Remote Nuclear Dismantling System with Intersecting Cranes
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Solution Overview
Problem
Current remote dismantling systems for nuclear power plants face challenges in efficiently transferring complex structure cut pieces due to interference with upper structures and lack of effective sealing during cutting processes, leading to increased risk and preparation time.
Innovation Solution
A remote dismantling system incorporating a cutting robot arm, a transfer robot arm, a gantry crane, and a jib crane, which allows for vertical movement and intersection to facilitate cut piece transfer without direct gripper interaction, and a band saw and turntable system for horizontal cutting, ensuring efficient cutting and transfer within a sealed workspace.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a gripper lowered from a crane is used to transfer cut pieces, then the transfer process is simple, but the gripper interferes with upper structures of complex facilities making transfer difficult
Solution Approach 1:
The patent introduces a horizontal movement mechanism (cart with wheels) to add a horizontal dimension to the transfer process. Instead of vertically lowering the gripper from above (single vertical dimension), the system moves horizontally along the facility structure while transferring cut pieces, allowing the gripper to access areas that would otherwise be blocked by upper structures.
Solution Approach 2:
The patent introduces a cart as an intermediary device between the gripper and the cut pieces. The cart serves as a mobile platform that the gripper can load onto and transport, mediating the transfer process and allowing flexible navigation around complex structures rather than direct vertical lowering.
2Adaptability or versatility
If the gripper is manufactured in a special shape to reach deeply inside structures, then the gripper can access difficult positions, but the gripper size must be greatly increased and replacement is needed
Solution Approach 1:
The patent makes the gripper system dynamic by mounting it on a mobile cart that can move horizontally. Instead of creating a static, oversized gripper to reach deep structures, the system dynamically positions the standard-sized gripper closer to the work area by moving the cart, reducing the need for excessive gripper size or replacement.
Solution Approach 2:
The patent creates a universal transfer system where a standard gripper combined with a mobile cart can handle various complex structures. The cart-gripper combination serves multiple functions: horizontal transport, vertical gripping, and navigation around obstacles, replacing the need for specialized oversized grippers for different structures.
3Weight of moving object
If a polar crane is used to transfer heavy structures, then heavy weight transfer is enabled, but the wire prevents effective sealing of the reactor pool
Solution Approach 1:
The patent segments the transfer function into two parts: the gantry crane handles heavy weight lifting, while the mobile cart handles horizontal positioning and precise placement. This segmentation allows the wire to be used only when heavy lifting is needed, and the cart to operate independently for positioning, improving sealing during cutting operations.
Solution Approach 2:
The mobile cart acts as an intermediary between the gantry crane and the cut pieces. The crane lifts heavy structures to the cart, which then performs horizontal transport and positioning. This intermediary role allows the wire to be retracted or minimized during cutting operations, improving sealing effectiveness while maintaining heavy weight transfer capability.
4Ease of manufacture
If different cutting equipment is used for each unit dismantling process, then the dismantling can be performed, but the operator is exposed to radioactivity and preparation time increases
Solution Approach 1:
The patent creates a universal remote dismantling system where a single integrated setup (gantry crane + mobile cart + gripper + cutting equipment) can handle various dismantling tasks. The system is designed to be remotely operated and can accommodate different cutting equipment configurations, eliminating the need for operators to physically handle different specialized equipment for each unit, thereby reducing radiation exposure and preparation time.
Data Source
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AI summary
The present invention relates to a remote dismantling system for a nuclear power plant. The remote dismantling system comprises: a transfer system for transferring an object to be cut, the object being placed on one side of the transfer system; and a parallel vertical rail robot arm system arranged within the movement radius of the transfer system and comprising a cutting robot arm for cutting the object to be cut. The transfer system comprises a gantry crane and a jib crane which are arranged to be movable across each other and transfer the object to be cut. The parallel vertical rail robot arm system comprises a transfer robot arm arranged to be vertically movable along with the cutting robot arm in order to transfer finely cut pieces which have been cut from the object to be cut.