WO2024015562A1 - Robot de maintenance dans une cuve et procédé de fonctionnement - Google Patents

Robot de maintenance dans une cuve et procédé de fonctionnement Download PDF

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Publication number
WO2024015562A1
WO2024015562A1 PCT/US2023/027752 US2023027752W WO2024015562A1 WO 2024015562 A1 WO2024015562 A1 WO 2024015562A1 US 2023027752 W US2023027752 W US 2023027752W WO 2024015562 A1 WO2024015562 A1 WO 2024015562A1
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WO
WIPO (PCT)
Prior art keywords
segment
arm
vessel
joint
end effector
Prior art date
Application number
PCT/US2023/027752
Other languages
English (en)
Inventor
Samuel Arthur QUEMBY
Enrique VÉLEZ LÓPEZ
William Robb Stewart
Original Assignee
Boston Atomics, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Boston Atomics, Inc. filed Critical Boston Atomics, Inc.
Publication of WO2024015562A1 publication Critical patent/WO2024015562A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • the present application relates to in-vessel maintenance robots, specifically to manipulator arm-based robots used, for example, in refueling and maintenance of nuclear reactors.
  • Nuclear reactors require occasional maintenance and fuel replenishment. Both fuel replenishment and reactor maintenance can be dangerous tasks. In some configurations, it can be impractical for an operator to enter the vessel of a nuclear reactor.
  • FIG. 1 is a side view of one example of a robot system consistent with the present disclosure.
  • FIG. 2 is a side view of a portion of the robot system of FIG. 1, as it enters a vessel, the manipulator arm being manipulated so as to match the profile of the cross section of the main body.
  • FIG. 3A is a perspective view of a portion of another example robot system consistent with the present disclosure.
  • FIG. 3B is a side view of a portion of the example robot system of FIG. 3A, consistent with the present disclosure.
  • FIG. 3C is a top view of a portion of the example robot system of FIG. 3A, consistent with the present disclosure.
  • FIG. 3D is an end view of a portion of the example robot system of FIG. 3 A, consistent with the present disclosure.
  • FIGs. 4-19 illustrate an example de-fueling procedure using the robot system of FIG. 1 consistent with the present disclosure.
  • FIG. 20 is a front view of a fuel block on a transfer trolley consistent with the present disclosure.
  • FIG. 21 is a side view of one example remote handling interface consistent with the present disclosure.
  • FIG. 22 is a side view of one example remote handling interface including a joint consistent with the present disclosure.
  • FIG. 23 is a sectional view of an example configuration for a remote handling interface accessible through a transfer channel consistent with the present disclosure.
  • FIG. 24 is a sectional view of an example configuration for a remote handling interface accessible from outside a transfer channel consistent with the present disclosure.
  • FIGs. 25A-25C illustrate one example of an end effector consistent with the present disclosure.
  • FIGs. 26A-26B illustrate another example of an end effector consistent with the present disclosure.
  • FIG. 27 illustrates another example of an end effector consistent with the present disclosure.
  • FIG. 28 illustrates another example of an end effector consistent with the present disclosure.
  • the present disclosure describes an in- vessel maintenance robot that interacts with the vessel and internal components of a nuclear reactor.
  • An in-vessel maintenance robot consistent with the present disclosure may be used for transferring and manipulating fuel and tools inside the reactor and has a variety of uses, including refueling nuclear reactors, removing spent or damaged fuel blocks, repairing, or replacing components in the reactor vessel, etc.
  • a robot system consistent with the present disclosure may be used in a wide variety of reactor types, including but not limited to, for example, Modular Integrated Gas High Temperature Reactors (MIGHTR).
  • MIGHTR Modular Integrated Gas High Temperature Reactors
  • the in- vessel maintenance robot may operate in conditions that would be harmful to a human operator by entering into the vessel of the nuclear reactor and providing a barrier between fuel blocks in a reactor and the operator.
  • the structure of the in-vessel maintenance robot may allow for a wide range of movement within the vessel, which allows for complete or nearly complete access to the interior of the vessel.
  • the form factor of the robot system and the entry port into the vessel may be relatively small compared to known entry ports to reduce external exposure to potentially harmful materials.
  • the in-vessel maintenance robot design may facilitate the transfer of objects into the vessel of a nuclear reactor as the device maintains a minimal diametrical profile in relation to the vessel entry port of the vessel and may further establish a channel with which to transfer objects therebetween.
  • An in- vessel maintenance robot consistent with the present disclosure may be displaced along a longitudinal axis of a horizontal reactor, e.g., a MIGHTR, and interface with an entry port of the vessel to refuel or repair on an as needed basis.
  • a closure in the vessel of the reactor may be opened to create an opening in the vessel that a main body may penetrate to extend into the interior of the vessel.
  • the closure of the vessel is opened, the working end of the robot system is aligned with a central point in the vessel entry port, and the main body is extended so as to be partially disposed within the vessel.
  • the manipulator arm may then retrieve fuel blocks or make repairs to the interior of the vessel.
  • an in-vessel maintenance robot may include a 5-7 Degrees Of Freedom (DOF) robotic arm, where the first DOF is translation and at the others are rotational.
  • DOF Degrees Of Freedom
  • at least two rotational degrees of freedom may be pitch rotational degrees of freedom
  • at least two rotational degrees of freedom may be roll degrees of freedom.
  • one or more of the joints are configured to prevent back driving, i.e., if the in-vessel maintenance robot loses power, then one or more of the joints remain in the same position they were in when they lost power.
  • one or more of the joints can be manipulated manually from outside the primary pressure boundary via ports disposed on the pressure boundary.
  • one or more of the joints may include a main motor and at least a backup motor. In an embodiment, one or more of the joints may have a feedback monitoring system for failure detection.
  • FIGs. 1 and 2 are side views illustrating one example embodiment of a cantilever-type robot system 100 of an in-vessel maintenance robot consistent with the present disclosure positioned external to a horizontal vessel 104, e.g., a reactor vessel.
  • the illustrated example robot system 100 is disposed in a building having a vessel room 102 having a vessel 104 therein and an access room 106 disposed exterior to the reactor vessel 104.
  • the robot system 100 extends horizontally through a wall 108 between the rooms 102,106, with an access end 110 of the robot system 100 positioned in the access room 106 and a working end 112 of the robot system 100 positioned in the vessel room 102.
  • FIG. 1 is disposed in a building having a vessel room 102 having a vessel 104 therein and an access room 106 disposed exterior to the reactor vessel 104.
  • the robot system 100 extends horizontally through a wall 108 between the rooms 102,106, with an access end 110 of the robot system 100 positioned in the access room 106
  • the working end 112 of the robot system 100 is extended into the interior 114 of the vessel 104 thorough a vessel entry port 116.
  • the vessel 104 has fuel blocks 118 positioned therein.
  • the fuel blocks 118 may be transferred to/from the interior 114 of the vessel 104 and to/from the access room 102 through a transfer channel 120 of the robot system 100.
  • Control outputs and sensor inputs to/from control circuitry, e.g., controller 122, are coupled to the robot system, e.g., through a wired or wireless local or remote connection.
  • the robot system 100 is shown in FIG. 1 as being horizontally disposed and extending between rooms 102, 106 and into a vessel 104 with a horizontally disposed entry port 116, those of ordinary skill in the art will recognize a system consistent with the present disclosure may be provided in a variety of configurations depending on the system requirements. Some embodiments may be most useful in situations where maximum stiffness is required when working at a long distance from vessel 104 entry port 116 and/or when transfer needs to be made from the robot system 100 to an external system and penetration size or number of penetrations is a driving constraint.
  • the robot system 100 includes a main body 101 configured as a hollow structure defining the transfer channel 120 and a refueling vessel 130.
  • the access end 110 of the robot system 100 is disposed at a first end of the refueling vessel 130 and the working end 112 of the robot system 100 is disposed at a second end of the main body 101.
  • the working end 112 may include a manipulator arm 124 with an end effector 126 coupled thereto.
  • the maximum external cross-sectional dimension of the main body 101 may be closely matched, but less than, the internal dimension of the entry port 116 so that the working end 112 of the main body 101 may enter the vessel 104 through the entry port 116.
  • Closely matched may be based on constraints which may be based on engineering considerations that may include, but are not limited to, sealing systems; guidance mechanisms; tolerance stacks; thermal expansion; mechanical deflection; drive mechanisms; sensors; mechanical supports; or any other systems, components or devices or safety factors that contribute to the functionality of the robot or the environs within which it operates.
  • the manipulator arm 124, end effector 126, and any equipment coupled thereto or carried thereby can fold up to have a maximum external cross-sectional dimension less than the minimum cross-sectional dimension of the entry port 116 to facilitate insertion and removal of the main body 101 into and out of the vessel 104 through the entry port 116.
  • the transfer channel 120 of the main robot system 100 removes the need for a separate fuel transfer port on the vessel 104, increasing the space available for the entry port 116, leading to greater robot system 100 structural stiffness and the capacity to transport larger items into and out of the vessel 104.
  • Any external dimension may be used for the main body 101 depending on system requirements. In an embodiment, for example, the maximum external cross- sectional dimension of the main body 101 can be 99% or more of the minimum internal dimension of the entry port 116.
  • the main body 101 is coupled to the vessel 104 by means of the refueling vessel 130 that contains internal drive rollers 132 for translation the main body 101 into and out of the vessel 104.
  • the vessel 104 and the refueling vessel 130 have a sealed joint 140 with one another.
  • the drive rollers 132 and prismatic joint 128 allow translation of the main body 101 along a longitudinal axis 144 of the vessel 104, allowing the working end 112 of main body 101 to access the entire working length of the vessel 104.
  • the main body 101 may be disposed in a refueling vessel 130 coupled to and extending from the vessel 104 and including one or more driven rollers 132 for causing translation of the robot system 101 into and out of the vessel 104.
  • a driven transfer system 134 (such as rollers or a trolley) for transferring fuel and tools from the end effector 126 of the robot system 100 to a location outside the main vessel 104 is operably installed in the transfer channel 120.
  • the manipulator arm 124 and end effector 126 are configured to transfer items to/from this transfer system 134.
  • the cantilever support and prismatic joint 128 for the robot system 100 are positioned outside the vessel 104.
  • the cantilever support may be provided by an opening the wall 108 that separates the access room 106 and the vessel room 102.
  • the positional uncertainty is reduced, and the structural capacity to handle loads is increased at the maximum extent of the robot’s working envelope.
  • one or more support legs may be coupled between the refueling vessel 130 and the floor in the vessel room 102 to support the portion of the refueling vessel 130 in the vessel room 102.
  • One or more supports may also, or alternatively, be coupled between the refueling vessel 130 and a structure in the access room 106 to support the portion of the refueling vessel 130 in the access room 106.
  • Passive or active compensation systems (such as camera feedback or compliant mechanisms and guide features) can be used to compensate for any residual positioning error.
  • An access port 136 may be provided on the access end 130 of the robot system 100 for allowing insertion or removal of tools and/or fuel to/from the interior of the main body 101.
  • the access port 136 may be configured to seal or partially seal one end of refueling vessel 130.
  • the access port 136 may be configured as an air lock.
  • the access port 136 may be hingedly coupled to one end of the refueling vessel 130 or any extensions thereto, but it is to be understood that the access port 136 may open by sliding, rolling, opening via aperture, or any other means as understood in the art.
  • the access port 136 may be opened manually or electronically by a user.
  • the access port 136 may be opened by the robot system 100 itself.
  • closures disposed on both ends of the refueling vessel 130 it may be beneficial to open closures in an alternating pattern to maintain desired environments during transfer of fuel blocks 118 or other equipment, or to shield operators or equipment from nuclear radiation.
  • one or more closures may be used in conjunction with a sealing mechanism 140 of the vessel 104 opening to further reduce nuclear radiation and/or to maintain desired environments.
  • the main body 101 may include one or more extensions 138 coupled thereto.
  • the extensions 138 may be used to provide sufficient length to the main body 101 to allow translation of the robot system 100 within the main vessel 104 while maintaining part of the main body 101 in the refueling vessel 130.
  • the extensions 138 may be coupled to the end of the main body 101, and to each other, using known coupling methods.
  • distal is a relative term that refers to a direction generally away from the access end 110 of the robot system 100.
  • proximal is a relative term that refers to a direction generally towards the access end 110 of the robot system 100.
  • FIG. 2 is a side view of a portion of the embodiment of FIG. 1 showing the manipulator arm 124 in greater detail and in a different orientation compared to FIG. 1.
  • a proximal end of a manipulator arm 124 is coupled adjacent the working end 112 of the main body 101 and an end effector 126 is coupled adjacent a distal end of the manipulator arm 124, e.g., by a connector 202.
  • the manipulator arm 124 has a primary rotational joint 204, a secondary rotational joint 206, a tertiary rotational joint 208 and a primary annular joint 210 that rotatably couples the manipulator arm 124 to the main body 101.
  • the annular joint 210 is configured to rotate around a central longitudinal axis 406 (see FIG. 4) of the main body 101.
  • the annular joint 210 is configured to be controllably rotatable by the control circuitry, e.g., controller 122.
  • the primary rotational joint 202 is coupled to the annular joint 210 and to a proximal end of a first segment 212a. A distal end of the first segment 212a is coupled to the secondary rotational joint 206. The secondary rotational joint is also coupled to a proximal end of a second segment 214a. A distal end of the second segment 214a is coupled to the tertiary rotational joint 208. The tertiary rotational joint 208 is also coupled to the connector 202. Movement of the joints is controlled by controls signals from the controller 122, e.g., in response to user and/or sensor input.
  • the manipulator arm 124 is in a tucked position so as to reduce its profile in relation to the profile of the entry port 116 to fit within the entry port 116.
  • a tucked position is shown in this example, the manipulator arm 124 may maintain other positions during this transfer period.
  • the manipulator arm 124 in some embodiments may maintain a substantially linear position substantially parallel to the horizontal axis 402 (see FIG. 4) of the vessel 104, with all rotational joints aligning the first segment 212a and the second segment 214a of manipulator arm 124.
  • the manipulator arm 124 may tuck inside the transfer channel 120.
  • the manipulator arm 124 may be disposed on a planar surface (not shown) within the main body 101 such as a moveable closure within the main body 101.
  • the movable closure may move linearly within the main body 101, additionally or alternatively being capable of rotating about the central longitudinal axis 406 of the main body 101.
  • the moveable closure may provide a gas tight seal between the exterior and the interior of the vessel 104.
  • the moveable closure may include an opening to facilitate the transmission of objects such as fuel blocks 118 or end effectors 126 between the interior and exterior of the vessel 104.
  • the main body 101 may include a recess in the exterior wall thereof where a manipulator arm 124 may be housed during this transitional period. This may allow reduction of the manipulator arm 124 profile during transfer into the vessel 104. This may further reduce the cross-sectional dimensions of the manipulator arm 124 during transition, which may reduce the necessary size of the entry port 116.
  • the manipulator arm 124 in this embodiment may use one of more joints to maneuver out of the transfer position to perform necessary functions.
  • the end effector 126 may be disconnected from the manipulator arm 124 during transfer.
  • one or more end effectors 126 may be disposed within a portion of the transfer channel 120 or the main body 101. This allows for the transfer of multiple end effectors 126 without an increase in cross-sectional profile. Because multiple end effectors 126 may be transferred into the vessel 104 at once through the main body 101, it may be beneficial for the manipulator arm 124 to change end effectors 126 during the course of operation. This allows greater versatility in operations that the robot system 100 can perform without needing multiple transfers into and out of the vessel 104.
  • the manipulator arm 124 may be folded or tucked so that it fits within the dimensions of the entry port 116.
  • the manipulator arm 124 may be folded so as to enter the entry port 116 even with a large or oddly shaped end effector 126, without greatly reducing the dimensions of the robot system 100 during transition into the vessel 104.
  • the entry port 116 and the main body 101 may be depicted as substantially circular herein, other embodiments may have different or irregularly shaped profiles.
  • the main body 101 may be substantially rectangular to increase the profile area to side length.
  • a substantially rectangular shape may be beneficial to reduce the profile area of the main body 101, while still accepting a fuel block 118 within the transfer channel 120.
  • a substantially rectangular profile and similar embodiments may beneficially facilitate the introduction of a transfer system 134 comprising support ramp or linear conveyor within the transfer channel 120.
  • Embodiments that include a linear conveyor may dispose the linear conveyor proximate to the bottom interior wall, whereas a substantially circular main body 101 would generally facilitate the placement of the linear conveyor more centrally within the main body 101.
  • the linear conveyor may be in the form of one or more of a conveyor belt, rollers, a roller ball assembly, a cart, or trolley system, etc.
  • the refueling vessel 130 may have a sealing mechanism or apparatus 140 to engage with the exterior wall of the vessel 104 to create a fluid-tight seal between the robot system 100 and the refueling vessel 130 as the main body 101 moves longitudinally along the central longitudinal axis 406 (see FIG. 4).
  • the sealing mechanism 140 may coupled to allow freedom of movement of the main body 101. For example, when the sealing mechanism 140 is engaged, the main body 101 may still be able to move linearly or rotationally.
  • the sealing mechanism 140 may further connect to a sealing ring coupled annularly around the refueling vessel 130.
  • the entry port 116 comprises of a series of entry ports 116 that may be sequentially opened while interfacing with the main body 101 to reduce radiation external to the vessel 104 or maintain desired environments.
  • the series of entry ports 116 may operate in conjunction with one or more sealing mechanisms 140 to further isolate the environments internal and external to the vessel 104.
  • the entry ports 116 may be horizontally spaced to allow entrance of at least the manipulator arm 124 through, e.g., a primary entry port 116, but not a secondary entry port 116.
  • a primary sealing mechanism 140 may form a seal around the refueling vessel 130.
  • the secondary entry port 116 may be opened to allow the passage of the manipulator arm 124 and the main body 101 therethrough.
  • the manipulator arm 124 may initiate operations within the vessel 104.
  • the manipulator arm 124 may manipulate the end effector 126 to pick up a spent fuel block 118 and place it into the transfer channel 120, where it may be transferred by a transfer system 134 to position outside of the transfer channel 120 and may be retrieved external to the vessel 104.
  • the transfer channel 120 may have a new fuel block 118 disposed therein.
  • the manipulator arm 124 may pick up the new fuel block 118 inside the transfer channel 120 and transfer it into the vessel 104.
  • various end effectors 126 or tools may be introduced into vessel 104 from the transfer channel 120.
  • the tools or end effectors 126 may be removably coupled to the manipulator arm 124 and allow the manipulator arm 124 to perform multiple operations once introduced to the vessel 104. These operations may include, but are not limited to welding, screwing, drilling, measuring, dispensing adhesive, painting, disassembling, and assembling.
  • the manipulator arm 124 is coupled to an annular ring disposed within the transfer channel 120 that may be coupled to the access port 136.
  • the annular ring may be configured to rotate around the interior wall 142 of the main body 101.
  • the annular ring mounted to the interior wall 142 of the main body 101 may beneficially be paired with embodiments of the main body 101 wherein a transfer system 134 including a linear conveyor is disposed within the transfer channel 120.
  • the annular-ring-mounted interior manipulator arm 124 may be able to efficiently take fuel blocks 118 from their operation location within a vessel 104 and place the fuel blocks 118 on the linear conveyor.
  • joints for a manipulator arm 124 may have beneficial degrees of motion. Any combination of types and configurations of joints may be provided in an embodiment of robot system 100 consistent with the present disclosure.
  • one or more joints may be configured to lock in response to detection of a fault. The locking may prevent back driving of the joint, to prevent sudden falls if failure occurs during operation. The joints may lock into the position they were in during operation or return to a predetermined failure state.
  • the embodiments described herein are thus provided by way of example, and not of limitation.
  • substantially linear manipulator arm 124 segments 212, 214 are depicted in some embodiments, benefit may be derived from varying the lengths or shapes of the manipulator arm segments 212, 214.
  • the manipulator arm segments 124 may be substantially curved, or fixed into bent positions to facilitate the folding of the manipulator arm 124 during transfer, or to facilitate the motion of the manipulator arm 124. It is understood that certain shapes may offer a mechanical or precision-based advantage over that of a linear manipulator arm segments 212, 214.
  • the manipulator first segment 212 disposed proximate to the main body 101 may be bent at approximately a 45-90° angle to bias the manipulator arm 124 towards the center of the main body 101.
  • FIGs. 3A-3D are perspective, side, top and end views, respectively of another example embodiment of a manipulator arm 124 coupled to the main body 101 by an annular joint 210a configured to rotate around the central longitudinal axis 406 of main body 101.
  • the manipulator arm 124 includes first arm 302 and second arm 304 coupled to opposite sides of the annular joint 210, e.g., along central axis 310.
  • First arm 302 includes an associated first segment 212a pivotably coupled to the annular joint 210 at a proximal end thereof and configured to rotate about first manipulator arm axis 314, and a second segment 214a having a proximal end pivotably coupled to a distal end of the first segment 212a by a second rotational joint and configured to rotate about second manipulator arm axis 316.
  • Second arm 302 includes an associated first segment 212b pivotably coupled to the annular joint 210 at a proximal end thereof and configured to rotate about first manipulator arm axis 314, and a second segment 214b having a proximal end pivotably coupled to a distal end of the first segment 212b by a second rotational joint and configured to rotate about second manipulator arm axis 316.
  • a third rotational joint 326 is coupled to the distal ends of the second arm segments 214a, 214b and configured to rotate about third manipulator arm axis 318.
  • the end effector 126 is coupled to a fourth rotational joint 328 and configured to rotate about fourth manipulator arm axis 312.
  • a radiation shielding may be disposed along part of the manipulator arm segments 212, 214 and/or may cover portions of one or more joints to protect the wiring, sensors, hoses, or other features of the manipulator arm 124 from gamma or neutron radiation.
  • the shielding may be disposed either internally or externally to the manipulator arm 124.
  • the shielding may surround the entirety of a manipulator arm segment 212, 214, or alternatively or additionally surround desired cables, hoses, or wiring.
  • Example shielding materials include lead, polymer, composite materials, foams, etc.
  • FIGs. 4-19 illustrate an example de-fueling procedure using the robot of FIG. 1 consistent with the present disclosure. It should be understood that the example procedure illustrated in FIGs. 4-19 is only one example of a procedure to unload fuel from a reactor using the robot of FIG. 1.
  • fuel blocks 118 which for this example refers to the fuel blocks in the fuel stack within the reactor.
  • Fuel block 118A refer to the fuel block that is being manipulated by the robot system 100.
  • the term “downward” is a relative term that refers to a direction generally towards the horizontal axis 402.
  • the term “upward” is a relative term that refers to a direction generally away from the horizontal axis 402.
  • level when describing the fuel block 118A is a relative term that refers to a top or bottom surface of the fuel block 118A being essentially parallel to horizontal axis 402.
  • FIG. 20 is an example of a fuel block 118A on a driven transfer system 134, e.g., a trolley, consistent with the present disclosure.
  • the driven transfer system 134 supports the fuel block 118A from beneath, e.g., on trolley 2002, and provides space for the tines 2502 (see FIG. 25C) of a fork-style end effector 126 to be lowered, freeing the fuel block 118A from the end effector 126.
  • the fuel block 118A is supported by the tines 2502 for lifting and moving by notches 2006 in the fuel block 118A.
  • the height of the tines 2502 is also less than the height of the slots in the fuel block, which is also required for loading/unloading at the fuel face.
  • the trolley runs on rails along the inside of the driven transfer system 134 on rollers 2004.
  • FIG. 4 is an illustrative example of the robot of FIG. 1 during a de-fueling procedure consistent with the present disclosure.
  • fuel block 118A is in the process of being moved either into or out of the fuel stack by manipulator arm 124.
  • the fuel block 118A is held by the fork-style end effector 126.
  • Manipulator arm 124 is rotatably coupled to the main body 101 by the primary annular joint 210.
  • FIG. 5 is an example of the first step in a de-fueling procedure.
  • the end effector 126 is placed into the fuel block 118A to be unloaded.
  • the first segment 212a and the second segment 214a of the first arm 302 and the first segment 212b and the second segment 214b of the second arm 304 have been extended to position the end effector 126 within the notches 2006 in the fuel block 118A.
  • the fuel block 118A is lifted slightly to disengage the fuel block from the fuel stack and moved in a direction away from, and clear of, the fuel face, by movement of the manipulator arm 124 in an upward direction to engage the tines 2502 (see FIG. 25B) into the notches 2006 in the fuel block 118.
  • the fuel block 118A may be lifted by a rotational movement of either the primary rotational joint 204, the secondary rotational joint 206, or both, of first arm 302 and second arm 304.
  • the tertiary rotational joint 208 may be rotated as the fuel block 118A is lifted to ensure that the fuel block 118A remains parallel to the horizontal axis 402.
  • the end effector 126 is positioned to be centered over the central longitudinal axis 406.
  • the fuel block 118A lowered to a “home position”, coaxial with the central longitudinal axis 406.
  • primary annular joint 210 rotates in one direction while the fourth rotational joint 328 rotates in the opposite direction to keep fuel block 118A level relative to the horizontal axis 402. At all times during the fuel extraction procedure the fuel block 118A is maintained level with respect to the horizontal axis 402.
  • manipulator arm 124 has rotated until the rotation plane of the primary annular joint 210 is parallel with the horizontal axis 402. This allows fuel block 118A to be rotated parallel to the horizontal axis 402 to be positioned for entry into the transfer channel 120 of the main body 101.
  • the fuel block 118A is rotated parallel to the horizontal axis 402 by the rotational movement of the secondary rotational joint 206 on each of the first arm 302 and the second arm 304.
  • the fuel block 118A has been rotated until the end effector 126 is facing towards the transfer channel 120.
  • the primary annular joint 210 rotates while the fourth rotational joint 328 keeps fuel block 118A level relative to the horizontal axis 402.
  • the primary annular joint 210 has rotated so the rotation plane of the primary annular joint 210 is again perpendicular with the horizontal axis 402. This position allows up and down motion of the fuel block 118A by rotation of the primary rotational joint 204, the secondary rotational joint 206, the tertiary rotational joint 208, the fourth rotational joint 328, or any combination thereof, as may be necessary to align the fuel block 118A with the transfer channel 120.
  • the fuel block 118A is inserted into the transfer channel 120. As shown in FIG.
  • the fuel block 118A is inserted into the fuel transfer channel 120 by a coordinated rotation of the primary rotational joint 204, the secondary rotational joint 206, the tertiary' rotational joint 208, the fourth rotational joint 328, in order to align the fuel block 118A with the fuel transfer channel 120.
  • FIG. 16 shows the fuel block 118A inserted further into the transfer channel 120.
  • the fuel block 118A is now positioned on the transfer system 134 within the transfer channel 120, for example, on trolley 2002.
  • the end effector 126 is lowered slightly to free the fuel block 118A before being removed.
  • the fuel block 118A leaves via the transfer channel 120; the robot system 100 can start retrieving the next fuel block 118A while waiting for an empty trolley 2002 to return via the transfer channel 120.
  • a procedure to load fuel blocks 118 into the reactor is the reverse of this procedure, starting at FIG. 19 and working back to FIG. 4.
  • FIG. 21 illustrates one example embodiment of a drive unit 2100 including a remote handling interface 2104 consistent with the present disclosure.
  • the illustrated drive unit 2100 includes a motor 2102 having an output coupled to moving components of the drive unit 2100 for control of a DOF provided by the drive unit 2100 and remote handling interface 2104.
  • the motor may be coupled to the controller 122 and, during powered operation, may be controlled to move the drive unit 2100 in a DOF in response to control outputs from the controller 122.
  • the remote handling interface 2104 may be coupled to the drive unit 2100 for manually driving the motor output.
  • a user may manually manipulate, e.g., rotate, the remote handling interface 2104 to drive the motor output and move the drive unit 2100 in the driven DOF (see FIGs. 23-24).
  • the remote handling interface 2104 may be provided in a variety of configurations, which may include, but are not limited to, a hand grip for manipulating the interface without a tool, and/or with a tool interface for engaging a remote handling tool operated by a user to manipulate the remote handling interface 2104.
  • the remote handling interface 2104 may provide an interface that allows the user to reset or manually control one or more joints simultaneously.
  • the remote handling interface 2104 may be electronically and/or mechanically coupled to a specific joint of the manipulator arm 124 to manipulate the joint in the case of a failure.
  • the remote handling interface 2104 may be coupled to the manipulator arm 124 to control or reset the entire manipulator arm 124 structure.
  • the remote handling interface 2104 may also be provided in a variety of orientations relative to the motor for providing easy access to a user.
  • FIG. 22 illustrates another example embodiment wherein the remote handling interface 2104 is positioned at non-zero angle by angle joint 2202 relative to a rotational drive axis 2108 of the motor.
  • the remote handling interface 2104 may be positioned for access, e.g., to manipulate a joint during a power failure, from within the main body 101 of the robot system 100 or from outside of the main body 101.
  • FIG. 23 illustrates an example embodiment including a remote handling interface 2104 for a joint that is accessible from within the main body 101 using a remote handling tool 2302 operated by a user.
  • the user may move the remote handling tool 2302 into engagement with a remote handling interface 2104.
  • the user may manually manipulate, e.g., rotate, the remote handling interface 2104 (e.g., using the remote handling tool 2302) and cause movement of the joint.
  • FIG. 24 illustrates an example embodiment including a remote handling interface 2104 for a joint is accessible from outside of the main body 101 using a remote handling tool 2302 that extends into the vessel 104 through a remote handling tool port 1202.
  • This embodiment may be beneficial where the manipulator arm 124 is externally coupled to the main body 101.
  • multiple remote handling tool ports may be disposed within the main body 101 and the vessel 104 to facilitate the connection between the remote handling tool and the remote handling interface 2104.
  • FIGs. 25A-C illustrate one example of a fork-style end effector 126a.
  • the end effector 126a may be generally u-shaped defining two tines 2502 and may be configured to enter predefined notches 2006 in a fuel block 118A, which are shown particularly in the end view' of FIG. 25C.
  • the fork-style end effector 126 may include a lock or a ridge to engage the notches of the fuel block 118A.
  • the fork-style end effector 126 may have one or more tines 2502.
  • the tines 2502 may be configured to move in unison to make minor adjustments, or the distance between tines 2502 may be increased or decreased to enhance the utility of the end effector 126.
  • the notched portion of the fuel block 118A may be positioned above, below, or on the same plane as the center of mass of the fuel block 118A to accommodate particular fork-style designs.
  • FIGs. 26A-B depict an embodiment of a pin- style end effector 126b comprising a pin 2302 and a key 2606.
  • the pin 2302 may comprise a rounded or pointed tip to guide the pin 2302 into a recess 2304 of the fuel block 118, as shown particularly in the end view of FIG. 26B.
  • the pin 2302 and key 2606 are substantially similar in size and shape.
  • Either the pin 2302 or key 2606 may have a locking mechanism to lock into the recess 2304 of the fuel block 118.
  • the pin- style end effector 126b comprises only a pin and does not further comprise the key.
  • FIG. 27 is a perspective view of a correcting pin-style end effector 126c.
  • the correcting pin-style end effector 126c comprises a pin 702 that is coupled to a corrector 704 that allows the pin to move freely to achieve minor location adjustments.
  • the corrector 704 may bias the pin 702 toward a recess in the fuel block 118, which rectifies minor location errors in the manipulator arm 124.
  • the corrector 704 may move the pin orthogonally along two axes 2702 and 2704 and may additionally rotate the pin about the two axes 2702 and 2704.
  • the corrector 704 may be electronically controlled, spring-loaded, or free moving.
  • a corrector may be locked to prevent the movement of the pin 702. Further, if correction is unneeded, the corrector 704 may be locked preemptively to reduce movement of the pin 702.
  • a corrector may be disposed on one or more tines 2502 of a fork-style end effector 126, configured to allow each to move synchronously or asynchronously in relation to the other.
  • FIG. 28 is a perspective view of a grabber style end effector 126d that is configured to be removably connected to the manipulator arm 124.
  • the grabber arm style end effector 126d may include two grabber arms 2802, 2804 coupled to a common grabber joint 2806 configured to open and close the arms around a portion of a fuel block 118 or a tool.
  • the open and closed positions of the grabber joint 2806 may be determined preemptively by assigning a degree of rotation for grabber joint 2806 to be “open” and a secondary position to be “closed.”
  • the grabber joint 2806 may be programmable to articulate the grabber joint 2806 and/or the arms 2802, 2804 into more positions than a standard open or closed position.
  • the grabber style end effector 126d may have greater utility for operation in the vessel 104, for example, pressing a button with the extended finger, or using the contracted arm 2802, 2804 as a hook.
  • the grabber style end effector 126d may also comprise one or more grabber pads 2808.
  • the grabber pad 2808 may be a rigid contact point, such as a steel or copper cap, or it may be a more flexible contact point such as a polymer or rubber pad. It is understood that the grabber pad 2808 may be removed, replaced, or exchanged as the need arises.
  • the manipulator arm may include one or more sensors.
  • the manipulator arm may employ one or more of a radiation detector, pressure sensor, or temperature sensor that may signal the control circuitry.
  • a camera may be disposed proximate to the end effector of the manipulator arm in some embodiments. Further, the camera may operate in the infrared or visible light spectrum. The camera may be used to inform the user of location of fuel blocks or identify abnormalities with the fuel blocks of the vessel itself. The camera may also be used to modify the movement path of the robot control arm. The modifications can include minor adjustments to the end effector to align the end effector to a fuel block or worksite, or the modifications can include changing trajectory of joints to avoid collisions.
  • a camera or detector may be disposed within the transfer channel to monitor the alignment and identify the presence of a fuel block in the transfer channel.
  • the camera or sensor may alert a user, linear displacer, or manipulator arm to the presence of a fuel block or the disposition of the fuel block within the transfer channel. If a fuel block is improperly disposed within the transfer channel, it may be beneficial for the manipulator arm to correct the position or orientation of the fuel block within the transfer channel.
  • At least one of the manipulator arm or end effectors include a contact sensor.
  • the contact sensor on the manipulator arm may alert the user to a collision. When the contact sensor is triggered, it may additionally or alternatively signal the control circuitry to enter into a fault state that, as stated above, may lock a joint or return it to a fault position.
  • the contact sensor may be disposed onto the contact points of the end effector, configured to detect when an end effector encounters a fuel block, for example.
  • the contact sensor may be disposed on the finger contacts of a gabber style end effector, the fork of a fork-style end effector, or the pin or key of a pin-style end effector.
  • the contact sensor may detect any type of contact or may be configured to measure the amount of force applied by the end effector. In embodiments where the contact sensor measures the force applied by the end effector, it may be configured to notify the user when a certain force is applied or may conduct a predefined action when a certain force is applied.
  • One or more position sensors may be disposed along the manipulator arm 124.
  • the position sensors may be disposed proximate to one or more joints of the manipulator arm 124.
  • the position sensors may relay position information to a control system of the manipulator arm 124, or additionally or alternatively, relay position information to a user.
  • the position information may be utilized by a control system or user to modify movement paths of the manipulator arm 124 or recorded to use as movement instructions at a later date.
  • position may be monitored external to the manipulator arm 124, such as using, for example, a camera or a series of cameras to track the movement of the manipulator arm 124 in two or three dimensions.
  • one or more encoders and/or resolvers may be attached to the joints/drives/actuators at any or the axes of the robot to assist with proprioception.
  • one or more accelerometers may be disposed on the manipulator arm 124.
  • the one or more accelerometers may measure the acceleration of one or more portion of the manipulator arm 124.
  • the one or more accelerometers are disposed proximate to one or more manipulator arm joints.
  • an accelerometer may be disposed proximate to the end effector.
  • the accelerometers may prevent one or more joints from moving or rotating too quickly.
  • the accelerometer may prevent the end effector from moving a fuel block or tool too quickly. The prevention may be beneficial to prevent unnecessary jostling or mitigate collisions or falling of fuel blocks.
  • the accelerometers may act in conjunction with one or more other safety features to further mitigate incidents during operation.
  • Operation of the robot system and the manipulator arm 124 may be controlled by control circuitry, which may include a local or remote controller, e.g., a processor configured to execute instructions stored in non-transitory memory in response to user input and the output of one or more sensors to complete a desired task, e.g., refueling of a reactor, removal of spent fuel from the reactor, maintenance, etc.
  • control circuitry may include a local or remote controller, e.g., a processor configured to execute instructions stored in non-transitory memory in response to user input and the output of one or more sensors to complete a desired task, e.g., refueling of a reactor, removal of spent fuel from the reactor, maintenance, etc.
  • control circuitry may be configured to control motors for driving the main body relative to the base, for moving the slidable, annular, rotational, and rotational joints of the manipulator arm 124, and/or moving components of the end effector for completing the desired task.
  • control circuitry may be used by an operator to manually move the manipulator arm 124, independently control each manipulator arm segment, or independently control each joint of the manipulator arm 124.
  • an in-vessel maintenance robot including: a controllably rotatable annular joint rotatably coupled to a main body, the main body having a transfer channel configured to communicate an exterior of a reactor to a vessel of the reactor; and a manipulator arm.
  • the manipulator arm includes: a first arm having a first segment and a second segment, the first segment having a first end and a second end and the second segment having a first end and a second end, the first end of the first segment being pivotally coupled to the annular joint, and the first end of the second segment being pivotally coupled to the second end of the first segment; a second arm having a first segment and a second segment, the first segment having a first end and a second end and the second segment having a first end and a second end, the first end of the first segment being pivotally coupled to the annular joint, and the first end of the second segment being pivotally coupled to the second end of the first segment; and an end effector configured to couple to a fuel block, the end effector being pivotally coupled to the second end of the second segment of the first arm and to the second end of the second segment of the second arm.
  • an in-vessel maintenance robot including: a controllably rotatable annular joint rotatably coupled to a main body, the main body having a transfer channel configured to communicate an exterior of a reactor to a vessel of the reactor; a first arm having a first segment and a second segment, the first segment having a first end and a second end and the second segment having a first end and a second end, the first end of the first segment being pivotally coupled to the annular joint, and the first end of the second segment being pivotally coupled to the second end of the first segment; a second arm having a first segment and a second segment, the first segment having a first end and a second end and the second segment having a first end and a second end, the first end of the first segment being pivotally coupled to the annular joint, and the first end of the second segment being pivotally coupled to the second end of the first segment; and an end effector configured to couple to a fuel block
  • the stored program instructions include instructions to control the first arm and the second arm to be in an orientation to couple the end effector with one or more fuel blocks located within the vessel of the reactor; and control the first arm, the second arm, and the end effector to move the one or more fuel blocks into the transfer channel.
  • an in-vessel maintenance robot including: a first arm having a first segment and a second segment, the first segment having a first end and a second end and the second segment having a first end and a second end, the first end of the first segment being pivotally and rotatably coupled to a main body, and the first end of the second segment being pivotally coupled to the second end of the first segment; a second arm having a first segment and a second segment, the first segment having a first end and a second end and the second segment having a first end and a second end, the first end of the first segment being pivotally and rotatably coupled to the main body, and the first end of the second segment being pivotally coupled to the second end of the first segment; and an end effector configured to couple to a fuel block, the end effector being pivotally coupled to the second end of the second segment of the first arm and to the second end of the second segment of the second arm.
  • the methods and systems described herein are not limited to a particular hardware or software configuration and may find applicability in many computing or processing environments.
  • the methods and systems may be implemented in hardware or software, or a combination of hardware and software.
  • the methods and systems may be implemented in one or more computer programs, where a computer program may be understood to include one or more processor executable instructions.
  • the computer program(s) may execute on one or more programmable processors and may be stored on one or more storage medium readable by the processor (including volatile and non-volatile memory and/or storage elements), one or more input devices, and/or one or more output devices.
  • the processor thus may access one or more input devices to obtain input data and may access one or more output devices to communicate output data.
  • the input and/or output devices may include one or more of the following: Random Access Memory (RAM), Redundant Array of Independent Disks (RAID), floppy drive, CD, DVD, magnetic disk, internal hard drive, external hard drive, memory stick, or other storage device capable of being accessed by a processor as provided herein, where such aforementioned examples are not exhaustive, and are for illustration and not limitation.
  • RAM Random Access Memory
  • RAID Redundant Array of Independent Disks
  • floppy drive CD, DVD, magnetic disk, internal hard drive, external hard drive, memory stick, or other storage device capable of being accessed by a processor as provided herein, where such aforementioned examples are not exhaustive, and are for illustration and not limitation.
  • the computer program(s) may be implemented using one or more high level procedural or object-oriented programming languages to communicate with a computer system; however, the program(s) may be implemented in assembly or robot language, if desired.
  • the language may be compiled or interpreted.
  • the processor(s) may thus be embedded in one or more devices that may be operated independently or together in a networked environment, where the network may include, for example, a Local Area Network (LAN), wide area network (WAN), and/or may include an intranet and/or the internet and/or another network.
  • the network(s) may be wired or wireless or a combination thereof and may use one or more communications protocols to facilitate communications between the different processors.
  • the processors may be configured for distributed processing and may utilize, in some embodiments, a client-server model as needed. Accordingly, the methods and systems may utilize multiple processors and/or processor devices, and the processor instructions may be divided amongst such single- or multiple-processor/devices.
  • the device(s) or computer systems that integrate with the processor(s) may include, for example, a personal computer(s), workstation(s) (e.g., Sun, HP), personal digital assistant(s) (PDA(s)), handheld device(s) such as cellular telephone(s) or smart cellphone(s), laptop(s), handheld computer(s), or other device(s) capable of being integrated with a processor(s) that may operate as provided herein. Accordingly, the devices provided herein are not exhaustive and are provided for illustration and not limitation.
  • references to “control circuitry,” “controller,” “a microprocessor” and “a processor,” or “the controller,” “the microprocessor,” and “the processor,” may be understood to include one or more microprocessors that may communicate in a stand-alone and/or a distributed environment(s), and may thus be configured to communicate via wired or wireless communications with other processors, where such one or more processor may be configured to operate on one or more processor-controlled devices that may be similar or different devices.
  • Use of such "microprocessor” or “processor” terminology may thus also be understood to include a central processing unit, an arithmetic logic unit, an application-specific integrated circuit (IC), and/or a task engine, with such examples provided for illustration and not limitation.
  • references to memory may include one or more non-transitory processor-readable and accessible memory elements and/or components that may be internal to the processor-controlled device, external to the processor-controlled device, and/or may be accessed via a wired or wireless network using a variety of communications protocols, and unless otherwise specified, may be arranged to include a combination of external and internal memory devices, where such memory may be contiguous and/or partitioned based on the application.
  • references to a database may be understood to include one or more memory associations, where such references may include commercially available database products (e.g., SQL, Informix, Oracle) and also proprietary databases, and may also include other structures for associating memory such as links, queues, graphs, trees, with such structures provided for illustration and not limitation.
  • database products e.g., SQL, Informix, Oracle
  • databases may also include other structures for associating memory such as links, queues, graphs, trees, with such structures provided for illustration and not limitation.
  • references to a network may include one or more intranets and/or the internet.
  • References herein to microprocessor instructions or microprocessor-executable instructions, in accordance with the above, may be understood to include programmable hardware.
  • Coupled refers to any connection, coupling, link or the like by which signals carried by one system element are imparted to the “coupled” element.
  • Such “coupled” devices, or signals and devices are not necessarily directly connected to one another and may be separated by intermediate components or devices that may manipulate or modify such signals.
  • the terms “connected” or “coupled” as used herein in regard to mechanical or physical connections or couplings is a relative term and does not require a direct physical connection.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

L'invention concerne un robot de maintenance dans une cuve. Le robot comprend une articulation annulaire rotative de manière commandable, couplée de manière rotative à un corps principal, un canal de transfert et un bras manipulateur. Le bras manipulateur comprend un premier bras et un second bras ayant chacun un premier segment et un second segment, chaque premier segment ayant une première extrémité et une seconde extrémité et chaque second segment ayant une première extrémité et une seconde extrémité. La première extrémité du premier segment est couplée de manière pivotante à l'articulation annulaire, et la première extrémité du second segment est couplée de manière pivotante à la seconde extrémité du premier segment. Le robot de maintenance comprend également un effecteur terminal conçu pour se coupler à un bloc de combustible, l'effecteur terminal étant couplé de manière pivotante à la seconde extrémité du second segment du premier bras et à la seconde extrémité du second segment du second bras.
PCT/US2023/027752 2022-07-14 2023-07-14 Robot de maintenance dans une cuve et procédé de fonctionnement WO2024015562A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6099238A (en) * 1997-05-30 2000-08-08 Daihen Corporation Two-armed transfer robot
US20120197440A1 (en) * 2009-07-24 2012-08-02 Neovision Robot for cleaning and inspection of conduits and its control unit
US20190054637A1 (en) * 2017-08-21 2019-02-21 Massachusetts Institute Of Technology Extending robotic arm
FR3083842A1 (fr) * 2018-07-10 2020-01-17 Groupe Adf Appareil robotise et autopropulse pour une inspection et/ou un traitement d’une surface interieure d’une conduite
CN114770484A (zh) * 2022-05-19 2022-07-22 上海大学 一种电驱动刚柔软耦合水蛇机器人

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6099238A (en) * 1997-05-30 2000-08-08 Daihen Corporation Two-armed transfer robot
US20120197440A1 (en) * 2009-07-24 2012-08-02 Neovision Robot for cleaning and inspection of conduits and its control unit
US20190054637A1 (en) * 2017-08-21 2019-02-21 Massachusetts Institute Of Technology Extending robotic arm
FR3083842A1 (fr) * 2018-07-10 2020-01-17 Groupe Adf Appareil robotise et autopropulse pour une inspection et/ou un traitement d’une surface interieure d’une conduite
CN114770484A (zh) * 2022-05-19 2022-07-22 上海大学 一种电驱动刚柔软耦合水蛇机器人

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