EP3407360B1 - Disposal robot and robotic system assembly for disposal of disposal casks in a deep geological repository - Google Patents

Disposal robot and robotic system assembly for disposal of disposal casks in a deep geological repository Download PDF

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Publication number
EP3407360B1
EP3407360B1 EP18466001.7A EP18466001A EP3407360B1 EP 3407360 B1 EP3407360 B1 EP 3407360B1 EP 18466001 A EP18466001 A EP 18466001A EP 3407360 B1 EP3407360 B1 EP 3407360B1
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EP
European Patent Office
Prior art keywords
disposal
frame
bentonite
vehicle
robot
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18466001.7A
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German (de)
English (en)
French (fr)
Other versions
EP3407360A1 (en
Inventor
Petra Haladova
Pavel Halada
Daniel POLAK
Tomas Svoboda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robotsystem SRO
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Robotsystem SRO
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Publication of EP3407360A1 publication Critical patent/EP3407360A1/en
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    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F5/00—Transportable or portable shielded containers
    • G21F5/06—Details of, or accessories to, the containers
    • G21F5/14—Devices for handling containers or shipping-casks, e.g. transporting devices loading and unloading, filling of containers
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F9/00—Treating radioactively contaminated material; Decontamination arrangements therefor
    • G21F9/28—Treating solids
    • G21F9/34—Disposal of solid waste
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F7/00—Shielded cells or rooms

Definitions

  • the invention relates to the field of disposal, transport and manipulation of disposal casks with spent nuclear fuel in an underground system of a deep geological repository equipped with robotic technologies.
  • the closest solution to the proposed project is a disposal concept of Swiss society Nagra which also proposes a disposal system of disposal casks with spent nuclear fuel into the horizontal tunnels where in one half of the space profile of the tunnel there is a disposal cask transported in a protective casing from which it is pushed by a hydraulic cylinder onto the shaped bed in front of the casing from which it is then, still in the horizontal position, transported by a gripper manipulator into the area of the second half of the tunnel profile onto the shaped bentonite bed which is already placed in the filling robot.
  • the filling robot then returns to the base area, where it must be transformed to another track and interchanged for an injection robot which then freely, by the bulk bentonite, backfills the space between the profile of the disposal tunnel and the outer shell of the disposal cask with spent nuclear fuel.
  • the proposed concept according to the invention solves the disposal process unto the disposal borehole though a fully robotized multifunctional system - super-robot, which without the intervention of a human agent solves the complex end manipulation transport, disposal and backfilling process, which diametrically different parameters and functions are accumulated in one robotic system which creates a unique world novel technology, oriented on the project program Industry 4.0, in a partial manner.
  • the proposed solution has not only unrivaled technological and utility added value but also an extremely high economic added value compared to other current methods and technologies.
  • US 2011/0094815 A1 describes a stack axle assembly as used in a cask transporter or a horizontal storage module (HSM) gantry transporter.
  • the stack axle assemblies include a slew gear; an upper bearing; a lower bearing; a vertical cylinder retained by the slew gear, upper bearing and lower bearing; an independent driver wheel and idler wheel revolving on a common shaft/trunnion assembly attached to the bottom of the vertical cylinder; a frame assembly formed on top of the vertical cylinder, the frame assembly including one or more drive motors connecting an upper drive assembly downwardly to a driven assembly mounted between the idler wheel and driver wheel; and a slew driver motor to drive the slew gear.
  • EP 3 154 063 A1 describes a technology and logistics system of robotic deep geological disposal of spent nuclear fuel consists of a surface complex, underground complex, and connecting shaft and elevator complex, where the surface complex includes a robotic system of preparation of disposal casks ended by storage of deposit casks, and it is an entrance building for deep geological disposal of disposal casks.
  • a storage of bentonite fillings builds on the storage of deposit casks, while the surface complex under the surface of the underground complex is followed by the directed connecting shaft and elevator complex formed by a vertical shaft and an elevator with an elevator cabin with built-in follow-up rails ended by a lower station from which a network of access horizontal corridors is bulit as approaches in geological repositories followed by a system of circular boreholes for storage of disposal casks, where the corridors are equipped with a grid of rails with contact wires.
  • the grid of rails with contact wiresis in the underground complex and surface complex is followed by short sections of rails with contact wires in the elevator cabin.
  • a part of the surface complex are in addition to storage of disposal casks and storage of bentonite fillings other surface robotic workstations, while in the storage there are stored circular bentonite plugs, bentonite beds and circular bentonite segments, and there is stored also a manipulator of bentonite fillings for loading of the bentonite elements on transport vehicles, and further in the storage of disposal casks there is stored a manipulator of disposal casks for their storage in bentonite bed loaded on transport vehicle with a superstructure.
  • a storage robotic vehicle is designated for loading of disposal cask or bentonite filling of different type and their displacement from the connecting horizontal corridor to the storage location in the borehole.
  • a disposal robot of a robotic system for disposal of disposal casks in the deep geological repository and a robotic system assembly for disposal of disposal casks in the deep geological repository including a system of underground constructions of corridor and boreholes with the rail transport network, serving as an environmentally acceptable method of disposal of nuclear waste, the main part of which is the disposal robot of the robotic system for disposal of disposal casks in the deep geological repository.
  • a disposal robot for storage of disposal casks in a deep geological repository according to the invention is set out in claim 1.
  • Preferred embodiments are defined in dependent claims 2-9.
  • the advantage of the proposed solution is that the designed robotic technology of disposal of disposal cask into the horizontal boreholes eliminates completely all sliding movements of the disposal cask on the ground.
  • the disposal cask with spent nuclear fuel is not pushed into the disposal place in the borehole but it is transferred and laid down gently. This method is very careful to the surface of the disposal cask and less energy consuming.
  • Another advantage of the proposed solution is the minimized manipulation with disposal casks in vertical direction which is very energy-efficient.
  • Another unquestionable advantage is the simplicity of the entire robotic process, resulting in minimizing the number of special single-purpose machines and devices which are needed for realization of storage of disposal casks with spent nuclear fuel and bentonite prefabricated parts.
  • Robotic system 1 of disposal of disposal casks in the deep geological repository includes underground system of corridors and boreholes with railway network 2 with trolley wires for an environmentally acceptable way of disposal of nuclear waste.
  • the entrance to this system is an inclined access tunnel through which by the wheel transport with the load of disposal casks 3, including pressed bentonite filling 4 are transported into the deep geological repository 5, where they will be translated in the respective numbers onto driven conveyance vehicles 6 with superstructures 19 for transport of the required load.
  • the deep geological repository 5 consists of a system of horizontal corridor constructions at the beginning of which there is the access corridor 7 on which the constructions 8 of technological corridors link up, which are linked up perpendicularly at a certain height above the floor by the constructions of horizontal corridors of the rectangular, circular in cross-section, constructions 9 of disposal boreholes of necessary lengths.
  • Constructions 9 of disposal boreholes serve for disposal of disposal casks 3 which preparation including filling takes place in the surface robotic workplace.
  • Disposal casks 3 are transported into the constructions 9 of disposal boreholes, where they are stored centrally, where they are lined with space-pressed bentonite fillings 4 of three types: circular bentonite fillings 10, bentonite beds 11 and circular bentonite blocks 12.
  • the circular bentonite fillings 10 and circular bentonite blocks 12 are provided with holes 13 with inner recess.
  • the conveyance vehicle 6 is driven, its base is formed by the vehicle frame 14, into which the electronically synchronized retractable tailstock sleeves 15 are compiled, and the couplings 16 with controlled uncoupling with limited swing within the storage pocket are attached through vertical pins in front-end heads.
  • the superstructure frame 17 with storage casings 18 with locking is arranged on the retractable tailstock sleeves 15.
  • Part of each vehicle frame 14 is the concave superstructure 19 with openings, firmly connected with it, above the storage casings 18 with locking.
  • Inner diameter of the concave superstructure 19 corresponds to the diameter of the construction 9 of disposal borehole.
  • fixation mechanism 22 consisting of mechanism drive 23, where the mechanism drive 23 comprises the rotary motor 24, then follows the countershaft distribution gearbox 25, followed by two opposite branches each of which include the power gearbox 26 in the outset, its output is followed by the distribution shaft 27 which controls the larger lever of the four-articulated mechanism 28, while the smaller lever of four-articulated mechanism is also part of the side shaft 29 with retaining arms.
  • the starting point of the disposal robot 36 is the vehicle 30 with turntable for conveying the disposal robot 36 which is an analogy of the conveyance vehicle 6. It is also a driven vehicle, it has an extended vehicle frame 31 but the retractable tailstock sleeves 15 are the same. With retractable parts of electronically synchronized retractable tailstock sleeves 15, there is firmly connected the extended superstructure frame 32, in which axis is the turntable 33 with drive which is connected through a flange with the rotatable superstructure 34 on which rear part there is a rope winch 35 with transmission roller stored in the extension.
  • Disposal robot 36 is formed by a basic part which is the vaulted frame 37 in which lower longitudinal girders, there are shaped wheels 38 with in-wheel drives arranged in the cones in overhung manner; including a planetary gearbox 39, alternatively.
  • An essential mechanical part of the disposal robot 36 is the dual effector 40 which is mounted in the horizontal planar frame 41.
  • This frame is suspended on two pairs of vertical motion screws 42 of the same orientation and the same pitch, firmly constrained in the upper girder of the vaulted frame 37 through gear wheels 43 with nut which are arranged in radiaxial bearings in the planar frame 41; while each pair of the gear wheels 43 with nut is driven by a rotary drive 44 with pinion through a flexible closed element 45, both rotary drives 44 with pinion are part of the planar frame 41, and both rotary drives 44 with pinion are mutually electronically synchronized.
  • Dual effector 40 is suspended under the planar frame 41 so that its two longitudinal lateral rows of eyes serve to swivel placement of the effector 46 for manipulation with bentonite fillings and for placement of the effector 47 for manipulation with disposal casks.
  • An essential part of the effector 46 for manipulation with bentonite fillings is the round rod 48 with swivel collets 49 of bentonite bed, ended by cylindrical large contact grips 50.
  • the effector 47 for manipulation with disposal casks is made so that on the round rod 48, there is arranged in swinging manner the hollow rod 51 with swivel collets 52 of disposal casks ended by shaped large contact grips 53.
  • Both lateral parallel pairs of concentric round rods 48 and hollow rods 51 are synchronized by two front-end pairs 54 of toothed segments and driven by linear actuators 55 which are attached always either on the swivel collet 49 of bentonite bed, or on the swivel collet 52 of disposal casks, and on the opposite side in the eye of the planar frame 41.
  • Fitted pins 56 are constrained in the frontal surfaces of the front swivel collets 49 of bentonite bed.
  • Crossing of the access corridor 7 with the technology corridor is realized by means of the rail turntable 62 which allows the passage of the set 63 of robotic vehicles from one corridor to another.
  • All vehicles 30, 6 and sets 63 of robotic vehicles are interconnected via couplings 16 with controlled uncoupling.
  • Robotic system 1 of disposal of disposal casks in the deep geological repository allows deep geological robotic disposal of disposal casks 3 as a part of complex, spatially extensive system of disposal of nuclear waste, including important devices such as railway network 2 with trolley wires, except of the conveyance vehicles 6, vehicle 30 with turntable for conveying the disposal robot 36 and disposal robot 36 which are part of the horizontal deep geological repository 5 consisting of entrance access corridor 7 on which the constructions 8 of technological corridors and construction perpendicular to them link up, namely constructions 9 of disposal borehole serving for placement of disposal casks 3.
  • Disposal casks 3 are centrally arranged in the construction 9 of disposal borehole and need to be lined with bentonite. For this purpose, there serve the segments of pressed bentonite fillings 4. Most suitable in the aspect of backfilling here, seem to be the circular bentonite fillings 10 separating the heads of disposal casks 3. Under each disposal cask 3, there is a bentonite bed 11, and in its length, there is the space of construction 9 of disposal borehole filled up with the circular bentonite blocks 12.
  • Disposal casks 3 and bentonite fillings 4 are moved into the deep geological repository 5 through the wheeled transport via the inclined tunnel and they are translated through robotic manipulators on the respective driven conveyance vehicle 6, intended for transport of bentonite fillings 4 and disposal casks 3.
  • Conveyance vehicle 6 is equipped with incorporated retractable tailstock sleeves 15 in its frame, and in its front-end heads, there are couplings 16 with controlled uncoupling within the storage pockets limiting the swing attached through vertical pins.
  • the superstructure frame 17 On the retractable tailstock sleeves 15, there is arranged the superstructure frame 17 firmly connected with them, in which the storage casings 18 are firmly placed, and on the superstructure frame there is firmly interconnected with it the concave superstructure 19 with openings above the storage casings 18 with locking; while the inner diameter of the camber is the same as the diameter of the construction 9 of disposal borehole.
  • This type of vehicle is used to transfer all types of bentonite fillings 4.
  • the stand 20 with fixation inserted into the superstructure 19 of the conveyance vehicle 6.
  • the stand 20 with fixation is inserted through its pins into the storage casings 18 with locking of the superstructure frame 17.
  • the stand 20 with fixation is formed by the rigid structure 21 lined with supporting parts, securing defined supporting contact of the disposal cask 3.
  • fixation mechanism 22 which essential part is mechanism drive 23 including a rotary engine 24, countershaft distribution gearbox 25 following thereon with two outputs, while each of which is connected to a power transmission 26 output shafts are oppositely oriented and followed by the parallel distributor shafts 27 transmitting torque moment with opposite rotation orientation to four-articulated mechanisms 28 located in the front-end parts of the stand 20 with fixation.
  • Each of the four-articulated mechanisms 28 then controls the pivotal movement of the side shaft 29 with retaining arms serving to fix the disposal cask 3 during its transport and in the opposite case, in the initial position, the whole fixation mechanism 22 is folded into the space of structure 21 lined with supporting parts.
  • the vehicle 30 with turntable for conveying the disposal robot 36 serves for storage and as initial position for the disposal robot 36.
  • the vehicle 30 with turntable for conveying the disposal robot 36 is also driven and, unlike the conveyance vehicle 6, it has an elongated vehicle frame 31 into which, as in the case of the conveyance vehicle 6, the retractable tailstock sleeves 15 are incorporated, and in the front-end heads there are in the vertical pins arranged the couplings 16 with controlled locking, with limited swing within the storage pockets.
  • the extended superstructure frame 32 in the centre of which the turntable 33 with drive is stored, as with the superstructure frame 17, while the concave superstructure 34 on it laid is firmly connected with the turntable 33 with drive, while diameter of its camber is equal to the diameter of the construction 9 of disposal borehole.
  • the disposal robot 36 standing on the vehicle 30 with turntable for conveying the disposal robot 36 is connected to it through the connection plug 59 of the output of winding drum 58 of the power and control cable and through the output of rope winch 35 with transmission roller, through connection to the safety hook 60 of the superstructure frame 57 of disposal robot 36 serving for the emergency pulling-out of the disposal robot 36 from the construction 9 of disposal borehole.
  • Loaded conveyance vehicles 6 pass through the access corridor 7 an on the last railway turntable 62, there must be created a set 63 of robotic vehicles so that it is fully operational upon arrival in front of the construction 9 of disposal borehole.
  • Disposal cask 3 and bentonite fillings 4 loaded on the conveyance vehicles 6 line up on the last railway turntable 62 with the arrangement of the T-shaped rails of the railway network 2 with trolley wires in the construction 8 of technological corridor in this way: the conveyance vehicle 6 with stand 20 with fixation and disposal cask 3 will be in the direction of construction 9 of disposal borehole, whereas behind will be the conveyance vehicle 6 with bentonite bed 11.
  • Its supporting part is the vaulted frame 37 in which lower longitudinal girders, there are shaped wheels 38 with in-wheel drives including a planetary gearbox 39, alternatively, allowing the ride in the construction 9 of disposal borehole and at the same time on the superstructures 19 of conveyance vehicle 6 and the rotatable superstructure 34 of the vehicle 30 with turntable for conveying the disposal robot 36.
  • the effector 46 for manipulation with bentonite fillings includes tow opposite parallel arms each of which consists of a round rod 48, swivel collets 49 of bentonite bed ended by cylindrical large contact grips 50.
  • the effector 47 for manipulation with disposal casks again includes two concentric opposing parallel arms arranged in swinging manner into side eyes of the planar frame 41, each of which consists of a hollow rod 51, swivel collet 52 of disposal casks ended by shaped large contact grips 53.
  • Arms of each of the effectors 46, 47 are controlled by the linear actuators 55 arranged in swinging manner in the vaulted frame 37, synchronization of each of the effectors 46, 47 is provide always by a pair 54 of toothed segments each of which is always located on the front-end heads of the disposal robot 36.
  • Part of two front swivel collets 49 of bentonite bed are the fitted pins 56 for gripping and loading of all bentonite fillings 4, except for the bentonite bed 11 for which serve the holes 13 with inner recess which are part of said bentonite fillings 4.
  • the frame superstructure 57 into which the winding drum 58 of the power and control cable is inserted with the connection plug 59 serving to supply electrical power and control the disposal robot 36, and further in the lowers part of the frame superstructure 57, there is firmly mounted the safety hook 60 for mechanical interconnection of the disposal robot 36 with the rope winch 35 with transmission roller of the vehicle 30 with turntable for conveying the disposal robot 36.
  • the disposal robot 36 moves on the superstructures 19 of the conveyance vehicles 6 and rotatable superstructure of the vehicle 30 with turntable for conveying the disposal robot 36 which have the same diameter as the construction 9 of disposal borehole, as well as disposal robot 36 moves in the construction 9 of disposal borehole.
  • Disposal of disposal casks 3 occurs as follows: First, the circular bentonite fillings 10 are transported individually into the ending part of the construction 9 of empty disposal borehole. This is how the construction 9 of disposal borehole of deep geological repository 5 is prepared, and further it is possible to continue in disposal of disposal casks 3 cyclically.
  • the rotatable superstructure 34 of the vehicle 30 with turntable for conveying the disposal robot 36 turns by 90° and there occurs the vertical and horizontal alignment with rotatable superstructure 34 and the borehole offset 61; the rotatable superstructure 34 returns to its original position; superstructures 19 of other vehicles of the set adjust their height vertically to the same level as the rotatable superstructure 34; and the cycle of disposal can be started.
  • Disposal robot 36 picks up through the effector 46 for manipulation with bentonite fillings a bentonite bed 11 from the second conveyance vehicle 6, returns to the rotatable superstructure 34 and after rotation by 90° rides to the end of construction 9 of disposal borehole and lays the bentonite bed 11 at full to the last circular bentonite filling 10.
  • the disposal robot 36 returns, uses the rotatable superstructure 34, picks up a disposal cask 3 via gripping of the effector 47 for manipulation with disposal casks from the first conveyance vehicle 6, and again it rides in the same way to the construction 9 of disposal borehole, and lays the disposal cask 3 on the bentonite bed 11 at full to the last circular bentonite filling 10.
  • this small disposal cycle takes place similarly with that, that the disposal robot 36 start to pick up circular bentonite blocks 12 which are on the opposite side of the vehicle 30 with turntable for conveying the disposal robot 36 with that, that the surrounding volume of disposal cask 3 is being backfilled gradually, always by one piece of bentonite filling 4, and it is finished by circular bentonite fillings 10 prepared on the last conveyance vehicle 6.
  • the proposed solution of robotic system assembly for disposal of disposal casks in deep geological repository including a set of constructions of underground system of corridors and boreholes with a rail transport network with trolley wires and a disposal robot of robotic system for disposal of disposal casks in deep geological repository as its main part is intended for the realization of the process of transport, manipulation, disposal and backfilling of disposal casks with spent nuclear fuel into the underground horizontal or subhorizontal disposal boreholes of deep geological repository.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Processing Of Solid Wastes (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Lining And Supports For Tunnels (AREA)
EP18466001.7A 2017-04-07 2018-02-23 Disposal robot and robotic system assembly for disposal of disposal casks in a deep geological repository Active EP3407360B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CZ2017-196A CZ307370B6 (cs) 2017-04-07 2017-04-07 Ukládací robot a robotická systémová sestava pro ukládání obalových souborů v hlubinném úložišti

Publications (2)

Publication Number Publication Date
EP3407360A1 EP3407360A1 (en) 2018-11-28
EP3407360B1 true EP3407360B1 (en) 2020-02-19

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EP18466001.7A Active EP3407360B1 (en) 2017-04-07 2018-02-23 Disposal robot and robotic system assembly for disposal of disposal casks in a deep geological repository

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CZ (1) CZ307370B6 (cs)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CZ309894B6 (cs) * 2018-09-25 2024-01-17 F I T E a.s. Modul robotického duálního efektoru
CZ310355B6 (cs) * 2022-12-21 2025-04-02 F I T E a.s. Robotická elektroplatforma s rekonfigurovatelným subsystémem mobility a vnitřním prostorem určeným pro implementaci robotických manipulátorů

Family Cites Families (7)

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Publication number Priority date Publication date Assignee Title
DE3924625C1 (en) * 1989-07-26 1990-10-04 Forschungszentrum Juelich Gmbh, 5170 Juelich, De Storage of radioactive waste casks in vertical boreholes - comprises stacking casks in hole, placing fine salt gravel around casks and using props or supports to limit hydrostatic pressure
US5387741A (en) * 1993-07-30 1995-02-07 Shuttle; Anthony J. Method and apparatus for subterranean containment of hazardous waste material
US5863283A (en) * 1997-02-10 1999-01-26 Gardes; Robert System and process for disposing of nuclear and other hazardous wastes in boreholes
WO2010115240A1 (en) * 2009-04-08 2010-10-14 Agr Asia Pacific Pty Ltd Treatment of radioactive scale
US8215423B2 (en) * 2009-10-23 2012-07-10 Intelliport Corporation Stack axle assembly and transporters having the same
CZ2015709A3 (cs) * 2015-10-09 2017-04-19 Robotsystem, S.R.O. Systém robotizované technologie a logistiky hlubinného robotického ukládání vyhořelého jaderného paliva a ukládací robotický vůz pro tento systém
CZ29108U1 (cs) * 2015-10-09 2016-02-01 Robotsystem, S.R.O. Ukládací robotický vůz a úložiště pro ukládání vyhořelého jaderného paliva obsahující tento ukládací robotický vůz

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EP3407360A1 (en) 2018-11-28
CZ2017196A3 (cs) 2018-07-04
CZ307370B6 (cs) 2018-07-04

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