Architecture and management of a geological repository - Andra

Two complementary functions are assigned to this specific equipment. The first function is toovercome the friction forces resulting from a possibly corroded sleeve by applying a significant tensileforce to the package to be withdrawn. The second function is related to the possibility of package-tosleeveadhesion, even if this is unlikely to occur because of the precautions taken to prevent thisphenomenon (sealing of the cell, ceramic pads). To deal with this situation, if it does occur, the robotis designed to be capable of lifting the top section of the package (or plug) and thus “separate” thepackage from the sleeve.The robot is connected to the fixed equipment via an umbilical chord. The function of this umbilicalchord is to transmit to the package the tensile strength exerted by the winch and supply the robot withhydraulic fluid.The transfer cask is designed to be fitted at the head of the cell under the same conditions as during theemplacement operations.• Description of the pulling robot and associated winchFigure 10.4.11Example of a pulling robot used to retrieve packagesThe pulling robot (Figure 10.4.11) is an entirely hydraulic apparatus. It assumes three successivefunctions: traversing of the robot body from the transfer cask to the package to be withdrawn, packagepickup and lifting of head of the package. A preliminary study confirmed that its size is comparable tothat of the pushing robot used for installation. It is comprised within a cylinder of a diameterequivalent to that of the retrieved package and of a length of less than 2 metres.As for installation, package pickup is performed by a tie-down device consisting of threehydraulically-powered jaws.DOSSIER 2005 ARGILE -ARCHITECTURE AND MANAGEMENT OF A GEOLOGICAL DISPOSAL SYSTEM428/495