Is there a device to get modulo of voltage value?
Such circuits are already part of many existing ADCs, so if your main goal is just to make a new type of ADC, you might be disappointed.

For an example, see this Analog Devices article about the architecture of a folding ADC.  On page 2, it shows a single stage resulting in a 1-bit digitization and a residue voltage, which is the same as the modulo of the voltage.  It is only modulo \$V_{ref}/2\$, but by cascading \$n\$ stages you can get the residue modulo \$V_{ref}/2^n\$. The schematic from the article: