CA2727484A1 - Nuclear reactor retubing assembly - Google Patents

Nuclear reactor retubing assembly Download PDF

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Publication number
CA2727484A1
CA2727484A1 CA2727484A CA2727484A CA2727484A1 CA 2727484 A1 CA2727484 A1 CA 2727484A1 CA 2727484 A CA2727484 A CA 2727484A CA 2727484 A CA2727484 A CA 2727484A CA 2727484 A1 CA2727484 A1 CA 2727484A1
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CA
Canada
Prior art keywords
assembly
maintenance
coupled
main platform
repair
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA2727484A
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French (fr)
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CA2727484C (en
Inventor
Lorrie J. Lancaster
Dave J. Murphy
Shawn M. Wilson
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BWXT Nuclear Energy Canada Inc
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GE Hitachi Nuclear Canada Co
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Filing date
Publication date
Application filed by GE Hitachi Nuclear Canada Co filed Critical GE Hitachi Nuclear Canada Co
Priority to CA2727484A priority Critical patent/CA2727484C/en
Priority to ROA201200016A priority patent/RO128334B1/en
Priority to ARP120100086A priority patent/AR084826A1/en
Priority to KR1020120004253A priority patent/KR101969700B1/en
Publication of CA2727484A1 publication Critical patent/CA2727484A1/en
Application granted granted Critical
Publication of CA2727484C publication Critical patent/CA2727484C/en
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Classifications

    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C3/00—Reactor fuel elements and their assemblies; Selection of substances for use as reactor fuel elements
    • G21C3/30—Assemblies of a number of fuel elements in the form of a rigid unit
    • G21C3/32—Bundles of parallel pin-, rod-, or tube-shaped fuel elements
    • G21C3/335—Exchanging elements in irradiated bundles
    • 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
    • G21C19/32—Apparatus for removing radioactive objects or materials from the reactor discharge area, e.g. to a storage place; Apparatus for handling radioactive objects or materials within a storage place or removing them therefrom
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
    • 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
    • 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
    • G21C19/20—Arrangements for introducing objects into the pressure vessel; Arrangements for handling objects within the pressure vessel; Arrangements for removing objects from the pressure vessel
    • G21C19/207—Assembling, maintenance or repair of reactor components
    • 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

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

Abstract

A retubing assembly for a nuclear reactor having a core with end shields and fuel channels extending horizontally between the shields includes at least one main platform having a top load bearing surface positioned adjacent one shield. At least one fuel channel manipulator assembly mounted on the top surface manipulates channel components during retubing. First drive coupled with one of the top surface and the manipulator assembly selectively displaces the manipulator assembly on the surface in a horizontal direction having at least one of a first horizontal direction component parallel relative to the channels and a second horizontal direction component perpendicular relative to the channels. Thus the manipulator assembly is displaceable in a x-direction perpendicular relative the channels and a z- direction parallel relative the channels. The platform may also be coupled with a vertical positioning mechanism for vertical y-direction positioning relative the channels.

Description

NUCLEAR REACTOR RETUBING ASSEMBLY

The present invention relates to an assembly for rehabilitating or refurbishing a nuclear reactor and in particular to a retubing assembly for removing degraded fuel channel components from fuel channels and inserting fresh fuel channel components into fuel channels for nuclear reactors having horizontal fuel channels. The present invention also relates to an assembly for the maintenance and repair of a nuclear reactor.

Background A nuclear reactor with horizontally disposed fuel channels, such as a CANDUTM-type nuclear reactor has several hundred fuel channels that are subject to age related degradation. The mid-life of a CANDU nuclear reactor is about 30 years of service. The key to extending reactor life for as much as about another 30 years involves shutting down the reactor and replacing the degraded fuel channel components, a project commonly called re-tubing or refurbishment. The removed components are extremely radioactive and the reactor vault working environment is also hazardous. Traditional fuel channel replacement has employed many workers in the nuclear reactor vault, operating manually controlled tools in prescribed process tasks.
The nuclear reactor vault may have an existing fuelling machine positioned therein for performing refueling operations. Refueling machines are often supported by a reactor area bridge assembly which includes a pair of spaced apart towers and a horizontally extending bridge supported by the towers. Such a bridge assembly is shown in Canadian Patent 1,218,770. The bridge assembly occupies a substantial amount of space in the nuclear reactor vault. In the past, removal of the bridge assembly has been effected in order to recover some of the space occupied by the bridge assembly so as to accommodate retubing equipment in the reactor vault.
However, removal of a bridge assembly of a nuclear reactor to provide space for the retubing equipment is costly and time consuming.

It is thus desirable to provide a retubing or maintenance assembly for use within the reactor vault that facilitates the use of automated tooling in the vault and wherein the retubing or maintenance operation is not constrained by an existing reactor area bridge assembly.

Brief Description The present invention relates to an assembly for rehabilitating or refurbishing a nuclear reactor and in particular to a retubing system for removing degraded fuel channel components from fuel channels and inserting fresh fuel channel components into fuel channels for nuclear reactors having horizontal fuel channels. The present invention also relates to an assembly for maintenance and repair for a nuclear reactor.
The present invention provides a retubing assembly for a nuclear reactor having a reactor core with fuel channels extending horizontally between end shields of the reactor core. The assembly includes at least one main platform having a top load bearing surface positioned adjacent one of the end shields of the reactor core. At least one fuel channel manipulator assembly is mounted on the top surface of the main platform for manipulating fuel channel components during retubing operation. A
first drive is coupled with one of the top surface of the main platform and the manipulator assembly for selectively displacing the manipulator assembly on the top surface of the main platform in a horizontal direction having at least one of a first horizontal direction component parallel relative to the horizontally extending fuel channels and a second horizontal direction component perpendicular relative to the horizontally extending fuel channels.
The at least one main platform may extend in the first horizontal direction relative to the horizontal fuel channels and in the second direction perpendicular relative to the horizontally extending fuel channels.
Accordingly the fuel channel manipulator may be selectively displaced across the top surface provided by the main platform across the reactor end shield but also towards and away from the reactor end shield. Such displacement may be performed not only in a horizontal direction perpendicular relative to the horizontally extending fuel channels, an x-direction, but manipulator displacement may also be performed in a horizontal direction that is parallel relative to the horizontally extending fuel
-2-channels, in a z-direction. Moreover, the displacement may be performed in directions having x-direction and z-direction components. Accordingly, displacement may be diagonal or curvilinear relative to the fuel channels. x- and z-directional movement by the fuel channel manipulator assembly provides an additional degree of movement control and precision for locating the fuel channel manipulator assembly relative to the fuel channels for performing the retubing operation. Movement of the manipulator assembly in the x- and z-directions on the platform also provides for additional tooling options for the retubing assembly. For example, the retubing assembly may be adapted to include multiple fuel channel manipulator assemblies.
The additional operability provided to the retubing assembly by the displaceability of the fuel channel manipulator assembly on the platform increases the efficiency of the retubing operation and provides for reduced reactor downtime as well as reduces worker exposure to the radioactive environment of the reactor core.
A vertical positioning mechanism may be coupled with the main platform and a second drive is coupled with the vertical positioning mechanism for driving a platform to a predetermined position along a vertically extending path. The vertical positioning mechanism may include at least one vertically extendable positioning member engaging the main platform from beneath the main platform and the second drive may be coupled with the extendable positioning member for driving the member and the main platform to the predetermined position along the vertically extending path.
Alternatively, the vertical positioning mechanism may be coupled with the fuel channel manipulator assembly and the second drive may be coupled with vertical positioning mechanism for driving the fuel channel manipulator assembly to a predetermined position on the vertically extending path. The vertical positioning mechanism may include at least one vertically extendable positioning member engaging the manipulator assembly from beneath the manipulator assembly and the second drive may be coupled with the extendable positioning member for driving the member and the manipulator assembly to the predetermined position along the vertically extending path.
The fuel channel manipulator assembly may include a pallet mounted to the top surface of the main platform and at least one fuel channel manipulation tool
-3-coupled with the pallet. The first drive may be coupled with one of the top surface of the main platform and the pallet. However, the coupling between the pallet and the at least one tool may be separable. A vertical positioning mechanism may be coupled with the pallet and the second drive may be coupled with the vertical positioning mechanism for driving the at least one fuel channel manipulation tool to a predetermined position along a vertically extending path.
In this manner, the retubing assembly is provided with movement in a vertical y-direction. The fuel channel manipulator assembly may be precisely positioned along any of the three Cartesian axes relative to the fuel channels extending horizontally between end shields of the reactor core.
The retubing assembly may also be adapted to include either or both of a plurality of main platforms and a plurality of fuel channel manipulator assemblies.
The main platforms may be vertically spaced apart adjacent the end shield of the reactor core at different positions along the vertically extending path.
Alternatively, each one of the plurality of main platforms may be coupled with a vertical positioning mechanism for driving each of the platforms to respective predetermined positions along the vertically extending path.
The present invention may provide a maintenance and repair assembly for a nuclear reactor having a reactor core with fuel channels extending horizontally between end shields of the reactor core. The assembly includes at least one main platform having a top load bearing surface positioned adjacent one of the end shields of the reactor core. At least one maintenance and repair device is mounted on the top surface of the main platform for inspecting and repairing components in an environment of the nuclear reactor during maintenance and repair operation. A
first drive is coupled with one of the top surface of the main platform and the at least one maintenance and repair device for selectively displacing the maintenance and repair device on the top surface of the main platform in a horizontal direction having at least one of a first horizontal direction component parallel relative to the horizontally extending fuel channels and a second horizontal direction component perpendicular relative to the horizontally extending fuel channels.
The retubing and maintenance and repair assemblies are not constrained by the presence of a reactor area bridge assembly within the nuclear reactor environment.
-4-Rather, the retubing and maintenance and repair assemblies are capable of operating between the support towers of the reactor area bridge. Accordingly, the reactor area bridge can be raised to its topmost position and the retubing or maintenance and repair assembly may operate beneath the bridge to a predetermined vertical position.
Since the retubing and maintenance and repair assemblies are not constrained by the bridge assembly, it may not be necessary to remove the reactor area bridge assembly from the reactor environment thus saving considerable time and cost for the retubing operation.
Another aspect of the invention relates to a retubing assembly for a nuclear reactor having a reactor core with fuel channels extending horizontally between end shields of the reactor core. The assembly includes at least one main platform having a top load bearing surface positioned adjacent one of the end shields of the reactor core.
The main platform extends in a first horizontal direction parallel relative to the horizontally extending fuel channels and a second horizontal direction perpendicular relative to the horizontally extending fuel channels. A track network is coupled with main platform and spans at least a portion of the platform in the first horizontal direction and at least a portion of the platform in the second horizontal direction. A
fuel channel manipulator assembly is mounted on the track network for manipulating fuel channel components during retubing operation. A first drive is coupled with the manipulator assembly for selectively displacing the manipulator assembly on the track network in the first horizontal direction and the second horizontal direction.
The track network may be a rail lattice network and it may include rails coupled with the top surface of the main platform or may include rails that are embedded in the main platform below the top surface.
A plurality of manipulator assemblies may be coupled with the top surface of the main platform and each manipulator assembly may have a vertical positioning mechanism coupled with the top surface of the main platform.
The fuel channel manipulator assembly may include a pallet mounted on the track network on the top surface of the main platform and at least one fuel channel manipulation tool is coupled with the pallet. The first drive may be coupled with the pallet. The coupling between the pallet and the at least one tool may be separable. A
vertical positioning mechanism may be coupled with the pallet and the second drive
-5-may be coupled with the vertical positioning mechanism for driving the at least one fuel channel manipulation tool to a predetermined position along a vertically extending path.
The pallet may be a roller assembly having a roller body for supporting the at least one manipulation tool and at least two wheels coupled with the roller body for supporting and displacing the roller body on the track network. The first drive is coupled with at least one of the wheels for rotating the wheels.
The retubing assembly may include at least two track network intersections wherein the track network extending in the first direction intersects with the track network extending in the second direction. Each track network intersection receives corresponding ones of the at least two wheels. A switching mechanism is coupled with each of the track network intersections for switching a direction of displacement of the corresponding one of the wheels from one of the first direction and the second direction to the other one of the first direction and the second direction.
The switching mechanism may include a turntable having a turntable base and a track segment extending across the diameter of the turntable base. The track segment is rotatable between a first position wherein the track segment is continuous with the track network extending in the first direction and a second position wherein the track segment is continuous with the track network extending in the second direction. The wheel is positionable on the track segment and the direction of displacement of the wheel is switchable when the respective roller wheel is positioned on the track segment.
The assembly may include a wheel locking mechanism for preventing displacement of the roller. The switching mechanism at one of the at least two intersections is rotated 90 degrees relative to the switching mechanism at another one of the at least two intersections when the wheels are received by corresponding ones of the switching mechanism. In this manner, the wheels are disposed at 90 degrees relative to one another. Therefore, movement of the roller is halted in both the first and second directions.
The present invention may provide a maintenance and repair assembly for a nuclear reactor having a reactor core with fuel channels extending horizontally between end shields of the reactor core. The maintenance and repair assembly
-6-includes at least one main platform having a top load bearing surface positioned adjacent one of the end shields of the reactor core. The main platform extends in a first horizontal direction parallel relative to the horizontally extending fuel channels and a second horizontal direction perpendicular relative to the horizontally extending fuel channels. A track network is coupled with main platform and spans at least a portion of the platform in the first horizontal direction and at least a portion of the platform in the second horizontal direction. A maintenance and repair device is mounted on the track network for inspecting and repairing components during maintenance and repair operation. The first drive is coupled with the maintenance and repair device for selectively displacing the maintenance and repair on the track network in the first horizontal direction and the second horizontal direction.

Brief Description of the Drawings For a better understanding of the nature and objects of the present invention reference may be had by way of example to the accompanying drawings in which:
Figure 1 is a perspective view of an exemplary fuel channel assembly;
Figure 2 is a perspective view of an exemplary nuclear reactor retubing assembly;
Figure 3 is a perspective view of a retubing assembly having a plurality of fuel channel manipulators on the main platform;
Figure 4 is a section view of one embodiment of the track network;
Figure 5 is a section view of one embodiment of the track network;
Figure 6 is section view the track network with a rack and pinion assembly;
Figure 7 is a section view of one embodiment of the track network;
Figure 8 is a side elevation view of a linear induction drive;
Figure 9 is a side elevation view of a roller coupled with the track network;
Figure 10 is a perspective view of the turntable;

Figure 11 is a perspective view of a retubing assembly having an auxiliary platform;
Figure 12 is a perspective view of a retubing assembly having a plurality of main platforms and a plurality of auxiliary platforms;
-7-Figure 13 is a perspective view of the retubing assembly showing a plurality of main platforms vertically spaced apart adjacent the reactor end shield;
Figure 14 is a side elevation view of a retubing assembly having a plurality of main platforms; and, Figure 15 is a perspective view of the retubing assembly in a reactor area bridge environment.

Detailed Description The present invention relates to an assembly for rehabilitating or refurbishing a nuclear reactor and in particular to a retubing assembly for removing degraded fuel channel components from fuel channels and inserting fresh fuel channel components into fuel channels for nuclear reactors having horizontal fuel channels. The present invention also relates to an assembly for maintenance and repair of nuclear reactors.
Referring to Figure 1, the fueling components to be replaced in a retubing operation are shown for each fuel channel in the reactor. Each of the fuel channels 14 (Fig. 2) includes fuel channel components, calandria components, and feeder components. The fuel channel components may include one or more of the following components: a channel closure 1, a closure seal insert 2 for sealing the channel closure, feeder couplings 3, liner tubes 4 for guiding fuel into the channel, end fitting bodies 5 for supporting channel components, outboard bearings (not shown), fuel bundles 11, a pressure tube 8 for holding fuel bundles 11 and coolant, a calandria tube 9 for supporting the pressure tube 8, annulus spacers 7 for separating the pressure tube
8 and the calandria tube 9, inboard bearings (not shown) for supporting the end fitting, shield plugs 17, end shield lattice tubes 19, channel annulus bellows 21 and a positioning assembly 23 for holding one end of each channel in a fixed position.
During a retubing operation, degraded or damaged fuel channel components are removed from the fuel channel and are replaced with fresh components. In Figure 1, the fuel channel is shown to extend within the core of the calandria between the end shields 16. Each of the end shields 16 has inner and outer tube sheets 16a, 16b. The end fitting bodies, or end fittings 5 extend from the lattice tubes 19 in the end shield 16 and out from the end shield 16 and outboard of outer tube sheets 16b.

Referring to Fig. 2, there is shown nuclear reactor retubing assembly 10. The assembly 10 may be used not only for retubing operations but also for reactor maintenance and repair. Maintenance may include, for example, maintenance work on the reactor during an outage, abnormal maintenance during an unscheduled outage or refurbishment as well as component inspection and assistance or support of workers in the reactor environment during maintenance and repair operation.
The retubing assembly 10 may be mounted either to a bulkhead 98 (shown in Fig. 15) or to the existing concrete station 100 and is positioned adjacent nuclear reactor core 12 of the nuclear reactor that is undergoing retubing. Preferably the nuclear reactor is a CANDUTM-type nuclear reactor. Reactor core 12 includes a plurality of fuel channels 14 extending horizontally between end shields 16 of the reactor core 12. For illustrative purposes, only one end shield 16 is shown. Under normal operating circumstances, fuel channel end fittings 5 (Fig. 1) and associated piping protrude out of the end shield 16. However, in order to simplify the drawings, only two or fewer of the end fittings 5 and their piping are shown. Thus while reference is made to fuel channels 14, the lattice tube openings shown represent the location of where the fuel channels 14 of Figure 1 are located in the end shield 16.
The retubing assembly 10 includes at least one main platform 18 having a top load bearing surface 20 positioned adjacent the end shield 16 of the reactor core 12.
The main platform 18 extends in a first horizontal direction 26 parallel relative to the horizontal fuel channels and a second horizontal direction 28 perpendicular relative to the horizontal fuel channels. One or more fuel channel manipulator assemblies 22 are mounted to the top surface 20 of the platform 18. In the embodiment of Fig. 2, only one fuel channel manipulator assembly 22 is shown mounted on the platform 18.
The retubing assembly 10 of Fig. 3 shows two manipulator assemblies 22 mounted to the main platform 18. The main platform 18 supports the fuel channel manipulator assembly 22 at a vertical position where it can manipulate fuel channel components at one or more of the fuel channels 14 during the retubing operation. The fuel channel manipulator assembly 22 may include one or more fuel channel manipulation tools 34 mounted thereto. The fuel channel manipulation tools 34 may be of a variety of configurations for performing specific tasks during the retubing operation.
The manipulator assembly 22 engages fuel channel components to effect their removal
-9-from and insertion into fuel channel 14. The manipulator assembly 22 may also be configured for handling components once removed or to be inserted to the channels 14. The fuel channel manipulator assembly 22 is configurable and reconfigurable for specific applications ranging from multiple identical tasks on parallel channels 14 to sequential tasks on one channel 14.
In the embodiment shown in Fig. 2, the fuel channel manipulator assembly 22 includes a pallet 36 mounted to the top surface 20 of the main platform 18.
The manipulator assembly 22 further includes a tool carriage 38 mounted to the pallet 36 and having the fuel channel manipulation tools 34 coupled therewith. First drive 24 is coupled with the pallet 36 for selectively displacing the manipulator assembly 22 on the top surface 20 of the main platform 18 in a horizontal direction having at least one of a first horizontal directional component 26 (z-direction) parallel relative to the horizontally extending fuel channels 14 and a second horizontal directional component 28 (x-direction) perpendicular relative to the horizontally extending fuel channels 14. The manipulator assembly 22 may be displaced on the top surface diagonally, non-diagonally, or in a curvilinear fashion relative to the fuel channels 14.
In the embodiment shown in Fig. 2, first drive 24 includes wheels 40 depending from the pallet 36 and supporting the pallet 36 on the top surface 20 of the main platform 18. The wheels 40 are one displacement mechanism for the fuel channel manipulator assembly 22 to selectively displace on the top surface 20 in the first horizontal direction 26 and the second horizontal direction 28 so that the fuel channel manipulator assembly 22 may be positioned relative to the horizontally extending fuel channels 14 at the reactor core end shield 16 and to reposition the fuel channel manipulator assembly 22 during the retubing operation. First drive 24 may instead be coupled with the top surface 20 of the main platform 18. Rotation of the wheels is controlled by servo motors which may include electric disk motors or an electric motor and drive train, for example. It should be understood that any suitable form of motive control of the drive may be used for the embodiment shown.
In Fig. 6 there is shown one embodiment of first drive 24 wherein a rack and pinion mechanism 37 is coupled with the pallet 36. The rack and pinion mechanism 37 includes a circular rotatable gear or pinion 39 having cogs which engage depressions 51 on a linear gear bar 43 embedded in the top surface 20 of platform 18.
-10-Wheel 41 is coupled with the pallet 36 and engages a rail 54 embedded in the support platform 18. Rotational motion applied to the pinion 39 will cause the pallet 36, and hence the manipulator assembly 22, to displace linearly along the rack and rail 54.
The rail 54 has a U-shaped or a V-shaped groove 45 or depression therein. A U-shaped or V-shaped protrusion 47 depends from the wheel 41 and corresponds with the groove. The protrusion and groove cooperate to provide lateral stability and more secure positioning for the wheel 41 engaging the rail 54.
In Fig. 8 there is shown one embodiment wherein first drive 24 is a linear induction drive 55 wherein linear force is produced by passing current from a power source (not shown in Figures) through one or more of the rails 54 (or alternatively a center rail between the guide rails) coupled with the main platform for inducing a magnetic field in response to electrical current passing along the rail. The pallet 36 has coupled thereto a magnetic conductor 57 responsive to the magnetic field.
The pallet 36 is linearly displaced along the rails 54 to move the fuel channel manipulator assembly 54.
The fuel channel manipulator assembly 22 can be selectively displaced in the first and second directions 26, 28 on the surface 20 of main platform 18 during the retubing operation. This degree of movement provides for precise positioning of the fuel channel manipulator assembly 22 relative to the fuel channels 14 whose components are to be removed and replaced. z-directional movement in particular provides an additional degree of control and operability for the retubing assembly 12.
Using z-direction movement, the distance between manipulator assembly 22 and the reactor end shield 16 can be changed. Accordingly, the manipulator assembly 22 may be positioned at an optimal distance from the targeted fuel channel 14 for removing and inserting fuel channel components. Manipulator assembly positioning in the z-direction may also provide working space for the manipulator assembly to displace components to be inserted or removed or for a worker to work in the area of the manipulator assembly on the platform 18. Further, z-directional movement provides the advantage whereby multiple fuel channel manipulator assemblies 22 may be deployed to operate on a single platform 18 at the same time. By utilizing space available on the top surface 20 of main platform 18 in the z-direction, the manipulators 22 may move past each other where necessary. Accordingly, two
-11-manipulator assemblies 22, for example, may be deployed with identical configurations for retubing multiple channels 14 in parallel or may be deployed with different configurations for performing complex tasks that require a variety of tools to complete. Using the present invention, the retubing operation can be addressed in a more efficient and timelier manner.
In Fig. 2, a radiation shield 74 is mounted to the top surface 20 of the main platform 18. The radiation shield 74 is positioned between the reactor end shield 16 and the top surface 20 for reducing exposure of the top surface 20 to radiation from the reactor core 12. Accordingly, a worker (not shown) on the platform 18 will have reduced radiation exposure when operating on the platform 18. The radiation shield 74 may include radiation shield drive 75 coupled with one of the top surface 20 of the main platform 18 and the radiation shield 74 for selectively displacing the radiation shield 74 on the top surface 20 of the platform 18 in another horizontal direction having at least another one of a first horizontal direction component 26 and a second horizontal direction component 28. The radiation shield drive 75 may include any suitable drive.
The retubing assembly 10 may also include safety features for reducing risk to workers operating in the nuclear reactor environment or for reducing risk of damage to equipment in the nuclear reactor environment. The safety features may be automatic or worker-operated and may vary depending on the configuration of the assembly 10 and the equipment used for the retubing operation. For example, the main platform 18 may include hand rails for supporting workers operating on the top surface 20, tie-off points for fall protection and emergency stop controls.
The retubing assembly 10 includes one or more vertical positioning mechanisms 30 which may be coupled with either the main platform 18 or the fuel channel manipulator assembly 22 for raising and lowering the manipulator assembly 22 to a predetermined vertical position relative the reactor end shield 16 and fuel channel 14. In Fig. 2, the vertical positioning mechanism 30 is coupled with the main platform 18. Second drive 31 is coupled with the vertical positioning mechanism 30 for driving the platform 18 to a predetermined position along a vertically extending path 32.
-12-Preferably, the vertical positioning mechanism 30 is a SpiraliftT" as available from Paco Spiralift Inc. Fig. 2 shows a partially extended positioning mechanism 30 of the Spiralift design. The Spiralift is a mechanical linear actuator capable of taking an expanded and retracted position in a vertical direction. The actuator employs a coiled, flexible flat steel spring that expands with the insertion of a thin vertically oriented spiral steel band. The spring includes teeth which interlock with corresponding apertures on the band. The insertion of the band into the coil forms a vertically extending column for supporting a load. The flat spring is stored at the base of the lift and the vertically oriented band is stored in a rotating magazine adjacent the stored spring. Second drive 31 such as a suitable motor is coupled with a sprocket and thrust bearing at the base of the lift for rotating the coil and band about a central vertical axis. The sprocket supports wheels which separate the windings of the coiled spring as it is rotated. The motor turns the sprocket which feeds the flat spring over the support wheels to expand the windings of the spring. The band is inserted to contact and interlock with the teeth of the spring. The spring and band are continuously coupled until the desired vertical position of the vertically extendable positioning member 42 is reached. Retraction of the member 42 is performed by reversing the rotation of the spring and band to uncouple the spring and band.
This disassembles the column to reduce the height of the member 42. The vertically extendable positioning member 42 engages or abuts the main platform 18 from beneath the main platform 18. Second drive 31 extends the extendable positioning member 42 in order to position main platform 18 to a predetermined position along the vertically extending path 32.
Another suitable vertical positioning mechanism 30 may include a hydraulic or pneumatic hoist. However, such a mechanism would require the hoisting cylinder to be buried below the platform 18. A Spiralift is preferred since it is of a compact design that does not require space to be provided for a cylinder to extend below the platform.
Fig. 3 shows an embodiment wherein the vertical positioning mechanism 30 is coupled with the fuel channel manipulator assembly 22. As in Fig. 2, the fuel channel manipulator assembly 22 includes a tool carriage 38 mounted to pallet 36 and fuel channel manipulation tools 34 coupled with the carriage 38. The pitch, yaw and roll
-13-of each fuel channel manipulation tool 34 is controllable to provide for accurate alignment and positioning of the tools 34. The coupling between the pallet 36 and the tool carriage 38 is separable. Fig. 3 shows the vertical positioning mechanism mounted to the pallet 36 for raising the carriage 38 and tools 34 along the vertically extending path 32. In this embodiment, the preferred vertical positioning mechanism 30 is a vertical mechanical linear actuator such as a Spiralift. The tool carriage 38 is coupled with the vertically extendable positioning member 42.
The coupling between the carriage 38 and the manipulation tools 34 is also separable. A vertical positioning mechanism 30 may be positioned between the carriage 38 and the tools 34 to raise the tools 34 along the vertically extending path 32 without having to raise the carriage 38.
Vertical positioning mechanisms 30 may be included in more than one location in the assembly 10. For example, Fig. 3 shows a first vertically extendable positioning member 42 and second drive 31 for raising and lowering the carriage 38 and fuel channel manipulation tools 34 and another vertically extendable positioning member 42 and second drive 31 for raising and lowering the main platform 18 by engagement or abutment from beneath the main platform 18. In this manner, positioning of the fuel channel manipulator assembly 22 along the vertically extending path 32 relative to the fuel channels 14 may be accomplished with an additional degree of control compared to using only one vertically extending positioning mechanism 30. However, it should be understood that the vertically positioning of one of the platform 18 or the manipulator assembly 22 relative to the platform 18 may be all that is required for the retubing operation.
In Figs. 2 and 3, a track network 48 is coupled with the main platform 18 for providing a guide for movement of the fuel channel manipulator assembly 22 over the top surface 20 of the platform 18 in the first direction 26 and the second direction 28.
The track network 48 may be embedded or flush with the top surface 20 or may project above the top surface 20. Moreover, the track network 48 may be continuous with the flooring on the station 100 so that equipment can be loaded and unloaded at ground level. This loading/unloading may comprise the pallet 36, the carriage 38 and the tools 34 together or, may comprise the carriage 38 and tools 34 separable from the pallet 36, or simply tools 34. Track network 48 is shown in a lattice network
-14-configuration in Figs. 2 and 3 and is shown in detail in Figs. 4, 5, 6 and 7.
Preferably, track network 48 extends between opposite edges of the platform 18 in the first direction 26 parallel relative the horizontally extending fuel channels 14 and the second direction 28 perpendicular relative the horizontally extending fuel channels 14.
However, track network 48 does not necessarily need to entirely span the distance between opposite edges of the platform nor is it required that the track network 48 be disposed on the top surface 20 in parallel and perpendicular directions relative to the horizontally extending fuel channels 14. The track network 48 may be disposed in diagonal sets of tracks relative to the fuel channels 14 or may follow a curvilinear path on the top surface 20. The network 48 spans at least a portion of the platform 18 in the first horizontal direction 26 and at least a portion of the platform in the second horizontal direction 28 to provide a range of movement for the fuel channel manipulator assembly 22 to reach the fuel channels 14 targeted for retubing.
The tracks of the track network 48 are spaced apart to allow displacement mechanism 40 at bottom edges of the pallet 36 of the manipulator assembly 22 to engage the tracks and move along them. To position the manipulator assembly 22 on the top surface 20, the manipulator assembly 22 moves along track network 48 in one of first direction 26 and second direction 28. The manipulator assembly 22 may be selectively displaced to the desired position relative to the reactor end shield 16 in the one direction. Then, displacement mechanism 40 is switched 90 degrees to engage track network 48 extending in the other one of the first direction 26 and the second direction 28. The fuel channel manipulator assembly 22 may then be positioned relative to the reactor end shield 16 in the other one of directions 26, 28.
This process can be repeated as required until the predetermined position of the manipulator assembly 22 on the top surface 20 is attained.
In the embodiment shown in Fig. 4, track network 48 is a rail lattice network 50. The rail lattice network 50 is formed by rails 54 extending across the top surface 20 of the platform 18. The displacement mechanism 40 is a wheel 41 coupled with pallet 36 of manipulator assembly 22 (not shown in Fig. 4). The rails 54 are spaced to allow wheels of manipulator assembly 22 to engage them. In this embodiment, the wheel 41 is adapted for engaging a rail 54 of the rail lattice network 50 which is securely fastened to the main platform 18 by suitable fastening means 56. The rail
-15-lattice network 50 of Fig. 4 projects upwardly from the top surface 20.
Alternatively, the rail lattice network 50 may be embedded in the main platform 18.
An embedded track network 48 is illustrated in the embodiment of Fig. 5. The main platform 18 has troughs 58 extending partially therethrough to form the track network 48. Wheels 41 are coupled with the pallet 36 and are positioned in troughs 58. Wheels 41 are mounted to the pallet 36 via a swivel assembly 62. The wheels 41 support the fuel channel manipulator 22 as it is displaced in one of the first and the second directions 26, 28. When the fuel channel manipulator assembly 22 must be moved in the other one of the first and second directions 26, 28, the orientation of the wheel 41 may be changed 90 degrees via swivel 62 to allow positioning of the wheels 41 in the trough 58 extending in the other one of the two directions 26, 28 on the surface 20 of the main platform 18.
In an alternative embodiment shown in Fig. 7, the track network 48 is flush with the top surface 20 of the main platform 18. The wheel 41 is mounted to the pallet 36 via the swivel assembly 62 as shown in Fig. 5. The track network 48 includes guide strips 64. Guide strips 64 are spaced apart in pairs on the surface 20 and extend in parallel to form the track network 48 in the first and second directions 26, 28. Wheels 41 are positioned between the guide strips 64 and roll to allow the fuel channel manipulator assembly 22 to be positioned in one of the first and second horizontal directions 26, 28. When the fuel channel manipulator assembly 22 must be moved in the other one of the first and second directions 26, 28, the orientation of the wheel 41 may be switched 90 degrees via swivel 62 to allow positioning of the fuel channel manipulator assembly 22 in the other of the two directions 26, 28 on the surface 20 of main platform 18.
Preferably, the pallet 36 for the manipulator assembly 22 is a system of four Track Mate series Hilman Rollers 76 as available from Hilman Incorporated. The four rollers 76 are positioned to each support a corner region of the manipulator assembly 22 on the track network 48. A suitable roller 76 is illustrated in Fig. 9.
Track Mate Series Hilman Rollers 76 are designed with roller body 77 supported by dual flanged rollers 78 for the purpose of self-alignment on a flat bar track 80. The flat bar track 80 is an embodiment of track network 48 and may be integral with or suitably secured to the main platform 18. The Hilman Roller may use a rack and
-16-pinion assembly 37 such as the one shown in Fig. 6 and the flat bar track 80 may be cooperable with such a rack and pinion assembly. For example, the flat bar track 80 in Fig. 10 has a linear gear bar 43 having depressions 51 for engaging a corresponding pinion 37. Preferably, the Track Mate roller 76 is used with a Hilman Turntable accessory 82 that is integrable with the flat bar track 80 and which cooperates with the roller 76 as a switching mechanism in order to allow the roller 76 to accomplish turns.
The Hilman Turntable accessory is also available from Hilman, Inc. The turntable 82 is illustrated in detail in Fig. 10. The turntable 82 is positioned at intersections 84 between tracks 80 running in the first direction 26 and the second direction 28. Since one roller 76 is positioned at each intersection, one turntable 82 is required for each of the four rollers 76 to change the direction of displacement of manipulator assembly 22 on the flat bar track 80. The turntable 82 is circular and is rotatable in 90 degree increments and has a flat bar track segment 86 coupled thereto which extends across the diameter of the turntable 82. The diameter of the turntable 82 is at least of a sufficient dimension to allow the wheels 78 of the roller 76 to be supported on the track segment 86 extending thereacross. In operation, the Hilman Roller 76 moves manipulator assembly 22 along the flat bar track 80 in one of first and second directions 26, 28 until each of the four rollers 76 is positioned on a track segment 86 of a turntable 82. If a change of direction is required, each of the turntables 82 rotates 90 degrees to switch their respective track segments 86 from a first one of the first and second directions 26, 28 to a second one of the directions 26, 28. The track network 48 may include a turntable 82 at all of the track intersections 84 or may include a turntable 82 at predetermined ones of the track intersections 84. Further, though the tracks 80 of Fig. 10 are disposed at 90 degrees, the turntables 82 may be rotatable at any increment required to switch between sets of tracks 80 of the track network 48 regardless of the angle therebetween. The fuel channel manipulator assembly 22 may be locked in position on the flat bar track 80 by rotating two of the rollers 76 by 90 degrees relative to the other two rollers 76 such that the axes of the two dual flanged rollers 78 of two of the rollers 76 are normal relative to the axes of the dual flanged rollers 78 of the other two of the rollers 76. In this manner, the manipulator assembly 22 cannot displace in any direction on the top surface 20 until the wheels are unlocked wherein their respective axes are parallel relative one another.
-17-In another aspect of the retubing assembly 10, an auxiliary platform 66 is positioned adjacent the main platform 18 as shown in Fig. 11 such that the main platform 18 is positioned between the end shield 16 and the auxiliary platform 66.
The auxiliary platform 66 is a secondary platform which may be used, as an example, for raising tools, supplies and other materials, such as, for example the fuel channel manipulator assembly 22, or any decoupled portion thereof, and fresh fuel channel components to the main platform 18 during a loading operation. The auxiliary platform 66 may also be used for unloading degraded components that have been removed from the fuel channels 14 or for lowering for example the fuel channel manipulator assembly 22, or any decoupled portion thereof, or tooling that is no longer required on the main platform 18 for the retubing operation. The auxiliary platform 66 may also be used as an elevator for workers or equipment to be transported to main platform 18.
The use of the auxiliary platform 66 reduces the need for interrupting the retubing operation to load and unload main platform 18. Without auxiliary platform 66, the main platform 18 must be lowered to the concrete station 100, or ground level, whereat degraded fuel channel components that have been removed or fuel channel manipulator assemblies 22 that are no longer required may be unloaded and fresh components and necessary manipulators 22 may be loaded. However, since one function of auxiliary platform 66 is to transport articles to the main platform 18 or away from main platform 18 as required. Loading and unloading of a manipulator assembly 22 or of fuel channel components may be done whenever the vertical position of the auxiliary platform 66 corresponds with the vertical position of the main platform 18. Accordingly, the main platform 18 may operate at the predetermined position along the vertically extending path 32 while any loading and unloading at ground level is performed by means of the auxiliary platform 66.
A second vertical positioning mechanism 68 engages the auxiliary platform 66. Second drive 31 is coupled with the second vertical positioning mechanism 68 for driving the auxiliary platform 66 to a predetermined position along a second vertically extending path 70 that is parallel with the first vertically extending path 32 for the main platform 18. The vertical positioning mechanism 68 for the auxiliary platform 66 may include any suitable positioning means including pneumatic, hydraulic or
-18-mechanical positioning mechanisms. Preferably, second vertical positioning mechanism 68 is a mechanical linear actuator such as a Spiralift. In Fig. 12, the vertical positioning mechanism 68 includes at least one vertically extendable positioning member 72 which engages or abuts auxiliary platform 66 from beneath the auxiliary platform 66. Second drive 31 extends the extendable positioning member 72 and positions auxiliary platform 66 at a predetermined position along the vertically extending path 70. The platform 66 may be raised or lowered to the predetermined position in a controllable manner.

The assembly 10 shown in Fig. 12 includes a plurality of main platforms 18 and a plurality of auxiliary platforms 66. The main platforms 18 and auxiliary platforms 66 may support one or more storage containers or flasks 79 for storing material for disposal. It should also be understood that one or more fuel channel manipulator assemblies 22 may be supported on the top surfaces 20 of the main platforms 18. Each of the main platforms 18 and auxiliary platforms 66 is coupled with respective vertical positioning mechanisms 30, 68. Each of the main platforms 18 and auxiliary platforms 66 is independently positionable along their respective vertically extending paths 32, 70 by means of the respective vertical positioning mechanisms 30, 68.
A track network 48 is coupled with and continuous with the top surface 20 of each of the main platforms and the auxiliary platform 66. The track network 48 spans across the top surface 20 of each of the main platforms 18 and the auxiliary platforms 66. The track network 48 is continuous between platforms to allow movement of manipulator assemblies 22 or other equipment between main platforms 18, between auxiliary platforms 66 or between a main platform 18 and an auxiliary platform when the platforms are positioned at the same predetermined position along respective vertically extending paths 32, 70.
The retubing assembly 10 shown in Fig. 13 includes a plurality of main platforms 18 adjacent the end shield 16 of reactor core 12. The main platforms 18 are vertically spaced from each other at a different predetermined position along the vertically extending path 32. Each of the main platforms 18 may be stationary at their respective positions along vertically extending path 32 or may be independently positionable along the same vertically extending path 32 and at different ones of the
-19-predetermined positions. The platforms 18 may be positionable by means of vertical positioning mechanisms 30 engaging each of the main platforms 18. A track network 48 is coupled with and is continuous with the top surface 20 of each of the main platforms 18 and the auxiliary platform 66. Each one of the main platforms 18 has one or more fuel channel manipulator assemblies 22 mounted thereon.
Fig. 14 shows an embodiment having two main support platforms 18. Each of the platforms 18 are supported by respective vertical positioning mechanisms 30. The two platforms 18 are in a "nested" arrangement wherein the upper platform 18 extends further in the horizontally perpendicular direction 28 than the lower platform 18 and the upper platform 18 is at a higher vertical position than the lower platform 18. The upper platform 18 is raised and lowered by vertical positioning mechanism 30 which are outboard relative to the vertical positioning mechanism 30 of the lower platform 18. Accordingly, the two platforms 18 may be positioned along the vertically extending path 32 independently of each other. The platforms 18 cannot occupy the same vertical position and the lower platform 18 cannot attain a vertical position that is higher than the upper platform 18. Appropriate safety stop features may be employed on one or both platforms 18 to reduce risk to workers operating on the lower platform 18. Such safety features, for example, may include proximity sensors for preventing the upper and lower platform 18 from contacting one another or may prevent operation of the platforms 18 within a predetermined proximity relative to one another.
In a maintenance and repair assembly embodiment, a maintenance and repair device may be coupled with the top surface 20 of the main platform 18 in place of a manipulator assembly 22. Alternatively, both of a maintenance and repair device and a manipulator assembly 22 may be positioned on the top surface 20. The maintenance and repair device is similar to the manipulation assembly 22 and may be used with the main platform 18 and auxiliary platform 66 in any of the same embodiments previously discussed with respect to the manipulator assembly 22. However, the tooling for the maintenance and repair device is for a variety of tasks that may not be performed by the manipulator assembly 22.
A drive similar to that used for manipulator assembly 22 is coupled with one of the top surface 20 of the main platform 18 and the maintenance and repair device
-20-for selectively displacing the maintenance and repair device on the top surface 20 of the main platform 18 in a horizontal direction having at least one of a first horizontal direction component 26 parallel relative to the horizontally extending fuel channels 14 and a second horizontal direction component 28 perpendicular relative to the horizontally extending fuel channels 14.
In a manner similar to the fuel channel manipulator assembly 22, the maintenance and repair device may include a pallet mounted to the top surface 20 of the main platform 18. The maintenance and repair assembly further includes a tool carriage mounted to the pallet and having maintenance and repair tools 34 coupled therewith. Maintenance and repair tools include at least one tool that may be used for the repair, inspection, refurbishment or maintenance of any component or piece of equipment in the environment of the nuclear reactor. Maintenance and repair tools may also include tools configured to assist workers in the reactor environment with maintenance or repair operations as well as tooling for the transportation and manipulation of components in the environment of the reactor.
The maintenance and repair device may be coupled with a vertical positioning mechanism and in a manner similar to that previously described and illustrated with respect to the fuel channel manipulator assembly. Accordingly, the maintenance and repair device or the tools thereof may be raised or lowered to a predetermined position along a vertically extending path. Moreover, the pitch, yaw and roll of the maintenance and repair tools may be accurately controlled.
Fig. 15 shows a reactor area bridge assembly 88 in the environment of the nuclear reactor retubing assembly 10. The reactor area bridge assembly 88 includes a reactor area bridge 90 supported at each end by supporting towers 92 for raising and lowering the bridge 90. The bridge bears a carriage 96 for performing refueling operations on the fuel channels 14 of the reactor. The bridge 90 is shown at its topmost position with the main platform 18 operating below the bridge 90. The platform 18 extends between the support towers 92 of the bridge assembly 88 and may be raised or lowered to a predetermined position along the vertically extending path 32 without interfering with the reactor area bridge 90. Since the platform 18 for the purposes of performing retubing operations is not constrained by the reactor area bridge assembly 88, it may not be necessary to remove the bridge assembly 88 from
-21-the environment of the nuclear reactor to perform the retubing operation.
Removal of the bridge assembly 88 is a costly and time consuming operation. Accordingly, use of the present invention allows retubing or maintenance and repair to be performed in a less costly and timelier manner.
Though the retubing assembly and the maintenance and repair assembly 10 have been described having a main platform 18 with a fuel channel manipulator assembly 22 or maintenance and repair device on the top surface 20 thereof, it should be understood that the retubing or maintenance and repair assembly 10 may simply include a main platform 18 and a vertical positioning mechanism 30 engaging the support platform 18 for positioning the main platform at a predetermined position along vertically extending path 70. The platform 18 does not necessarily require a manipulator assembly 22 or a maintenance and repair device to be mounted thereon.
The platform 18 may be used to support and transport workers and equipment during retubing or maintenance and repair operation for the nuclear reactor.
Accordingly, it is within the purview of the present invention to provide a platform which may be positioned at predetermined positions along a vertically extending path in the y-direction.
It is not outside the purview of the present invention for the manipulator assembly 22 or the maintenance and repair assembly to be coupled with an autonomous guided vehicle capable of travelling in the environment of the nuclear reactor. The first drive for the manipulator assembly or the maintenance and repair assembly may be an engine and transmission driving wheels of the vehicle to move the assembly in the first and second directions 26, 28 on the top surface of the main platform 18. A suitable vertical positioning mechanism 30 may be coupled with one or both of the vehicle and the assembly coupled therewith for raising and lowering the assembly or its tools to a predetermined position along a vertically extending path.
Thereby, the present invention may be deployed on the top surface without the need for a track network coupled with the top surface.
While the invention has been described in terms of various specific embodiments, those skilled in the art will recognize that the invention can be practiced with modifications within the spirit and scope of the present invention as disclosed herein.
-22-

Claims (94)

1. A retubing assembly for a nuclear reactor having a reactor core with fuel channels extending horizontally between end shields of the reactor core, the assembly comprising:
at least one main platform having a top load bearing surface positioned adjacent one of the end shields of the reactor core;
at least one fuel channel manipulator assembly mounted on the top surface of the main platform for manipulating fuel channel components during retubing operation; and, a first drive coupled with one of the top surface of the main platform and the manipulator assembly for selectively displacing the manipulator assembly on the top surface of the main platform in a horizontal direction having at least one of a first horizontal direction component parallel relative to the horizontally extending fuel channels and a second horizontal direction component perpendicular relative to the horizontally extending fuel channels.
2. The retubing assembly of claim 1 further comprising:
a vertical positioning mechanism coupled with the main platform; and, a second drive coupled with the vertical positioning mechanism for driving the platform to a predetermined position along a vertically extending path.
3. The retubing assembly of claim 1 further comprising:
a vertical positioning mechanism coupled with the fuel channel manipulator assembly; and, a second drive coupled with the vertical positioning mechanism for driving the fuel channel manipulator assembly to a predetermined position along a vertically extending path.
4. The retubing assembly of claim 2 wherein:
the vertical positioning mechanism includes at least one vertically extendable positioning member engaging the main platform from beneath the main platform; and, the second drive is coupled with the vertically extendable positioning member for driving the member and the main platform to the predetermined position along the vertically extending path.
5. The retubing assembly of claim 4 further comprising:
a plurality of vertically extendable positioning members supporting a main platform load.
6. The retubing assembly of claim 3 wherein:
the vertical positioning mechanism includes at least one vertically extendable positioning member engaging the fuel channel manipulator assembly from beneath the fuel channel manipulator assembly; and, the second drive is coupled with the vertically extendable positioning member for driving the member and the manipulator assembly to the predetermined position along the vertically extending path.
7. The retubing assembly of claim 1 wherein the fuel channel manipulator assembly comprises:
a pallet mounted to the top surface of the main platform;
at least one fuel channel manipulation tool coupled with the pallet; and, wherein the first drive is coupled with one of the top surface of the main platform and the pallet.
8. The retubing assembly of claim 7 wherein coupling between the pallet and the at least one tool is separable.
9. The retubing assembly of claim 7 comprising:
a vertical positioning mechanism coupled with the pallet between the pallet and the at least one manipulation tool; and, second drive coupled with the vertical positioning mechanism for driving the at least one fuel channel manipulation tool to a predetermined position along a vertically extending path.
10. The retubing assembly of claim 1 comprising a plurality of fuel channel manipulator assemblies mounted on the top surface of the main platform.
11. The retubing assembly of claim 1 wherein the retubing assembly includes a plurality of main platforms adjacent the end shield of the reactor core; and, each main platform is vertically spaced from the other main platforms at a different position along the vertically extending path.
12. The retubing assembly of claim 11 wherein:
each one of the plurality of main platforms is coupled with a vertical positioning mechanism; and, a second drive is coupled with each of the vertical positioning mechanisms for driving each of the platforms to respective predetermined positions along the vertically extending path.
13. The retubing assembly of claim 12 wherein each of the vertical positioning mechanisms is independently operable by the second drive.
14. The retubing assembly of claim 1 comprising:
at least one radiation shield positioned between the end shield of the reactor core and the top surface of the main platform for reducing exposure of the top surface to radiation from the reactor core.
15. The retubing assembly of claim 14 comprising:
a radiation shield drive coupled with one of the top surface of the main platform and the radiation shield for selectively displacing the radiation shield on the top surface of the main platform in another horizontal direction having at least another one of a first horizontal direction component parallel relative to the horizontally extending fuel channels and a second horizontal direction component perpendicular relative to the horizontally extending fuel channels.
16. The retubing assembly of claim 1 wherein the at least one main platform extends horizontally parallel relative to the horizontal fuel channels and horizontally perpendicular relative to the horizontally extending fuel channels.
17. The retubing assembly of claim 2 wherein the at least one main platform extends horizontally parallel relative to the horizontal fuel channels and horizontally perpendicular relative to the horizontally extending fuel channels.
18. The retubing assembly of claim 7 wherein the at least one main platform extends horizontally parallel relative to the horizontal fuel channels and horizontally perpendicular relative to the horizontally extending fuel channels.
19. A maintenance and repair assembly for a nuclear reactor having a reactor core with fuel channels extending horizontally between end shields of the reactor core, the assembly comprising:
at least one main platform having a top load bearing surface positioned adjacent one of the end shields of the reactor core;
at least one maintenance and repair device mounted on the top surface of the main platform for inspecting and repairing components in an environment of the nuclear reactor during maintenance and repair operation; and, a first drive coupled with one of the top surface of the main platform and the at least one maintenance and repair device for selectively displacing the at least one maintenance and repair device on the top surface of the main platform in a horizontal direction having at least one of a first horizontal direction component parallel relative to the horizontally extending fuel channels and a second horizontal direction component perpendicular relative to the horizontally extending fuel channels.
20. The maintenance and repair assembly of claim 19 further comprising:
a vertical positioning mechanism coupled with the main platform; and, a second drive coupled with the vertical positioning mechanism for driving the platform to a predetermined position along a vertically extending path.
21. The maintenance and repair assembly of claim 19 further comprising:
a vertical positioning mechanism coupled with the maintenance and repair device; and, a second drive coupled with the vertical positioning mechanism for driving the maintenance and repair device to a predetermined position along a vertically extending path.
22. The maintenance and repair assembly of claim 20 wherein:
the vertical positioning mechanism includes at least one vertically extendable positioning member engaging the main platform from beneath the main platform; and, the second drive is coupled with the vertically extendable positioning member for driving the member and the main platform to the predetermined position along the vertically extending path.
23. The maintenance and repair assembly of claim 22 further comprising:
a plurality of vertically extendable positioning members supporting a main platform load.
24. The maintenance and repair assembly of claim 21 wherein:
the vertical positioning mechanism includes at least one vertically extendable positioning member engaging the maintenance and repair device from beneath maintenance and repair device; and, the second drive is coupled with the vertically extendable positioning member for driving the member and the device to the predetermined position along the vertically extending path.
25. The maintenance and repair assembly of claim 19 wherein the maintenance and repair device comprises:
a pallet mounted to the top surface of the main platform;
at least one maintenance and repair tool coupled with the pallet; and, wherein the first drive is coupled with one of the top surface of the main platform and the pallet.
26. The maintenance and repair assembly of claim 25 wherein the coupling between the pallet and the at least one tool is separable.
27. The maintenance and repair assembly of claim 25 comprising:
a vertical positioning mechanism coupled with the pallet between the pallet and the at least one maintenance and repair tool; and, second drive coupled with the vertical positioning mechanism for driving the at least one maintenance and repair tool to a predetermined position along a vertically extending path.
28. The maintenance and repair assembly of claim 19 comprising a plurality of maintenance and repair devices mounted on the top surface of the main platform.
29. The maintenance and repair assembly of claim 19 comprising:
a plurality of main platforms adjacent the end shield of the reactor core;
and, each main platform is vertically spaced from the other main platforms at a different position along the vertically extending path.
30. The maintenance and repair assembly of claim 28 wherein:
each one of the plurality of main platforms is coupled with a vertical positioning mechanism; and, a second drive is coupled with each of the vertical positioning mechanisms for driving each of the platforms to respective predetermined positions along the vertically extending path.
31. The maintenance and repair assembly of claim 30 wherein each of the vertical positioning mechanisms is independently operable by the second drive.
32. The maintenance and repair assembly of claim 19 comprising:
at least one radiation shield positioned between the end shield of the reactor core and the top surface of the main platform for reducing exposure of the top surface to radiation from the reactor core.
33. The maintenance and repair assembly of claim 32 comprising:
a radiation shield drive coupled with one of the top surface of the main platform and the radiation shield for selectively displacing the radiation shield on the top surface of the main platform in another horizontal direction having at least another one of a first horizontal direction component parallel relative to the horizontally extending fuel channels and a second horizontal direction component perpendicular relative to the horizontally extending fuel channels.
34. The maintenance and repair assembly of claim 19 wherein the at least one main platform extends horizontally parallel relative to the horizontal fuel channels and horizontally perpendicular relative to the horizontally extending fuel channels.
35. The maintenance and repair assembly of claim 20 wherein the at least one main platform extends horizontally parallel relative to the horizontal fuel channels and horizontally perpendicular relative to the horizontally extending fuel channels.
36. The maintenance and repair assembly of claim 25 wherein the at least one main platform extends horizontally parallel relative to the horizontal fuel channels and horizontally perpendicular relative to the horizontally extending fuel channels.
37. A retubing assembly for a nuclear reactor having a reactor core with fuel channels extending horizontally between end shields of the reactor core, the assembly comprising:
at least one main platform having a top load bearing surface positioned adjacent one of the end shields of the reactor core, the main platform extending in a first horizontal direction parallel relative to the horizontally extending fuel channels and a second horizontal direction perpendicular relative to the horizontally extending fuel channels;
a track network coupled with the main platform and spanning at least a portion of the main platform in the first horizontal direction and at least a portion of the platform in the second horizontal direction;
a fuel channel manipulator assembly mounted on the track network for manipulating fuel channel components during retubing operation;
a first drive coupled with the manipulator assembly for selectively displacing the manipulator assembly along the track network in the first horizontal direction and the second horizontal direction.
38. The retubing assembly of claim 37 further comprising:
a vertical positioning mechanism coupled with the main platform; and, a second drive coupled with the vertical positioning mechanism for driving the main platform to a predetermined position along a vertically extending path.
39. The retubing assembly of claim 37 further comprising:
a vertical positioning mechanism coupled with the fuel channel manipulator assembly; and, a second drive coupled with the vertical positioning mechanism for driving the manipulator assembly to a predetermined position along a vertically extending path.
40. The retubing assembly of claim 38, wherein:
the vertical positioning mechanism includes at least one vertically extendable positioning member engaging the main platform from beneath the main platform; and, the second drive is coupled with the vertically extending positioning member for driving the member and the main platform to a predetermined position along the vertically extending path.
41. The retubing assembly of claim 39, wherein:
the vertical positioning mechanism includes at least one vertically extendable positioning member engaging the manipulator assembly from beneath the manipulator assembly; and, the second drive is coupled with the vertically extending positioning member for driving the member and the main platform to a predetermined position along the vertically extending path.
42. The retubing assembly of claim 40 further comprising:
a plurality of vertically extendable members supporting a main platform load.
43. The retubing assembly of claim 37 wherein the fuel channel manipulator assembly comprises:
a pallet mounted on the track network on the top surface of the main platform;

at least one fuel channel manipulation tool coupled with the pallet; and, wherein the first drive is coupled with the pallet.
44. The retubing assembly of claim 43 wherein coupling between the pallet and the at least one tool is separable.
45. The retubing assembly of claim 43 comprising:
a vertical positioning mechanism coupled with the pallet between the pallet and the at least one manipulation tool; and, a second drive coupled with the vertical positioning mechanism for driving the at least one fuel channel manipulation tool to a predetermined position along a vertically extending path.
46. The retubing assembly of claim 37 comprising a plurality of fuel channel manipulator assemblies mounted on the top surface of the main platform.
47. The retubing assembly of claim 46 comprising:
a plurality of vertical positioning mechanisms wherein each of the plurality of manipulator assemblies is coupled with one of the plurality of vertical positioning mechanisms; and, a second drive coupled with each of the vertical positioning mechanisms for driving each of the manipulator assemblies to respective predetermined positions along respective vertically extending paths.
48. The retubing assembly of claim 37 comprising:
at least one radiation shield positioned between the end shield of the reactor core and the top surface of the main platform for reducing exposure of the top surface to radiation from the reactor core.
49. The retubing assembly of claim 48 comprising:
a radiation shield drive coupled with one of the top surface of the main platform and the radiation shield for selectively displacing the radiation shield on the top surface of the main platform in a horizontal direction having at least one of a first horizontal direction component parallel relative to the horizontally extending fuel channels and a second horizontal direction component perpendicular relative to the horizontally extending fuel channels.
50. The retubing assembly of claim 37 wherein the track network is a network of troughs extending partially through the main platform.
51. The retubing assembly of claim 37 wherein the track network is a network of spaced apart pairs of parallel guide strips extending in the first and second directions.
52. The retubing assembly of claim 37 wherein the first drive comprises:
a motor;
wheels cooperable with the track network coupled with a motor for rotating the wheels.
53. The retubing assembly of claim 37 wherein the track network is a rail lattice network.
54. The retubing assembly of claim 53 wherein the rail lattice network includes rails coupled with the top surface of the main platform.
55. The retubing assembly of claim 53 wherein the rail lattice network includes rails that are embedded in the main platform below the top surface.
56. The retubing assembly of claim 37 wherein the first drive is a rack and pinion assembly comprising:
a rotatable gear coupled with the fuel channel manipulator assembly, the gear having cogs;
a linear gear bar coupled with the top surface of the main platform, the gear bar having depressions cooperable with the cogs of the rotatable gear; and, wherein the rotatable gear and linear gear bar cooperate to transfer rotational motion of the rotatable gear into linear motion along the linear gear bar when the rotatable gear is rotated.
57. The retubing assembly of claim 53 wherein the first drive is a linear induction drive comprising:
a power source;
at least one rail coupled with the main platform and electrically coupled with the power source for inducing a magnetic field;
a magnetic conductor coupled with the manipulator assembly responding to the induced magnetic field; and, wherein the manipulator assembly displaces linearly along the rail.
58. The retubing assembly of claim 43 wherein the pallet is a roller assembly comprising:
a roller body for supporting the at least one fuel channel manipulation tool;
at least two wheels coupled with the roller body for supporting and displacing the roller body on the track network; and the first drive is coupled with at least one of the wheels for rotating the wheels.
59. The retubing assembly of claim 58 wherein the track network is a flat bar track network; and, the wheels are dual-flanged wheels for self-alignment on the flat bar track network.
60. The retubing assembly of claim 58 further comprising:
at least two track network intersections wherein the track network extending in the first direction intersects with the track network extending in the second direction, each track network intersection receiving corresponding ones of the at least two wheels; and, a switching mechanism coupled with each of the track network intersections for switching a direction of displacement of the corresponding one of the wheels from one of the first direction and second direction to the other one of the first direction and second direction.
61. The retubing assembly of claim 60 wherein the switching mechanism includes a turntable comprising:
a turntable base;
a track segment extending across the diameter of the turntable base and rotatable between a first position wherein the track segment is continuous with the track network extending in the first direction and a second position wherein the track segment is continuous with the track network extending in the second direction; and, wherein the wheel is positionable on the track segment and the direction of displacement of the wheel is switchable when the respective roller wheel is positioned on the track segment.
62. The retubing assembly of claim 37 further comprising:
at least one track network intersection wherein the track network extending in the first direction intersects with the track network extending in the second direction;
a switching mechanism coupled with the track network intersection for switching a direction of displacement of the manipulator assembly from one of the first direction and second direction to the other one of the first direction and second direction.
63. The retubing assembly of claim 62 wherein the switching mechanism includes a turntable comprising:
a turntable base;
a track segment extending across the diameter of the turntable base and rotatable between a first position wherein the track segment is continuous with the track network extending in the first direction and a second position wherein the track segment is continuous with the track network extending in the second direction; and, wherein the manipulator assembly is positionable on the track segment and the direction of displacement of the manipulator assembly is switchable when the manipulator assembly is positioned on the track segment.
64. The retubing assembly of claim 60 further comprising:
a wheel locking mechanism for preventing displacement of the roller;
wherein, the switching mechanism at one of the at least two track network intersections is rotated 90 degrees relative to the switching mechanism at another one of the at least two track network intersections when the wheels are received by corresponding ones of the switching mechanism.
65. The retubing assembly of claim 61 further comprising:
a wheel locking mechanism for preventing displacement of the roller;
wherein, the track segment at one of the at least two track network intersections is rotated 90 degrees relative to the track segment at another one of the at least two track network intersections when the wheels are received by corresponding ones of the track segments.
66. A maintenance and repair assembly for a nuclear reactor having a reactor core with fuel channels extending horizontally between end shields of the reactor core, the assembly comprising:
at least one main platform having a top load bearing surface positioned adjacent one of the end shields of the reactor core, the main platform extending in a first horizontal direction parallel relative to the horizontally extending fuel channels and a second horizontal direction perpendicular relative to the horizontally extending fuel channels;
a track network coupled with the main platform and spanning at least a portion of the platform in the first horizontal direction and at least a portion of the platform in the second horizontal direction;
a maintenance and repair device mounted on the track network for inspecting and repairing components during maintenance and repair operation;
a first drive coupled with the maintenance and repair device for selectively displacing the maintenance and repair device along the track network in the first horizontal direction and the second horizontal direction.
67. The maintenance and repair assembly of claim 66 further comprising:
a vertical positioning mechanism coupled with the main platform; and, a second drive coupled with the vertical positioning mechanism for driving the main platform to a predetermined position along a vertically extending path.
68. The maintenance and repair assembly of claim 66 further comprising:
a vertical positioning mechanism coupled with the maintenance and repair device; and, a second drive coupled with the vertical positioning mechanism for driving the maintenance and repair device to a predetermined position along a vertically extending path.
69. The maintenance and repair assembly of claim 67, wherein:
the vertical positioning mechanism includes at least one vertically extendable positioning member engaging the main platform from beneath the main platform; and, the second drive is coupled with the vertically extending positioning member for driving the member and the main platform to a predetermined position along the vertically extending path.
70. The maintenance and repair assembly of claim 68, wherein:
the vertical positioning mechanism includes at least one vertically extendable positioning member engaging the maintenance and repair device from beneath the maintenance and repair device; and, the second drive is coupled with the vertically extending positioning member for driving the member and the maintenance and repair device to a predetermined position along the vertically extending path.
71. The maintenance and repair assembly of claim 69 further comprising:
a plurality of vertically extendable members supporting a main platform load.
72. The maintenance and repair assembly of claim 66 wherein the maintenance and repair device comprises:
a pallet mounted on the track network on the top surface of the main platform;

at least one maintenance and repair tool coupled with the pallet; and, wherein the first drive is coupled with the pallet.
73. The maintenance and repair assembly of claim 72 wherein coupling between the pallet and the at least one tool is separable.
74. The maintenance and repair assembly of claim 72 comprising:
a vertical positioning mechanism coupled with the pallet between the pallet and the at least one maintenance and repair tool; and, a second drive coupled with the vertical positioning mechanism driving the at least one maintenance and repair tool to a predetermined position along a vertically extending path.
75. The maintenance and repair assembly of claim 66 comprising a plurality of maintenance and repair devices mounted on the top surface of the main platform.
76. The maintenance and repair assembly of claim 75 comprising:
a plurality of vertical positioning mechanisms wherein each of the plurality of maintenance and repair devices is coupled with one of the plurality of vertical positioning mechanisms; and, a second drive coupled with each of the vertical positioning mechanisms for driving each of the maintenance and repair devices to respective predetermined positions along respective vertically extending paths.
77. The maintenance and repair assembly of claim 47 comprising:
at least one radiation shield positioned between the end shield of the reactor core and the top surface of the main platform for reducing exposure of the top surface to radiation from the reactor core.
78. The maintenance and repair assembly of claim 77 comprising:
a radiation shield drive coupled with one of the top surface of the main platform and the radiation shield for selectively displacing the radiation shield on the top surface of the main platform in a horizontal direction having at least one of a first horizontal direction component parallel relative to the horizontally extending fuel channels and a second horizontal direction component perpendicular relative to the horizontally extending fuel channels.
79. The maintenance and repair assembly of claim 66 wherein the track network is a network of troughs extending partially through the main platform.
80. The maintenance and repair assembly of claim 66 wherein the track network is a network of spaced apart pairs of parallel guide strips extending in the first and second directions.
81. The maintenance and repair assembly of claim 66 wherein the first drive comprises:

a motor;
wheels cooperable with the track network coupled with a motor for rotating the wheels.
82. The maintenance and repair assembly of claim 66 wherein the track network is a rail lattice network.
83. The maintenance and repair assembly of claim 82 wherein the rail lattice network includes rails coupled with the top surface of the main platform.
84. The maintenance and repair assembly of claim 82 wherein the rail lattice network includes rails that are embedded in the main platform below the top surface.
85. The maintenance and repair assembly of claim 66 wherein the first drive is a rack and pinion assembly comprising:
a rotatable gear coupled with the maintenance and repair device, the gear having cogs;
a linear gear bar coupled with the top surface of the main platform, the gear bar having depressions cooperable with the cogs of the rotatable gear; and, wherein the rotatable gear and linear gear bar cooperate to transfer rotational motion of the rotatable gear into linear motion along the linear gear bar when the rotatable gear is rotated.
86. The maintenance and repair assembly of claim 82 wherein the first drive is a linear induction drive comprising:
a power source;
at least one rail coupled with the main platform and electrically coupled with the power source for inducing a magnetic field;
a magnetic conductor coupled with the maintenance and repair device responding to the induced magnetic field; and, wherein the maintenance and repair device displaces linearly along the rail.
87. The maintenance and repair assembly of claim 72 wherein the pallet is a roller assembly comprising:
a roller body for supporting the at least one maintenance and repair tool;
at least two wheels coupled with the roller body for supporting and displacing the roller body on the track network; and the first drive is coupled with at least one of the wheels for rotating the wheels.
88. The maintenance and repair assembly of claim 87 wherein the track network is a flat bar track network; and, the wheels are dual-flanged wheels for self-alignment on the flat bar track network.
89. The maintenance and repair assembly of claim 87 further comprising:
at least two track network intersections wherein the track network extending in the first direction intersects with the track network extending in the second direction, each track network intersection receiving corresponding ones of the at least two wheels; and, a switching mechanism coupled with each of the track network intersections for switching a direction of displacement of the corresponding one of the wheels from one of the first direction and second direction to the other one of the first direction and second direction.
90. The maintenance and repair assembly of claim 89 wherein the switching mechanism includes a turntable comprising:
a turntable base;
a track segment extending across the diameter of the turntable base and rotatable between a first position wherein the track segment is continuous with the track network extending in the first direction and a second position wherein the track segment is continuous with the track network extending in the second direction; and, wherein the wheel is positionable on the track segment and the direction of displacement of the wheel is switchable when the respective roller wheel is positioned on the track segment.
91. The maintenance and repair assembly of claim 66 further comprising:
at least one track network intersection wherein the track network extending in the first direction intersects with the track network extending in the second direction;
a switching mechanism coupled with the track network intersection for switching a direction of displacement of the maintenance and repair device from one of the first direction and second direction to the other one of the first direction and second direction.
92. The maintenance and repair assembly of claim 91 wherein the switching mechanism includes a turntable comprising:
a turntable base;
a track segment extending across the diameter of the turntable base and rotatable between a first position wherein the track segment is continuous with the track network extending in the first direction and a second position wherein the track segment is continuous with the track network extending in the second direction; and, wherein the maintenance and repair device is positionable on the track segment and the direction of displacement of the maintenance and repair device is switchable when the maintenance and repair device is positioned on the track segment.
93. The maintenance and repair assembly of claim 89 further comprising:
a wheel locking mechanism for preventing displacement of the roller;
wherein, the switching mechanism at one of the at least two track network intersections is rotated 90 degrees relative to the switching mechanism at another one of the at least two track network intersections when the wheels are received by corresponding ones of the switching mechanisms.
94. The maintenance and repair assembly of claim 90 further comprising:
a wheel locking mechanism for preventing displacement of the roller;
wherein, the track segment at one of the at least two track network intersections is rotated 90 degrees relative to the track segment at another one of the at least two track network intersections when the wheels are received by corresponding ones of the track segments.
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CA2727484A CA2727484C (en) 2011-01-14 2011-01-14 Nuclear reactor retubing assembly
ROA201200016A RO128334B1 (en) 2011-01-14 2012-01-11 Assembly for retubing a nuclear reactor
ARP120100086A AR084826A1 (en) 2011-01-14 2012-01-11 NUCLEAR REACTOR REENTUBATION ASSEMBLY
KR1020120004253A KR101969700B1 (en) 2011-01-14 2012-01-13 Nuclear reactor retubing assembly

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WO2018232498A1 (en) * 2017-06-23 2018-12-27 Candu Energy Inc. Apparatus and method for locating a calandria tube

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KR102144982B1 (en) * 2019-02-14 2020-08-14 한국수력원자력 주식회사 Dismantling method of radioactive structures of heavy water reactor facilities

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JP2869114B2 (en) * 1989-12-20 1999-03-10 株式会社日立製作所 In-core inspection equipment for nuclear reactors
JPH03252596A (en) * 1990-03-02 1991-11-11 Ishikawajima Harima Heavy Ind Co Ltd Replacing device for fuel assembly
US20070146480A1 (en) * 2005-12-22 2007-06-28 Judge John J Jr Apparatus and method for inspecting areas surrounding nuclear boiling water reactor core and annulus regions
US9109722B2 (en) * 2007-09-11 2015-08-18 Atomic Energy Of Canada Limited Method and apparatus for annulus spacer detection and repositioning in nuclear reactors

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WO2018232498A1 (en) * 2017-06-23 2018-12-27 Candu Energy Inc. Apparatus and method for locating a calandria tube

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KR20120082833A (en) 2012-07-24
RO128334B1 (en) 2018-07-30
CA2727484C (en) 2016-08-02
RO128334A2 (en) 2013-04-30
KR101969700B1 (en) 2019-04-18

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