Classifications

• • G—PHYSICS
  • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
  • G21C—NUCLEAR REACTORS
  • G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
  • G21C19/26—Arrangements for removing jammed or damaged fuel elements or control elements; Arrangements for moving broken parts thereof
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J15/00—Gripping heads and other end effectors
  • B25J15/02—Gripping heads and other end effectors servo-actuated
  • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J15/00—Gripping heads and other end effectors
  • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J5/00—Manipulators mounted on wheels or on carriages
  • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
  • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
  • B25J9/046—Revolute coordinate type
• • G—PHYSICS
  • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
  • G21C—NUCLEAR REACTORS
  • G21C17/00—Monitoring; Testing ; Maintaining
  • G21C17/06—Devices or arrangements for monitoring or testing fuel or fuel elements outside the reactor core, e.g. for burn-up, for contamination
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
  • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
  • Y02E30/00—Energy generation of nuclear origin
  • Y02E30/30—Nuclear fission reactors

Definitions

• TITLE Device for intervention on a nuclear fuel assembly
• the present invention relates to a device for intervention on a nuclear fuel assembly placed underwater in a swimming pool.
• a nuclear fuel assembly for a pressurized water nuclear reactor comprises a bundle of parallel nuclear fuel rods, spaced apart transversely from one another by a support skeleton comprising in particular a lower nozzle and an upper nozzle spaced along a longitudinal axis, guide tubes extending along the longitudinal axis and connecting the lower nozzle and the upper nozzle between them, and retaining grids fixed to the guide tubes by being distributed along said guide tubes.
• the nuclear fuel rods extend along the longitudinal axis between the lower nozzle and the upper nozzle by passing through the retaining grids which support the nuclear fuel rods longitudinally and keep them transversely apart from one another.
• the retaining grids consist of interlocking plates delimiting cells intended to be crossed by the guide tubes and the fuel rods.
• the retaining grids are provided with a peripheral belt carrying projecting guide fins on their lower edge and / or on their upper edge and inclined towards the center of the retaining grid.
• Each cell of a retaining grid crossed by a respective nuclear fuel rod is generally provided on internal surfaces of the cell with retaining elements, such as springs and / or bosses, for longitudinally supporting and transversely maintaining the nuclear fuel rod crossing this cell.
• a cooling fluid circulates through the nuclear fuel assembly along the longitudinal axis, passing between the nuclear fuel rods and through the nozzles and the retaining grids.
• Each cell of a holding grid through which a respective nuclear fuel rod passes can also comprise one or more fins for mixing the cooling fluid.
• Such debris is entrained by the cooling fluid and can become trapped in the nuclear fuel assemblies, between the nuclear fuel rods, with the risk of damaging these nuclear fuel rods, and in particular ultimately leading to a loss. sealing of a nuclear fuel rod.
• FR2633769A1 discloses a device for extracting debris from an underwater nuclear fuel assembly, comprising a pole, a clamp mounted at a lower end of the pole and a mechanism for controlling the opening and closing of the clamp remotely.
• this extraction device is inconvenient to use. Its positioning is imprecise and it does not allow easy access to all the places where debris can get caught in a nuclear fuel assembly, nor guarantee in all situations that the forces applied to the components of the assembly of nuclear fuel do not come to damage elements of the device or of the nuclear fuel assembly and in particular do not come to damage the holding elements of a nuclear fuel rod, for example by application of too great a transverse force on said rod.
• the peripheral plates can be locally damaged by hooking with an adjoining element of the handling chain, for example a storage cell having a geometric discontinuity or a surface defect, an adjacent fuel assembly ..., during the longitudinal displacement of the nuclear fuel assembly relative to this element, making the nuclear fuel assembly unfit for loading in the state in the nuclear reactor core.
• an adjoining element of the handling chain for example a storage cell having a geometric discontinuity or a surface defect
• FR2641 1 18A1 discloses a device for straightening the guide fins of the grids holding a nuclear fuel assembly comprising a pole, an intervention tool comprising a folding means and a support and displacement means for the tool 'intervention.
• this device for straightening the guide fins is inconvenient. Its positioning is imprecise and it does not have sufficient degrees of freedom to allow effective intervention in all configurations, nor to guarantee in all situations that the forces applied to the components of the nuclear fuel assembly do not come to damage elements of the device or of the nuclear fuel assembly and in particular do not come to damage the holding elements d 'a nuclear fuel rod for example by applying too much transverse force to said pencil.
• One of the aims of the invention is to propose an intervention device on a nuclear fuel assembly which facilitates interventions without inducing any risk of damage to the elements of the fuel assembly or of the device.
• the invention provides an intervention device on a nuclear fuel assembly disposed under water, the intervention device comprising an articulated robotic arm comprising a fixing base, a terminal member and at least one arm segment connecting the base to the terminal member, and an intervention member carried by the terminal member, the intervention member being configured to intervene on the nuclear fuel assembly.
• the robotic arm fitted with an intervention unit makes it possible to move the intervention unit and to orient the intervention unit easily to insert it into the nuclear fuel assembly and intervene on debris trapped in the nuclear fuel assembly, for example between nuclear fuel rods, in a lower nozzle, in an upper nozzle or in a grid of the nuclear fuel assembly or on a component of the nuclear fuel assembly requiring intervention.
• the robotic arm can be easily controlled remotely, making operations easier.
• the intervention device may include one or more of the following optional characteristics, taken in isolation or in any technically possible combination:
• the robotic arm has an articulated arm segment on the base and an actuator configured to move the arm segment relative to the base;
• the robotic arm has at least two arm segments hinged together and an actuator configured to rotate each arm segment relative to the other;
• the robotic arm has exactly two segments of arms hinged together, one being articulated on the base and the other carrying the terminal member; the arm segment carrying the end member extends along an arm segment axis, the intervention member being mobile in rotation relative to this arm segment around an axis of rotation substantially coaxial or parallel with the arm segment axis;
• the intervention unit is configured to seize debris or a component of the nuclear fuel assembly
• the intervention unit is configured to deform a debris or component of the nuclear fuel assembly
• the intervention unit is configured to cut debris or a component of the nuclear fuel assembly
• the intervention unit is a clamp having two jaws movable relative to one another;
• the two jaws extend in a direction of extension, the intervention member being movable in rotation relative to the segment of the arm carrying the end member around an axis of rotation substantially parallel to the direction of extension ;
• the intervention unit is configured to aspirate debris and includes a suction cannula connected to the suction and filtration device;
• It comprises a support base, the robotic arm being mounted movable in translation relative to the support base in at least one direction of translation;
• It includes an actuator configured to move the robotic arm in translation relative to the support base in at least one direction of translation;
• the support base is configured to fit into the upper part of a cell for receiving a nuclear fuel assembly
• FIG. 1 is an elevational view of a nuclear fuel assembly
• FIG. 2 is a perspective view of an intervention device on a nuclear fuel assembly, in a first configuration
• - Figure 3 is a perspective view of the intervention device, in a second configuration
• - Figure 4 is a perspective view of the intervention device, in a third configuration
• FIG. 5 to 8 are perspective views of interchangeable intervention members of the intervention device.
• the nuclear fuel assembly 2 of Figures 1 and 2 includes a bundle of nuclear fuel rods 4 and a support skeleton 6 configured to carry the nuclear fuel rods 4.
• the nuclear fuel rods 4 extend parallel to each other and to a longitudinal axis L of the nuclear fuel assembly 2.
• the longitudinal axis L extends vertically when the nuclear fuel assembly 2 is placed in the core of a nuclear reactor. In operation, a coolant flows vertically from bottom to top through the nuclear fuel assembly 2, as shown by arrow F.
• the support skeleton 6 comprises a lower end piece 8, an upper end piece 10, a plurality of guide tubes 12 and a plurality of retaining grids 14.
• the lower end piece 8 and the upper end piece 10 are spaced along the longitudinal axis L.
• the guide tubes 12 extend along the longitudinal axis L and connect the lower end piece 8 and the upper end piece 10 between them, maintaining the spacing between the lower nozzle 8 and the upper nozzle 10.
• the nuclear fuel rods 4 are received between the lower nozzle 8 and the upper nozzle 10.
• Each guide tube 12 is open at its upper end to allow the insertion of a control bar (not shown) inside the guide tube 12, through the upper end piece 10.
• a control bar allows to control the reactivity of the nuclear reactor core into which the nuclear fuel assembly 2 is inserted.
• the retaining grids 14 are distributed along the guide tubes 12, being spaced apart from one another along the longitudinal axis L. Each retaining grid 14 is rigidly fixed to the guide tubes 12, the guide tubes 12 s extending through each retaining grid 14. Each retaining grid 14 is configured to longitudinally support the nuclear fuel rods 4 while maintaining them in a configuration in which they are spaced from each other.
• the nuclear fuel rods 4 are preferably positioned laterally at the nodes of a substantially regular imaginary network.
• Each retaining grid 14 comprises, for example, interlocking internal plates and a peripheral belt, surrounding the internal plates and formed by four peripheral plates 16, thus forming a plurality of cells.
• Each cell intended to receive a respective nuclear fuel rod 4 is generally provided with holding elements coming into contact with the external surface of the nuclear fuel rod 4 to maintain it longitudinally and transversely.
• Each cell intended to receive a respective nuclear fuel rod 4 may comprise at least one fin for mixing the coolant projecting upwards from the support grid with respect to the longitudinal axis L of the fuel assembly nuclear 2 and preferably being inclined obliquely upwards and inwards of the cell.
• each cell comprise for example at least one elastic spring and / or at least one rigid boss, each spring being for example configured to push the nuclear fuel rod 4 in abutment against one or more boss (es).
• Each retaining grid 14 is generally provided with a peripheral belt, formed for example of peripheral plates 16, carrying guide fins 18 projecting from its lower edge and / or from its upper edge, and inclined towards the center of the retaining grid 14, for guiding the retaining grid 14 with the surrounding objects during handling operations of the nuclear fuel assembly 2.
• the intervention device 20 is configured to intervene on the assembly of nuclear fuel 2 under water.
• the nuclear fuel assembly 2 is submerged in a body of water, in a swimming pool at the nuclear power plant.
• the nuclear fuel assembly 2 is for example suspended in the body of water.
• the intervention device 20 comprises an articulated robotic arm 22 and an intervention member 24, here a clamp, carried by the robotic arm 22.
• the robotic arm 22 includes a base 26, located at one end of the robotic arm 22 for fixing the robotic arm 22 on a support, and a terminal member 28 located at the other end of the robotic arm 22, for fixing the intervention member 24 on the robotic arm 22.
• the robotic arm 22 has at least one arm segment 30, 32 located between the base 26 and the terminal member 28.
• Each arm segment 30, 32 is elongated along a respective arm segment axis A1, A2.
• the robotic arm 22 comprises for example several arm segments 30, 32 arranged in series between the base 26 and the end member 28.
• the arm segment 30 connected to the base 26 is articulated on the base 26, and each arm segment 32 next is articulated on the arm segment 30, 32 previous.
• the arms segment axes A1, A2 are coplanar and the arm segments 30, 32 are articulated at the base 26 and between them only around distinct and parallel axes of rotation B1, B2, the axes of rotation B1, B2 being substantially perpendicular to the axes of the arm segment A1, A2.
• the arm segments 30, 32 move in a plane of displacement fixed relative to the base 26, the plane of movement being defined by the axes of arm segment A1, A2.
• each arm segment 30, 32 is movable in rotation relative to the base 26 or to the other arm segment on which it is mounted, on a stroke of at least 120 °, preferably on a stroke of approximately 180 °.
• the robotic arm 22 here comprises exactly two arm segments 30, 32, namely a proximal arm segment 30 articulated on the base 26 and a distal arm segment 32, articulated on the proximal arm segment 30 and carrying the end member 28.
• the proximal arm segment 30 is articulated on the base 26 around a single axis of rotation B1
• the distal arm segment 32 is articulated on the proximal arm segment 30 around a single axis of rotation B2 distinct and parallel to the axis of rotation B1 of the arm segment 30 relative to the base 26.
• the intervention member 24 is mounted movable in rotation relative to the arm segment carrying the terminal member 28, here the distal arm segment 32, about an axis of rotation B3 coaxial with or parallel to the axis of extension A2 of this arm segment 32.
• the axis of rotation of the intervention member 24 relative to the arm segment carrying the terminal member 28 is located in the plane of movement of the arm segments 30, 32
• the rotation of the intervention member 24 about the axis of rotation B3 makes it possible to orient the intervention member 24 to facilitate its insertion into the nuclear fuel assembly 2, for example between the nuclear fuel rods 4 or in the lower nozzle 8 or the upper nozzle 10.
• the robotic arm 22 is configured so that the intervention member 24 mounted on the robotic arm 22 is rotatable around the axis of rotation B3 over 360 °.
• the intervention member 24 is preferably movable in rotation without angular limitation.
• the intervention agency 24 can perform several turns in one direction as in the other.
• the robotic arm 22 has at least one actuator 34, 36, 38 for controlling the movements of the robotic arm 22 and, optionally, the movements of the intervention member 24.
• the robotic arm 22 here has an actuator 34 for controlling the orientation of the proximal arm segment 30 relative to the base 26 and an actuator 36 for controlling the orientation of the distal arm segment 32 relative to the proximal arm segment 30.
• the robotic arm 22 optionally incorporates an actuator 38 to control the orientation of the intervention member 24 around the axis of rotation B3.
• the actuator 38 is for example integrated inside the arm segment carrying the intervention member 24, here the distal arm segment 32, which is faired.
• the intervention device 20 comprises a translation assembly 42 on which the robot arm 22 is mounted, the translation assembly 42 being configured to move the robot arm 22 in translation in a direction of translation T 1.
• the direction of translation T1 is substantially perpendicular to the plane of movement of the arm segment (s) 30, 32 of the robotic arm 22.
• the direction of translation T1 is thus substantially parallel to the axis of rotation B1, B2 of each arm segment 30 , 32 relative to the base 26 or to the preceding arm segment.
• the translation assembly 42 includes an actuator 44 configured to control the movement of the base 26 in translation in the translation direction T1.
• the actuator 44 is here a linear cylinder, for example a hydraulic cylinder or an electric cylinder.
• the translation assembly 42 comprises a base 46 and a carriage 48 slidably mounted on the base 46 in the direction of translation T1, the actuator 44 being disposed between the base 46 and the carriage 48 to control the movement of the carriage 48 relative to the base 46.
• the robotic arm 22 is mounted on the carriage 48 by fixing the base 26 on the carriage 48.
• the translation assembly 42 defines a robotic "translation table" for moving the robotic arm 22 in translation.
• the intervention device 20 is designed to be placed on a cell present in the swimming pool and intended to receive an assembly of nuclear fuel 2 under water, for example a storage cell or a descender basket .
• the intervention device 20 comprises a support base 50 configured to be inserted in the upper part 52 of the cell.
• a cell generally has the shape of a vertically extending tube with a generally square section.
• the support base 50 comprises an insertion element 54 intended to be inserted vertically in the upper part 52 of the cell, and a support element 56 supporting the robotic arm 22 in cantilever with respect to the insert 54.
• the intervention device 20 is held in place by its own weight.
• the intervention device 20 is placed on the basket of the descender in the high position, that is to say when the upper part 52 of the cell is out of water, to facilitate docking of the device. intervention 20 and the insertion of the insertion element 54.
• the intervention device 20 is then immersed by lowering the descender, immersing at the same time any power supply and control cables of the intervention device 20, until the intervention device 20 is placed at the desired height with respect to the nuclear fuel assembly 2 and with a sufficient height of water to carry out the intervention in complete safety.
• the nuclear fuel assembly 2 is for example suspended in the water using a lifting tool.
• the translation assembly 42 is fixed on the support base 50, more precisely on the support element 56, and the robotic arm 22 is fixed on the translation assembly 42.
• the translation assembly 42 is fixed on the support base 50 so as to be able to adjust the position of the translation assembly 42 in a translation direction T2 perpendicular to the translation direction T1 of the carriage 48, in several adjustment positions, for example discrete adjustment positions.
• the support base 50 is for example provided with at least one rail 58, for example two rails 58, each rail 58 extending in the direction of translation T2 and being provided with several fixing orifices 59 distributed the along rail 58.
• the intervention device 20 comprises a receptacle for depositing the debris extracted from the nuclear fuel assembly 2 and for receiving the debris which could fall during the intervention on the nuclear fuel assembly 2.
• the receptacle is for example provided in the form of a tray 60 provided with a flange.
• the intervention device 20 includes a guidance system 62 configured to position the nuclear fuel assembly 2 and the intervention device 20 relative to one another.
• the guide system 62 is advantageously configured to come to bear on a lateral face of the nuclear fuel assembly 2 at a point or several points spaced along the nuclear fuel assembly 2.
• the nuclear fuel assembly 2 in operation is suspended under water, attached to an independent lifting tool.
• the bearing force of the guidance system 62 on the nuclear fuel assembly 2 is limited. Indeed, the nuclear fuel assembly 2 being held in a pendulum fashion, it is pushed back by the guide system 62 when the support force of the guide system 62 increases.
• the guide system 62 comprises a guide element 64 in the form of a fork with two teeth intended to be applied against a lateral face of the nuclear fuel assembly 2, the nuclear fuel assembly 2 being received between the two teeth.
• the guide element 64 is here carried by a bracket 66 fixed on the support base 50.
• the tray 60 is for example provided with a notch formed in an edge of the tray 60 and designed to receive the nuclear fuel assembly 2 to ensure the relative positioning of the intervention device 20 and of the nuclear fuel assembly 2.
• the intervention device 20 is supported on the nuclear fuel assembly 2 at two points spaced along the nuclear fuel assembly 2.
• the intervention device 20 is configured to intervene from below the lower end piece 8 of the nuclear fuel assembly 2.
• the intervention device 20 is provided with an intermediate support 68 having a vertical fixing surface 68A, the base 26 of the robotic arm 22 being fixed on this fixing surface 68A.
• the robotic arm 22 makes it possible to modify the orientation of the robotic arm 22 with respect to the nuclear fuel assembly 2 to facilitate the work of the robotic arm 22.
• the robotic arm 22 makes it possible to move the intervention member 24 parallel to the fixing surface 68A, ie here vertically for inserting the intervention member 24 into the lower end piece 8.
• the intermediate support 68 is here fixed on the carriage 48 of the translation assembly 42.
• the intervention device 20 comprises a removable receptacle 69 in which the operator will deposit the debris or pieces of components extracted or cut by the intervention member 24.
• the receptacle 69 is accessible by rotation of the arm segments 30, 32 around the axes of rotation B1, B2.
• the plate 60 provided with a notch has been replaced by a rectangular or square plate 70, suitable for extending under the nuclear fuel assembly 2 so as to receive the debris or pieces of components which would fall from nuclear fuel assembly 2 during the intervention.
• the translation assembly 42 has been offset in the second translation direction T2 relative to the support base 50.
• the device of FIG. 3 allows in particular, by a rotational movement of the terminal member 28 to extract debris of the chip or helical spring type which would have partially passed through the lower end piece 8.
• the intervention device 20 is configured for intervention on the top of the upper end piece 10 of the nuclear fuel assembly 2.
• the robotic arm 22 is mounted at the lower end of a handling pole 71 which can be manipulated from the surface of the body of water in which the intervention is carried out.
• the base 26 is here fixed on a fixing surface 72 facing downwards.
• the fixing surface 72 is inclined relative to a horizontal plane by an angle between -60 and + 60 ° and preferably between -30 ° and + 30 °.
• Such a fixing makes it possible to orient the robotic arm 22 so as to intervene in the upper end piece 10, in particular under the edges of the upper end piece 10.
• the shape of the fixing surface 72 and in particular the angle of inclination can be adapted if necessary.
• the robotic arm 22 is preferably configured to receive several interchangeable intervention members.
• the terminal member 28 of the robotic arm 22 is configured for the removable fixing of each intervention member.
• Each intervention member 24 is provided with a fixing system 74 for fixing the intervention member on the terminal member 28 of the robotic arm 22.
• the fixing system 74 is for example of the bayonet type allowing a fixing of the intervention member 24 by translation along an axis then rotation about this axis.
• the system for fixing the intervention member 24 may for example be a mechanical assembly of the tenon and mortise type or dovetail or ball pin, etc. or a screw connection.
• the intervention member illustrated in FIG. 5 is a clamp 76 configured for gripping debris located between the nuclear fuel rods 4 of the nuclear fuel assembly 2.
• the clamp 76 comprises a first jaw 78 and a second jaw 80 in the form of blades elongated in an extension direction E.
• the first jaw 78 and the second jaw 80 define between them a gripping space 82.
• the first jaw 78 and the second jaw 80 are movable with respect to each other so as to vary a dimension of the gripping space 82 for gripping or releasing debris.
• the first jaw 78 has a curved end portion 84.
• the gripping space 82 is delimited between the curved end portion 84 and the end of the second jaw 80.
• the first jaw 78 and the second jaw 80 are movable relative to each other in the direction of their length (ie in the direction of extension E) to vary a dimension of the gripping space 82 for gripping or release debris.
• first jaw 78 is fixed and the second jaw 80 is movable in translation in the direction of its length (i.e. in the direction of extension E)
• the clamp 76 has here a linear actuator 86 arranged to move the first jaw 78 and the second jaw 80 relative to one another, here to move the second jaw 80 relative to the first jaw 78.
• the curved end portion 84 is provided with a rounded edge 84A which constitutes the most advanced end of the clamp 76. This rounded edge 84A avoids damaging the nuclear fuel rods 4 during the insertion of the clamp 76 between these.
• the clamp 76 has a low clamping power and is particularly advantageous for removing small debris or debris located in areas which are difficult to access: in the bundle of nuclear fuel rods 4, between the nuclear fuel rods 4 and the ends 8, 10, in the retaining grids 14 or in hidden areas of the end pieces 8, 10, for example under flanges.
• the intervention member 24 illustrated in Figure 6 is also a clamp 88. It differs from that of Figure 5 in that it has a first jaw 90 and a second jaw 92 in the form of levers and mounted rotatable around respective axes of rotation M1, M2 parallel to one another so as to move apart or close to the gripping ends 90A, 92A of the first jaw 90 and the second jaw 92.
• the first jaw 90 and the second jaw 92 are also shorter, and their gripping ends 90A, 92A are pointed.
• This clamp 88 makes it possible to extract debris whose extraction requires a greater clamping force or to bend locally, for example a portion of wafer device 16 of a retaining grid 14 of a nuclear fuel assembly 2, in particular a guide fin 18 so that it regains its original geometry.
• the clamp 88 has a linear actuator 94 to control the opening and closing of the clamp 88, connected to the jaws 90, 92 by a transmission mechanism 96 configured to convert the linear movement of the actuator 94 into a rotational movement of each of the first jaw 90 and the second jaw 92.
• the transmission mechanism 96 comprises a control rod 98 movable in translation in the direction of extension E and connected to the end of each of the first jaw 90 and the second jaw 92 opposite the gripping end of this jaw, by a respective connecting rod 99.
• the intervention member 24 illustrated in FIG. 7 is pliers 100. It differs from that of FIG. 6 by the shape of the first jaw 102 and of the second jaw 104 which are configured to cut. The ends 102A and 104A of the first jaw 102 and of the second jaw 104 are formed from sharp edges.
• the pliers 100 is a cutting pliers.
• the clamp 100 is provided with a clamping device 106 configured to maintain the element to be cut before cutting and after cutting, and thus avoid the dispersion of pieces after cutting.
• the clamping device 106 comprises for example elastic linings 108, 1 10 arranged on the jaws 102, 104 to clamp between them the element to be cut.
• the elastic linings 108, 1 10 are for example made of an elastomeric material, for example of the Eladip® type.
• This pliers 100 makes it possible to cut and extract debris whose extraction in a single piece is not possible given the local configuration. It also makes it possible to locally cut, for example, a portion of peripheral plate 16 of a retaining grid 14 of a nuclear fuel assembly 2, in particular a guide fin 18 when it is not possible to return it to its geometry. original or a portion of support grid 14 having an overflow following a local uprooting during handling.
• the intervention member 24 illustrated in Figure 8 is a suction member 1 12 having a suction cannula 1 14 fluidly connected via a suction pipe 1 16 to a suction and filtration device 1 18. Debris is retained by the suction and filtration device 1 18. Pool water sucked in with debris is discharged into the pool at the outlet of the suction and filtration device 1 18.
• the suction and filtration device 1 18 is here integrated into the suction member 1 12.
• the suction and filtration device 1 18 is offset relative to the suction member 1 12, and is located for example near the free surface of the pool water.
• the suction and filtration device 1 18 is then fluidly connected to the suction member 1 12 by a pipe.
• this suction member 1 12 is able to recover small debris or debris located in areas difficult to access as long as this debris is not securely trapped in the fuel assembly nuclear 2.
• the intervention device 20 optionally includes a camera 120 mounted on the robotic arm 22 so as to film the intervention area.
• the intervention member 24 carried by the robotic arm 22 is located in the axis of the camera 120.
• the camera 120 is for example fixed on the arm segment carrying the terminal member 28, here the distal arm segment 32 and covers a transverse field, ie in the direction of translation T 1.
• the intervention device 20 comprises a second camera 122 mounted on the bracket 66 so as to film the intervention area from another angle. As illustrated in FIGS. 2 and 3, the camera 122 covers a field along the longitudinal axis L.
• the cameras 120, 122 facilitate the remote control of the intervention device 20 by allowing the operator to better see the intervention area.
• each actuator 34, 36, 38, 44, 86, 94 is a motor whose power is electronically limited to limit the thrust or traction force that can be applied to the elements of the nuclear fuel assembly 2.
• the actuators 86, 94 are designed so that the clamps 76, 88, 100 open in the event of an electrical failure to avoid any risk of jamming of the intervention device 20 in the nuclear fuel assembly 2.
• a return cable 124 visible in Figure 2 and not shown in Figure 3, allows to exert a return force in the direction of translation T2 to ensure the removal of the intervention member 24 engaged in the assembly of nuclear fuel 2 in the event of an element failure.
• the return cable 124 is here arranged to act on the translation assembly 42 (or translation table).
• the intervention device of the invention makes it possible to facilitate the operations for extracting debris in a nuclear fuel assembly and the operations for reconfiguring the geometry of the components of the nuclear fuel assembly.
• the robotic arm can be easily controlled remotely to position and activate the gripper or the suction cannula carried by the robotic arm.
• the robotic arm has sufficient degrees of freedom for an adequate positioning of the intervention tool for the required interventions. It is possible if necessary to add arm segments and / or axes of rotation or translation if additional degrees of freedom are necessary
• the robotic arm allows easier positioning and control of the intervention tool compared to a tool carried at the end of a pole and operated manually. This limits the risk of damaging the nuclear fuel assembly, and in particular the fuel rods and / or the holding elements of the nuclear fuel rods in the holding grids.
• the intervention device is easily configurable to carry out various interventions, for example the extraction of debris trapped between the nuclear fuel rods, the extraction of debris under or on the lower nozzle, a retaining grid and / or the upper end piece, the re-configuration of a retaining grid, for example by folding a guide fin or by cutting a tear-off.
• the intervention device makes it possible to generate sufficient clamping power for the extraction of highly trapped debris, and even to use cutting pliers to cut a debris, for example to remove it more easily.
• the cutting pliers can also be used to cut a deformed part of a part liable to damage other parts during the operation of the nuclear reactor or during the handling of the nuclear fuel assembly.
• the intervention device can be easily implemented, for example by a single operator controlling the robotic arm remotely.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Plasma & Fusion (AREA)
• General Engineering & Computer Science (AREA)
• High Energy & Nuclear Physics (AREA)
• Monitoring And Testing Of Nuclear Reactors (AREA)
• Manipulator (AREA)

Applications Claiming Priority (2)

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• 2018
  • 2018-06-26 FR FR1855737A patent/FR3082988B1/fr active Active
• 2019
  • 2019-06-26 WO PCT/EP2019/067066 patent/WO2020002463A1/fr unknown
  • 2019-06-26 US US17/254,480 patent/US20210118584A1/en active Pending
  • 2019-06-26 JP JP2020572737A patent/JP7333797B2/ja active Active
  • 2019-06-26 EP EP19734367.6A patent/EP3815113A1/fr active Pending
  • 2019-06-26 CN CN201980044132.5A patent/CN112534516A/zh active Pending
• 2020
  • 2020-12-21 ZA ZA2020/07996A patent/ZA202007996B/en unknown

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