Tokamak automated maintenance technology, related systems, and methods

Abstract

This invention describes a technique for automatically removing and replacing components, including a vacuum vessel, from a tokamak. The inventors recognize that a method for automatically removing and replacing components from a tokamak should preferably be simple (e.g., using equipment proven to perform a series of non-mechanical complex tasks) and carry a very low risk of damaging the components. The technique described herein may include dividing the tokamak into multiple parts, separating the parts, and removing the separated vacuum vessel from the tokamak parts. The new vacuum vessel can be incorporated into the multiple parts and the tokamak after reassembly and completion of the replacement process.

Description

Technical Field

[0001] The present disclosure relates to tokamak automatic maintenance technology, related systems and methods.

Background Art

[0002] Magnetic confinement is an approach to fusion power generation that uses magnetic fields to confine plasma and create conditions for plasma to undergo nuclear fusion. A very high plasma temperature on the order of 150 million °C is required for the nuclear fusion reaction to occur, and the plasma may be heated through magnetic field manipulation and using external heating methods. Magnetic confinement of plasma is challenging due to turbulence, instabilities, and other effects that can rapidly reduce or completely stop the efficiency of the nuclear fusion reaction.

[0003] A fusion reactor design known as a tokamak is one approach to magnetic confinement that attempts to address the instabilities that plasma can cause during heating and / or nuclear fusion reactions. In a tokamak, the plasma is confined toroidally, and plasma instabilities are controlled by shaping the magnetic field and passing the plasma particles multiple times between the inside and outside of the toroid. This "twist" of the magnetic field dramatically improves the stability of the plasma. To drive the plasma in a tokamak, magnets are used to generate toroidal and poloidal magnetic fields, which shape, position, and control the movement of the plasma around the toroid. The nuclear fusion reaction in a tokamak produces most of its energy as neutrons, which need to be captured and the kinetic energy converted to heat. Energy capture is typically performed using structures containing atoms with low atomic numbers, such as lithium (which easily collides with neutrons in inelastic collisions), etc. This material is often called a "blanket" and is targeted at heat converters to drive conventional steam turbines or other generators.

Summary of the Invention

[0004] In some embodiments, the Method provides a method for maintaining components within a tokamak, wherein the tokamak comprises a vacuum vessel arranged in a plurality of toroidal magnetic field magnets, and the Method provides a method comprising: dividing the tokamak into at least a first part and a second part, wherein the division of the tokamak includes dividing the vacuum vessel into at least a first part and a second part; separating the first part of the tokamak from the second part of the tokamak, wherein the first part of the tokamak includes the first part of the vacuum vessel and the second part of the tokamak includes the second part of the vacuum vessel; rotating the first part of the vacuum vessel out of the first part of the tokamak onto a platform; moving the first part of the vacuum vessel out of the tokamak; rotating the second part of the vacuum vessel out of the second part of the tokamak onto a platform; and moving the second part of the vacuum vessel out of the tokamak.

[0005] Embodiments of the apparatus and method described above may be implemented by arbitrarily and appropriately combining the aspects, features, and operations described above or below. These and other aspects, embodiments, and features of this teaching can be better understood from the following description in conjunction with the accompanying drawings. [Brief explanation of the drawing]

[0006] Various aspects and embodiments will be described with reference to the following figures. It should be understood that the figures are not necessarily shown to a consistent scale. In the figures, identical or nearly identical parts shown in different figures are represented by similar numbers. For clarity, not all parts are necessarily labeled in all drawings.

[0007] [Figure 1A] Figure 1A shows an exemplary cross-sectional view of a tokamak according to several embodiments. [Figure 1B] Figure 1B shows an exemplary cross-sectional view of a tokamak according to several embodiments. [Figure 2] Figure 2 shows cross-sectional views of exemplary tokamak vacuum vessels and blanket tanks according to several embodiments. [Figure 3] Figure 3 shows an intermediate stage of the maintenance process for illustrative purposes. [Figure 4A] Figure 4A shows alternative configurations of the blanket tank and vacuum vessel of a tokamak according to several embodiments. [Figure 4B] Figure 4B shows alternative configurations of the blanket tank and vacuum vessel of a tokamak according to several embodiments. [Figure 4C] Figure 4C shows an exemplary connection that may be made between the two halves of the coupling between the blanket tank and the vacuum vessel according to several embodiments. [Figure 5A] Figure 5A shows various loads applied to a series of tokamak supports according to several embodiments. [Figure 5B] Figure 5B shows various loads applied to the support of a series of tokamaks in which a vacuum vessel and blanket tank are arranged in a coupled configuration according to several embodiments. [Figure 6A] Figure 6A shows an exemplary poloidal magnetic field coupling for a superconducting cable according to several embodiments. [Figure 6B] Figure 6B shows an exemplary poloidal magnetic field coupling for a superconducting cable according to several embodiments. [Figure 6C] Figure 6C shows an exemplary poloidal magnetic field coupling for a superconducting cable according to several embodiments. [Figure 6D] Figure 6D shows an exemplary poloidal magnetic field coupling for a superconducting cable according to several embodiments. [Figure 6E] Figure 6E shows an exemplary poloidal magnetic field coupling for a superconducting cable according to several embodiments. [Figure 7A] Figure 7A shows exemplary operations for dividing and separating portions of a tokamak according to several embodiments. [Figure 7B]Figure 7B shows exemplary operations for dividing and separating portions of a tokamak according to several embodiments. [Figure 7C] Figure 7C shows exemplary operations for dividing and separating portions of a tokamak according to several embodiments. [Figure 7D] Figure 7D shows exemplary operations for dividing and separating portions of a tokamak according to several embodiments. [Figure 7E] Figure 7E shows exemplary operations for dividing and separating portions of a tokamak according to several embodiments. [Figure 7F] Figure 7F shows exemplary operations for dividing and separating portions of a tokamak according to several embodiments. [Figure 8] Figure 8 shows an example of welding a cryostat with a passage that a cutting or welding robot may traverse, according to several embodiments. [Figure 9A] Figure 9A shows an example of cutting a vacuum container from the inside, according to several embodiments. [Figure 9B] Figure 9B shows an example of cutting a vacuum container from the outside, according to several embodiments. [Figure 10] Figure 10 shows examples of skid jack systems according to several embodiments. [Figure 11A] Figure 11A shows exemplary operations for removing the vacuum vessel (and optionally the blanket tank) from the tokamak according to several embodiments. [Figure 11B] Figure 11B shows exemplary operations for removing the vacuum vessel (and optionally the blanket tank) from the tokamak according to several embodiments. [Figure 11C] Figure 11C shows exemplary operations for removing the vacuum vessel (and optionally the blanket tank) from the tokamak according to several embodiments. [Figure 11D] Figure 11D shows an exemplary operation for removing the vacuum vessel (and optionally the blanket tank) from the tokamak according to several embodiments. [Figure 11E]FIG. 11E shows an exemplary operation of removing a vacuum vessel (and optionally a blanket tank) from a tokamak according to some embodiments. [Figure 11F] FIG. 11F shows an exemplary operation of removing a vacuum vessel (and optionally a blanket tank) from a tokamak according to some embodiments. [Figure 12A] FIG. 12A shows an exemplary implementation of a transport robot according to some embodiments. [Figure 12B] FIG. 12B shows an exemplary operable mechanism suitable for rotating the platform of a transport robot according to some embodiments. [Figure 12C] FIG. 12C shows an exemplary operable mechanism suitable for rotating the platform of a transport robot according to some embodiments. [Figure 12D] FIG. 12D shows a semi - annular platform of a transport robot incorporated into a part of a tokamak according to some embodiments. [Figure 13] FIG. 13 shows a passage constructed in a toroidal field coil housing according to some embodiments. [Figure 14] FIG. 14 shows a passage constructed in a toroidal field coil housing according to some embodiments. [Figure 15A] FIG. 15A shows an exemplary operation of recombining a part of a tokamak according to some embodiments. [Figure 15B] FIG. 15B shows an exemplary operation of recombining a part of a tokamak according to some embodiments. [Figure 15C] FIG. 15C shows an exemplary operation of recombining a part of a tokamak according to some embodiments. [Figure 15D] FIG. 15D shows an exemplary operation of recombining a part of a tokamak according to some embodiments. [Figure 16] FIG. 16 shows an exemplary tokamak system suitable for implementing the aspects of the invention described herein according to some embodiments. [Modes for carrying out the invention]

[0008] As described above, the fusion reactor design known as a tokamak is one approach to magnetic confinement for fusion power generation. For illustrative purposes, Figure 1A shows a cross-sectional view of an exemplary tokamak according to several embodiments. As shown in Figure 1A, in the tokamak 100, the core plasma 110 circulates within the vacuum vessel 120 and is formed as a toroid (or nearly as a toroid). There are numerous ports located at various points around the tokamak, including ports 131, 132, and 133, which are formed integrally within the vacuum vessel or coupled to the vacuum vessel, providing access to the vacuum vessel from outside the tokamak. The tokamak 100 also includes multiple toroidal magnetic field (TF) magnets 140, multiple poloidal magnetic field (PF) magnets 150, and one or more central solenoid (CS) magnets 160. The TF magnets 140 are D-shaped (or nearly D-shaped) magnets and are configured to confine the plasma 110 to a desired area within the vacuum vessel. The PF magnet 150 is a generally ring-shaped magnet configured to shape and position the plasma 110. The CS magnet 160 is located at the center of the tokamak and is configured to inductively drive the plasma current. The tokamak also includes, or is coupled to, an auxiliary heating source to bring the plasma to a desired temperature (e.g., by an ion cyclotron resonance heating system, alpha particles generated during fusion, and / or ohmic forces).

[0009] Some of the components shown in Figure 1A are also shown in more detailed cross-sectional views in Figure 1B, which shows a cross-sectional view of one side of a tokamak according to some embodiments. In addition to the plasma 110, vacuum vessel 120, and magnets 140, 150, 160, also shown in Figure 1A, Figure 1B shows a space 170 in which a blanket tank may be located, as will be further described below. During the operation of the tokamak 100, an axially symmetric toroidal plasma 110 is generated in the vacuum vessel 120. This plasma carries a toroidal current, which in turn generates a poloidal magnetic field, providing plasma confinement. The toroidal magnetic field magnet 140 provides stability to the plasma current using a poloidal magnetic field and a central solenoid that shapes and controls the position of the plasma. The plasma is heated by the central solenoid, RF, and / or a high-energy neutral particle beam to induce nuclear fusion, and the energy from the resulting neutrons is captured in the blanket as described above.

[0010] In some cases, one or more thermal shields may be placed inside the tokamak. During tokamak operation, the magnet is cooled to a cryogenic temperature of approximately 8K, while the vacuum vessel 120 is maintained at or above room temperature. This temperature difference worsens during the baking of the vacuum vessel, i.e., while the vacuum vessel is heated to approximately 350°C, while the magnet is cooled to approximately 8K. Thermal shields may be provided to maintain an intermediate temperature (e.g., approximately 80K) between the vacuum vessel and the magnet, and the thermal shields may be cooled more than the magnet itself. This process is easier because it is more efficient to cool the element to 80K than to cool it to 8K. Thus, thermal shields minimize (or reduce) the cryogenic load on the system. In some embodiments, internal and external thermal shields may be placed on either side of the magnet to provide an intermediate temperature range. An internal thermal shield placed inside the toroidal magnetic field magnet 140 and an external thermal shield placed outside the toroidal magnetic field magnet are used.

[0011] During operation of a power plant including a tokamak, as shown in Figures 1A-1B, internal components of the tokamak, such as the vacuum vessel, which are close to the fusion plasma, are irradiated with particles from the large amount of neutron radiation from the fusion plasma. This neutron irradiation can cause mutations in the elements that make up the internal components, potentially producing radioactive isotopes. Neutron irradiation can also cause physical damage to some of the components. In a commercial fusion power plant, this damage can become serious after several years, requiring downtime and resulting in a loss of power generation opportunities to replace and / or repair the damaged components. As a result of these effects, it may be economically beneficial to design the tokamak so that components expected to be damaged can be easily removed and replaced periodically (e.g., every few years) without limiting the remaining lifespan of the power plant.

[0012] The components expected to be damaged or potentially become radioactive over time include the vacuum vessel, a large, heavy component located inside the tokamak. However, as shown in Figures 1A-1B, the vacuum vessel runs through the center of all TF magnets and cannot be easily removed without disassembling part of the tokamak. Furthermore, since neutron activation is expected to make this component sufficiently radioactive, removal operations cannot be safely carried out by power plant personnel approaching the tokamak. This makes the removal and replacement of the vacuum vessel physically difficult, and therefore, the heavy, radioactive component needs to be cut and removed from the tokamak without any human presence near the tokamak itself.

[0013] The inventors recognized and evaluated a technique for automatically removing and replacing components, including vacuum vessels, from a tokamak. The inventors recognized that a method for automatically removing and replacing components from a tokamak should preferably be simple (e.g., using equipment proven to perform a series of non-mechanical complex tasks) and carry a very low risk of damaging the components. The technique described herein may include dividing the tokamak into multiple parts, separating the parts, and removing the separated vacuum vessel portion from the tokamak parts. The new vacuum vessel can be incorporated into the multiple parts and the tokamak after reassembly and completion of the replacement process.

[0014] The inventors recognized and appreciated the desirable ability to remove and replace activated components as easily as possible, regardless of the method. Maintenance methods can easily become complex and expensive. Easy replacement methods allow for quick replacement of internal components, thereby reducing fusion power plant downtime and making the plant more economical. Furthermore, simplified replacement methods allow replacement components to be assembled with a minimum number of joints (e.g., welding). This allows internal components to be fabricated and tested as far off-site as possible. Fabricating and testing these components outside the power plant environment offers many advantages. Often, these components require tight tolerances to fit inside the tokamak assembly, and more assembly work can be done in a centrally controlled location. This approach is suitable for more efficient production line types for manufacturing replacement components. Moreover, the best quality control of replacement components can be performed in a more controlled environment (e.g., a factory), and rework can be done much more easily.

[0015] The inventors further recognized and appreciated that maintenance processes performed within the tokamak space should have a very low risk of damaging components. Using proven equipment for performing a series of non-mechanical complex tasks, as mentioned above, is a favorable approach to achieving this goal, as a significant portion of the maintenance process can be performed away from the tokamak.

[0016] To further illustrate the techniques for automatically removing and replacing components from a tokamak, Figure 2 shows an exemplary cross-sectional view of a tokamak according to several embodiments. In the example of Figure 2, a cross-section of the entire tokamak is shown, including cross-sectional views of the vacuum vessel 201 and blanket tank 202 shown in the central region on each side. As mentioned above, energy capture in a tokamak is typically carried out using a material such as a lithium-containing compound that produces tritium in deuterium-tritium fusion, referred to as the “blanket,” and containing atoms with low atomic numbers that immediately collide with neutrons in elastic and inelastic collisions. In the example of Figure 2, the blanket is FLiBe, a molten salt containing a mixture of lithium fluoride (LiF) and beryllium fluoride (BeF2). The blanket material is held in a tank referred to as the “blanket tank” 202. Cross-sections of two separate toroidal magnetic field magnets 208 and 209 are shown. The entire tokamak is held within the cryostat 210, into which helium is supplied for cooling specific components (e.g., superconducting magnets). The FLiBe blanket material also circulates through the blanket tank via the indicated inlet and outlet pipes. Any number of such inlet and outlet pipes may be connected to the blanket tank to circulate the blanket material both inside and outside the blanket tank.

[0017] The indicated axis 250 highlights the sections to which a tokamak may be divided during the maintenance process, as described below. In the example in Figure 2, the tokamak is shown as being separated into two parts along this meridian plane, but the techniques described herein are not necessarily limited to separation along a precise meridian plane. The tokamak may instead be divided into multiple parts (not limited to two) along one or more different sections, as long as the tokamak can be disassembled to access the vacuum chamber. That said, in the case of a tokamak that is symmetrical with respect to a horizontal plane (e.g., a meridian plane) that divides the tokamak in half, a plane may be advantageous because it simplifies the maintenance process and makes it easier to construct and join the parts. However, the techniques described herein are not limited to any particular method of dividing a tokamak and may be understood as being equally applicable to asymmetric tokamaks as well as symmetric tokamaks. Returning to the example in Figure 2, the tokamak is held on two separate platforms (also referred to herein as “frames”), with opposing halves of the tokamak supported by the separate platforms 221 and 222, straddling axis 250. In such cases where the tokamak is split into two, each of the split tokamak is supported by a separate platform.

[0018] Figure 3 shows an intermediate stage of the maintenance process for illustrative purposes. A more detailed description of the process is given below. As shown in Figure 3, the tokamak is separated into two halves, and then one half is separated from the other, allowing access to the vacuum vessel and blanket tank inside each half. In the example in Figure 3, the blanket tank 202 is undergoing the process of rotating around the toroidal magnetic field magnet 209 (not labeled in the figure) and is on a platform.

[0019] Two different configuration options for the vacuum vessel and blanket tank are described herein. The techniques described herein are generally applicable to both configurations unless otherwise specified. These configurations differ in that the vacuum vessel and blanket tank are separate components within the tokamak (a configuration in which the blanket tank and vacuum vessel are “separated”) or that they are mechanically coupled to one another. Each configuration may have certain advantages and disadvantages, as described below. In Figures 4A and 4B, the vacuum vessel and blanket tank are represented as toroids, respectively, although these are illustrative shapes for illustrative purposes and are not intended to reflect the actual shapes of the blanket tank or vacuum vessel.

[0020] In a configuration where the blanket tank and vacuum vessel are separate, as illustrated in Figure 4A, the two halves of the vacuum vessel are joined along a clear boundary parallel to the meridian plane and placed inside the blanket tank. The two halves of the blanket tank are joined separately along a boundary parallel to the meridian plane. In such a case, the vacuum vessel is located inside the blanket tank, each joined and separate from each other and independent.

[0021] In the configuration shown in Figure 4A, the blanket tank may be considered a lifetime component that is not replaced during maintenance, while the vacuum vessel is replaced during maintenance. According to some embodiments, the vacuum vessel may be located in a passage constructed within the blanket tank, allowing the vacuum vessel to be moved into the blanket tank during maintenance (the passage is not shown in Figure 4A). One drawback of this configuration is the potential risk of contamination from the blanket. Even after the blanket tank has been emptied, the molten salt used as the blanket may cover the vacuum vessel, potentially leading to equipment contamination if the vacuum vessel is removed during maintenance.

[0022] A configuration in which the blanket tank and vacuum vessel are coupled is illustrated in Figure 4B. In this configuration, each half of the blanket tank / vacuum vessel is a single component through which the blanket tank and vacuum vessel are coupled along the meridian wall, as shown. In such a case where the halves are coupled, the resulting vacuum vessel is a single unit, but the blanket tank is arranged in (at least) two separate halves, through which the blanket material can be separated and circulated. During maintenance, each half of the coupled blanket tank and vacuum vessel component is removed and replaced as a separate element. According to some embodiments, the coupling of the blanket tank and vacuum vessel may be located in a passage constructed in the toroidal magnetic field coil housing, allowing the coupling of the blanket tank and vacuum vessel to be moved into the toroidal magnetic field coil during maintenance (the passage is not shown in Figure 4B). In this configuration, the aforementioned risk of contamination present in the configuration of Figure 4A can be significantly reduced because any residual blanket material is contained within one half of the coupling of the blanket tank and vacuum vessel. On the other hand, in contrast to a configuration where the blanket tank and vacuum vessel are separate, and the blanket tank may be considered a lifetime component, in this configuration the blanket tank is also replaceable, and larger sections of the tokamak are replaced during maintenance.

[0023] Regarding the combined configuration of the blanket tank and vacuum vessel, Figure 4C shows exemplary connections that may be made between the two halves of the blanket tank and vacuum vessel combination according to several embodiments. In the example of Figure 4C, the tokamak 100 includes the two halves of the blanket tank and vacuum vessel combination, sealed together via a series of connectors along the joint, two of which are shown in side view 410. The cross section AA through these connectors is shown in 420, with the direction perpendicular to the page being radial (towards or away from the center of the tokamak) and the direction horizontal to the page being toroidal (along the outer perimeter of the tokamak). As shown, the two halves of the blanket tank are connected by retaining studs with nuts that are screwed into or unscrewed into retaining studs during maintenance. As shown in Figure 4C, a robotic nut-driven shuttle 451 may traverse a rail 452 and move poloidally around the combination, screwing into or unscrewing the nuts on each retaining stud. A bolted connection, such as the example shown in Figure 4C, may have the advantage of gradually bringing the two halves of the blanket tank and vacuum vessel connection together by tightening the connection in stages over multiple passes. In some embodiments, the halves of the blanket tank and vacuum vessel connection may include one or more alignment features such that they interlock with each other when the connection is tightened (e.g., on a meridian wall).

[0024] According to some embodiments, the vacuum vessel may be supported within the tokamak by one or more support structures. These support structures may be disconnected during maintenance and configured so that the load of the vacuum vessel is transferred to another device for removal of the vacuum vessel. The support structures may be provided at one or more locations around the tokamak, including the top, sides, and / or bottom of the tokamak. The support structures provide structural support by the weight of the tokamak components and by the forces applied to these components during the operation of the tokamak.

[0025] Figure 5A shows various loads applied to the supports of a series of tokamaks. In the example in Figure 5A, the vacuum vessel and blanket tank are arranged in a “separated” configuration according to Figure 4A. The tokamak is supported at the bottom by struts 511 and 512, which are connected at one end to the frame 502 and at the other end to the vacuum vessel 201. In addition, one or more blanket tank supports 515 are connected at one end to the frame 502 and at the other end to the blanket tank 202, and one or more toroidal field supports 516 are connected at one end to the frame 502 and at the other end to the toroidal field coil 209.

[0026] According to some embodiments, the arrangement of support structures within a tokamak may exhibit N-fold symmetry, where N is the number of toroidal magnetic field magnets within the tokamak. For example, a tokamak having 18 toroidal magnetic field magnets may comprise 18 support structures arranged to exhibit 18-fold symmetry. In some embodiments, for each toroidal magnetic field coil, the tokamak may comprise a pair of vacuum vessel supports and a blanket tank support positioned between adjacent toroidal magnetic field magnets and one toroidal magnetic field coil support attached to the toroidal magnetic field coil.

[0027] Figure 5B shows various loads applied to the support of a series of tokamaks in a "coupled" configuration according to Figure 4B, in some embodiments. In the example of Figure 5B, the tokamak is supported at the bottom by struts 511 and 512, which are connected at one end to a frame 502 and at the other end to the coupling of the blanket tank and vacuum vessel 202. In addition, one or more toroidal magnetic field supports 516 are connected at one end to a frame 502 and at the other end to a toroidal magnetic field coil 209.

[0028] In some embodiments, the arrangement of support structures within the tokamak may exhibit N-fold symmetry, where N is the number of toroidal magnetic field magnets in the tokamak. For example, a tokamak having 18 toroidal magnetic field magnets may have 18 support structures arranged to exhibit 18-fold symmetry. In some embodiments, for each toroidal magnetic field coil, the tokamak may have a pair of blanket tank / vacuum vessel supports positioned between adjacent toroidal magnetic field magnets and one toroidal magnetic field coil support attached to the toroidal magnetic field coil.

[0029] In both examples in Figures 5A and 5B, the upper frame also comprises supports and struts as described with respect to the lower frame. These supports and struts provide mechanical support to the tokamak structure but do not fully support the weight of the tokamak components. The weight of the upper frame itself may be supported by the tokamak structure, for example, a toroidal magnetic field magnet structure.

[0030] Regardless of which support approach is deployed, as shown in Figures 5A and 5B, during tokamak operation, the plasma moving into the vacuum vessel creates a poloidal halo current I through the walls of the vacuum vessel and the plasma, as shown in the figure. halo This generates a Lorentz force F in the vacuum vessel as a result of the magnetic field generated by the toroidal magnetic field magnet. W This generates a force F, which is an equal and opposite force within a toroidal magnetic field magnet. TF The balance is maintained by this, which is expected to be on the order of tens of meganewtons (MN), for example, 20-30 MN. The total weight of the blanket tank, vacuum vessel, and blanket material is expected to be around 5 MN.

[0031] According to some embodiments, the supports of the vacuum vessel (or the combined blanket tank / vacuum vessel supports) 511 and 512 are configured to hold the vacuum vessel (or blanket tank and vacuum vessel) in place under slight load during operation, so that the vacuum vessel is maintained in its desired position relative to the poloidal magnetic field magnet of the tokamak. Maintaining the desired position of the vacuum vessel relative to the poloidal magnetic field magnet is desirable for proper control of the plasma.

[0032] According to some embodiments, the supports of the vacuum vessel (or the supports of the combined blanket tank / vacuum vessel) 511 and 512 may allow the vacuum vessel to move when the load is greater than normal, so that the vacuum vessel can "float" to reduce peak stress due to impact loads. For example, the supports of the vacuum vessel 511 and 512 may be equipped with one or more hydraulic cylinders that can be compressed to shorten the supports. Relief valves on the supports of the vacuum vessel (e.g., poppet relief valves) may fix the position of the hydraulic cylinders at low loads, but may allow the cylinders to open and enable damping motion at high loads. In some embodiments, the supports may be equipped with seat bends or any other mechanism to provide follow-up to the hydraulic cylinders, in addition to or instead, at high loads. In some embodiments of the example in Figure 5A, the supports of the vacuum vessel 511 and 512 may be equipped with bellows that allow the supports to move relative to the wall of the blanket tank. During maintenance, new vacuum vessels are attached from multiple sections, so support columns for the new vacuum vessels may be useful to allow movement of sections of the vacuum vessel for alignment purposes.

[0033] As shown in Figures 1A and 1B, the tokamak includes poloidal magnetic field magnets 150. These magnets are approximately circular in shape and are positioned at various poloidal locations around the magnet with varying diameters. For example, a cross-section through the poloidal magnetic field magnets 150 is shown in Figure 1B. If the tokamak is divided into multiple parts, the poloidal magnetic field magnets must also be divided into multiple parts, as they each have a cross-section for each toroidal location around the tokamak.

[0034] In the example shown in Figure 1B, the poloidal magnetic field magnets are located within the toroidal magnetic field magnets, and they must be disassembled into multiple parts for removal from the tokamak. However, the tokamak may also include, in addition to or instead of, one or more poloidal magnetic field magnets located outside the toroidal magnetic field magnets, which can be removed from the tokamak without the need to disassemble the poloidal magnetic field magnets into multiple parts.

[0035] According to some embodiments, the tokamak may comprise one or more poloidal magnetic field magnets, each having one or more couplings at locations where the poloidal magnetic field magnets can be removed and reinstalled, thereby allowing the poloidal magnetic field magnets to be separated and recombined without significantly impairing the electrical properties of the poloidal magnetic field magnets. Such couplings are sometimes referred to herein as “poloidal magnetic field couplings.” In some embodiments, the poloidal magnetic field magnets may include windings of superconducting cables, and the poloidal magnetic field couplings may connect portions of the superconducting cables. According to some embodiments, the poloidal magnetic field coils may include one or more poloidal magnetic field couplings on the opposite side of where the coils intersect the meridional plane of the tokamak.

[0036] Figures 6A–6E show exemplary poloidal magnetic field couplings for superconducting cables according to several embodiments. In the example in Figures 6A–6B, a pair of superconducting cables 610 and 612 are connected via partitioned (or assigned) couplings comprising a plurality of partitioned (or assigned) coupling elements (or coupling members) 620a–620d. In some embodiments, cables 610 and 612 may include high-temperature superconductors (HTS). In the example in Figures 6A–6B, cables 610 and 612 include HTS materials 614 and 615, which are insulated from each other. In some embodiments, the HTS materials 614 and 615 may be provided in the form of a stack of HTS tapes.

[0037] In the example shown in Figures 6A–6B, the superconducting cables 610 and 612 are given as partitioned and twisted superconducting cables 610 and 612, each containing a carrier (or original carrier) 616. The carrier 616 includes a conductive structure (which may also be referred to herein as “partition,” “stabilizer structure,” or simply “stabilizer”). In the embodiment of this example, the carrier 616 includes four stabilizers 616a, 616b, 616c, and 616d, each stabilizer electrically insulated from one another via an intervening layer of electrical insulating material 617. The cables 610 and 612 may therefore be referred herein as “partitioned” cables. In the example shown in Figures 6A–6B, the stabilizers 616a, 616b, 616c, and 616d (resulting in HTS tape stacks 614 and 615 that transport current) are twisted around a common axis. Each stabilizer may follow a helical path, for example, while supporting each of the HTS tape stacks that transport the current.

[0038] In the example in Figure 6A, each of the stabilizers 616a, 616b, 616c, and 616d has a channel or opening provided for arranging the HTS material. In the example in Figure 6A, the stabilizer of cable 610 includes the HTS material 614a, 614b, 614c, and 614d (e.g., HTS tape or HTS tape stack), and the stabilizer of cable 612 includes the HTS material 615a, 615b, 615c, and 615d. In some embodiments, the carrier 616 may comprise a single conductor (e.g., a single stabilizer) having four channels provided therein. A combination of HTS material (e.g., HTS tape stacks 614a, 614b, 614c, or 614d) arranged on or integrated into a stabilizer (e.g., one of stabilizers 616a, 616b, 616c, or 616d) may be referred to as a “petal” or “segment,” commonly shown in 618 or 619, in each of the cables 610 and 612. As described above, the petals are separated by an insulating material (e.g., insulating material 617). Thus, in the example in Figure 6A, cables 610 and 612 each contain four superconducting petals (618a, 618b, 618c, and 618d) and (619a, 619b, 619c, and 619d).

[0039] In the example in Figure 6A, the partitioned coupling 620 includes coupling elements 620a, 620b, 620c, and 620d (which may also be referred to as "coupling partitions") positioned between cables 610 and 612, each coupling element electrically connecting one of the petals 618a, 618b, 618c, and 618d of cable 610 to one of the petals 619a, 619b, 619c, and 619d of cable 612. In some embodiments, each coupling element 620 electrically connects only one of the HTS tape stacks 614a, 614b, 614c, and 614d in cable 610 to only one of the HTS tape stacks 615a, 615b, 615c, and 615d in cable 612. As described above, each coupling element 620a, 620b, 620c, and 620d may be electrically isolated from other coupling elements and from other HTS tape stacks (for example, each coupling element may be electrically connected to only one HTS tape stack of its respective cable and electrically isolated from other HTS tape stacks). Such a combination of coupling elements may be referred to herein as a “separated coupling”.

[0040] In the example in Figure 6A, since each of cables 610 and 612 has four HTS tape stacks, the four coupling elements may be arranged to connect the two cables. Generally, the number of coupling elements to be used in an application corresponds to the number of petals (or HTS) in the cables being coupled. Thus, the example in Figure 6A shows partitioned (or allocated) coupling with a single connection path between the same partitions in two 4-partition cables 610 and 612. In this way, each of the petals 618a, 618b, 618c, and 618d in cable 610 (e.g., each of the HTS tape stacks 614a, 614b, 614c, and 614d) is physically and electrically connected (e.g., electrically connected) to the corresponding single petal 619a, 619b, 619c, and 619d in cable 612 (e.g., just one of the HTS tape stacks 615a-615d). This provides a 1:1 connection between the petals 618 and 619 of each cable 610 and 612 (and between the HTS tape stacks 614 and 615). Providing a 1:1 connection between the petals (or HTS material) of the partitioned cables can reduce (and ideally minimize) eddy currents and reduce Joule heating within the coupling.

[0041] In the example shown in Figure 6A, the coupling elements 620a, 620b, 620c, and 620d are arranged on one of each of the petals 618a, 618b, 618c, and 618d of the cable 610. In some embodiments, the coupling elements 620a, 620b, 620c, and 620d may include any conductive material, but are not limited to copper. A material having relatively high electrical conductivity is preferred. In some embodiments, the coupling elements 620a, 620b, 620c, and 620d may be provided in whole or in part by an electrically conductive material. For example, the coupling elements 620a, 620b, 620c, and 620d may include copper. One type of conductive material that can be used is oxygen-free high-conductivity (OFHC) copper. The coupling elements 620a, 620b, 620c, and 620d may include, for example, highly conductive copper such as C101 copper. Other materials having the same or similar electrical, mechanical / structural properties as C101 copper may also be used, but are not limited to, alloy copper (e.g., bronze, silver-doped copper, etc.). Other alloys (including other copper alloys) may also be used. In some applications, a trade-off between the strength and conductivity of a material is considered in the selection of the material. For example, in some applications, it is desirable to select a material that provides high strength at the expense of conductivity (e.g., copper alloys), while in other applications, it is desirable to select a material that provides high conductivity at the expense of strength. Therefore, when selecting a material to provide coupling elements to be used in a particular application, a trade-off may be considered between the properties of the material (e.g., between conductivity and strength in this example).

[0042] In some embodiments, the coupling members and / or petals may be plated with a conductive material (e.g., copper, silver, alloy, or any other appropriately selected plating material). In some embodiments, after the cable sheath has been removed, it is desirable to polish (or treat) the outer surface to expose the original outer surface (which is assumed to be given by a plateable material such as copper) with the petals exposed, and then the original outer surface may be plated (e.g., using silver plating). In some embodiments, it should of course be understood that it is not possible to plate solder on the HTS stack. In some embodiments, the coupling members may be impregnated with or co-wound with the HTS tape or bulk superconductor.

[0043] In the examples shown in Figures 6A-6B, the coupling elements 620a, 620b, 620c, and 620d are physically separated from each other (for example, the coupling elements 620a, 620b, 620c, and 620d do not physically contact each other), and each coupling element 620a, 620b, 620c, and 620d makes physical contact with only one petal (in some embodiments, it makes physical contact with only one HTS tape stack). Thus, in this embodiment, the partition between the coupling elements is provided by physically separating them (with air or other electrically insulating material present between the coupling elements), resulting in partitioned coupling. This ensures a 1:1 connection between the superconducting materials 614a, 614b, 614c, and 614d and 615a, 615b, 615c, and 615d (via the coupling elements 620a, 620b, 620c, and 620d) of each cable 610 and 612. In some embodiments, the coupling partitions 620a, 620b, 620c, and 620d may be connected, fixed, fastened, or attached to the cables 610 and 612 using any removable, permanent, or semi-permanent method. For example, the coupling partitions 620a, 620b, 620c, and 620d may be fixed to the cables 610 and 612 via tape, epoxy, or solder while the coupling is being assembled. Subsequently, compressive pressure from the surrounding case, fasteners, or clamp structures holds the coupling partitions 620a, 620b, 620c, and 620d, which are fixed to the cables 610 and 612.

[0044] Referring to Figures 6C-6E, the coupling 670 connecting the pairs of superconducting cables 610 and 612 may include a curved coupling case or housing (or more generally, a curved coupling member) 672, including upper and lower covers (or brackets) 672a and 672b, and a curved coupling 674, including a plurality of curved coupling blocks 674a, 674b, 674c, and 674d. In the example in Figure 7D, the cover 672a of the curved coupling case 672 is omitted by an exemplary curved coupling 674, which connects to the first and second superconducting cables 610 and 612 along the radius. In some embodiments, such that the coupling case 772 includes first and second parts, the first and second parts may be secured by fasteners (e.g., screws, nuts and bolts, rivets, or other fasteners) positioned through holes 773 in the upper and lower covers. In some embodiments, some of the holes 673 may be threaded (partially or entirely).

[0045] According to some embodiments, the curved coupling 70 can maintain the continuity of the conductors 610 and 612 while reducing (and ideally minimizing) the overall contact area. In some cases, the radii inherent to each tokamak may have a new housing 672 having the required radius.

[0046] In the examples in Figures 6C-6E, cable jackets 676 and 677 are positioned for one petal each of the petals of cables 610 and 612 to structurally support the cables. Parts of cable jackets 676 and 677 are removed in the coupling region, thereby exposing the petal in contact with a coupling element of appropriate shape (e.g., saddle-type coupling elements 674a, 674b, 674c, and 674d). In the examples in Figures 6C-6E, the cable jackets may be given having a rectangular cross-sectional shape. In some embodiments, each of jackets 676 and 677 includes steel. Referring to Figure 7E, the superconducting cables 610 and 612 may be secured via nuts and bolts positioned through holes 673 in the upper and lower covers 672a and 672b, respectively, which form a clamp structure. In some embodiments, other coupling structures may, of course, be used. For example, screws connected to screw holes in the covers may be used. Alternatively, the coupling means may include a spring-type structure. Alternatively, in some embodiments, permanent coupling means (e.g., a welded structure) may be used to secure the superconducting cable to a partitioned cable coupling and / or to secure the cable within a coupling case. In the example in Figure 6E, the fixing structure 681 helps to secure the cable within the coupling case 672.

[0047] In some embodiments, covers 672a and 672b may include stainless steel. In some embodiments, such as when two HTS cables are compressed into a partitioned cable joint, any clamp or retaining structure may be used that allows for pressure up to 40 MPa to ensure mechanical contact between the cables and the partitioned cables.

[0048] In some embodiments, a malleable conductive material 662 (e.g., indium) is placed on the conductive mounting surface of the mounting area of ​​each coupling element. In some embodiments, the conductive material 662 may be spread or placed on the conductive surface of the mounting surface of each coupling element (ideally the conductive surface of the mating surface of each coupling element), preferably without contact with the insulating material. In some embodiments, the conductive material may include an electrically conductive metal configured as a strip or line placed on the mounting surface. In some embodiments, the malleable conductive material may include indium. In some embodiments, the indium may be placed or placed on the mounting surface. In some embodiments, one or more indium wires may be used. In some embodiments, substantially pure indium wires may be used. When indium wires are used, the wires are spaced apart so that they can be deformed to form a conductive layer when the cable is inserted in the mounting area. It should be noted that the conductive material may be placed in any direction (i.e., longitudinal, transverse, or at any angle) within the mounting area. As described above, in some embodiments, a copper wire mesh may be bonded with indium to form a conductive layer. Generally, a conductive layer enhances the electrical contact between the mounting surface of the coupling element and the corresponding petal of the cable being coupled.

[0049] In some embodiments, the wires may be wrapped around each conductor (e.g., helically wrapped around each conductor such as cables 610 and 612) or placed in the mounting area of ​​the partitioned coupling. When each cable is placed in the mounting area, the conductive material deforms to give a conductive layer (ideally a conductive layer with substantially uniform thickness). This technique holds or fixes the indium in place during assembly, and any excess indium (i.e., any portion of indium not placed between the cable surface and the mounting surface of the partitioned coupling) is removed.

[0050] In some embodiments, the conductive material may be provided as a soft metal. For example, a metal that is malleable at room temperature (temperatures ranging from approximately 55°F to approximately 90°F) may be used. The purpose here is that the soft metal should be able to be handled, shaped, and firmly compressed between two surfaces (i.e., the surface of the bonded conductor and the mounting surface), thereby deforming a continuous surface, preferably without a heat treatment process. The conductive material may be located on the mounting surface or on the conductors 610 and 612. For example, when the conductors 610 and 612 are located on one of the mounting areas, the conductive material is located between the surface of the conductor (e.g., an HTS cable) and the surface of the mounting area.

[0051] In some embodiments, a deformable metal is preferred to provide a substantially uniform metal surface (ideally a nearly uniform metal surface) on the mounting surface of the mounting area. Such substantially uniform deformation and the resulting layer result in substantially uniform contact between the surface of the conductive layer placed in the mounting area and the surface of the mounting area. However, it should be recognized that in some embodiments, a substantially uniform layer thickness is not necessarily required, as the total coupling resistance does not depend directly and significantly on the thickness or layer.

[0052] In some embodiments in which wires are used, it is desirable that all wires (e.g., indium wires) be deformed in such a way that there are no gaps between the deformed wires (i.e., after the deformation of the wires, the deformed metal is continuous and ideally covers the entire mounting surface). Therefore, it is desirable to have a continuous and uninterrupted sheet or interface layer of conductive material (indium) at the end of the process to ensure a large (ideally maximum) contact area between the surfaces of the conductors 610 and 612 and the mounting surface of the partitioned bond.

[0053] The amount of pressure used to deform the conductive material depends on various factors, including the material of the cable, saddle member, and conductive material, as well as their size (e.g., diameter, cross-sectional area, etc.) and the configuration of the conductors being bonded, but is not limited to this. In some embodiments, a contact pressure of 30 MPa is desired to compress the conductive material 662 positioned between the surface of the cable and the mounting area of ​​the partitioned cable coupling 630 in order to form a good electrical connection.

[0054] The conductive metal may be provided in any shape. For example, as described above, the conductive metal may be provided as one or more wires. The wires may be provided in regular or irregular cross-sectional shapes, including, but not limited to, elliptical, circular, rectangular, square, triangular, or other cross-sectional shapes. Alternatively, the conductive metal may be provided in the form of (or as) a conductive paste or a conductive liquid metal. The specific form and shape of the conductive metal used is selected such that substantially adjacent and substantially continuous contact layers exist between the conductor (e.g., one of cables 610 and 612) and the mounting surface of the partitioned coupling.

[0055] The metal that deforms to provide a contact layer results in a low, inefficient passage between the cable and the partitioned coupling. In principle, the resistance of the coupling decreases almost linearly with increasing available area through which current can flow. Therefore, it is desirable to cover as much of the surface area of ​​the mounting area in contact with the coupled conductor as possible. Ideally, when the coupled cable is placed in the mounting area, the interface layer should cover the entire surface area of ​​the mounting area.

[0056] In some embodiments, the conductive metal may be positioned or applied (or spread) beyond the mounting surface of the cable from the mounting surface of the partitioned coupling. In some embodiments, the conductive metal may be positioned or applied (or spread) beyond portions of both the mounting surface of the cable and the mounting surface of the conductive member (e.g., a saddle member). In some embodiments, it may be necessary to heat the cable and / or mounting surface to promote or facilitate the deformation characteristics of the metal forming the conductive interface layer.

[0057] While various components that facilitate the techniques described herein for automatically removing and replacing parts from a tokamak have been described, the process of dividing the tokamak into multiple parts, separating each part, and removing the separated parts of the vacuum vessel from within the tokamak is described below. In the figures, Figures 7A–7F relate to the operation of dividing and separating the parts of the tokamak, Figures 11A–11F relate to the operation of removing the vacuum vessel (and optionally the blanket tank) from the tokamak, and Figures 15A–15D relate to the operation of reassembling the parts of the tokamak. Processes and components that may be employed to carry out these operations in at least some embodiments are described below. The operation of the devices or parts thereof described below, including, but not limited to, robots, robotic arms, cutting devices, welding devices, skid jacks, and other actuators, may be performed automatically (e.g., by one or more controllers based on sensor information collected in the tokamak hole) and / or manually by a user away from the tokamak hole (e.g., by one or more controllers based on user input). Therefore, while this method of operating an apparatus or part thereof is not explicitly described below in all cases, such apparatus or part thereof can nevertheless be operated in this manner. In addition, processes described as being performed by a single device, such as a robot, may, in any suitable case, be performed by multiple such robots (for example, cutting a vacuum vessel may be described as being performed by one robot, but instead it may be performed by two robots, each cutting one side).

[0058] Figures 7A–7F, 11A–11F, and 15A–15D show top and side views of the tokamak, respectively. In some cases, for illustrative purposes, components are shown partially transparent so that other hidden components may be visible. For example, in Figure 7A, the toroidal magnetic field coil 209 is shown through the cryostat 210, although it is understood that the transparent portion of the cryostat shown in the drawing does not necessarily need to be actually displayed.

[0059] Beginning with Figure 7A, it is shown that the tokamak is located on platforms 221 and 222, surrounded by a cryostat 210, and equipped with a toroidal magnetic field magnet 209. It is shown that the cutting robot 706 is positioned outside the cryostat 210 by a robot 705 having a remotely operated arm. The cutting robot 706 may also move around the meridian axis of the cryostat 210 (in the direction indicated by the arrow in Figure 7), cutting through the cryostat as it progresses.

[0060] According to some embodiments, one or more preparatory tasks may be performed before initiating the cutting of the cryostat in Figure 7A. Each of these tasks may be performed from a location outside the tokamak hall (for example, a control center within the same building, but outside the tokamak hall to avoid radiation exposure inside the hall).

[0061] In some embodiments, one or more preparatory steps may include draining blanket material from the tokamak's blanket tank. For example, one or more valves may be controlled to drain blanket material, emptying or nearly emptying the blanket tank. In some embodiments, one or more preparatory steps may include heating ("baking") the blanket tank and / or vacuum vessel and / or gas flushing the vacuum vessel to remove any residual tritium gas in the vacuum vessel. In some embodiments, one or more preparatory steps may include examining one or more sensor readings produced by sensors (e.g., beryllium sensors, tritium sensors) in the blanket tank and / or vacuum vessel to determine whether the blanket tank and vacuum vessel are sufficiently clean and empty for the maintenance process to proceed. In some embodiments, one or more preparatory steps may include cooling the vacuum vessel and blanket tank to room temperature (e.g., via active convection, passive convection, passive heat radiation to surrounding components, or a combination thereof).

[0062] In some embodiments, one or more preparatory steps may include turning off the power to the tokamak's magnets, including a toroidal magnetic field magnet, a poloidal magnetic field magnet, and a central solenoid. In some embodiments, one or more preparatory steps may include warming the tokamak's magnets and the tokamak's thermal shield to room temperature (by operating one or more heaters or by ambient temperature). In some embodiments, one or more preparatory steps may include introducing air into the cryostat and examining one or more sensor readings produced by one or more pressure sensors within the cryostat to determine whether there is a pressure difference throughout the cryostat.

[0063] Returning to Figure 7A, the cutting robot 706 may, for example, include an orbital cutting machine. In some cases, the cutting robot 706 may include a combination of an orbital cutting machine and an orbital welding machine, the same device which may be used to reassemble the cryostat later in a maintenance process. According to some embodiments, the cryostat 210 may include a passage along (or near) the meridian axis of the tokamak (or client) to which the cutting robot can move. In some cases, the cutting robot may be detached from robot 705 after robot 705 has positioned the cutting robot on the passage, or it may remain attached during its operation. The passage may include, for example, one or more rails to which the cutting robot can be handled. In some embodiments, the cutting robot may collect metal debris (e.g., scraps, fragments) generated during cutting, as these may need to be disposed of as radioactive waste. In some embodiments, the cutting robot may include one or more cameras that generate image data indicating whether the cutting of the client is being performed correctly.

[0064] According to some embodiments, the cryostat may be cut along or near a weld present between two halves of the cryostat. Figure 8 shows an example of such a weld, along with a passage traversed by a cutting robot 706 (and / or welding robot).

[0065] Once it is confirmed that the cutting robot has completely cut the cryostat (for example, by inspection through various image capture devices installed on the cutting robot, on the robot arm 705, or in the tokamak hole, or a combination thereof), maintenance may proceed to Figure 7B.

[0066] According to some embodiments, one or more operations may be performed after the cryostat has been disconnected. These operations may include disconnecting any fluid and / or electrical connections between the halves of the tokamak and releasing the couplings on the poloidal magnetic field magnets (e.g., the couplings described above in Figures 6A–6E). As with other operations performed during the maintenance process, these operations may be performed remotely in the tokamak hall using any number of suitable remotely controllable and / or automated devices.

[0067] According to some embodiments, after the cryostat has been cut, one or more heat shields may be cut by the same or different cutting robot that cut the cryostat. As described above, the heat shields may be located, for example, outside the toroidal magnetic field coil and / or between the toroidal magnetic field coil and the blanket tank. In the following operation, described below, the heat shields may be cut in the same manner as the cryostat to connect the blanket tank and the vacuum vessel. In some cases, the heat shields may comprise multiple components that can be detachably separated and joined together, even if they are not cut during this process.

[0068] According to some embodiments, one or more ports or other connections that allow connection to the vacuum vessel and / or blanket tank from outside the tokamak may be removed before and / or after the cryostat is disconnected. For example, an expansion of the vacuum vessel or blanket tank protruding outward in the space between adjacent toroidal magnetic field coils may be removed using a suitable robotic device.

[0069] Proceeding to Figure 7B, the robots 705 each have remotely operated arms and are controlled to divide the vacuum vessel into two parts. Either of the robots 705 may be the same or a different robot used to cut the cryostat in the step of Figure 7A. Each of the robots 705 may cut one seam of the vacuum vessel.

[0070] In the case of the “separated” blanket tank and vacuum vessel configuration shown in Figure 4A, cutting the seam of the vacuum vessel includes cutting the vacuum vessel and may be done either from inside the vacuum vessel or from within the space between the vacuum vessel and the blanket tank. If the vacuum vessel is cut into two parts from the inside, the robot 705 may open access ports through the blanket tank and vacuum vessel by cutting the vacuum vessel and / or by removing one or more plugs or other removable structures to allow access to the inside of the vacuum vessel. In some cases, the robot arm may reach through ports present in the vacuum vessel (e.g., ports in the heat shield). Cutting the vacuum vessel may proceed by guiding the arm of the robot 705 into the vacuum vessel to perform the cuts described below. If the vacuum vessel is cut into two parts from the outside, the robot 705 may cut doors in the blanket tank and cryostat to allow the robot to reach the blanket tank volume and access to cut the vacuum vessel.

[0071] Figure 9A shows an example of cutting a vacuum vessel from the inside, according to several embodiments. In the example in Figure 9A, the cutting torch (e.g., an oxygen acetylene torch) may be positioned at the end of the arm of a robot 705 (the arm and robot are not shown in Figure 9A). The cutting torch may be maneuvered to a cutting position inside the vacuum vessel and may be moved to cut through the vacuum vessel along the indicated poloidal direction. As shown in Figure 9A, the cutting torch may be positioned to cut the vacuum vessel, and the cutting may be made in the gap between parts of the plasma-facing equipment. In some cases, for example, the plasma-facing equipment may include a plurality of tiles, and the cutting may be made between such tiles. In some cases, the plasma-facing equipment may, in addition or instead, include a coating or sheet applied to the inside of the vacuum vessel. According to some embodiments, the plasma-facing equipment may include a material such as tungsten.

[0072] Figure 9B shows an example of cutting a vacuum vessel from the outside of the vacuum vessel according to several embodiments. In the example in Figure 9B, the cutting shuttle may be positioned by the arm of the robot 705 on a pair of rails placed on either side of the cutting seam. The cutting shuttle may be moved along the rails to poloidally traverse the outside of the vacuum vessel (and inside the blanket tank) while cutting the vacuum vessel. According to some embodiments, the cutting shuttle may be equipped with a cutting torch, such as an oxygen acetylene torch. Figure 7C shows an example of a robot poloidally traversing a vacuum vessel according to some embodiments, the traverse may occur while cutting the vacuum vessel from the outside. In some embodiments, the cutting shuttle may be moved to cut through plasma-facing equipment (e.g., sheets, layers, and / or tiles of materials such as tungsten and / or vanadium) in addition to the material forming the vacuum vessel (e.g., structural alloy). Alternatively, in some embodiments, the cutting shuttle may be moved to cut through the material forming the vacuum vessel without cutting through the plasma-facing equipment, by selecting a position for cutting that coincides with the gap between the parts of the plasma-facing equipment.

[0073] Regardless of whether the vacuum vessel is cut from the inside or outside, the robot 705 may then be moved to cut the blanket tank into two parts. In some embodiments, the blanket tank may have a pair of rails positioned on either side of the seam for cutting, and the arm of the robot 705 places a cutting shuttle (the same or a different cutting shuttle used to cut the vacuum vessel) on the rails. The cutting shuttle may be moved to cut the blanket tank poloidally along the rails on the outside of the blanket tank.

[0074] In the case of the "jointed" blanket tank and vacuum vessel configuration shown in Figure 4B, cutting the vacuum vessel into two parts may include removing fasteners that secure the blanket tank and vacuum vessel parts together. For example, in this case, robot 705 may be equipped with a nut-driven shuttle as described above with respect to Figure 4C. Figure 7C shows an example of a robot poloidally traversing a vacuum vessel according to one of several embodiments, the traverse may occur during the automatic removal of fasteners that hold the jointed portion of the blanket tank and vacuum vessel together.

[0075] Returning to Figure 7B, after dividing the vacuum vessel into two parts, the structure connecting the toroidal field coils on one side of the tokamak to the toroidal field coils on the other side of the tokamak may be separated, thereby mechanically separating the toroidal field coils into two groups. According to some embodiments, this operation may include using a robotic arm (e.g., the arm of robot 705) to insert a robotic shuttle into the toroidal field coil coupling through a cryostat. The shuttle may be moved to poloidally traverse the coupling, releasing fasteners along the passage.

[0076] Following the operations shown in Figures 7A–7C, the tokamak may separate into two separate parts, which may then move away from each other. One exemplary method for moving half of the tokamak is to utilize a skid system, as illustrated in the example shown in Figure 7D, according to some embodiments. In the example shown in Figure 7D, skid jacks 243 and 244 are positioned in passages 240 and 241, respectively. The passages may be positioned to run beneath the tokamak platforms 221 and 222, and the skid jacks may traverse along the passages to a position beneath one or both of the platforms.

[0077] Examples of suitable skid jack systems according to several embodiments are shown in Figure 10. In the example of Figure 10, a pair of skid jacks 244 are configured to traverse a passage 241. Each of the skid jacks 244 includes a body 244a and (at least) an actuated piston 244b (e.g., a hydraulic jack) that can be raised and lowered. Each skid jack is actuated to move horizontally along the passage 241 (to the right as shown in the figure) via a mechanism including an actuated piston (e.g., a hydraulic jack) 244d connected to an element 244c. The element 244c may be configured to be lockable in a certain position, and when the element is locked, the extension of the piston 244d pushes the body 244a along the passage. The element 244c may be unlocked, the piston 244d may retract, and the element 244c may be locked again and extend to move the body 244a further along the passage. To move the skid jacks in the opposite direction, each skid jack can be moved horizontally into the passage 241 (to the left as shown in the figure) by relocking element 244c in place and retracting piston 244d.

[0078] In some embodiments, the skid jack 244 may have a smooth lower "shoe" surface that is formed from or may comprise metal (e.g., a smooth stainless steel surface). In some embodiments, the passage 241 may comprise one or more low-friction surfaces on which the body 244a is located and moves, such as multiple PTFE blocks or graphite surfaces. Alternatively, it may be desirable to place these components in the opposite position, as it is undesirable to place certain materials, such as PTFE, inside the tokamak hole due to radiation exposure. For example, the skid jack 244 may comprise a frictionless lower "shoe" surface comprising PTFE and / or graphite, and the passage 241 may comprise smooth metal (e.g., smooth stainless steel) on which the skid jack's shoe is located and moves.

[0079] According to some embodiments, each skid jack 244 may be moved along the passage 241 by a jack and ratchet mechanism. For example, element 244c may be locked in place by positioning it adjacent to a structure protruding into the passage 241. In these positions, extending the piston 244 pushes element 244c against one or more protruding structures, pushing out the body 244a by the passage 241 fixed in place and the body 244a having a relatively low-friction interface with the passage. As a result, the skid jack moves in one direction (to the right in Figure 10). To move in the opposite direction, the piston 244d may be extended slightly beyond one or more protruding structures. Retracting the piston 244d pulls the body 244a along the passage.

[0080] Returning to Figure 7D, skid jacks 243 and 244 may be positioned on passages 240 and 241. In some cases, passages 240 and 241 may extend from the tokamak hall to another room (e.g., an anteroom) with a protected door between the tokamak hall and other rooms. Personnel may position the skid jacks on the passage while the door is closed, thereby ensuring safety from radiation, and after the personnel have exited, the door may be opened remotely, and the skid jacks may be moved to move along the passage into the tokamak hall. Alternatively, the skid jacks may be moved into the tokamak hall and positioned on the passage using an appropriate automated or remotely controllable device.

[0081] As shown in Figure 7E, the skid jacks may be operated under a platform 221 supporting one half of the tokamak, and the skid jacks operate to raise the platform 221 (for example, by extending pistons 244b on both skid jacks in sync). In some cases, the platform 221 may be raised a distance of several centimeters. In some embodiments, the tokamak hall may be equipped with one or more sensors (e.g., a camera, a LiDAR surveyor, a load sensor), and confirmation that half of the tokamak is supported by the skid jacks may be confirmed based on sensor data received from one or more of these sensors.

[0082] The skid jack may be moved backward along the passage to separate the two parts of the tokamak, as shown in Figure 7F.

[0083] While an illustrative process for dividing and separating parts of a tokamak has been described, Figures 11A–11F relate to the operation of removing the vacuum vessel (and optionally the blanket tank) from the tokamak.

[0084] According to some embodiments, one or more covers may be placed over the entire passages 240 and 241 (e.g., by a remotely operated manipulator vehicle) before removing the vacuum vessel from the tokamak portion. As shown in Figure 11A, cover 248 may be placed over the entire passage to provide a sufficiently smooth surface so that the mobile robot 251 can pass through platform 247 (which may have an inclined slope portion leading to the passage) to the tokamak portion without the robot slipping into any gaps in the platform where passages 240 and 241 are located. As mentioned above, skid jacks move straight along the passage to support and move half of the tokamak, but it may be desirable that they not be exposed during the movement of the vacuum vessel in these passages, so one or more such covers (e.g., plates) may be placed over the entire passage. Alternatively, the passage may be at platform height and configured so that there is no sufficiently large gap between the passage and the platform, and covers are not necessary to ensure that the mobile robot 251 can pass through the passage and platform.

[0085] In the example shown in Figure 11A, the mobile robot 251 is positioned on one or more self-propelled modular transporters (SPMTs) 252. The SPMT 252 may comprise any mobile robot, including a modular platform vehicle with any multi-directional (e.g., omnidirectional) steering, as referenced herein. The SPMT 252 may comprise multiple accelerators, such as a grid of computer-controlled accelerators (e.g., multiple accelerators intersecting the SPMT and multiple accelerators along the SPMT). The accelerators may be independently controllable. The SPMT 252 may be configured to be operable to raise and lower the platform height (e.g., by operating a hydraulic lift) in order to lift or lower loads. In some embodiments, the SPMT 252 may be configured to move the platform along any of a plurality of axes. For example, the SPMT252 may be configured to move the platform with six degrees of freedom, for example, along the x and y axes and rotation in the yaw direction using torque vector control and / or swivel wheels, and along the z axis and rotation in the roll and pitch directions using platform differential elevation.

[0086] Before removing the vacuum vessel portion from the tokamak portion, it is beneficial to enclose the volume of the vacuum vessel portion, for example, to prevent tritium from leaking from inside the vacuum vessel and contaminating the equipment, and / or to prevent radioactive material from entering the vacuum vessel. As shown in Figure 11A, the mobile robot 251 may be moved to the opening of the vacuum vessel via one or more SPMTs 252 (e.g., by a remote pilot) and may be moved to place the caps 255 in the opening of the vacuum vessel. In some embodiments, the alignment of the vacuum vessel and the caps may be given by the movement of the SPMTs 252 to position the SPMT platform in the desired position and orientation, thereby positioning the portion of the mobile robot 251 that holds the caps in the desired position. The caps may be placed in both openings in both portions of the vacuum vessel (there are four caps in total). The mobile robot 251 may be moved, as shown, to retrieve one or more caps 255 from outside the tokamak hole and to carry one or more caps to the tokamak portion. The caps 255 may each weigh, for example, approximately 100 tons. In some embodiments, the cap may include one or more mechanical fasteners, such as pins, hooks, detents, or combinations thereof, which may be connected to a suitable structure of the vacuum vessel for attaching the cap to the vacuum vessel.

[0087] After the vacuum vessel has been capped, the transport robot 260 positioned on one or more SPMTs 252 is moved adjacent to the portion of the tokamak, as shown in Figure 11B. The SPMTs may be moved to operate the coupling between the SPMTs 252 and the robot 260 to a suitable position. The SPMTs 252 in Figure 11B may be the same as or different from the SPMTs used to cap the vacuum vessel in Figure 11A. The transport robot 260 is configured to remove the portion of the vacuum vessel (or, in the case of the "coupled" design described above, the portion of the coupled vacuum vessel and blanket tank) from the tokamak. The SPMTs may be moved to carry out the portion of the vacuum vessel (or the coupled vacuum vessel and blanket tank) from the tokamak. The transport robot 260 may also be configured to insert a new portion of the vacuum vessel (or, in the case of the "coupled" design, a new portion of the coupled vacuum vessel and blanket tank) into the tokamak.

[0088] Broadly speaking, the transport robot 260 comprises a semi-annular platform (also referred to herein as a plate) arranged on a plurality of rollers. The transport robot 260 can control the semi-annular platform to rotate toward the side of the robot's body about its center. When the platform rotates in this manner, it may be positioned to slide beneath a portion of the vacuum vessel (or a portion of the combined vacuum vessel and blanket tank). The transport robot 260 may have one or more operable devices (e.g., one or more jacks) on the semi-annular platform that can be lifted to support a load. When the platform slides beneath a portion of the vacuum vessel (or a portion of the combined vacuum vessel and blanket tank), the operable devices may be lifted to support the portion of the vacuum vessel (or a portion of the combined vacuum vessel and blanket tank). The semi-annular platform may then be rotated toward the side of the transport robot 260, thereby removing the vacuum vessel (or a portion of the combined vacuum vessel and blanket tank) from the tokamak portion.

[0089] Figure 12A shows an exemplary implementation of a transport robot according to several embodiments. In the example of Figure 12A, a top view of the robot 260 is shown in the upper part of the figure, and a cross-sectional view through the A-A' section identified in the top view is shown in the lower part of the figure. The robot 260 includes a base portion 261 which may be placed in one or more SPMTs as shown and described above with respect to Figure 11B. A semi-annular platform (or semi-annular plate) 262 is arranged in a semi-annular groove within the base portion 261, with a plurality of rollers 263 placed between the base portion and the platform 262. The semi-annular platform may rotate about its center (i.e., about an axis 268) by moving an actuator 265 which generates rotation of the semi-annular platform. Examples of suitable actuators are described below. Jacks 264 are placed on the platform 262 using one of the jacks shown in the cross-sectional view of Figure 12A (generally, an appropriate number of jacks may be placed on the semi-annular platform).

[0090] According to some embodiments, the roller 263 may be coupled to a semi-annular platform, and as the semi-annular platform rotates about the axis 268, the roller also moves with the semi-annular platform into the tokamak portion. Alternatively, the roller 263 may be coupled to a base 261, and as the semi-annular platform rotates about the axis 268, the roller 263 remains in place on the base, and the semi-annular platform is supported within the tokamak portion by another suitable low-friction surface (e.g., a low-friction skid containing or formed from PTFE or graphite). Furthermore, the roller 263 may be replaced by another low-friction surface, e.g., a low-friction skid containing or formed from PTFE or graphite, which may be coupled to the semi-annular platform 262.

[0091] In some embodiments, in contrast to the example in Figure 12A, the base 261 may have a smooth top surface and a semi-annular platform 262 and rollers 263 positioned on the smooth top surface, and one or more induction devices that restrict the movement of the semi-annular platform when rotating.

[0092] According to some embodiments, the semi-annular platform 262 may have multiple teeth that mesh with a mechanism in the actuator 265 that gives rotation to the semi-annular platform. One such mechanism is shown in Figure 12B, which shows an actuated pinion gear coupled to the teeth in the semi-annular platform 262. In this example, the actuator 265 has an actuated pinion gear that, when in operation, rotates the semi-annular platform via a rack and pinion mechanism. Another example is shown in Figure 12C, which shows an actuated dog coupled to the teeth in the semi-annular platform 262. In this example, the actuator 265 has an actuated dog that, when in operation, moves back and forth to rotate the semi-annular platform.

[0093] According to some embodiments, the transport robot 260 may have one or more alignment functions configured to be coupled with complementary functions of the tokamak, thereby causing and / or detecting the correct alignment of the vacuum vessel in order to insert a portion of the vacuum vessel into the tokamak.

[0094] Figure 12D shows a semi-annular platform 262 of a transport robot 260 incorporated into a tokamak section according to several embodiments. In the example of Figure 12D, the semi-annular platform 262 is rotated into a tokamak section within a blanket tank 202 beneath a vacuum vessel 201. In the example of Figure 12D, the semi-annular platform 262 is connected to rollers 263 and moves into the tokamak section on the semi-annular platform as described above. The tokamak includes walls 269 that restrict the movement of the semi-annular platform within the tokamak, guiding the semi-annular platform to the desired position beneath the vacuum vessel 201. Once beneath the vacuum vessel, jacks 264 may be used to support and lift the weight of the vacuum vessel.

[0095] As described above, the vacuum vessel may be supported by a plurality of supports that can be detached from the vacuum vessel to provide clearance for removing the vacuum vessel from the tokamak. In some embodiments, as soon as the vacuum vessel is supported by the jack 264, this support is detached, thereby returning and rotating the body of the transport robot 260 to the semi-annular platform.

[0096] According to some embodiments, one or more toroidal field coils of a tokamak may be provided with a passage that becomes a space through which a semi-annular platform 262 can move. This passage may be formed, for example, within one or more toroidal field coil housings. Examples of such passages are shown in Figures 13 and 14, respectively, which show a passage constructed in a toroidal field coil housing that guides the semi-annular platform 262 when the coupled portion of the vacuum vessel and blanket tank is removed from the tokamak portion.

[0097] In the example in Figure 13, the semi-annular platform 262 is connected to rollers that roll in grooved passages constructed in the toroidal magnetic field (TF) coil housing, as shown. In the example in Figure 14, the semi-annular platform 262 is connected to a low-friction surface that moves into grooved passages constructed in the toroidal magnetic field (TF) coil housing (or, alternatively, moves into grooved passages constructed in the TF coil housing that include a low-friction inner surface). In either case, the blanket tank (BT) may then be lowered onto the semi-annular platform (and / or jacks on the semi-annular platform that are lifted to match the tank).

[0098] Returning to Figure 11B, the transport robot 260 may be configured and moved as described above to remove a portion of the vacuum vessel (or the combined portion of the vacuum vessel and blanket tank) from the tokamak. The steps in this process are shown in Figures 11C-11D for the configuration of separating the blanket tank and vacuum vessel, and in Figures 11E-11F for the configuration of combining the blanket tank and vacuum vessel. As shown in Figure 11C, for example, a portion of the vacuum vessel 201 is moved onto the transport robot 260. After this operation is completed, one or more SPMTs 252 are moved from the tokamak as shown in Figure 11D. Similarly, as shown in Figure 11E, a portion of the blanket tank 202 (and the vacuum vessel 201 inside it) is moved onto the transport robot 260. After this operation is completed, one or more SPMTs 252 are moved from the tokamak as shown in Figure 11F.

[0099] The process shown in Figures 11B–11D (or Figures 11C and 11E–11F in the case of a blanket tank and vacuum vessel coupling configuration) may be performed twice to remove the vacuum vessel from both sides of the tokamak.

[0100] Subsequently, the process shown in Figures 11B-11D (or Figures 11B and 11E-11F in the case of a blanket tank and vacuum vessel combined configuration) may be repeated in reverse order to introduce a new vacuum vessel (a new vacuum vessel and blanket tank combined). In particular, the transport robot 260 may be moved to one side of the tokamak (for example, after picking up the new vacuum vessel from the stage area), and the new vacuum vessel portion may be coordinated with the tokamak portion in preparation for its insertion. In some embodiments, this alignment process includes moving the SPMTs to move and / or rotate the transport robot 260. Alignment may be detected based on sensor data generated by one or more sensors (which may include imaging devices). In some embodiments, the alignment process may include moving the transport robot, and one or more alignment functions of the transport robot 260 and / or vacuum vessel are combined with complementary functions of the tokamak to generate and / or enable the detection of a desired alignment.

[0101] Subsequently, the new vacuum vessel portion may be rotated into the tokamak using the same process as described above for removal (for example, by operating a transport robot to rotate the semi-annular plate that holds the vacuum vessel). Supports for holding the vacuum vessel may then function within the tokamak, either actively by activating one or more supports, or passively by gradually lowering the vacuum vessel onto the supports. Skid jacks supporting one side of the tokamak may support that side of the tokamak during the process described above for removing the vacuum vessel and inserting a replacement vacuum vessel.

[0102] While an exemplary process for removing and replacing the vacuum vessel of a tokamak has been described, Figures 15A–15D relate to the operation of rejoining the parts of the tokamak.

[0103] According to some embodiments, any covers placed over passages 240 and 241 may be removed (for example, by a remotely operated manipulator vehicle) before the tokamak sections are reassembled.

[0104] Figures 15A and 15B show skid jacks 243 and 244, which move along passages 240 and 241, thereby moving the two halves of the tokamak together. In some embodiments, the tokamak hall may be equipped with one or more sensors (e.g., a camera, a LiDAR surveyor, a load sensor), and confirmation that the half of the tokamak supported by the skid jacks has been moved to a desired position next to the other half of the tokamak may be confirmed based on sensor data received from one or more of these sensors. In reverse order of the process described with respect to Figure 7E, the skid jacks 243 and 244 may be moved to lower the platform 221 (for example, by extending pistons 244b on both skid jacks in sync). In some cases, the platform 221 may be lowered a distance of several centimeters. The skid jacks may then be operated to move away from the platform 221. In some cases, passages 240 and 241 may extend from the tokamak hole to another room (e.g., an anteroom) having a protected door between the tokamak hole and the other room. In some cases, after the skid jack has been moved from the tokamak hole to the other room, the door between that room and the tokamak hole may be closed. Personnel may enter the room while the door is closed and remove the skid jack from the passage, thereby ensuring the personnel's safety from radiation. Alternatively, the skid jack may be moved into the tokamak hole and removed from the passage using an appropriate automated or remotely controllable device.

[0105] Figure 15C shows robots 705 that may be moved to perform one or more operations to join (or rejoin) the parts of the tokamak (each of which is the same or different robot used to split the tokamak as described with respect to Figures 7A-7C). During this process, alignment of one or more parts within the tokamak (e.g., parts of the vacuum vessel, parts of the blanket tank, etc.) may be performed. In some embodiments, this alignment may include operating one or more struts to position one or more parts so that they produce a desired position and / or rotation of the parts.

[0106] According to some embodiments, robot 705 may be moved to connect a structure that connects the toroidal field coils on one side of the tokamak to the toroidal field coils on the other side of the tokamak, thereby mechanically coupling the toroidal field coils into a single group. According to some embodiments, this operation may include utilizing a robotic arm (e.g., an arm of robot 705) to insert a robotic shuttle into the toroidal field coil coupling through a cryostat. The shuttle may be moved poloidally across the coupling and fastened along the passage. In the example in Figure 15C, two robots may be positioned to insert separate robotic shuttles into separate toroidal field coils, respectively.

[0107] As described above, the tokamak may comprise one or more poloidal magnetic field magnets, including one or more couplings from which the poloidal magnetic field magnets can be removed and reassembled, thereby enabling the poloidal magnetic field magnets to be separated and reassembled without significantly altering the electrical properties of the poloidal magnetic field magnets. According to some embodiments, the robot 705 may be moved to couple and / or lock the poloidal magnetic field couplings of the poloidal magnetic field magnets (e.g., the couplings described above with respect to Figures 6A-6E).

[0108] In some embodiments, in the case of the “separated” blanket tank and vacuum vessel shown in Figure 4A, the robot 705 each has a remotely operated arm controlled to join (e.g., weld) two parts of the vacuum vessel to a single vacuum vessel and to weld two parts of the blanket tank to a single blanket tank. Each of the robots 705 may join one seam of the vacuum vessel to one seam of the blanket tank. This operation may include joining (e.g., welding) two parts of the blanket tank along each of the two seams. In some embodiments, the blanket tank may have a pair of rails positioned on either side of the seam for welding, and the arms of the robot 705 may position a welding shuttle on the rails (e.g., a combination of cutting / welding shuttles previously used to cut the blanket tank). The welding shuttle may then move poloidally outside the blanket tank while traversing along the rails to weld the blanket tank. Robot 705 is moved along each of the two seams, whether before or after joining the two parts of the blanket tank, to join (e.g., weld) the two parts of the vacuum vessel. In some embodiments, the vacuum vessel may have a pair of rails positioned on either side of the seam for welding, and the arm of robot 705 may position a welding shuttle on the rails (which may be a combination of cutting / welding shuttles previously used to cut the vacuum vessel, for example). The welding shuttle may then be moved poloidally outside the vacuum vessel while traversing along the rails to weld the vacuum vessel. Similar to the cutting process described with respect to Figures 9A and 9B, welding of the vacuum vessel may be performed from inside or outside the vacuum vessel. Any of the above descriptions relating to cutting a vacuum vessel using a cutting shuttle may also be understood to apply to welding a vacuum vessel using a welding shuttle.

[0109] In the configuration of the blanket tank and vacuum vessel "coupling" shown in Figure 4, the coupling of the two parts of the vacuum vessel to a single vacuum vessel includes fastening the blanket tank and vacuum vessel parts together. For example, in this case, the robot 705 may be equipped with nut-driven shuttles, as described above with respect to Figure 4C, and may be moved to couple the two parts of the blanket tank and vacuum vessel coupling by crossing the joint as it moves poloidally around the joint between the two parts on the anti-drop stud and the threaded nut.

[0110] As shown in Figure 15D, the robot 705 may be moved to join the two halves of the cryostat 210. The robot 705 may be equipped with, for example, a robotic arm and a welding tool attached to the robotic arm. In some cases, the robotic arm may be equipped with a cutting and cutting tool combination, the cutting machine having been previously used to cut the cryostat in a maintenance process (for example, in the process described with respect to Figure 7A).

[0111] According to some embodiments, the cryostat 210 may have a passage along (or near) the meridian axis of the tokamak (or cryostat) to which a welding robot may be attached and traversed. For example, the robot 705 positions the welding robot in the passage by operating a robotic arm. The passage may include, for example, one or more passages through which the welding robot can move. In some embodiments, the welding robot may be equipped with one or more cameras that generate sensor data (e.g., image data) indicating whether welding of the cryostat is being performed correctly, and the data may be analyzed to determine the quality of the weld.

[0112] Figure 16 shows an exemplary tokamak system suitable for carrying out aspects of the present invention described herein, according to several embodiments. System 1600 comprises a tokamak 1601 located within a tokamak hall 1602. The tokamak 1601 is located on passages 240 and 241, where skid jacks 243 and 244 are located. When moved, the skid jacks 243 and 244 can move along passages 240 and 241 and may exit the tokamak hall when the door 1604 is open, as described above. System 1600 may also comprise the other components described above, including one or more of the robot 705, mobile robot 251, transport robot 260, and SPMTs 252.

[0113] One or more controllers 1610 are located outside the tokamak hole and are configured to control any operation of components of system 1600 in any of the methods described above. The dashed lines in Figure 16 represent any suitable combination of wired and / or wireless communication between the controllers 1610 and other components of system 1600, through which commands, sensor data, and / or any other suitable data may be transmitted to trigger the maintenance operations described above. In some cases, it may be understood that one or more components of system 1600 other than the controllers 1610 may include one or more controllers themselves, and that the controllers 1610 are given to instruct that at least some control of components of the system occurs outside the tokamak hole (but not limited to control occurring only outside the tokamak hole). For example, the controller 1610 may be configured to move skid jacks 243 and 244 to move along passages 240 and 241, to move a skid jack 1615 to open and close a door 1604 so that it can enter and exit the tokamak hole, to control robot 705 to place a cutting and / or welding shuttle into the cryostat, vacuum vessel, and / or blanket tank of the tokamak 1601, to control mobile robot 251 to cap a portion of the vacuum vessel (or the combination of the blanket tank and the vacuum vessel), to control transport robot 260 to remove or replace a portion of the vacuum vessel from the tokamak, to insert a portion of the vacuum vessel into the tokamak, and / or to control SPMTs 252 to move any of the transport robot 260, mobile robot 251, and / or robot 705 to a desired position relative to the tokamak 1601 or a portion thereof.

[0114] System 1600 also includes a sensor 1620. The sensor 1620 may include, but is not limited to, one or more optical sensors (e.g., cameras, infrared cameras, ultraviolet cameras, optical displacement sensors), radiation sensors (e.g., Geiger counters, tritium sensors), force sensors (e.g., load sensors, tension sensors), position sensors (e.g., limit switches, beam brakes, lidars), or combinations thereof. Any monitoring of the processes described above, including verifying that a step in the maintenance process has been successfully completed before proceeding to the next step, may be performed using these sensors. While examples of this monitoring have been given above, the operation of monitoring should not be considered limited to these specific examples.

[0115] The controller 1610 can be implemented in various ways. For example, the controller may be implemented using hardware, software, or a combination thereof. When implemented in software, the software code may run on any suitable processor or set of processors, whether provided on a single computer or distributed across multiple computers. This processor may be implemented as an integrated circuit, and may have one or more processors in an integrated circuit component, including commercially available integrated circuit components known in the art as CPU chips, GPU chips, microprocessors, microcontrollers, coprocessors, etc. Alternatively, the processor may be implemented in a custom circuit such as an ASIC, or a semi-custom circuit obtained by configuring a programmable logic device (such as an FPGA). Even more alternatively, the processor may be part of a larger circuit or semiconductor device, whether commercially available, semi-custom, or custom. As a specific example, some commercially available microprocessors have multiple cores, and one or a subset of these cores constitutes the processor. The processor may also be implemented using circuitry in any suitable format.

[0116] Although several aspects of at least one embodiment of the present invention have been described above, it will be understood that various alternatives, modifications, and improvements can be easily conceived by those skilled in the art.

[0117] Such substitutions, modifications, and improvements are intended to be part of the present invention and to be within the spirit and scope of the invention. Furthermore, while advantages of the present invention are shown, it should be understood that not all embodiments of the technology described herein include all described advantages. Some embodiments do not have to implement any of the features described as advantages herein, and in some cases, one or more of the described features may be implemented to achieve further embodiments. Accordingly, the foregoing description and drawings are provided merely as examples.

[0118] Various aspects of the present invention may be used individually, in combination, or in various forms not particularly described in the embodiments described above, and are therefore not limited to applications to details and forms of elements described or shown in the drawings. For example, an aspect described in one embodiment may be combined in any way with an aspect described in another embodiment.

[0119] Furthermore, the present invention may be embodied in a method as shown as an example. The actions performed as part of the method are performed sequentially in any suitable manner. Thus, embodiments may be configured such that the actions are performed in a different order than described, and may include performing several actions simultaneously, even if they are shown as a series of actions in exemplary embodiments.

[0120] Embodiment 1: A method for maintaining components inside a tokamak, the tokamak comprising a vacuum vessel arranged in a plurality of toroidal magnetic field magnets, the method comprising: dividing the tokamak into at least a first part and a second part, wherein the division of the tokamak comprises dividing the vacuum vessel into at least a first part and a second part; separating the first part of the tokamak from the second part of the tokamak, wherein the first part of the tokamak comprises the first part of the vacuum vessel and the second part of the tokamak comprises the second part of the vacuum vessel; rotating the first part of the vacuum vessel out of the first part of the tokamak onto a platform; moving the first part of the vacuum vessel out of the tokamak; rotating the second part of the vacuum vessel out of the second part of the tokamak onto a platform; and moving the second part of the vacuum vessel out of the tokamak.

[0121] Embodiment 2: The method according to Embodiment 1, further comprising the steps of: rotating a first portion of a replacement vacuum vessel into a first portion of a tokamak; rotating a second portion of a replacement vacuum vessel into a second portion of the tokamak; moving the first and second portions of a tokamak to another adjacent tokamak; and joining the first and second portions of a replacement vacuum vessel.

[0122] Embodiment 3: The method according to Embodiment 1 or 2, wherein the tokamak comprises a cryostat and a blanket tank around a vacuum vessel, and the method further comprises the steps of draining molten salt from the blanket tank, turning off the power to a plurality of toroidal magnetic field magnets, and warming the cryostat to room temperature, before dividing the tokamak into at least a first and a second part.

[0123] Embodiment 4: The method according to any one of Embodiments 1 to 3, wherein the tokamak comprises a plurality of thermal ports coupled to a vacuum vessel, and the method further comprises the step of welding the plurality of thermal ports together before dividing the tokamak into at least a first and a second part.

[0124] Embodiment 5: The method according to any one of Embodiments 1 to 4, wherein the tokamak is placed on a platform, and the method further includes the step of moving one or more self-propelled modular transporters (SPMTs) to move below the platform.

[0125] Embodiment 6: The method according to any one of Embodiments 1 to 5, wherein each of one or more SPMTs comprises one or more jacks, and the method further comprises the step of moving one or more jacks of one or more SPMTs to lift and support the platform.

[0126] Embodiment 7: The method according to any one of Embodiments 1 to 6, wherein the SPMTs are configured to move along a passage located beneath the platform.

[0127] Embodiment 8: The method according to any one of Embodiments 1 to 7, wherein the tokamak comprises a cryostat, and the method further includes the step of moving a robotic arm to open a port through the cryostat.

[0128] Embodiment 9: The method according to any one of Embodiments 1 to 8, wherein dividing the vacuum vessel into at least a first and a second part comprises moving the cutting head of a robotic arm, moving into the interior of the vacuum vessel through an open port, and cutting the vacuum vessel from the inside of the vacuum vessel.

[0129] Embodiment 10: The method according to any one of Embodiments 1 to 9, wherein the tokamak comprises a blanket tank around a vacuum vessel, and the method further comprises the step of moving a robotic arm to cut and / or open a door in the blanket tank to create a hole in the blanket tank.

[0130] Embodiment 11: The method according to any one of Embodiments 1 to 10, wherein dividing the vacuum vessel into at least a first and a second part includes moving a robotic arm, moving through a hole in a blanket tank, and positioning one or more cutting shuttles in an external passage of the vacuum vessel.

[0131] Embodiment 12: The tokamak comprises a blanket tank-vacuum vessel coupling including a vacuum vessel as a first internal volume and a blanket tank as a second internal volume, and the method comprises the steps of rotating out a first portion of the blanket tank-vacuum vessel coupling from a first portion of the tokamak, and thereby rotating out a first portion of the vacuum vessel from a first portion of the tokamak.

[0132] Embodiment 13: The method according to any one of Embodiments 1 to 12, further comprising the step of operating one or more capping vehicles to carry one or more lids to the first part of the tokamak, before rotating out the first part of the vacuum vessel from the first part of the tokamak, and positioning the first lid of the one or more lids on at least the open surface of the first part of the vacuum vessel.

[0133] Embodiment 14: The method according to any one of Embodiments 1 to 13, wherein the step of joining the first and second parts of the replacement vacuum vessel includes moving a robotic arm to weld the first and second parts of the replacement vacuum vessel together from inside either or both of the first and second parts of the replacement vacuum vessel.

[0134] Embodiment 15: The method according to any one of Embodiments 1 to 14, wherein the step of joining the first and second parts of the replacement vacuum vessel includes moving a robotic arm to position one or more welding shuttles in an external passage of either or both of the first and second parts of the replacement vacuum vessel.

[0135] Embodiment 16: The method according to any one of Embodiments 1 to 15, wherein the replacement vacuum vessel is a first internal volume of the blanket tank-vacuum vessel combination, and the step of joining the first and second parts of the replacement vacuum vessel includes moving a robotic arm to position one or more latch shuttles in an external passage of either or both of the first and second parts of the replacement vacuum vessel, and moving one or more latch shuttles to secure a plurality of latches across the passage between the first and second parts of the replacement vacuum vessel.

[0136] Embodiment 17: The method according to any one of Embodiments 1 to 16, wherein the step of rotating the first portion of the vacuum vessel out of the first portion of the tokamak onto a platform includes moving a vacuum vessel removal device and moving along the first portion of the tokamak, the vacuum vessel removal device comprising: a semi-annular platform having a rack, on which a semi-annular plate is arranged on a plurality of rollers; a plurality of jacks arranged on the semi-annular platform; at least one mechanism configured to rotate the semi-annular platform in a circular motion; moving at least one mechanism to rotate the semi-annular platform under the first portion of the vacuum vessel in the first portion of the tokamak; lifting the plurality of jacks of the vacuum vessel removal device to support the weight of the first portion of the vacuum vessel; and moving at least one mechanism to rotate the first portion of the tokamak out of the semi-annular platform, thereby rotating the first portion of the vacuum vessel out of the first portion of the tokamak.

[0137] Embodiment 18: The method according to any one of embodiments 1 to 17, wherein the semi-annular plate of the vacuum vessel removal device comprises a rack, and at least two mechanisms configured to rotate the semi-annular plate in a circular motion each comprise at least one operable pinion gear that engages with the rack on the plate.

[0138] Embodiment 19: The method according to any one of Embodiments 1 to 18, further comprising uncoupling a plurality of supports that support the weight of a first part of a vacuum vessel, and subsequently lifting a plurality of jacks of a vacuum vessel removal device to support the weight of a first part of a vacuum vessel.

[0139] Some actions are described as being performed by a “user.” It should be understood that the “user” does not necessarily have to be an individual, and that, in some embodiments, actions attributed to the “user” may be performed by a team of individuals and / or individuals in combination with computer-aided tools or other mechanisms.

[0140] The use of ordinal terms such as "first," "second," and "third" in claims modifying elements of a claim does not, in itself, imply that an element of one claim has priority, prior right, or order over an element of another claim, nor does it imply a temporal order in which the actions of the method are performed, but is used solely as a label to distinguish one claim element having a particular name from another element having the same name (but with the use of ordinal terms).

[0141] The terms “approximately” and “about” may be used in some embodiments to mean within ±20% of the target value, within ±10% of the target value, within ±5% of the target value, and within ±2% of the target value. The terms “approximately” and “about” may include the target value. The term “substantially equal” may be used in some embodiments to refer to values ​​that are within ±20% of each other, within ±10% of each other, within ±50% of each other, and within ±2% of each other.

[0142] The term “substantially” may be used to refer to a value that is within 20% of the comparative index in some embodiments, within 10% of the comparative index in some embodiments, within 5% of the comparative index in some embodiments, and within 2% of the comparative index in some embodiments. For example, a first direction that is “substantially” perpendicular to a second direction refers to a first direction that is within 20% of a 90° angle with the second direction in some embodiments, within 10% of a 90° angle with the second direction in some embodiments, within 5% of a 90° angle with the second direction in some embodiments, and within 2% of a 90° angle with the second direction in some embodiments.

[0143] Furthermore, the expressions and terminology used herein are for illustrative purposes only and should not be considered limiting. The use of “including,” “comprising,” or “having,” “containing,” “involving,” and their variations herein, means to include the items described therein and their equivalents, as well as any additional items.

Claims

1. A method for maintaining parts inside a tokamak, The tokamak comprises a vacuum vessel placed within a plurality of toroidal magnetic field magnets, The aforementioned method, The step of dividing the tokamak into at least a first part and a second part, The division of the tokamak includes dividing the vacuum vessel into at least a first part and a second part. Steps and A step of separating the first part of the tokamak from the second part of the tokamak, The first portion of the tokamak includes the first portion of the vacuum vessel, and the second portion of the tokamak includes the second portion of the vacuum vessel. Steps and The first part of the vacuum vessel is rotated out of the first part of the tokamak onto the platform, The steps include: moving the first portion of the vacuum vessel from the tokamak; The steps include rotating the second part of the vacuum vessel out of the second part of the tokamak onto the platform, The steps include: transferring the second portion of the vacuum vessel from the tokamak; A method that includes this.

2. A step of rotating the first part of the replacement vacuum vessel into the first part of the tokamak, The steps include rotating the second portion of the replacement vacuum vessel into the second portion of the tokamak, The steps include moving the first and second parts of the tokamak to another adjacent tokamak, The steps include joining the first and second parts of the replacement vacuum vessel, This also includes, The method according to claim 1.

3. The tokamak comprises a cryostat and a blanket tank surrounding the vacuum vessel, The aforementioned method, Before dividing the tokamak into at least a first part and a second part, The steps include: discharging molten salt from the blanket tank, The steps include turning off the power to the multiple toroidal magnetic field magnets, The steps include warming the cryostat to room temperature, This also includes, The method according to claim 1.

4. The tokamak comprises a plurality of thermal ports coupled to the vacuum vessel, The method further includes the step of welding the plurality of thermal ports together before dividing the tokamak into at least a first and a second part. The method according to claim 1.

5. The aforementioned tokamak is positioned on the platform. The method further includes the step of moving one or more self-propelled modular transporters (SPMTs) to move beneath the platform. The method according to claim 1.

6. Each of the one or more SPMTs is equipped with one or more jacks, The method further includes the step of moving one or more jacks of one or more SPMTs to lift and support the platform, The method according to claim 1.

7. The SPMTs are configured to move along a passage located beneath the platform. The method according to claim 5.

8. The tokamak is equipped with a cryostat, The method further includes the step of moving a robotic arm to open a port through the cryostat. The method according to claim 1.

9. Dividing the vacuum vessel into at least a first and a second part includes moving the cutting head of the robot arm, moving it through an open port into the interior of the vacuum vessel, and cutting the vacuum vessel from the inside. The method according to claim 8.

10. The tokamak comprises a blanket tank surrounding the vacuum vessel, The method further includes the step of moving a robotic arm to cut the blanket tank and / or opening a door in the blanket tank to make a hole in the blanket tank. The method according to claim 1.

11. Dividing the vacuum vessel into at least a first and a second part includes moving the robotic arm, moving through the hole in the blanket tank, and positioning one or more cutting shuttles in a passage outside the vacuum vessel. The method according to claim 10.

12. The tokamak comprises a combination of a blanket tank and a vacuum vessel, with the vacuum vessel having a first internal volume and the blanket tank having a second internal volume. The aforementioned method, The first part of the connection between the blanket tank and the vacuum vessel is rotated out from the first part of the tokamak, This involves the step of rotating and removing the first part of the vacuum vessel from the first part of the tokamak, including, The method according to claim 1.

13. Before rotating out the first part of the vacuum vessel from the first part of the tokamak, The steps further include operating one or more capping vehicles to transport one or more lids to a first portion of the tokamak, and positioning the first of the one or more lids on at least an open surface of the first portion of the vacuum vessel, The method according to claim 1.

14. The step of joining the first and second portions of the replacement vacuum vessel includes moving a robotic arm to weld the first and second portions of the replacement vacuum vessel together from inside either or both of the first and second portions of the replacement vacuum vessel. The method according to claim 2.

15. The step of joining the first and second parts of the replacement vacuum vessel includes moving a robotic arm to position one or more welding shuttles in an external passage of either or both of the first and second parts of the replacement vacuum vessel. The method according to claim 2.

16. The aforementioned replacement vacuum vessel has a first internal volume, which is the combination of the blanket tank and the vacuum vessel, including the blanket tank as a second internal volume. The step of joining the first and second parts of the replacement vacuum vessel is: The robotic arm is moved to install one or more latch shuttles in the external passages of either or both of the first and second parts of the replacement vacuum vessel. To move one or more latch shuttles and fix multiple latches across the passage between the first and second parts of the replacement vacuum vessel, including, The method according to claim 2.

17. The step of rotating the first part of the vacuum vessel out of the first part of the tokamak onto the platform is: Move the vacuum vessel removal device and move it along the first portion of the tokamak. Includes, The vacuum container removal device is The semi-annular plate is placed on multiple rollers, forming a semi-annular platform with racks, Multiple jacks arranged on the semi-circular platform, The semi-annular platform comprises at least one mechanism configured to rotate in a circular motion, To move at least one of the mechanisms and rotate the semi-annular platform beneath the first part of the vacuum vessel in the first part of the tokamak, The vacuum container removal device lifts the plurality of jacks and supports the weight of the first part of the vacuum container, To move at least one of the aforementioned mechanisms, to rotate and remove the first portion of the tokamak from the semi-annular platform, and thereby rotate and remove the first portion of the vacuum vessel from the first portion of the tokamak, including, The method according to claim 1.

18. The semi-annular plate of the vacuum container removal device comprises a rack, The at least two mechanisms configured to rotate the semi-annular plate in a circular motion each include at least one operable pinion gear that meshes with the rack on the plate. The method according to claim 17.

19. The process further includes uncoupling the connections of the multiple supports that support the weight of the first part of the vacuum vessel, and subsequently lifting the multiple jacks of the vacuum vessel removal device to support the weight of the first part of the vacuum vessel. The method according to claim 17.

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