of operating the robot arrangement separately from the high-pressure arrangement via the first and second control systems is particularly suitable for radioactive loads of this kind, as the system hereby provides robustness and reliability.

According to an embodiment of the present invention, there is provided a construction for handling and isostatic pressure treatment of a load. The construction may comprise an enclosure comprising a radiation-absorbing material. The construction may further comprise the arrangement of the previous embodiment for handling and isostatic pressure treatment of a load, wherein the arrangement is provided inside the enclosure. By “enclosure”, it is here meant a housing, or the like, for accommodating the arrangement. The present embodiment is advantageous in that the enclosure may at least partially hinder or even completely stop any radioactive radiation from inside the enclosure to an outside thereof, in which enclosure the handling and treatment of the load takes place. Hence, the construction even further increases the safety aspect of handling and isostatic pressure treatment of a radioactive load.

According to an embodiment of the second aspect of the present invention, the method may further comprise the step of controlling the operation of the at least one robot with respect to a predetermined space around the at least one robot.

According to an embodiment of the second aspect of the present invention, the high-pressure arrangement may further comprise a vessel arranged to receive a load via an opening provided at an end portion of the vessel, and the method may further comprise the steps of: transferring the load to a position adjacent the end portion of the vessel before pressure treatment of the load by the at least one robot, and transferring the load from the position adjacent the end portion of the vessel after pressure treatment of the load by the at least one robot.

According to an embodiment of the second aspect of the present invention, the method may further comprise the step of: performing any one of service, maintenance, and repair, of the high-pressure arrangement by the at least one robot. For example, the method may comprise performing one or more of a lubrication of the lid between pressure cycles of the high-pressure arrangement, service of the hydraulics of the high-pressure arrangement, etc. The present embodiment is advantageous in that the robot(s) may conveniently and efficiently perform a needed or desired action associated with service, maintenance and/or repair of the high-pressure arrangement, which even further contributes to the aspects of convenience and safety of handling and isostatic pressure treatment of a load.

It will be appreciated that the specific embodiments and any additional features described above with reference to the arrangement are likewise applicable and combinable with the method according to the second aspect of the present invention.

It is to be understood that even though reference is made herein to the load being for isostatic pressure treatment, the load may according to one or more embodiments of the present invention be intended for other type(s) of pressure treatment than isostatic pressure treatment. Also, even though reference is made herein to high-pressure arrangements being for isostatic pressure treatment, it is to be understood that other types of high-pressure arrangements may be contemplated, in accordance with one or more embodiments of the present invention.

Further objectives of, features of, and advantages with, the present invention will become apparent when studying the following detailed disclosure, the drawings and the appended claims. Those skilled in the art will realize that different features of the present invention can be combined to create embodiments other than those described in the following.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will now be described in more detail, with reference to the appended drawings showing a currently preferred embodiment of the invention, wherein:

Fig. 1 is a schematic and conceptual illustration of a system for handling a load and for isostatic pressure treatment of the load according to an embodiment of the present invention,

Fig. 2 is a schematic illustration of a system for handling a load and for isostatic pressure treatment of the load according to an embodiment of the present invention,

Figs. 3a-3e are schematic illustrations of a construction for handling a load and for isostatic pressure treatment of the load according to an embodiment of the present invention, and Figs. 4a-4c are schematic illustrations of a system for handling a load and for isostatic pressure treatment of the load according to embodiments of the present invention.

DETAILED DESCRIPTION

Fig. 1 is a schematic and conceptual illustration of a system 100 for handling a load and for isostatic pressure treatment of the load according to an embodiment of the present invention. Hence, Fig. 1 is provided for the conceptual understanding or the system 100, and is not drawn to scale.

The system 100 comprises a high-pressure arrangement 200 for isostatic pressure treatment of a load 315. It will be appreciated that the function of the high-pressure arrangement 200 is only described summarily in the following, and that more specific details of the high-pressure arrangement 200 are also omitted in this section, due to the purpose of conceptual understanding of the system. During a high-pressure pressing operation of the high-pressure arrangement 200, a pressure medium, which is accommodated in a pressure chamber of a pressure vessel of the high- pressure arrangement 200, is pressurized to a very high pressure. The pressure medium is often a fluid gaseous medium, e.g. argon gas. If the high- pressure arrangement 200 exerts an equal pressure on every side of the load in the pressure vessel, the high-pressure arrangement 200 may be called an isostatic press. Depending on the temperature of the pressure medium during an isostatic pressing process, the process can be called hot isostatic pressing or HIP (hereinafter referred to as HIP).

In Fig. 1 , the high-pressure arrangement 200 comprises a first control system 210 for controlling the operation of the high-pressure arrangement 200. The first control system 210 may e.g. constitute or comprise a system or unit for the control of the operation of the high-pressure arrangement 200. For example, the first control system 210 may comprise one or more units such as PLC(s) (Programmable Logic Controllers, HMI (Human-Machine Interface) computer(s), etc., which may be configured to communicate with each other. The PLC(s) and HMI computer(s) may be provided in a network, whereby an operator may interact with the first control system 210 by providing input via the HMI computer(s) which may be distributed to the PLC(s). Albeit the first control system 210 is shown to be separately arranged from the high- pressure arrangement 200, it may alternatively be integrated and/or constitute a part of the high-pressure arrangement 200. The first control system 210 may be coupled by wire of wirelessly to the high-pressure arrangement 200.

The system 100 further comprises a robot arrangement 300 comprising one or more robots 310, schematically indicated as constituting a part of the robot arrangement 300. The robot arrangement 300 may constitute or comprise arrangement(s), device(s) and/or unit(s) provided for the operation of the robot(s) 310, such as power supply, control, etc.

In Fig. 1, a single robot 310 is schematically indicated, but it should be noted that the number of robots 310 may be arbitrary. The robot(s) 310 may in this case be one or more (industrial) robot(s) 310 known to the skilled man in the art, i.e. (a) robot(s) 310 which is (are) automated and/or programmable for performing industrial tasks. The robot 310 is configured to transfer a load 315 for isostatic pressure treatment to and from, respectively, the high- pressure arrangement 200, as schematically indicated by the arrow. It will be appreciated that the load 315 may be substantially any material, article(s), component(s) and/or element(s) for high-pressure treatment. Hence, the robot 310 is configured, programmed and/or adapted to move, transport or transfer the load 315 to the high-pressure arrangement 200 before pressure treatment of the load 315. Analogously, after pressure treatment of the load 315 in the high-pressure arrangement 200, the robot 310 is configured, programmed and/or adapted to move, transport or transfer the load 315 from the high-pressure arrangement 200.

The robot arrangement 300 comprises a second control system 320 for controlling the operation of the one or more robots 310. The second control system 320 may e.g. constitute or comprise a system or unit (e.g. comprising PLC(s), HMI computer(s), etc.) for the control of the operation of the robot(s) 310. In case the robot arrangement 300 comprises a plurality of robots 310, the second control system 320 may comprise a (single) control unit for all robots 310. Alternatively, the second control system 320 may comprise several control units, wherein each of these control units is individually coupled to a respective robot 310. Albeit the second control system 320 is shown to be separately arranged from the robot arrangement 300, it may alternatively be integrated and/or constitute a part of the robot arrangement 300. The second control system 320 may be coupled by wire of wirelessly to the robot arrangement 300 and/or robot(s) 310.

The second control system 320 is operated separately and/or independently from the first control system 210. Hence, the operation of the second control system 320 for controlling the operation of the robot(s) 310 may be electronically and/or operationally independent and/or isolated from operation of the first control system 210 for controlling the operation of the high-pressure arrangement 200. The separate operation of the first control system 210 from the second control system 320 may be exemplified as the first and second control systems 210, 320 having separate interfaces, power supplies, components, functions, etc., or a combination thereof. Furthermore, the first control system 210 may be physically separated from the second control system 320.

Fig. 2 is a schematic illustration of a system 100 for handling a load and for isostatic pressure treatment of the load. It should be noted that the system 100 and its operation is the same or similar to that as schematically illustrated in Fig. 1 , and it is therefore also referred to the description of Fig. 1 for an increased understanding. In Fig. 2, the high-pressure arrangement 200 for isostatic pressure treatment of a load is depicted as a FI IP, but it should be noted that substantially any other kind of (high) pressure press may be used. Furthermore, more specific details of e.g. components and/or the operation of the high-pressure arrangement 200 is omitted, for reasons of simplicity.

The first control system 210 for controlling the operation of the high- pressure arrangement 200 is schematically indicated in Fig. 2. The first control system 210 may be physically attached to the high-pressure arrangement 200 or be integrated in the high-pressure arrangement 200. Alternatively, the first control system 210 may be physically separated from the high-pressure arrangement 200. The connection between the first control system 210 and the high-pressure arrangement 200 may be provided by wire or be wireless.

Fig. 2 further shows a robot arrangement 300 comprising a single robot 310. The robot 310 is exemplified as an articulated robot 310 with rotary joints. Flowever, it should be noted that the robot arrangement 300 may comprise substantially any kind of robot for the purpose of load transportation. Analogously to the description of Fig. 1 , the robot 310 is configured, programmed and/or adapted to move, transport or transfer a load 315 to the high-pressure arrangement 200 before pressure treatment of the load 315. Analogously, after pressure treatment of the load 315 in the high-pressure arrangement 200, the robot 310 is configured, programmed and/or adapted to move, transport or transfer the load 315 from the high-pressure arrangement 200. As described previously, it will be appreciated that the load 315 may be substantially any material, article(s), component(s) and/or element(s) for high- pressure treatment, and that the dimensions of the load 315 as indicated are presented as an example.

The second control system 320 for controlling the operation of the robot 310 is schematically indicated in Fig. 2. The second control system 320 may be physically attached to the robot 300 or be integrated in the robot 310. Alternatively, the second control system 320 may be physically separated from the robot 310. The connection between the second control system 320 and the robot 310 may be provided by wire or be wireless. The second control system 320 is operated separately and/or independently from the first control system 210. Hence, the operation of the second control system 320 for controlling the operation of the robot(s) 310 may be electronically and/or operationally independent and/or isolated from operation of the first control system 210 for controlling the operation of the high-pressure arrangement 200.

In Fig. 2, the robot arrangement 300 is arranged separately (i.e. physically separated) from the high-pressure arrangement 200. Alternatively, the robot arrangement 300 may be integrated in the high-pressure arrangement 200. In this exemplifying embodiment of the system 100, the second control system 320 is configured to control the operation of the robot 310 with respect to a predetermined space around the robot 310. The predetermined space may be exemplified as a rectangular cuboid (not shown), but it should be noted that the predetermined space may have substantially any form.

Figs. 3a-e show schematic illustrations of a construction 700 for handling loads and for isostatic pressure treatment of the loads according to an exemplifying embodiment. The construction 700 comprises a system 100 for handling and isostatic pressure treatment of loads, wherein the system 100 is provided inside an enclosure 800. Here, only a single wall of the enclosure 800 is indicated for reasons of an improved overview, but the (entire) enclosure may be exemplified as comprising four walls and a roof enclosing a space in which the system 100 is arranged. However, it should be noted that the enclosure 800 may have substantially any other form. In case the loads for pressure treatment comprise a radioactive material, the enclosure 800 preferably comprises a radiation-absorbing material.

Fig. 3a shows a system 100 for handling and isostatic pressure treatment of a load. The system 100 comprises a robot arrangement 300 comprising a robot 310 configured to transfer a load, exemplified as a first load 315a and a second load 315b, for isostatic pressure treatment. The system 100 further comprises a high-pressure arrangement 200 for isostatic pressure treatment of the first and second loads 315a, 315b. The high- pressure arrangement 200 of the system 100 comprises a vessel 220 which is arranged to receive the first and second loads 315a, 315b via an opening provided at an end (bottom) portion of the vessel 220. The system 100 further comprises an elevator unit 150 which is vertically operable between a first position adjacent the end portion of the vessel 220 and a second position inside the vessel 220.

Before pressure treatment of the first and second loads 315a, 315b in the high-pressure arrangement 200, the robot 310 is configured to transfer the first and second loads 315a, 315b to the elevator unit 150, and the elevator unit 150 is configured to transport the first and second loads 315a, 315b into the vessel 220 via the opening thereof. This operation of the system 100 is described in Figs. 3a-3e.

In Fig. 3a, the robot 310 is configured to take (grip) the first load 315a which is stored on a first load tray.

In Fig. 3b, the robot 310 transports the first load 315a to a lid 225 (hereafter denoted bottom lid 225) of the vessel 220. Although not shown, a furnace base (i.e. a base portion for the furnace of the high-pressure arrangement) may be provided on the bottom lid 225. The robot 310 may be configured to remove the bottom lid 225 (e.g. together with the furnace base) before the pressure treatment and to replace the bottom lid 225 (e.g. together with the furnace base) after the pressure treatment.

The robot 310 is further configured to align the first load 315a on the bottom lid 225 (and furnace base) of the vessel 220, as shown in Fig. 3c.

In Fig. 3d, the robot 310 is configured to take (grip) the second load 315b which is stored on a second load tray in a same or similar manner as for handling the first load 315a as previously described. The robot 310 is configured to transfer the load 315b towards the bottom lid 225 of the vessel 220.

In Fig. 3e, the robot 310 is configured to stack the second load 315b on top of the first load 315a which is provided on the bottom lid 225 of the vessel 220. After the operation shown in Fig. 3e, the elevator unit 150 is configured to lift the first and second loads 315a, 315b together with the bottom lid 225 into the vessel 220 via the opening thereof. The first and second loads 315a, 315b may thereafter be subjected to pressure treatment in the high-pressure arrangement 200.

After pressure treatment of the first and second loads 315a, 315b by the high-pressure arrangement 200, the elevator unit 150 is configured to transport (lower) the first and second loads 315a, 315b out of the vessel 220 via the opening thereof. The robot 310 may hereby be configured to operate in the reverse manner of Figs. 3a-e, in order to remove the first and second loads 315a, 315 b from the high-pressure arrangement 200 and arrange the first and second loads 315a, 315b on the first and second load trays, respectively.

In accordance with previously described embodiments of the present invention, the high-pressure arrangement 200 in Figs. 3a-3e comprises a first control system for controlling the operation of the high-pressure arrangement, and the robot arrangement comprises a second control system for controlling the operation of the robot 310, wherein the second control system is operated separately from the first control system.

The high-pressure arrangement 200 of the system 100 of Figs. 3a-3e may furthermore comprise a mantle arranged inside the vessel 220. The robot 310 may be configured to remove the mantle from the high-pressure arrangement 200. Moreover, the system 100 of Figs. 3a-3e may further comprise one or more tools, and the robot 310 may be configured to interact with one or more parts of the high-pressure arrangement 200 by the tool(s). The robot 310 may be configured to take and return different tools (e.g. to/from a tool storage) intended for different tasks. For example, the robot 310 may be configured to remove the mantle from the high pressure arrangement 200 by the tool(s) and/or remove the bottom lid 225 before pressure treatment of the first and second loads 315a, 315b. According to another example, the robot 310 may, by means of the tool(s), be configured to lubricate the bottom lid 225 between pressure cycles of the high-pressure arrangement 200, to perform service of the hydraulics of the high-pressure arrangement 200, etc.

The high-pressure arrangement 200 of the system 100 in Figs. 3a-3e is depicted in a vertical orientation. In other words, the high-pressure arrangement 200 and its vessel 220 elongate in a vertical direction. Flowever, the high-pressure arrangement 200 may alternatively be arranged horizontally according to one or more of the following embodiments.

Figs. 4a-4c are a schematic illustrations of systems 100 for handling a load and for isostatic pressure treatment of the load according to embodiments of the present invention. It will be appreciated that the systems 100 of Figs. 4a-4c share the same concept as the systems described in Fig. 1 and Fig. 2 and the system of the construction described in Figs. 3a-3e. Furthermore, it is referred to these figures and associated text for an increased understanding.

In Fig. 4a, the high-pressure arrangement 200, and the vessel 220 thereof, are arranged in a horizontal direction. In this system 100, the robot 310 is configured to transport the load 315 into the horizontally arranged vessel 220 of the high-pressure arrangement 200. The robot 310 may be configured to transport or insert the load 315 (directly) into the vessel 220 horizontally. Alternatively, the high-pressure arrangement 200 may further comprise a transport device and/or a loading tray, or the like, which may be configured to transport the load 315 horizontally into the vessel 220. Flence, before pressure treatment of the load 315, the robot 310 may arrange the load 315 onto the transport device and/or loading tray which may be configured to transport the load 315 into the vessel 220. Alternatively, the robot 310 may be configured to insert the load 315 directly into the vessel 220. Analogously, after pressure treatment of the load 315, the transport device and/or loading tray may be configured to transport the load 315 out of the vessel 220. Alternatively, the robot 310 may be configured to remove the load 315 directly from the vessel 220. According to another example, the robot 310 could be configured to push the load 315 into (and analogously, pull out of) the vessel 220 of the high-pressure arrangement 200, e.g. via one or more rails on the mantle of the high-pressure arrangement 200.

In Fig. 4b, the system 100 is similar to the system 100 of Fig. 4a in that the high-pressure arrangement 200, and the vessel 220 thereof, are arranged in a horizontal direction. Flowever, in Fig. 4b, the system 100 comprises two robots 310a, 310b arranged at opposite ends of the vessel 220. In this system, the first robot 310a may be configured to insert the load (not shown) into the vessel 220, either directly or via a transport device, via a first opening of the vessel 220, before pressure treatment of the load by the high-pressure arrangement 200. Analogously, after treatment of the load by the high- pressure arrangement 200, the second robot 310b may be configured to remove the load from the vessel 220 via a second opening of the vessel 220, wherein the first and second openings of the vessel 220 are arranged opposite each other. In Fig. 4c, the high-pressure arrangement 200, and the vessel 220 thereof, are arranged in a vertical direction. The robot 310 is configured to insert the load 315 into the vessel 220 via a top opening of the vessel 220, before pressure treatment of the load 315 by the high-pressure arrangement 200. Analogously, after treatment of the load 315 by the high-pressure arrangement 200, the robot 310 may be configured to remove the load 315 from the vessel 220 via the top opening of the vessel 220. In this exemplifying embodiment, the robot 310 could further be configured to remove the mantle from the high-pressure arrangement 200. Even though the invention has been described with reference to specific exemplifying embodiments thereof, many different alterations, modifications and the like will become apparent for those skilled in the art.

The described embodiments are therefore not intended to limit the scope of the invention, as defined by the appended claims. For example, any sizes and/or number of units, devices or the like may be different than those described.