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首页> 外文会议>ASME international conference on environmental remediation and radioactive waste management >IMPROVED THIRD GENERATION PERISTALTIC CRAWLER FOR REMOVAL OF HIGH-LEVEL WASTE PLUGS IN UNITED STATES DEPARTMENT OF ENERGY HANFORD SITE PIPELINES
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IMPROVED THIRD GENERATION PERISTALTIC CRAWLER FOR REMOVAL OF HIGH-LEVEL WASTE PLUGS IN UNITED STATES DEPARTMENT OF ENERGY HANFORD SITE PIPELINES

机译：改进的第三代蠕动履带车，用于拆除美国能源部汉福德站输油管道中的大量废料

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摘要

There are approximately 56 million gallons (212km~3) of high level waste (HLW) at the U.S. Department of Energy (DOE) Hanford Site. It is scheduled that by the year 2040, the HLW is to be completely transferred to secure double-shell tanks (DST) from the leaking single-tanks (SST) via transfer pipeline system. Blockages have formed inside the pipes during transport because of the variety in composition and characteristics of the waste. These full and partial plugs delay waste transfers and require manual intervention to repair, therefore are extremely expensive, consuming millions of dollars and further threatening the environment. To successfully continue the transfer of waste through the pipelines, DOE site engineers are in need of a technology that can accurately locate the blockages and unplug the pipelines. In this study, the proposed solution to remediate blockages formed in pipelines is the use of a peristaltic crawler: a pneumatically/hydraulically operated device that propels itself in a worm-like motion through sequential fluctuations of pressure in its air cavities. The crawler is also equipped with a high-pressure water nozzle used to clear blockages inside the pipelines. The crawler is now in its third generation. Previous generations showed limitations in its durability, speed, and maneuverability. Latest improvements include an automation of sequence that prevents kickback, a front-mounted inspection camera for visual feedback, and a thinner wall outer bellow for improved maneuverability. Different experimental tests were conducted to evaluate the improvements of crawler relative to its predecessors using a pipeline test-bed assembly. Anchor force tests, unplugging tests, and fatigue testing for both the bellow and rubber rims have yet to be conducted and thus results are not presented in this research. Experiments tested bellow force and response, cornering maneuverability, and straight line navigational speed. The design concept and experimental test results are reported.
机译：美国能源部（DOE）汉福德基地大约有5600万加仑（212km〜3）的高放废物（HLW）。按计划，到2040年，将通过传输管道系统将高放废物完全从泄漏的单罐（SST）转移到固定双壳罐（DST）。由于废物的成分和特性各异，因此在运输过程中在管道内部形成了堵塞。这些全部和部分堵塞物会延迟废物转移，需要人工干预才能修复，因此非常昂贵，耗资数百万美元，并进一步威胁环境。为了成功地继续通过管道传输废物，DOE现场工程师需要一种能够准确定位堵塞物并拔掉管道的技术。在这项研究中，用于补救在管道中形成的堵塞的建议解决方案是使用蠕动履带：一种气动/液压操作的装置，通过其气穴中压力的连续波动，其自身以蠕虫状的运动来推动自身。履带还配备有高压水喷嘴，用于清除管道内的堵塞物。现在，该爬虫已进入第三代。前几代产品在耐用性，速度和可操作性方面均显示出局限性。最新的改进包括可防止反冲的自动序列控制，用于视觉反馈的前置式检查摄像头以及用于改进机动性的更薄壁的外部波纹管。使用管道测试台组件进行了不同的实验测试，以评估履带相对于其前身的改进。波纹管和橡胶轮辋的锚固力测试，拔出测试和疲劳测试尚未进行，因此本研究未提供结果。实验测试了波纹管的力和响应，转弯机动性以及直线航行速度。报告了设计概念和实验测试结果。

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