CA2778596A1 - Support assembly for use with a nuclear reactor tool assembly - Google Patents
Support assembly for use with a nuclear reactor tool assembly Download PDFInfo
- Publication number
- CA2778596A1 CA2778596A1 CA2778596A CA2778596A CA2778596A1 CA 2778596 A1 CA2778596 A1 CA 2778596A1 CA 2778596 A CA2778596 A CA 2778596A CA 2778596 A CA2778596 A CA 2778596A CA 2778596 A1 CA2778596 A1 CA 2778596A1
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- Canada
- Prior art keywords
- support assembly
- shaft portion
- bending moment
- leverage members
- pair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Classifications
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
- G21C19/19—Reactor parts specifically adapted to facilitate handling, e.g. to facilitate charging or discharging of fuel elements
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C3/00—Reactor fuel elements and their assemblies; Selection of substances for use as reactor fuel elements
- G21C3/30—Assemblies of a number of fuel elements in the form of a rigid unit
- G21C3/32—Bundles of parallel pin-, rod-, or tube-shaped fuel elements
- G21C3/34—Spacer grids
- G21C3/356—Spacer grids being provided with fuel element supporting members
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
- G21C19/20—Arrangements for introducing objects into the pressure vessel; Arrangements for handling objects within the pressure vessel; Arrangements for removing objects from the pressure vessel
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
- G21C19/20—Arrangements for introducing objects into the pressure vessel; Arrangements for handling objects within the pressure vessel; Arrangements for removing objects from the pressure vessel
- G21C19/207—Assembling, maintenance or repair of reactor components
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Heat-Exchange Devices With Radiators And Conduit Assemblies (AREA)
- Surgical Instruments (AREA)
Abstract
A support assembly for controlling deflection of a cantileverable shaft portion in a nuclear reactor tool assembly has at least one pair of leverage members for coupling with the shaft. The members extending radially away from the shaft and are axially spaced apart and secured to an outer surface of the shaft at radially inward portions of the leverage members. A bending moment actuator extends between outward portions of the members for applying force therebetween for displacing the outward portions relative each other for applying moment to the shaft extending between the radially inward portions, the moment rigidly controlling deflection of the shaft when it is cantilevered.
The assembly may be coupled with the outer surface of the shaft in mutually independent short intervals of bending moment actuators and corresponding leverage members. The assembly may be coupled with an inner surface of a hollow shaft.
The assembly may be coupled with the outer surface of the shaft in mutually independent short intervals of bending moment actuators and corresponding leverage members. The assembly may be coupled with an inner surface of a hollow shaft.
Description
SUPPORT ASSEMBLY FOR USE WITH A NUCLEAR REACTOR
TOOL ASSEMBLY
The present invention relates to a support assembly for use with a nuclear reactor tool assembly. In particular, the present invention relates to a support assembly which is used for supporting a tool assembly in the calandria of a nuclear reactor.
BACKGROUND
In a CANDUTM nuclear reactor, calandria tubes extend horizontally across the core of the calandria between end shields of the nuclear reactor. Each calandria tube extends between corresponding ones of the lattice tubes at each of the end shields. A
pressure tube is co-axially positioned within each one of the calandria tubes.
Spacers maintain the spacing between the co-axially and horizontally extending calandria tube and pressure tube. In a CANDU nuclear reactor, there may be as many as 480 calandria tubes and corresponding pressure tubes having opposite ends connected to an end fitting.
Various other reactor components are oriented vertically or horizontally across the calandria, at various locations, and are in close proximity with the outer diameter of the calandria tubes. Such components may include but are not limited to shut off rods, adjuster rods, vertical flux detectors, solid control absorbers, liquid zone control units and liquid injection shutdown system (LISS) nozzles. It is desirable to avoid interference with these components.
New calandria tubes are typically inserted into the calandria through a lattice tube positioned in a horizontal bore in one of the tube sheets of the nuclear reactor. The calandria tube is cantilevered from one end thereof as the calandria tube is inserted into the core. As a consequence of cantilevering, gravity acting on the calandria tube causes deflection along its length. Insertion of the calandria tube without supporting the unsupported end against deflection can result in damage to the tube sheet bores at the end shield of the nuclear reactor. The unsupported calandria tube may also impact or otherwise damage other reactor components within the constrained space of the calandria.
Damage to the tube sheet bores or to other reactor components is costly and time-consuming to repair, thus resulting in an unnecessary delay of an operation.
Prior means of controlling deflection in calandria tubes involve the insertion of a support tube or beam into the calandria for the purpose of guiding and supporting the calandria tube during insertion into the reactor. However, the support tube or beam is also cantilevered and is therefore also subject to deflection. Moreover, the additional load of the calandria tube generates further deflection in the support tube or beam.
To account for deflection, the support tube or beam may be pre-formed based on the expected deflection at the distance required. For example, if the beam is known to have 1" of deflection when cantilevered 20', then the support beam is initially formed with a 1" bend to neutralize the effect of the deflection. However, difficulties arise with this method during calandria tube insertion. During insertion, the calandria tube must be controlled and supported continuously over a range of 0' to 20' across the core and as much as 36.67' (440") where the calandria tube is subject to further displacement outside of the reactor core. Over such a distance, the bend in the support beam may interfere with other reactor components. Moreover, the presence or absence of the calandria tube on the end of the support beam affects the total deflection.
In another means of accounting for deflection, a support beam may be controlled from the supported end thereof to control the pitch and yaw of the support beam as it is cantilevered. This allows for correction of the unsupported end of the support beam over the continuous range of the beam. However, this means is limited in that the shape of the support beam is fixed, and pitch and yaw is limited by interaction with other reactor components. A "line of sight" is required between the supported end of the support beam and the end effecter or tooling head at the opposite end of the support beam which interacts with the free end of the calandria tube in the calandria.
The pressure tubes and calandria tubes of a CANDU nuclear reactor are typically fabricated from zirconium alloy. During the life of the reactor, the zirconium alloy tubes are subject to different temperatures and pressures and are also subject to irradiation and neutron flux as a part of normal reactor operation. The tubes are supported or are fixed at either end and span approximately 20 feet through the reactor core, while the mid-portion of the tubes is unsupported. As a result of the forces and wear acting on the tubes, the tubes not only creep, but also suffer gradual and permanent deformation.
Deformation may be in the horizontal direction, the vertical direction, or any combination thereof One form of deformation is known as "sag" and includes downward deflection of the tube in the vertical direction. Sagging of the pressure and calandria tubes may be as much as 3 to 4 inches.
In a refurbishment operation where one or more of the calandria tubes, pressure tubes and associated components are removed from the core, deformation must be taken into consideration. Withdrawal of an irradiated calandria tube which is subject to deformation through a straight lattice tube may cause the free end of the calandria tube to "kick-up", thereby increasing risk of damage to other components within the calandria or to the lattice tube or tube sheet bore.
It is therefore desirable to provide a tool assembly capable of supporting the calandria tube continuously throughout a reactor operation while controlling deflection in the tool assembly resulting from loads placed thereon.
BRIEF DESCRIPTION
The present invention relates to a support assembly for use with a nuclear reactor tool assembly. In particular, the present invention relates to a support assembly which is used for supporting a tool assembly in the calandria of a nuclear reactor.
TOOL ASSEMBLY
The present invention relates to a support assembly for use with a nuclear reactor tool assembly. In particular, the present invention relates to a support assembly which is used for supporting a tool assembly in the calandria of a nuclear reactor.
BACKGROUND
In a CANDUTM nuclear reactor, calandria tubes extend horizontally across the core of the calandria between end shields of the nuclear reactor. Each calandria tube extends between corresponding ones of the lattice tubes at each of the end shields. A
pressure tube is co-axially positioned within each one of the calandria tubes.
Spacers maintain the spacing between the co-axially and horizontally extending calandria tube and pressure tube. In a CANDU nuclear reactor, there may be as many as 480 calandria tubes and corresponding pressure tubes having opposite ends connected to an end fitting.
Various other reactor components are oriented vertically or horizontally across the calandria, at various locations, and are in close proximity with the outer diameter of the calandria tubes. Such components may include but are not limited to shut off rods, adjuster rods, vertical flux detectors, solid control absorbers, liquid zone control units and liquid injection shutdown system (LISS) nozzles. It is desirable to avoid interference with these components.
New calandria tubes are typically inserted into the calandria through a lattice tube positioned in a horizontal bore in one of the tube sheets of the nuclear reactor. The calandria tube is cantilevered from one end thereof as the calandria tube is inserted into the core. As a consequence of cantilevering, gravity acting on the calandria tube causes deflection along its length. Insertion of the calandria tube without supporting the unsupported end against deflection can result in damage to the tube sheet bores at the end shield of the nuclear reactor. The unsupported calandria tube may also impact or otherwise damage other reactor components within the constrained space of the calandria.
Damage to the tube sheet bores or to other reactor components is costly and time-consuming to repair, thus resulting in an unnecessary delay of an operation.
Prior means of controlling deflection in calandria tubes involve the insertion of a support tube or beam into the calandria for the purpose of guiding and supporting the calandria tube during insertion into the reactor. However, the support tube or beam is also cantilevered and is therefore also subject to deflection. Moreover, the additional load of the calandria tube generates further deflection in the support tube or beam.
To account for deflection, the support tube or beam may be pre-formed based on the expected deflection at the distance required. For example, if the beam is known to have 1" of deflection when cantilevered 20', then the support beam is initially formed with a 1" bend to neutralize the effect of the deflection. However, difficulties arise with this method during calandria tube insertion. During insertion, the calandria tube must be controlled and supported continuously over a range of 0' to 20' across the core and as much as 36.67' (440") where the calandria tube is subject to further displacement outside of the reactor core. Over such a distance, the bend in the support beam may interfere with other reactor components. Moreover, the presence or absence of the calandria tube on the end of the support beam affects the total deflection.
In another means of accounting for deflection, a support beam may be controlled from the supported end thereof to control the pitch and yaw of the support beam as it is cantilevered. This allows for correction of the unsupported end of the support beam over the continuous range of the beam. However, this means is limited in that the shape of the support beam is fixed, and pitch and yaw is limited by interaction with other reactor components. A "line of sight" is required between the supported end of the support beam and the end effecter or tooling head at the opposite end of the support beam which interacts with the free end of the calandria tube in the calandria.
The pressure tubes and calandria tubes of a CANDU nuclear reactor are typically fabricated from zirconium alloy. During the life of the reactor, the zirconium alloy tubes are subject to different temperatures and pressures and are also subject to irradiation and neutron flux as a part of normal reactor operation. The tubes are supported or are fixed at either end and span approximately 20 feet through the reactor core, while the mid-portion of the tubes is unsupported. As a result of the forces and wear acting on the tubes, the tubes not only creep, but also suffer gradual and permanent deformation.
Deformation may be in the horizontal direction, the vertical direction, or any combination thereof One form of deformation is known as "sag" and includes downward deflection of the tube in the vertical direction. Sagging of the pressure and calandria tubes may be as much as 3 to 4 inches.
In a refurbishment operation where one or more of the calandria tubes, pressure tubes and associated components are removed from the core, deformation must be taken into consideration. Withdrawal of an irradiated calandria tube which is subject to deformation through a straight lattice tube may cause the free end of the calandria tube to "kick-up", thereby increasing risk of damage to other components within the calandria or to the lattice tube or tube sheet bore.
It is therefore desirable to provide a tool assembly capable of supporting the calandria tube continuously throughout a reactor operation while controlling deflection in the tool assembly resulting from loads placed thereon.
BRIEF DESCRIPTION
The present invention relates to a support assembly for use with a nuclear reactor tool assembly. In particular, the present invention relates to a support assembly which is used for supporting a tool assembly in the calandria of a nuclear reactor.
There is provided a support assembly for controlling deflection of a cantileverable shaft in a nuclear tool assembly. The support assembly includes at least one pair of rigid leverage members for coupling with at least a portion of the shaft. The leverage members extend radially away from the shaft portion and are axially spaced apart and secured to an outer surface portion of the shaft portion at radially inward portions of the leverage members. A rigid bending moment actuator extends between radially outward portions of each pair of leverage members for applying force between the radially outward portions. Application of force between the radially outward portions of the leverage members displaces the radially outward portions relative each other for applying moment to the shaft portion extending between the radially inward portions.
The moment rigidly controls deflection of the shaft portion when it is cantilevered. In one aspect the shaft portion supports a load. The load may be a reactor component and is preferably at least a portion of a calandria tube.
The support assembly may be coupled with the outer surface of the shaft portion in mutually independent short intervals of bending moment actuators and corresponding leverage members. In another aspect, the support assembly includes a plurality of pairs of leverage members and corresponding bending moment actuators mutually independently positioned on the outer surface portion of the shaft portion in a spiral array about a longitudinal axis of the shaft portion.
The at least one pair of leverage members and corresponding bending moment actuator may be located on a first plane traversing a longitudinal axis of the shaft portion.
At least one other pair of leverage members and corresponding bending moment actuator is located on a second plane traversing the longitudinal axis of the shaft portion. In one aspect, the planes are perpendicular relative each other and the pairs share an axial position along the tube portion for simultaneously applying mutually independent perpendicular bending moments to a shared segment of the shaft portion. In another aspect, the planes are parallel relative each other and the at least one pair of leverage members and the at least one other pair of leverage members share an axial position along the shaft portion for simultaneously applying mutually independent cooperative bending moment to a shared segment of the shaft portion when the corresponding bending moment actuators are energized. In yet another aspect, the at least one pair of leverage members and corresponding bending moment actuator is a first series of leverage members and corresponding bending moment actuators and the at least one other pair of leverage members and corresponding bending moment actuator is a second series of leverage members and corresponding bending moment actuators. The bending moment assembly extends continuously along the shaft portion.
In another aspect, the support assembly includes at least one pair of rigid leverage members for coupling with at least a portion of a hollow shaft. The leverage members extend radially into a bore of the shaft portion and are axially spaced apart and secured to an inner surface portion of the shaft portion at radially outward portions of the leverage members. A rigid bending moment actuator extends between radially inward portions of each pair of leverage members for applying force between the radially inward portions. Application of force between the radially inward portions of the leverage members displaces the radially inward portions relative each other for applying bending moment to the shaft portion extending between the radially outward portions.
The moment rigidly controls deflection of the shaft portion when it is cantilevered.
The support assembly may be used to control deflection of the shaft portion at finite increments along the length of the shaft portion. The moment may be positive or negative moment of any desired magnitude. Small deflections along the length of the shaft portion provides high adaptability and control over pitch and yaw along the length of the shaft portion without parasitic twisting or roll forces acting on the shaft portion.
Accordingly, the support assembly may be used to control deflection of the shaft portion along the full or partial length thereof as the shaft portion is cantilevered into the nuclear reactor.
The moment rigidly controls deflection of the shaft portion when it is cantilevered. In one aspect the shaft portion supports a load. The load may be a reactor component and is preferably at least a portion of a calandria tube.
The support assembly may be coupled with the outer surface of the shaft portion in mutually independent short intervals of bending moment actuators and corresponding leverage members. In another aspect, the support assembly includes a plurality of pairs of leverage members and corresponding bending moment actuators mutually independently positioned on the outer surface portion of the shaft portion in a spiral array about a longitudinal axis of the shaft portion.
The at least one pair of leverage members and corresponding bending moment actuator may be located on a first plane traversing a longitudinal axis of the shaft portion.
At least one other pair of leverage members and corresponding bending moment actuator is located on a second plane traversing the longitudinal axis of the shaft portion. In one aspect, the planes are perpendicular relative each other and the pairs share an axial position along the tube portion for simultaneously applying mutually independent perpendicular bending moments to a shared segment of the shaft portion. In another aspect, the planes are parallel relative each other and the at least one pair of leverage members and the at least one other pair of leverage members share an axial position along the shaft portion for simultaneously applying mutually independent cooperative bending moment to a shared segment of the shaft portion when the corresponding bending moment actuators are energized. In yet another aspect, the at least one pair of leverage members and corresponding bending moment actuator is a first series of leverage members and corresponding bending moment actuators and the at least one other pair of leverage members and corresponding bending moment actuator is a second series of leverage members and corresponding bending moment actuators. The bending moment assembly extends continuously along the shaft portion.
In another aspect, the support assembly includes at least one pair of rigid leverage members for coupling with at least a portion of a hollow shaft. The leverage members extend radially into a bore of the shaft portion and are axially spaced apart and secured to an inner surface portion of the shaft portion at radially outward portions of the leverage members. A rigid bending moment actuator extends between radially inward portions of each pair of leverage members for applying force between the radially inward portions. Application of force between the radially inward portions of the leverage members displaces the radially inward portions relative each other for applying bending moment to the shaft portion extending between the radially outward portions.
The moment rigidly controls deflection of the shaft portion when it is cantilevered.
The support assembly may be used to control deflection of the shaft portion at finite increments along the length of the shaft portion. The moment may be positive or negative moment of any desired magnitude. Small deflections along the length of the shaft portion provides high adaptability and control over pitch and yaw along the length of the shaft portion without parasitic twisting or roll forces acting on the shaft portion.
Accordingly, the support assembly may be used to control deflection of the shaft portion along the full or partial length thereof as the shaft portion is cantilevered into the nuclear reactor.
BRIEF DESCRIPTION OF THE DRAWINGS
For a better understanding of the nature and objects of the present invention reference may be had by way of example to the accompanying diagrammatic drawings in which:
Figure 1 is a schematic of a nuclear reactor assembly in which the present invention may be used;
Figure 2 is a sectioned view of one of the calandria tubes shown in Figure I;
Figure 3 is a sectioned view of the tool assembly and support assembly in operation;
Figure 4A is an elevation view of one aspect of the support assembly;
Figure 4B is a cross section view taken along line 4B-4B of Fig. 4A;
Figure 5 is an elevation view of the support assembly of Fig. 4A in operation;
Figure 6 is an elevation view of another aspect of the support assembly in operation;
Figure 7 is an elevation view of one aspect of the support assembly;
Figure 8 is a cross section view of the aspect of the support assembly of Figure 7;
Figure 9 is an elevation view of one aspect of the support assembly; and, Figure 10 is an elevation view of the support assembly coupled with an inner surface portion of the shaft portion.
DETAILED DESCRIPTION
For a better understanding of the nature and objects of the present invention reference may be had by way of example to the accompanying diagrammatic drawings in which:
Figure 1 is a schematic of a nuclear reactor assembly in which the present invention may be used;
Figure 2 is a sectioned view of one of the calandria tubes shown in Figure I;
Figure 3 is a sectioned view of the tool assembly and support assembly in operation;
Figure 4A is an elevation view of one aspect of the support assembly;
Figure 4B is a cross section view taken along line 4B-4B of Fig. 4A;
Figure 5 is an elevation view of the support assembly of Fig. 4A in operation;
Figure 6 is an elevation view of another aspect of the support assembly in operation;
Figure 7 is an elevation view of one aspect of the support assembly;
Figure 8 is a cross section view of the aspect of the support assembly of Figure 7;
Figure 9 is an elevation view of one aspect of the support assembly; and, Figure 10 is an elevation view of the support assembly coupled with an inner surface portion of the shaft portion.
DETAILED DESCRIPTION
The present invention relates to a support assembly for use with a nuclear reactor tool assembly. In particular, the present invention relates to a support assembly which is used for supporting a tool assembly in the calandria of a nuclear reactor.
Referring to Figure 1 there is shown schematically a nuclear reactor assembly 8 of the CanduTM type. The reactor 8 comprises a calandria 10 that has first and second end shields 12, 14. The end shields 12, 14 each comprise an inner and an outer tube sheet 16 and 18. The tube sheets 16, 18 each have passing therethrough a series of corresponding aligned inner and outer tube sheet bores 20, 22. First and second lattice tubes 24, 26, shown in Figure 2, extend between and connect with the inner tube sheet bore 20 and the outer tube sheet bore 22 of each end shield 12, 14. Corresponding ones of the lattice tubes 24, 26 are aligned as shown in Figure 2. It should be understood that in the calandria 10 there may be as many as 480 lattice tubes in each of the end shields 12, 14.
Between the inner and outer tube sheets 16, 18 is shielding material shown in Figures 1 and 2 in the form of steel balls 28.
Calandria tubes 30 extend horizontally across the core 32 of the calandria 10 between the end shields 12, 14. The calandria tubes 30 are each axially aligned with a corresponding one of the first and second lattice tubes 24, 26 of end shields 12, 14. As seen in Fig. 2, the calandria tube 30 has opposing first and second end portions 34 and 36.
In Fig. 2, the end portions 34, 36 are bell-shaped and have an outside diameter adapted to fit into corresponding tube sheet bores 20 of the inner tube sheets 16 of each end shield 12, 14. These bell shaped end portions 34, 36 are held in place by calandria tube inserts 38. The calandria tube inserts 38 are ring members which are inserted inside the calandria tube 30 at each of the bell shaped end portions 34, 36. The inserts 38 are roll formed outwardly to provide an interference fit between the bell shaped end portions 34, 36 of the calandria tube 30 and the corresponding tube sheet bore 20, 22.
A pressure tube 42 is co-axially positioned within each of the calandria tubes 30.
Spacers 40 maintain the spacing between the co-axially and horizontally extending pressure tube 42 and calandria tube 30. The pressure tube 42 has first and second outer end portions 44 and 46 which extend outboard slightly beyond the bell shaped end portions 34, 36 respectively and within the tube sheet bore 20. It should be understood that outboard is meant to be closer to the outside of the calandria 10 than the inside centre of the calandria 10. Likewise, inboard is meant to be closer to the inside centre of the calandria 10 than the outside of the calandria 10.
Located outboard of these first and second end portions 44, 46 of the pressure tube 38 are first and second end fittings 48, 50. The end fittings 48, 50 have inboard end portions 52, 54 that overlap and are joined to the outer end portions 44, 46 by rolled joints 56. The end fittings 48, 50 respectively extend outwardly of the calandria 10 through the lattice tubes 24, 26 and away from and beyond the outer tube sheet 18 of the end shields 12, 14.
In some nuclear reactor operations, it is necessary to cantilever a tool assembly 58 shown in Fig. 3 into and/or across the core 32 in order to interact with reactor components within the core 32. Fig. 3 illustrates an operation in its middle stages for installing a calandria tube 30 into the calandria 10 wherein the tool assembly 58 is extended partially across the core 32 for supporting the calandria tube 30.
Tool assembly 58 may also be used in other nuclear reactor operations such as a refurbishment operation wherein one or as many as all 480 previously installed calandria tubes 30 is withdrawn from the core 32 and is replaced.
The tool assembly 58 includes a shaft 60 having a first end portion 62 supported by a tool assembly body 64 and a second end portion 66 having an end effecter or tooling head 68 coupled therewith. The shaft 60 is preferably extendable from the body 64. The body 64 is coupled with a power source (not shown) and includes drive means (not shown) for extending and retracting the shaft 60. Preferably, the shaft 60 is a single cylindrical piece and may be solid or hollow. However, it should be understood that the tool assembly 58 may employ a telescopic shaft having sections which slide one inside another. The tool assembly 58 may be mounted on a lift platform 70 as shown in Fig. 3.
It should also be understood that the shaft 60 may be a non-extendable shaft which is cantilevered from the body 64. The drive means may then be adapted for re-positioning the body 64 relative to the end shield 14 to insert and withdraw the shaft 60 through the end fitting 50 in the axial direction.
Calandria tubes 30 are inserted into the core 32 of the reactor 8 with end portions 34, 36. In order to insert the calandria tube 30 across the core 32 of the nuclear reactor 8, the first end portion 34 of the calandria tube 30 is inserted through the lattice tube 24 and partially into the core 32. The corresponding pressure tube 42 is inserted co-axially within the calandria tube 30 as shown in Fig. 3. Although not shown in Fig. 3, other associated components such as the annulus spacers 40 may be inserted in between the calandria tube 30 and pressure tube 42. Once the first end portion 34 of the calandria tube 30 is positioned through the first lattice tube 24, shaft 60 of the tool assembly 58 cantilevers from the tool assembly body 64 and extends into the core 32 through the second lattice tube 26. The shaft 60 is of sufficient length to extend partially or entirely across the core 32 of the calandria 10. End effecter 68 engages the first end portion 34 of the calandria tube 30 adjacent the inboard tube sheet 16 of end shield 12.
Once the end effecter 68 has engaged the first end portion 34 of the calandria tube 30, the calandria tube 30 is extended further into and across the core 32 toward the second lattice tube 50. The shaft 60 is withdrawn in a reverse direction from the calandria core 32 simultaneously with the insertion of the calandria tube 30 until the free end of the calandria tube 30 reaches the second end shield 14. Once the calandria tube 30 is positioned, the end effecter 68 of the tool assembly 58 may be disengaged from the calandria tube 30 and withdrawn from the calandria core 32 through the second lattice tube 26. The calandria tube inserts 38 and joints 56 may then be roll-formed.
Although Fig. 3 is explained in terms of an operation to insert calandria tube into the core 32, it should be understood that tool assembly 58 may also be used in the removal of a calandria tube 30 from core 32. In such a removal operation, bell shaped end portions 34, 36 (shown in Fig. 2) of the calandria tube 30 are shock heated to disengage the bell shaped end portions 34, 36 from the tube sheets 16. Tool assembly 58 is extended through second lattice tube to engage the first bell-shaped end portion 34 of the calandria tube 30. The calandria tube 30 is withdrawn from the core 32 through first lattice tube 24 in an operation that is the reverse of the insertion operation previously described. Tool assembly 58 may also be used in another removal operation wherein the calandria tube 30 is severed as part of the removal process. In this instance, the tool assembly 58 may be cantilevered into the core 32 to remove portions of a calandria tube from the core 32.
In a removal operation, one or more other reactor components may be removed along with the calandria tube 30. For example, the calandria tube 30 may be withdrawn from the reactor core 32 along with the pressure tube 42, annulus spacers 40 and any flow restricting devices 41, such as a flow-restricting orifice bundle, which may be located within the pressure tube 42. Accordingly, the load on the tool assembly 58 provided by the calandria tube 30, the pressure tube 42 and associated components may vary between operations. Alternatively, the calandria tube 30 may be removed on its own.
A support assembly 72 for coupling with the tool assembly 58 is shown in Figs.
3, 4A and 5. The support assembly 72 includes a plurality of rigid leverage members 74 axially spaced apart along the length of the shaft 60 of the tool assembly 58.
In the embodiment shown, each leverage member 74 is fixedly secured to an outer surface portion 76 of the shaft 60 at a radially inward portion 78 of the leverage member 74.
Each leverage member 74 extends radially outward relative to a longitudinal axis 82 of the shaft. Preferably, the leverage member 74 extends perpendicularly from the outer surface portion 76 relative the longitudinal axis 82 of the shaft 60.
However, the extension of the leverage members 74 from the outer surface portion 76 need not necessarily be precisely perpendicular. Each leverage member 74 also includes a radially outward portion 80, displaced radially outward relative the radially inward portion 78 of the leverage member 74.
Referring to Figure 1 there is shown schematically a nuclear reactor assembly 8 of the CanduTM type. The reactor 8 comprises a calandria 10 that has first and second end shields 12, 14. The end shields 12, 14 each comprise an inner and an outer tube sheet 16 and 18. The tube sheets 16, 18 each have passing therethrough a series of corresponding aligned inner and outer tube sheet bores 20, 22. First and second lattice tubes 24, 26, shown in Figure 2, extend between and connect with the inner tube sheet bore 20 and the outer tube sheet bore 22 of each end shield 12, 14. Corresponding ones of the lattice tubes 24, 26 are aligned as shown in Figure 2. It should be understood that in the calandria 10 there may be as many as 480 lattice tubes in each of the end shields 12, 14.
Between the inner and outer tube sheets 16, 18 is shielding material shown in Figures 1 and 2 in the form of steel balls 28.
Calandria tubes 30 extend horizontally across the core 32 of the calandria 10 between the end shields 12, 14. The calandria tubes 30 are each axially aligned with a corresponding one of the first and second lattice tubes 24, 26 of end shields 12, 14. As seen in Fig. 2, the calandria tube 30 has opposing first and second end portions 34 and 36.
In Fig. 2, the end portions 34, 36 are bell-shaped and have an outside diameter adapted to fit into corresponding tube sheet bores 20 of the inner tube sheets 16 of each end shield 12, 14. These bell shaped end portions 34, 36 are held in place by calandria tube inserts 38. The calandria tube inserts 38 are ring members which are inserted inside the calandria tube 30 at each of the bell shaped end portions 34, 36. The inserts 38 are roll formed outwardly to provide an interference fit between the bell shaped end portions 34, 36 of the calandria tube 30 and the corresponding tube sheet bore 20, 22.
A pressure tube 42 is co-axially positioned within each of the calandria tubes 30.
Spacers 40 maintain the spacing between the co-axially and horizontally extending pressure tube 42 and calandria tube 30. The pressure tube 42 has first and second outer end portions 44 and 46 which extend outboard slightly beyond the bell shaped end portions 34, 36 respectively and within the tube sheet bore 20. It should be understood that outboard is meant to be closer to the outside of the calandria 10 than the inside centre of the calandria 10. Likewise, inboard is meant to be closer to the inside centre of the calandria 10 than the outside of the calandria 10.
Located outboard of these first and second end portions 44, 46 of the pressure tube 38 are first and second end fittings 48, 50. The end fittings 48, 50 have inboard end portions 52, 54 that overlap and are joined to the outer end portions 44, 46 by rolled joints 56. The end fittings 48, 50 respectively extend outwardly of the calandria 10 through the lattice tubes 24, 26 and away from and beyond the outer tube sheet 18 of the end shields 12, 14.
In some nuclear reactor operations, it is necessary to cantilever a tool assembly 58 shown in Fig. 3 into and/or across the core 32 in order to interact with reactor components within the core 32. Fig. 3 illustrates an operation in its middle stages for installing a calandria tube 30 into the calandria 10 wherein the tool assembly 58 is extended partially across the core 32 for supporting the calandria tube 30.
Tool assembly 58 may also be used in other nuclear reactor operations such as a refurbishment operation wherein one or as many as all 480 previously installed calandria tubes 30 is withdrawn from the core 32 and is replaced.
The tool assembly 58 includes a shaft 60 having a first end portion 62 supported by a tool assembly body 64 and a second end portion 66 having an end effecter or tooling head 68 coupled therewith. The shaft 60 is preferably extendable from the body 64. The body 64 is coupled with a power source (not shown) and includes drive means (not shown) for extending and retracting the shaft 60. Preferably, the shaft 60 is a single cylindrical piece and may be solid or hollow. However, it should be understood that the tool assembly 58 may employ a telescopic shaft having sections which slide one inside another. The tool assembly 58 may be mounted on a lift platform 70 as shown in Fig. 3.
It should also be understood that the shaft 60 may be a non-extendable shaft which is cantilevered from the body 64. The drive means may then be adapted for re-positioning the body 64 relative to the end shield 14 to insert and withdraw the shaft 60 through the end fitting 50 in the axial direction.
Calandria tubes 30 are inserted into the core 32 of the reactor 8 with end portions 34, 36. In order to insert the calandria tube 30 across the core 32 of the nuclear reactor 8, the first end portion 34 of the calandria tube 30 is inserted through the lattice tube 24 and partially into the core 32. The corresponding pressure tube 42 is inserted co-axially within the calandria tube 30 as shown in Fig. 3. Although not shown in Fig. 3, other associated components such as the annulus spacers 40 may be inserted in between the calandria tube 30 and pressure tube 42. Once the first end portion 34 of the calandria tube 30 is positioned through the first lattice tube 24, shaft 60 of the tool assembly 58 cantilevers from the tool assembly body 64 and extends into the core 32 through the second lattice tube 26. The shaft 60 is of sufficient length to extend partially or entirely across the core 32 of the calandria 10. End effecter 68 engages the first end portion 34 of the calandria tube 30 adjacent the inboard tube sheet 16 of end shield 12.
Once the end effecter 68 has engaged the first end portion 34 of the calandria tube 30, the calandria tube 30 is extended further into and across the core 32 toward the second lattice tube 50. The shaft 60 is withdrawn in a reverse direction from the calandria core 32 simultaneously with the insertion of the calandria tube 30 until the free end of the calandria tube 30 reaches the second end shield 14. Once the calandria tube 30 is positioned, the end effecter 68 of the tool assembly 58 may be disengaged from the calandria tube 30 and withdrawn from the calandria core 32 through the second lattice tube 26. The calandria tube inserts 38 and joints 56 may then be roll-formed.
Although Fig. 3 is explained in terms of an operation to insert calandria tube into the core 32, it should be understood that tool assembly 58 may also be used in the removal of a calandria tube 30 from core 32. In such a removal operation, bell shaped end portions 34, 36 (shown in Fig. 2) of the calandria tube 30 are shock heated to disengage the bell shaped end portions 34, 36 from the tube sheets 16. Tool assembly 58 is extended through second lattice tube to engage the first bell-shaped end portion 34 of the calandria tube 30. The calandria tube 30 is withdrawn from the core 32 through first lattice tube 24 in an operation that is the reverse of the insertion operation previously described. Tool assembly 58 may also be used in another removal operation wherein the calandria tube 30 is severed as part of the removal process. In this instance, the tool assembly 58 may be cantilevered into the core 32 to remove portions of a calandria tube from the core 32.
In a removal operation, one or more other reactor components may be removed along with the calandria tube 30. For example, the calandria tube 30 may be withdrawn from the reactor core 32 along with the pressure tube 42, annulus spacers 40 and any flow restricting devices 41, such as a flow-restricting orifice bundle, which may be located within the pressure tube 42. Accordingly, the load on the tool assembly 58 provided by the calandria tube 30, the pressure tube 42 and associated components may vary between operations. Alternatively, the calandria tube 30 may be removed on its own.
A support assembly 72 for coupling with the tool assembly 58 is shown in Figs.
3, 4A and 5. The support assembly 72 includes a plurality of rigid leverage members 74 axially spaced apart along the length of the shaft 60 of the tool assembly 58.
In the embodiment shown, each leverage member 74 is fixedly secured to an outer surface portion 76 of the shaft 60 at a radially inward portion 78 of the leverage member 74.
Each leverage member 74 extends radially outward relative to a longitudinal axis 82 of the shaft. Preferably, the leverage member 74 extends perpendicularly from the outer surface portion 76 relative the longitudinal axis 82 of the shaft 60.
However, the extension of the leverage members 74 from the outer surface portion 76 need not necessarily be precisely perpendicular. Each leverage member 74 also includes a radially outward portion 80, displaced radially outward relative the radially inward portion 78 of the leverage member 74.
Each of the leverage members 74 is permanently fixed to the outer surface portion 76 of the shaft 60 by any suitable means such as welding. The leverage members 74 may also be removably fixed to the shaft 60 using a suitable connector such as a split ring clamp type connector 83, shown in Fig. 6.
Though the leverage members 74 described herein are illustrated as being rigid arm type leverage members 74, it should be understood that other suitable types of leverage member may be used. For example, the leverage member 74 may be a ring collar at least partially encircling the outer surface portion 76 of the shaft 60. The ring collar may, for example, be flange welded or shrunk fit about the outer surface portion 76.
A bending moment actuator 84 extends between the radially outward portions 80 of each pair of leverage members 74. In Fig. 4A, the bending moment actuator 84 is a piezoelectric stack. Each piezoelectric stack or 'stack' 84 is coupled at either end thereof to a corresponding one of the radially outward portions 80 in the pair of leverage members 74. In Fig. 4A, a longitudinal axis 86 of the stack 84 is substantially parallel to the longitudinal axis 82 of the shaft 60. The stacks 84 may vary from one to the next in any dimension thereof including but not limited to length, width and radial position.
Installation, removal and refurbishment operations use bending moment actuators with little or no compliance. Use of such actuators provides rigid exoskeleton-type support for the tool assembly 58 and provides a greater degree of control of deflection as the tool assembly 58 is cantilevered into the calandria core 32 or has additional load placed thereon. Rigid actuators are able to resist deflection in the shaft 60 and are able to hold the shaft 60 in a particular deflected position. It is possible to first deflect the shaft 60 to a desired profile and then rigidly support the shaft portion 60 by holding it in the deflected profile. Piezoelectric stacks 84 are one such rigid or non-compliant bending moment actuator. Hydraulic actuators, jacking screws as well as torsion springs or other types of rotary actuators are some other examples of suitable actuators which are non-limiting in the context of the present invention.
Though the leverage members 74 described herein are illustrated as being rigid arm type leverage members 74, it should be understood that other suitable types of leverage member may be used. For example, the leverage member 74 may be a ring collar at least partially encircling the outer surface portion 76 of the shaft 60. The ring collar may, for example, be flange welded or shrunk fit about the outer surface portion 76.
A bending moment actuator 84 extends between the radially outward portions 80 of each pair of leverage members 74. In Fig. 4A, the bending moment actuator 84 is a piezoelectric stack. Each piezoelectric stack or 'stack' 84 is coupled at either end thereof to a corresponding one of the radially outward portions 80 in the pair of leverage members 74. In Fig. 4A, a longitudinal axis 86 of the stack 84 is substantially parallel to the longitudinal axis 82 of the shaft 60. The stacks 84 may vary from one to the next in any dimension thereof including but not limited to length, width and radial position.
Installation, removal and refurbishment operations use bending moment actuators with little or no compliance. Use of such actuators provides rigid exoskeleton-type support for the tool assembly 58 and provides a greater degree of control of deflection as the tool assembly 58 is cantilevered into the calandria core 32 or has additional load placed thereon. Rigid actuators are able to resist deflection in the shaft 60 and are able to hold the shaft 60 in a particular deflected position. It is possible to first deflect the shaft 60 to a desired profile and then rigidly support the shaft portion 60 by holding it in the deflected profile. Piezoelectric stacks 84 are one such rigid or non-compliant bending moment actuator. Hydraulic actuators, jacking screws as well as torsion springs or other types of rotary actuators are some other examples of suitable actuators which are non-limiting in the context of the present invention.
The operation of support assembly 72 in one aspect is shown in FIGs. 4A and 5 wherein the support assembly 72 is coupled with the shaft 60 in mutually independent short intervals. The intervals may be of regular or irregular length. That is, each independent short interval may include any number of pairs of leverage members 74 and corresponding stacks 84. Each stack 84 extends between and is coupled at both ends to the radially outward portions 80 of each pair of leverage members 74. When energized, each stack 84 applies a force to displace the radially outward portions 80 of the leverage members 74 relative to each other.
It should also be understood that each of the stacks 84 may apply the same or different magnitudes of force relative to other stacks 84 in the support assembly 72. In this manner, means is provided for controlling moment applied to the shaft 60 by the stacks 84.
The coupling between each end of the stack 84 and the radially outward portion 80 of the corresponding leverage members 74 may be a rigid coupling or may be a pivotal coupling. A pivotal coupling between each end of the stack 84 and the radially outward portion 80 of the corresponding leverage members 74 facilitates a resultant change in relative angle between the leverage members 74 and the longitudinal axis 86 of the stack 84 as the length of the stack 84 is changed.
The aspect of FIG. 4A is shown in operation in FIG. 5. When piezoelectric stack 84 separates the radially outward portions 80 of the rigid leverage members 74, as shown with pairs 88, 90, 92 and 94, bending moment is applied to a segment 96 of the shaft extending between the corresponding radially inward portions 78 of each leverage member 74. The bending moment causes the segment 96 of the shaft 60 to become locally convex relative to the stack 84. Between the radially inward portions 78 of members 74, the shaft segment 96 is placed in tension at a first side or top side 98 thereof adjacent the stack 84 and in compression at a second side or bottom side 100 of the shaft segment 96 opposite stack 84 and top side 98. Bending moment which produces tension at the first side of the shaft segment 96 and compression at the second side of the shaft segment 96 is referred to herein as "positive moment". When the stack 84 draws closer together the radially outward portions 80, as shown with pairs 102 and 104, the bending moment causes the respective shaft segment 96 to become locally concave relative to the stack 84, as the shaft segment 96 is placed in compression at first side 98 thereof between the radially inward portions 78 of the members 74 and in tension at the opposite second side 100. Bending moment which produces compression at the first side 98 of the shaft segment 96 and tension at the bottom side 100 of the shaft segment 96 is referred to herein as "negative moment". In this manner, it is possible to control deflection in the shaft 60 using finite incremental control of the shaft profile.
In FIGs. 4A and 5, pairs of leverage members 88, 90, 92, 94, 102 and 104 are shown as lying on a single vertical plane traversing the longitudinal axis 82 of the shaft 60. However, pairs 106, 108, 110, 112 and 114 are on a second horizontal plane which is approximately perpendicular relative to the vertical plane upon which lie the other pairs 88, 90, 92, 94, 102 and 104. Pairs 106, 108, 110, 112 and 114 may be used to apply positive or negative moment to control deflection in the shaft 60 in the horizontal plane.
The wave or cosine shaped profile shown in FIG. 5, is one example of control over deflection in the shaft 60 by support assembly 72.
It is within the purview of the present invention to position more than one pair of leverage members 78 to the same segment 96 of the shaft 60. As shown in FIGs.
4A, 4B
and 5, pairs 102 and 104 and pairs 108 and 110 are located at the same axial position along the shaft 60 and share the same segment 96 of the shaft 60. However, pairs 102 and 104 lie on the vertical plane whereas pairs 108 and 110 lie on the horizontal plane.
Since the piezoelectric stacks 84 of pairs 102, 104, 108 and 110 may each apply different magnitudes of force, and since the pairs are positioned such that moment may be applied simultaneously in perpendicular planes, it is possible to simultaneously control the degree of deflection of individual segments 96 of the shaft 60 in both the horizontal and vertical direction (pitch and yaw). By applying this aspect to predetermined segments 96 of the shaft 60 it is possible to apply unique bending moment at finite increments to control deflection in any direction in shaft 60. Moreover, by maintaining parallelism between the longitudinal axes 86 of the stacks 84 with the longitudinal axis 82 of the shaft 60, such finite control over pitch and yaw is achieved without the application of parasitic twist or "roll" forces.
In Fig. 6, support assembly 72 extends continuously along the length of the shaft 60 and is arranged in two oppositely disposed series of stacks 84 and corresponding leverage members 74. Pairs of leverage members 116, 118, 120, 122, 124 and 126 and respective cylinders 84 extending therebetween are coupled with the first or top side 98 of the shaft 60. Pairs of leverage members 128, 130, 132, 134, 136 and 138 and stacks 84 extending therebetween are coupled with the second or bottom side 100 of shaft 60. The pairs of leverage members 74 in the two series are diametrically opposed in that they share corresponding axial positions and consequently cooperate to apply moment to segments 96 of the shaft 60 extending mutually therebetween.
In operation, piezoelectric stacks 84 extending between pairs of leverage members 116 and 126 apply positive moment while the stacks 84 extending between pairs of leverage members 128 and 138 simultaneously apply negative moment. Conversely, with respect to pairs 118, 120, 122 and 124, negative moment is applied at the top side 98 of the shaft 98. Diametrically opposed pairs 130, 132, 134 and 136 simultaneously apply positive moment at the bottom side 100 of the shaft 60.
With respect to Fig. 6, it should be understood that although pairs 116, 118, 120, 122, 124 and 126 at the top side 98 of the shaft 60 are shown as being parallel relative to pairs 128, 130, 132, 134, 136 and 138 at the bottom side 100, the two series of members 74 and stacks 84 may lie on different planes while sharing corresponding axial positions along the shaft 60. In one aspect, the planes are perpendicular relative each other and when the corresponding stacks 84 are energized, pairs of members 74 in the first series and pairs of members 74 in the second series may simultaneously apply independent perpendicular bending moments to shared segments 96 of the shaft 60.
Therefore, both the pitch and yaw of each individual segment 96 along the length of the shaft 60 may be controlled.
Stresses generated in the shaft 60 as a result of the bending moment are kept within the elastic range of the material from which the shaft 60 is fabricated in order to prevent permanent deformation of the shaft 60. Accordingly, the shaft 60 is returned to an original shape after the stacks 84 are de-energized.
In the aspect illustrated in Fig. 7, the pairs of members 74 and corresponding stacks 84 are positioned on the outer surface portion 76 of shaft 60 in a generally circular or spiral array about the longitudinal axis 82 of the shaft 60. The pairs of members 74 and stacks 84 may be regularly or irregularly spaced from one another. In Fig.
components which would be directly visible in the perspective view are illustrated using solid lines. Components which would not be directly visible in the perspective view but which are nonetheless present in this aspect of the support assembly 72 (i.e.
those members 74 and stacks 84 which pass "behind" the shaft 60) are illustrated by way of dashed lines. The individual piezoelectric stacks 84 and corresponding leverage members 74 are mutually independent from others in the support assembly 72.
Each stack 84 applies force of a predetermined magnitude to the radially outward portions 80 of leverage members 74 to apply moment in its single respective plane. Under the combined force of the stacks 84, the shaft 60 may control deflection simultaneously in multiple planes without parasitic twisting forces being imparted to the shaft 60. The spiral array may extend the full length of the shaft 60 or may extend only partially along the length of the shaft 60. It should therefore be understood that it is within the purview of the present invention to apply moment in multiple planes not only to the whole of the shaft 60 as shown in Fig. 7, but also to parts or finite increments of the shaft 60.
The support assembly 72 may include a second spiral array of stacks 84 and members 74 diametrically opposed relative to the spiral array shown in Fig. 7.
In this manner, moment may be applied cooperatively to segments 96 of the shaft 60 in multiple planes. The second spiral array is illustrated in Fig. 8 shows in cross section diametrically opposed pairs of members 140a and 140b, and diametrically opposed pairs of members 144a and 144b adjacent the shaft 60. Pairs of members 140a and 140b are located on a first plane 142 passing through the longitudinal axis 82 of the shaft 60. Pairs of members 144a and 144b are displaced along the longitudinal axis 82 relative pairs 140a and 140b. Pairs 144a and 144b are located on a second plane 146 traversing the longitudinal axis 82 of the shaft 60 which is angularly displaced relative to the first plane 142. For simplicity, the stacks 84 have been omitted from FIG. 8. However, each stack 84 extends between the radially outward portions 80 of a pair of leverage members 74.
In the aspect shown in Fig. 9, the axial span worked on by the piezoelectric stacks 84 is different between the top stack 84 and the bottom stack 84. Moreover, the leverage members 74 of the bottom pair of leverage members 74 are shorter in length than the leverage members 74 in the top pair of leverage members 74. The use of longer and shorter stacks 84 and leverage members 74 provides a number of advantages.
Longer leverage members 74 increase the radial distance between the stack 84 and the shaft 60.
The longer the leverage members 74, the less force must be applied by the stack 84 to provide bending moment to the shaft 60 for controlling deflection thereof.
Thereby, additional means is provided to control deflection in the shaft 60. Shorter leverage members 74 decrease the radial distance of the stack 84 from the shaft 60. The use of shorter leverage members 74 in one or more parts of the support assembly 72 permits the support assembly 72 to be accommodated in areas having space constraints. Use of shorter and longer leverage members 74 and longer and shorter stacks 84 may permit, for example, one stack 84 to be superimposed in the radial direction over another stack 84 in the support assembly 72, as shown in Fig. 9.
Though the above aspects of the invention have been described in terms of a support assembly 72 coupled with an outer surface portion 76 of a shaft 60, it should be understood that it is within the purview of the present invention to have a support assembly 72, as shown in Fig. 10, coupled with an inner surface portion 148 of a shaft.
It should also be understood that each of the stacks 84 may apply the same or different magnitudes of force relative to other stacks 84 in the support assembly 72. In this manner, means is provided for controlling moment applied to the shaft 60 by the stacks 84.
The coupling between each end of the stack 84 and the radially outward portion 80 of the corresponding leverage members 74 may be a rigid coupling or may be a pivotal coupling. A pivotal coupling between each end of the stack 84 and the radially outward portion 80 of the corresponding leverage members 74 facilitates a resultant change in relative angle between the leverage members 74 and the longitudinal axis 86 of the stack 84 as the length of the stack 84 is changed.
The aspect of FIG. 4A is shown in operation in FIG. 5. When piezoelectric stack 84 separates the radially outward portions 80 of the rigid leverage members 74, as shown with pairs 88, 90, 92 and 94, bending moment is applied to a segment 96 of the shaft extending between the corresponding radially inward portions 78 of each leverage member 74. The bending moment causes the segment 96 of the shaft 60 to become locally convex relative to the stack 84. Between the radially inward portions 78 of members 74, the shaft segment 96 is placed in tension at a first side or top side 98 thereof adjacent the stack 84 and in compression at a second side or bottom side 100 of the shaft segment 96 opposite stack 84 and top side 98. Bending moment which produces tension at the first side of the shaft segment 96 and compression at the second side of the shaft segment 96 is referred to herein as "positive moment". When the stack 84 draws closer together the radially outward portions 80, as shown with pairs 102 and 104, the bending moment causes the respective shaft segment 96 to become locally concave relative to the stack 84, as the shaft segment 96 is placed in compression at first side 98 thereof between the radially inward portions 78 of the members 74 and in tension at the opposite second side 100. Bending moment which produces compression at the first side 98 of the shaft segment 96 and tension at the bottom side 100 of the shaft segment 96 is referred to herein as "negative moment". In this manner, it is possible to control deflection in the shaft 60 using finite incremental control of the shaft profile.
In FIGs. 4A and 5, pairs of leverage members 88, 90, 92, 94, 102 and 104 are shown as lying on a single vertical plane traversing the longitudinal axis 82 of the shaft 60. However, pairs 106, 108, 110, 112 and 114 are on a second horizontal plane which is approximately perpendicular relative to the vertical plane upon which lie the other pairs 88, 90, 92, 94, 102 and 104. Pairs 106, 108, 110, 112 and 114 may be used to apply positive or negative moment to control deflection in the shaft 60 in the horizontal plane.
The wave or cosine shaped profile shown in FIG. 5, is one example of control over deflection in the shaft 60 by support assembly 72.
It is within the purview of the present invention to position more than one pair of leverage members 78 to the same segment 96 of the shaft 60. As shown in FIGs.
4A, 4B
and 5, pairs 102 and 104 and pairs 108 and 110 are located at the same axial position along the shaft 60 and share the same segment 96 of the shaft 60. However, pairs 102 and 104 lie on the vertical plane whereas pairs 108 and 110 lie on the horizontal plane.
Since the piezoelectric stacks 84 of pairs 102, 104, 108 and 110 may each apply different magnitudes of force, and since the pairs are positioned such that moment may be applied simultaneously in perpendicular planes, it is possible to simultaneously control the degree of deflection of individual segments 96 of the shaft 60 in both the horizontal and vertical direction (pitch and yaw). By applying this aspect to predetermined segments 96 of the shaft 60 it is possible to apply unique bending moment at finite increments to control deflection in any direction in shaft 60. Moreover, by maintaining parallelism between the longitudinal axes 86 of the stacks 84 with the longitudinal axis 82 of the shaft 60, such finite control over pitch and yaw is achieved without the application of parasitic twist or "roll" forces.
In Fig. 6, support assembly 72 extends continuously along the length of the shaft 60 and is arranged in two oppositely disposed series of stacks 84 and corresponding leverage members 74. Pairs of leverage members 116, 118, 120, 122, 124 and 126 and respective cylinders 84 extending therebetween are coupled with the first or top side 98 of the shaft 60. Pairs of leverage members 128, 130, 132, 134, 136 and 138 and stacks 84 extending therebetween are coupled with the second or bottom side 100 of shaft 60. The pairs of leverage members 74 in the two series are diametrically opposed in that they share corresponding axial positions and consequently cooperate to apply moment to segments 96 of the shaft 60 extending mutually therebetween.
In operation, piezoelectric stacks 84 extending between pairs of leverage members 116 and 126 apply positive moment while the stacks 84 extending between pairs of leverage members 128 and 138 simultaneously apply negative moment. Conversely, with respect to pairs 118, 120, 122 and 124, negative moment is applied at the top side 98 of the shaft 98. Diametrically opposed pairs 130, 132, 134 and 136 simultaneously apply positive moment at the bottom side 100 of the shaft 60.
With respect to Fig. 6, it should be understood that although pairs 116, 118, 120, 122, 124 and 126 at the top side 98 of the shaft 60 are shown as being parallel relative to pairs 128, 130, 132, 134, 136 and 138 at the bottom side 100, the two series of members 74 and stacks 84 may lie on different planes while sharing corresponding axial positions along the shaft 60. In one aspect, the planes are perpendicular relative each other and when the corresponding stacks 84 are energized, pairs of members 74 in the first series and pairs of members 74 in the second series may simultaneously apply independent perpendicular bending moments to shared segments 96 of the shaft 60.
Therefore, both the pitch and yaw of each individual segment 96 along the length of the shaft 60 may be controlled.
Stresses generated in the shaft 60 as a result of the bending moment are kept within the elastic range of the material from which the shaft 60 is fabricated in order to prevent permanent deformation of the shaft 60. Accordingly, the shaft 60 is returned to an original shape after the stacks 84 are de-energized.
In the aspect illustrated in Fig. 7, the pairs of members 74 and corresponding stacks 84 are positioned on the outer surface portion 76 of shaft 60 in a generally circular or spiral array about the longitudinal axis 82 of the shaft 60. The pairs of members 74 and stacks 84 may be regularly or irregularly spaced from one another. In Fig.
components which would be directly visible in the perspective view are illustrated using solid lines. Components which would not be directly visible in the perspective view but which are nonetheless present in this aspect of the support assembly 72 (i.e.
those members 74 and stacks 84 which pass "behind" the shaft 60) are illustrated by way of dashed lines. The individual piezoelectric stacks 84 and corresponding leverage members 74 are mutually independent from others in the support assembly 72.
Each stack 84 applies force of a predetermined magnitude to the radially outward portions 80 of leverage members 74 to apply moment in its single respective plane. Under the combined force of the stacks 84, the shaft 60 may control deflection simultaneously in multiple planes without parasitic twisting forces being imparted to the shaft 60. The spiral array may extend the full length of the shaft 60 or may extend only partially along the length of the shaft 60. It should therefore be understood that it is within the purview of the present invention to apply moment in multiple planes not only to the whole of the shaft 60 as shown in Fig. 7, but also to parts or finite increments of the shaft 60.
The support assembly 72 may include a second spiral array of stacks 84 and members 74 diametrically opposed relative to the spiral array shown in Fig. 7.
In this manner, moment may be applied cooperatively to segments 96 of the shaft 60 in multiple planes. The second spiral array is illustrated in Fig. 8 shows in cross section diametrically opposed pairs of members 140a and 140b, and diametrically opposed pairs of members 144a and 144b adjacent the shaft 60. Pairs of members 140a and 140b are located on a first plane 142 passing through the longitudinal axis 82 of the shaft 60. Pairs of members 144a and 144b are displaced along the longitudinal axis 82 relative pairs 140a and 140b. Pairs 144a and 144b are located on a second plane 146 traversing the longitudinal axis 82 of the shaft 60 which is angularly displaced relative to the first plane 142. For simplicity, the stacks 84 have been omitted from FIG. 8. However, each stack 84 extends between the radially outward portions 80 of a pair of leverage members 74.
In the aspect shown in Fig. 9, the axial span worked on by the piezoelectric stacks 84 is different between the top stack 84 and the bottom stack 84. Moreover, the leverage members 74 of the bottom pair of leverage members 74 are shorter in length than the leverage members 74 in the top pair of leverage members 74. The use of longer and shorter stacks 84 and leverage members 74 provides a number of advantages.
Longer leverage members 74 increase the radial distance between the stack 84 and the shaft 60.
The longer the leverage members 74, the less force must be applied by the stack 84 to provide bending moment to the shaft 60 for controlling deflection thereof.
Thereby, additional means is provided to control deflection in the shaft 60. Shorter leverage members 74 decrease the radial distance of the stack 84 from the shaft 60. The use of shorter leverage members 74 in one or more parts of the support assembly 72 permits the support assembly 72 to be accommodated in areas having space constraints. Use of shorter and longer leverage members 74 and longer and shorter stacks 84 may permit, for example, one stack 84 to be superimposed in the radial direction over another stack 84 in the support assembly 72, as shown in Fig. 9.
Though the above aspects of the invention have been described in terms of a support assembly 72 coupled with an outer surface portion 76 of a shaft 60, it should be understood that it is within the purview of the present invention to have a support assembly 72, as shown in Fig. 10, coupled with an inner surface portion 148 of a shaft.
In the aspect shown in Fig. 10, the support assembly 72 is coupled with an inner surface portion 148 of the shaft 60 and extends continuously along the length of the shaft 60. The support assembly 72 includes two series of stacks 84 and corresponding leverage members 74 oppositely disposed at first or top portion 98 of the shaft 60 and second or bottom portion 100 of the shaft 60. The radially outward portions 80 of pairs of leverage members 74 are coupled by any suitable means to the inner surface portion 148 of the shaft 60. The stacks 84 extend between the radially inward portions 78 of the leverage members 74. The stacks 84 and leverage members 74 of the support assembly 72 illustrated in Fig. 10 operate in substantially the same manner as the aspects of the support assembly 72 described above with respect to the outer surface portion 76 of shaft 60. Although the support assembly 72 illustrated in Fig. 10 includes two series of stacks 84 and leverage members 74, it is possible to apply moment to the shaft 60 using any of the aforementioned aspects such as mutually independent short intervals of stacks 84 and members 74, one or more series of stacks and leverage members extending the length of the shaft 60, or one or more circular or spiral arrays of stacks and leverage members extending at least partially along the length of the shaft 60.
In operation, the stacks 84 at the top portion 98 of shaft 60 may apply one of a negative and a positive moment while the stacks 84 at the bottom portion 100 of the shaft 60 may simultaneously apply the other one of a negative and a positive moment.
Thereby, the series of the support assembly 72 may cooperate to control deflection of the shaft 60 using a desired configuration. Moreover, coupling of the support assembly 72 with an inner surface portion 148 of the shaft 60 may provide for less interference between the support assembly 72 and features of the operating environment of the support assembly 72. For example, the support assembly 72 shown in Fig. 10 would not interfere with other components of the nuclear reactor 8.
The tool assembly 58 may also be used to support different end effectors and tooling into the reactor core 32, the lattice tube 24, 26, the calandria tube 30, or the pressure tube 42, by extending and cantilevering the tool assembly 58 from the tool assembly body 64. The tool assembly 58 may support various end effectors to interface with various reactor components, or support various tooling such as sensors, measurement devices, inspection devices, and video capture devices for the purposes of maintaining, cleaning, or inspecting the reactor and reactor components.
While there have been described herein what are considered to be preferred and exemplary embodiments of the present invention, other modifications of these embodiments falling within the invention described herein shall be apparent to those skilled in the art.
In operation, the stacks 84 at the top portion 98 of shaft 60 may apply one of a negative and a positive moment while the stacks 84 at the bottom portion 100 of the shaft 60 may simultaneously apply the other one of a negative and a positive moment.
Thereby, the series of the support assembly 72 may cooperate to control deflection of the shaft 60 using a desired configuration. Moreover, coupling of the support assembly 72 with an inner surface portion 148 of the shaft 60 may provide for less interference between the support assembly 72 and features of the operating environment of the support assembly 72. For example, the support assembly 72 shown in Fig. 10 would not interfere with other components of the nuclear reactor 8.
The tool assembly 58 may also be used to support different end effectors and tooling into the reactor core 32, the lattice tube 24, 26, the calandria tube 30, or the pressure tube 42, by extending and cantilevering the tool assembly 58 from the tool assembly body 64. The tool assembly 58 may support various end effectors to interface with various reactor components, or support various tooling such as sensors, measurement devices, inspection devices, and video capture devices for the purposes of maintaining, cleaning, or inspecting the reactor and reactor components.
While there have been described herein what are considered to be preferred and exemplary embodiments of the present invention, other modifications of these embodiments falling within the invention described herein shall be apparent to those skilled in the art.
Claims (40)
1. A support assembly for controlling deflection of a cantileverable shaft in a nuclear reactor tool assembly, the support assembly comprising:
at least one pair of rigid leverage members for coupling with at least a portion of the shaft, the leverage members extending radially away from the shaft portion and being axially spaced apart and secured to an outer surface portion of the shaft portion at radially inward portions of the leverage members;
a rigid bending moment actuator extending between radially outward portions of each pair of leverage members for applying force between the radially outward portions; wherein, application of force between the radially outward portions of the leverage members displaces the radially outward portions relative each other for applying moment to the shaft portion extending between the radially inward portions, the moment rigidly controlling deflection of the shaft portion when it is cantilevered.
at least one pair of rigid leverage members for coupling with at least a portion of the shaft, the leverage members extending radially away from the shaft portion and being axially spaced apart and secured to an outer surface portion of the shaft portion at radially inward portions of the leverage members;
a rigid bending moment actuator extending between radially outward portions of each pair of leverage members for applying force between the radially outward portions; wherein, application of force between the radially outward portions of the leverage members displaces the radially outward portions relative each other for applying moment to the shaft portion extending between the radially inward portions, the moment rigidly controlling deflection of the shaft portion when it is cantilevered.
2. The support assembly of claim 1 wherein the shaft portion supports a load.
3. The support assembly of claim 2, wherein the load includes at least one of a tool, a sensor, a camera, a measurement device, an inspection device, a cleaning device and an end effector.
4. The support assembly of claim 2 wherein the load includes a nuclear reactor component.
5. The support assembly of claim 4 wherein the reactor component is at least one component selected from the group consisting of at least a portion of a calandria tube, at least a portion of a pressure tube, an annulus spacer, at least one flow-restricting device a tool and a consumable useable in an operation.
6. The support assembly as in claim 1 comprising a plurality of bending moment actuators and corresponding pairs of leverage members.
7. The support assembly as in claim 6, wherein ones of the bending moment actuators apply force of one of the same and different magnitude relative to force applied by other ones of the bending moment actuators.
8. The support assembly as in claim 1, wherein a longitudinal axis of the bending moment actuator is parallel relative a longitudinal axis of the shaft portion.
9. The support assembly as in claim 1, wherein the leverage members are permanently fixed to the outer surface portion of the shaft portion.
10. The support assembly as in claim 1, wherein the leverage members are selected from the group consisting of rigid lever arms and a ring collar at least partially encircling the longitudinal axis of the shaft portion and coupled with the outer surface portion of the shaft portion.
11. The support assembly as in claim 6 wherein the support assembly is coupled with the outer surface of the shaft portion in mutually independent short intervals of bending moment actuators and corresponding leverage members.
12. The support assembly as in claim 6, wherein:
at least one pair of leverage members and corresponding bending moment actuator are located on a first plane traversing a longitudinal axis of the shaft portion;
at least one other pair of leverage members and corresponding bending moment actuator are located on a second plane traversing the longitudinal axis of the shaft portion; and, the second plane is different from the first plane.
at least one pair of leverage members and corresponding bending moment actuator are located on a first plane traversing a longitudinal axis of the shaft portion;
at least one other pair of leverage members and corresponding bending moment actuator are located on a second plane traversing the longitudinal axis of the shaft portion; and, the second plane is different from the first plane.
13. The support assembly as in claim 12, wherein:
the planes are perpendicular relative each other; and, the at least one pair and the at least one other pair of leverage members share an axial position along the shaft portion for simultaneously applying mutually independent perpendicular bending moments to a shared segment of the shaft portion when the corresponding bending moment actuators are energized.
the planes are perpendicular relative each other; and, the at least one pair and the at least one other pair of leverage members share an axial position along the shaft portion for simultaneously applying mutually independent perpendicular bending moments to a shared segment of the shaft portion when the corresponding bending moment actuators are energized.
14. The support assembly as in claim 12, wherein:
the planes are parallel relative each other; and, the at least one pair and the at least one other pair of leverage members share an axial position along the shaft portion for simultaneously applying mutually independent cooperative bending moments to a shared segment of the shaft portion when the corresponding bending moment actuators are energized.
the planes are parallel relative each other; and, the at least one pair and the at least one other pair of leverage members share an axial position along the shaft portion for simultaneously applying mutually independent cooperative bending moments to a shared segment of the shaft portion when the corresponding bending moment actuators are energized.
15. The support assembly as in claim 13, wherein:
the at least one pair of leverage members and corresponding bending moment actuator is a first series of leverage members and corresponding bending moment actuators;
the at least one other pair of leverage members and corresponding bending moment actuator is a second series of leverage members and corresponding bending moment actuators; and, the support assembly extends continuously along the shaft portion.
the at least one pair of leverage members and corresponding bending moment actuator is a first series of leverage members and corresponding bending moment actuators;
the at least one other pair of leverage members and corresponding bending moment actuator is a second series of leverage members and corresponding bending moment actuators; and, the support assembly extends continuously along the shaft portion.
16. The support assembly as in claim 14, wherein:
the at least one pair of leverage members and corresponding bending moment actuator is a first series of leverage members and corresponding bending moment actuators;
the at least one other pair of leverage members and corresponding bending moment actuator is a second series of leverage members and corresponding bending moment actuators; and, the support assembly extends continuously along the shaft portion.
the at least one pair of leverage members and corresponding bending moment actuator is a first series of leverage members and corresponding bending moment actuators;
the at least one other pair of leverage members and corresponding bending moment actuator is a second series of leverage members and corresponding bending moment actuators; and, the support assembly extends continuously along the shaft portion.
17. The support assembly as in claim 6, comprising:
a plurality of pairs of leverage members and corresponding bending moment actuators mutually independently positioned on the outer surface portion of the shaft portion in a spiral array about a longitudinal axis of the shaft portion.
a plurality of pairs of leverage members and corresponding bending moment actuators mutually independently positioned on the outer surface portion of the shaft portion in a spiral array about a longitudinal axis of the shaft portion.
18. The support assembly as in claim 1, wherein:
the shaft portion is fabricated from a material having an elastic range and stresses generated in the shaft portion by the bending moment are within the elastic range of the material.
the shaft portion is fabricated from a material having an elastic range and stresses generated in the shaft portion by the bending moment are within the elastic range of the material.
19. The support assembly as in claim 12, wherein:
the planes are parallel relative each other and the at least one pair of leverage members is shorter in length than the at least one other pair of leverage members; and, the bending moment actuator extending between the at least one other pair of leverage members is radially distanced further from the longitudinal axis of the shaft portion than the bending moment actuator extending between the at least one pair of leverage members.
the planes are parallel relative each other and the at least one pair of leverage members is shorter in length than the at least one other pair of leverage members; and, the bending moment actuator extending between the at least one other pair of leverage members is radially distanced further from the longitudinal axis of the shaft portion than the bending moment actuator extending between the at least one pair of leverage members.
20. The support assembly as in claim 1, wherein the leverage members are removably fixed to the outer surface portion of the shaft portion.
21. A support assembly for controlling deflection of a cantileverable hollow shaft in a nuclear reactor tool assembly, the support assembly comprising:
at least one pair of rigid leverage members for coupling with at least a portion of the shaft, the leverage members extending radially into a bore of the shaft portion and being axially spaced apart and secured to an inner surface portion of the shaft portion at radially outward portions of the leverage members;
a rigid bending moment actuator extending between radially inward portions of each pair of leverage members for applying force between the radially inward portions;
wherein, application of force between the radially inward portions of the leverage members displaces the radially inward portions relative each other for applying bending moment to the shaft portion extending between the radially outward portions, the moment rigidly controlling deflection of the shaft portion when it is cantilevered.
at least one pair of rigid leverage members for coupling with at least a portion of the shaft, the leverage members extending radially into a bore of the shaft portion and being axially spaced apart and secured to an inner surface portion of the shaft portion at radially outward portions of the leverage members;
a rigid bending moment actuator extending between radially inward portions of each pair of leverage members for applying force between the radially inward portions;
wherein, application of force between the radially inward portions of the leverage members displaces the radially inward portions relative each other for applying bending moment to the shaft portion extending between the radially outward portions, the moment rigidly controlling deflection of the shaft portion when it is cantilevered.
22. The support assembly of claim 21 wherein the shaft portion supports a load.
23. The support assembly of claim 22 wherein the load includes at least one of a tool, a sensor, a measurement device, an inspection device, a cleaning device, a camera and an end effector.
24. The support assembly of claim 22 wherein the load includes a nuclear reactor component.
25. The support assembly of claim 24 wherein the reactor component is at least one component selected from the group consisting of: at least a portion of a calandria tube, at least a portion of a pressure tube, an annulus spacer, at least one flow-restricting device, a tool and a consumable useable in an operation.
26. The support assembly as in claim 21 comprising a plurality of bending moment actuators and corresponding pairs of leverage members.
27. The support assembly as in claim 26, wherein ones of the bending moment actuators apply force of one of the same and different magnitude relative to force applied by other ones of the bending moment actuators.
28. The support assembly as in claim 21, wherein a longitudinal axis of the bending moment actuator is parallel relative a longitudinal axis of the shaft portion.
29. The support assembly as in claim 21, wherein the leverage members are permanently fixed to the inner surface portion of the shaft portion.
30. The support assembly as in claim 21, wherein the leverage members are selected from the group consisting of rigid lever arms and a ring collar at least partially encircling the longitudinal axis of the shaft portion and coupled with the inner surface portion of the shaft portion.
31. The support assembly as in claim 26 wherein the support assembly is coupled with the inner surface of the shaft portion in mutually independent short intervals of bending moment actuators and corresponding leverage members.
32. The support assembly as in claim 26, wherein:
at least one pair of leverage members and corresponding bending moment actuator are located on a first plane traversing a longitudinal axis of the shaft portion;
at least one other pair of leverage members and corresponding bending moment actuator are located on a second plane traversing the longitudinal axis of the shaft portion; and, the second plane is different from the first plane.
at least one pair of leverage members and corresponding bending moment actuator are located on a first plane traversing a longitudinal axis of the shaft portion;
at least one other pair of leverage members and corresponding bending moment actuator are located on a second plane traversing the longitudinal axis of the shaft portion; and, the second plane is different from the first plane.
33. The support assembly as in claim 32, wherein:
the planes are perpendicular relative each other; and, the at least one pair and the at least one other pair of leverage members share an axial position along the shaft portion for simultaneously applying mutually independent perpendicular bending moments to a shared segment of the shaft portion when the corresponding bending moment actuators are energized.
the planes are perpendicular relative each other; and, the at least one pair and the at least one other pair of leverage members share an axial position along the shaft portion for simultaneously applying mutually independent perpendicular bending moments to a shared segment of the shaft portion when the corresponding bending moment actuators are energized.
34. The support assembly as in claim 32, wherein:
the planes are parallel relative each other; and, the at least one pair and the at least one other pair of leverage members share an axial position along the shaft portion for simultaneously applying mutually independent cooperative bending moments to a shared segment of the shaft portion when the corresponding bending moment actuators are energized.
the planes are parallel relative each other; and, the at least one pair and the at least one other pair of leverage members share an axial position along the shaft portion for simultaneously applying mutually independent cooperative bending moments to a shared segment of the shaft portion when the corresponding bending moment actuators are energized.
35. The support assembly as in claim 33, wherein:
the at least one pair of leverage members and corresponding bending moment actuator is a first series of leverage members and corresponding bending moment actuators;
the at least one other pair of leverage members and corresponding bending moment actuator is a second series of leverage members and corresponding bending moment actuators; and, the support assembly extends continuously along the shaft portion.
the at least one pair of leverage members and corresponding bending moment actuator is a first series of leverage members and corresponding bending moment actuators;
the at least one other pair of leverage members and corresponding bending moment actuator is a second series of leverage members and corresponding bending moment actuators; and, the support assembly extends continuously along the shaft portion.
36. The support assembly as in claim 34, wherein:
the at least one pair of leverage members and corresponding bending moment actuator is a first series of leverage members and corresponding bending moment actuators;
the at least one other pair of leverage members and corresponding bending moment actuator is a second series of leverage members and corresponding bending moment actuators; and, the support assembly extends continuously along the shaft portion.
the at least one pair of leverage members and corresponding bending moment actuator is a first series of leverage members and corresponding bending moment actuators;
the at least one other pair of leverage members and corresponding bending moment actuator is a second series of leverage members and corresponding bending moment actuators; and, the support assembly extends continuously along the shaft portion.
37. The support assembly as in claim 26, comprising:
a plurality of pairs of leverage members and corresponding bending moment actuators mutually independently positioned on the inner surface portion of the shaft portion in a spiral array about a longitudinal axis of the shaft portion.
a plurality of pairs of leverage members and corresponding bending moment actuators mutually independently positioned on the inner surface portion of the shaft portion in a spiral array about a longitudinal axis of the shaft portion.
38. The support assembly as in claim 21, wherein:
the shaft portion is fabricated from a material having an elastic range and stresses generated in the shaft portion by the bending moment are within the elastic range of the material.
the shaft portion is fabricated from a material having an elastic range and stresses generated in the shaft portion by the bending moment are within the elastic range of the material.
39. The support assembly as in claim 32, wherein:
the planes are parallel relative each other and the at least one pair of leverage members is shorter in length than the at least one other pair of leverage members; and, the bending moment actuator extending between the at least one other pair of leverage members is radially distanced closer to the longitudinal axis of the shaft portion than the bending moment actuator extending between the at least one pair of leverage members.
the planes are parallel relative each other and the at least one pair of leverage members is shorter in length than the at least one other pair of leverage members; and, the bending moment actuator extending between the at least one other pair of leverage members is radially distanced closer to the longitudinal axis of the shaft portion than the bending moment actuator extending between the at least one pair of leverage members.
40. The support assembly as in claim 21, wherein the leverage members are removably fixed to the inner surface portion of the shaft portion.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2778596A CA2778596A1 (en) | 2012-06-01 | 2012-06-01 | Support assembly for use with a nuclear reactor tool assembly |
| ROA201300376A RO129269A2 (en) | 2012-06-01 | 2013-05-17 | Support assembly for use together with a tool assembly for a nuclear reactor |
| KR1020130058814A KR20130135749A (en) | 2012-06-01 | 2013-05-24 | Support assembly for use with a nuclear reactor tool assembly |
| ARP130101840 AR091168A1 (en) | 2012-06-01 | 2013-05-27 | SUPPORT ASSEMBLY FOR USE WITH A NUCLEAR REACTOR TOOL ASSEMBLY |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2778596A CA2778596A1 (en) | 2012-06-01 | 2012-06-01 | Support assembly for use with a nuclear reactor tool assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2778596A1 true CA2778596A1 (en) | 2013-12-01 |
Family
ID=49709198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2778596A Abandoned CA2778596A1 (en) | 2012-06-01 | 2012-06-01 | Support assembly for use with a nuclear reactor tool assembly |
Country Status (4)
| Country | Link |
|---|---|
| KR (1) | KR20130135749A (en) |
| AR (1) | AR091168A1 (en) |
| CA (1) | CA2778596A1 (en) |
| RO (1) | RO129269A2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111133531A (en) * | 2017-06-23 | 2020-05-08 | 坎杜能源公司 | Device and method for placing gauntlets |
| CN111418025A (en) * | 2017-06-23 | 2020-07-14 | 坎杜能源公司 | Calandria insert disassembly and removal tool and method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102144982B1 (en) * | 2019-02-14 | 2020-08-14 | 한국수력원자력 주식회사 | Dismantling method of radioactive structures of heavy water reactor facilities |
| KR102475811B1 (en) * | 2022-10-06 | 2022-12-08 | (주)한국원자력 엔지니어링 | Reprocessing method of sludge paraffin solids and Paraffin separator used therefor |
-
2012
- 2012-06-01 CA CA2778596A patent/CA2778596A1/en not_active Abandoned
-
2013
- 2013-05-17 RO ROA201300376A patent/RO129269A2/en unknown
- 2013-05-24 KR KR1020130058814A patent/KR20130135749A/en not_active Application Discontinuation
- 2013-05-27 AR ARP130101840 patent/AR091168A1/en unknown
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111133531A (en) * | 2017-06-23 | 2020-05-08 | 坎杜能源公司 | Device and method for placing gauntlets |
| CN111418025A (en) * | 2017-06-23 | 2020-07-14 | 坎杜能源公司 | Calandria insert disassembly and removal tool and method |
| CN111418025B (en) * | 2017-06-23 | 2024-01-30 | 坎杜能源公司 | Calandria insert disassembly and removal tool and method |
| CN111133531B (en) * | 2017-06-23 | 2024-02-06 | 坎杜能源公司 | Device and method for placing gauntlets |
Also Published As
| Publication number | Publication date |
|---|---|
| AR091168A1 (en) | 2015-01-14 |
| KR20130135749A (en) | 2013-12-11 |
| RO129269A2 (en) | 2014-02-28 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Discontinued |
Effective date: 20161017 |