System for installing a mechanical part into an insertion rod

Abstract

The invention relates to a system for installing a part (8) into a fixed insertion rod (30), comprising: a mechanical part (20) having a central ring (21) arranged to be inserted into the rod (30) along a transverse axis (Y), a rolling base (10) movable along a longitudinal axis (X) on a running rail (9), a table (40) placed on the rolling base (10) and motorized to be movable along a vertical axis (Z), the table (40) also comprising a support (43) holding the part (20) to be inserted and a push actuator (41) capable of pushing the support (43) to introduce the part (20) into the rod (30) along the transverse axis (Y), once the part (20) is positioned opposite the rod (30) along the axes (X) and (Z), and means for controlling the table (40) and the support (43) and means for detecting the position of the part (20) relative to the rod (30). (Fig. 1)

Description

Title of the invention: System for installing a mechanical part in an insertion rod Technical field of the invention

[0001] The invention relates, in general, to the technical field of storing stacked packages in underground galleries, for example, the storage of radioactive waste. However, it could be applied to other areas of storage.

[0002] The invention relates more specifically to an automatic installation system for mechanical parts in insertion rods fixed along a tunnel, in a confined environment and without the possibility of human intervention. In particular, the invention relates to a system for installing rollers along a tunnel wall to allow the passage of cables. Prior art

[0003] In underground facilities for storing packages, particularly those containing radioactive waste, it is common practice to use an overhead crane, sometimes called a storage crane, to store these packages. This overhead crane, which therefore has to move along the tunnel over a considerable distance, is remotely controlled by an operator and is generally electrically powered by a system of electric contact shoes placed, for example, on the ground. However, if any problem occurs with this power supply, a so-called degraded operating mode must be provided in which the overhead crane will be powered via a large electrical power cable, which must then be run along the entire length of the tunnel. Description of the invention

[0004] The invention proposes in particular a solution enabling the routing of one or more electrical power cables along a traffic or rolling track to supply, in particular during a degraded mode, an overhead crane which is required to move over a long distance without human intervention, without the cable coming to rest on the traffic track.

[0005] To this end, the invention describes a system for installing a part in a fixed insertion rod comprising: - a mechanical part comprising a central ring arranged to be able to be inserted into the rod along a transverse axis, - means for positioning the part opposite the rod along a longitudinal axis and a vertical axis, the positioning means comprising: • a rolling base that can be moved along its longitudinal axis on a running rail and • a table placed on a rolling and motorized base so that it can be moved along the vertical axis, the table also including a support for the part to be inserted and a push actuator capable of pushing the support to introduce the part into the rod along the transverse axis, once the part is positioned opposite the rod along the longitudinal and vertical axes, - control means for the table and the support, the control means being arranged on the rolling base, - means for detecting the position of the part relative to the rod.

[0006] According to one embodiment, the rolling base is attached to a self-propelled trolley which includes means for movement on the running rail along the longitudinal axis.

[0007] According to one embodiment, the push actuator is a pneumatic cylinder and the table also includes a gas spring which allows the support to be automatically retracted along the transverse axis, once the pneumatic cylinder has been released.

[0008] According to one embodiment, the rolling rail is fixed to a floor and the rolling base includes a retractable support roller which is placed on the floor before the vertical positioning of the part in front of the rod, the support roller being located on the opposite side of the part with respect to the rolling rail.

[0009] According to one embodiment, the table includes a workpiece holding device comprising two jaws placed on either side of the workpiece.

[0010] According to one embodiment, the central ring includes a compression spring along the transverse axis and a notch arranged to cooperate with a foldable indexing pin of the insertion rod so that, once the part is inserted into the rod, the notch locks the indexing pin by means of the compression spring to prevent extraction of the part and rotation of the ring relative to the rod.

[0011] According to one embodiment, the detection means comprise at least one infrared viewing camera and two laser rangefinders.

[0012] According to one embodiment, the installation system also includes means of communication with a remote control station, to allow remote control of the control means with the help of the detection means.

[0013] According to one embodiment, the rolling base also includes a buffer storage magazine suitable for receiving several parts to be inserted and the installation system is arranged to be able to successively install a part on each rod of a set of fixed rods distributed along the longitudinal axis.

[0014] According to one embodiment, the rolling base includes an on-board electrical power source and a pneumatic power source.

[0015] According to one embodiment, the part is a diabolo which is usable for the passage of cables and which has a free groove that rotates around the central ring and on which a cable can be placed.

[0016] According to another aspect of the invention, it relates to a waste storage facility comprising an installation system as described above. brief description of the figures

[0017] Other features and advantages of the invention will become apparent from the following description, with reference to the accompanying figures, which illustrate: • [Fig.1]: [Fig.1] is a schematic perspective view of an example of an embodiment of the installation system according to the invention; • [Fig. 2]: [Fig. 2] gives a general front view in cross-section of a gallery of storage in which packages are stored and in which the example of the installation system implementation is located; • [Fig. 3]: [Fig. 3] provides a detail of [Fig. 2] relating to the location of the installation system in the storage gallery; • [Fig. 4]: [Fig. 4] represents a cross-sectional front view of the system installation of the [Fig.1]; • [Fig. 5]: Figures 5, 6, and 7 are cross-sectional views showing the insertion of a mechanical part in an insertion rod, the [Fig.5] detailing the phase before insertion, • [Fig. 6]: [Fig. 6] detailing the phase during insertion, and • [Fig.7]: [Fig.7] detailing the phase after insertion.

[0018] For clarity, identical or similar elements are identified by identical reference signs throughout the figures.

[0019] Furthermore, to clarify the description and the claims, the terminology longitudinal, transverse and vertical will be adopted without limitation with reference to the trihedron X, Y and Z respectively indicated in [Fig.1]. DETAILED description of a method of implementation

[0020] Figure 1 shows a general view of an example embodiment of an installation system 8 for inserting a mechanical part 20 into a pre-installed fixed insertion rod 30 (see Figures 3 to 7). In the described embodiment, the mechanical part is a diabolo 20 intended to support one or more cables, for example, power supply cables, placed in a groove 25 of the diabolo. However, it is clear that the invention could just as easily be used to automatically insert other types of mechanical parts 20 into a fixed rod 30.

[0021] Figure 2 shows a front-view cross-section of a storage gallery 1 forming a sealed enclosure buried underground. This storage gallery 1 extends along a longitudinal axis X and can reach, for example, several hundred of meters. It is designed to receive contaminated materials or medium- to long-lived radioactive waste. This waste is packaged in sealed containers 2, in this case with a right prismatic shape and a square or rectangular base. In [Fig. 2], we can see that several containers 2 have been stored on this section of gallery 1, namely three containers along a transverse axis Y and three containers along a vertical axis Z.

[0022] On its two lateral sides, the storage gallery 1 has at a certain height a longitudinal ear or cavity 3 which is delimited by an external vertical wall 4, a horizontal floor 5 and a horizontal ceiling 6, but which is open on the internal lateral side, opposite the external wall 4. These cavities 3 have a reduced height, typically less than one meter, which makes it difficult for a person to move along the cavities 3. In addition, as this is a specific environment dedicated to the storage of radioactive waste, the intervention of persons along the running rail 9 in the cavity 3 is prohibited, as it is radiologically impossible.Each cavity 3 has at least one longitudinal running rail 9 which is arranged on the horizontal floor 5 and on which several devices can travel, in particular an overhead crane, not shown in the figures, used in particular for handling packages 2 along the storage gallery 1.

[0023] Figure 3 is a close-up of Figure 2, showing in detail a portion labeled A corresponding to cavity 3 of one of the two side walls of the storage gallery 1, for example, the right-hand cavity. In Figure 3, cavity 3 can be seen to include the track 9 on which the installation system 8, carrying the roller 20 to be installed, travels. Figure 3 also shows the cylindrical insertion rod 30, which is fixed directly to the outer vertical wall 4 of cavity 3 and in front of which the roller 20 is located. Preferably, the insertion rod 30 is metallic (stainless steel) and has already been installed, for example, during the construction of the storage gallery 1.Such rods 30 can thus be positioned at regular intervals along the entire length of the storage gallery 1, for example every two meters, so that, if a diabolo 20 is inserted into each rod 30, this will allow this set of diabolos 20 to support cables all along the storage gallery 1.

[0024] With reference to figures 1 and 4, the installation system 8 includes positioning means allowing the precise positioning of the diabolo 20 in front of the rod 30 along the longitudinal axis X and along the vertical axis Z. The accuracy of this positioning is, for example, on the order of + / -5 mm on each axis.

[0025] To perform positioning along the longitudinal axis X, the positioning means include a rolling base 10 which is movable along the running rail 9. For this purpose, the rolling base 10 is mechanically and electrically coupled with a mobile device, for example a self-propelled trolley not shown in Figure 1. The figures, which have their own means of movement on the running rail 9 along the X-axis over the entire length of the storage gallery 1. The self-propelled trolley is automatically controlled remotely, for example by an operator from a remote control station. For this, the self-propelled trolley must therefore have means of communication with the control station.

[0026] To enable coupling with the self-propelled trolley, the rolling base 10 has a coupling face 11 on which several lashing pins 12 are arranged. These pins fit into corresponding centering cones on the self-propelled trolley. A lashing mechanism, not detailed here, is present on the self-propelled trolley so as to lock the pins 12 and thus precisely secure the entire installation system 8 to the self-propelled trolley.

[0027] To move freely on the running rail 9 using the self-propelled trolley, the rolling base 10 of the installation system 8 has two free-spinning wheels 13 placed on the running rail 9 and located respectively at the front and rear of the rolling base 10. In addition, the stability and lateral support of the installation system 8 is ensured by retractable anti-derailment feet 18 located on either side of the free-spinning wheels 13. Furthermore, on each side of the running rail 9, the rolling base 10 also has anti-tip casters 15.

[0028] Inserting the diabolo 20 into the rod 30 along the transverse axis Y generates a lateral force tending to tilt the installation system 8 away from the outer wall 4 of the cavity 3. To counteract this movement and to ensure that the diabolo 20 maintains its correct alignment with the rod 30, the rolling base 10 includes a retractable support roller 16, actuated by a pneumatic support cylinder 17. This support roller 16 is first placed against the floor 5 of the cavity 3. The support roller 16 is located on the opposite side of the diabolo 20 from the running rail 9. The extension of the cylinder 17 is controlled by an operator from the remote control station. When the support roller 16 comes into contact with the ground 5, the rolling base 10 will tilt slightly towards the outer wall 4.This slight movement, visible from the cockpit thanks to cameras mounted on the installation system 8 (see in particular camera 51 described later), informs the operator that the support wheel 16 is in position.

[0029] In order to prevent the installation of the support roller 16 from disrupting the alignment of the diabolo 20 with its rod 30, this operation is performed before the vertical positioning of the diabolo 20. If a problem occurs during the retraction of the support cylinder 17 (i.e., the raising of the support roller 16 after insertion of the diabolo 20 and before movement along the X-axis), its two chambers are vented so that the support roller 16 can follow the profile of the floor 5 without pressure and thus not impede the return of the installation system 8 to a cell maintenance.

[0030] To perform positioning along the vertical axis Z, the positioning means include a table 40 which is placed on the rolling base 10. This table 40 is movable along the vertical axis Z by means of an electric lifting motor 46 mounted on the rolling base 20, which drives the table 40, for example, by means of a rack, gears, or any other equivalent means. The table 40 includes a diabolo support 43 which holds and supports the diabolo 20 before its insertion. For this purpose, the support 43 includes a device for holding the diabolo 20. Preferably, this holding device includes, among other things, two jaws 45 placed on either side of the diabolo 20 which exert centering and pressure on the diabolo 20 by means of a spring system 44, not detailed in this document.These springs exert sufficient pressure for the jaws 45 to hold the diabolo 20 before insertion, but the coefficient of friction between the jaws and the diabolo is low enough that the jaws 45 easily detach from the diabolo 20 by sliding once it is inserted and wedged into the rod 30. Furthermore, this holding device is able to adapt to its environment and allow for proper insertion of the diabolo even in the event of slight residual misalignment of the diabolo 20 with respect to its insertion rod 30.

[0031] The table 40 is equipped with a push actuator 41 capable of pushing the diabolo support 43 in a direction Y1 of the transverse axis Y, to allow the insertion of the diabolo 20 into the rod 30, once the diabolo 20 is correctly positioned opposite the rod 30 along the X and Z axes. The table 40 is also equipped with a retraction actuator 42 capable of returning the support 43 to its initial position in a direction Y2 opposite to Y1.

[0032] According to a preferred embodiment, the push actuator is a pneumatic cylinder 41 and the retraction actuator is a gas spring 42, one end of which is fixed to the table 40 and the other end is fixed to the support 43. The operation is then as follows: when the pneumatic cylinder 41 is activated, the support 43 drives the diabolo 20 into the rod 30. Once the insertion is completely completed, the pneumatic cylinder 41 is released, i.e., it is vented and no longer exerts pressure, and it is then the gas spring 42 (which is under tension since it has been extended during the movement of the cylinder 41) which acts as a spring and automatically returns the support 43 to its initial position and releases the diabolo 20, without requiring any further control.This advantageously provides a secure fallback solution because, in the event of a breakdown, unforeseen event or loss of power on the rolling base 10, the pneumatic cylinder 41 is no longer controllable and is released, and it is therefore the gas cylinder 42 which acts automatically to put the support 43 back in its initial position, in order for example to be able to move the installation system 8 along the X axis and . take it to a maintenance cell.

[0033] Figures 5, 6, and 7 detail the structure of the mechanical part 20 and how it is inserted into the insertion rod 30. The mechanical part 20 comprises a central ring 21 having a cylindrical inner cavity whose dimensions are adapted to allow it to be completely inserted into the rod 30 along the transverse axis Y. This central ring 21 has a notch 24 and may also have an entry chamfer 26 to facilitate its insertion into the rod 30. As previously stated, the mechanical part of the described embodiment is a diabolo 20 having a groove 25 that is free to rotate around the central ring 21 by means of ball bearings 22 located between the ring 21 and the groove 25. This groove 25 serves to support one or more cables.Furthermore, a compression spring 23 is forcibly mounted on the central ring 21 and is arranged to bear against the external vertical wall 4 when the diabolo 20 is inserted, .

[0034] The insertion rod 30 has one end which is fixed perpendicularly to the vertical wall 4 of the cavity 3. Near the other end, the insertion rod 30 has a foldable indexing pin 31 which is associated with a spring blade 32. Once the diabolo 20 is inserted, the notch 24 cooperates with the indexing pin 31 to prevent the ring 21 from rotating.

[0035] Figure 5 shows the phase before insertion, when the diabolo 20 is still held between the jaws 45 of the support 43 and is ready to be inserted, after having been correctly positioned along the X and Z axes. The indexing pin 31 has been extended under the pressure of its spring blade 32.

[0036] In [Fig.6], the central ring 21 is being inserted into the rod 30 under the action of the support 43. The entry chamfer 26 of the ring 21 helps to raise the indexing pin 31 which is thus in the retracted position in order to free the passage for the diabolo 20.

[0037] In [Fig. 7], once the diabolo 20 is fully inserted, the indexing pin 31 returns to its initial extended position under the action of the spring blade 32 and automatically locks the diabolo 20 in translation along the rod 30 along the Y-axis, making it impossible to lose, because the compression spring 23 is compressed upon contact with the wall 4. Furthermore, when the indexing pin 31 engages in the notch 24 of the ring 21, the ring 21 is prevented from rotating around the rod 30, so that the bearings 22 can operate correctly. The compression spring 23 ensures this proper indexing (automatic engagement of the pin 31 in the notch 24 during the first rotation of the diabolo 20).

[0038] The installation system 8 also includes electrical and pneumatic control means for the actuators of the table 40 and the support 43, namely respectively the lifting motor 46 and the pneumatic insertion cylinder 41. These control means are located on the rolling base 10, for example in a control box 19. Preferably, the control box 19 also contains the electrical supply (battery) and the pneumatic supply (compressed air) required for the installation system 8.

[0039] The installation system 8 also includes detection means necessary to assist the operator located in the remote control station in issuing commands to perform the various movements of the installation system along the three axes X, Y, and Z. These detection means include, in particular: • a first camera 51 viewing an entire area around the rod 30 in order to monitor the proper execution of the positioning and insertion operations of the diabolo 20 into the rod 30. In addition, a second camera 50 placed at the front of the rolling base 10, i.e., opposite the coupling face 11, can be used to view the progress along the longitudinal axis X of the installation system 8, in particular to monitor free access to the cavity 3. The cameras 50 and 51 incorporate infrared illumination, which allows the operator to view the operations in the dark. • Two laser rangefinders 52 and 53 precisely measure the position of the diabolo 20 relative to the rod 30, allowing for precise positioning of the diabolo 20 along the X and Z axes before insertion. Additional measuring or detection devices are, of course, possible if required.

[0040] As previously mentioned, the installation system 8 also includes means of communication with the remote central station. These means of communication, not detailed in this document, send information from the various detection means to the central station and send control commands for the actuators of the installation system 8 to the control box 19. These means of communication use wired or wireless technology and preferably pass through the self-propelled trolley, which already incorporates means of communication with the central station.

[0041] As the storage gallery 1 extends over a considerable length, the cavity 3 contains a significant number of insertion rods 30 distributed, for example, every two meters, which means that many diabolos 20 need to be installed. To facilitate faster installation of these diabolos 20, a variant of the invention provides that the installation system 8 also includes an integrated buffer storage magazine, not shown in the figures, capable of receiving a plurality of diabolos 20 to be inserted. The installation system 8 can then successively install a diabolo 20 onto each rod 30 of a set of fixed rods distributed along the cavity 3 along the longitudinal axis X. The operation could then be as follows: once that a diabolo has just been inserted into a rod, a new diabolo 20 from the buffer storage magazine is positioned between the jaws 45 at the request of the remote operator, while the self-propelled trolley takes the installation system 8 to the next insertion rod 30.

[0042] Naturally, the invention is described above by way of example. It is understood that a person skilled in the art is able to carry out different embodiments of the invention without departing from the scope of the invention.

[0043] It is emphasized that all features, as they are apparent to a person skilled in the art from the present description, drawings and attached claims, even if in practice they have only been described in relation to other specific features, both individually and in any combinations, can be combined with other features or groups of features disclosed herein, provided that this has not been expressly excluded or that technical circumstances make such combinations impossible or meaningless.

Claims

Claims

1. Installation system (8) for installing a part in a fixed insertion rod (30), the installation system comprising: - a mechanical part (20) comprising a central ring (21) arranged to be able to be inserted into the rod (30) along a transverse axis (Y), - means for positioning the part (20) opposite the rod (30) along a longitudinal axis (X) and a vertical axis (Z), the positioning means comprising: • a rolling base (10) movable along the longitudinal axis (X) along a rolling rail (9) and • a table (40) placed on the rolling base (10) and motorized to be movable along the vertical axis (Z), the table (40) also comprising a support (43) carrying the part (20) to be inserted and a pushing actuator (41) capable of pushing the support (43) to introduce the part (20) in the rod (30) along the transverse axis (Y),once the part (20) is positioned opposite the rod (30) along the longitudinal (X) and vertical (Z) axes, - means for controlling the table (40) and the support (43), the control means being arranged on the rolling base (10), - means for detecting the position of the part (20) relative to the rod (30).,

2. Installation system according to claim 1, characterized in that the rolling base (10) is integral with a self-propelled trolley which comprises means for movement on the rolling rail (9) along the longitudinal axis (X).

3. Installation system according to claim 1, characterized in that the thrust actuator is a pneumatic cylinder (41) and the table (40) also comprises a gas cylinder (42) which allows the support (43) to be automatically retracted along the transverse axis (Y), once the pneumatic cylinder (41) is released.

4. Installation system according to claim 1, characterized in that the running rail (9) is fixed on a floor (5) and the rolling base (10) comprises a retractable support roller (16) which is placed on the floor (5) before the vertical positioning of the part (20) in front of the rod (30), the support roller (16) being located on the opposite side of the part (20) with respect to the running rail (9).

5. Installation system according to claim 1, characterized in that the table (10) comprises a device for holding the part (20) comprising two jaws (45) placed on either side of the part (20).

6. Installation system according to claim 1, characterized in that the central ring (21) comprises a compression spring (23) along the transverse axis (Y) as well as a notch (24) arranged to cooperate with a folding indexing pin (31) of the insertion rod (30) so that, once the part is inserted into the rod, the notch (24) wedges the indexing pin (31) thanks to the compression spring (23) to prevent extraction of the part (20) and rotation of the ring (21) relative to the rod (30).

7. Installation system according to claim 1, characterized in that the detection means comprise at least one infrared viewing camera (50, 51) and two laser rangefinders (52, 53).

8. Installation system according to claim 1, characterized in that it also comprises means of communication with a remote control station, to allow remote control of the control means with the aid of the detection means.

9. Installation system according to claim 1, characterized in that the rolling base (10) also comprises a buffer storage magazine capable of receiving several parts (20) to be inserted and the installation system (8) is arranged to be able to successively install a part (20) on each rod (30) of a set of fixed rods distributed along the longitudinal axis (X).

10. Installation system according to claim 1, characterized in that the rolling base (10) comprises an on-board electrical energy source and a pneumatic energy source.

11. Installation system according to one of the preceding claims, characterized in that the part is a diabolo (20) which can be used for the passage of cables and which has a groove (25) which is free to rotate around the central ring (21) and on which a cable can be laid.

12. Waste storage facility comprising an installation system (8) according to one of the preceding claims.

Images