Robotic Tank Cleaning Arm for Leak-Free Nuclear Waste Removal
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Solution Overview
Problem
Existing methods for removing nuclear waste from large underground tanks are hazardous for humans due to radiation and structural instability, and often require injecting liquids that can lead to leaks, making it difficult to safely remove solid waste and sludge without introducing water or fluids.
Innovation Solution
A robotics-based Tank Cleaning System (TCS) that deploys a mast assembly, arm assembly, and debris removal tools to access and remove debris from tanks without human entry, using mechanical and hydraulic components to manipulate tools like plow and bucket tools, and a computerized control system for remote operation, ensuring all electrical systems remain outside the tank.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If liquid injection method is used to remove waste, then waste removal efficiency is improved, but risk of tank leakage increases
Solution Approach 1:
The patent extracts the harmful liquid injection step from the waste removal process. Instead of injecting liquids into the tank to create slurry, the system uses a robotic arm with specialized tools (plow, bucket, vacuum) to mechanically remove waste directly from the tank bottom, eliminating the source of potential leaks while maintaining waste removal efficiency
Solution Approach 2:
The patent replaces the hydraulic/liquid-based waste removal system with a mechanical robotic system. The robotic arm equipped with plow, bucket, and vacuum tools mechanically scoops and removes waste directly, substituting the liquid injection method that caused structural stress and leakage risks
2Ease of operation
If human entry into tank is required for cleaning, then direct observation and manual operation are improved, but exposure to radiation and hazardous conditions increases
Solution Approach 1:
The patent introduces a robotic arm as an intermediary between the operator and the hazardous tank environment. The robotic system transmits operator commands and provides video feedback, allowing indirect observation and control without human exposure to radiation. The robotic arm acts as the mediator that performs dangerous tasks while keeping humans safe
Solution Approach 2:
The patent creates a virtual copy of the tank environment through video cameras and displays, allowing operators to observe and control operations remotely. Instead of direct human observation inside the tank, the system uses visual copying through camera feeds to provide situational awareness without physical exposure
3Reliability
If robust remote retrieval equipment is deployed, then safety is improved, but device complexity increases
Solution Approach 1:
The patent segments the complex robotic system into modular, interchangeable tools attached to a common robotic arm platform. The system uses separate plow, bucket, and vacuum tools that can be attached and detached as needed, making the complex functionality manageable through modular design rather than a single monolithic complex system
Solution Approach 2:
The patent creates a universal robotic arm platform that can perform multiple waste removal functions through different tools. The single robotic arm can switch between plowing, bucket scooping, and vacuuming operations, consolidating multiple functions into one system rather than requiring separate complex equipment for each task
Data Source
AI summary
Systems and methods are disclosed for inspection, maintenance, debris removal, and cleaning of environments that may be difficult to access and hazardous. The system comprises a mast assembly, an arm assembly, a debris removal system, and a drive system. The mast assembly comprises an inner mast and an outer mast having a central axis about which the arm assembly revolves. The arm assembly provides support for the debris removal system. The debris removal system comprises a bucket tool, a plow tool, and one or more hoses for clearing and removing debris. The drive system comprises a plurality of one or more of cables, pulleys, rollers, and hoists to at least one of control motion of the arm assembly, raise and lower the inner mast, and position and control at least one of the bucket tool and the plow tool. The system is at least one of manually or automatically controlled.