Remote Filter Replacement Arm for Radioactive Structures
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Solution Overview
Problem
Replacing filters in nuclear reactor radioactive structures poses risks of worker overexposure to radioactivity and safety accidents due to the large size and hazardous nature of the filters.
Innovation Solution
A filter replacement device equipped with an articulated manipulator, tool, and socket, which allows remote operation and precise control, minimizing human exposure by using a manipulator with five degrees of freedom, force-torque sensing, and imaging for accurate bolt detection and operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a worker manually replaces the filter in the radioactive structure, then the filter replacement operation can be performed, but the worker is exposed to radioactivity and safety accidents may occur
Solution Approach 1:
An automated manipulator system serves as an intermediary between the operator and the radioactive filter, performing all replacement operations remotely. The manipulator includes a moving body with fastening parts for securing to the reactor vessel, an articulated arm with multiple degrees of freedom for positioning, and a tool assembly with socket for bolt manipulation, eliminating direct human exposure to radiation while maintaining operational capability
Solution Approach 2:
The manual mechanical operations of filter replacement are substituted with an automated mechanical system. The manipulator uses servo motors, reducers, and sensors to automatically position, grip, and manipulate bolts and filters, replacing the need for manual mechanical handling that exposed workers to radiation hazards
2Reliability
If the filter size is large to ensure proper function, then filtration effectiveness is improved, but the risk of safety accidents such as worker falling increases
Solution Approach 1:
The manipulator system acts as an intermediary that can safely handle large filters without exposing workers to fall risks. The articulated arm with multiple joints and the end-effectors provide controlled manipulation of heavy filter components, eliminating the need for workers to physically handle large filters that could cause falling accidents
3Measurement precision
If the manipulator is provided with multiple degrees of freedom and sensors for precise control, then operational precision and safety are improved, but device complexity increases
Solution Approach 1:
The manipulator is designed as a multi-functional integrated system where a single device performs positioning, gripping, bolt manipulation, and sensing functions. The tool assembly can be detached and reconfigured for different operations, and the articulated arm serves multiple positioning purposes, reducing the need for separate specialized devices while maintaining high precision through five degrees of freedom and sensor feedback
Data Source
AI summary
Disclosed is a filter replacement device which can replace a filter in a radioactivated structure. The filter replacement device comprises: a body; an articulated manipulator provided at one side of the body and having five degrees of freedom; a tool detachably provided at the end of the manipulator so as to perform all operations for replacing a filter in a target object; and a socket detachably provided on the tool.