Keywords
Citation
(2003), "Robot for nuclear waste removal", Industrial Robot, Vol. 30 No. 6. https://doi.org/10.1108/ir.2003.04930fad.006
Publisher
:Emerald Group Publishing Limited
Copyright © 2003, MCB UP Limited
Robot for nuclear waste removal
Robot for nuclear waste removal
Keywords: Robots, Nuclear, Waste disposal, Patents
Applicant: Framatome Anp, FrancePatent number: EP1215683Publication date: 19 June 2002Title: Segmented link robot for waste removal
This patent relates to a system for removing nuclear waste from a storage silo. The invention provides a revolving turret reeled cable incremental link Extending Vacuuming Robot (ReTRIEVR) that can be deployed from a gantry structure to break up and vacuum waste from the confined space of Silo-3 structures. These are 80-ft diameter 35-ft high domed structures for housing dry powdery or granular metal oxide waste by-products from processing concentrated uranium ore from the early days of the US nuclear program.
The ReTRIEVR is a long-reach robot that combines a segmented-link-mast with an industrial Master-Slave robot on the mast end. A longitudinal hinge along the link permits clamshell closure around the working cables. The clamshell halves are latched together by a linear array of captive screws. Adjacent links are joined by a transverse hinge pin, and the two hydraulic cylinder connecting pins. Articulation is achieved by extending and retracting the hydraulic cylinders. The end of the link platform features a six degree-of-freedom, hydraulically operated, dexterous robotic arm. The arm can hold and manoeuvre a vacuuming tube, a delumping tool, a fixative spray tool; and other tools that may be required to assist in waste retrieval. The ReTRIEVR robot is inserted through an access hole in the centre of the silo dome.