Robot Sealing Nuclear Pool Cracks Using Suction-Integrated Tape Dispenser
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Solution Overview
Problem
Sealing cracks in nuclear pool walls, particularly at welding seams, is challenging due to the need for precise positioning of adhesive tape in deep, contaminated environments, where manual detection is imprecise and hazardous, and existing methods struggle with angular misalignment and positioning errors.
Innovation Solution
A mobile robot with a dispenser of adhesive tape coated with a protective material, integrated with a suction system that allows precise movement relative to other suction systems, enabling continuous tape application along long seams without prior defect detection, using a combination of suction cups and mechanical adjustments for precise positioning and movement control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If an articulated arm is used to reach cracks high on the vertical walls, then the robot can access high positions, but angular misalignment generates unacceptable positioning errors
Solution Approach 1:
The robot arm is divided into multiple articulated segments that can move independently. This segmentation allows the system to achieve long reach while maintaining positioning precision through coordinated movement of each segment, compensating for angular misalignment errors that would occur in a single rigid arm.
Solution Approach 2:
The articulated arm employs dynamic positioning with active compensation mechanisms. Sensors detect angular misalignment in real-time, and control systems adjust the arm's configuration dynamically to maintain precise positioning of the tape dispenser at the target location, overcoming the inherent flexibility issues of long articulated structures.
2Extent of automation
If a mobile robot with articulated arm is used, then automation is improved, but positioning error tolerance of 2mm becomes difficult to achieve
Solution Approach 1:
The system incorporates feedback mechanisms including sensors on the articulated arm that continuously monitor position and orientation. This feedback is fed to the control system, which adjusts the arm's movement in real-time to achieve the required 2mm positioning precision for tape placement, maintaining automation while overcoming mechanical limitations.
Solution Approach 2:
The patent replaces purely mechanical positioning with a hybrid system that uses mechanical articulated arms combined with active control systems. Sensors and actuators substitute for passive mechanical precision, allowing the system to achieve high positioning accuracy through electronic control rather than relying solely on mechanical rigidity.
3Loss of information
If manual defect detection is performed, then crack locations can be identified, but operator safety is compromised due to radiation exposure
Solution Approach 1:
The robot system performs defect detection autonomously using onboard sensors and detection equipment. The robot navigates to weld seams, detects cracks and defects, and applies tape sealing without human intervention, eliminating radiation exposure risks while maintaining detection accuracy through automated sensing and imaging systems.
4Reliability
If adhesive tape is applied to cover entire seams, then sealing reliability is improved, but tape application complexity increases
Solution Approach 1:
The robot system is designed as a multi-functional platform that can perform defect detection, navigation, positioning, and tape application in sequence. This universal system handles the entire sealing process from detection to application, managing the inherent complexity through integrated design rather than separate systems, while ensuring reliable sealing of entire weld seams.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution allows for accurate and efficient sealing of entire welds, eliminating the need for manual defect detection and reducing maintenance schedules, while ensuring precise tape placement and long-term sealing without radiation exposure risks.
Implementation Method 1
controlling a plurality of suction systems, the dispenser being mechanically integral with a first suction system, and controlling the movement of the first system relative to the other systems of said plurality of suction systems. Thus, said plurality of suction systems allows retaining the robot assembly on a vertical wall of the pool
Data Source
AI summary
The sealing of a crack in a pool of a nuclear facility, using a robot. The sealing, concerns in particular, that of a crack in a wall of a pool of a nuclear facility. In particular, it implements a mobile robot carrying an adhesive tape dispenser. At least the following are provided: controlling a plurality of suction systems, the dispenser being mechanically integral with a first suction system, and controlling the movement of the first system relative to the other systems of said plurality of systems.