WO2024044855A1 - Effecteurs terminaux destinés à être utilisés lors du démantèlement d'une calandre et leurs procédés d'utilisation - Google Patents

Effecteurs terminaux destinés à être utilisés lors du démantèlement d'une calandre et leurs procédés d'utilisation Download PDF

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Publication number
WO2024044855A1
WO2024044855A1 PCT/CA2023/051154 CA2023051154W WO2024044855A1 WO 2024044855 A1 WO2024044855 A1 WO 2024044855A1 CA 2023051154 W CA2023051154 W CA 2023051154W WO 2024044855 A1 WO2024044855 A1 WO 2024044855A1
Authority
WO
WIPO (PCT)
Prior art keywords
main body
calandria
end effector
cutter
gripper
Prior art date
Application number
PCT/CA2023/051154
Other languages
English (en)
Inventor
Michael Schmidt
David Morikawa
Mark Johannesson
Geoff MIZUNO
Matthew WO
Original Assignee
Ats Corporation
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Ats Corporation filed Critical Ats Corporation
Publication of WO2024044855A1 publication Critical patent/WO2024044855A1/fr

Links

Classifications

    • 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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K10/00—Welding or cutting by means of a plasma
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0055—Cutting
    • 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
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21D—NUCLEAR POWER PLANT
    • G21D1/00—Details of nuclear power plant
    • G21D1/003—Nuclear facilities decommissioning arrangements
    • 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
    • G21C19/02—Details of handling arrangements
    • G21C19/10—Lifting devices or pulling devices adapted for co-operation with fuel elements or with control elements

Definitions

  • This disclosure relates generally to end effectors for use when disassembling a calandria, more specifically to end effectors for use when disassembling a calandria shell of a calandria and methods of using the same.
  • a CANDU (Canada Deuterium Uranium) reactor assembly includes a horizonal cylindrical tank known as a calandria.
  • the calandria typically has about 380 to 480 horizonal fuel channels aligned with an axis of the calandria.
  • the calandria typically also has both vertical and horizontal reactivity control mechanisms oriented perpendicular to the axes of the calandria and fuel channels.
  • Known methods for disassembling a calandria of a nuclear reactor core involve deploying skilled workers into the nuclear reactor vault which houses the nuclear reactor core. Within the vault, the workers use a plurality of hand-held and/or hand-controlled tools when disassembling the calandria. Although there is no nuclear fuel within the nuclear reactor core during the disassembly process, components of the nuclear reactor core can contain and emit high amounts of radiation. Accordingly, the workers can be subjected to high levels of radiation when performing the calandria disassembly. Further, because of the complexity and scale of the project, workers may be required to be in the vault for long periods of time.
  • an end effector for disassembling a calandria comprising a main body extending longitudinally along a main body axis between a main body first end and a main body second end, a gripper coupled to the main body proximate the main body second end for gripping a portion of the calandria, and a cutter coupled to the main body proximate the main body first end for cutting the portion of the calandria away from a remaining portion of the calandria.
  • the cutter is moveable relative to the main body axis.
  • the cutter is mounted on an arm outwardly extending from the main body.
  • the arm is rotatable about the main body axis.
  • the arm is pivotable relative to the main body axis.
  • the cutter is translatable along the arm for adjusting a radial distance between the main body axis and the cutter.
  • the arm is coupled to a rotatable sleeve that encircles an upper portion of the tool body, the rotatable sleeve is rotatable about the upper portion of the main body.
  • the cutter is a plasma torch.
  • the gripper is moveable relative to the main body axis.
  • the gripper comprises a first jaw and a second jaw that are moveable between a gripping position and a release position.
  • a hydraulic actuator controls movement of the first jaw and the second jaw between the gripping position and the release position.
  • the gripper is pivotable relative to the main body axis.
  • the main body first end comprises a mount for securing the tool to a drive system.
  • the drive system comprises a gantry and mast.
  • the drive system is operable to rotate the main body.
  • a method of disassembling a calandria comprising gripping a portion of the calandria, cutting the portion of the calandria away from a remaining portion of the calandria, and releasing the portion of the calandria in a waste container.
  • one or more steps are repeated until a desired amount of the calandria has been disassembled.
  • one or more steps comprises rotating a cutter for cutting the portion of the calandria away from the remaining portion of the calandria about a gripper for gripping the removable portion of the nuclear calandria.
  • the cutter and the gripper are coupled to a common main body.
  • FIG. 1 is a perspective view of an end effector for use when disassembling a calandria.
  • FIG. 2 is a perspective view of a calandria, portions of the calandria shown are removed for illustrative purposes.
  • FIG. 3 is a perspective view of a nuclear reactor vault, within the nuclear reactor vault a drive system positioned on a reactivity deck of a casing surrounding a calandria is shown.
  • FIG. 4 is a perspective view of the nuclear reactor vault of FIG. 3, a portion of the casing surround the calandria is removed to show the end effector of FIG. 1 operably coupled to the drive system.
  • any numerical ranges by endpoints herein includes all numbers and fractions subsumed within that range (e.g. 1 to 5 includes 1, 1.5, 2, 2.75, 3, 3.90, 4, and 5). It is also to be understood that all numbers and fractions thereof are presumed to be modified by the term "about” which means a variation up to a certain amount of the number to which reference is being made, such as 1%, 2%, 5%, or 10%, for example, if the end result is not significantly changed.
  • the wording "and/or” is intended to represent an inclusive - or. That is, "X and/or Y” is intended to mean X, Y or X and Y, for example. As a further example, “X, Y, and/or Z” is intended to mean X or Y or Z or any combination thereof. Also, the expression of A, B and C means various combinations including A; B; C; A and B; A and C; B and C; or A, B and C.
  • FIG. 1 shown therein is a perspective view of an end effector 100 for use when disassembling a calandria 102.
  • the end effector 100 may be used, for example, to remove at least a portion of a calandria shell 104 of the calandria 102.
  • the calandria shell 104 may extend longitudinally between a first reactor face 106 and a second reactor face (not shown) of the calandria 102.
  • the calandria shell 104 is made of steel, such as stainless steel.
  • the end effector 100 has a main body 110.
  • the main body 110 may extend along a main body axis 112 between a main body first end 114 and a main body second end 116.
  • the end effector 100 has a gripper 120.
  • the gripper 120 is for gripping a portion of the calandria 102 (e.g., a portion of the calandria shell 104).
  • a cutter 122 is also coupled to the main body 110 .
  • the cutter 122 is for cutting the portion of the calandria 102 away from a remaining portion of the calandria 102.
  • the cutter 122 may cut the portion of the calandria 102 away from the remaining portion of the calandria 102 while the gripper 120 is gripping that portion of the calandria 102.
  • the end effector 100 may be drivingly coupled to a drive system 130 which may be operable to orient/control the end effector 100 to grip and cut the portion of the calandria 102 as well as reposition the end effector 100 to a location where the portion of the calandria 102 cut away from the remaining portion can be disposed.
  • the cutter 122 is coupled to the main body 110 proximate an upper end 124 of the main body 110.
  • the upper end 124 of the main body 110 may be proximate the drive system 130 (e.g., a robotic arm) for controlling movement of the end effector 100.
  • the gripper 120 is coupled to the main body 110 proximate a lower end 126 of the main body 110.
  • the gripper 120 may be coupled to the main body 110 proximate the upper end 124 of the main body 110 (i.e., proximate the drive system 130) and the cutter 122 may be coupled to the main body 110 proximate the lower end 126 of the main body 110.
  • any cutter 122 known in the art capable of cutting the portion of the calandria 102 away from the remaining portion of the calandria 102 may be used.
  • the cutter 122 may be a saw, a grinder, a plasma torch, etc., or any combination thereof.
  • the cutter 122 is a plasma torch.
  • the position of the cutter 122 relative to the main body axis 112 may be adjustable. Any means known in the art for moving the cutter 122 relative to the main body axis 112 may be used. It will be appreciated that the portion gripped by the gripper 120 may be irregular in shape, accordingly, it may be desirable for the position of the cutter 122 relative to the main body axis 112 (and the gripper 120) to be adjustable. Further, it may be desirable for the cutter 122 to be moveable relative to the main body 110 so that the cutter 122 may make an extended cut while the main body 110 of the end effector 100 remains stationary.
  • the cutter 122 may be mounted on an arm 140 that extends outwardly from the main body 110.
  • the arm 140 is pivotally coupled to the main body 110 at a pivot joint 142.
  • a hydraulic actuator 144 may be operable to change an angle 146 between the arm 140 and the main body axis 112. That is, the arm 140 may be pivotable relative to the main body 110. It may be desirable for the arm 140 to pivot relative to the main body 110 so that a distance 148, measured parallel to the main body axis 112, between the gripper 120 and the cutter 122 may be adjustable.
  • the cutter 122 may be rotatable about the main body axis 112. Any means known in the art for rotating the cutter 122 about the main body axis 112 may be used.
  • the cutter 122 (specifically the arm 140 in the example illustrated) may be mounted to a rotatable sleeve 150 that encircles an upper portion 152 of the main body 110.
  • the rotatable sleeve 150 may comprise a pinion gear 154 drivingly coupled thereto that engages a rack gear 156 drivingly coupled the main body 110.
  • rotation of the pinion gear 154 (driven by any means known in the art) may cause rotation of the rotatable sleeve 150 (and the arm 140 mounted thereto) about the main body axis 112.
  • the cutter 122 may be translatable relative to the main body axis 112 for adjusting a radial distance 158 between the main body axis 112 and the cutter 122. Any means known in the art for translating the cutter 122 toward and away from the main body axis 112 in the radial direction (i.e., transverse to the main body axis 112) may be used.
  • the cutter 122 is mounted on a carrier 160.
  • the carrier 160 may be drivingly coupled to a leadscrew 162 (i.e., the carrier may have a threaded internal bore (not shown) which threadedly engages the leadscrew 162).
  • the carrier 160 may translate toward a distal end 166 of the arm 140 (i.e., away from the main body 110), whereas if the leadscrew 162 is rotated counterclockwise, the carrier 160 may translate toward the main body 110, or vice versa.
  • the end effector 100 may include a gripper 120 for gripping the portion of the calandria (e.g., a portion of the calandria shell 104).
  • a gripper 120 for gripping the portion of the calandria (e.g., a portion of the calandria shell 104).
  • Any gripper 120 known in the art capable of gripping the portion of the calandria to be cut away from the remaining portion of the calandria may be used.
  • the gripper 120 may be a jaw-type gripper (two-jaw, three-jaw, etc.), a bellow gripper, an O-ring gripper, a needle gripper, hand-type gripper, a vacuum, a magnet, etc., or any combination thereof.
  • the gripper 120 includes a first jaw 170 and a second jaw 172 that are moveable between a gripping position and a release position. Any actuator operable to move the first jaw 170 and second jaw 172 between the gripping position and the release position may be used.
  • a hydraulic actuator 174 may extend between the main body 110 of the end effector 100 and a scissor hinge 176 that extends between the first jaw 170 and the second jaw 172. It will be appreciated that, in the example illustrated, as the hydraulic actuator 174 extends toward a distal end 178 of the gripper 120, first and second arms 180, 182 of the scissor hinge 176 will rotate relative to each other until they are aligned. When the first and second arms 180, 182 of the scissor hinge 176 are aligned, the first and second jaws 170, 172 will be separated. In the example illustrated, when the hydraulic actuator 174 retracts from the position shown in FIG. 1, the first and second jaws 170, 172 will close.
  • the gripper 120 may be moveable relative to the main body axis 112. Movement of the gripper 120 may or may not be independent from movement of the cutter 122. Any means known in the art for moving the gripper 120 relative to the main body axis 112 may be used.
  • the gripper 120 is pivotable relative to the main body axis 112.
  • the gripper 120 is pivotally mounted to the main body 110 at a pivot joint 188.
  • a hydraulic actuator 184 may be operable to pivot the gripper 120 between a first position and a second position. Accordingly, as shown, the gripper 120 may be pivoted independently from movement of the cutter 122.
  • the gripper 120 may be rotatable about the main body axis 112. In the example illustrated, the gripper 120 is not rotatable relative to the main body axis 112.
  • the main body 110 (with the gripper 120 coupled thereto) may be rotatable relative to the calandria 102 via the drive system 130. That is, the drive system 130 may be operable to rotate the main body 110, and therefore, the gripper 120 may be rotated into a desired position to grip the portion of the calandria 102 to be cut away from the remaining portion of the calandria 102. It will be appreciated that rotation of the main body 110 by the drive system 130 may cause rotation of the cutter 122 and the gripper 120.
  • the gripper 120 may be rotatably mounted to the main body 110.
  • the main body first end 114 includes a mount 186 for securing the end effector 100 to the drive system 130.
  • the mount 186 is detachably attachable to the drive system 130.
  • An example of the end effector 100 shown in FIG. 1 mounted to a drive system 130 is shown in FIG. 4.
  • the mount 186 may be detachably attachable to the drive system 130 so that the drive system 130 can be used to operate multiple end effectors.
  • the end effector 100 may not be detachably attachable to the drive system 130 and may be an integral component thereof.
  • FIG. 3 shown therein is an example of a drive system 130 in position to disassemble a calandria 102.
  • FIG 3. shows the drive system 130 positioned on a reactivity deck 190 of a casing 192 surrounding a calandria 102 within a nuclear reactor vault 194.
  • the reactivity deck 190 is an upper portion, or deck, of a concrete casing 192 that may surround the calandria 102.
  • the reactivity deck 190 supports upper ends of reactivity control units, their mechanisms, shielding, and connecting tubes and cables.
  • the drive system 130 includes a mast and gantry.
  • Steps (a) to (c) may be repeated until a desired amount of the calandria 102 has been disassembled.
  • a first portion of the calandria 102 may be disassembled using the end effector 100 described herein. After the first portion of the calandria 102 has been disassembled the end effector 100 may be detached from the drive system 130 and an alternative end effector may be attached thereto to disassemble a second portion of the calandria 102. Optionally, after the alternative end effector is used to disassemble the second portion of the calandria 102, that end effector may be detached and the end effector 100 described herein may be reattached to the drive system 130 to disassemble a third portion of the calandria 102.
  • the cutter 122 When operating the end effector 100 to cut away a portion of the calandria 102, the cutter 122 may be rotated about the gripper 120. Optionally, the gripper 120 may remain stationary as the cutter 122 is rotated thereabout.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne, selon un aspect, un effecteur terminal permettant de démanteler une calandre, l'effecteur terminal ayant un corps principal s'étendant de manière longitudinale le long d'un axe de corps principal entre une première et une seconde extrémité de corps principal, une pince couplée au corps principal à proximité de la seconde extrémité de corps principal destinée à saisir une partie de la calandre, et un outil de coupe couplé au corps principal à proximité de la première extrémité de corps principal destiné à couper la partie de la calandre pour la séparer d'une partie restante de la calandre.
PCT/CA2023/051154 2022-08-31 2023-08-31 Effecteurs terminaux destinés à être utilisés lors du démantèlement d'une calandre et leurs procédés d'utilisation WO2024044855A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202263402934P 2022-08-31 2022-08-31
US63/402,934 2022-08-31

Publications (1)

Publication Number Publication Date
WO2024044855A1 true WO2024044855A1 (fr) 2024-03-07

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PCT/CA2023/051154 WO2024044855A1 (fr) 2022-08-31 2023-08-31 Effecteurs terminaux destinés à être utilisés lors du démantèlement d'une calandre et leurs procédés d'utilisation

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WO (1) WO2024044855A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100329408A1 (en) * 2009-06-24 2010-12-30 Sergey Fiodorov Systems, Apparatuses and Methods of Gripping, Cutting and Removing Objects
US20210210236A1 (en) * 2018-05-14 2021-07-08 Korea Atomic Energy Research Institute Remote dismantling system for nuclear power plant and nuclear power plant having same
US20210343436A1 (en) * 2020-03-31 2021-11-04 Ats Automation Tooling Systems Inc. Nuclear dismantling apparatus and method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100329408A1 (en) * 2009-06-24 2010-12-30 Sergey Fiodorov Systems, Apparatuses and Methods of Gripping, Cutting and Removing Objects
US20210210236A1 (en) * 2018-05-14 2021-07-08 Korea Atomic Energy Research Institute Remote dismantling system for nuclear power plant and nuclear power plant having same
US20210343436A1 (en) * 2020-03-31 2021-11-04 Ats Automation Tooling Systems Inc. Nuclear dismantling apparatus and method

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