Repair system and repair method

Abstract

A repair system (2) for applying adhesive to an underwater repair location in a container is described. The repair system (2) includes a movable remote-controlled repair robot (10) configured to be driven underwater. The repair robot (10) includes a repair module (12) configured to be coupled to an adhesive application module (34). The adhesive application module (34) is configured to dispense adhesive onto the repair location. Further, a repair method is described.

Description

[Technical field]

[0001] The present invention relates to a repair system for applying adhesive to a location to be repaired underwater in a container. Further, the present invention relates to a repair method performed underwater in a container. [Background technology]

[0002] In containers filled with water and / or other media, such as, for example, the reservoirs of (spent) fuel pools of nuclear power plants, leaks may occur at certain corroded locations due to corrosion, which have to be repaired. In addition, the thickness of the wall of the respective container may be reduced due to corrosion, so that such corroded locations also need to be repaired in order to meet certain requirements, in particular requirements for operating the container and / or the system to which the container is assigned, such as requirements for operating a nuclear power plant.

[0003] In order to repair such a location, the container can be emptied in order to ensure access to the corresponding area assigned to the corrosion location in order to repair the corrosion location. However, emptying the container is very expensive, especially depending on the content of the container. In addition, another container is required that can be used to accommodate the content of the emptied container.

[0004] In the case of containers formed from the fuel pool of a nuclear power plant, the corrosion sites must be repaired underwater, since the contents of the fuel pool may be contaminated, so that the contents, in particular water or more precisely the medium, cannot be removed from the container. Therefore, the corrosion sites must be repaired underwater.

[0005] So far, areas accessible from the opening of the respective container have been repaired by using a repair system comprising an adhesive (and a repair mat or a repair covering). The repair system is inserted into the container via an opening which is usually assigned to the top of the container. Thus, corrosion sites can be repaired at the sides of the container and in certain areas of the bottom wall, since these sites can be reached by the repair system inserted from the top of the container. For example, WO 2015 / 011270 A1 and DE 3913202 A1 show such repair systems for repairing corrosion sites on the sides of containers.

[0006] However, corrosion sites may also occur in areas of the container that are not accessible from the top of the container, such as areas of racks assigned to fuel elements (also called fuel racks), for example at the bottom of the container below the racks of fuel elements. Therefore, solutions for repairing corrosion sites by applying adhesives are limited to accessibility from the top of the container. Therefore, to date, different solutions for repairing those sites have to be used, which are less cost-effective and more complicated in terms of availability. [Summary of the invention]

[0007] The object of the present invention is to provide an easy and cost-effective way to repair a location to be repaired in a container, regardless of the area in which the location is located.

[0008] The present invention particularly provides a repair system for applying adhesive to an underwater repair location in a container, the repair system comprising a movable remote-controlled repair robot configured to be driven underwater. The repair robot comprises a repair module configured to be coupled to an adhesive application module. The adhesive application module is configured to dispense adhesive on the repair location.

[0009] Furthermore, the present invention particularly provides a repair method performed underwater in a container, the method comprising the following steps:

[0010] - driving a mobile remote-controlled repair robot underwater to a location to be repaired in the container; and

[0011] - Apply adhesive to the repaired area underwater.

[0012] The present invention is based on a repair system and a repair method, wherein an adhesive is applied to an underwater location to be repaired, such as a corrosion location, by using a movable remote-controlled repair robot. The corresponding repair robot can be driven to the corresponding area so that the adhesive can be applied at the corresponding location. The use of a movable remote-controlled repair robot ensures that the adhesive used can be applied to all locations within the container. Thus, compared with conventional repair systems used before applying the adhesive to the location to be repaired, the repair is no longer limited to certain areas of the container. Moreover, if the corresponding location to be repaired is assigned to an area that cannot be accessed from the top of the container, it is not necessary to empty the container to repair the location. In fact, the movable remote-controlled repair robot is driven to the corresponding area underwater so that all locations within the container can be approached.

[0013] Typically, the location to be repaired may correspond to a corroded location, a location with mechanical damage, such as caused by an object and / or stresses such as mechanical and / or thermal stresses. Further, the location to be repaired may relate to a location with a reduced wall thickness. Alternatively or additionally, the leak may occur at a corresponding location through which the medium may leak into the ground.

[0014] Additionally, repairs can be preventative in order to avoid impending damage, such as corrosion damage that could lead to leaks.

[0015] Thus, the location to be repaired may relate to a location that is free of corrosion or damage of any kind. However, the location to be repaired may be identified as being prone to damage, such that it should be repaired in a preventive manner.

[0016] Thus, a repair system can be used to avoid future damage.Therefore, a repair system also generally corresponds to a preventive repair system.

[0017] The removable remote control repair module is a part of the repair robot driven underwater in the container. In fact, the repair module corresponds to the main module of the repair robot.

[0018] Therefore, the mobile remote-controlled repair robot is at least associated with a drive, in particular an electric motor. The drive can be integrated in the mobile remote-controlled repair robot, for example in the repair module.

[0019] The movable remote control repair robot may also be referred to as a movable remote control repair crawler, or more precisely, a movable remote control repair manipulator.

[0020] The remediation system and remediation method may be used generally in underwater (spent) fuel pools, ie in acidic media, such as media comprising boric acid.

[0021] The adhesive may be established by a self-leveling adhesive, which is easily applied to the location to be repaired via an adhesive application module. For example, the adhesive is a polymer adhesive, in particular an epoxy resin adhesive. The adhesive itself may be radiation-resistant. Moreover, the adhesive may be a two-component adhesive that is mixed before application.

[0022] According to one aspect, the repair module is configured to be coupled to the cleaning module, in particular, wherein the cleaning module is configured to be coupled to the filter and / or the suction member. Thus, by appropriately using the cleaning module, the location to be repaired can be cleaned. The respective location to be repaired is cleaned before applying the adhesive, so that good adhesive properties are ensured.

[0023] The suction member is configured to suck up material that emerges during cleaning.

[0024] A filter can be assigned to the suction member so that the sucked material is properly filtered. In the filter, the material is gathered so that it can be easily emptied.

[0025] A filter may also be placed within the container during the cleaning process.

[0026] The repair module is typically configured in a modular manner such that different modules may be connected to the repair module, such as an adhesive application module and / or a cleaning module.

[0027] Therefore, a corresponding repair robot may include two or more modules, such as a repair module and an adhesive applying module or a cleaning module.

[0028] For example, the cleaning module comprises at least one cleaning brush unit, in particular wherein the cleaning brush unit has three brushes, each brush being formed in a substantially circular manner. The cleaning brush unit ensures that the corresponding position is cleaned by brushing. Sediments and / or residues can be brushed off from the position to be repaired, so that the corresponding position is cleaned.

[0029] The three brushes of the cleaning brush unit can be driven so that they rotate in order to clean the corresponding positions. The different brushes can be controlled individually and / or together, for example, depending on a specific cleaning mode of the repair system.

[0030] In addition, the cleaning brush unit may be assigned to a suction member. The suction member is configured to suck up material removed by the cleaning brush unit.

[0031] According to another aspect, the adhesive application module comprises an application brush, in particular wherein the application brush is formed in a circular manner. Thus, the adhesive to be applied to the position to be repaired is brushed to the corresponding position so that the adhesive is distributed on the position to be repaired, in particular in a uniform manner.

[0032] The adhesive may be applied by moving the repair robot back and forth, for example, 5 to 100 cm / min, while the adhesive is applied such that the application brush distributes the adhesive.

[0033] For example, the adhesive is applied via a nozzle, such as a conventional nozzle.

[0034] Also, during application of the adhesive, the application brush may be rotated, for example, at 1 to 300 revolutions per minute so that the adhesive is brushed in.

[0035] Alternatively, the brush is not rotated during adhesive application.

[0036] Depending on the shape of the application brush, the applied adhesive may have a width of 100 to 200 mm. The thickness of the adhesive applied to the location to be repaired may vary between 0.5 and 10 mm.

[0037] Usually, applying the adhesive by using a (rotating) application brush ensures that the medium around the repair site (e.g., an acidic medium, such as water including boric acid) is pushed away (displaced), so that the repair site is exposed. Thus, the adhesive can be applied directly to the repair site. This improves the underwater adhesive application.

[0038] In addition, the application brush can also be used for cleaning purposes, so that the adhesive application module can also correspond to the cleaning module. For example, the application brush rotates for cleaning purposes without dispensing any adhesive, so that the application brush corresponds to the cleaning brush because there is no adhesive that can be brushed in.

[0039] Furthermore, the adhesive application module can have an outlet for dispensing adhesive on the location to be repaired, wherein the outlet is assigned to an application brush, in particular wherein the application brush is arranged concentrically around the outlet. The medium around the location to be repaired is pushed away by the (rotating) application brush, so that the adhesive can be applied in the area dug out by the application brush.

[0040] Another aspect provides for providing an adhesive supply module that is fluidly coupled to the adhesive application module such that adhesive is supplied to the adhesive application module via the adhesive supply module. The adhesive supply module may be part of a repair robot, wherein the adhesive supply module may correspond to an interface of the repair robot with a separately formed machine that provides the adhesive to be applied. Thus, adhesive is supplied to the adhesive application module via the adhesive supply module.

[0041] For example, the adhesive supply module is connected to a corresponding machine via at least one of a hose, a duct, a pipe, a line or any other suitable means in order to supply adhesive from the machine to the repair robot, in particular the adhesive application module.

[0042] The adhesive supply module may be connected to a movable remote controlled repair robot, such as a movable remote controlled repair module or another module connected to a movable remote controlled repair module.

[0043] Furthermore, the repair module can be configured to be coupled to a location finding module and / or a leak determination module, in particular to an alternating current field measurement module (ACFM module) and / or a vacuum box module. The ACFM module ensures that the corrosion location can be easily located. Thus, the corrosion location finding module can be used to locate points that are critical with regard to leaks and / or wall thicknesses that are lower than required. For example, ACFM techniques are used to locate these critical points. By using the leak determination module, it can be verified whether a leak is provided, since the corresponding amount of leakage can be appropriately determined, for example by using the vacuum box module.

[0044] For example, the repair module is configured to be coupled to at least one drive module comprising at least one wheel, such as a Mecanum wheel, an omnidirectional wheel or a poly wheel, in particular wherein the repair module comprises two drive interfaces configured to be coupled to respective drive modules, respectively. Thus, the mobility of the repair robot is ensured by at least one drive module coupled to the repair module.

[0045] Corresponding wheels, in particular Mecanum wheels, omnidirectional wheels or polyurethane wheels, ensure that the repair robot can move in any direction. Moreover, the repair robot is configured to easily change its direction by appropriately controlling the wheels.

[0046] Typically, the repair module can be coupled to two drive modules assigned to two opposite sides, wherein each drive module comprises two wheels, such as two Mecanum wheels, so that the movable remote-controlled repair robot has four wheels, such as four Mecanum wheels.

[0047] In addition, at least one camera module can be provided, in particular wherein the camera module is assigned to at least one drive module. The camera module ensures that a user of the repair system can remotely control the repair robot while taking into account the picture provided by the camera module. Thus, the user is enabled to observe the environment of the underwater repair robot, in particular to detect points that may have corrosion locations in order to investigate these locations. Thus, the user can appropriately control the repair robot so that it is driven to points identified as potential critical points.

[0048] Another aspect provides that the repair module has a functional interface which is configured to selectively couple with the adhesive coating module and the cleaning module. Thus, a single functional interface is provided which can be coupled with different modules, namely the adhesive coating module and the cleaning module, depending on the intended use of the repair system or more precisely on the operating mode of the repair system.

[0049] Therefore, depending on the operation mode of the repair system, the repair robot may include a repair module, at least one driving module, and an adhesive coating module or a cleaning module.

[0050] As previously mentioned, the position to be repaired can be cleaned before the adhesive is applied, so that the repair module can be connected to the cleaning module to pre-clean the corresponding position to be repaired. Then, the cleaning module can be separated from the repair module, and the repair module is then connected to the adhesive coating module. The same functional interface is used to connect the various modules. Alternatively, the coating brush of the adhesive coating module can also be used for cleaning purposes, so that the adhesive coating module is also a cleaning module. In other words, the repair robot with the adhesive coating module can operate in two different modes, namely a cleaning mode and an adhesive coating mode.

[0051] In general, a mobile remote-controlled repair robot can be configured modularly. As described above, the repair robot corresponds to a unit of a system driven underwater, wherein the repair robot is connected to other components of the repair system located near the container (such as at the edge of the pool or the reactor floor). The repair robot includes a central repair module, which provides corresponding interfaces for connecting other modules, so that the repair robot is built in a modular manner. Therefore, different modules can be connected to the repair module, which ensures different functions of the repair robot.

[0052] Typically, the system, in particular the repair robot, may further comprise a cleaning module, a corrosion location finding module, a leak determination module, at least one drive module, at least one camera module, a suspension module and / or an adhesive supply module, in particular wherein the system also comprises a control unit and / or an adhesive mixer.

[0053] The system, in particular the repair robot, may also include an adhesive application module.

[0054] The repair module is generally configured in a modular manner so that different modules can be connected to the repair module simultaneously and / or subsequently. As described above, the repair module corresponds to the main module of the repair robot and the repair system. Therefore, since different modules can be connected to each other in order to provide the desired functions of the repair robot, a compact repair system is provided.

[0055] For example, the suspension module as well as the adhesive supply module can be built up from a single functional unit, ie the suspension and supply unit, so that the suspension as well as the adhesive supply is ensured by a single unit, since both functions are required simultaneously.

[0056] Since the repair robot is configured to be driven underwater in a remote-controlled manner, at least a separately formed control unit is used to control the remote-controlled repair robot underwater. The control unit may be located outside the container, such as near the edge of the fuel pool or the reactor floor.

[0057] Further, the adhesive to be applied to the underwater repair location is provided by an adhesive mixer placed next to the container, so that the adhesive mixed by the adhesive mixer is supplied to the adhesive application module. For example, the adhesive mixer may include a pump unit for pumping the mixed adhesive to the underwater repair robot so as to repair the corresponding location underwater.

[0058] Typically, an adhesive mixer can mix the adhesive to be applied by mixing two components, such as mixing a two-component adhesive. The adhesive can include, in particular, a resin and a hardener (curing agent).

[0059] One aspect provides that the adhesive is brushed onto the underwater repair site. As previously mentioned, the adhesive can be applied by using an application brush that can be driven to rotate appropriately.

[0060] Furthermore, the location to be repaired can be cleaned before applying the adhesive so that any deposits and / or residues can be removed before applying the adhesive. Cleaning can be performed by an application brush and / or a separately formed cleaning brush unit.

[0061] The location to be repaired can be located by using an ACFM technique and / or the amount of leakage can be determined. Thus, the location to be repaired can be located in an accurate manner, wherein it can be further identified whether a leak is present (if present) by determining the amount of leakage.

Brief Description of the Drawings

[0062] The foregoing aspects and many of the attendant advantages of the claimed subject matter will become more readily understood as the following detailed description becomes better understood by reference to the accompanying drawings, in which:

[0063] Figure 1 A schematic diagram of a repair system according to the present invention is shown;

[0064] Figure 2 Shows Figure 1 A stereoscopic image of a repair robot used in the repair system;

[0065] Figure 3 Shows Figure 2 Another perspective view of the repair robot shown, in which a hanging module and an adhesive supply module are provided;

[0066] Figure 4 Shows Figure 2 A bottom view of the repair robot is shown;

[0067] Figure 5 Shows Figure 2 Another perspective view of the repair robot shown;

[0068] Figure 6 Shows Figure 2 Another perspective view of the repair robot shown;

[0069] Figure 7 The stereogram only shows Figure 2 Repair module of the repair robot;

[0070] Figure 8 Shows Figure 7 Another stereoscopic view of the repair module;

[0071] Fig. 9 Shows Figure 2 A perspective view of a drive module used by the repair robot shown;

[0072] Fig.10 Shows Fig. 9 Another perspective view of the driving module;

[0073] Fig.11 shows another mode of operation, Figure 1 A repair robot of the repair system according to the present invention;

[0074] Fig.12 Shows Fig.11 Bottom view of the repair robot;

[0075] Fig.13 Shows Fig.11 Another stereoscopic image of the repair robot;

[0076] Fig.14 The stereogram shows Fig.11 A repair robot, wherein a hanging module and an adhesive supply module are provided;

[0077] Fig.15 shows a perspective view of a combined suspension module and adhesive supply module;

[0078] Fig.16 Shows Fig.15 Another perspective view of the composite member shown; and

[0079] Fig.17 Another overview of a repair robot of a repair system according to the present invention is shown, which illustrates the modular structure of the repair robot. [Specific implementation method]

[0080] exist Figure 1 In FIG. 1 , a repair system 2 for performing repairs underwater is shown.

[0081] In the embodiment shown, the repair system 2 is used in combination with a container 4 filled with a medium, wherein a rack 6 is placed inside the container 4. For example, the container 4 corresponds to a (spent) fuel pool of a nuclear power plant, so that the rack 6 is a rack of fuel elements (also called a fuel rack). Therefore, the medium in the container 4 corresponds to an acidic medium, such as a medium comprising boric acid.

[0082] In the container 4, a position 8 to be repaired can be provided, which must be repaired underwater (ie in an acidic medium) by the repair system 2. For example, the position 8 to be repaired is located below the rack 6, so that the corresponding position 8 cannot be reached from the top of the container 4.

[0083] The location 8 to be repaired may correspond to a corrosion location which reduces the wall thickness of the corresponding wall, ie the bottom wall, of the container 4. Alternatively or additionally, a leak may occur, through which the medium may leak into the ground.

[0084] The location 8 to be repaired may also correspond to a location having mechanical damage and / or stresses, such as mechanical stresses or more precisely thermal stresses.

[0085] Furthermore, the location 8 to be repaired may be a location that is susceptible to damage or failure in the future, so that the corresponding location is repaired proactively or more precisely in a preventive manner.

[0086] In order to repair the repair site 8, the repair system 2 includes a mobile remote-controlled repair robot 10, which can be used to apply adhesive to the underwater repair site 8 in the container 4, as will be discussed later.

[0087] Figures 2 to 17 The mobile remote-controlled repair robot 10 and its components are shown in more detail in FIG.

[0088] Figure 2 The mobile remote-controlled repair robot 10 is shown to include a repair module 12 connected to two drive modules 14, each of which includes two wheels 16. Figure 2 As shown, the wheels 16 of the driving module 14 are built of Mecanum wheels, which ensures high mobility of the repair robot 10 .

[0089] Repair module 12 is only available in Figure 7 and Figure 8 , where it is apparent that the repair module 12 has two drive interfaces 18 assigned to two opposite sides 20 of the repair module 12. The drive interfaces 18 are configured to be connected to a drive module 14, respectively.

[0090] The corresponding drive module 14 is only Fig. 9 and Fig.10 In these figures, it is clear that the drive module 14 comprises corresponding interfaces 22 via which the drive module 14 can be coupled to the repair module 12 , in particular to the drive interface 18 .

[0091] For example, the repair module 12 includes a drive, such as an electric motor, for controlling the corresponding wheel 16 of the drive module 14 .

[0092] Further, the repair robot 10 includes at least one camera module 24 that provides images that enable a user of the repair system 2 to observe the environment of the repair robot 10 while the repair robot 10 is driven underwater.

[0093] To this end, the camera modules 24 each have at least one camera 26 assigned to a movable camera support 28, which can be protected by a cage-like surrounding protective member 30. The movable camera support 28 ensures that at least one camera 26 can be moved, in particular rotated or turned, so that the environment of the repair robot 10 can be observed in all dimensions.

[0094] In the illustrated embodiment, the repair robot 10 includes two camera modules 24, wherein the camera modules 24 are assigned to the drive modules 14. In particular, each drive module 14 includes one camera module 24.

[0095] The camera module 24 is located on the side of the drive module 14 opposite to the interface 22, via which the drive module 14 is connected to the repair module 12. Thus, the repair module 12 is sandwiched between the two drive modules 14, wherein each camera module 24 faces the outside of the repair robot 10 so that the environment can be observed.

[0096] The data relating to the recorded pictures (in particular videos) are forwarded to the restoration module 12 via the corresponding interfaces 18 , 22 .

[0097] In addition, the repair module 12 has a control interface 31 configured to be connected with a separately formed control unit, for example via a wire, a cable or any other suitable signal transmission means.

[0098] Furthermore, the repair module 12 has a functional interface 32, which is configured to be connected to other modules, such as Figure 2 The adhesive coating module 34 shown, Figure 2 An adhesive application mode of the repair robot 10 is illustrated.

[0099] The functional interface 32 is assigned to a side of the repair module 12 that is substantially perpendicular to the side 20 where the drive interface 18 is located. Furthermore, the functional interface 32 is opposite to the control interface 31 .

[0100] Therefore, the control interface 31 , the functional interface 32 and the drive interface 18 are each assigned to a different side of the repair module 12 .

[0101] like Figure 2 As shown, the adhesive coating module 34 is connected to the repair module 12 via two connection members 36. The connection members 36 may each include a bolt, via which the adhesive coating module 34 is fixedly connected to the repair module 12.

[0102] Generally speaking, the adhesive application module 34 is configured to dispense adhesive onto the location to be repaired 8. To this end, the adhesive application module 34 includes a hose 38 through which the adhesive to be applied is conveyed to an outlet 40 of the adhesive application module 34; see Figure 4 .

[0103] Alternatively, adhesive application module 34 may include a tube, cannula, and / or conduit for conveying adhesive to be dispensed to outlet 40 .

[0104] like Figure 4 As shown, the adhesive application module 34 further includes an application brush 42 formed in a substantially circular manner, wherein three arcuate portions of the application brush 42 are provided. The application brush 42 is concentrically positioned around the outlet 40 such that the radial distance between the outlet and the application brush 42 is substantially the same.

[0105] The application brush 42 can be driven so that it rotates while the adhesive is applied to the underwater repair site 8. By doing so, the medium around the repair site 8 is pushed away due to the rotation of the application brush 42, so that the repair site 8 is exposed. Therefore, it is ensured that the adhesive can be directly applied to the repair site 8, which improves the adhesion characteristics of the applied adhesive.

[0106] Furthermore, while applying the adhesive to the to-be-repaired location 8 , the repair robot 10 moves forward and backward so that the adhesive is brushed in via the application brush 42 .

[0107] like Figure 4 As shown, the adhesive application module 34 has an application face 44 surrounded by an application brush 42. The application face 44 includes an outlet 40 at the center thereof.

[0108] The application surface 44 may be curved relative to the application level, for example in a concave manner, so that a space between the wall including the location to be repaired 8 and the outlet 40 is provided due to the shape of the curved application surface 44 .

[0109] exist Figure 3 , it is shown that the repair robot 10 includes an adhesive supply module 46 positioned on the top of the repair robot 10, wherein the adhesive applied via the outlet 40 is supplied to the adhesive application module 34 via the adhesive supply module 46. Therefore, the adhesive supply module 46 is fluidly coupled with the adhesive application module 34.

[0110] In the illustrated embodiment, the adhesive supply module 46 is connected to the drive modules 14, and each drive module has a respective opening for receiving the adhesive supply module 46. Figure 2 as well as Fig. 9 and Fig.10 Therefore, the adhesive to be applied is supplied to the respective interior of the driving module 14, which is fluidly coupled to the adhesive application module 34 via the repair module 12.

[0111] The adhesive supply module 46 is built up from a functional unit 48 which further comprises a suspension module 50 via which the repair robot 10 is positioned in the container 4, for example via a crane. The suspension module 50 thus ensures that the repair robot 10 can be properly abseilated.

[0112] The functional unit 48 may correspond to a common suspension and supply unit, since both functions are established by the common functional unit 48 .

[0113] Fig.15 and Fig.164. The figures show that the functional unit 48 is formed separately with respect to the repair module 12 and the drive module 14. The corresponding adhesive supply module 46 comprises an adhesive supply element 52 inserted into the drive module 14 for supplying adhesive to be applied as described above.

[0114] exist Figures 11 to 14 , the repair robot 10 is shown in another operating mode, namely the cleaning mode.

[0115] In the cleaning mode, the adhesive application module 34 is replaced by a cleaning module 54 which is connected to the functional interface 32 of the repair module 12 .

[0116] Thus, the repair module 12 is generally configured to couple with different modules depending on the operating mode of the repair robot 10 , namely, the adhesive coating module 34 and the cleaning module 54 , as will be discussed later.

[0117] In the cleaning mode of operation, the repair module 12 is also connected to the drive module 14 in a similar manner as discussed with respect to the repair robot 10 in the adhesive application mode.

[0118] Thus, the only difference between the two operating modes is that the adhesive application module 34 is replaced by the cleaning module 54 .

[0119] The cleaning module 54 includes at least one cleaning brush unit 56, so that the position to be repaired 8 can be cleaned by brushing. Generally, the cleaning brush unit 56 can be used to clean the position to be repaired 8 before applying the corresponding adhesive.

[0120] like Fig.12 As shown, the cleaning brush unit 56 includes three individual brushes 58, each of which is formed in a substantially circular manner, wherein each brush 59 includes three arc-shaped portions. Therefore, each brush 58 of the cleaning brush unit 56 substantially corresponds to the application brush 42 of the adhesive application module 34.

[0121] The different brushes 58 may be controlled individually and / or collectively, wherein the control of the brushes 58 may depend on the particular cleaning mode of the repair robot 10 .

[0122] Irrespective of the cleaning module 54, the adhesive application module 34 can also be used for cleaning purposes, in particular the corresponding application brush 42. Thus, the application brush 42 is rotated for cleaning purposes, wherein no adhesive is dispensed when the adhesive application module 34 is operated in the cleaning mode.

[0123] During the cleaning process, the brushed material can be sucked by a suction member (not shown) and a filter connected to the suction member so that the sucked material can be collected in the filter. For example, during the cleaning process, the filter is also placed in the container 4.

[0124] As already discussed, the repair system 2 is generally used for repairing an underwater repair location 8 in a container 4, such as a (spent) fuel pool of a nuclear power plant, in particular Figure 1 A position 8 which is not accessible from the top of the container 4 is shown.

[0125] To this end, the repair system 2 uses a repair robot 10 that can move underwater and is therefore remotely controlled by a control unit 60; see Figure 1 .

[0126] The control unit 60 is connected to the repair robot 10 via its control interface 31 and suitable cables or wires 62 .

[0127] Control signals as well as signals from the repair robot 10 may be transmitted via the cables or wires 62 such that two-way communication is established.

[0128] Furthermore, in addition to the control unit 60, the repair system 2 also includes an adhesive mixer 64 that provides the adhesive to be applied.

[0129] The adhesive mixer 64 and the control unit 60 are located outside the container 4, for example in Figure 1 The shown location is near the pool edge of the vessel 4 or the reactor floor.

[0130] The adhesive mixed in the adhesive mixer 64 is delivered to the repair robot 10 via the hose 66. Alternatively, a conduit, a pipe, a pipeline, or any other suitable member is used to supply the adhesive.

[0131] In practice, the adhesive is pumped to the repair robot 10 , in particular to the adhesive application module 46 , by the pumping unit 68 of the adhesive mixer 64 .

[0132] The adhesive mixer 64 , in particular its pumping unit 68 , is also controlled by the control unit 60 .

[0133] Generally speaking, the mobile remote-controlled repair robot 10 is of modular structure, so that several modules can be combined. Fig.17 , wherein the modular structure of the repair robot 10 is illustrated since several different modules of the repair robot 10 are shown in an exploded view.

[0134] The repair module 12 is a central module (or main module) of the repair robot 10, and has several interfaces 18, 31, 32, which can be used to interconnect different modules, such as the drive module 14, the adhesive coating module 34, the cleaning module 54, the position finding module 70 and / or the leakage determination module 72. For example, the position finding module 70 is established by the alternating current field measurement (ACFM) module, and the leakage determination module 72 is established by the vacuum box module.

[0135] Each module can be connected to the repair module 12 at the same time, such as Figures 1 to 6 as well as Figures 11 to 14 Furthermore, some modules may be subsequently connected, as will be described below.

[0136] The use of universal interfaces which ensure a high degree of connectivity of the repair modules 12 ensures in particular a modular structure of the repair robot 10 .

[0137] Hereinafter, a repair method performed underwater in a container 4 by using the above-described repair system 2 is described in more detail.

[0138] Firstly, the components of the remediation system 2 are arranged close to the pool edge or the reactor floor of a container 4, such as a (spent) fuel pool.

[0139] The modularly structured repair robot 10 is then configured for a desired operation mode, such as a location finding mode, a leak determination mode, a cleaning mode, or an adhesive application mode.

[0140] The first three operating modes, i.e., position finding mode, leak determination mode, and cleaning mode, may be optional. Nevertheless, the entire repair method including all operating modes is described below.

[0141] Therefore, the locations 8 to be repaired, for example corrosion locations, must be identified at the outset.

[0142] For this purpose, the position search module 70 can be connected to the repair module 12 , in particular via the functional interface 32 .

[0143] In addition, the driving module 14 (with the camera module 24 ) is coupled to the repair module 12 via the driving interface 18 , so that a mobile remote-controlled repair robot 10 is established.

[0144] The repair robot 10 , in particular the repair module 12 , is connected to the control unit 60 via a cable or wire 62 connected to the control interface 31 , so that the repair robot 10 can be remotely controlled.

[0145] In order to place the repair robot 10 in the container 4 , at least the suspension module 50 is connected to the repair robot 10 , so that the repair robot 10 can be inserted into the container 4 , for example, by means of a crane.

[0146] The repair robot 10 is then controlled to move underwater within the container 4 , wherein corresponding control signals are forwarded to the drive module 14 so that the corresponding wheels 16 move forward, backward and / or in a desired direction.

[0147] While the repair robot 10 is driven underwater within the container 4, the position finding module 70 inspects the container 4, such as walls, welding points, etc., to find and locate critical positions that should be repaired, such as corrosion positions.

[0148] For orientation purposes, the user may navigate the repair robot 10 while it moves underwater, thanks to the video and / or pictures (submitted) by the camera module 24 .

[0149] As soon as the corrosion search module 70 identifies a location which may correspond to a leak and / or a location with reduced wall thickness (usually: location to be repaired 8 ), the corresponding location is recorded so that it can be easily found again later.

[0150] As mentioned above, the location to be repaired 8 may also correspond to a location that is repaired in a preventive manner.

[0151] The repair robot 10 can then be removed from the container 4 in order to replace the position finding module 70 by the leak determination module 72 in order to determine whether the position corresponds to a leak. The position finding module 70 is thus separated from the repair module 12, which is coupled to the leak determination module 72, in particular via the functional interface 32.

[0152] However, the location lookup module 70 and the leak determination module 72 may be integrated such that a possible leak may be identified just after the corresponding critical location is identified by the location lookup module 70 .

[0153] The location 8 to be repaired, which was previously identified, in particular with regard to possible leaks, can then be cleaned by the cleaning module 54 , so that the location 8 is prepared for the application of adhesive.

[0154] Thereby, the repair robot 10 can be removed (again) from the container 4 so that the cleaning module 54 can be coupled to the repair module 12 via the functional interface 32. The repair robot 10 is in a cleaning operating mode, wherein in the cleaning operating mode the repair robot 10 can substantially correspond to Figures 11 to 14 The repair robot 10 is shown in FIG.

[0155] However, the position finding module 70 and / or the leak determination module 72 may also be coupled to another interface than the functional interface 32 , so that the repair module 12 may initially already be coupled to the cleaning module 54 and the position finding module 70 and / or the leak determination module 72 .

[0156] Therefore, the location to be repaired 8 can be located by the location search module 70 , a possible leak can be identified by the leak determination module 72 , and then, the location to be repaired 8 can be cleaned by the cleaning module 54 without lifting the repair robot 10 out of the container 4 .

[0157] The repair robot 10 having the cleaning module 54 coupled to the repair module 12 is moved to the corresponding to-be-repaired position 8 in a remotely controlled manner.

[0158] Once the repair robot 10 reaches the underwater repair location 8, the cleaning module 54, in particular at least one cleaning brush unit 56, cleans the repair location 8 so that any sediments and / or residues are brushed off by at least one cleaning brush unit 56, in particular several brushes 58 of the cleaning brush unit 56. The brushed-off sediments and / or residues are sucked in by the suction member, wherein the corresponding material is collected in a filter, which can then be emptied.

[0159] After cleaning the location 8 to be repaired, the repair robot 10 is lifted out of the container 4 (via the crane and suspension module 50) (again or for the first time). The cleaning module 54 can then be separated from the repair module 12 so that the adhesive application module 34 can be connected to the repair module 12 via the functional interface 32. The repair robot 10 is thus in an adhesive application operating mode, so that the repair robot 10 substantially corresponds to Figures 2 to 6 The repair robot shown.

[0160] Then, the repair robot 10 is placed (particularly lowered by rope) in the container 4 and driven underwater to the corresponding location 8 to be repaired in a remotely controlled manner.

[0161] Once the repair robot 10 with the adhesive coating module 34 reaches the previously cleaned to-be-repaired position 8, the adhesive to be applied is transported to the adhesive coating module 34 via the adhesive mixer 64 and the adhesive supply module 46, so that the adhesive is dispensed onto the to-be-repaired position 8 via the outlet 40 of the adhesive coating module 34. The outlet 40 may be established by a (conventional) nozzle.

[0162] During the dispensing of the adhesive, at least one application brush 42 of the adhesive application module 34 is driven so that the application brush 42 rotates. Therefore, the medium around the position to be repaired 8, such as the acidic medium, is pushed away by the rotating application brush 42. Thus, the position to be repaired 8 is exposed, which ensures that the adhesive can be directly applied to the position to be repaired 8.

[0163] Also, during the application of the adhesive, the repair robot 10 is controlled to move forward and / or backward so that the application brush 42 comes into contact with the dispensed adhesive and the site 8 to be repaired.

[0164] Due to the movement of the repair robot 10 and / or the rotation of the application brush 42 , the adhesive is brushed into or onto the location 8 .

[0165] For example, the application brush 42 rotates 1 to 300 revolutions per minute. However, the adhesive may be applied without rotating the application brush 42. Moreover, the repair robot 10 has a speed of 5 to 100 cm / min. The adhesive applied to the position to be repaired 8 may have a width of 100 to 200 mm. Further, the thickness of the adhesive applied to the position to be repaired 8 may vary between 0.5 mm and 10 mm.

[0166] Generally speaking, the adhesive used can be a self-leveling adhesive, such as a polymer adhesive, particularly an epoxy resin adhesive. The adhesive itself can be radiation-resistant. Moreover, the adhesive can be a two-component adhesive that is mixed before being applied by the adhesive mixer 64. The adhesive mixer 64 can mix the adhesive to be applied by mixing at least a resin and a hardener (curing agent).

[0167] Then, the self-leveling adhesive is pumped by the pumping unit 68 of the adhesive mixer 64 at a flow rate of 50 to 500 ml / min, for example.

[0168] Generally speaking, when the repair robot 10 moves backward, the self-leveling adhesive may be applied on the to-be-repaired location 8 , so as to ensure that the repair robot 10 is not driven over the to-be-repaired location 8 on which the adhesive has been previously applied.

[0169] Furthermore, the application brush 42 can also be used as a cleaning brush, so that the adhesive application module 34 is also a cleaning module 54. Therefore, the individual modules 34, 54 do not have to be interchanged, which improves the time required to repair the respective location 8.

[0170] For example, when the repair robot 10 is driven forward along the position 8, in particular the weld, the position 8 to be repaired is cleaned by the coating brush 42, wherein the coating brush 42 is driven to rotate in order to remove deposits and / or residues. Then, when the repair robot 10 is driven backward, the adhesive coating module 34 applies adhesive.

[0171] Generally speaking, the application brush 42 may not rotate during application of the adhesive.

[0172] As an alternative to the separately formed adhesive supply module 46 , adhesive may be supplied directly to the adhesive application module 34 .

[0173] Thus, the adhesive is applied to the underwater repair location 8, wherein the repair system 2 ensures that a location that cannot be reached from the top of the container 4 (such as a location below a rack 6 that cannot be accessed from the top of the container 4) can be repaired because the remote-controlled repair robot 10 is driven to the corresponding location 8.

[0174] In the embodiment shown, the repair robot 10 is driven along the bottom wall of the container 4 , wherein the movable repair robot 10 can approach each and every position assigned to the bottom wall of the container 4 .

Claims

1. A repair system (2) for applying an adhesive to an underwater repair location (8) in a container, comprising a movable remote-controlled repair robot (10) configured to be driven underwater, wherein the movable remote-controlled repair robot (10) comprises a repair module (12), It is characterized in that The movable remote-controlled repair robot (10) is modularly configured, wherein the repair module (12) is a central repair module (12), and the central repair module (12) provides corresponding interfaces (18, 32) for connecting at least one drive module (14), at least one camera module (24), an adhesive coating module (34), an adhesive supply module (46), a suspension module (50), a cleaning module (54), a position search module (70) and / or a leakage determination module (72), wherein the repair module (12) is configured to be connected to the adhesive coating module (34), and wherein the adhesive coating module (34) is configured to distribute adhesive on the position to be repaired (8), and wherein the repair module (12) includes two drive interfaces (18) configured to be connected to the corresponding drive module (14), and the drive module (14) has at least one wheel (16) for ensuring the mobility of the repair robot (10). The repair module (12) is configured to be coupled to the cleaning module (54), and the repair module (12) has a functional interface (32) configured to be selectively coupled to the adhesive coating module (34) and the cleaning module (54).

2. The system (2) according to claim 1, wherein the cleaning module (54) comprises at least one cleaning brush unit (56).

3. The system (2) of claim 1, wherein the adhesive application module (34) comprises an application brush (42).

4. The system (2) according to claim 3, wherein the adhesive application module (34) has an outlet (40) for dispensing the adhesive onto the location (8) to be repaired, and wherein the outlet (40) is assigned to the application brush (42).

5. The system (2) according to claim 1, wherein the repair module (12) is configured to be coupled with a location finding module (70) and / or a leak determination module (72).

6. A repair method performed underwater in a container (4) using the repair system (2) according to claim 1, The following steps are involved: driving a movable remote-controlled repair robot (10) underwater to a location (8) to be repaired in the container (4); and Applying adhesive to the underwater repair location (8), wherein the adhesive is brushed onto the underwater repair location (8).

7. The repair method according to claim 6, wherein the location to be repaired (8) is cleaned before the application of the adhesive.

8. The repair method according to claim 6 or 7, wherein the location to be repaired (8) is located by using an alternating current field measurement (ACFM) technique, and / or wherein the leakage amount is determined.

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