EP3660867A1 - Complexe de technologie robotique d'évacuation verticale de récipients de déchets avec un combustible nucléaire usagé dans de la bentonite progressivement compactée - Google Patents

Complexe de technologie robotique d'évacuation verticale de récipients de déchets avec un combustible nucléaire usagé dans de la bentonite progressivement compactée Download PDF

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Publication number
EP3660867A1
EP3660867A1 EP19466006.4A EP19466006A EP3660867A1 EP 3660867 A1 EP3660867 A1 EP 3660867A1 EP 19466006 A EP19466006 A EP 19466006A EP 3660867 A1 EP3660867 A1 EP 3660867A1
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EP
European Patent Office
Prior art keywords
bentonite
disposal
transport
robot
vertical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19466006.4A
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German (de)
English (en)
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EP3660867B1 (fr
Inventor
Pavel Halada
Daniel K Polak
Pavel Mruzek
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.)
MORAVSKY VYZKUM SRO
Robotsystem SRO
Original Assignee
Moravsky Vyzkum sro
Robotsystem SRO
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Publication of EP3660867A1 publication Critical patent/EP3660867A1/fr
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Publication of EP3660867B1 publication Critical patent/EP3660867B1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • 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
    • G21F9/36—Disposal of solid waste by packaging; by baling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F13/00—Transport specially adapted to underground conditions
    • 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
    • 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

Definitions

  • the invention deals with complex robotic technology and connected procedure of a fully autonomous logistic process of transport and storage of disposal canister with spent nuclear fuel into gradually compacted granulated bentonite in vertical storage boreholes in a deep geological repository.
  • the belt platforms of both vehicles were replaced by wheel ones, where in both cases these are not vehicles which would be equipped with their own motion drive, but these are two semitrailers, which are removed by means of purpose wheel trailer truck controlled by a human.
  • the vehicle for transport and storing bentonite prefabricated parts serves for their transport with assistance of trailer truck from lift station to storage borehole on the disposal level of a deep geological repository.
  • the vehicle for transport and storing disposal canisters serves for transport of disposal canisters with spent nuclear fuel from interim storage situated at the disposal level of deep geological repository and to subsequent disposing into a prepared vertical borehole.
  • a further disadvantage of the existing solution is that even if both vehicles/semitrailers ensure not only disposing itself but also transport, it is only the transport on the disposal level of a deep geological repository. It means that for the transport of both disposal canister itself with spent nuclear fuel and bentonite prefabricated parts there are necessary other technologies as well which ensure transport from surface workplace to disposal level and further loading/reloading disposal canister, respectively bentonite prefabricated parts to particular vehicles/semitrailers.
  • the Swedish SKB technology (see patent EP2139005 A1 ) is built based on autonomous wheel vehicles.
  • the basis of the technology is the Magne vehicle which serves for transport and storing disposal canisters.
  • the Magne vehicle is equipped with diesel aggregate and reserve electric motor which, in case of breakdown and connection of the vehicle to the electrical network, is able to ensure continuity of the storing process.
  • the vehicle transports the disposal canister in a horizontal position in a cylinder tube which fulfills the function of an antiradiation shield as well.
  • the cylinder tube For the purpose of storing disposal canister the cylinder tube is verticalized, the geometry of vehicle mechanisms is, however, solved so as the verticalisation of cylinder tube with disposal canister would be possible, the orifice of vertical storage borehole has to be equipped with run-out on appropriate side which is possible to identify as disadvantage of this solution.
  • the SKB technology further counts with a vehicle for disposing of bentonite prefabricated parts which is one of the outputs of the planned modular system built based on the universal autonomous mobile platform.
  • the disadvantage of this solution is also focusing only on technology for storing disposal canisters with spent nuclear fuel in a vertical storing borehole with the utilisation of pressed bentonite prefabricated parts without solving sealing up existing gaps between stored elements.
  • As a disadvantage of this solution is possible for these tonnages to consider also application of wheel platforms from the reason of energy demands under the influence of rolling drags and from the reason of preciseness of platforms positioning in relation to vertical storage borehole.
  • An evident disadvantage of staff directly controlled prototype of the Magne vehicle are its inappropriate length and too heavy weight (up to 100 tonnes).
  • the basis of the Czech Robotic technological complex for transport and vertical storing disposal canisters with spent nuclear fuel are two fully autonomous robots - the robot for transport and vertical storing disposal canisters and the robot for transport and vertical storing bentonite, primarily designed as rail vehicles. Both robots ensure within fully automated process storing disposal canisters with spent nuclear fuel and bentonite barrier into vertical storage borehole of circle slot both all transport and manipulation processes on the level of disposal level and transport of all stored objects from surface workplace to disposal level of a deep geological repository.
  • the robot for transport and vertical storage of disposal canisters is equipped with transport and storage casket in which the disposal canister with spent nuclear fuel is transported and within storing process positioned as well into vertical position in axis of vertical storage borehole.
  • a part of transport and storage casket is rope-hanged effector holding disposal canister with spent nuclear fuel at its front which in particular phase of storing process lets down disposal canister with spent nuclear fuel into required position in vertical storage borehole.
  • the robot for transport and storage of bentonite is solved alternatively for storing two types of pressed bentonite prefabricated parts in form of circle bentonite barrier and annular ring bentonite barrier or for storing pressed bentonite prefabricated parts at the bottom of vertical storage borehole added by directly at the borehole pressed granulated bentonite.
  • the robotic vehicle for transport and vertical storage of bentonite is equipped with load area for storage of pressed bentonite prefabricated parts, respectively with tank of granulated bentonite and effector for bentonite, which combines in itself under-pressure principle enabling manipulation with bentonite prefabricated parts with vibration plate technology which serves for compacting poured granulated bentonite in vertical storage borehole where the height adjusting of effector for bentonite is again ensured by rope mechanism.
  • the disadvantage of this solution is just application of rope mechanisms for manipulation systems of both robots, it means effector for manipulation with disposal canisters with spent nuclear fuel and effector for bentonite ensuring manipulation with bentonite prefabricated parts and compacting granulated bentonite in vertical storage borehole.
  • the disadvantage is also the fact that in the alternative of defined storage process of disposing disposal canister with spent nuclear fuel to bentonite barrier which is the combination of bentonite prefabricated parts with directly in borehole compacted granulated bentonite there occurs situation, when the robot for transport and vertical storage of disposal canisters is leaving disposal canister with spent nuclear fuel sooner than surrounding free space is filled with granulated bentonite and this is performed in subsequent steps by the robot for transport and vertical storage of bentonite.
  • the bentonite barrier is combined with pressed prefabricated parts and in borehole compacted granulated bentonite is possible to consider also inhomogeneous density of bentonite barrier around disposal canister with spent nuclear fuel.
  • the robot for transport, vertical storage of disposal canisters and compacting bentonite is designed as a rail vehicle and consists of a frame of disposal canister vehicle in which rail wheels with integrated traction electric drive are hinged. On the frame of the disposal canister vehicle, there is placed design cover. In the back part of the vehicle there is console in which there are installed swing arms with two drives of swing arms and with drives for positioning vertical placer by means of which it is possible in synchronization with movement of the platform of the robot for transport, vertical storage of disposal canisters and compacting bentonite to reach needful, ideal, composed movement of vertical placer with inserted disposal canister with spent nuclear fuel into vertical storage borehole from its advantageous, inclined transport position.
  • the vertical placer is thus inserted into axis of vertical storage borehole and inside among chain sections holds the disposal canister with spent nuclear fuel in the way that the disposal canister with spent nuclear fuel stands with its down part on lower chain segments with overhangs and also upper chain segments with overhangs are falling into shape element of upper cap of disposal canister with spent nuclear fuel. Letting down the disposal canister with spent nuclear fuel is performed in the way that chain drives are moving chain sections in the down direction, where lower chain segments with overhangs are removed through lower reversible pulleys and the disposal canister with spent nuclear fuel is during letting down held by upper chain segments with overhangs of chain sections.
  • the robot for transport, vertical storage of disposal canisters and compacting bentonite lets down the disposal canister with spent nuclear fuel to required position into vertical storage borehole by means of which also the required compacting the poured granulated bentonite under the disposal canister with spent nuclear fuel is performed.
  • the disposal canister with spent nuclear fuel sits down with its down front to compacted granulated bentonite at the bottom of the vertical storage borehole and at the same time, it is still held by chain segments with an overhang of chain sections of vertical placer.
  • the granulated bentonite is gradually delivered to vertical storage borehole and compacted in the way that the robot for transport, vertical storage of disposal canisters and compacting bentonite yet gradually with assistance of the robot for transport, dosing and compacting bentonite is adding by defined doses from the tank of granulated bentonite by scroll conveyors through flow distributor and drainage pipes the granulated bentonite, which with advantage of gradual compacting by vibration annular ring with eccentric vibration generators is filling free spaces between vertical storage borehole and disposal canister with spent nuclear fuel.
  • the robot for transport, vertical storage of disposal canisters and compacting bentonite is moving out from the particular storage borehole and on its place there is removed the robot for transport, dosing and compacting bentonite involving tank of granulated bentonite with air conditioning unit, further staging scroll conveyor, vertical scroll conveyor and horizontal scroll conveyor completed by discharging hole, which together with flow distributor installed in adjustable vertical double line contributes to uniform distribution of delivered granulated bentonite into bentonite drainages with feeding cone of annulus of vertical placer frame.
  • a part of vertical storage borehole above disposal canister with spent nuclear fuel is closed by poured granulated bentonite applied in defined volumes by blow up pour out unit added by reverse mode of staging scroll conveyor and continuous compacting granulated bentonite by circular vibration plate let down into vertical storage borehole by means of vertical line where changes of positions of the robot for transport, dosing and compacting bentonite above vertical storage borehole between the position for pouring granulated bentonite through blow-up pour out unit and the position for compacting granulated bentonite by means of circular vibration plate are performed by stopping and going on the broad-gauge rail.
  • the robot for transport and application of concrete has on the frame of the vehicle of concrete equipped with wheels with integrated traction electric drive tank of concrete with outlet hole by which the rest of empty volume of vertical storage borehole with lateral beveled neck is filled and in final phase levelled and compacted by vibration head of the robot for transport and application of concrete, supplemented with a vertical line with the possibility of positioning.
  • the robot for transport, vertical storage of disposal canisters and compacting bentonite serves for the transport of disposal canisters with spent nuclear fuel from the output chamber of surface workplace upon inclined slope (or different way) to disposal level of deep geological repository, to disposal corridor, above particular storage borehole.
  • the robot for transport, dosing and compacting bentonite serves for transport of granulated bentonite from the bentonite and concrete warehouse of surface workplace upon inclined slope (or different way) to disposal level of deep geological repository, to disposal corridor, above particular vertical storage borehole.
  • the robot for transport and application of concrete serves for transport of concrete from the bentonite and concrete warehouse of the surface workplace upon inclined slope (or different way) to disposal level of deep geological repository, to disposal corridor, above particular vertical storage borehole.
  • the robot for transport, vertical storage of disposal canisters and compacting bentonite, the robot for transport, dosing and compacting bentonite and the robot for transport and application of concrete is designed as rail vehicle where during all the time of its functions including ride/transport it is charged from a trolley wire which is a part of the broad-gauge rail leading from the surface workplace to disposal level of deep geological repository up to disposal corridor to vertical storage boreholes.
  • kinematics of positioning mechanism of vertical placer is set so as to minimize needful height of working space of the robot for transport, vertical storage of disposal canisters and compacting bentonite in disposal corridor during transformation of vertical placer with disposal canister with spent nuclear fuel from transport position to the position in axis of vertical storage borehole. Further lowering needful height of working space of the robot for transport, vertical storage of disposal canisters and compacting bentonite in disposal corridor is possible to reach by modification of orifice of vertical storage borehole by beveling the edge of its neck or by local increasing the height of disposal corridor above each vertical storage borehole by means of building up a vault.
  • the vertical placer of the robot for transport, vertical storage of disposal canisters and compacting bentonite ensures both storing disposal canister with spent nuclear fuel into required disposing position in a vertical storage borehole and its holding during the process of pouring and compacting bentonite, but also thanks to presence of movable bucket with a vibration annular ring pouring itself and compacting granulated bentonite around disposal canister with spent nuclear fuel in vertical storage borehole.
  • Position of disposal canister with spent nuclear fuel is thanks to this still under control during the process of storing till the moment when the disposal canister with spent nuclear fuel is nearly fully safely anchored in bentonite barrier from compacted granulated bentonite.
  • the robot for transport, dosing and compacting bentonite serves for transport and storing granulated bentonite needful for storing one disposal canister with spent nuclear fuel into the vertical storage borehole where the disposal canister is being stored into granulated bentonite compacted to required density directly in a borehole within particular storage process.
  • the robot for transport dosing and compacting bentonite is equipped with a circular vibration plate which covers the whole circle profile of vertical storage borehole.
  • the circular vibration plate is installed above the vertical line which ensures height adjusting and needful pressure to compacted granulated bentonite above disposal canister with spent nuclear fuel in vertical storage borehole.
  • the area of surface workplace namely the output chamber and bentonite and concrete warehouse will not be equipped with broad-gauge rail with trolley wire and rail turntable, besides which there will only be a flat floor and a charging station for charging accumulators of the robot for transport, vertical storage of disposal canisters and compacting bentonite, the robot for transport, dosing and compacting bentonite and the robot for transport and application of concrete.
  • transport corridor between surface workplace and disposal level of deep geological repository and all areas on the disposal level of deep geological repository in which there is moving the robot for transport, vertical storage of disposal canisters and compacting bentonite, the robot for transport, dosing and compacting bentonite and the robot for transport and application of concrete including disposal corridor will not be equipped with broad-gauge rail with trolley wire.
  • the advantage of proposed robotic technological complex of vertical storage of disposal canisters with spent nuclear fuel into gradually compacted bentonite is that the robot for transport, vertical storage of disposal canisters and compacting bentonite is equipped with vertical placer anchored at swing arms and positioned by drives of swing arm and drives of positioning vertical placer where the basis of the vertical placer are three chain sections with functional arms led by sliding line, equipped with upper and lower chain segments with overhang, held in frame of placer by upper-lower reversible pulleys and driven by chain drives installed on the annulus of the frame.
  • the disposal canister with spent nuclear fuel is by means of two triplets of chain segments with overhangs still held at the lower bottom and shape element of upper cap in vertical placer.
  • the lower chain segments with overhangs are at first getting out of function and the disposal canister with spent nuclear fuel is held at shape element of upper cap, by continuous leading by chain sections let down to the required position for storing in vertical storage borehole where in the last phase of movement the partial compacting of the first in advance poured dose of granulated bentonite is also performed.
  • the disposal canister with spent nuclear fuel is thus with its lower bottom in contact with compacted granulated bentonite and at the same time it is still held by chain segments with overhangs of chain sections at shape element of upper cap. Position of disposal canister with spent nuclear fuel is thanks to this still under control in the process of storing.
  • a part of vertical placer is further a movable bucket with vibration annular ring laid on motion screws where fixation annular ring consists of frame of vibration annular ring to which it is connected a vibration plate with eccentric vibration generators by means of suspension and damping segments.
  • fixation annular ring consists of frame of vibration annular ring to which it is connected a vibration plate with eccentric vibration generators by means of suspension and damping segments.
  • the robot for transport, vertical storage of disposal canisters and compacting bentonite lets out the disposal canister with spent nuclear fuel, ejects the vertical placer in upper direction and after pouring and compacting granulated bentonite up to the level of height of disposal canister with spent nuclear fuel moves out from vertical storage borehole and its place is occupied by the robot for transport, dosing and compacting bentonite which with the assistance of blow up pour-out unit and circular vibration plate anchored at vertical line gradually pours and compacts required amount of granulated bentonite in vertical storage borehole. Subsequently there will be used the robot for transport and application of concrete which will close the vertical storage borehole by a concrete plug.
  • the layer of compacted granulated bentonite will reach up to the level of the disposal corridor.
  • the robot for transport and application of concrete will not be utilized and a part of proposed robotic technological complex of vertical storage of disposal canisters with spent nuclear fuel into gradually compacted bentonite will be only the robot for transport, vertical storage of disposal canisters and compacting bentonite and the robot for transport, dosing and compacting bentonite.
  • rail wheels with integrated traction electric drive can be replaced by driven wheels with unlimited lock which is advantageous solution from the point of view of maneuvering abilities of the robot for transport, vertical storage of disposal canisters and compacting bentonite, the robot for transport, dosing and compacting bentonite and the robot for transport and application of concrete.
  • a picture to abstract shows robotic technological complex of vertical storage of disposal canisters with spent nuclear fuel into gradually compacted bentonite, where on the upper view there is shown surface workplace with an output chamber in which there is situated a tank of disposal canisters with disposal canisters with spent nuclear fuel, robotic manipulator of output chamber with effector of the output chamber and robot for transport, vertical storage of disposal canisters and compacting bentonite during process of loading disposal canister with spent nuclear fuel and, further, bentonite and concrete warehouse with a tank of granulated bentonite with feeder and the robot for transport, dosing and compacting bentonite during process of loading granulated bentonite and, further, the tank of concrete with feeder and the robot for transport and application of concrete during process of loading concrete.
  • the lower view shows the disposal corridor with vertical storage boreholes with beveled edges of neck, in which there are prepared the robot for transport, vertical storage of disposal canisters and compacting bentonite, the robot for transport, dosing and compacting bentonite and the robot for transport and application of concrete for starting the storage process.
  • the robot for transport, vertical storage of disposal canisters and compacting bentonite has the vertical placer inserted in a vertical storage borehole, the disposal canister with spent nuclear fuel is let down by means of chain sections into position required for storage and still held by upper chain segments with overhangs at shape element of upper cap where by letting down the disposal canister with spent nuclear fuel there was at the same time performed compacting of in advance poured dose of granulated bentonite in a vertical storage borehole under down front of the disposal canister.
  • the movable bucket with vibration annular ring is at motion screws let down to the defined destination above the level of already poured and non-compacted bentonite.
  • the robot for transport, dosing and compacting bentonite stands on broad-gauge rail next to the robot for transport, vertical storage of disposal canisters and compacting bentonite and its flow distributor is above vertical placer, where outputs of flow distributor follow drainages of bentonite with feeding cone of vertical placer.
  • the set of the robot for transport, vertical storage of disposal canisters and compacting bentonite and the robot for transport, dosing and compacting bentonite is prepared for pouring further doses and subsequent compacting granulated bentonite around disposal canister with spent nuclear fuel in vertical storage borehole.
  • the robot for transport, vertical storage of disposal canisters and compacting bentonite has the vertical placer inserted in vertical storage borehole, the disposal canister with spent nuclear fuel is let down by means of chain sections to position required for storage and still held by upper chain segments with overhangs at shape element of upper cap.
  • the movable bucket with vibration annular ring and vibration plate has compacted poured layer of granulated bentonite and the disposal canister with spent nuclear fuel is already in 3 ⁇ 4 of its height stored in compacted granulated bentonite.
  • the robot for transport, dosing and compacting bentonite stands on broad-gauge rail next to the robot for transport, vertical storage of disposal canisters and compacting bentonite and its flow distributor is above vertical placer, where outputs of flow distributor follow drainages of bentonite with feeding cone of vertical placer.
  • the robot for transport, vertical storage of disposal canisters stands aside without disposal canister with spent nuclear fuel with vertical placer in transport position.
  • the robot for transport, dosing and compacting bentonite is fastened in the process of compacting granulated bentonite in particular vertical storage borehole by means of circular vibration plate let down in vertical line into working position.
  • the robot for transport and application of concrete is fastened in the process of spreading out and compacting concrete in particular vertical storage borehole by means of vibration head let down in vertical line into working position.
  • a part of surface workplace is also a warehouse of bentonite and concrete with tank of granulated bentonite with a feeder and the robot for transport, dosing and compacting bentonite during process of loading granulated bentonite and, further, tank of concrete with feeder and the robot for transport and application of concrete in the process of loading concrete.
  • the robot for transport, vertical storage of disposal canisters and compacting bentonite, the robot for transport, dosing and compacting bentonite and the robot for transport and application of concrete are shown in alternative with driven wheels with an unlimited lock.
  • the area of surface workplace does not contain neither broad-gauge rail nor rail turntable.
  • the robot for transport, vertical storage of disposal canisters and compacting bentonite and the robot for transport, dosing and compacting bentonite, both in alternative with driven wheels with an unlimited lock.
  • the robot for transport, vertical storage of disposal canisters and compacting bentonite is shown in the process of inserting vertical placer with disposal canister with spent nuclear fuel into the next free vertical storage borehole.
  • the robot for transport, dosing and compacting bentonite stands aside.
  • the robotic technological complex 1 of vertical storage of disposal canisters with spent nuclear fuel into gradually compacted bentonite consists of three robotic vehicles - a robot 2 for transport, vertical storage of disposal canisters and compacting bentonite, robot 3 for transport, dosing and compacting bentonite and robot 4 for transport and application of concrete.
  • the surface workplace 5 contains an output chamber 6 and bentonite and concrete warehouse 7 .
  • disposal corridor 9 With vertical storage boreholes 10 .
  • the surface workplace 5 is with disposal level 8 of deep geological repository connected by broad-gauge rail 11 with trolley wire 12 where vertical storage boreholes 10 in disposal corridor 9 are situated between rails of broad-gauge rail track 11 .
  • the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite is designed as rail vehicle and consists of a frame 13 of vehicle of disposal canister in which there are hinged rail wheels 14 with an integrated traction electric drive.
  • a design cover 15 On the frame 13 of the vehicle of disposal canister there is placed a design cover 15 .
  • a console 16 In the upper part of frame 13 of vehicle of disposal canister there is on the back edge placed a console 16 to which swing arms 17 are installed carrying also drives 18 of swing arm.
  • drives 19 of a positioning vertical placer At the end of swing arms 17 there are inserted drives 19 of a positioning vertical placer, connected to pivots of the frame 20 of the placer which is a basis of vertical placer 21 .
  • the vertical placer comprises of three closed chain sections 22 laid longitudinally with disposal canister by 120° with upper-lower reversible pulleys 23 , the revolving mounting of which is a part of the frame 20 of the placer where the upper reversible pulleys 23 are equipped with individual chain drives 24 .
  • the frame 20 of the placer is in the upper part composed of an annulus 29 of frame in which there are firmly placed six drainages 30 of bentonite with a feeding cone and on the annulus 29 of the frame there are installed three drives 31 of motion screws controlling motion screws 32 where the motion nuts are thread bars 33 with a female thread which together with the frame 34 of vibration annular ring creates the movable bucket 35 , where drainages 30 of bentonite with a feeding cone are entering appropriate six drainage pipes 36 , which are part of movable bucket 35 in the upper part of which there is a vibration annular ring 37 composed of a frame 34 of vibration annular ring and vibration plate 38 , where drainage pipes 36 firmly anchored in frame 34 of vibration annular ring are reaching cylinder holes of vibration plate 38 .
  • the vibration plate 38 is firmly connected with eccentric generators of vibrations 39 and between the frame 34 of vibration annular ring and vibration plate 38 of vibration annular ring 37 the only connected element are suspension and damping segments 40 .
  • the basis of this robot is rail vehicle composed of a frame 41 of bentonite vehicle on which there is placed design cover 15 and in which there are hinged rail wheels 14 with an integrated traction electric drive.
  • a tank 42 of granulated bentonite with air conditioning unit 43 On the vehicle there is placed a tank 42 of granulated bentonite with air conditioning unit 43 .
  • Bottom of the tank 42 of granulated bentonite is longitudinally fallen and in its gorge there is along the whole length placed a staging worm conveyor 44 which is followed by a vertical worm conveyor 45 leading along the front wall of the tank 42 of granulated bentonite which is followed by a horizontal worm conveyor 46 completed by a discharging hole 47 .
  • the staging worm conveyor 44 On the opposite side of granulated bentonite tank 42 the staging worm conveyor 44 is pro-longed and on its pro-longed part there is in down direction tied blow up pour out unit 51 of granulated bentonite 49 and next to it, in back part of the robot 3 for transport, dosing and compacting bentonite there is placed a circular vibration plate 52 complemented with a vertical line 53 .
  • the robot 4 for transport and application of concrete is prepared.
  • the basis of this robot 4 for transport and application of concrete is a rail vehicle composed of a frame 54 of a concrete vehicle on which there is placed a design cover 15 and in which there are hinged rail wheels 14 with integrated traction electric drive.
  • a concrete tank 55 In the frame 54 of the concrete vehicle there is placed a concrete tank 55 with accessories including lower outlet hole 56 and next, in axis of the rail vehicle there is placed a vibration head 57 with a vertical line 53 .
  • the broad-gauge rail 11 continues from bentonite and concrete warehouse 7 to the output chamber 6 where follows the rail turntable 61 .
  • the tank 62 of disposal canisters In the area of the output chamber 6 of the surface workplace 5 there is placed the tank 62 of disposal canisters and here is a robotic manipulator 60 of the output chamber with a vertical arm 63 of the manipulator and effector 64 of the output chamber with gripping elements 65 manipulating with disposal canisters 66 with spent nuclear fuel. From the tank 62 of disposal canisters there goes in the area of the output chamber 6 through rail turntable 61 the broad-gauge rail 11 in outward direction and leads up to the disposal level 8 of the deep geological repository.
  • the area of the surface workplace 5 namely the output chamber 6 and bentonite and concrete warehouse 7 will not be equipped with broad-gauge rail 11 with a trolley wire 12 and rail turntable 61 , besides which here will only be flat floor and charging station 68 for charging electric accumulators 69 of the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite, the robot 3 for transport, dosing and compacting bentonite and the robot 4 for transport and application of concrete.
  • disposal corridor 9 it is possible alternatively to perform the vertical storage borehole 10 without any adjustments when the needful height of the disposal corridor is the highest, or with an adjustment of the vertical storage borehole 9 by creating side beveled edge 70 of neck by means of that needful height of the disposal corridor will be lowered.
  • the neck of the vertical storage borehole 10 without adjustments or with an adjustment by the beveled edge 70 of the neck has alternatively not to be filled by concrete creating a concrete plug 72 , but is able to be filled by granulated bentonite 49 as well.
  • the robotic technological complex 1 of the vertical storage of disposal canisters with spent nuclear fuel into gradually compacted bentonite ensure both transport and storage of disposal canisters 66 with spent nuclear fuel into vertical storage boreholes 10 and, further, their positioning, filling free space of a vertical storage borehole 10 by granulated bentonite 49 , including closing the neck of the borehole by a concrete plug 72 .
  • the ride of the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite is enabled by rail wheels 14 with integrated traction electric drive hinged in a frame 13 of the vehicle of disposal canister.
  • the surface workplace 5 is with disposal level 8 of deep geological repository connected by broad-gauge rail 11 with trolley wire 12 , changes of direction at routes crossings are realized by rail turntables 61 and charging the robotic rail facilities is performed by distribution of trolley wires 12 along broad-gauge rails 11 .
  • the disposal canister 66 with spent nuclear fuel is in the output chamber 6 of the surface workplace 5 from tank 62 of disposal canisters by a robotic manipulator 60 of the output chamber by means of a vertical arm 63 of the manipulator with the effector 64 of the output chamber inserted into the vertical placer 21 of the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite.
  • the vertical placer 21 is by combination of motions of the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite by means of rail wheels 14 with the integrated traction electric drive, further with assistance of swing arms 17 swingly installed in a console 16 controlled by drives 18 of the swing arm and drives 19 of the vertical placer positioning positioned into vertical loading position.
  • the robotic manipulator 60 of output chamber grips by the effector 64 of output chamber be means of a gripping element 65 at shape element 28 of the upper cap the disposal canister 66 with spent nuclear fuel vertically laid in the tank 62 of disposal canisters and removes it above the vertical placer 21 into its axis.
  • this phase there is located a trio of chain segments 26 with an overhang of chain sections 22 of the vertical placer 21 in its upper part, thus closely under upper reversible pulleys 23 .
  • the robotic manipulator 60 of output chamber lets down by means of vertical arm 63 of the manipulator the disposal canister 66 with spent nuclear fuel among three chain sections 22 in the way that down front 27 of the disposal canister 66 with spent nuclear fuel pushes lower chain segments 26 with overhangs and subsequently there is performed controlled inserting disposal canister 66 with spent nuclear fuel into vertical placer 21 by synchronized course of drive 24 of chain pushing upper reversible pulleys 23 and of vertical arm 63 of the manipulator.
  • Chain drives 24 are firmly connected with an annulus of the frame 29 which together with the following carrying pipe creates frame of placer 20 with lower part of which are firmly connected lower reversible pulleys 23 closing particular chain sections 22 , where their contact lines with disposal canister 66 with spent nuclear fuel are stabilized by sliding line 25 firmly connected with pipe of frame 20 of placer.
  • the disposal canister 66 with spent nuclear fuel is from two thirds of its length inserted in the vertical placer 21 , led by chain sections 22 in sliding lines 25 , the effector 64 of the output chamber lets out the disposal canister 66 with spent nuclear fuel and the robotic manipulator 60 of the output chamber comes back into its starting position in the output chamber 6 .
  • the disposal canister 66 with spent nuclear fuel is being further let down inside the vertical placer 21 up to the moment when upper chain segments 26 with overhangs of chain sections 22 fall into a shape element 28 of the upper cap of disposal canister 66 with spent nuclear fuel.
  • the disposal canister 66 with spent nuclear fuel is laid among chain sections 22 supported by sliding lines 25 where down front lies on lower chain segments 26 with overhangs and also upper chain segments 26 with overhangs fall into shape element 28 of upper cap of disposal canister 66 with spent nuclear fuel.
  • the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite inclines by means of drives 18 of swing arm and drives 19 of vertical placer positioning the swing arm 17 and vertical placer 21 with disposal canister 66 with spent nuclear fuel into transport position which is optimized from point of view of total height of the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite and taking into account easy and as suitable as possible inserting vertical placer 21 with disposal canister 66 with spent nuclear fuel into vertical storage borehole 10 in disposal corridor 9 .
  • the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite removes itself on the broad-gauge rail 11 from the surface workplace 5 to the disposal level 8 of the deep geological repository to the disposal corridor 9 close to particular vertical storage borehole 10 .
  • the robot 3 for transport, dosing and compacting bentonite for which the basis is a frame 41 of bentonite vehicle with rail wheels 14 with integrated traction electric drive on which there is placed the tank 42 of granulated bentonite with air conditioning unit 43 .
  • the robot 3 for transport, dosing and compacting bentonite goes with a blow-up pour out unit 51 above the particular vertical storage borehole 10 . Calibration of position of the robot 3 for transport, dosing and compacting bentonite in relation with the vertical storage borehole 10 will be performed by slow movement on the broad-gauge rail 11 .
  • the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite goes above particular vertical storage borehole 10 and inserts vertical placer 21 with disposal canister 66 with spent nuclear fuel into vertical storage borehole 10 from transport position by synchronization of movement of roller of the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite in relation with vertical storage borehole 10 , with movement of inclination and letting down vertical placer 21 by means of swing arm 17 , drives 18 of swing arm and drives 19 of vertical placer positioning where synchronized movement is optimized taking into account the lowest possible needful height of working space in disposal corridor 9 .
  • the vertical placer 21 is inserted into the vertical storage borehole 10 where the axis of disposal canister 66 with spent nuclear fuel inside vertical placer 21 is identical to axis of circular vertical storage borehole 10 .
  • the disposal canister 66 with spent nuclear fuel is held among chain sections 22 by means of chain segments 26 with overhang which are in contact both with down front 27 and with shape element 28 of upper cap.
  • Drives 24 of chains get chain sections 22 moving and the disposal canister 64 with spent nuclear fuel is being let down into the vertical storage borehole 10 .
  • Lower chain segments 26 with the overhang are shifted behind lower reversible pulleys 23 and the disposal canister 66 with spent nuclear fuel is held by upper chain segments 26 with overhang at shape element 28 of the upper cap.
  • the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite lets down the disposal canister 66 with spent nuclear fuel by means of chain sections 22 and drives 24 of chains to the required position into the vertical storage borehole 10 by means of which the required compacting of poured granulated bentonite 49 under the disposal canister 66 with spent nuclear fuel is performed.
  • the disposal canister 66 with spent nuclear fuel sits down by its down front 27 to compacted granulated bentonite 49 at the bottom of vertical storage borehole 10 and at the same time is still held by chain segments 26 with the overhang of chain sections 22 of the vertical placer 21 .
  • the position of the disposal canister 66 with spent nuclear fuel in the vertical storage borehole 10 is thus controlled and stable.
  • the movable bucket 35 is let down the part of which are drainage pipes 36 and parallelly with them going thread bars 33 with female thread, which are in lower part bound by the frame 34 of vibration annular ring where the frame 34 of vibration annular ring together with lower vibration plate 38 creates the vibration annular ring 37 .
  • Process of compacting granulated bentonite 49 is performed by shaking of vibration plate 38 of vibration annular ring 37 , where there are with vibration plate 38 firmly connected eccentric generators of vibrations 39 turning themselves in the opposite phase and reduction of vibrations is realized by means of suspension and damping segments 40 placed between the vibration plate 38 and the frame of vibration annular ring 34 .
  • the robot 3 for transport, dosing and compacting bentonite adjusts height of flow distributor 48 by means of vertical double line 50 so that outputs of the flow distributor would follow directly drainages 30 of bentonite with feeding cone.
  • the vibration annular ring 37 is lifted up in difference of defined height and pouring empty volume created by delivering needful amount of granulated bentonite 49 is performed by the robot 3 for transport, dosing and compacting bentonite where the granulated bentonite 49 is delivered through staging worm conveyor 44 , further vertical worm conveyor 45 and horizontal worm conveyor 46 where at its end it goes through discharging hole 47 and further gravitationally falls through the flow distributor 48 which divides equally falling granulated bentonite 49 into particular drainages 30 with feeding cone which are a part of annulus 29 of frame of vertical placer 21 and at the end it falls through telescopically following drainage pipes 36 protruding up to cylinder grind-outs of vibration annular ring 37 by means of which there is enabled inflow and dosing of granulated bentonite 49 under vibration annular ring 37 into free space
  • the robot 2 for transport, vertical storage of disposal canister and compacting bentonite lets fall the disposal canister 66 with spent nuclear fuel and ejects the vertical placer 21 in upper direction out from the vertical storage borehole 10 so as lower surface of vibration plate 38 of movable bucket 35 in its starting position would be slightly above the disposal canister 66 with spent nuclear fuel in vertical storage borehole 10 .
  • the robot 3 for transport, dosing and compacting bentonite sets by means of vertical double line 50 the flow distributor 48 into as high as possible working position and leaves on the broad-gauge rail 11 in disposal corridor 9 .
  • the vertical placer 21 of the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite by inverse synchronization of movements transforms itself back to transport position.
  • the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite comes back to the output chamber 6 of the surface workplace 5 where further disposal canister 66 with spent nuclear fuel will be loaded into it.
  • the robot 3 for transport, dosing and compacting bentonite goes with blow up pour out unit 51 above particular vertical storage borehole 10 .
  • Calibration of position of the robot 3 for transport, dosing and compacting bentonite in relation to vertical storage borehole 10 will be performed by slow movement on the broad-gauge rail 11 .
  • the robot 3 for transport, dosing and compacting bentonite pours further equally distributed dose of granulated bentonite 49 into vertical storage borehole 10 by means of which the needful pouring of top front of the disposal canister 66 with spent nuclear fuel and its subsequent compacting is performed in the way that the robot 3 for transport, dosing and compacting bentonite moves on a bit on the broad-gauge rail 11 and there is activated the circular vibration plate 52 launched by vertical line 53 and subsequent compacting the last layer of granulated bentonite 49 is performed. This is the end of activity of the robot 3 for transport, dosing and compacting bentonite.
  • the robot 3 for transport, dosing and compacting bentonite comes back on the broad-gauge rail 11 to bentonite and concrete warehouse 7 of the surface workplace 5 for filling the tank 42 of granulated bentonite placed on it by coming under the tank 58 of granulated bentonite with feeder.
  • the robot 4 On its place goes the robot 4 for transport and application of concrete composed of the frame 54 of the concrete vehicle equipped with rail wheels 14 with integrated traction electric drive on which there is placed the tank 55 of concrete so that the outlet hole 56 of concrete will be above the neck of the vertical storage borehole 10 and in this position the neck of the vertical storage borehole 10 will be filled to the level of the disposal corridor 9 on the disposal level 8 of the deep geological repository where subsequently the vehicle moves on a bit so as the vibration head 57 would be activated for compacting applied concrete by which there will be created a concrete plug 72 of the vertical storage borehole 10 .
  • the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite
  • the robot 3 for transport, dosing and compacting bentonite
  • the robot 4 for transport and application of concrete to replace rail wheels 14 with integrated traction electric drive by driven wheels 67 with unlimited lock.
  • the robotic technological complex 1 of vertical storage of disposal canisters with spent nuclear fuel into gradually compacted bentonite installed broad-gauge rails 11 with trolley wires 12 and rail turntables 61 .
  • the robot 2 for transport, vertical storage of disposal canisters and compacting bentonite, the robot 3 for transport, dosing and compacting bentonite and the robot 4 for transport and application of concrete will be equipped with electric accumulators 69 and the output chamber 6 will be added by charging stations 68 .
  • disposal corridors 9 including vertical storage boreholes 10 in alternatives.
  • Vertical storage boreholes 10 can be performed with beveled edge 70 of neck, but also without this modification, but then it is necessary to count with bigger height of the disposal corridor 9 or it is possible to perform vault 71 above each vertical storage borehole 10 .
  • Vertical storage boreholes 10 can be closed by a concrete plug 72 according to the description mentioned above or only by compacted granulated bentonite 49 .
  • the robot 4 for transport and application of concrete and the tank 59 of concrete with feeder were not a part of the robotic technological complex 1 of vertical storage of disposal canisters with spent nuclear fuel into gradually compacted bentonite.
  • the solution is focused on the robotic technological complex of vertical storage of disposal canister wit spent nuclear fuel into gradually compacted granulated bentonite directly in the vertical storage borehole during the process of storing the disposal canister with spent nuclear fuel.
  • the proposed solution is complex and optimized, taking into account minimization of purpose facilities needed for ensuring the transport of the disposal canister with spent nuclear fuel from the surface workplace to the disposal level of deep geological repository and subsequent storing to the vertical storage borehole of circular slot in the disposal corridor and also taking into account minimization of the passable profile of the disposal corridor.
  • the key element is technological node of the vertical placer which was designed so as to enable precise and safe manipulation and positioning of the disposal canister with spent nuclear fuel in all phases of defined storage process.
  • the proposed solution is further thanks to application of transport platforms on the basis of rail vehicles optimal also from the point of view of energy demands, transport safety and demands for ensuring required precision of positioning of robots in their particular working positions resulting from defined logistic process.
  • the proposed solution is useful primarily in the field of deep storage of spent nuclear fuel, but particular robotic systems and mechanisms, especially driven wheel with unlimited lock or technological node of vertical placer are of course able to be applied generally in engineering industry as well.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • General Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Processing Of Solid Wastes (AREA)
EP19466006.4A 2018-11-30 2019-05-10 Complexe de technologie robotique d'évacuation verticale de récipients de déchets avec un combustible nucléaire usagé dans de la bentonite progressivement compactée Active EP3660867B1 (fr)

Applications Claiming Priority (1)

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CZ2018-662A CZ310021B6 (cs) 2018-11-30 2018-11-30 Robotický technologický komplex vertikálního ukládání vyhořelého jaderného paliva do hutněného bentonitu

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EP3660867A1 true EP3660867A1 (fr) 2020-06-03
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115009310A (zh) * 2022-06-24 2022-09-06 中国铁道科学研究院集团有限公司 自走行铁路隧道评估检修平台及方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2139005A1 (fr) 2008-06-26 2009-12-30 HFH Herbst Spezialfahrzeugbau und Bergwerksmaschinen GmbH Véhicule et procédé pour le transport et le stockage de récipients contenant une matière radioactive
EP3154063A1 (fr) * 2015-10-09 2017-04-12 Robotsystem, s.r.o. Véhicule robotisé de stockage et stockage pour l'élimination de combustible nucléaire usé contenant le véhicule robotisé

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2139005A1 (fr) 2008-06-26 2009-12-30 HFH Herbst Spezialfahrzeugbau und Bergwerksmaschinen GmbH Véhicule et procédé pour le transport et le stockage de récipients contenant une matière radioactive
EP3154063A1 (fr) * 2015-10-09 2017-04-12 Robotsystem, s.r.o. Véhicule robotisé de stockage et stockage pour l'élimination de combustible nucléaire usé contenant le véhicule robotisé

Non-Patent Citations (2)

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Title
BEARD J: "NUCLEAR WASTE DISPOSAL IN NEW MEXICO AND NEVADA", IEEE SPECTRUM, IEEE INC. NEW YORK, US, vol. 34, no. 11, 1 November 1997 (1997-11-01), pages 33 - 40, XP000752869, ISSN: 0018-9235, DOI: 10.1109/6.632487 *
TSOULFANIDIS N ET AL: "RADIOACTIVE WASTE MANAGEMENT", NUCLEAR TECHNOLOGY, AMERICAN NUCLEAR SOCIETY, CHICAGO, IL, US, vol. 93, no. 3, 1 March 1991 (1991-03-01), pages 263 - 304, XP000209900, ISSN: 0029-5450 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115009310A (zh) * 2022-06-24 2022-09-06 中国铁道科学研究院集团有限公司 自走行铁路隧道评估检修平台及方法

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CZ310021B6 (cs) 2024-05-15
EP3660867B1 (fr) 2023-10-18
CZ2018662A3 (cs) 2020-06-10

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