WO2024082048A1

WO2024082048A1 - End effectors for use when disassembling a calandria and methods of using the same

Info

Publication number: WO2024082048A1
Application number: PCT/CA2023/051365
Authority: WO
Inventors: Michael Schmidt; David Taro Morikawa; Mark Johannesson; Geoff MIZUNO; Matthew Wong
Original assignee: Ats Corporation
Priority date: 2022-10-19
Filing date: 2023-10-13
Publication date: 2024-04-25

Abstract

An end effector for severing bellows of a fuel channel assembly installed in a calandria and methods of using the same are described herein. The end effector includes a main body and a cutter coupled to the main body. The cutter is for severing the bellows extending between an end fitting of the fuel channel assembly of the calandria and an end shield of the calandria. The cutter is movable toward a longitudinal axis of the main body from a retracted position to a cutting position, the cutter applies a force onto the bellows when in the cutting position, and the cutter is rotatable about the longitudinal axis when in the cutting position.

Description

END EFFECTORS FOR USE WHEN DISASSEMBLING A CALANDRIA AND METHODS OF

USING THE SAME

FIELD

[0001] This disclosure relates generally to end effectors for use when disassembling a calandria, more specifically to end effectors for use when severing bellows extending between an end fitting of a fuel channel assembly and an end shield of the calandria, and methods of using the same.

INTRODUCTION

[0002] The following is not an admission that anything discussed below is part of the prior art or part of the common general knowledge of a person skilled in the art.

[0003] 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.

[0004] Decommissioning CANDU reactors necessitates disassembling (deconstructing, segmenting, etc.) the existing calandria. Given the radiation hazard posed by the calandria and associated components, careful consideration needs to be given when designing systems and methods for disassembling a calandria.

[0005] 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. [0006] Accordingly, there is a need for new systems and methods for disassembling a calandria.

SUMMARY

[0007] This summary is intended to introduce the reader to the more detailed description that follows and not to limit or define any claimed or as yet unclaimed invention. One or more inventions may reside in any combination or sub-combination of the elements or process steps disclosed in any part of this document including its claims and figures.

[0008] In one aspect of this disclosure, which may be used by itself or with one or more of the other aspects disclosed herein, there is provided an end effector for severing bellows of a fuel channel assembly installed in a calandria. The end effector includes a main body extending along a longitudinal axis between a main body first end and a main body second end; a cutter coupled to the main body at the main body first end, the cutter for severing the bellows extending between an end fitting of the fuel channel assembly of the calandria and an end shield of the calandria. The cutter may be movable toward the longitudinal axis from a retracted position to a cutting position, the cutter may apply a force onto the bellows when in the cutting position, and the cutter may be rotatable about the longitudinal axis when in the cutting position.

[0009] In at least one embodiment, the cutter may include a cutting blade and a cutting blade mount, the cutting blade mount may be coupled to the main body and may be operable to move the cutting blade from the retracted position to the cutting position. [0010] In at least one embodiment, the cutting blade mount may be a mechanical linkage having a first arm extending from a pivot joint to a first arm distal end, the cutting blade may be mounted to the first arm distal end, and a second arm extending from the pivot joint to a second arm distal end. Rotation of the second arm distal end about the longitudinal axis of the fuel channel assembly may move the cutting blade from the retracted position to the cutting position.

[0011] In at least one embodiment, the mechanical linkage may include a third arm pivotally connected between the second arm distal end and the main body. [0012] In at least one embodiment, the main body may include a longitudinally extending inner cylindrical body and a longitudinally extending outer cylindrical body, the outer cylindrical body may be rotatable about the inner cylindrical body.

[0013] In at least one embodiment, the pivot joint may be pivotally coupled to the inner cylindrical body; the second arm distal end may be coupled to the outer cylindrical body; and rotation of the outer cylindrical body about the inner cylindrical body may move the cutting blade between the retracted position and the cutting position.

[0014] In at least one embodiment, the inner cylindrical body may include a rack gear extending about an outer circumference of the inner cylindrical body; a pinion gear may be coupled to the outer cylindrical body and may be drivingly connected to the rack gear; and rotation of the pinion gear may rotate the outer cylindrical body about the inner cylindrical body.

[0015] In at least one embodiment, the rack gear may be positioned at the main body second end.

[0016] In at least one embodiment, the main body second end may include a mount for attaching the end effector to a drive system.

[0017] In at least one embodiment, each of the inner cylindrical body and the outer cylindrical body may be rotatable about the longitudinal axis relative to the mount.

[0018] In at least one embodiment, a second pinion gear may be coupled to the mount and may be drivingly connected to the rack gear; and rotation of the second pinion gear may rotate the inner cylindrical body and the outer cylindrical body relative to the mount.

[0019] In at least one embodiment, the main body first end may include a plurality of wheels; each wheel of the plurality of wheels may have a rolling surface; and the rolling surface of each wheel may define a distal end of the end effector.

[0020] In at least one embodiment, the cutter may include a plurality of cutting members each coupled to the main body.

[0021] In accordance with a broad aspect, a method of severing bellows extending between an end fitting of a fuel channel assembly having a longitudinal axis and an end shield of a calandria is described herein. The method includes positioning a cutter radially outward of the bellows; advancing the cutter radially inwardly toward the longitudinal axis of the fuel channel assembly; and cutting the bellows by rotating the cutter about the longitudinal axis of the fuel channel assembly and moving the cutter radially inwardly toward the longitudinal axis of the fuel channel assembly.

[0022] In at least one embodiment, the cutter may be mounted to a main body comprising a longitudinally extending inner cylindrical body and a longitudinally extending outer cylindrical body; and advancing the cutter radially inwardly may include rotating the outer cylindrical body relative to the inner cylindrical body.

[0023] In at least one embodiment, cutting the bellows by rotating the cutter about the longitudinal axis of the fuel channel assembly may include rotating each of the outer cylindrical body and the inner cylindrical body about the longitudinal axis of the fuel channel assembly.

[0024] In at least one embodiment, positioning the cutter radially outward of the bellows may include inserting the end fitting of the fuel channel assembly into the inner cylindrical body.

[0025] In at least one embodiment, the cutter may be coupled to the main body proximate a main body first end; and positioning the cutter radially outward of the bellows may include abutting the main body second end with the end shield.

[0026] It will be appreciated by a person skilled in the art that a system or method disclosed herein may embody any one or more of the features contained herein and that the features may be used in any particular combination or sub-combination.

[0027] These and other features and advantages of the present application will become apparent from the following detailed description taken together with the accompanying drawings. It should be understood, however, that the detailed description and the specific examples, while indicating preferred embodiments of the application, are given by way of illustration only, since various changes and modifications within the spirit and scope of the application will become apparent to those skilled in the art from this detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] For a better understanding of the various embodiments described herein, and to show more clearly how these various embodiments may be carried into effect, reference will be made, by way of example, to the accompanying drawings which show at least one example embodiment, and which are now described. The drawings are not intended to limit the scope of the teachings described herein.

[0029] FIG. 1 is a perspective view of a nuclear reactor core;

[0030] FIG. 2 is a perspective view of an end fitting of a fuel channel assembly installed in a calandria of a nuclear reactor core;

[0031] FIG. 3 is a rear perspective view of an end effector for use when disassembling a calandria;

[0032] FIG. 4 is a top view of the end effector of FIG. 3;

[0033] FIG. 5 is a side view of the end effector of FIG. 3;

[0034] FIG. 6 is front view of the end effector of FIG. 3;

[0035] FIG. 7 is a front perspective view of the end effector of FIG. 3, a cutter of the end effector shown in a retracted position;

[0036] FIG. 8 is a front perspective view of the end effector of FIG. 3, a cutter of the end effector shown in a cutting position;

[0037] FIG. 9 is perspective view of the end effector of FIG. 3, shown in use; and [0038] FIG. 10 is a flow chart illustrating a method of severing bellows extending between an end fitting of a fuel channel assembly and an end shield of a calandria.

[0039] Further aspects and features of the example embodiments described herein will appear from the following description taken together with the accompanying drawings.

DESCRIPTION OF VARIOUS EMBODIMENTS

[0040] Various apparatuses and methods are described below to provide an example of at least one embodiment of the claimed subject matter. No embodiment described below limits any claimed subject matter and any claimed subject matter may cover apparatuses and methods that differ from those described below. The claimed subject matter is not limited to apparatuses and methods having all of the features of any one apparatus or method described below or to features common to multiple or all of the apparatuses or methods described below. It is possible that an apparatus or method described below is not an embodiment of any claimed subject matter. Any subject matter that is disclosed in an apparatus or method described herein that is not claimed in this document may be the subject matter of another protective instrument, for example, a continuing patent application, and the applicant(s), inventor(s) and/or owner(s) do not intend to abandon, disclaim, or dedicate to the public any such invention by its disclosure in this document.

[0041] Furthermore, it will be appreciated that for simplicity and clarity of illustration, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements. In addition, numerous specific details are set forth in order to provide a thorough understanding of the example embodiments described herein. However, it will be understood by those of ordinary skill in the art that the example embodiments described herein may be practiced without these specific details. In other instances, well-known methods, procedures, and components have not been described in detail so as not to obscure the example embodiments described herein. Also, the description is not to be considered as limiting the scope of the example embodiments described herein.

[0042] It should be noted that terms of degree such as "substantially", "about" and "approximately" as used herein mean a reasonable amount of deviation of the modified term such that the end result is not significantly changed. These terms of degree should be construed as including a deviation of the modified term, such as 1%, 2%, 5%, or 10%, for example, if this deviation does not negate the meaning of the term it modifies.

[0043] Furthermore, the recitation of 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.

[0044] It should also be noted that, as used herein, 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.

[0045] The following description is not intended to limit or define any claimed or as yet unclaimed subject matter. Subject matter that may be claimed may reside in any combination or sub-combination of the elements or process steps disclosed in any part of this document including its claims and figures. Accordingly, it will be appreciated by a person skilled in the art that an apparatus, system or method disclosed in accordance with the teachings herein may embody any one or more of the features contained herein and that the features may be used in any particular combination or sub-combination that is physically feasible and realizable for its intended purpose.

[0046] Recently, there has been a growing interest in developing new systems and methods for disassembling a calandria.

Description of a Nuclear Reactor Core

[0047] Referring first to FIG. 1, shown therein is a perspective view of a nuclear reactor core 100. In the example illustrated, the nuclear reactor core 100 is a CANDU-type reactor. As illustrated, the nuclear reactor core 100 may include a calandria 102 which is a generally cylindrical vessel that, when in use, contains a heavy-water moderator. The calandria 102 may include a shell 104 which extends longitudinally between a first tube sheet 106 and a second tube sheet (not shown). In the example illustrated, the nuclear reactor core 100 also includes a first end shield 108 and a second end shield (not shown). As shown, the first end shield 108 may be spaced longitudinally outward of the first tube sheet 106 at a first end 110a of the nuclear reactor core 100. Likewise, the second end shield may be spaced longitudinally outward of the second tube sheet at a second end 110b of the nuclear reactor core 100. [0048] Still referring to FIG. 1, each of the first tube sheet 106, the second tube sheet, the first end shield 108, and the second end shield may include a plurality of lattice sites 112. Each lattice site of the plurality of lattice sites 112 is for supporting a fuel channel assembly 114 (see FIG. 2). For example, a fuel channel assembly 114 may extend from a lattice site in the first end shield 108, through an aligned lattice site in the first tube sheet 106, through an aligned lattice site in the second tube sheet, and to an aligned lattice site in the second end shield.

[0049] As shown in FIG. 1, each fuel channel assembly 114 installed within the calandria 102 may have an end fitting 116 at distal ends thereof. Referring now to FIG. 2, shown therein is an enlarged portion of a fuel channel assembly 114, and specifically the end fitting 116 thereof. While FIG. 2 only shows the end fitting 116 of a first end 118 of the fuel channel assembly 114, it will be appreciated that the second end of the fuel channel assembly 114 may also include a similar, if not identical, end fitting. The end fitting 116 is for routing the primary heat transport fluid through the fuel channel as well as serving as a insertion and removal location for fuel. As shown in FIG. 2, each end fitting 116 may extend a length 120 longitudinally outward from a respective end shield 108 of the nuclear reactor core 100.

[0050] As shown in the example illustrated in FIG. 2, the end fitting 116 may be secured to the first end shield 108 by (a) a positioning assembly 122; and (b) bellows 124. The bellows 124 may be welded at a first end 126 to the end fitting 116 and may be welded at a second end 128 to the end shield 108.

[0051] Due to the extreme conditions within the calandria 102 during operation of the nuclear reactor core 100, the fuel channel assemblies 114 may degrade over time. Accordingly, to avoid failure of a fuel channel assembly 114 within the calandria 102, the fuel channel assemblies may be replaced after a predetermined time. For example, the fuel channel assemblies may be replaced during a complete refurbishment of the nuclear reactor core 100. Alternatively, a fuel channel assembly 114 may be replaced following the detection of a fault within that fuel channel assembly 114. [0052] A step in a process of replacing a fuel channel assembly 114 includes separating the end fitting 116 from the remaining components of that fuel channel assembly 114. Using systems and methods not described herein, the positioning assembly 122 may first be removed. After the positioning assembly 122 has been removed, the bellows 124 may then be severed. It may be desirable to sever the bellows 124 because the bellows 124 may be welded at first and second ends 126, 128 thereof to the end fitting 116 and the end shield 108, respectively,

[0053] The following description outlines apparatuses and methods for severing the bellows 124 that extends between the end fitting 116 of a fuel channel assembly 114 and the respective end shield 108.

[0054] Although the discussion that follows is in respect of a CANDU-type nuclear reactor, it is to be understood that various apparatuses and methods described below may be implemented on other types of nuclear reactors.

Description of an End Effector for Severing the Bellows of a Fuel Channel Assembly

[0055] Referring now to FIG. 3, shown therein is an example of an end effector 140 for severing the bellows 124 of a fuel channel assembly 114. As shown, the end effector 140 may include a main body 142 that extends along a longitudinal axis 144 between a main body first end 146 and a main body second end 148.

[0056] The main body 142 may be of any size and shape known in the art. For example, as shown, the main body 142 may be elongated in shape. It may be desirable for the main body 142 to be elongated in shape as the main body 142 may need to extend between adjacent fuel channel assemblies 114 at least a distance approximately equal to the length 120 of the end fitting 116 to reach the bellows 124 positioned proximate the respective end shield 108 (see FIG. 9).

[0057] Referring now to FIGS. 7 and 8, the end effector 140 may include a cutter 150 coupled to the main body 142. The cutter 150 is for severing the bellows 124. Any cutter 150 known in the art capable of severing bellows 124 may be used. As shown, the cutter 150 may include a cutting blade 152 which may cut (i.e., sever) the bellows 124 when engaged with the bellows 124 under an applied force. [0058] Still referring to FIGS. 7 and 8, the cutter 150 may be moveable between a retracted position (FIG. 7) and a cutting position (FIG. 8). In the retracted position, the cutter 150 may be moved (e.g., via translation of the main body 142) to a position proximate the bellows 124 to be severed and the cutter 150 being in the retracted position may not interfere with (i.e., contact) any components of the end fitting 116 when doing so.

[0059] In the cutting position, the cutter 150 may engage the bellows 124. As shown in FIGS. 7 and 8, when moving from the retracted position to the cutting position, the cutter 150 may move toward the longitudinal axis 144 of the main body 142. Any actuator known in the art capable of moving the cutter 150 radially between the retracted position and the cutting position may be used.

[0060] When in the cutting position, the cutter 150 may be rotatable about the longitudinal axis 144 of the main body 142. With reference to FIG. 8, it will be appreciated that when the cutter 150 is rotated about the longitudinal axis 144 of the main body 142, and a force is being applied to urge the cutter 150 radially toward the longitudinal axis 144, the bellows 124 positioned proximate the longitudinal axis 144 of the main body 142 may be cut (i.e., be severed) by the cutter 150. Any rotation member known in the art capable of rotating the cutter 150 about the longitudinal axis 144 of the main body 142 may be used.

[0061] While the example shown in FIGS. 6-8 show the cutter 150 to include three cutting blades 152 each supported by a respective cutting blade mount 154 coupled to the main body 142, it is to be understood that the cutter 150 may include more or less than three cutting blades 152. Further, it is to be understood that the cutter 150 may not include any cutting blades 152. In other exemplary embodiments, the cutter 150 may include, for example, a hot-wire cutter, a laser, etc.

[0062] Still referring to FIGS. 7 and 8, as shown, the cutting blade mount 154 may be operable to move the cutting blade 152 from the retracted position (FIG. 7) to the cutting position (FIG. 8). The cutting blade mount 154 may include any actuator known in the art capable of moving the cutting blade 152 between the retracted position and the cutting position. In the example illustrated, the cutting blade mount 154 includes a mechanical linkage 156 operable to move the cutting blade 152 between the retracted position and the cutting position. In other examples, the cutting blade mount 154 may include a hydraulic actuator, a pneumatic actuator, an electric actuator, etc.

[0063] The cutting blade mount 154 may also be operable to urge (i.e., force) the cutting blade 152 against an outer surface 130 of the bellows 124 to be severed.

[0064] As described above, in the example illustrated in FIGS. 7 and 8, the cutting blade mount 154 includes a mechanical linkage 156. As shown, the mechanical linkage 156 may have a first arm 158 extending from a pivot joint 160 to a first arm distal end 162, and a second arm 164 extending from the pivot joint 160 to a second arm distal end 166. With reference to FIGS. 7 and 8, it will be appreciated that in the example illustrated, rotation of the second arm distal end 166 about the longitudinal axis 144 of the main body 142 may cause the cutting blade 152 to translate radially toward and away from the longitudinal axis 144 of the main body 142 (depending on the direction of rotation).

[0065] In the example shown, the cutting blade mount 154 includes a third arm 170 pivotally connected between the second arm distal end 166 and the main body 142. In other examples, the cutting blade mount 154 may include more than three arms or less than three arms.

[0066] When the cutting blade mount 154 includes a mechanical linkage 156 having at least one arm, any means known in the art for pivoting the arm(s) about the pivot joint 160 may be used. For example, a hydraulic actuator may be used.

[0067] In the example shown in FIGS. 7 and 8, the third arm 170 is connected to an outer body 172 of the main body 142 which is rotatable about an inner body 174 of the main body 142. The pivot joint 160 in the example illustrated is pivotally connected to the inner body 174. Accordingly, rotation of the outer body 172 relative to the inner body 174 may cause the cutting blade 152 to move from the retracted position to the cutting position.

[0068] More specifically, in the example illustrated in FIGS. 7 and 8, the main body 142 comprises a longitudinally extending inner cylindrical body 180 and a longitudinally extending outer cylindrical body 182. As shown in FIGS. 7 and 8, the outer cylindrical body 182 may be rotatable about the inner cylindrical body 180 and rotation of the outer cylindrical body 182 relative to the inner cylindrical body 180 may move the cutting blade 152 from the retracted position to the cutting position via the mechanical linkage 156.

[0069] Any means known in the art for rotating the inner body 174 (e.g., the inner cylindrical body 180) relative to the outer body 172 (e.g., the outer cylindrical body 182) may be used. Referring now to FIGS. 4 and 5, in the example illustrated, the inner cylindrical body 180 includes a rack gear 186 that extends about an outer surface of the inner cylindrical body 180. As shown, a pinion gear 188 may be mounted to the outer cylindrical body 182 and rotation of the pinion gear 188 may cause the outer cylindrical body 182 to rotate about the inner cylindrical body 180. As shown, an electric motor 190 may be used to drive rotation of the pinion gear 188, but any drive member known in the art may be used.

[0070] Therefore, in the example illustrated, when the pinion gear 188 is rotated in a counter-clockwise direction, the pinion gear 188 travels along the rack gear 186 and the outer cylindrical body 182 is rotated about the inner cylindrical body 180. With reference to FIGS. 7 and 8, rotation of the outer cylindrical body 182 in the counter-clockwise direction rotates the third arm 170 and the distal end 166 of the second arm 164 in the counter-clockwise direction about the longitudinal axis 144 of the main body 142. As shown in FIGS. 7 and 8, rotation of the distal end 166 of the second arm 164 may cause the distal end 162 of the first arm 158 and the cutting blade 152 mounted thereto to translate toward the longitudinal axis 144 of the main body 142 (i.e., may cause the cutting blade 152 to move from the retracted position to the cutting position).

[0071] The rack gear 186 may be located at any position along the length of the inner cylindrical body 180. In the example illustrated, the rack gear 186 is positioned at the second end 148 of the main body 142. It may be desirable to position the rack gear 186 at the second end 148 of the main body 142 to limit an outer circumference of a portion of the end effector 140 that may be positioned between adjacent end fittings 116 of adjacent fuel channel assemblies 114 during a bellows 124 severing operation. That is, in some examples, the main body 142 of the end effector 140 may be longer than the longitudinal length 120 of the end fitting 116 so that components such as the rack gear 186 and the pinion gear 188 may be positioned longitudinally outward of a distal end 132 of the end fitting 116 when the cutter 150 of the end effector 140 is positioned proximate to the bellows 124.

[0072] When the cutter 150 is configured to include a cutting blade 152, it is rotated about the longitudinal axis 144 of the main body 142, and a force is being applied to urge the cutter 150 radially toward the longitudinal axis 144 of the main body 142, the bellows 124 positioned proximate the longitudinal axis 144 of the main body 142 may be cut (i.e., severed) by the cutter 150. As described above, any rotation member known in the art capable of rotating the cutter 150 about the longitudinal axis 144 of the main body 142 may be used.

[0073] Referring now to FIGS. 4 and 5, in the example illustrated, the inner cylindrical body 180 and the outer cylindrical body 182 are together rotatable about the longitudinal axis 144 of the main body 142. As shown, a second pinion gear 192 may be drivingly coupled to the rack gear 186 to drive rotation of the inner cylindrical body 180. It will be appreciated that in the example illustrated, when inner cylindrical body 180 is rotated about the longitudinal axis 144 of the main body 142 and the first pinion gear 188 is locked in placed (i.e., does not rotate with respect to the rack gear 186), each of the inner cylindrical body 180 and the outer cylindrical body 182 may rotate together about the longitudinal axis 144 of the main body 142.

[0074] Referring now to FIG. 3, the main body second end 148 may include a mount 194 for attaching the end effector 140 to a drive system. Any drive system known in the art may be used to operate the end effector 140. In some examples, the drive system may be remotely operated.

[0075] In the example illustrated, each of the inner cylindrical body 180 and the outer cylindrical body 182 are rotatably coupled to the mount 194.

[0076] As shown in FIG. 3, in the example illustrated, the second pinion gear 192 is coupled to the mount 194. It will be appreciated that when the second pinion gear 192 is coupled to the mount 194, as shown, rotation of the inner cylindrical body 180 and the outer cylindrical body 182 relative to the mount 194 may be controlled by the second pinion gear 192. As shown, an electric motor 196 may be used to drive rotation of the second pinion gear 192, but any drive member known in the art may be used.

[0077] Optionally, as shown in FIGS. 7 and 8, the first end 146 of the main body 142 may include a plurality of wheels 198. As shown in FIGS. 4 and 5, each wheel 198 may have a rolling surface 200 that defines a distal end 202 of the end effector 140. With reference to FIG. 5, the longitudinal distance 204 between the rolling surface 200 of the wheels 198 and the cutter 150 may be equal to the distance between the end shield 108 and a desired location on the bellows 124 to cut.

[0078] Referring to FIG. 2, in some examples, the bellows 124 may include a ferrule 136 which may be relatively easy to cut with respect to the remaining portions of the bellows 124. Accordingly, it may be desirable to sever the bellows 124 at the ferrule 136. As shown in FIG. 2, the ferrule 136 may be separated from the end shield 108 by a longitudinal distance 206. Accordingly, referring back to FIG. 5, in some examples, the cutter 150 may be spaced a longitudinal distance 204 equal to longitudinal distance 206 away from the rolling surface 200 of the wheels 198.

Method of Severing Bellows of a Fuel Channel Assembly

[0079] With reference to FIG. 10, a method 210 of severing the bellows 124 of a fuel channel assembly 114 may include the following steps: (a) positioning a cutter 150 radially outward of the bellows 124 (step 212); (b) advancing the cutter 150 radially inwardly toward the longitudinal axis 138 of the fuel channel assembly 114 (step 214); and (c) cutting the bellows 124 by rotating the cutter 150 about the longitudinal axis 138 of the fuel channel assembly 114 and moving the cutter 150 radially inwardly toward the longitudinal axis 138 of the fuel channel assembly 114 (step 216).

[0080] Optionally, the cutter 150 may be mounted to an end effector 140 as described above. For example, the cutter 150 may be mounted to an end effector 140 having a main body 142 having a longitudinally extending inner cylindrical body 180 and a longitudinally extending outer cylindrical body 182. In this example, advancing the cutter 150 radially inwardly at step 214 may include the step of rotating the outer cylindrical body 182 relative to the inner cylindrical body 180. Further, in this example, the step 216 of cutting the bellows 124 by rotating the cutter 150 about the longitudinal axis 138 of the fuel channel assembly 114 may include the step of rotating each of the outer cylindrical body 182 and the inner cylindrical body 180 about the longitudinal axis 138 of the fuel channel assembly 114.

[0081] In some exemplary methods, step 212 of positioning the cutter 150 radially outward of the bellows 124 may include the step of inserting the end fitting 116 of the fuel channel assembly 114 into the inner cylindrical body 180. That is, when the main body 142 includes an inner and/or an outer cylindrical body 180, 182 as shown in FIG. 6, the end fitting 116 may be positioned within a cavity 168 of the main body 142 while the cutter 150 severs the bellows 124.

[0082] As described above, some examples of the end effector 140 may include wheels 198 at a distal end 202 of the main body 142. In this example, the step 212 of positioning the cutter 150 radially outward of the bellows 124 may include the step of abutting the rolling surface 200 of the wheels 198 with the respective end shield 108. In some examples, the end effector 140 may not include wheels 198 at the distal end 202 of the main body 142, and may, for example, include a low friction coating at the distal end 202. In this example, the step 212 of positioning the cutter 150 radially outward of the bellows 124 may include the step of abutting the distal end 202 of the main body 142 with the respective end shield 108.

[0083] While the above description describes features of example embodiments, it will be appreciated that some features and/or functions of the described embodiments are susceptible to modification without departing from the spirit and principles of operation of the described embodiments. For example, the various characteristics which are described by means of the represented embodiments or examples may be selectively combined with each other. Accordingly, what has been described above is intended to be illustrative of the claimed concept and non-limiting. It will be understood by persons skilled in the art that other variants and modifications may be made without departing from the scope of the invention as defined in the claims appended hereto. The scope of the claims should not be limited by the preferred embodiments and examples but should be given the broadest interpretation consistent with the description as a whole.

Claims

CLAIMS:

1. An end effector for severing bellows of a fuel channel assembly installed in a calandria, the end effector comprising: a main body extending along a longitudinal axis between a main body first end and a main body second end; a cutter coupled to the main body at the main body first end, the cutter for severing the bellows extending between an end fitting of the fuel channel assembly of the calandria and an end shield of the calandria; wherein the cutter is movable toward the longitudinal axis from a retracted position to a cutting position, the cutter applies a force onto the bellows when in the cutting position, and the cutter is rotatable about the longitudinal axis when in the cutting position.

2. The end effector of claim 1, wherein the cutter comprises a cutting blade and a cutting blade mount, the cutting blade mount coupled to the main body and operable to move the cutting blade from the retracted position to the cutting position.

3. The end effector of claim 2, wherein the cutting blade mount is a mechanical linkage having a first arm extending from a pivot joint to a first arm distal end, the cutting blade mounted to the first arm distal end, and a second arm extending from the pivot joint to a second arm distal end; and rotation of the second arm distal end about the longitudinal axis of the fuel channel assembly moves the cutting blade from the retracted position to the cutting position.

4. The end effector of claim 3, wherein the mechanical linkage comprises a third arm pivotally connected between the second arm distal end and the main body.

5. The end effector of claim 3 or claim 4, wherein the main body comprises a longitudinally extending inner cylindrical body and a longitudinally extending outer cylindrical body, the outer cylindrical body rotatable about the inner cylindrical body.

6. The end effector of claim 5, wherein the pivot joint is pivotally coupled to the inner cylindrical body; the second arm distal end is coupled to the outer cylindrical body; and rotation of the outer cylindrical body about the inner cylindrical body moves the cutting blade between the retracted position and the cutting position. The end effector of claim 6, wherein the inner cylindrical body comprises a rack gear extending about an outer circumference of the inner cylindrical body; a pinion gear is coupled to the outer cylindrical body and is drivingly connected to the rack gear; and rotation of the pinion gear rotates the outer cylindrical body about the inner cylindrical body. The end effector of claim 7 , wherein the rack gear is positioned at the main body second end. The end effector of claim 8, wherein the main body second end comprises a mount for attaching the end effector to a drive system. The end effector of claim 9, wherein each of the inner cylindrical body and the outer cylindrical body are rotatable about the longitudinal axis relative to the mount. The end effector of claim 10, wherein a second pinion gear is coupled to the mount and is drivingly connected to the rack gear; and rotation of the second pinion gear rotates the inner cylindrical body and the outer cylindrical body relative to the mount. The end effector of claim 12, wherein the main body first end comprises a plurality of wheels; each wheel of the plurality of wheels has a rolling surface; and the rolling surface of each wheel defines a distal end of the end effector. The end effector of claim 1, wherein the cutter comprises a plurality of cutting members each coupled to the main body. A method of severing bellows extending between an end fitting of a fuel channel assembly having a longitudinal axis and an end shield of a calandria, the method comprising: positioning a cutter radially outward of the bellows; advancing the cutter radially inwardly toward the longitudinal axis of the fuel channel assembly; and cutting the bellows by rotating the cutter about the longitudinal axis of the fuel channel assembly and moving the cutter radially inwardly toward the longitudinal axis of the fuel channel assembly. The method of claim 14, wherein the cutter is mounted to a main body comprising a longitudinally extending inner cylindrical body and a longitudinally extending outer cylindrical body; and advancing the cutter radially inwardly comprises rotating the outer cylindrical body relative to the inner cylindrical body. The method of claim 15, wherein cutting the bellows by rotating the cutter about the longitudinal axis of the fuel channel assembly comprises rotating each of the outer cylindrical body and the inner cylindrical body about the longitudinal axis of the fuel channel assembly. The method of claim 16, wherein positioning the cutter radially outward of the bellows comprises inserting the end fitting of the fuel channel assembly into the inner cylindrical body. The method of claim 17, wherein the cutter is coupled to the main body proximate a main body first end; and positioning the cutter radially outward of the bellows comprises abutting the main body second end with the end shield.