CZ2018662A3 - Robotic technological complex of vertical storage of packages with spent nuclear fuel into gradually compacted bentonite - Google Patents

Abstract

The robotic technological complex (1) for vertical storage of storage packages with spent nuclear fuel in gradually compacted bentonite consists of several parts. From a robot (2) for transporting, storing storage packages vertically and compacting the bentonite transporting the spent nuclear fuel storage package (66) from the storage package storage (62) to the storage corridor (9). It inserts it into the axis of the vertical storage bore (10) in a folded motion. It further comprises a vibrating intermediate ring (37) for compacting the granular bentonite (49). From a robot (3) for transporting, dosing and compacting bentonite intended for transporting granular bentonite (49) from a bentonite and concrete warehouse (7) and for its gradual dosing until the free volume of the vertical storage well (10) is filled and for its compaction in the final phase. From a robot (4) for the transport and application of concrete, intended for the transport of concrete from a bentonite and concrete warehouse (7), to form a concrete plug (72) of a vertical storage borehole (10), by means of a concrete tank (55) with an outlet (56) and vibrating heads (57).

Description

Robotic technological complex of vertical storage of storage packages with spent nuclear fuel in gradually compacted bentonite

Field of technology

The invention deals with a complex robotic technology and the associated process of a fully autonomous logistics process for the transport and storage of a spent nuclear fuel storage package in gradually compacted granular bentonite in vertical storage wells in a deep repository.

The transport functions, storage of the spent nuclear fuel storage package, filling of the free space of the vertical storage well with granular bentonite, its compaction and filling of the vertical storage well neck with a concrete plug are provided by three types of robot - transport robot, vertical storage of storage packages and bentonite compaction, robot for transport, dosing and compaction of bentonite and a robot for transport and application of concrete, working both at the level of the surface workplace and at the level of the storage horizon of the deep repository in the storage corridors.

Prior art

Currently, there are several technological solutions for vertical storage of spent nuclear fuel in storage wells of circular cross-section, the most important of which are the Finnish company Posiva, Swedish technology SKB and the Czech Robotic Technology Complex for transport and vertical storage of spent nuclear fuel storage packages (see invention application PV 2018-405).

In the case of Posiva's solution, according to their concept, these are two directly man-operated tracked vehicles, the first of which is used to transport and store bentonite prefabricated parts and the second to transport and store storage packaging files in a vertical storage well.

In the real design, the crawler chassis of both cars were replaced by wheeled ones, and in both cases they are not vehicles equipped with their own traction drive, but semi-trailers that are moved by means of a purpose-built man-made wheeled tractor. The wagon for transport and storage of bentonite prefabricated parts is used for their transport by means of a tractor from the lift station to the storage well on the storage horizon of the deep repository. Similarly, the truck for transporting and storing storage packages serves for transporting spent nuclear fuel storage packages from an intermediate storage facility located on the storage horizon of the deep repository and for subsequent storage in a prepared vertical well.

The disadvantage of this solution is that the storage process is not fully autonomous and the presence of the operator during transport and probably also on site is required. The concept of both wagons in the form of semi-trailers also appears to be disadvantageous, especially in terms of the precise positioning of the wagons / semi-trailers relative to the respective storage well. In addition, the technology for storing bentonite prefabricated parts is focused only on the system of storing storage packaging files in a vertical borehole, in which prefabricated parts made of pressed bentonite clay are stored. In order to be able to store these bentonite preforms in a storage well and then insert a spent nuclear fuel storage package, it is necessary that between the wall of the vertical storage well and the outer diameter of the bentonite preforms or between the inner diameter of the bentonite preforms and the outer shell of the storage package. there was a defined gap. Furthermore, Posiva's technology does not address how to eliminate these existing gaps. Another disadvantage of the existing solution is that even though both cars / semi-trailers provide not only their own storage, but also transport, it is only transport on the storage horizon of the deep repository. This means that for the transport of both the own storage package with spent nuclear fuel and

- 1 CZ 2018 - 662 A3 bentonite prefabricated products, other technologies are needed to ensure transport from the surface workplace to the storage horizon and further loading / unloading of the storage packaging set, or bentonite prefabricated parts to the respective wagons / trailers.

Swedish SKB technology (see patent EP2139005 AI) is based on autonomous wheeled vehicles. The technology is based on the Magne vehicle, which is used to transport and store storage packaging files. The Magne is equipped with a diesel engine and a backup electric motor, which is able to ensure the continuity of the storage process in the event of a breakdown and connection of the vehicle to the mains. The vehicle transports the storage package in a horizontal position in a cylindrical tube, which also serves as a radiation shield. In order to accommodate the storage package, the cylindrical tube is verticalized, but the geometry of the vehicle mechanisms is designed so that in order to verticalize the cylindrical tube with the storage package, the mouth of the vertical storage well on the corresponding side must be equipped with a run-out, which can be identified as a disadvantage . SKB technology also counts on a vehicle for storing bentonite prefabricates, which is one of the outputs of the planned modular system built on the basis of a universal autonomous mobile platform.

The disadvantage of this solution is also the focus only on the technology of storing storage packages with spent nuclear fuel in a vertical storage well using pressed bentonite prefabricated products without solving the sealing of existing gaps between the stored elements. The disadvantage of the given solution for the given tonnages can also be considered the application of wheeled bogies due to the energy intensity due to rolling resistances and also due to the accuracy of the positioning of the bogies relative to the vertical storage well. An obvious disadvantage of operating a directly controlled prototype Magne vehicle is its excessive length and excessive weight (up to 1001).

The basis of the Czech Robotic Technology Complex for transport and vertical storage of storage packages with spent nuclear fuel are two fully autonomous robots robot for transport and vertical storage of storage packages and a robot for transport and vertical storage of bentonite, primarily designed as rail cars. Both robots provide all transport and handling operations at the level of the storage horizon, as well as the transport of all stored objects from the surface workplace to the storage horizon of the deep repository, as part of a fully automatic process of storing spent nuclear fuel storage packages and bentonite barriers into a vertical storage well of circular cross-section. . The robot for transport and vertical storage of storage packages is equipped with a transport and storage case in which the storage package with spent nuclear fuel is transported and also positioned in a vertical position in the axis of the vertical storage well during the storage process. A part of the transport and storage case is an effector suspended on the ropes holding the spent nuclear fuel storage package behind its forehead, which in a given phase of the storage process lowers the spent nuclear fuel storage package to the desired position in the vertical storage well. The robot for transport and vertical storage of bentonite is solved alternatively for storage of two types of pressed bentonite prefabricates in the form of circular bentonite filling and intercircular bentonite filling or for storage of pressed bentonite prefabricates on the bottom of vertical storage well supplemented by directly grilled bentonite. Therefore, the robotic truck for transport and vertical storage of bentonite is equipped with a loading surface for storing pressed bentonite prefabricated parts, respectively a granular bentonite tank and an effector for bentonite, which combines a vacuum principle enabling handling of bentonite prefabricated parts with vibrating plate technology to compact loose granulated granules. bentonite in a vertical storage well, the height positioning of the effector for bentonite being again ensured by a rope mechanism.

The disadvantage of this solution is the application of rope mechanisms for handling systems of both robots, ie an effector for handling spent nuclear fuel storage packages and an effector for bentonite, providing handling of bentonite prefabricated parts and compaction of granular bentonite in a vertical storage well. The disadvantage is also the fact that in a variant of the defined storage process of storing a storage package with a burnt

-2EN 2018 - 662 A3 nuclear fuel into the bentonite barrier formed by a combination of bentonite prefabricates with directly compacted granular bentonite in the well, a state occurs when the robot for transport and vertical storage of storage packages leaves the storage package with spent nuclear fuel stored in a vertical storage until the surrounding free space is filled with granular bentonite, which in subsequent steps is realized by a robot for transport and vertical storage of bentonite. Among the disadvantages of the solution, where the bentonite barrier is formed by a combination of pressed prefabricates and in the borehole of compacted granular bentonite, the inhomogeneous density of the bentonite barrier around the spent nuclear fuel storage package can also be considered.

The essence of the invention

The robotic technological complex of vertical storage of spent nuclear fuel storage packages in gradually compacted bentonite, which is based on three autonomous robotic vehicles - robot for transport, vertical storage of storage packages and bentonite compaction, robot for transport, dosing and compaction of bentonite and robot for transport and application of concrete.

The robot for transport, vertical storage of storage packages and bentonite compaction is designed as a rail car and consists of a frame of a storage package car in which rail wheels with an integrated traction electric drive are mounted. A design cover is located on the frame of the storage package car. At the rear of the car there is a console in which the swinging arms with two swinging arm drives and vertical stacking actuators are stored, thanks to which the necessary, ideal, folded packaging can be achieved in synchronization with the robot chassis for transport, vertical storage and storage of bentonite. moving the vertical stacker with the spent nuclear fuel storage package inserted into the vertical storage well from its preferred, inclined transport position. The kinematics of the positioning mechanisms of the vertical robot stacker for transport, vertical storage of storage packages and bentonite compaction and the process of transformation of the vertical stacker from transport position to vertical position in the vertical storage well axis were optimized with the lowest possible storage corridor. This is followed by the function of lowering the spent nuclear fuel storage package to the desired position for storage in a vertical storage well, to the bottom of which the first batch of granular bentonite has already been poured by a bentonite transport, dosing and compaction robot. The vertical stacker is thus inserted into the axis of the vertical storage bore and holds the spent nuclear fuel storage package inside the chain sections so that the spent nuclear fuel storage package stands with its lower face on the lower chain links with protrusions and the upper chain links with protrusions. they fit into the shape element of the upper lid of the spent nuclear fuel storage package. The lowering of the spent nuclear fuel storage package is performed by the chain drives moving the chain sections downwards, the lower chain links with protrusions moving over the lower return pulleys and the spent nuclear fuel storage package held by the upper chain links with chain protrusions during lowering. sections. The robot for transporting, storing the storage packages vertically and compacting the bentonite lowers the spent nuclear fuel storage package to the desired position in the vertical storage well, thereby also compacting the poured granular bentonite beneath the spent nuclear fuel storage package. In this position, the spent nuclear fuel storage package rests with its lower face on the compacted granular bentonite at the bottom of the vertical storage well and at the same time is still held by chain links with a protrusion of the chain sections of the vertical storage. While holding the spent nuclear fuel storage package with chain protrusions with protrusions, granular bentonite is gradually fed and compacted into the vertical storage well, so that the transport robot, vertical storage of the storage packages and bentonite compaction are gradually delivered by the transport, dosing and compaction of bentonite is supplemented gradually, by defined doses, from

-3GB 2018 - 662 A3 granular bentonite tank by screw conveyors via a flow divider and downpipes granulated bentonite, which preferably fills the free spaces between the vertical storage well and the spent nuclear fuel storage package with gradual compaction by a vibrating intermediate ring with eccentric vibration generators. In the final stage of this filling process, when the spent nuclear fuel storage package is already positioned and stabilized with compacted bentonite, the spent nuclear fuel storage package can be dropped by removing the chain links with protrusions from the top lid member while moving the vertical stacker up and down. furthermore, the free spaces of the annulus can advantageously be supplemented with granular bentonite and compacted until the level of compacted granular bentonite reaches the height of the spent nuclear fuel storage package.

Upon completion of this work, the robot for transport, vertical storage of storage packages and compaction of bentonite leaves the respective vertical storage well and is replaced by a robot for transport, dosing and compaction of bentonite, comprising a granular bentonite tank with air conditioning unit and a discharge screw conveyor. a vertical screw conveyor and a horizontal screw conveyor terminated by a discharge opening which, together with a flow divider housed in an adjustable vertical double guide, contributes to the even distribution of the supplied granular bentonite to the bentonite drains with the hopper cone of the vertical stacker frame. Part of the vertical storage well above the spent nuclear fuel storage package is closed by loose granular bentonite applied in defined volumes by a spreading hopper supplemented by reverse operation of a discharge screw conveyor and continuous compaction of granular bentonite by a circular vibrating plate triggered by vertical , the dosing and compaction of the bentonite above the vertical storage borehole between the position for pouring the granular bentonite through the spreading hopper and the position for compacting the granular bentonite by means of a circular vibrating plate are carried out by driving on a wide gauge track.

The concrete transport and application robot has a concrete hopper with a discharge hole on the frame of a concrete car equipped with rail wheels with integrated traction electric drive, which fills the rest of the empty volume of a vertical storage well with a chamfered neck and in the final phase is leveled and compacted by a vibrating robot head for transport and concrete application, supplemented by vertical guidance with the possibility of positioning.

It is further advantageous that the robot for transport, vertical storage of storage packages and compaction of bentonite serves to transport storage packages with spent nuclear fuel from the outlet chamber of the surface workplace through a sinkhole (or otherwise) to the storage horizon of the deep repository, into the storage corridor, above the relevant vertical storage well.

It is further preferred that the bentonite transport, dosing and compaction robot serves to transport the granulated bentonite from the bentonite warehouse and the surface site concrete through a downcomer tunnel (or other path) to the deep storage storage horizon, to the storage corridor, above the respective vertical storage well.

It is further advantageous that the concrete transport and application robot serves to transport concrete from the bentonite warehouse and the surface workplace concrete through a tunnel (or other way) to the storage horizon of the deep repository, into the deposition corridor, above the respective vertical deposition well.

It is further advantageous that the transport robot, the vertical storage of the storage packages and the bentonite compaction, the robot for the transport, dosing and compaction of the bentonite and the concrete concreting and application robot are designed as a rail vehicle, being fed for the entire function, including travel / transport. from the trolley, which is part of the wide-gauge track, leading from the surface workplace to the storage horizon of the deep repository to the storage corridor to the vertical storage wells.

-4EN 2018 - 662 A3

It is further preferred that the kinematics of the vertical stacker positioning mechanism is selected to minimize the required height of the robot working space for transport, vertical storage of storage packages and compaction of bentonite in the storage corridor during transformation of the vertical storage with spent nuclear fuel storage from the transport. position to a position in the axis of the vertical storage well. Further reduction of the required working space height of the robot for transport, vertical storage of storage packages and compaction of bentonite in the storage corridor can be achieved by adjusting the mouth of the vertical storage well by trimming the edge of its neck, or by locally increasing the height of the storage corridor above each vertical storage well.

It is further preferred that the vertical robot stacker for transport, vertical storage of storage packages and compaction of bentonite provides both storage of the spent nuclear fuel storage package in the desired storage position in the vertical storage well and holding it during the granular bentonite spreading and compaction process, but also due to the presence of a movable basket with a vibrating intermediate ring, the backfilling and compaction of the granular bentonite around the storage package with spent nuclear fuel in the vertical storage well. As a result, the position of the spent nuclear fuel storage package is still under control during the storage process until the spent nuclear fuel storage package is almost entirely securely anchored in the compacted granular bentonite bentonite barrier.

It is further preferred that the bentonite transport, dosing and compaction robot serves to transport and store the granular bentonite needed to store one spent nuclear fuel storage package in a vertical storage well, wherein the storage package is stored in granular bentonite compacted to the desired density. directly in the borehole as part of the relevant storage process.

It is further advantageous that for compacting the granular bentonite in the upper part of the vertical storage well, the robot for transporting, dosing and compacting the bentonite is provided with a circular vibrating plate which covers the entire circular profile of the vertical storage well. The circular vibrating plate is mounted on a vertical guide, which ensures the height positioning and the required pressure on the compacted granular bentonite above the spent nuclear fuel storage package in the vertical storage well.

In case the robotic technological complex of vertical storage of storage packages with spent nuclear fuel in gradually compacted bentonite will not be able to use railways, ie also wide-gauge rails with trolley, rails with integrated traction electric drive in the robot for transport, vertical storage of storage packaging bentonite sets and compaction, robot for transport, dosing and compaction of bentonite and robot for transport and application of concrete replaced by driven wheels with unlimited steering. The premises of the surface workplace, ie the exit chamber and the bentonite and concrete warehouse will not be equipped with a wide gauge track with contact wire and rail turntable, instead of which there will be only flat floor and charging station for charging the robot battery for transport, vertical storage of storage packages and compaction of bentonite, robot for transport, dosing and compaction of bentonite and robot for transport and application of concrete. As well as the transport corridor between the surface workplace and the storage horizon of the deep repository and all areas on the storage horizon of the deep repository in which the transport robot, vertical storage of storage packages and bentonite compaction, robot for transport, dosing and compaction of bentonite and robot for transport and application of concrete, including the storage corridor, will not be equipped with a wide-gauge track with a contact wire.

It is further advantageous that the application of driven wheels with unrestricted steering in the bogies significantly increases the maneuverability of the transport robot, the vertical storage of the storage packages and the compaction of the bentonite, the transport robot, the dosing and compaction of the bentonite and the

-5 CZ 2018 - 662 A3 transport and application of concrete.

The advantage of the proposed robotic technological complex of vertical storage of spent nuclear fuel storage packages in gradually compacted bentonite is that the robot for transport, vertical storage of storage packages and bentonite compaction is equipped with a vertical storage mounted on swing arms and positioned by swing arm drive and positioning drives The vertical stacker is based on three chain sections with functional branches guided by a sliding guide, provided with upper and lower chain links with a protrusion, held in the stacker frame by homogeneous return pulleys and driven by chain drives mounted on the frame ring. During the loading of the spent nuclear fuel storage package into the vertical robot stacker for transport, vertical storage of storage packages and bentonite compaction, the movement of the chain sections is synchronized with the movement of the vertical arm of the robotic manipulator of the outlet chamber, the respective chain section members relative to the moving storage. packaging set with spent nuclear fuel. After loading into the vertical stacker, the spent nuclear fuel storage package stands with its lower face on the lower chain links with protrusions and at the same time is held by upper chain links with protrusions fitting into the upper lid storage element of the spent nuclear fuel storage package, which together with the vertical the stacker in the transport position ensures the required safety during transport. After transformation of the vertical storage with the spent nuclear fuel storage package from the transport position to the position in the axis of the vertical storage well by synchronizing the movement of the swing arms and the vertical stacker with slow robot movement for transport, vertical storage of storage packages and compaction of bentonite along a wide gauge track of the swing arm drives, the vertical stacker positioning drive and the rail wheels with integrated traction electric drive, the spent nuclear fuel storage package is still held by the bottom bottom and the upper lid shape element in the vertical stacker by means of three three chain links with protrusions. When lowering the spent nuclear fuel storage package into the vertical storage well, the lower chain links with protrusions are first deactivated and the spent nuclear fuel storage package is held by the upper lid shape element, lowered by chain sections to the desired position. for storage in a vertical storage well, whereby in the last phase of the movement at the same time the first pre-filled batch of granular bentonite is partially compacted. The storage package with spent nuclear fuel is thus in contact with the compacted granular bentonite with its lower bottom and at the same time is still held by the chain links with the protrusions of the chain sections behind the shaped element of the upper lid. As a result, the position of the spent nuclear fuel storage package is still under control during the storage process. The vertical stacker also includes a movable basket with a vibrating intermediate ring mounted on the movement screws, the fixing intermediate ring consisting of a vibrating intermediate ring frame to which a vibrating plate with eccentric vibration generators is connected by spring and damping segments. By means of moving screws the vibrating intermediate ring descends to a defined position above the poured granular bentonite in the vertical storage well and by means of screw conveyors it can be from the granular bentonite tank next to the standing robot for transport, dosing and compaction of bentonite via a flow distributor connected to the bentonite drain with discharge hopper and discharge pipes. another defined dose of granular bentonite is poured into the vertical storage well. This will then be compacted to the required density by the action of pressure and vibration of the vibrating intermediate ring. The process of pouring and compacting further layers of granular bentonite will be repeated until the storage package with spent nuclear fuel from% of its height is stored in the compacted granular bentonite. Then the robot for transport, vertical storage of storage packages and compaction of bentonite releases the storage package with spent nuclear fuel, lifts the vertical stacker upwards and after filling and compacting the granular bentonite to the level of the storage package with spent nuclear fuel leaves the vertical storage well and its vertical storage well. a robot for the transport, dosing and compaction of bentonite will take the place, which will gradually fill and compact the required ones by means of a spreading hopper and a circular vibrating plate mounted on a vertical guide.

- 6 CZ 2018 - 662 A3 amount of granular bentonite in a vertical storage well. Subsequently, a robot for the transport and application of concrete will be deployed, which will close the vertical storage well with a concrete plug.

The advantages of the proposed solution also include the ability to further reduce the height of the robot workspace for transport, vertical storage of storage packages and compaction of bentonite during the transformation of vertical storage positions with spent nuclear fuel storage by providing a beveled edge with a vertical storage well. throat, or that a vault will be built in the ceiling of the storage corridor above the vertical storage well.

Unless it is desired to close the vertical storage well with the spent nuclear fuel storage package with a concrete stopper, the layer of compacted granular bentonite will reach the level of the storage corridor. In such a case I will not use a robot for transport and application of concrete and part of the proposed robotic technological complex of vertical storage of storage packages with spent nuclear fuel in gradually compacted bentonite will be only robot for transport, vertical storage of storage packages and compaction of bentonite and robot for transport, dosing and compaction of bentonite.

In case it will not be possible to use railways, which is ideal mainly due to safety of autonomous operation of the robot and energy consumption, rail wheels with integrated traction electric drive can be replaced by driven wheels with unlimited steering, which is an advantageous solution in terms of maneuverability of the robot for transport , vertical storage of storage packaging sets and compaction of bentonite, robot for transport, dosing and compaction of bentonite and robot for transport and application of concrete.

Explanation of drawings

The attached sheets show pictures and a legend.

The picture for annotation shows a robotic technological complex of vertical storage of spent nuclear fuel storage packages in gradually compacted bentonite, while the top view shows a surface workplace with an outlet chamber, in which there is a storage package with spent nuclear fuel storage packages, robotic manipulator of the outlet chamber with effector of the outlet chamber and robot for transport, vertical storage of storage packages and compaction of bentonite in the process of loading storage package with spent nuclear fuel and storage of bentonite and concrete with granular bentonite storage with feeder and robot for transport, dosing and compaction of bentonite in the process of loading granular bentonite and also a concrete tank with a feeder and a robot for transport and application of concrete in the process of loading concrete. The bottom view shows a storage corridor with vertical storage boreholes with chamfered neck edges, in which a robot for transport, vertical storage of storage packages and bentonite compaction, a robot for transport, dosing and compaction of bentonite and a robot for transport and application of concrete for start-up are prepared. storage process.

GIANT. 1 General axonometric view of a surface workplace with an outlet chamber containing a storage package with spent nuclear fuel storage packages, a robotic outlet chamber manipulator with an outlet chamber effector and a robot for transport, vertical storage of storage packages and bentonite compaction in the process of loading the storage package with spent nuclear fuel and bentonite and concrete storage with granular bentonite storage with feeder and robot for transport, dosing and compaction of bentonite in the process of granular bentonite loading and concrete storage with feeder and robot for transport and application of concrete in the process concrete loading.

-7 CZ 2018 - 662 A3

GIANT. 2 General axonometric view of a storage corridor with vertical storage boreholes with chamfered neck edges, in which a robot for transport, vertical storage of storage packages and bentonite compaction, a robot for transport, dosing and compaction of bentonite and a robot for transport and application of concrete for start-up are prepared storage process.

GIANT. 3 General axonometric view of the robot for transport, vertical storage of storage packages and compaction of bentonite with a swinging arm and a vertical stacker with a storage package with spent nuclear fuel in the transport position.

GIANT. 4 General axonometric view of the robot for transport, vertical storage of storage packages and compaction of bentonite with a vertical stacker in a vertical position for loading storage packages with spent nuclear fuel.

GIANT. 5 Axonometric view of a detail of the upper part of a vertical stacker with a frame ring, in which chain sections with chain drives, drives of moving screws and bentonite guides with a hopper cone are stored and which is pivotally mounted in a pair of pivoting arms.

GIANT. 6 Axonometric view of the detail of the lower part of the vertical stacker with the stacker frame, the lower return pulleys of the chain sections and the movable basket formed by the vibrating intermediate ring with the vibrating intermediate ring frame, vibrating plate with eccentric vibration generators and springing and damping segments through which the discharge pipes pass.

GIANT. 7 Overall homo axonometric view of a robot for transporting, dosing and compacting bentonite with rail wheels with integrated traction electric drive and with a circular vibrating plate lowered on a vertical guide to the lowest possible position.

GIANT. 8 Overall lower axonometric view of a robot for transporting, dosing and compacting bentonite with rail wheels with integrated traction electric drive and with a circular vibrating plate in the starting position.

GIANT. 9 General hom axonometric view of a robot for transporting and applying concrete with rail wheels with integrated traction electric drive, concrete tank and vibrating head in the starting position.

GIANT. 10 Overall lower axonometric view of a robot for transport and application of concrete with rail wheels with integrated traction electric drive, concrete tank and vibrating head in the starting position.

GIANT. 11 Axonometric view of a surface workplace with an outlet chamber and a bentonite and concrete warehouse with a robot for transport, vertical storage of storage packages and compaction of bentonite with a storage package with spent nuclear fuel, robot for transport, dosing and compaction of bentonite loaded with the required dose of granular bentonite and a robot for the transport and application of concrete loaded with the required batch of concrete, ready to go to the storage horizon of the deep repository.

GIANT. 12 Axonometric view of a storage corridor with vertical storage boreholes with chamfered edges and a wide gauge rail, on which there is a robot for transport, vertical storage of storage packages and bentonite compaction, a robot for transport, dosing and compaction of bentonite and a robot for transport and application of concrete,

-8EN 2018 - 662 A3 wherein the first vertical storage well on the right already contains a spent nuclear fuel storage package in compacted granular bentonite and is closed with a concrete stopper and a robot for transport, vertical storage of storage packages and bentonite compaction is shown in the vertical storage process with the spent nuclear fuel storage package to the next in the order of free vertical storage well.

GIANT. 13 Axonometric view of a storage corridor with vertical storage boreholes with chamfered neck edges and a wide gauge rail, on which there is a robot for transport, vertical storage of storage packages and bentonite compaction, a robot for transport, dosing and compaction of bentonite and a robot for transport and application of concrete, wherein the first vertical storage well on the right already comprises a storage package with spent nuclear fuel in compacted granular bentonite and is closed by a concrete stopper. The robot for transport, vertical storage of storage packages and bentonite compaction has a vertical stacker inserted in a vertical storage well, the storage package with spent nuclear fuel is lowered by chain sections to the desired position for storage and still held by upper chain links with protrusions behind the upper element. lids, the pre-filled batch of granular bentonite in the vertical storage well below the lower face of the storage package being compacted at the same time as the spent nuclear fuel storage package was lowered. The movable basket with a vibrating intermediate ring is lowered on the movement screws to a defined distance above the level of already filled and uncompacted bentonite. The bentonite transport, dosing and compaction robot stands on a wide gauge track next to the transport robot, the vertical storage of storage packages and bentonite compaction and its flow divider above the vertical stacker, with the flow divider outlets following the bentonite drains with the vertical stacker hopper. A set of robot for transport, vertical storage of storage packages and compaction of bentonite and robot for transport, dosing and compaction of bentonite is ready for spreading of further batches and subsequent compaction of granular bentonite around the storage package with spent nuclear fuel in a vertical storage well.

GIANT. 14 Axonometric view of a storage corridor with vertical storage boreholes with chamfered edges and a wide-gauge track, on which there is a robot for transport, vertical storage of storage packages and bentonite compaction, a robot for transport, dosing and compaction of bentonite and a robot for transport and application of concrete, wherein the first vertical storage well on the right already comprises a storage package with spent nuclear fuel in compacted granular bentonite and is closed by a concrete stopper. The robot for transport, vertical storage of storage packages and bentonite compaction has a vertical stacker inserted in a vertical storage well, the storage package with spent nuclear fuel is lowered by chain sections to the desired position for storage and still held by upper chain links with protrusions behind the upper element. lids. The movable basket with a vibrating intermediate ring and a vibrating plate has compacted the poured layer of granular bentonite, and the storage package with spent nuclear fuel is already stored in the compacted granular bentonite from% of its height. The bentonite transport, dosing and compaction robot stands on a wide gauge track next to the transport robot, the vertical storage of storage packages and bentonite compaction and its flow divider above the vertical stacker, with the flow divider outlets following the bentonite drains with the vertical stacker hopper.

GIANT. 15 Axonometric view of a storage corridor with vertical storage boreholes with chamfered edges and a wide gauge rail, on which there is a robot for transport, vertical storage of storage packages and bentonite compaction, a robot for transport, dosing and compaction of bentonite and a robot for transport and application of concrete,

-9EN 2018 - 662 A3 wherein the first three vertical storage wells on the right already contain storage packages with spent nuclear fuel in compacted granular bentonite and are closed with a concrete stopper. Robot for transport, vertical storage of storage packages stands nearby without storage package with spent nuclear fuel with a vertical storage in the transport position. The robot for transporting, dosing and compacting bentonite is caught during the compaction of the granulated bentonite in the respective vertical storage well, by means of a circular vibrating plate lowered on the vertical guide into the working position.

GIANT. 16 Axonometric view of a storage corridor with vertical storage boreholes with chamfered neck edges and a wide gauge track, on which there is a robot for transport, vertical storage of storage packages and bentonite compaction, a robot for transport, dosing and compaction of bentonite and a robot for transport and application of concrete, wherein the first three vertical storage wells on the right already contain spent nuclear fuel storage packages in compacted granular bentonite and are closed by a concrete stopper. A robot for transport, vertical storage of storage packages without a storage package with spent nuclear fuel with a vertical storage in the transport position and a robot for transport, dosing and compaction of bentonite stand next to the respective vertical storage well. The robot for the transport and application of concrete is caught during the process of spreading and compacting the concrete in the appropriate vertical storage well, by means of a vibrating head lowered on the vertical guide into the working position.

GIANT. 17 Axonometric view of a robotic outlet chamber manipulator with a vertical manipulator arm, an outlet chamber effector with gripping elements fitting into the upper lid shape element when loading a spent nuclear fuel storage package into a vertical robot stacker for transport, vertical storage of storage packages and bentonite compaction.

GIANT. 18 General axonometric view of a surface workplace with an outlet chamber, in which there is a storage container with spent nuclear fuel storage packages, a robotic outlet chamber manipulator with an outlet chamber effector and a robot for transport, vertical storage of storage packages and bentonite compaction in the process of loading the spent nuclear fuel storage package as well as the charging station. The surface workplace also includes a bentonite and concrete warehouse with a granular bentonite tank with a feeder and robot for transport, dosing and compaction of bentonite in the granular bentonite loading process and a concrete tank with a feeder and robot for transport and application of concrete in the concrete loading process. The robot for transport, vertical storage of storage packages and bentonite compaction, the robot for transport, dosing and compaction of bentonite and the robot for transport and application of concrete are shown in a variant with driven wheels with unlimited steering. The premises of the surface workplace do not contain a wide-gauge track or a track turntable.

GIANT. 19 Axonometric view of a storage corridor with vertical storage wells and vaulted overheads and without a wide gauge track, the first vertical storage well on the right already containing a spent nuclear fuel storage package in compacted granular bentonite that fills the entire remaining volume of the vertical storage well. In the storage corridor, there is a robot for transport, vertical storage of storage packages and bentonite compaction and a robot for transport, dosing and compaction of bentonite, both in a variant with driven wheels with unlimited steering. The robot for transport, vertical storage of storage packages and bentonite compaction is shown in the process of inserting a vertical storage with a spent nuclear fuel storage package into another free vertical storage well. Robot for transport, dosing and compaction of bentonite

- 10GB 2018 - 662 A3 stands nearby.

Examples of embodiments of the invention

The robotic technological complex 1 for vertical storage of spent nuclear fuel storage packages in gradually compacted bentonite consists of three robotic cars of robot 2 for transport, vertical storage of storage packages and bentonite compaction, robot 3 for transport, dosing and compaction of bentonite and robot 4 for transport. and application of concrete.

The surface workplace 5 comprises an outlet chamber 6 and a storage 7 of bentonite and concrete. On the storage horizon 8 of the deep storage there is then a storage corridor 9 with vertical storage boreholes 10. The surface workplace 5 is connected to the storage horizon 8 of the deep storage by a wide gauge track 11 with a trolley 12, vertical storage boreholes 10 in the storage corridor 9 being situated between the wide gauge rails. dormitory 11.

The robot 2 for transport, vertical storage of storage packages and compaction of bentonite is designed as a rail car and consists of a frame 13 of a storage package car in which rail wheels 14 with an integrated traction electric drive are mounted.

A design cover 15 is placed on the frame 13 of the storage unit car. In the upper part of the frame 13 of the storage unit car, a bracket 16 is located at the rear edge, to which the swing arms 17 are attached, carrying at the same time the swing arm drives 18. At the end of the swinging arms 17, drives 19 for positioning the vertical stacker are inserted, connected to the pins of the frame 20 of the stacker, which is the basis of the vertical stacker 21.

The vertical stacker 21 comprises three closed chain sections 22 arranged longitudinally with a storage package of 120 ° each with homo-lower return rollers 23, the rotatable mounting of which is part of the stacker frame 20, the upper return rollers 23 being provided with individual chain drives 24. Between the functional branches the chain section 22 and the stacker frame 20 are each a sliding guide 25, and further each functional branch of the chain section 22 comprises at the beginning and end a chain link 26 with a protrusion at a length of the storage package, the lower chain link 26 with the protrusion adjoining the lower face 27. and the upper fits into the shaped element 28 of the upper lid.

The frame 20 of the stacker is formed in the upper part by a ring 29 of the frame, in which six bentonite leads 30 with a filling cone are fixedly mounted and on the ring 29 of the frame three drives 31 of moving screws controlling the moving screws 32 are mounted, the moving nuts being threaded rods 33 with internal thread, which together with the frame 34 of the vibrating intermediate ring form a movable basket 35, the bentonite drains 30 with the filling cone extending into corresponding six drain tubes 36 which are part of the movable basket 35, in the lower part of which there is a vibrating intermediate ring 37 formed by the frame 34 of the vibrating intermediate ring. and a vibrating plate 38, the discharge tubes 36 firmly anchored in the frame 34 of the vibrating intermediate ring extending into the cylindrical holes of the vibrating plate 38. The vibrating plate 38 is fixedly connected to the eccentric vibration generators 39 and between the frame 34 of the vibrating intermediate ring and the vibrating plate 38 of the vibrating intermediate ring 37. a single connecting element spring and damping segments 40.

In addition to the robot 2 for transport, vertical storage of storage packages and compaction of bentonite, a robot 3 for transport, dosing and compaction of bentonite is prepared on the wide-gauge track 11.

The basis of this is a rail car composed of a frame 41 of a bentonite car, on which a design cover 15 is placed and in which rail wheels 14 with an integrated traction electric drive are mounted. A granular bentonite container 42 with an air conditioning unit 43 is mounted on the car. The bottom of the granular bentonite container 42 is sloping longitudinally and in its groove

- 11 CZ 2018 - 662 A3 a discharge screw conveyor 44 is located along its entire length, which is followed by a vertical screw conveyor 45 leading along the front wall of the granular bentonite container 42 and followed by a horizontal screw conveyor 46 terminated by a discharge opening 47. Below the discharge opening 47 an adjustable granular bentonite flow divider 48 is located in a vertical double guide 50. On the opposite side of the granular bentonite hopper 42, the discharge screw conveyor 44 is extended and a spreading hopper 51 of granular bentonite 49 is attached to its extended part and next to it, at the rear of the robot 3 for transport, dosing and compaction of bentonite, a circular vibrating plate 52 is placed, supplemented by a vertical guide 53.

In addition to the robot 3 for transport, dosing and compaction of bentonite, a robot 4 for transport and application of concrete is ready. The basis of this robot 4 for transport and application of concrete is a rail car composed of a frame 54 of a concrete car, on which a design cover 15 is placed and in which rail wheels 14 with an integrated traction electric drive are mounted. A concrete hopper 55 with a respective holding, including a lower outlet opening 56, is mounted on the frame 54 of the concrete carriage, and a vibrating head 57 with a vertical guide 53 is mounted next to the axis of the rail car.

In the bentonite and concrete storage 7, a granular bentonite hopper 58 with a feeder and a concrete hopper 59 with a feeder are arranged next to the wide gauge track 1.

The wide gauge track 11 continues from the bentonite and concrete warehouse 7 to the outlet chamber 6, where it connects to the rail turntable 61. In the space of the outlet chamber 6 of the surface workplace 5 there is a storage container 62 and there is a robotic manipulator 60 of the outlet chamber with a vertical arm 63 of the manipulator. and an outlet chamber effector 64 with gripping elements 65 handling the spent nuclear fuel storage packages 66. From the storage package 62 of the storage packaging sets, a wide-gauge track 11 extends outwards in the space of the outlet chamber 6 via the rail turntable 61 and leads up to the storage horizon 8 of the deep storage.

In case the robotic technological complex 1 of vertical storage of storage packages with spent nuclear fuel in gradually compacted bentonite will not be able to use railways, ie also wide gauge rails 11 with trolley 12, rail wheels 14 with integrated traction electric drive can be replaced by driven wheels 67 with unlimited traffic. Then the spaces of the surface workplace 5, i.e. the outlet chamber 6 and the bentonite and concrete storage 7, will not be equipped with a wide gauge track 11 with a contact wire 12 and a rail turntable 61, instead of which there will be only a flat floor and a charging station 68 for charging electric accumulators 69 of the robot 2 for transport. vertical storage of storage packages and compaction of bentonite, robot 3 for transport, dosing and compaction of bentonite and robot 4 for transport and application of concrete. Likewise, the transport corridor between the surface workplace 5 and the storage horizon 8 of the deep repository and all spaces on the storage horizon 8 of the deep repository, in which the robot 2 for transport, vertical storage of storage packages and bentonite compaction, robot 3 for transport, dosing and compaction of bentonite and robot 4 for transport and application of concrete will not be equipped with a wide gauge track 11 with a contact wire 12.

In the storage corridor 9, it is possible to make a variant vertical storage well 10 without modifications, when the required height of the storage corridor 9 is greatest, or with modification of the vertical storage well 9 by creating a lateral chamfered edge 70 of the neck, thus reducing the required height of the storage corridor. Alternatively, it is possible to modify the storage corridor 9 by forming a vault 71 at a location above the vertical borehole 10, wherein the modification of the vertical storage borehole 10 can be combined with the modification of the storage corridor 9, thus achieving the lowest required height of the storage corridor 9.

Alternatively, the neck of the vertical storage well 10 without modification, or with a bevelled edge 70 of the neck, need not be filled with the concrete forming the concrete plug 72, but may also be filled with granular bentonite 49.

Function

- 12GB 2018 - 662 A3

The robotic technological complex 1 of vertical storage of spent nuclear fuel storage packages in gradually compacted bentonite ensures both transport and storage of spent nuclear fuel storage packages 66 in vertical storage wells 10 and their positioning, filling the free space of vertical storage well 10 with granular bentonite. 49, including closing the wellhead with a concrete plug 72.

The travel of the robot 2 for transport, vertical storage of storage packages and compaction of bentonite is enabled by rail wheels 14 with an integrated traction electric drive, mounted in the frame 13 of the storage package car.

The surface workplace 5 is connected to the storage horizon 8 of the deep repository by a wide-gauge track 11 with a trolley 12, changes of direction at intersections of travel routes are realized by rail turntables 61 and power supply of rail robotic devices is distributed by trolleys 12 along wide-gauge tracks 11.

The cover of the robot 2 for transport, vertical storage of storage packages and compaction of bentonite is provided by a design cover 15.

The spent nuclear fuel storage package 66 is inserted in the output chamber 6 of the surface workplace 5 from the storage package storage 62 by the output chamber robotic manipulator 60 by means of a vertical arm 63 of the output chamber effector 64 into the vertical storage 21 of the robot 2 for transport, vertical storage. packaging and bentonite compaction.

The vertical stacker 21 is a combination of movement of the robot 2 for transport, vertical storage of storage packages and compaction of bentonite by rail wheels 14 with integrated traction electric drive, further by swinging arms 17 swinging in the bracket 16 controlled by swing arm drives 18 and vertical stacker positioning drives 19 positioned to the vertical loading position.

The robotic outlet chamber manipulator 60 grips the outlet chamber effector 64 by means of gripping elements 65 by the upper lid shape element 28 of the spent nuclear fuel storage package 66 vertically stored in the storage package storage 62 and moves it over the vertical stacker 21 to its axis. At this stage, there are three chain links 26 with the protrusion of the chain sections 22 of the vertical stacker 21 in its upper part, i.e. just below the upper winch rollers 23. The robotic manipulator 60 of the outlet chamber uses a vertical arm 63 of the manipulator to lower the spent nuclear fuel storage package 66 between three chain sections 22 so that the lower face 27 of the spent nuclear fuel storage package 66 rests on the lower chain links 26 with protrusions and subsequently the spent nuclear fuel storage package 66 is inserted in a controlled manner into the vertical stacker 21 by synchronized operation of the drive 24. chain acting on the upper return pulleys 23 and the vertical arm 63 of the manipulator. The chain drives 24 are rigidly connected to a ring of the frame 29, which together with the adjoining support tube forms a stacker frame 20, the lower part of which is rigidly interconnected lower return rollers 23 enclosing the individual chain sections 22, their contact branches with the burnt-out storage package 66. nuclear fuel are stabilized by a sliding guide 25 firmly connected to the tube of the storage frame 20. As soon as the spent nuclear fuel storage package 66 of two thirds of its length is inserted in the vertical stacker 21, guided by chain sections 22 in the slideways 25, the effluent chamber effector 64 releases the spent nuclear fuel storage package 66 and the output chamber robotic manipulator 60. returns to its initial position in the outlet chamber 6. The spent nuclear fuel storage package 66 is further lowered inside the vertical stacker 21 until the upper chain links 26 with the chain section protrusions 22 engage the upper lid shape element 28 of the storage package 66. with spent nuclear fuel. The spent nuclear fuel storage package 66 is stored between the chain sections

The sliding guides 25 lie on the lower chain links 26 with protrusions and at the same time the upper chain links 26 with protrusions fit into the shaped element 28 of the upper lid of the spent nuclear fuel storage package 66.

Then, the robot 2 for transport, vertical storage of storage packages and compaction of bentonite tilts the swing arm 17 and the vertical stacker 21 with the storage package 66 with spent nuclear fuel to a transport position, which is optimized from in terms of the overall height of the robot 2 for transport, vertical storage of storage packages and compaction of bentonite and with regard to easy and most suitable insertion of the vertical storage 21 with storage package 66 with spent nuclear fuel into the vertical storage well 10 in the storage corridor 9.

In this transport position, the robot 2 for transport, vertical storage of storage packages and compaction of bentonite is moved along a wide gauge track 11 from the surface workplace 5 to the storage horizon 8 of the deep storage into the storage corridor 9 near the respective vertical storage well 10.

The first batch of granular bentonite 49 must first be poured to the bottom of the vertical storage well 10 by a robot 3 for transporting, dosing and compacting bentonite, based on a bentonite carriage frame 41 with rail wheels 14 with integrated traction electric drive on which the granular bentonite hopper 42 is mounted. with the air conditioning unit 43. The bentonite transport, dosing and compaction robot 3 moves the spreading hopper 51 over the respective vertical storage well 10. Calibration of the position of the bentonite transport, dosing and compaction robot 3 relative to the vertical storage well 10 will be performed by slowly traversing the wide gauge track 11. By means of the reverse operation of the discharge screw conveyor 44 and the spreading hopper 51, the robot 3 for transporting, dosing and compacting bentonite pours the first evenly distributed batch of granular bentonite 49 into the vertical storage well 10. It then travels along the wide gauge track 11 and frees space above the vertical robot 2 for transport, vertical storage of storage packaging files and compaction of bentonite.

The robot 2 for transport, vertical storage of storage packages and compaction of bentonite arrives above the respective vertical storage well 10 and inserts the vertical storage 21 with the spent nuclear fuel storage package 66 into the vertical storage well 10 from the transport position by synchronizing the travel movement of the transport robot 2. vertical storage of the storage packages and compaction of the bentonite relative to the vertical storage well JO, with the tilting and lowering movement of the vertical stacker 21 by the swing arm 17, the swing arm drives 18 and the vertical stacker positioning drive 19, the synchronized movement being optimized with the minimum required height of this working space in the storage corridor 9. By this combined movement, the vertical storage 21 is inserted into the vertical storage well 10, the axis of the spent nuclear fuel storage package 66 inside the vertical storage 21 being identical to the axis of the circular vertical storage well 10. .

The spent nuclear fuel storage package 66 is held between the chain sections 22 by chain links 26 with a protrusion which are in contact with both the lower face 27 and the shaped element 28 of the upper lid. The chain drives 24 actuate the chain section 22 and the spent nuclear fuel storage package 64 is lowered into the vertical storage well 10. The lower protruding chain links 26 are moved behind the lower return pulleys 23 and the spent nuclear fuel storage package 66 is held. upper chain links 26 with a protrusion behind the shaped element 28 of the upper lid. The robot 2 for transport, vertical storage of storage packages and compaction of bentonite lowers the storage package 66 with spent nuclear fuel by means of chain sections 22 and chain drive 24 to the desired position in the vertical storage well 10, whereby the desired compaction is achieved at the same time.

- 14GB 2018 - 662 A3 of granulated granular bentonite 49 under the storage package 66 with spent nuclear fuel. In this position, the spent nuclear fuel storage package 66 rests with its lower face 27 on the compacted granular bentonite 49 at the bottom of the vertical storage well 10 and is still held by chain links 26 with the chain section 22 protrusion 22 of the vertical storage. the spent nuclear fuel in the vertical storage well 10 is thus controlled and stable.

Now, while holding the spent nuclear fuel storage package 66 continuously by the chain links 26 with the protrusions of the chain sections 22, a movable basket 35 is started, which includes drain pipes 36 and parallel threaded rods 33 with internal threads which are in the lower parts connected by a frame 34 of the vibrating intermediate ring, the frame 34 of the vibrating intermediate ring together with the lower vibrating plate 38 forming a vibrating intermediate ring 37.

By lowering the movable basket 35, the vibrating intermediate ring 37 at its lower part reaches the surface of loose granular bentonite 49, when by moving the vibrating plate 38, under forces of three moving screws 32 acting from above on threaded rods 33 with internal thread of frame 34 of vibrating intermediate ring. , the rotation of the moving screws 32 being generated by the moving screw drives 31, which are mounted on the ring 29 of the frame. The process of compacting the granular bentonite 49 is carried out by vibrating the vibrating plate 38 of the vibrating intermediate ring 37, eccentric vibration generators 39 rotating in antiphase are firmly connected to the vibrating plate 38 and vibration damping is realized by spring and damping segments 40 located between the vibrating plate 38 and the vibrating intermediate ring frame. 34.

The robot 3 for transporting, dosing and compacting bentonite, standing nearby, uses a vertical double guide 50 to set the flow divider 48 to the highest possible working position and arrives on a wide gauge track 11 in the storage corridor 9 to the robot 2 for transporting, storing and storing storage packages. bentonite so that the flow divider 48 is directly above the vertical stacker 21. The bentonite transport, dosing and compaction robot 3 adjusts the height of the flow divider 48 by means of a vertical double guide 50 so that the outlets of the flow divider connect directly to the bentonite drains 30.

After compacting the first batch of granular bentonite 49 around the spent nuclear fuel storage package 66 at the bottom of the vertical storage well 10, the vibrating ring 37 is raised by a defined height and the resulting void volume is filled by supplying the required amount of granular bentonite 49 to the transport, dosing and bentonite compaction, wherein the granulated bentonite 49 is fed through a discharge screw conveyor 44, a vertical screw conveyor 45 and a horizontal screw conveyor 46, where at its end it passes through a discharge opening 47 and further gravitationally overflow divider 48 which evenly distributes falling granular bentonite. 49 into the individual hopper cones 30, which are part of the ring 29 of the frame of the vertical stacker 21 and finally fall through telescopically adjoining drain tubes 36 extending into the cylindrical recesses of the vibrating intermediate ring 37, thus allowing the supply and dosing of granular bentonite 49 below the vibrating rings 37 into the free space between the wall of the vertical storage well 10 and the outer surface of the spent nuclear fuel storage package 66. The process of compaction and distribution of another batch of granular bentonite 49 follows.

By this repeated operation, the free annular space of the vertical storage well 10 around the inserted spent nuclear fuel storage package 66 will be gradually filled with compacted granular bentonite 49 to approximately% of its height.

Subsequently, the robot 2 for transporting, storing the storage packages vertically and compacting the bentonite drops the spent nuclear fuel storage package 66 and lifts the vertical stacker 21 upwards out of the vertical bore 10 so that the bottom surface of the vibrating plate 38 of the movable basket 35 is in its initial position. was slightly above the spent nuclear fuel storage package 66 in the vertical storage well 10. Dropping process

- 15 CZ 2018 - 662 A3 of the storage package 66 with spent nuclear fuel and after extending the vertical stacker 21 is possible due to synchronization of movement of chain sections 22 with lower chain links 26 with protrusions by chain drive 24 downwards, with movements of swinging arms 17 rotated swing arm drives 18 with rotary movement of the vertical stacker 21 by means of vertical stacker positioning drives 19 and slow movement of the robot 2 for transport, vertical storage of storage packages and compaction of bentonite along a wide gauge track 11 in the storage corridor 9 above the vertical storage well 10 to allow smooth vertical moving the vertical stacker 21 upwards. Simultaneously with this movement of the vertical stacker 21, the vertical extension movement of the flow distributor 48 will be synchronized by means of the vertical double guide 50 of the robot 3 for transporting, dosing and compacting the bentonite.

This is followed by a repeated process of pouring and compacting further layers of granular bentonite 49 around the spent nuclear fuel storage package 66 stored in the vertical storage well JO until the level of compacted granular bentonite 49 reaches the same level as the spent nuclear fuel storage package 66.

The robot 3 for transporting, dosing and compacting bentonite sets the flow divider 48 to the highest possible working position by means of a vertical double guide 50 and travels along the wide gauge track 11 in the storage corridor 9. Subsequently, the vertical storage 21 of the robot 2 for transporting, storing and storing storage packages compaction of bentonite by inverse synchronization of movements transforms back to the transport position. The robot 2 for transport, vertical storage of storage packages and compaction of bentonite will return to the outlet chamber 6 of the surface workplace 5, where another storage package 66 with spent nuclear fuel will be loaded into it.

The robot 3 for transporting, dosing and compacting bentonite moves the spreading hopper 51 over the respective vertical storage well 10. Calibration of the position of the robot 3 for transporting, dosing and compacting bentonite relative to the vertical storage well 10 will be performed by slowly traversing the wide gauge track 11. Using the reverse run of the auger. of the conveyor 44 and the spreading hopper 51, the robot 3 for transporting, dosing and compacting the bentonite pours another evenly distributed batch of granular bentonite 49 into the vertical storage well 10, whereby the upper face of the spent nuclear fuel storage package 66 is backfilled and subsequently compacted. that the robot 3 for transporting, dosing and compacting bentonite travels along the wide-gauge track 11 and a circular vibrating plate 52 actuated by means of a vertical guide 53 is put into operation, whereby the last layer of granular bentonite 49 is subsequently compacted.and compaction of the bentonite is terminated. The robot 3 for transporting, dosing and compacting bentonite returns to the bentonite warehouse 7 and the concrete of the surface workplace 5 to replenish the granular bentonite hopper 42 located thereon by moving it under the granular bentonite hopper 58 with a feeder.

It is replaced by a concrete transport and application robot 4 consisting of a frame 54 of a concrete car fitted with rail wheels 14 with an integrated traction electric drive, on which a concrete hopper 55 is mounted so that the concrete outlet 56 is above the neck of the vertical storage well 10 and In this position, the neck of the vertical storage well 10 will be poured into the level of the storage corridor 9 on the storage horizon 8 of the deep storage, whereby the car will move so that the vibrating head 57 is put into operation to compact the applied concrete, creating a concrete plug 72 of the vertical storage well 10. .

At the end of this operation, the robot 4 for transport and application of concrete travels along the wide-gauge track 11 via the rail turntable 61 to the bentonite and concrete storage 7 of the surface workplace 5 under the concrete hopper 59 with a feeder to replenish concrete reserves.

After refilling, robot 2 for transport, vertical storage of storage packages and bentonite compaction, robot 3 for transport, dosing and compaction of bentonite and robot 4 for

- 16GB 2018 - 662 A3 transport and application of concrete again from the surface workplace 5 to the storage horizon 8 of the deep repository and the process of vertical deposition of the storage package 66 with spent nuclear fuel can be repeated.

Alternatively, in the robot 2 for transport, vertical storage of storage packages and bentonite compaction, the robot 3 for transport, dosing and compaction of bentonite and the robot 4 for transport and application of concrete, the castors 14 with integrated traction electric drive can be exchanged for driven wheels 67 with unrestricted steering. . In such a case, wide-gauge rails 11 with trolleys 12 and rail turntables 61 will not be installed in the robotic technological complex 1 for vertical storage of spent nuclear fuel storage packages in gradually compacted bentonite. Robot 2 for transport, vertical storage of storage packages and bentonite compaction, robot 3 for transport, dosing and compaction of bentonite and the robot 4 for transport and application of concrete will be equipped with electric accumulators 69 and the outlet chamber 6 will be supplemented by a charging station 68.

Also the storage corridors 9, including the vertical storage wells 10, can be made alternatively. The vertical storage wells 10 can be made with a chamfered edge 70 of the neck, but also without this modification, but then it is necessary to take into account the greater height of the storage corridor 9, or it is possible to make a vault 71 over each vertical storage well 10.

The vertical storage wells 10 can be closed with a concrete plug 72 as described above, or only with compacted granular bentonite 49. In case of closing the vertical storage well 10 with compacted granular bentonite 49 the concrete transport and application robot 4 and the concrete hopper 59 with feeder were not part of the robotic technology. complex 1 of vertical storage of storage packages with spent nuclear fuel in gradually compacted bentonite.

Description of the storage process in variants

The description of the processes is focused only on the process of transport and vertical storage of spent nuclear fuel storage packages 66, compaction of granular bentonite 49 in vertical storage well 10 and alternatively concreting concrete plug 72 in robotic technological complex 1 of vertical storage of spent nuclear fuel storage packages into gradually compacted bentonite by means of a robot 2 for transport, vertical storage of storage packages and compaction of bentonite, a robot 3 for transport, dosing and compaction of bentonite and a robot 4 for transport and application of concrete in the considered variants.

A. Storage of a spent nuclear fuel storage package in a vertical storage well with a bevelled neck closed by a concrete stopper

1) Robot 2 for transport, vertical storage of storage packages and bentonite compaction is located at its starting point, ie in the outlet chamber 6 of the surface workplace 5. Robot 3 for transport, dosing and compaction of bentonite and robot 4 for transport and application of concrete is located at its starting point, ie in the warehouse 7 of bentonite and concrete of the surface workplace 5. Robot 2 for transport, vertical storage of storage packages and compaction of bentonite, robot 3 for transport, dosing and compaction of bentonite and robot 4 for transport and application of concrete stand on wide gauge track 11 and are supplied from the trolley 12, which is part of the track.

2) The robot 3 for transporting, dosing and compacting bentonite is moved along a wide gauge track 11 under a granular bentonite hopper 58 with a feeder, from which the granular bentonite 49 is poured into a granular bentonite hopper 42 with an air conditioning unit 43 located on the bentonite car frame 41.

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3) The loaded robot 3 for transport, dosing and compaction of bentonite passes along a wide-gauge track 11 from the bentonite and concrete warehouse 7 to the outlet chamber 6 of the surface workplace 5 to the track turntable 61.

4) The rail turntable 61, together with the robot 3 for transporting, dosing and compacting bentonite, rotates by a defined angle so as to follow the wide gauge track 11 leading from the outlet chamber 6 of the surface workplace 5 to the storage horizon 8 of the deep repository.

5) In the meantime, the storage package 66 with the spent nuclear fuel is loaded into the robot 2 for transport, the vertical storage of the storage packages and the compaction of the bentonite. The robot 2 for transport, vertical storage of storage packages and compaction of bentonite, standing on a wide gauge track 11 in the outlet chamber 6 of the surface workplace 5 next to the storage package 62, positions the swing arm 17 and the drives 19 for positioning the vertical stacker. to the vertical loading position. The robotic outlet chamber manipulator 60 moves over the storage package storage 62, specifically over the selected spent nuclear fuel storage package 66, and uses the vertical manipulator arm 63 to move the output chamber effector 64 up to the selected spent fuel storage package 66.

6) The robotic manipulator 60 of the outlet chamber grasps the spent nuclear fuel storage package 66 by the upper lid shaped element 28 by means of gripping elements 65 of the output chamber effector 64 and moves it to a position above the prepared robot 2 for transport, vertical storage of storage packages and bentonite compaction. .

7) Rotate the vertical stacker 21 of the robot 2 for transport, vertical storage of storage packages and compaction of bentonite by means of the chain drive 24 of the chain section 22 so that the lower chain links 26 with the chain section protrusion 22 are at the top, just below the upper return rollers 23.

8) The robotic manipulator 60 of the outlet chamber uses the vertical arm 63 of the manipulator to lower the spent nuclear fuel storage package 66 over the vertical stacker 21 between the chain sections 22 so that the lower face 27 abuts the lower chain links 26 with a protrusion. Subsequently, the process of lowering the spent nuclear fuel storage package 66 into the vertical stacker 21 continues, the movement of the vertical arm 63 of the manipulator being synchronized with the movement of the chain sections 22 over the homo-lower return pulleys 23 by chain drives 24.

9) As soon as the spent nuclear fuel storage package 66 of two thirds of its length is inserted in the vertical storage 21, guided by chain sections 22 in the slideways 25, the effector chamber effector 64 releases the spent nuclear fuel storage package 66 and the robotic manipulator 60 output. the chamber returns to its initial position in the outlet chamber 6.

10) The spent nuclear fuel storage package 66 is further lowered inside the vertical stacker 21 until the upper chain links 26 with chain section protrusions 22 engage the spent fuel storage package 66 with the upper lid shape member 28. The spent nuclear fuel storage package 66 is mounted between the chain sections 22 supported by the slideways 25, the lower face 27 lying on the lower protruding chain links 26 and at the same time the upper protruding chain links 26 fitting into the upper lid storage member shape member 28.

- 18 CZ 2018 - 662 A3 with spent nuclear fuel.

11) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite tilts the swing arm 17 and the vertical stacker 21 with the storage package 66 with spent nuclear fuel into the transport position by means of the swing arm drives 18 and the vertical stacker positioning drives 19.

12) A robot 3 for transporting, dosing and compacting bentonite standing on a rail turntable 61 with a robot 2 for transporting, storing storage packages and compacting bentonite standing on a wide gauge track 11 in the outlet chamber 6 pass together from the outlet chamber 6 of the surface workplace 5 a wide-gauge track 11 on the storage horizon 8 of the deep storage into the storage corridor 9 in the vicinity of the vertical storage well 10, into which the storage package 66 with the spent nuclear fuel will be stored.

13) The robot 3 for transporting, dosing and compacting bentonite moves over the respective vertical storage well 10 so that its spreading hopper 51 is above the vertical storage well 10, the position calibration will be performed by slowly traversing the wide gauge track 11 in the storage corridor 9.

14) By means of the reverse operation of the discharge screw conveyor 44 and the spreading hopper 51, the required dose of granular bentonite 49 is poured from the granular bentonite hopper 42 of the robot 3 for transporting, dosing and compacting bentonite to the bottom of the vertical storage well 10.

15) Then, the robot 3 for transporting, dosing and compacting the bentonite travels along the wide-gauge track 11 and releases the given vertical storage well 10 for storing the storage package 66 with the spent nuclear fuel.

16) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite is moved along a wide-gauge track 11 over a respective vertical storage well 10 in which the first batch of uncompacted granular bentonite 49 has already been filled.

17) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite inserts the vertical stacker 21 with the storage package 66 with spent nuclear fuel into the respective vertical well 10. The degree of insertion of the vertical stacker 21 into the vertical storage well 10 and the height distance of the vertical stacker. 21 from the bottom of the vertical storage well 10 is defined by the required parameters for storing the spent nuclear fuel storage package 66 in the vertical storage well 10. The insertion process is possible by synchronizing the swing arm movements 17 rotated by the swing arm drives 18 with the rotary stacker 21. 19 positioning of the vertical stacker and with slow movement of the robot 2 for transport, vertical storage of storage packages and compaction of bentonite along a wide gauge track 11 in the storage corridor 9 above the vertical storage well 10, which allows smooth transformation of the vertical stacker 21 with the spent nuclear fuel storage package 66 from the transport position to the vertical position in the vertical storage well 10.

18) The spent nuclear fuel storage package 66 is held between the chain sections 22 by chain links 26 with a protrusion which are in contact with both the lower face 27 and the shaped element 28 of the upper lid. The chain drives 24 actuate the chain section 22 and the spent nuclear fuel storage package 66 is lowered into the vertical storage well 10. The lower chain links 26 with the protrusion are moved behind

The lower return pulleys 23 and the spent nuclear fuel storage package 66 are held by upper chain links 26 with a protrusion behind the shape element 28 of the upper lid.

19) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite starts the storage package 66 with spent nuclear fuel by means of chain sections 22 and chain drives 24 to the desired position in the vertical storage well JO, whereby the desired compaction of granulated granular bentonite is achieved. 49 under the spent nuclear fuel storage package 66. In this position, the spent nuclear fuel storage package 66 rests with its lower face 27 on the compacted granular bentonite 49 at the bottom of the vertical storage well 10 and is still held by chain links 26 with the chain section 22 protrusion 22 of the vertical storage. the spent nuclear fuel in the vertical storage well 10 is thus controlled and stable.

20) The robot 3 for transporting, dosing and compacting bentonite standing nearby adjusts the flow distributor 48 by means of a vertical double guide 50 to its highest functional position and arrives on the robot 2 for transport, vertical storage of storage packages and compaction of bentonite via a wide gauge track 11.

21) The robot 3 for transporting, dosing and compacting bentonite moves the flow distributor 48 over the vertical stacker 21 so that the outlets of the flow distributor 48 follow the bentonite drains 30 with the filling cone and adjust (decrease) the vertical distributor 48 as required by a vertical double guide 50. .

22) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite lowers the movable basket 35 by means of moving screw drives 31 on moving screws 32 with threaded rods 33 with internal thread down to a defined distance of vibrating plate 38 from the bottom of vertical storage bore JO, respectively. from the level of granular bentonite 49 around the spent nuclear fuel storage package 66.

23) The robot 3 for transporting, dosing and compacting bentonite is poured by means of a discharge screw conveyor 44, a vertical screw conveyor 45 and a horizontal screw conveyor 46 through a discharge opening 47, a flow distributor 48, bentonite drains 30 with a filling cone and discharge pipes 36 of the transport robot 2. , vertically storing the storage packages and compacting the bentonite defined batch of granular bentonite 49 from the granular bentonite reservoir 42 into a vertical storage well 10, the uniform distribution of the batch of granular bentonite 49 around the spent nuclear fuel storage package 66 being provided by a flow divider 48.

24) The supply of granular bentonite 49 is stopped. The robot 2 for transporting, storing storage packages vertically and compacting bentonite activates the eccentric vibration generators 39 of the vibrating plate 38 of the vibrating ring 37 and gradually lowering the movable basket 35 by means of moving screw drives 31 on moving screws 32 with threaded rods 33 with internal thread downwards. of the pressure exerted by the moving screws 32 with the moving screw drives 31 and the vibration of the vibrating plate 38 compacts the poured batch of granular bentonite 49 to the desired density.

25) Subsequently, the movable basket 35 is moved upwards by a defined distance by means of the drive screw drives 31 on the screw screws 32 with threaded rods 33 with an internal thread, so that another defined dose of granular bentonite 49 can be poured.

-20EN 2018 - 662 A3

The eccentric vibration generators 39 of the vibration plate 38 mounted on the spring and damping segments 40 are deactivated.

26) This is followed by another batch of granular bentonite 49 being poured into the vertical storage well 10. The described process of pouring and subsequently compacting the individual layers of granular bentonite 49 is repeated until the spent nuclear fuel storage package 66 of its height is stored in compacted granular bentonite. 49.

27) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite drops the storage package 66 with spent nuclear fuel and lifts the vertical stacker 21 upwards out of the vertical bore 10 so that the bottom surface of the vibrating plate 38 of the movable basket 35 in its initial position. position was slightly above the spent nuclear fuel storage package 66 in the vertical storage well 10. The process of dropping the spent nuclear fuel storage package 66 and extending the vertical storage 21 is possible by synchronizing the movements of the chain sections 22 with the lower chain links 26 with protrusions 24 chains downwards, with swing arm movements 17 rotated by swing arm drives 18 with vertical stacker rotary movement 21 by means of vertical stacker positioning drives 19 and slow movement of robot 2 for transport, vertical storage of storage packages and compaction of bentonite along wide gauge track 11 in storage corridor 9 above the vertical storage well 10, which allows a smooth vertical upward movement of the vertical storage 21. Simultaneously with this movement of the vertical stacker 21, the vertical extension movement of the flow distributor 48 will be synchronized by means of the vertical double guide 50 of the robot 3 for transporting, dosing and compacting the bentonite.

28) This is followed by a process of pouring and compacting further layers of granular bentonite 49 around the spent nuclear fuel storage package 66 stored in the vertical storage well 10 to the level of reaching the compacted granular bentonite 49 to the same height as the spent nuclear fuel storage package 66.

29) The robot 3 for transporting, dosing and compacting bentonite raises the flow distributor 48 to the highest functional position by means of a vertical double guide 50 and travels along the wide-gauge track 11 from the respective vertical storage well 10.

30) The robot 2 for transport, vertical storage of storage packaging files and compaction of bentonite completely extends the vertical stacker 21 from the vertical storage well 10 and transforms the vertical stacker 21 into a transport position by inverse synchronization of movements.

31) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite will return along the wide gauge track 11 from the storage horizon 8 of the deep repository to the outlet chamber 6 of the surface workplace 5, where another storage package 66 with spent nuclear fuel will be loaded into it. .

32) The robot 3 for transporting, dosing and compacting bentonite, standing nearby, moves back over the respective vertical storage well 10 so that its spreading hopper 51 is above the vertical storage well 10, the position calibration will be performed by slowly traversing the wide gauge track 11 in the storage corridor 9.

33) By means of the reverse operation of the discharge screw conveyor 44 and the spreading hopper 51, the required dose of granulated bentonite is poured from the granular bentonite hopper 42 of the bentonite robot 3 for transporting, dosing and compacting bentonite to the spent nuclear fuel storage package 66 stored in the vertical storage well 10.

-21 CZ 2018 - 662 A3

34) Then the robot 3 for transporting, dosing and compacting the bentonite travels along the wide gauge track 11 so that the circular vibrating plate 52 is above the vertical storage well 10, the position calibration will be performed by slowly traversing the wide gauge track 11 in the storage corridor 9.

35) The robot 3 for transporting, dosing and compacting bentonite activates the circular vibrating plate 52 and by means of the vertical guide 53 lowers the circular vibrating plate 52 onto the loose granular bentonite 49 in the vertical storage well 10. By the pressure exerted by the vertical guide 53 and the vibrations of the circular vibrating plate 52 compacts the circular vibrating plate 52 of the robot 3 for transporting, dosing and compacting the bentonite granulated bentonite 49 in the vertical storage well 10 to the desired density.

36) Depending on the desired height of the bentonite barrier of compacted granular bentonite 49 above the spent nuclear fuel storage package 66 in the vertical storage well 10, the process of spreading a defined layer of granular bentonite 49 and its subsequent compaction by a circular vibrating head 52 in the vertical storage well 10 may be several times. repeated until the desired level is reached.

37) After compacting the last layer of granular bentonite 49 in the vertical storage well 10, the robot 3 for transporting, dosing and compacting bentonite by means of the vertical guide 53 moves the circular vibrating plate 52 out of the vertical storage well 10 to the initial position.

38) The robot 3 for transport, dosing and compaction of bentonite will return along the wide gauge track 11 from the storage horizon 8 of the deep repository to the bentonite and concrete storage 7 of the surface workplace 5, where another batch of granular bentonite 49 will be poured into it.

39) In the meantime, in the warehouse 7 of bentonite and concrete of the surface workplace 5, the required batch of concrete is loaded into the robot 4 for the transport and application of concrete. The concrete transport and application robot 4 is moved from its starting position along a wide gauge track 11 in a bentonite and concrete warehouse 7 under a concrete hopper 59 with a feeder, from which the required batch of concrete is loaded into a concrete hopper 55 mounted on a concrete car frame 54.

40) The loaded robot 4 for the transport and application of concrete travels along the wide-gauge track 11 from the bentonite and concrete warehouse 7 to the outlet chamber 6 of the surface workplace 5 to the track turntable 61.

41) The rail turntable 61, together with the robot 4 for transport and application of concrete, rotates by a defined angle so as to follow the wide-gauge track 11 leading from the outlet chamber 6 of the surface workplace 5 to the storage horizon 8 of the deep repository.

42) The concrete transport and application robot 4 arrives along the wide gauge track 11 in the storage corridor 9 above the respective vertical storage well 10 so that its outlet 56 is located above the vertical storage well 10, the position calibration will be performed by slowly traversing the wide gauge track 11 in storage corridor 9.

43) The concrete transport and application robot 4 applies concrete from the concrete tank 55 to the vertical storage well 10 through the outlet opening 56. Since the vertical storage well 10 is provided with a chamfered edge 70 of the neck, the concrete transport and application robot 4 will move at a certain stage of concrete application. along the wide gauge track 11 so that the concrete is suitably applied to the remaining free space of the vertical storage well 10.

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44) Subsequently, the robot 4 for transporting and applying concrete travels along the wide-gauge track 11 so that its vibrating head 57 is above the respective vertical storage well 10, the position calibration will be performed by slowly moving along the wide-gauge track 11 in the depositing corridor 9.

45) The concrete transport and application robot 4 activates the vibrating head 57 and lowers the vibrating head 57 into the concrete by means of a vertical guide 53. Due to the vibrations of the vibrating head 57, the concrete is evenly distributed and compacted in the upper part of the vertical storage bore 10. Since the vertical storage bore 10 is equipped with a chamfered edge 70, the concrete transport and application robot 4 will move widely during the concrete spreading and compaction process. rail 11 so that the applied concrete is well spread and compacted even in the chamfered edge space 70 of the neck of the vertical storage well 10. This will form a concrete plug 72 of the vertical storage well 10 containing a spent nuclear fuel storage package 66 embedded in compacted granular bentonite 49. .

46) Then the robot 4 for transport and application of concrete returns back along the wide-gauge track 11 from the storage horizon 8 of the deep repository to the bentonite and concrete storage 7 of the surface workplace 5, where another batch of concrete will be loaded into it.

B. Storage of a spent nuclear fuel storage package in a vertical storage well closed with a concrete stopper

1) Robot 2 for transport, vertical storage of storage packages and bentonite compaction is located at its starting point, ie in the outlet chamber 6 of the surface workplace 5. Robot 3 for transport, dosing and compaction of bentonite and robot 4 for transport and application of concrete is located at its starting point, ie in the warehouse 7 of bentonite and concrete of the surface workplace 5. Robot 2 for transport, vertical storage of storage packages and compaction of bentonite, robot 3 for transport, dosing and compaction of bentonite and robot 4 for transport and application of concrete stand on wide gauge track 11 and are supplied from the trolley 12, which is part of the track.

2) The robot 3 for transporting, dosing and compacting bentonite is moved along a wide gauge track 11 under a granular bentonite hopper 58 with a feeder, from which granular bentonite 49 is poured into a granular bentonite hopper 42 with an air conditioning unit 43 located on the bentonite car frame 44.

3) The loaded robot 3 for transport, dosing and compaction of bentonite passes along a wide-gauge track 11 from the bentonite and concrete warehouse 7 to the outlet chamber 6 of the surface workplace 5 to the track turntable 61.

4) The rail turntable 61, together with the robot 3 for transporting, dosing and compacting bentonite, rotates by a defined angle so as to follow the wide gauge track 11 leading from the outlet chamber 6 of the surface workplace 5 to the storage horizon 8 of the deep repository.

5) In the meantime, the storage package 66 with the spent nuclear fuel is loaded into the robot 2 for transport, the vertical storage of the storage packages and the compaction of the bentonite. The robot 2 for transport, vertical storage of storage packages and compaction of bentonite, standing on a wide gauge track 11 in the outlet chamber 6 of the surface workplace 5 next to the storage package 62, positions the swing arm 17 and the drives 19 for positioning the vertical stacker. to the vertical loading position. Robotic manipulator 60

-23 CZ 2018 - 662 A3 of the outlet chamber moves over the storage package 62 of storage packages, namely over the selected storage package 66 with spent nuclear fuel and by means of the vertical arm 63 of the manipulator moves through the effector 64 of the outlet chamber up to the selected storage package 66 with spent nuclear fuel. .

6) The robotic manipulator 60 of the outlet chamber grasps the spent nuclear fuel storage package 66 by the upper lid shaped element 28 by means of gripping elements 65 of the output chamber effector 64 and moves it to a position above the prepared robot 2 for transport, vertical storage of storage packages and bentonite compaction. .

7) Rotate the vertical stacker 21 of the robot 2 for transport, vertical storage of storage packages and compaction of bentonite by means of the chain drive 24 of the chain section 22 so that the lower chain links 26 with the chain section protrusion 22 are at the top, just below the upper return rollers 23.

8) The robotic manipulator 60 of the outlet chamber uses the vertical arm 63 of the manipulator to lower the spent nuclear fuel storage package 66 over the vertical stacker 21 between the chain sections 22 so that the lower face 27 abuts the lower chain links 26 with a protrusion. Subsequently, the process of lowering the spent nuclear fuel storage package 66 into the vertical stacker 2R continues, the movement of the vertical arm 63 of the manipulator being synchronized with the movement of the chain sections 22 over the homo-lower return pulleys 23 by chain drives 24.

9) As soon as the spent nuclear fuel storage package 66 of two thirds of its length is inserted in the vertical storage 21, guided by chain sections 22 in the slideways 25, the effector chamber effector 64 releases the spent nuclear fuel storage package 66 and the robotic manipulator 60 output. the chamber returns to its initial position in the outlet chamber 6.

10) The spent nuclear fuel storage package 66 is further lowered inside the vertical stacker 21 until the upper chain links 26 with chain section protrusions 22 engage the spent fuel storage package 66 with the upper lid shape member 28. The spent nuclear fuel storage package 66 is located between the chain sections 22 supported by the slideways 25, the lower face 27 lying on the lower protruding chain links 26 and at the same time the upper protruding chain links 26 fitting into the shaped cover member 28 of the upper lid of the storage package 66. with spent nuclear fuel.

11) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite tilts the swing arm 17 and the vertical stacker 21 with the storage package 66 with spent nuclear fuel into the transport position by means of the swing arm drives 18 and the vertical stacker positioning drives 19.

12) A robot 3 for transporting, dosing and compacting bentonite, standing on a rail turntable 61 with a robot 2 for transporting, storing storage packages and compacting bentonite standing on a wide gauge track 11 in the outlet chamber 6, passes together from the outlet chamber 6 of the surface workplace 5 a wide-gauge track 11 on the storage horizon 8 of the deep storage into the storage corridor 9 in the vicinity of the vertical storage well 10, into which the storage package 66 with the spent nuclear fuel will be stored.

13) The robot 3 for transporting, dosing and compacting bentonite moves over the respective vertical storage well 10 so that its spreading hopper 51 is located above the vertical storage well.

-24EN 2018 - 662 A3 borehole 10, position calibration will be performed by slow travel on the wide gauge track 11 in the storage corridor 9.

14) By means of the reverse operation of the discharge screw conveyor 44 and the spreading hopper 51, the required dose of granular bentonite 49 is poured from the granular bentonite hopper 42 of the robot 3 for transporting, dosing and compacting bentonite to the bottom of the vertical storage well 10.

15) Then, the robot 3 for transporting, dosing and compacting the bentonite travels along the wide-gauge track 11 and releases the given vertical storage well 10 for storing the storage package 66 with the spent nuclear fuel.

16) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite is moved along a wide-gauge track 11 over a respective vertical storage well 10 in which the first batch of uncompacted granular bentonite 49 has already been filled.

17) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite inserts the vertical stacker 21 with the storage package 66 with spent nuclear fuel into the respective vertical well 10. The degree of insertion of the vertical stacker 21 into the vertical storage well 10 and the height distance of the vertical stacker. 21 from the bottom of the vertical storage well 10 is defined by the required parameters for storing the spent nuclear fuel storage package 66 in the vertical storage well 10. The insertion process is possible by synchronizing the swing arm movements 17 rotated by the swing arm drives 18 with the rotary stacker 21. 19 positioning of the vertical stacker and with slow movement of the robot 2 for transport, vertical storage of storage packages and compaction of bentonite along a wide gauge track 11 in the storage corridor 9 above the vertical storage well 10, which allows smooth transformation of the vertical stacker 21 with the spent nuclear fuel storage package 66 from the transport position to the vertical position in the vertical storage well 10. Since the vertical storage well 10 does not have a chamfered neck edge 70, the process of transforming the vertical storage 21 positions requires a larger working corridor 9. In order not to increase the whole profile of the storage corridor 9, the storage corridor 9 may be provided at a location above each vertical storage well 10 with a vault 71.

18) The spent nuclear fuel storage package 66 is held between the chain sections 22 by chain links 26 with a protrusion which are in contact with both the lower face 27 and the shaped element 28 of the upper lid. The chain drives 24 actuate the chain section 22 and the spent nuclear fuel storage package 66 is lowered into the vertical storage bore 10. The lower chain links 26 with the protrusion are moved behind the lower return pulleys 23 and the spent nuclear fuel storage package 66 is held. upper chain links 26 with a protrusion behind the shaped element 28 of the upper lid.

19) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite starts the storage package 66 with spent nuclear fuel by means of chain sections 22 and chain drives 24 to the desired position in the vertical storage well 10, thus simultaneously compacting the poured granular bentonite. 49 under the spent nuclear fuel storage package 66. In this position, the spent nuclear fuel storage package 66 rests with its lower face 27 on the compacted granular bentonite 49 at the bottom of the vertical storage well 10 and is still held by chain links 26 with the chain section 22 protrusion 22 of the vertical storage. the spent nuclear fuel in the vertical storage well 10 is thus controlled and stable.

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20) The robot 3 for transporting, dosing and compacting bentonite standing nearby adjusts the flow distributor 48 by means of a vertical double guide 50 to its highest functional position and arrives on the robot 2 for transport, vertical storage of storage packages and compaction of bentonite via a wide gauge track 11.

21) The robot 3 for transporting, dosing and compacting bentonite moves the flow distributor 48 over the vertical stacker 21 so that the outlets of the flow distributor 48 follow the bentonite drains 30 with the filling cone and adjust (decrease) the vertical distributor 48 as required by a vertical double guide 50. .

22) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite lowers the movable basket 35 by means of a moving screw drive 31 on moving screws 32 with threaded rods 33 with internal thread down to a defined distance of the vibrating plate 38 from the bottom of the vertical storage well 10 or from the level of granular bentonite 49 around the spent nuclear fuel storage package 66.

23) The robot 3 for transporting, dosing and compacting bentonite is poured by means of a discharge screw conveyor 44, a vertical screw conveyor 45 and a horizontal screw conveyor 46 through a discharge opening 47, a flow distributor 48, bentonite drains 30 with a filling cone and discharge pipes 36 of the transport robot 2. , vertically storing the storage packages and compacting the bentonite defined batch of granular bentonite 49 from the granular bentonite reservoir 42 into a vertical storage well 10, the uniform distribution of the batch of granular bentonite 49 around the spent nuclear fuel storage package 66 being provided by a flow divider 48.

24) The supply of granular bentonite 49 is stopped. The robot 2 for transporting, storing storage packages vertically and compacting bentonite activates the eccentric vibration generators 39 of the vibrating plate 38 of the vibrating ring 37 and gradually lowering the movable basket 35 by means of moving screw drives 31 on moving screws 32 with threaded rods 33 with internal thread downwards. of the pressure exerted by the moving screws 32 with the moving screw drives 31 and the vibration of the vibrating plate 38 compacts the poured batch of granular bentonite 49 to the desired density.

25) Subsequently, the movable basket 35 is moved upwards by a defined distance by means of moving screw drives 31 on moving screws 32 with threaded rods 33 so that another defined dose of granular bentonite 49 can be poured. Eccentric vibration generators 39 of the vibrating plate 38 mounted on the spring and damping segments 40 are deactivated.

26) This is followed by another batch of granular bentonite 49 being poured into the vertical storage well 10. The described process of pouring and subsequently compacting the individual layers of granular bentonite 49 is repeated until the spent nuclear fuel storage package 66 of its height is stored in compacted granular bentonite. 49.

27) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite drops the storage package 66 with spent nuclear fuel and lifts the vertical stacker 21 upwards out of the vertical bore 10 so that the bottom surface of the vibrating plate 38 of the movable basket 35 in its initial position. position was slightly above the spent nuclear fuel storage package 66 in the vertical storage well 10.

-26CZ 2018 - 662 A3

The process of dropping the spent nuclear fuel storage package 66 and extending the vertical stacker 21 is possible by synchronizing the movements of the chain sections 22 with the lower chain links 26 with protrusions by downward chain drives 24 with movements of the swing arms 17 pivoted by the swing arm drives 18 of the vertical stacker 21 by means of a vertical stacker positioning drive 19 and by slowly moving the robot 2 for transport, vertical storage of storage packages and compaction of bentonite along a wide gauge track 11 in the storage corridor 9 above the vertical storage well 10 which allows smooth vertical upward movement of the vertical stacker 21. Simultaneously with this movement of the vertical stacker 21, the vertical extension movement of the flow distributor 48 will be synchronized by means of the vertical double guide 50 of the robot 3 for transporting, dosing and compacting the bentonite.

28) This is followed by a process of pouring and compacting further layers of granular bentonite 49 around the spent nuclear fuel storage package 66 stored in the vertical storage well 10 to the level of reaching the compacted granular bentonite 49 to the same height as the spent nuclear fuel storage package 66.

29) The robot 3 for transporting, dosing and compacting bentonite raises the flow distributor 48 to the highest functional position by means of a vertical double guide 50 and travels along the wide-gauge track 11 from the respective vertical storage well 10.

30) The robot 2 for transport, vertical storage of storage packaging files and compaction of bentonite completely extends the vertical stacker 21 from the vertical storage well 10 and transforms the vertical stacker 21 into a transport position by inverse synchronization of movements.

31) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite will return along the wide gauge track 11 from the storage horizon 8 of the deep repository to the outlet chamber 6 of the surface workplace 5, where another storage package 66 with spent nuclear fuel will be loaded into it. .

32) The robot 3 for transporting, dosing and compacting bentonite, standing nearby, moves back over the respective vertical storage well 10 so that its spreading hopper 51 is above the vertical storage well 10, the position calibration will be performed by slowly traversing the wide gauge track 11 in the storage corridor 9.

33) By means of the reverse operation of the discharge screw conveyor 44 and the spreading hopper 54, the required dose of granulated bentonite is poured from the granular bentonite hopper 42 of the bentonite robot 3 for transporting, dosing and compacting bentonite to the spent nuclear fuel storage package 66 stored in the vertical storage well 10.

34) Then the robot 3 for transporting, dosing and compacting the bentonite travels along the wide gauge track 11 so that the circular vibrating plate 52 is above the vertical storage well 10, the position calibration will be performed by slowly traversing the wide gauge track 11 in the storage corridor 9.

35) The robot 3 for transporting, dosing and compacting bentonite activates the circular vibrating plate 52 and by means of the vertical guide 53 lowers the circular vibrating plate 52 onto the loose granular bentonite 49 in the vertical storage well 10. By the pressure exerted by the vertical guide 53 and the vibrations of the circular vibrating plate 52 compacts the circular vibrating plate 52 of the robot 3 for transporting, dosing and compacting the bentonite granulated bentonite 49 in the vertical storage well 10 to the desired density.

-27EN 2018 - 662 A3

36) Depending on the desired height of the bentonite barrier of compacted granular bentonite 49 above the spent nuclear fuel storage package 66 in the vertical storage well 10, the process of spreading a defined layer of granular bentonite 49 and its subsequent compaction by a circular vibrating head 52 in the vertical storage well 10 may be several times. repeated until the desired level is reached.

37) After compacting the last layer of granular bentonite 49 in the vertical storage well 10, the robot 3 for transporting, dosing and compacting bentonite by means of the vertical guide 53 moves the circular vibrating plate 52 out of the vertical storage well 10 to the initial position.

38) The robot 3 for transport, dosing and compaction of bentonite will return along the wide gauge track 11 from the storage horizon 8 of the deep repository to the bentonite and concrete storage 7 of the surface workplace 5, where another batch of granular bentonite 49 will be poured into it.

39) In the meantime, in the warehouse 7 of bentonite and concrete of the surface workplace 5, the required batch of concrete is loaded into the robot 4 for the transport and application of concrete. The concrete transport and application robot 4 is moved from its starting position along a wide gauge track 11 in a bentonite and concrete warehouse 7 under a concrete hopper 59 with a feeder, from which the required batch of concrete is loaded into a concrete hopper 55 mounted on a concrete car frame 54.

40) The loaded robot 4 for the transport and application of concrete travels along the wide-gauge track 11 from the bentonite and concrete warehouse 7 to the outlet chamber 6 of the surface workplace 5 to the track turntable 61.

41) The rail turntable 61, together with the robot 4 for transport and application of concrete, rotates by a defined angle so as to follow the wide-gauge track 11 leading from the outlet chamber 6 of the surface workplace 5 to the storage horizon 8 of the deep repository.

42) The concrete transport and application robot 4 arrives along the wide gauge track 11 in the storage corridor 9 above the respective vertical storage well 10 so that its outlet 56 is located above the vertical storage well 10, the position calibration will be performed by slowly traversing the wide gauge track 11 in storage corridor 9.

43) The concrete transport and application robot 4 applies concrete from the concrete tank 55 to the vertical storage well 10 through an outlet opening 56.

44) Subsequently, the robot 4 for transporting and applying concrete travels along the wide-gauge track 11 so that its vibrating head 57 is above the respective vertical storage well 10, the position calibration will be performed by slowly moving along the wide-gauge track 11 in the depositing corridor 9.

45) The concrete transport and application robot 4 activates the vibrating head 57 and lowers the vibrating head 57 into the concrete by means of a vertical guide 53. Due to the vibrations of the vibrating head 57, the concrete is evenly distributed and compacted in the upper part of the vertical storage well 10. This will form a concrete plug 72 of the vertical storage well 10 containing the spent nuclear fuel storage package 66 stored in the compacted granular bentonite 49.

46) Then the robot 4 for transport and application of concrete returns back along the wide-gauge track 11 from the storage horizon 8 of the deep repository to the bentonite and concrete storage 7 of the surface workplace 5, where another batch of concrete will be loaded into it.

-28 CZ 2018 - 662 A3

C. Storage of a spent nuclear fuel storage package in a vertical storage well closed with compacted granular bentonite

1) Robot 2 for transport, vertical storage of storage packages and bentonite compaction is located at its initial location, ie in the outlet chamber 6 of the surface workplace 5. Robot 3 for transport, dosing and compaction of bentonite is located at its initial location, ie in the warehouse 7 of the bentonite and concrete of the surface workplace 5. The robot 2 for transport, vertical storage of storage packages and compaction of bentonite and the robot 3 for transport, dosing and compaction of bentonite stand on a wide gauge track 11 and are fed from a trolley 12 which is part of the track.

2) The robot 3 for transporting, dosing and compacting bentonite is moved along a wide gauge track 11 under a granular bentonite hopper 58 with a feeder, from which granular bentonite 49 is poured into a granular bentonite hopper 42 with an air conditioning unit 43 located on the bentonite car frame 44.

3) The loaded robot 3 for transport, dosing and compaction of bentonite passes along a wide-gauge track 11 from the bentonite and concrete warehouse 7 to the outlet chamber 6 of the surface workplace 5 to the track turntable 61.

4) The rail turntable 61, together with the robot 3 for transporting, dosing and compacting bentonite, rotates by a defined angle so as to follow the wide gauge track 11 leading from the outlet chamber 6 of the surface workplace 5 to the storage horizon 8 of the deep repository.

5) In the meantime, the storage package 66 with the spent nuclear fuel is loaded into the robot 2 for transport, the vertical storage of the storage packages and the compaction of the bentonite. The robot 2 for transport, vertical storage of storage packages and compaction of bentonite, standing on a wide gauge track 11 in the outlet chamber 6 of the surface workplace 5 next to the storage package 62, positions the swing arm 17 and the drive 19 for positioning the vertical stacker. to the vertical loading position. The robotic outlet chamber manipulator 60 moves over the storage package storage 62, specifically over the selected spent nuclear fuel storage package 66, and uses the vertical manipulator arm 63 to move the output chamber effector 64 up to the selected spent fuel storage package 66.

6) The robotic manipulator 60 of the outlet chamber grasps the spent nuclear fuel storage package 66 by the upper lid shaped element 28 by means of gripping elements 65 of the output chamber effector 64 and moves it to a position above the prepared robot 2 for transport, vertical storage of storage packages and bentonite compaction. .

7) Rotate the vertical stacker 21 of the robot 2 for transport, vertical storage of storage packages and compaction of bentonite by means of the chain drive 24 of the chain section 22 so that the lower chain links 26 with the chain section protrusion 22 are at the top, just below the upper return rollers 23.

8) The robotic manipulator 60 of the outlet chamber uses the vertical arm 63 of the manipulator to lower the spent nuclear fuel storage package 66 over the vertical stacker 21 between the chain sections 22 so that the lower face 27 abuts the lower chain links 26 with a protrusion. Subsequently, the process of lowering the spent nuclear fuel storage package 66 into the vertical stacker 21 continues, with the movement of the vertical

-29EN 2018 - 662 The A3 arm 63 of the manipulator is synchronized with the movement of the chain sections 22 over the homo-lower return pulleys 23 by means of the chain drive 24.

9) As soon as the spent nuclear fuel storage package 66 of two thirds of its length is inserted in the vertical storage 21, guided by chain sections 22 in the slideways 25, the effector chamber effector 64 releases the spent nuclear fuel storage package 66 and the robotic manipulator 60 output. the chamber returns to its initial position in the outlet chamber 6.

10) The spent nuclear fuel storage package 66 is further lowered inside the vertical stacker 21 until the upper chain links 26 with chain section protrusions 22 engage the spent fuel storage package 66 with the upper lid shape member 28. The spent nuclear fuel storage package 66 is located between the chain sections 22 supported by the slideways 25, the lower face 27 lying on the lower protruding chain links 26 and at the same time the upper protruding chain links 26 fitting into the shaped cover member 28 of the upper lid of the storage package 66. with spent nuclear fuel.

11) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite tilts the swing arm 17 and the vertical stacker 21 with the storage package 66 with spent nuclear fuel into the transport position by means of the swing arm drives 18 and the vertical stacker positioning drives 19.

12) A robot 3 for transporting, dosing and compacting bentonite, standing on a rail turntable 61 with a robot 2 for transporting, storing storage packages and compacting bentonite standing on a wide gauge track 11 in the outlet chamber 6, passes together from the outlet chamber 6 of the surface workplace 5 a wide-gauge track 11 on the storage horizon 8 of the deep storage into the storage corridor 9 in the vicinity of the vertical storage well 10, into which the storage package 66 with the spent nuclear fuel will be stored.

13) The robot 3 for transporting, dosing and compacting bentonite moves over the respective vertical storage well 10 so that its spreading hopper 51 is above the vertical storage well 10, the position calibration will be performed by slowly traversing the wide gauge track 11 in the storage corridor 9.

14) By means of the reverse operation of the discharge screw conveyor 44 and the spreading hopper 51, the required dose of granular bentonite 49 is poured from the granular bentonite hopper 42 of the robot 3 for transporting, dosing and compacting bentonite to the bottom of the vertical storage well 10.

15) Then, the robot 3 for transporting, dosing and compacting the bentonite travels along the wide-gauge track 11 and releases the given vertical storage well 10 for storing the storage package 66 with the spent nuclear fuel.

16) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite is moved along a wide-gauge track 11 over a respective vertical storage well 10 in which the first batch of uncompacted granular bentonite 49 has already been filled.

17) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite inserts the vertical stacker 21 with the storage package 66 with spent nuclear fuel into the respective vertical well 10. The degree of insertion of the vertical stacker 21 into the vertical storage well 10 and the height distance of the vertical stacker.

-30EN 2018 - 662 A3 from the bottom of the vertical storage well 10 is defined by the required parameters for storing the spent nuclear fuel storage package 66 in the vertical storage well 10. The insertion process is possible by synchronizing the movements of the swing arms 17 rotated by the swing arm drives 18 with the rotary motion. of the vertical stacker 21 by means of actuators 19 for positioning the vertical stacker and with slow movement of the robot 2 for transport, vertical storage of storage packages and compaction of bentonite along a wide track 11 in the storage corridor 9 above the vertical storage bore 10, which allows smooth transformation of the vertical stacker 21 with storage package 66 with spent nuclear fuel from the transport position to the vertical position in the vertical storage well 10. Since the vertical storage well 10 does not have a chamfered edge 70, the process of transforming the positions of the vertical storage 21 requires a larger working height of the storage corridor 9. of the storage corridor 9, the storage corridor 9 may be provided with a vault 71 at a location above each vertical storage well 10.

18) The spent nuclear fuel storage package 66 is held between the chain sections 22 by chain links 26 with a protrusion which are in contact with both the lower face 27 and the shaped element 28 of the upper lid. The chain drives 24 actuate the chain section 22 and the spent nuclear fuel storage package 66 is lowered into the vertical storage bore 10. The lower chain links 26 with the protrusion are moved behind the lower return pulleys 23 and the spent nuclear fuel storage package 66 is held. upper chain links 26 with a protrusion behind the shaped element 28 of the upper lid.

19) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite starts the storage package 66 with spent nuclear fuel by means of chain sections 22 and chain drive 24 to the desired position in the vertical storage well 10, whereby the desired compaction of granulated granular bentonite is achieved. 49 under the spent nuclear fuel storage package 66. In this position, the spent nuclear fuel storage package 66 rests with its lower face 27 on the compacted granular bentonite 49 at the bottom of the vertical storage well 10 and is still held by chain links 26 with the chain section 22 protrusion 22 of the vertical storage. the spent nuclear fuel in the vertical storage well 10 is thus controlled and stable.

20) A robot 3 for transporting, dosing and compacting bentonite standing nearby sets the flow divider 48 by means of a vertical double guide 50 to the highest functional position and arrives on the robot 2 for transport, vertical storage of storage packages and compaction of bentonite via a wide gauge track 11.

21) The robot 3 for transporting, dosing and compacting bentonite moves the flow distributor 48 over the vertical stacker 21 so that the outlets of the flow distributor 48 follow the bentonite drains 30 with the filling cone and adjust (decrease) the vertical distributor 48 as required by a vertical double guide 50. .

22) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite lowers the movable basket 35 by means of moving screw drives 31 on moving screws 32 with threaded rods 33 with internal thread down to a defined distance of vibrating plate 38 from the bottom of vertical storage well 10, respectively. from the level of granular bentonite 49 around the spent nuclear fuel storage package 66.

23) The robot 3 for transport, dosing and compaction of bentonite is poured by means of a discharge screw conveyor 44, a vertical screw conveyor 45 and a horizontal

-31 CZ 2018 - 662 A3 of screw conveyor 46 via discharge opening 47, flow distributor 48, bentonite drains 30 with hopper cone and drain pipes 36 of robot 2 for transport, vertical storage of storage packages and compaction of bentonite defined dose of granular bentonite 49 from hopper 42 of granular bentonite into a vertical storage well 10, wherein a uniform distribution of the batch of granular bentonite 49 around the spent nuclear fuel storage package 66 is ensured by a flow divider 48.

24) The supply of granular bentonite 49 is stopped. The robot 2 for transporting, storing storage packages vertically and compacting bentonite activates the eccentric vibration generators 39 of the vibrating plate 38 of the vibrating ring 37 and gradually lowering the movable basket 35 by means of moving screw drives 31 on moving screws 32 with threaded rods 33 with internal thread downwards. of the pressure exerted by the moving screws 32 with the driving screw drives 31 and the vibration of the vibrating plate 38 compacts the poured dose of granular bentonite 49 to the desired density.

25) Subsequently, the movable basket 35 is moved upwards by a defined distance by means of a drive screw drive 31 on the screw screws 32 with threaded rods 33 so that a further defined dose of granular bentonite 49 can be poured. Eccentric vibration generators 39 of the vibrating plate 38 mounted on the spring and damping segments 40 are deactivated.

26) This is followed by another batch of granular bentonite 49 being poured into the vertical storage well 10. The described process of pouring and subsequently compacting the individual layers of granular bentonite 49 is repeated until the spent nuclear fuel storage package 66 of its height is stored in compacted granular bentonite. 49.

27) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite drops the storage package 66 with spent nuclear fuel and lifts the vertical stacker 21 upwards out of the vertical bore 10 so that the bottom surface of the vibrating plate 38 of the movable basket 35 in its initial position. position was slightly above the spent nuclear fuel storage package 66 in the vertical storage well 10. The process of dropping the spent nuclear fuel storage package 66 and extending the vertical storage 21 is possible by synchronizing the movements of the chain sections 22 with the lower chain links 26 with protrusions 24 chains downwards, with swing arm movements 17 rotated by swing arm drives 18 with vertical stacker rotary movement 21 by vertical stacker positioning drive 19 and by slow travel of robot 2 for transport, vertical storage of storage packages and compaction of bentonite along wide gauge track 11 in storage corridor 9 above the vertical storage well 10, which allows a smooth vertical upward movement of the vertical storage 21. Simultaneously with this movement of the vertical stacker 21, the vertical extension movement of the flow distributor 48 will be synchronized by means of the vertical double guide 50 of the robot 3 for transporting, dosing and compacting the bentonite.

28) This is followed by a process of pouring and compacting further layers of granular bentonite 49 around the spent nuclear fuel storage package 66 stored in the vertical storage well 10 to the level of reaching the compacted granular bentonite 49 to the same height as the spent nuclear fuel storage package 66.

29) The robot 3 for transporting, dosing and compacting bentonite raises the flow distributor 48 to the highest functional position by means of a vertical double guide 50 and travels along the wide-gauge track 11 from the respective vertical storage well 10.

-32EN 2018 - 662 A3

30) The robot 2 for transport, vertical storage of storage packaging files and compaction of bentonite completely extends the vertical stacker 21 from the vertical storage well 10 and transforms the vertical stacker 21 into a transport position by inverse synchronization of movements.

31) The robot 2 for transport, vertical storage of storage packages and compaction of bentonite will return along the wide gauge track 11 from the storage horizon 8 of the deep repository to the outlet chamber 6 of the surface workplace 5, where another storage package 66 with spent nuclear fuel will be loaded into it. .

32) The robot 3 for transporting, dosing and compacting bentonite, standing nearby, moves back over the respective vertical storage well 10 so that its spreading hopper 51 is above the vertical storage well 10, the position calibration will be performed by slowly traversing the wide gauge track 11 in the storage corridor 9.

33) By means of the reverse operation of the discharge screw conveyor 44 and the spreading hopper 51, the required dose of granulated bentonite is poured from the granular bentonite hopper 42 of the bentonite robot 3 for transporting, dosing and compacting bentonite to the spent nuclear fuel storage package 66 stored in the vertical storage well 10.

34) Then the robot 3 for transporting, dosing and compacting the bentonite travels along the wide gauge track 11 so that the circular vibrating plate 52 is above the vertical storage well 10, the position calibration will be performed by slowly traversing the wide gauge track 11 in the storage corridor 9.

35) The robot 3 for transporting, dosing and compacting bentonite activates the circular vibrating plate 52 and by means of the vertical guide 53 lowers the circular vibrating plate 52 onto the loose granular bentonite 49 in the vertical storage well 10. By the pressure exerted by the vertical guide 53 and the vibrations of the circular vibrating plate 52 compacts the circular vibrating plate 52 of the robot 3 for transporting, dosing and compacting the bentonite granulated bentonite 49 in the vertical storage well 10 to the desired density.

36) Since in this case the total height of the bentonite barrier of compacted granular bentonite 49 above the spent nuclear fuel storage package 66 in the vertical storage well 10 is greater, the process of spreading a defined layer of granular bentonite 49 and its subsequent compaction by a circular vibrating head 52 in the vertical of the storage well 10 is repeated several times until the entire vertical storage well 10 is completely filled with compacted granular bentonite 49.

37) After compacting the last layer of granular bentonite 49 in the vertical storage well 10, the robot 3 for transporting, dosing and compacting the bentonite by means of the vertical guide 53 moves the circular vibrating plate 52 out of the vertical storage well 10 to the initial position.

38) The robot 3 for transport, dosing and compaction of bentonite will return along the wide gauge track 11 from the storage horizon 8 of the deep repository to the bentonite and concrete storage 7 of the surface workplace 5, where another batch of granular bentonite 49 will be poured into it.

Industrial applicability

The solution concerns a robotic technological complex of vertical storage

-33 CZ 2018 - 662 A3 of a spent nuclear fuel package into gradually compacted granular bentonite directly in a vertical storage well during the process of storing a spent nuclear fuel package. The proposed solution is comprehensive and optimized with regard to minimizing the special equipment needed to ensure the transport of the spent nuclear fuel storage package from the surface workplace to the deep storage repository and subsequent storage in a vertical circular storage well in the storage corridor and also with regard to minimizing throughput. profile of the storage corridor. A key element is the technological storage unit of the vertical storage, which has been designed to enable accurate and safe handling and positioning of the spent nuclear fuel storage package at all stages of the defined storage process. Thanks to the application of transport platforms based on rail vehicles, the proposed solution is also optimal in terms of energy intensity, transport safety and the complexity of ensuring the required positioning accuracy of robots in their individual working positions, resulting from a defined logistics process. The proposed solution can be used primarily in the field of deep storage of spent nuclear fuel, but partial robotic systems and mechanisms, especially the driven wheel with unrestricted steering, or the technological node of the vertical storage, can of course also be applied in general in the engineering industry.

Claims (22)

PATENT CLAIMS 1. A robot for transport, vertical storage of storage packages and compaction of bentonite, which is part of a robotic technological complex of vertical storage of storage packages with spent nuclear fuel in gradually compacted bentonite, characterized in that it is designed as a rail car and consists of a frame ( 13) a wagon of a storage package in which rail wheels (14) with an integrated traction electric drive are mounted. In the upper part of the frame (13) of the storage package car, a bracket (16) is located at the rear edge, to which the swinging arms (17) are attached, carrying at the same time the drives (18) of the swinging arm. At the end of the swinging arms (17), drives (19) for positioning the vertical stacker are inserted, connected to the pins of the frame (20) of the stacker, which is the basis of the vertical stacker (21). The vertical stacker (21) comprises closed chain sections (22) mounted longitudinally with a storage package with homodoleable return rollers (23), the rotatable mounting of which is part of the stacker frame (20), the return rollers (23) being provided with individual drives (24). ) chains. There is always a sliding guide (25) between the functional branch of the chain section (22) and the stacker frame (20), and further each functional branch of the chain section (22) comprises at the beginning and end a chain link (26) with a protrusion spaced apart. , wherein the lower chain link (26) with the protrusion adjoins the lower face (27) and the upper one fits into the shaped element (28) of the upper lid. The frame (20) of the stacker is formed in the upper part by a ring (29) of the frame, in which bentonite leads (30) with a filling cone are fixedly mounted and on the ring (29) of the frame are drives (31) of moving screws controlling moving screws (32). ), the moving nuts being threaded rods (33) with an internal thread, which together with the frame (34) of the vibrating intermediate ring form a movable basket (35), the bentonite conduits (30) with the filling cone extending into corresponding discharge pipes (36) which are part of a movable basket (35), in the lower part of which there is a vibrating intermediate ring (37) formed by a frame (34) of a vibrating intermediate ring and a vibrating plate (38), the discharge tubes (36) firmly anchored in the frame (34) of the vibrating intermediate ring extending up to cylindrical holes of the vibrating plate (38). The vibrating plate (38) is firmly connected to the eccentric vibration generators (39) and between the frame (34) of the vibrating intermediate ring and the vibrating plate (38) of the vibrating intermediate ring (37) are the only connecting element spring and damping segments (40). -34EN 2018 - 662 A3 A robot for transporting, dosing and compacting bentonite, which is part of a robotic technological complex for the vertical storage of spent nuclear fuel storage packages in progressively compacted bentonite, characterized in that it is designed as a rail car composed of a bentonite car frame (41), in which the rail wheels (14) with integrated traction electric drive are mounted. A granular bentonite hopper (42) with an air conditioning unit (43) is placed on the car, under which a discharge screw conveyor (44) with a spreading hopper (51) is placed along its entire length, which is followed by a vertical screw conveyor (45) and connected to it. a horizontal screw conveyor (46) terminated by a discharge opening (47). Below the discharge opening (47) there is an adjustable flow divider (48) for the granular bentonite (49), mounted in a vertical double guide (50). At the rear of the robot (3) for the transport, dosing and compaction of bentonite, a circular vibrating plate (52) is placed, supplemented by a vertical guide (53). 3. A robot for transport and application of concrete, which is a part of a robotic technological complex of vertical storage of storage packages with spent nuclear fuel in gradually compacted bentonite, characterized in that it is designed as a rail car composed of a frame (54) of a concrete car, in which rail wheels (14) with an integrated traction electric drive are mounted, on which a concrete hopper (55) with a respective holding, including a lower outlet opening (56) and a vibrating head (57) with a vertical guide (53) is mounted. Robot for transport, vertical storage of storage packages and bentonite compaction according to Claim 1, characterized in that a design cover (15) is arranged on the frame (13) of the storage package car. Robot for transport, vertical storage of storage packages and bentonite compaction according to claim 1, characterized in that the vertical stacker (21) comprises three closed chain sections (22) arranged longitudinally evenly at 120 ° with the storage package. Robot for transport, vertical storage of storage packages and compaction of bentonite according to claim 1, characterized in that the upper frame storage unit (20) is formed by a frame ring (29) in which six bentonite leads (30) with a hopper cone extending into the corresponding drainage pipes (36). Robot for transport, vertical storage of storage packages and compaction of bentonite according to Claim 1, characterized in that three drives (31) of moving screws are mounted symmetrically at 120 ° on the frame ring (29). Robot for transport, vertical storage of storage packages and bentonite compaction according to claim 1, characterized in that the vibrating plate (38) is connected to the frame (34) of the vibrating intermediate ring by six spring and damping segments (40), the geometry of the spring arrangement and damping segments (40) within the vibrating intermediate ring (37) is identical to the geometry of the arrangement of the discharge tubes (36), the discharge pipes (36) passing through the vibrating intermediate ring (37) and extending into the cylindrical openings of the vibrating plate (38) passing through the spring and damping segments (40). -35 CZ 2018 - 662 A3 Robot for transport, vertical storage of storage packages and compaction of bentonite according to claim 1, characterized in that it is part of the outlet chamber (6) of the surface workplace together with the wide-gauge track (11) with the contact wire (12) and the rail turntable (61) (5), wherein in the vicinity of the robot (2) for transport, vertical storage of storage packages and compaction of bentonite, there is also a storage package (62) of storage packages with spent nuclear fuel storage packages (66) in the outlet chamber (6), wherein furthermore, in the outlet chamber (6) there is a robotic manipulator (60) of the outlet chamber with a vertical arm (63) of the manipulator with an effector (64) of the outlet chamber equipped with gripping elements (65). Robot for transport, vertical storage of storage packages and compaction of bentonite according to claim 1, characterized in that it is part of a storage corridor (9) with vertical storage boreholes (10) together with the wide-gauge track (11) with the contact wire (12), located on the storage horizon (8) of the deep repository. Robot for transport, vertical storage of storage packages and compaction of bentonite according to claim 1, characterized in that the rail wheels (14) with integrated traction electric drive can be replaced by driven wheels (67) with unrestricted steering. The premises of the surface workplace (5), ie the outlet chamber (6) and the bentonite and concrete warehouse (7) will not be equipped with a wide gauge track (11) with a contact wire (12) and a rail turntable (61), instead of which there will be only a flat floor and charging stations. (68) for charging the electric accumulator (69) of the robot (2) for transport, vertical storage of storage packages and compaction of bentonite. Likewise, the transport corridor between the surface workplace (5) and the storage horizon (8) of the deep repository and all spaces on the storage horizon (8) of the deep repository in which the robot (2) moves for transport, vertical storage of storage packages and compaction of bentonite. including the storage corridor (9) will not be equipped with a wide gauge track (11) with a contact wire (12). Robot for transporting, dosing and compacting bentonite according to Claim 2, characterized in that the bottom of the granular bentonite container (42) is sloping longitudinally and a discharge screw conveyor (44) is arranged in its groove along its entire length. Robot for transporting, dosing and compacting bentonite according to Claim 2, characterized in that a design cover (15) is arranged on the frame (41) of the bentonite vehicle. Robot for transporting, dosing and compacting bentonite according to claim 2, characterized in that the vertical screw conveyor (45) is situated along the front wall of the granular bentonite container (42). Robot for transporting, dosing and compacting bentonite according to claim 2, characterized in that a vertical screw conveyor (45) adjoining the front wall of the granular bentonite container (42) and on the opposite side of the container (42) is connected to the discharge screw conveyor (44). ) of the granulated bentonite, the discharge screw conveyor (44) is extended and a spreading hopper (51) of the granulated bentonite (49) is connected to its extended part at the bottom. -36EN 2018 - 662 A3 Robot for transport, dosing and compaction of bentonite according to claim 2, characterized in that it is together with the wide-gauge track (11) with the contact wire (12) part of the bentonite warehouse (7) and concrete of the surface workplace (5), (3) for the transport, dosing and compaction of bentonite, in addition to the wide-gauge track (11), there is also a hopper (58) of granular bentonite with a feeder in the bentonite and concrete storage (7). Robot for transport, dosing and compaction of bentonite according to claim 2, characterized in that it is, together with the wide-gauge track (11) with the contact wire (12), part of a storage corridor (9) with vertical storage wells (10) located on the storage horizon (8) of the deep repository. Robot for transport and vertical storage of bentonite according to claim 2, characterized in that the rail wheels (14) with integrated traction electric drive can be replaced by driven wheels (67) with unlimited steering. The premises of the surface workplace (5), ie the outlet chamber (6) and the bentonite and concrete warehouse (7) will not be equipped with a wide gauge track (11) with a contact wire (12) and a rail turntable (61), instead of which there will be only a flat floor and charging stations. (68) for charging the electric accumulator (69) of the robot (3) for transport, dosing and compaction of bentonite. Likewise, the transport corridor between the surface workplace (5) and the storage horizon (8) of the deep repository and all spaces on the storage horizon (8) of the deep repository in which the robot (3) moves for transport, dosing and compaction of bentonite, including the storage corridor ( 9) will not be equipped with a wide gauge track (11) with a contact wire (12). Robot for transporting and applying concrete according to claim 3, characterized in that a design cover (15) is placed on the frame (54) of the car. Robot for transport and application of concrete according to claim 3, characterized in that together with the wide-gauge track (11) with the contact wire (12) it is part of the bentonite and concrete storage (7) of the surface workplace (5), (4) For the transport and application of concrete, in addition to the wide-gauge track (11), there is also a concrete hopper (59) with a feeder in the bentonite and concrete storage (7). Robot for transport and application of concrete according to claim 3, characterized in that together with the wide-gauge track (11) with the contact wire (12) it is part of a storage corridor (9) with vertical storage boreholes (10) located on the storage horizon ( 8) deep repository. Robot for transporting and applying concrete according to claim 3, characterized in that the rail wheels (14) with integrated traction electric drive can be replaced by driven wheels (67) with unrestricted steering. The premises of the surface workplace (5), ie the outlet chamber (6) and the bentonite and concrete warehouse (7) will not be equipped with a wide gauge track (11) with a contact wire (12) and a rail turntable (61), instead of which there will be only a flat floor and charging stations. (68) for charging the electric accumulator (69) of the robot (4) for transport and application of concrete. As well as the transport corridor between the surface workplace (5) and the storage horizon (8) of the deep repository and all spaces on the storage horizon (8) of the deep repository in which the robot (4) for transport and application of concrete, including the storage corridor (9) will not be equipped with a wide gauge track (11) with a contact wire (12).