WO2024050626A1 - Outil de coupe pour segmenter un anneau encastré d'un réacteur nucléaire à cuve - Google Patents

Outil de coupe pour segmenter un anneau encastré d'un réacteur nucléaire à cuve Download PDF

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Publication number
WO2024050626A1
WO2024050626A1 PCT/CA2023/051171 CA2023051171W WO2024050626A1 WO 2024050626 A1 WO2024050626 A1 WO 2024050626A1 CA 2023051171 W CA2023051171 W CA 2023051171W WO 2024050626 A1 WO2024050626 A1 WO 2024050626A1
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WO
WIPO (PCT)
Prior art keywords
cutting
main body
frame
cutting tool
pair
Prior art date
Application number
PCT/CA2023/051171
Other languages
English (en)
Inventor
Michael Schmidt
David Taro Morikawa
Mark Johannesson
Geoff MIZUNO
Matthew Wong
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 WO2024050626A1 publication Critical patent/WO2024050626A1/fr

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Classifications

    • 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
    • G21C19/14—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 characterised by their adaptation for use with horizontal channels in the reactor core

Definitions

  • TITLE CUTTING TOOL FOR SEGMENTING AN EMBEDMENT RING OF A CALANDRIA NUCLEAR REACTOR
  • This disclosure relates generally to cutting tools, and more specifically, to cutting tools for segmenting an embedment ring of a calandria nuclear reactor.
  • a CANDU (Canada Deuterium Uranium) reactor assembly includes a horizontal cylindrical tank known as a calandria.
  • the calandria typically has about 380 to 480 horizontal 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.
  • a cutting tool in accordance with a broad aspect, includes a main body having a first end and a second end spaced apart from the first end along a longitudinal axis of the main body; a coupling mechanism positioned at the first end for attaching the cutting tool to a robot; a gripping mechanism comprising a pair of clamps mounted to the main body towards the second end, each of the clamps being configured to grip the embedment ring; and a cutting assembly configured to slide relative to the main body along the longitudinal axis.
  • the cutting assembly includes: a frame: a cuttino element supported on the frame; and a plurality of spindles mounted to the frame and configured to support the cutting element and guide rotation of the cutting element to segment the embedment ring.
  • the pair of clamps are movable between a gripping position and a release position to grip the embedment ring.
  • the gripping mechanism further comprises a pair of hydraulic cylinders mounted to the main body towards the second end, each of the hydraulic cylinders being configured to move one of the pair of clamps between the gripping position and the release position.
  • each of the pair of hydraulic cylinders is mounted to a side of the main body opposed to the cutting assembly.
  • each of the hydraulic cylinders moves one of the pair of clamps in a direction transverse to a longitudinal axis of the main body.
  • each of the hydraulic cylinders moves one of the pair of clamps in a direction orthogonal to a longitudinal axis of the main body.
  • each of the hydraulic cylinders moves one of the pair of clamps in a direction directly towards the other one of the pair of clamps.
  • the cutting assembly further comprises a motor mounted to the main body towards the first end of the main body to control movement of the cutting assembly relative to the main body.
  • the cutting assembly further comprises a ball screw shaft extending between the motor and the frame of the cutting assembly, the motor being configured to rotate the ball screw shaft to move the cutting assembly in a direction along the longitudinal axis of the main body between a retracted position and an extended position.
  • the tool also includes a pair of rails mounted to the main body and extending in a direction along the longitudinal axis and a pair of guides mounted to the frame of the cutting assembly, each of the rails being configured to engage one of the pair of guides to direct the sliding of the cutting assembly.
  • each of the pair of rails is positioned on an upper surface of the main body.
  • each of the pair of guides is mounted to an underside of the frame of the cutting assembly.
  • the main body includes a first main body arm and a second main body arm each positioned towards the second end of the main body, the first main body arm and the second main body arm being spaced apart from each other in a direction transverse to the longitudinal axis of the main body to define a main body opening therebetween.
  • the frame of the cutting assembly includes a first cutting frame arm and a second cutting frame arm each positioned towards the second end of the main body, the first cutting frame arm and the second cutting frame arm being spaced apart from each other in a direction transverse to the longitudinal axis of the main body to define a cutting frame opening therebetween.
  • the main body opening and the cutting frame opening have a same width, the width being greater than a width of the embedment ring.
  • the cutting element is a diamond wire that extends across the cutting frame opening in a direction that is transverse to the longitudinal axis of the main body.
  • one of the spindles of the cutting assembly is configured to rotate the diamond wire about the plurality of spindles to segment the embedment ring.
  • a method of segmenting an object includes activating a cutting element of a cutting assembly of a cutting tool, the cutting element being configured to move relative to a frame of the cutting assembly, the cutting element being supported on the frame of the cutting assembly, the frame of the cutting assembly being slidingly coupled to a main body of the cutting tool; controlling movement of the cutting tool to position a first main body arm of the tool and a second main body arm of the tool around opposed sides of the object; and as the cutting element is activated, controlling movement of the cutting assembly to slide relative to the main frame to engage the object with the cutting element to segment the object.
  • the object is an embedment ring of a calandria nuclear reactor.
  • FIG. 1 is a perspective view of a remote demolition robot positioned at a reactor face of a calandria, and further showing a gantry and mast delivery system installed at the reactivity deck.
  • FIG. 2 is a perspective view of a cutting tool for segmenting an embedment ring of a calandria nuclear reactor, according to at least one embodiment described herein.
  • FIG. 3 is an exploded view of the cutting tool of FIG. 1 .
  • FIG. 4 is a bottom view of the cutting tool of FIG. 1 .
  • FIG. 5 is a first side view of the cutting tool of FIG 1 .
  • FIG. 6 is a rear view of the cutting tool of FIG. 1 .
  • two or more parts are said to be “coupled”, “connected”, “attached”, “joined”, “affixed”, or “fastened” where the parts are joined or operate together either directly or indirectly (i.e. , through one or more intermediate parts), so long as a link occurs.
  • two or more parts are said to be “directly coupled”, “directly connected”, “directly attached”, “directly joined”, “directly affixed”, or “directly fastened” where the parts are connected in physical contact with each other.
  • two or more parts are said to be “rigidly coupled”, “rigidly connected”, “rigidly attached”, “rigidly joined”, “rigidly affixed”, or “rigidly fastened” where the parts are coupled so as to move as one while maintaining a constant orientation relative to each other. None of the terms “coupled”, “connected”, “attached”, “joined”, “affixed”, and “fastened” distinguish the manner in which two or more parts are joined together.
  • 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.
  • FIG. 1 shows a perspective view of a disassembly and segmentation system interacting with a nuclear reactor core.
  • the nuclear reactor core 10 is a CANDU-type reactor.
  • the nuclear reactor core 10 includes a calandria 20 that is a generally cylindrical vessel that, when in use, contains a heavy-water moderator.
  • Calandria 20 includes a shell 22 that extends longitudinally between a first reactor face 24 and a second reactor face (not shown).
  • the disassembly and segmentation system includes a gantry and mast system 30.
  • Gantry and mast system 30 is positioned on a reactivity deck 32 of the nuclear reactor core.
  • the gantry and mast system 30 is positioned to disassemble the nuclear reactor from the top, in order to reach the calandria 20.
  • the gantry and mast system 30 can retain various disassembly and segmentation tools.
  • an existing crane can also be used to remove reactivity deck components from reactivity deck 32.
  • reactivity deck refers to an upper portion, or deck, of a concrete casing surrounding calandria 20.
  • reactivity deck 20 supports upper ends of reactivity control units, their mechanisms, shielding, and connecting tubes and cables.
  • the disassembly and segmentation system can also include a remote demolition robot 40, such as but not limited to a Brokk 900 RotoboomTM demolition robot.
  • the remote demolition robot 40 can receive, support and use one or more attachments in the disassembly and segmentation of the calandria 20.
  • the demolition robot 40 is typically positioned at, or adjacent, first reactor face 24 or the second reactor face, or both.
  • reactor face herein refers to a face of the calandria 20 where fuel channels, or more specifically end fittings, protrude outwardly from a body, or shell of the calandria 20.
  • the final phase of disassembly is to remove the embedment rings 50, end shields and the concrete calandria vault.
  • Calandria 20 is supported within a concrete calandria vault by end shield supports.
  • Each end shield support is provided with an integral embedment ring 50 for direct concreting into the calandria vault end walls.
  • the calandria vault is typically a reinforced concrete structure supported on reinforced concrete bearing foundation walls.
  • the inner surface of the vault may be lined with carbon steel to provide a leak-tight seal for containment of a shield cooling system having demineralized light water.
  • the end shield support includes a stainless steel support shell and an annular support plate combination that is welded to a carbon steel embedment ring.
  • Each embedment ring consists of a cylindrical shell and annular ring elements that may be stiffened by radial gussets at regular intervals around the circumference.
  • FIG. 2 shows a perspective view of a cutting tool 100 for segmenting an embedment ring 50 of a calandria 20 of a CANDU- type nuclear reactor.
  • the cutting tool 100 includes a main body 102.
  • Main body 102 has a first end 104 and a second end 106 spaced from the first end 104 along a longitudinal axis 108 of the main body 102.
  • Main tool 102 includes a coupling mechanism 112.
  • coupling mechanism 112 is positioned at the first end 104 of the main body 102.
  • the coupling mechanism 112 provides for the cutting tool 100 to be attached to and controlled by a remote demolition robot 40. It should be understood that coupling mechanism 112 may be any coupling mechanism appropriate for communicatively connecting a remote demolition robot 40 to cutting tool 100.
  • coupling 112 includes an engagement plate 114.
  • Engagement plate 114 facilitates removable coupling between the tool 100 and remote demolition robot 40.
  • Coupling mechanism 112 is positioned on an end of tool 100 opposed to opening 110 (described further below) to provide for the remote demolition robot positioned at first reactor face 24 to maneuver the cutting 100 in a direction towards the engagement ring 50 to cut portions of the engagement ring 50.
  • Engagement plate 114 may include one or more cavity holes 116, which mechanically couple a distal end of the remote demolition robot 40 to the tool 100 (e.g., via fasteners). In some examples, some of the cavity holes 116 can also receive electrical connections. The electrical connections can enable remote control of various features of the tool 100. For instance, this includes remote control movement of the cutting assembly 124, cutting element 128 and/or the gripping mechanism 118. For instance, the electrical connections may pass from the remote demolition robot 40 into the tool 100.
  • Main body 112 includes a first main body arm 121 and a second main body arm 123 each positioned towards the second end 106 of main body 102.
  • First main body arm 121 and second main body arm 123 are spaced apart from each other in a direction transverse to the longitudinal axis 108 of the main body 102 by a distance 125. Together with a central member 127 of the main body 102, first main body arm 121 and second main body arm 123 define a main body opening 110. Opening 110 provides for the portion of the main body 102 defined by first main body arm 121 and second main body arm 123 to partially surround a portion of the embedment ring 50, for example to support the portion of the embedment ring 50 as it is being cut.
  • main body 102 includes a gripping mechanism 118 including a pair of clamps 120 mounted towards the second end 106 of the main body 102.
  • each of the clamps 120 may be mounted to one of the first main body arm 121 and second main body arm 123.
  • Clamps 120 are movable relative to the main body 102 between a gripping position and a release position. In the gripping position, claims 120 extend inwardly into opening 110 to grip the portion of the embedment ring 50 adjacent to a cut line. In the release position, clamps 120 are retracted out of, or away from a center of, opening 110.
  • the pair of clamps 120 may provide for the cutting tool 100 to grip and/or support the portion of the embedment ring 50 being cut to, for example, continue gripping a segment of the embedment ring after it has been cut away from a portion of the embedment ring 50 remaining attached to the calandria 20, so as to inhibit the portion of the embedment ring 50 from falling downwardly after it has been cut.
  • the pair of clamps 120 may provide for the cutting tool 100 to grip a portion of the embedment ring adjacent to a cut line, for example, to encourage the portion of the embedment ring 50 being cut to fall downwards. Gripping the embedment ring 50 during cutting may also reduce any impact of vibrations of the embedment ring 50 on cutting tool 100 during cutting.
  • gripping mechanism 118 may include a pair of hydraulic cylinders 122 mounted to the main body 102 (e.g., one each to first main body arm 121 and second main body arm 123) towards the second end 106.
  • Each of the hydraulic cylinders 122 is configured to move one of the pair of clamps 120 between the gripping position and the release position.
  • Hydraulic cylinders 122 may be each mounted to a side of the main body 102 opposed to the cutting assembly 124, such as to underside 129, to not inhibit movement of the cutting assembly 124 relative to the main body 102. This may also protect the hydraulic cylinders 122 from being damaged during cutting.
  • hydraulic cylinders 122 move the clamps 120 laterally (i.e.
  • each of the hydraulic cylinders 122 moves a respective one of the clamps 120 laterally in a direction directly towards the other one of the clamps 120.
  • cutting tool 100 also includes a cutting assembly 124 slidingly coupled to the main body 102.
  • Cutting assembly 124 includes a frame 126 slidingly mounted to an upper side 131 of main body 102.
  • Frame 126 is generally U-shaped and includes a first cutting frame arm 135 and a second frame arm 137, each of the first cutting frame arm 135 and second frame arm 137 being positioned towards the second end 106 of main body 102.
  • First cutting frame arm 135 and second cutting frame arm 137 are spaced apart from each other in a direction transverse to the longitudinal axis 108 of the main body 102 by a distance 139. Together with a central member 141 of the frame 126, first cutting frame arm 135 and second cutting frame arm 137 define a cutting frame opening 143.
  • Cutting frame opening 143 provides for the portion of the frame 126 defined by first cutting frame arm 135 and second cutting frame arm 137 to partially surround a portion of the embedment ring 50 during cutting.
  • frame 126 is positioned, prior to cutting the embedment ring 50, such that first cutting frame arm 135 and second cutting frame arm 137 are positioned on either side of the embedment ring 50.
  • frame 126 can be controlled to move from its retracted position to its extended position.
  • first cutting frame arm 135 and second cutting frame arm 137 will have travelled in a direction along the longitudinal axis 108 of main body 102 to cut the embedment ring and the portion of the embedment ring that has been cut will be at least partially positioned between the first cutting frame arm 135 and second cutting frame arm 137 within cutting frame cavity 143.
  • main body opening 125 and cutting frame opening 143 have a same size and a same shape, however, it should be understood that main body opening 125 and cutting frame opening 143 are not limited to having a same size and a same shape.
  • the cutting assembly 124 also includes a cutting element 128 and a plurality of spindles 130 mounted to the frame 126.
  • the cutting element 128 is a diamond wire 128.
  • Cutting element 128 extends across opening 110 of the main body and opening 143 of the cutting frame where it engages with the portion of the embedment ring 50 being cut.
  • the plurality of spindles 130 are configured to rotate and guide the diamond wire 128 as the diamond wire 128 cuts the embedment ring.
  • at least one of the plurality of spindles 130 is configured to rotate the diamond wire 128.
  • the linear speed of the diamond wire 128 may be in a range of about 1 m/s to about 100 m/s, or in a range of about 20 m/s to about 50 m/s, or be greater than about 20 m/s, or be less than about 50 m/s.
  • At least one of the plurality of spindles 130 may have a position that is adjustable relative to the frame 126, thereby allowing a tension in the diamond wire 128 to be controlled.
  • the cutting assembly 124 is configured to slide relative to the main body 102 in a direction along the longitudinal axis 108. It should be understood that any means known in the art for moving the cutting assembly 124 relative to the main body 102 may be used.
  • a motor 132 is mounted to the main body 102 towards the first end 104 and a ball screw shaft 134 extends between the motor 132 and the frame 126 of the cutting assembly 124. The motor 132 rotates the ball screw shaft 134 to move the cutting assembly 124 along the longitudinal axis 108.
  • the sliding of the cutting assembly 124 relative to main body 102 is assisted by a pair of rails 136 on an upper surface 138 of the main body 102.
  • the rails 136 extend in the direction of the longitudinal axis 108.
  • the frame 126 of the cutting assembly 124 has a pair of guides 140 mounted to an underside 142 of the frame 126.
  • the guides 140 interlock with the rails 136, allowing for the movement of the cutting assembly 124 along the rails 136.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Working Measures On Existing Buildindgs (AREA)

Abstract

La présente invention concerne des outils de coupe. Les outils de coupe comprennent un corps principal ayant une première extrémité et une seconde extrémité disposée à distance de la première extrémité le long d'un axe longitudinal du corps principal ; un mécanisme d'accouplement positionné au niveau de la première extrémité pour fixer l'outil de coupe à un robot ; un mécanisme de préhension comprenant une paire de pinces montées sur le corps principal vers la seconde extrémité, chacune des pinces étant conçue pour saisir l'anneau encastré ; et un ensemble de coupe conçu pour coulisser par rapport au corps principal le long de l'axe longitudinal. L'ensemble de coupe comprend : un cadre, un élément de coupe supporté sur le cadre et une pluralité de broches montées sur le cadre et conçues pour supporter l'élément de coupe et guider la rotation de l'élément de coupe pour segmenter l'anneau encastré. La présente invention concerne également des procédés d'utilisation d'outils de coupe.
PCT/CA2023/051171 2022-09-06 2023-09-06 Outil de coupe pour segmenter un anneau encastré d'un réacteur nucléaire à cuve WO2024050626A1 (fr)

Applications Claiming Priority (2)

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US202263403917P 2022-09-06 2022-09-06
US63/403,917 2022-09-06

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WO2024050626A1 true WO2024050626A1 (fr) 2024-03-14

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USH45H (en) * 1984-07-17 1986-04-01 The United States Of America As Represented By The United States Department Of Energy Portable cutting apparatus
US20030010404A1 (en) * 2001-07-13 2003-01-16 Mossman Stewart O. Method and apparatus for underwater tree cutting and retrieval
US20140345431A1 (en) * 2009-01-26 2014-11-27 Iiiinois Tool Works Inc. Wire Saw
JP2015004239A (ja) * 2013-06-21 2015-01-08 株式会社竹中工務店 把持切断装置及び把持切断方法
US20150027287A1 (en) * 2013-07-25 2015-01-29 MacTech, Inc. Modular cutting system, method and apparatus
CN104858497A (zh) * 2015-05-27 2015-08-26 苏州博合雅工程材料科技有限公司 用于水下管道切割的自适应钻石线锯
CN106141304A (zh) * 2016-08-12 2016-11-23 哈尔滨工程大学 一种深水金刚石绳锯机
US20210343442A1 (en) * 2020-03-31 2021-11-04 Ats Automation Tooling Systems Inc. Nuclear dismantling apparatus and method
WO2023159299A1 (fr) * 2022-02-28 2023-08-31 Ats Corporation Systèmes, outils et procédés pour le démontage et la segmentation d'un réacteur nucléaire de type à calandre

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USH45H (en) * 1984-07-17 1986-04-01 The United States Of America As Represented By The United States Department Of Energy Portable cutting apparatus
US20030010404A1 (en) * 2001-07-13 2003-01-16 Mossman Stewart O. Method and apparatus for underwater tree cutting and retrieval
US20140345431A1 (en) * 2009-01-26 2014-11-27 Iiiinois Tool Works Inc. Wire Saw
JP2015004239A (ja) * 2013-06-21 2015-01-08 株式会社竹中工務店 把持切断装置及び把持切断方法
US20150027287A1 (en) * 2013-07-25 2015-01-29 MacTech, Inc. Modular cutting system, method and apparatus
CN104858497A (zh) * 2015-05-27 2015-08-26 苏州博合雅工程材料科技有限公司 用于水下管道切割的自适应钻石线锯
CN106141304A (zh) * 2016-08-12 2016-11-23 哈尔滨工程大学 一种深水金刚石绳锯机
US20210343442A1 (en) * 2020-03-31 2021-11-04 Ats Automation Tooling Systems Inc. Nuclear dismantling apparatus and method
WO2023159299A1 (fr) * 2022-02-28 2023-08-31 Ats Corporation Systèmes, outils et procédés pour le démontage et la segmentation d'un réacteur nucléaire de type à calandre

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