СИСТЕМА ОБСЛЕДОВАНИЯ ПАРОГЕНЕРАТОРОВ

... 1. Система обследования парогенераторов, включающая в себя:первую телескопическую стрелу;вторую телескопическую стрелу, один конец которой соединен шарнирно с первой стрелой, чтобы обеспечить поворот снизу вверх второй телескопической стрелы относительно первой телескопической стрелы под углом приблизительно в 90°, и имеющую на втором конце подающую капсулу, образующую отсек хранилища;первое роботизированное движущееся устройство обследования, соответствующее по размерам отсеку хранилища подающей капсулы и включающее в себя отсек хранилища, по меньшей мере, одну камеру обследования и, по меньшей мере, одну систему подсветки, а также систему кабелей, соединяющую первое роботизированное движущееся устройство обследования с подающей капсулой; ивторое роботизированное движущееся устройство обследования, соответствующее по размерам отсеку хранилища первого роботизированного движущегося устройства обследования и включающее в себя приводную систему, по меньшей мере, одну камеру обследования и, ...

REINIGUNGSGERAET FUER DIE DICHTFLAECHEN EINES BEHAELTERS

Verfahren und Vorrichtung zur Ermittlung der Abweichung eines entlang eines Ist-Weges translatorisch geführten Körpers von einem Soll-Weg

In einem Verfahren zur Ermittlung der Abweichung (62) eines entlang eines Ist-Weges (20) translatorisch geführten Körpers (14) von einem Soll-Weg (18) wird a) ein mit dem Soll-Weg (18) räumlich korrelierter Leitstrahl (26, 44) neben dem Ist-Weg (20) angebracht. Am Körper (14) wird b) eine auf den Leitstrahl (26, 44) gerichtete Kamera (28) angebracht. Der Körper (14) wird c) entlang des Ist-Weges (20) verfahren und die Kamera (28) nimmt hierbei ein Kamerabild (52) des Leitstrahls (26, 44) auf. Die Abweichung (62) des Ist-Weges (20) vom Soll-Weg (18) wird d) aus dem Abbild (54) des Leitstrahls (26, 44) im Kamerabild (52) ermittelt. DOLLAR A Eine Vorrichtung zur Ermittlung der Abweichung (62) eines entlang eines Ist-Weges (20) translatorisch geführten Körpers (14) von einem ihm für seine Bewegung zugeordneten Soll-Weg (18), wobei der Körper (14) auf einer Führung (12) translatorisch verfahrbar ist, weist eine am Körper (14) angebrachte Kamera (28) auf, wobei die Kamera (28) auf einen neben ...

INSPECTION APPARATUS

RESCUE VEHICLE FOR THE APPLICATION IN RADIATIONCONTAMINATED RAEUMEN.

OBSTACLE SURMOUNTING AID FOR TRACKED VEHICLE

UNMANNED ARTICULATED VEHICLE

UNMANNED ARTICULATED VEHICLE ABSTRACT A tracked vehicle of narrow aspect suitable for unmanned operation both in hazardous environments and on routes normally accessible only to pedestrians, comprises two identical vehicle units (1, 2) each having an independently drivable, full width track (3), the units being interconnected in tandem configuration by an articulation mechanism (9) permitting relative rotation about a yaw axis (Y). In one aspect the articulation mechanism is passive, being arranged with an offset yaw axis, thereby permitting steering by application of a velocity differential to the two tracks. In a second aspect the articulation mechanism is active being powered by an actuator (94) to provide articulation steering. The articulated units may also be secured in parallel configuration for conventional skid-steering operation.

REMOTE VISUAL INSPECTION SYSTEM

TRANSPORTABLE MONITORING SYSTEM

A system for monitoring a reactor module housed in a reactor bay may include a mounting structure and one or more extendable attachment mechanisms connected to the mounting structure. Additionally, one or more monitoring devices may be operably coupled to the one or more extendable attachment mechanism, and the one or more extendable attachment mechanisms may be configured to selectively position the one or more monitoring devices at varying distances from a wall of the reactor bay to place the one or monitoring devices in proximity to the reactor module.

Manipulator for testing a bottom head web of a reactor pressure vessel

Inspection Tool and process for inspecting a The reactor component.

Ein erfindungsgemässes Inspektionswerkzeug umfasst eine Installationsplattform (210) und einen Scankopf (220). Der Scankopf (220) kann dafür ausgelegt sein, eine Indexbewegung, eine Theta-Bewegung, eine Handgelenksausklappbewegung und eine Scanbewegung auszuführen. Während der Scanbewegung wandert ein Transducer des Scankopfes (220) auf einem umlaufenden Weg, um so eine Inspektion einer Fläche zu ermöglichen, die einer Fläche gegenüberliegt, auf welcher die Installationsplattform (210) montiert ist. Das Inspektionswerkzeug kann zum Inspizieren einer Reaktorkomponente, wie z.B. einem Strahlpumpensteigrohr, in einem Kernreaktor verwendet werden.

Inspection tool and method for inspecting a reactor component.

Ein erfindungsgemässes Inspektionswerkzeug umfasst eine Installationsplattform (210) und einen Scankopf (220). Der Scankopf (220) kann dafür ausgelegt sein, eine Indexbewegung, eine Theta-Bewegung, eine Handgelenksausklappbewegung und eine Scanbewegung auszuführen. Während der Scanbewegung wandert ein Transducer des Scankopfes (220) auf einem umlaufenden Weg, um so eine Inspektion einer Fläche zu ermöglichen, die einer Fläche gegenüberliegt, auf welcher die Installationsplattform (210) montiert ist. Das Inspektionswerkzeug kann zum Inspizieren einer Reaktorkomponente, wie z.B. einem Strahlpumpensteigrohr, in einem Kernreaktor verwendet werden.

ROBOT PLATFORM FOR THE REMOTE CONTROLLED AND/OR INDEPENDENT INSPECTION OF TECHNICAL MECHANISMS.

Die Erfindung betrifft eine Roboterplattform (20), welche zur ferngesteuerten und/oder selbständigen Inspektion von technischen Einrichtungen, insbesondere in Kraftwerken, vorgesehen ist und wenigstens Antriebsmittel (15) für die Fortbewegung der Roboterplattform (20), Inspektionsmittel (17) für die Inspektion der technischen Einrichtung sowie Kommunikationsmittel zum Austausch von Mess- und/oder Steuerdaten umfasst. Eine besondere Flexibilität im Einsatz und erweiterte Einsatzbereiche werden dadurch erzielt, dass die Roboterplattform (20) modular aufgebaut ist und die Kommunikationsmittel nach einem einheitlichen Standard arbeiten.

INSTALLATION TO INSPECT DANGEROUS SITES REMOTELY

PROCESS AND OPTICAL INSPECTING DEVICE Of a WELDING SITUEE BELOW an INSULATING LAYER

DEVICE FOR DISPLACEMENT, INSIDE a CONTROL, DETECTING ELEMENTS Of a TESTING DEVICE OF the DEFECTS OF THE AFORESAID CONTROL

CONVEY HAS RUNNING GEAR HAS GEOMETRY VARIABLE

FREIGHT VEHICLE Of INSTRUMENTS OF CONTROL AGAINST a WALL

L'INVENTION CONCERNE UN VEHICULE DE TRANSPORT D'INSTRUMENTS DE CONTROLE. ELLE SE RAPPORTE A UN VEHICULE AYANT UNE STRUCTURE 2 QUI PORTE DES INSTRUMENTS 15 DE CONTROLE. LA STRUCTURE 2 PORTE DES PATINS DANS LESQUELS DES JOINTS 6 DELIMITENT UNE CAVITE D'ASPIRATION QUI PERMET LA FIXATION DU VEHICULE EN POSITION VOULUE SUR UNE SURFACE S. DES BUSES 11 PERMETTENT UN ECARTEMENT DU VEHICULE DE LA PAROI LORSQUE CELUI-CI DOIT SE DEPLACER LATERALEMENT, SOUS LA COMMANDE DE PETITES BUSES DE PROPULSION PAR REACTION. APPLICATION AU CONTROLE DES CUVES DES REACTEURS NUCLEAIRES. THE INVENTION CONCERNS A VEHICLE FOR TRANSPORTING CONTROL INSTRUMENTS. IT RELATES TO A VEHICLE HAVING A STRUCTURE 2 WHICH CARRIES 15 CONTROL INSTRUMENTS. THE STRUCTURE 2 CARRIES SHOES IN WHICH JOINTS 6 DELIMIT A SUCTION CAVITY WHICH ALLOWS THE FIXING OF THE VEHICLE IN THE DESIRED POSITION ON A SURFACE S. NOZZLES 11 ALLOW THE VEHICLE TO BE DISTRIBUTED FROM THE WALL WHEN THIS IS RELEASED. , UNDER THE CONTROL OF SMALL REACTION PROPULSION NOZZLES. APPLICATION TO THE TANK CONTROL OF NUCLEAR REACTORS.

METHOD AND DEVICE FOR INSPECTING A STEAM GENERATOR

VEHICLE SUITED HAS SE TO MOVE WITH ADHERENCE ON AN UNSPECIFIED SURFACE

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

Mobile robotic assembly for inspecting reactor vessel heads and methods of using the same

A mobile robotic assembly for guiding an end effector in inspecting reactor vessel heads is disclosed. The mobile robotic assembly includes a mobile platform; a support assembly extending vertically from the mobile platform, wherein the support assembly comprises an adjustable height; and a robotic arm attached to and extending laterally from the support assembly.

Apparatus and method for inspecting areas surrounding nuclear boiling water reactor core and annulus regions

A remotely controlled apparatus (112) for inspecting the core (102) and annulus (104) areas of nuclear boiling water reactors (100) includes a circumferential drive mechanism for propelling the apparatus (112) on the steam dam (108) of the reactor (100). The inspection apparatus (112) uses a set of driver rollers (314) that grip the side of the steam dam (108) and provide propulsion for the apparatus. A pinch-roller assembly with high-tension springs (308) and pneumatic air cylinders (310) is utilized for removably securing a set of pinch rollers (312) to the side of the steam dam opposite the side of the driver rollers (314). A set of rollers (304) are adapted to rest on top of the steam dam (108), supporting the weight of the apparatus (112) and enabling the apparatus to move around the steam dam (108). Two positioning guide rails (306) aid in the balance of the apparatus (112), especially when it is stationary. The apparatus (112) has a watertight main body (202), which houses the electrical ...

Method of inspecting or utilizing tools in a nuclear reactor environment

A method of inspecting or utilizing tools in the underwater environment of a nuclear reactor vessel, a spent fuel pool or equipment pit includes floating a platform for transporting inspection devices and/or tools over an underwater target site and deploying the devices or tools to the underwater target site. The platform may be coupled to a boom whose opposite end is carried by a cart movable about a floor area surrounding the pool. Alternatively, the platform may be independently movable along the water surface by thrusters.

DEVICE WITH A MANIPULATOR UNIT

A device with a manipulator unit which comprises a driveable manipulator arm is proposed. According to the present invention, there is a lifting arrangement with a flexible pulling element, on which lifting arrangement the manipulator unit is lowerable and/or raisable in a suspended manner, wherein coupling means acting between the flexible pulling element and the manipulator unit are present designed in such a manner that the manipulator unit in the suspended state on the pulling element is adjustable spatially about an axis in order to set a predefined orientation. 1. A device with a manipulator unit having a driveable manipulator arm , said device comprising a lifting arrangement with a flexible pulling element , on which lifting arrangement the manipulator unit is lowerable and/or raisable in a suspended manner , and coupling means acting between the flexible pulling element and a basic body of the manipulator unit such that , in the suspended state of the manipulator unit on the pulling element , the basic body is adjustable in order to set a predefined spatial orientation of the basic body.2. The device as claimed in claim 1 , wherein a main plane of the manipulator unit is adjustable from a vertical orientation into a horizontal orientation.3. The device as claimed in claim 1 , wherein the coupling means comprises a substantially rigid coupling element connected to the pulling element.4. The device as claimed in claim 1 , wherein the coupling means acts on the manipulator unit via an adjustment arrangement.5. The device as claimed in claim 4 , wherein the adjustment arrangement is present in the region of a center of gravity of the manipulator unit.6. The device as claimed in claim 1 , wherein the manipulator unit comprises a plurality of contact members that are moveable in a driven manner.7. The device as claimed in claim 6 , wherein at least one contact member is designed with a functionality.8. The device as claimed in claim 6 , wherein at least one ...

METHOD AND APPARATUS FOR INSPECTING AN ANNULAR WELD ON A MAIN COOLANT PIPE CONNECTED TO A REACTOR PRESSURE VESSEL IN A NUCLEAR POWER PLANT

ГЕРМЕТИЗАЦИЯ ТРЕЩИН В БАССЕЙНЕ АТОМНОЙ ЭЛЕКТРОСТАНЦИИ

FIELD: construction. SUBSTANCE: invention relates to sealing cracks in the wall of a nuclear power plant pool, namely to a method of sealing a seam and to a mobile robot equipped with an adhesive tape juggie, which comprises a head pressing the adhesive tape to the wall. To seal a seam controlled are multiple suction systems of the robot containing suction cups, herewith the said multiple suction systems comprises the first suction system and at least the second suction system. Herewith the juggie is mechanically integrated with the first suction system made able to move relative to the second suction system in order to regulate positions of the juggie head and the adhesive tape, which is applied on the seam. Controlled is the movement of the first suction system relative to the second suction system. Herewith the adhesive tape of the juggie is applied on the seam during movement of the first suction system relative to the second suction system. EFFECT: invention allows sticking the tape in hard-to-reach places, at sharp edges and at herewith on extended sections. 14 cl, 8 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 611 613 C2 (51) МПК B23P 6/04 (2006.01) B25J 5/00 (2006.01) B25J 13/00 (2006.01) G21C 17/003 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ФОРМУЛА (21)(22) Заявка: ИЗОБРЕТЕНИЯ К ПАТЕНТУ РОССИЙСКОЙ ФЕДЕРАЦИИ 2015106896, 30.07.2013 (24) Дата начала отсчета срока действия патента: 30.07.2013 (72) Автор(ы): КУНЦ, Марк (FR), ЛАМОНТАНЬ, Матье (CA) (73) Патентообладатель(и): ЭЛЕКТРИСИТЕ ДЕ ФРАНС (FR) Дата регистрации: (56) Список документов, цитированных в отчете о поиске: FR 2874020 A1, 10.02.2006. EР Приоритет(ы): (30) Конвенционный приоритет: R U 28.02.2017 0010034 А1, 16.04.1980. DE 29822221 U1, 22.05.2003. RU 2010118473 A, 20.11.2011. 31.07.2012 FR 12 57424 (45) Опубликовано: 28.02.2017 Бюл. № 7 (85) Дата начала рассмотрения заявки PCT на национальной фазе: 02.03.2015 (86) Заявка PCT: FR 2013/051841 (30.07.2013) (87) Публикация ...

Apparat zum Positionieren einer schwimmfähigen Plattform.

AUTOMOTIVE INSPECTION AND MAINTENANCE VEHICLE

REMOTE VISUAL INSPECTION SYSTEM

PROCEDURE FOR THE REMOTE CONTROLLED INTERVENTION IN A PLANT, LIKE A DAMAGED NUCLEAR POWER STATION.

Robot

Es handelt sich um einen Roboter, der sich nach dem Vorbild eines Wurms fortbewegt und sich dadurch auszeichnet, dass die Segmente, welcher er besitzt einen festen Körper haben, in dem Antriebselemente und eventuell auch andere Elemente befinden, die zur Funktion des Roboters notwendig sind. Das Prinzip lässt sich auch auf Maschinen wie Tunnelbohrmaschinen anwenden.

Robot

Die Erfindung betrifft einen Wurmroboter für den Einsatz in Tunneln, Rohrleitungen, auf unwegsamem Gelände, etc., bestehend aus Segmenten (1), wobei jedes Segment (1) ein- und ausfahrbare Füße (2) aufweist, die Segmente (1) untereinander mit einem längenveränderbaren Verbindungsmittel (4) verbunden sind, wobei das Verbindungsmittel (4) ein Tripod oder ein Hexapod ist, und, wobei mehr als zwei Segmente (1), vorzugsweise vier Segmente (1), vorgesehen sind.

WIDE TRACK VEHICLE

REMOTELY OPERATED MAINTENANCE AND INSPECTION EQUIPMENT TRANSPORTER

REMOTELY OPERATED MAINTENANCE AND INSPECTION EQUIPMENT TRANSPORTER A wheeled transporter is placed at the periphery of the tube bundle which extends up from its tube sheet within a nuclear steam generator shell. The transporter is formed in hinged sections which can be disengaged as required at the periphery of the tube bundle. A cable attached to each end of the transporter extend through the handholes for movement of the transporter along the bundle periphery. Pistons on the transporter are controlled remotely to extend into engagement with the internal wall of the generator shell to selectively immobilize the transporter at any desired peripheral position and thereby form a steady base for maintenance and inspection devices mounted on the transporter.

APPARATUS FOR LOCATING A FLOATABLE PLATFORM

Title: Apparatus for locating a floatable platform Apparatus for locating a floatable platform, comprises upstanding support members arranged to be adjacent to an article submerged in a liquid, and extendible members depending from the platform. The extendible members on initial extension are arranged to locate on the support members, and further extension of the extendible members raises the platform from a buoyant to a partially-buoyant state. A laser device on the platform is arranged to scan a stationary coded target so as to determine the position of the platform. 30752 ...

SCANNING DEVICE WORKS IN FERROMAGNETIC MATERIALS HAVING WELDS AND THEIR REMOTE MONITORING.

IMPROVED TOOLING FOR MACHINING A PIPE USED TO CONVEY A FLUID IN A NUCLEAR POWER PLANT

IMPROVED EQUIPMENT FOR MACHINING A DUCT FOR FEEDING A FLUID USED IN A NUCLEAR POWER PLANT SYSTEM

L'invention concerne l'usinage d'une canalisation (CAN) utilisée pour acheminer un fluide dans une installation de centrale nucléaire. En particulier, on prévoit un moteur pneumatique (M) mettant en rotation un matériau abrasif (F) à appliquer sur une partie choisie de la canalisation (BO). Comme cette application génère des particules susceptibles d'être radioactives, ces dernières sont avantageusement évacuées dans la canalisation par une soufflerie que met en œuvre le fonctionnement du moteur pendant l'usinage.

Remotely-controlled machine for working in hostile media

DEVICE AND METHOD FOR THE DECONTAMINATION OF A SWIMMING POOL THE RADIOACTIVE

DISPOSITIF D'EXPLORATION ET/OU DE TRAITEMENT D'UNE SURFACE LISSE COURBE

L'INVENTION CONCERNE UN DISPOSITIF D'EXPLORATION ETOU DE TRAITEMENT D'UNE SURFACE LISSE COURBE. LE DISPOSITIF COMPREND UN VEHICULE 1 SUSCEPTIBLE DE SE MOUVOIR SUR LA SURFACE S SELON UN TRAJET DETERMINE, LE VEHICULE ETANT MUNI DE MOYENS D'APPUI 10, 11, 12, 13 MOBILES PAR RAPPORT AU CORPS DU VEHICULE 1. UN BRAS SUPPORT DU VEHICULE EST SOLIDAIRE DE CELUI-CI PAR UNE ARTICULATION A ROTULE. LE BRAS SUPPORT EST FIXE AU VOISINAGE DU CENTRE DE COURBURE C DE LA SURFACE COURBE S. LES AXES D10, D11, D12, D13 DES MOYENS D'APPUI ET DU BRAS DES DEUX SUPPORTS PEUVENT ETRE ORIENTES SENSIBLEMENT CONCOURANTS AU VOISINAGE DU CENTRE DE COURBURE C DE LA SURFACE COURBE S. DES MOYENS 3 D'EXPLORATION ETOU DE TRAITEMENT DE LA SURFACE COURBE S SONT SOLIDAIRES DU VEHICULE 1. DES MOYENS DE COMMANDE D'ENTRAINEMENT DU VEHICULE 1 ET DES MOYENS D'EXPLORATION ETOU DE TRAITEMENT 3 SONT EN OUTRE PREVUS. APPLICATION A L'EXPLOITATION ET A L'ENTRETIEN DES BOITES A EAU DES GENERATEURS DE VAPEUR DE CENTRALES ELECTRO-NUCLEAIRES ...

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

Remotely operated manipulator

Provided is a remotely operated manipulator which can be applied to a space which is wider on a back side than at an opening part, which has a simple structure, high stiffness, and high reliability. The remotely operated manipulator of the present invention includes: a circular base fixed to a wall surface; a beam which rotates on the circular base; a trolley which moves on the beam; and a mast which is raised and lowered with respect to the trolley and is mounted with a tool unit at a tip. Stiffness is improved by directly fixing the beam to the wall surface by a beam fixing device. Further, a work region is expanded by mounting a bending mast on the tip of the mast.

A method of inspecting or utilizing tools in a nuclear reactor environment

REMOVING SYSTEM OF FOREIGN MATTER

Remote visual inspection system

A system for the remote visual inspection of a structure including two vessels, one disposed within the otherand defining an annulus therebetween. A guide member is provided circumferentially about an upper periphery of the two vessels. Mounted on the guide member are two motor-driven, diametrically opposed trolleys which support a flexible track member which extends downwardly through the annulus from one of the trolleys and back up the other side of the annulus to the other trolley. At least one motor-driven carrige is mounted on the track member and carries a camera and light source. By appropriate positioning of the trolleys and the carriage, all the surfaces of the vessels defining the annulus are accessible for visual inspection by the camera. In accordance with a particular preferred embodiment, markers are placed at preselected points in the annulus on one of the vessels to permit verification of the location of the camera and carriage. Advantageously, the markers are in the form ...

ULTRASONIC PIPE TESTING SYSTEM

ROV FOR WORK IN A HOSTILE ENVIRONMENT

Laying vehicle automatic path by a vehicle moves through the water, and channel adapted to be installed by such a vehicle

Véhicule apte à poser une voie spécialement conçue composée d'éléments (5, 6 et 7) aboutés. Le véhicule (8) avance le long de la voie et porte un élément de voie sur le chariot. Quand il atteint le bout de la voie, le chariot est abaissé pour que l'élément puisse s'emboîter dans le précédent. Les éléments sont de genres variés pour permettre des changements de direction et de hauteur de la voie.

Dispositif d'exploration des ouvrages en matériaux ferromagnétiques comportant des soudures et leur contrôle à distance.

L'invention concerne les moyens de contrôle non destructif à distance. Conformément à l'invention, le dispositif d'exploration (1) des ouvrages en matériaux ferromagnétiques comportant des soudures à leur contrôle à distance comporte un chariot automoteur d'exploration (1) de l'ouvrage muni de roues motrices et menées, des transducteurs (9) de contrôle ultra-sons de l'ouvrage, une camera télévision et un bloc de commande et d'enregistrement de l'information sur le contrôle de l'ouvrage. Outre cela, il comporte un chariot transporteur (17) avec une plate-forme (16) et des roues menées et motrices se déplaçant sur la surface de l'ouvrage à contrôler et portant le chariot automoteur à exploration (1) relié au chariot transporteur (17). L'inventlon est applicable dans les moyens de contrôle à distance à ultra-sons et visuel, par télévision, des soudures et du métal de base de différents corps.

METHODE ET DISPOSITIF DE CONTROLE AUTOMATIQUE DE L'INTEGRITE DES SOUDURES D'ASSEMBLAGE MECANO-SOUDES

DISPOSITIF DE CONTROLE AUTOMATIQUE DES SOUDURES ENTRE PIECES TUBULAIRES. UN CHARIOT COMPORTE DEUX EXTREMITES FIXES 6 ET 26 AVEC LEURS ROUES DE CENTRAGE 15, UN EQUIPAGE MOBILE AVEC DEUX FLASQUES 31 ET 92 ET DES RAILS DE GUIDAGE 32, 33; CET EQUIPAGE TOURNE SUR LES ROULEMENTS 10. LE CHARIOT COMPORTE UN TAMBOUR 40 SE DEPLACANT SUR LES RAILS ET PORTANT UN BRAS TELESCOPIQUE 42 ORIENTABLE PAR ROTATION SUR SON AXE. L'EXTREMITE DU BRAS PORTE UNE TETE D'INSPECTION 43. UNE COMMANDE NUMERIQUE ASSURE LA PROGRAMMATION DU DEPLACEMENT ET DE L'ORIENTATION DE LA TETE D'INSPECTION EN REGARD DE LA SOUDURE. APPLICATIONS AU CONTROLE PAR ULTRASONS DES SOUDURES DES NOEUDS DES PLATEFORMES OFFSHORE, ET AU CONTROLE DES SOUDURES DES CIRCUITS NUCLEAIRES.

VEHICLE AUTOMATIC LANDING OF A TRACK BY A VEHICLE MOVING ON THIS PATHWAY, AND PATHWAY ADAPTED TO BE INSTALLED BY SUCH A VEHICLE.

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

STEAM GENERATOR UPPER BUNDLE INSPECTION TOOLS

APPARATUS AND METHOD FOR INSPECTING AREAS SURROUNDING NUCLEAR BOILING WATER REACTOR CORE AND ANNULUS REGIONS

A remotely controlled apparatus (112) for inspecting the core (102) and annulus (104) areas of nuclear boiling water reactors (100) includes a circumferential drive mechanism for propelling the apparatus (112) on 'the -steam dam (108) of the reactor (100). The inspection apparatus (112) uses a set of driver rollers (314) that grip the side of the steam dam (108) and provide propulsion for the apparatus. A pinchrroller assembly with high-tension springs (308) and pneumatic air cylinders (310) is utilized for removably securing a set of pinch rollers (312) to the side of the steam dam opposite the side of the. driver rollers (314). A. set of rollers (304) are adapted to resit on top of the steam dam (108), supporting the weight of the apparatus (112) and enabling the apparatus to move around the steam dam (108).. Two positioning guide rails (306) aid in the balance of the apparatus (112), especially when it is stationary. The apparatus (112) has a watertight main body (202), which houses ...

Method and apparatus for the automatic control of the integrity of assembling welds

The invention relates to a device for the automatic checking of welds between tubular parts. A carriage comprises two fixed ends with their centering wheels, a movable mechanism with two flanges and guide rails. This mechanism rotates on bearings. The carriage includes a drum moving over rails and bearing a telescopic arm orientable by rotation on its axis. The end of the arm carries an inspection head. Digital control ensures the programming of the movement and the orientation of the inspection head opposite the weld. The device and method are useful for the ultrasonic checking of the welds of the nodes of offshore platforms and for the checking of welds in nuclear power systems.

REMOTE SURFACE TESTING AND INSPECTION VEHICLE

WIDE TRACK VEHICLE

WIDE TRACK VEHICLE

WIDE TRACK VEHICLE A wide track vehicle is provided with improved skid steering by having a chassis (1) supported upon two independently drivable tracks (2) by side support wheels (3) engaged with each track adjacent the outer edges only. Downwardly projecting rubbing strips (11, 12, 13) are attached to the underside of the chassis (1) to engage slideably with each track only when the track is upwardly deflected by uneven terrain. The tracks (2) each rotate upon a plurality of full width direction-changing rollers attached to the chassis and each having a rolling surface which is provided with mud-cutting, helical ridges (18).

SEALING OF A CRACK IN A POOL OF A NUCLEAR FACILITY, USING A ROBOT

Colmatage de fissure dans une piscine d'installation nucléaire, utilisant un robot L'invention concerne le colmatage notamment de fissure dans une paroi de piscine d'une installation nucléaire. En particulier, l'invention met en ouvre un robot mobile portant un dévideur (DIS) de ruban adhésif. On prévoit alors au moins : - une commande d'une pluralité de systèmes d'aspiration (V11-V14; V21-V24), le dévideur étant solidaire mécaniquement d'un premier système d'aspiration (V21-V24), et - une étape de commande de déplacement du premier système (V21-V24) par rapport aux autres systèmes (V11-V14) de ladite pluralité de systèmes ...

STEAM GENERATOR UPPER BUNDLE INSPECTION TOOLS

An inspection system for inspecting the interior of a steam generator includes, in one aspect, a first boom and a second, telescoping boom having a proximal end pivotally attached to the first boom and a distal end bearing a delivery capsule, the delivery capsule defining a storage bay. The inspection system includes a first robotic inspection vehicle dimensioned to fit in the delivery capsule storage bay and itself defines a storage bay. The first robotic inspection vehicle includes at least one inspec-tion camera and at least one lighting system. The first robotic inspection vehicle further includes cabling connecting the first robotic inspection vehicle to the delivery capsule. The inspection system also includes a second robotic inspection vehicle dimen-sioned to fit in the first robotic inspection vehicle storage bay. The second robotic inspection vehicle includes at least one inspec-tion camera and at least one lighting system and further includes cabling connecting the second robotic ...

PROCESS FOR REMOTE ACTION TAKING ON A SITE SUCH AS A DAMAGED NUCLEAR PLANT

L'invention concerne un procédé d'intervention à distance sur un site, tel qu'une centrale nucléaire endommagée. Il consiste à disposer bout-à-bout des tronçons de guides d'ondes grâce à au moins un chariot télécommandé par la ligne de guides d'ondes ainsi réalisée et pourvu d'éléments de préhension pour la pose et d'au moins un bras manipulateur pour la connection des tronçons de guides d'ondes, à partir d'un poste de contrôle comprenant un générateur et un récepteur de signaux et jusqu'au site à inspecter et à traiter éventuellement.

SLEEVE HAS CAM-LOCKING IN DISSIMILAR MATERIALS

Manchon à blocage par came en matériaux dissemblables, installé sur une arbre d'expansion d'un robot d'inspection inséré dans un tube de transfert de chaleur d'un générateur de vapeur destiné à produire de l'électricité nucléaire, afin d'inspecter le tube de transfert de chaleur, comprenant une pièce de tension (10) en d'acier comportant des pluralités de fentes (11,12) ouvertes respectivement vers le haut et vers le bas, réalisées en alternance en zigzag, et des branches (13) formées entre les fentes (11,12), des pièces de contact supérieures entourant une extrémité supérieure de la pièce de tension (10) et des parties situées entre les fentes (11) ouvertes vers le haut, des pièces de contact inférieures entourant une extrémité inférieure de la pièce de tension (10) et des parties situées entre les fentes (12) ouvertes vers le bas, les pièces de contact supérieures et inférieures étant réalisées par moulage par injection de résine synthétique.

Remote-controlled intervention unit for restricted zone of hazardous installation comprises motorized robot with transport system and feet

Le dispositif d'intervention comporte un robot (2) pour la réalisation d'une intervention de manière télécommandée ou programmée dans la zone d'intervention. Le robot (2) comporte une partie de supportage (2a) connectée à un support de bridage (3) solidaire d'un moyen de transport (4) du dispositif d'intervention (1) entre une zone d'introduction et la zone d'intervention. Le support de bridage (3) comporte des patins de bridage (11, 13a, 13b) qui peuvent être déplacés dans des directions sensiblement parallèles et dans des sens opposés pour réaliser le bridage du dispositif d'intervention (1) dans la zone d'intervention. Le moyen de transport (4) peut être constitué sous la forme d'un chariot comportant deux trains de roues motorisés. Le dispositif et le procédé de l'invention permettent en particulier d'effectuer des usinages ou des contrôles à l'intérieur de canalisations primaires d'un réacteur nucléaire à eau sous pression.

METHOD AND AUTOMATIC INSPECTING DEVICE OF the INTEGRITY OF the WELDINGS Of ASSEMBLY TACK WELD

DEVICE FOR MONITORING AND COLLECTING INFORMATION FROM AN AREA TO POTENTIAL RISK OF IRRADIATION

Dispositif de surveillance et de collecte d'informations (10) d'une zone à risque potentiel d'irradiation, comprenant au moins un caisson de stockage (12) destiné à être disposé de manière permanente dans une infrastructure nucléaire (2) et comprenant des moyens de communication avec un poste de pilotage (14) destiné à être disposé à l'extérieur (8) de l'infrastructure nucléaire (2), caractérisé en ce que le caisson de stockage (12) est intrinsèquement protégé d'éventuelles agressions extérieures, et comprend des moyens d'inspection télévisuelle et des moyens de mesure de paramètres environnementaux déployables depuis l'intérieur de l'infrastructure nucléaire (2).

VEHICULE DE TRANSPORT D'INSTRUMENTS DE CONTROLE CONTRE UNE PAROI

L'INVENTION CONCERNE UN VEHICULE DE TRANSPORT D'INSTRUMENTS DE CONTROLE. ELLE SE RAPPORTE A UN VEHICULE AYANT UNE STRUCTURE 2 QUI PORTE DES INSTRUMENTS 15 DE CONTROLE. LA STRUCTURE 2 PORTE DES PATINS DANS LESQUELS DES JOINTS 6 DELIMITENT UNE CAVITE D'ASPIRATION QUI PERMET LA FIXATION DU VEHICULE EN POSITION VOULUE SUR UNE SURFACE S. DES BUSES 11 PERMETTENT UN ECARTEMENT DU VEHICULE DE LA PAROI LORSQUE CELUI-CI DOIT SE DEPLACER LATERALEMENT, SOUS LA COMMANDE DE PETITES BUSES DE PROPULSION PAR REACTION. APPLICATION AU CONTROLE DES CUVES DES REACTEURS NUCLEAIRES.

VEHICULE DE DEPLACEMENT D'UN OUTIL OU D'UN MOYEN DE CONTROLE EN APPUI SUR UNE SEULE SURFACE D'ORIENTATION QUELCONQUE

L'invention concerne un véhicule de déplacement d'un outil ou d'un moyen de contrôle en appui sur une seule surface d'orientation quelconque par rapport à la verticale. Le véhicule comporte des roues motrices et directrices et des moyens permettant son maintien contre la surface d'appui Les moyens de maintien sont constitués par au moins un caisson rigide ouvert sur une de ses faces so idaire sur le pourtour de cette face d'une jupe d'étanchéité souple destinée à venir en contact avec la surface d'appui et un moyen d'aspiration relié au caisson pour créer une dépression dans ce caisson. Le dispositif est maintenu contre la surface d'appui par l'application sur le caisson de la pression différentielle entre la pression atmosphérique et la pression régnant dans le caisson. L'invention s'applique, en particulier, au contrôle des cuves de réacteurs nucléaires.

DEVICE AND PROCESS Of INTERVENTION IN a ZONE Of an INSTALLATION DELIMITEEPAR a WALL HAVING AT LEAST TWO SURFACES IN OPPOSITE

증기 발생기 상부 다발 검사 기구

... 증기 발생기의 내부를 검사하기 위한 검사 시스템은 일 양태에 있어서, 제 1 붐 및 상기 제 1 붐에 선회가능하게 부착되는 근위 단부 및 저장 베이가 형성되어 있는 전달 캡슐을 지탱하는 원위 단부를 갖는 제 2 신축자재형 붐을 포함한다. 본 검사 시스템은 또한, 상기 전달 캡슐의 저장 베이 안에 장착될 수 있는 크기로 되어 있고 저장 베이가 형성되어 있는 제 1 로봇형 검사 차량을 포함한다. 상기 제 1 로봇형 검사 차량은 구동 시스템, 적어도 하나의 검사 카메라와 적어도 하나의 조명 시스템을 포함한다. 제 1 로봇형 검사 차량은 또한 이 제 1 로봇형 검사 차량을 상기 전달 캡슐에 연결하는 케이블을 더 포함한다. 상기 검사 차량은 제 1 로봇형 검사 차량의 저장 베이 안에 장착될 수 있는 크기로 되어 있는 제 2 로봇형 검사 차량을 또한 포함한다. 상기 제 2 로봇형 검사 차량은 적어도 하나의 검사 카메라 및 적어도 하나의 조명 시스템을 포함하며, 또한 제 2 로봇형 검사 차량을 제 1 로봇형 검사 차량에 연결하는 케이블을 더 포함한다.

METHOD AND APPARATUS FOR INSPECTING AN ANNULAR WELD ON A MAIN COOLANT PIPE CONNECTED TO A REACTOR PRESSURE VESSEL IN A NUCLEAR POWER PLANT

In a method and an apparatus for inspecting an annular weld (10) on a main coolant pipe (4) connected to a reactor pressure vessel (2) in a nuclear power plant, a self-propelled submersible vehicle (12) is introduced into the open, flooded reactor pressure vessel (2), said vehicle (12) comprising at least one inspection device (20) that can be placed against the internal peripheral surface of the main coolant pipe (4) and can be moved in the peripheral direction of the pipe (4). The submersible vehicle (12) is advanced into the main coolant pipe (4), which is also flooded, and is fixed in the region of the weld (10) by means of radially deployable extension arms (16). The inspection device (20) is then placed against the weld (10) and is moved therealong in the peripheral direction.

TETHER FOR AN INSPECTION VEHICLE

A tether control system for an inspection vehicle operable in a housing having a liquid medium is disclosed in the present application. The tether system includes a tether connected between the inspection vehicle and an electronic controller. A controllable buoyancy system associated with the tether is operable for moving the tether in a desired location. The controllable buoyancy system includes one or more floating bodies having a propulsion system and one or more buoyant elements having variable buoyancy capabilities.

INSPECTION TOOL

A tool is receivable into an interior region of a core shroud of a Boiling Water Reactor. The tool includes an elongated frame, an elevator apparatus situated on the frame, and a manipulator apparatus situated on the elevator apparatus. The tool further includes a reciprocation apparatus that is situated on the manipulator apparatus and that has a mount that is structured to carry a device thereon. The reciprocation apparatus includes an elongated rack of an arcuate profile. The elevator apparatus is operable to move the reciprocation apparatus along the longitudinal extent of the frame. The tool further includes a foot apparatus that is situated at an end of the frame and that is receivable on a core plate to enable the frame to be pivoted about an axis of elongation of the frame with respect to the core plate.

Steam generator upper bundle inspection tools

An inspection system for inspecting the interior of a steam generator includes, in one aspect, a first boom and a second, telescoping boom having a proximal end pivotally attached to the first boom and a distal end bearing a delivery capsule, the delivery capsule defining a storage bay. The inspection system includes a first robotic inspection vehicle dimensioned to fit in the delivery capsule storage bay and itself defines a storage bay. The first robotic inspection vehicle includes at least one inspection camera and at least one lighting system. The first robotic inspection vehicle further includes cabling connecting the first robotic inspection vehicle to the delivery capsule. The inspection system also includes a second robotic inspection vehicle dimensioned to fit in the first robotic inspection vehicle storage bay. The second robotic inspection vehicle includes at least one inspection camera and at least one lighting system and further includes cabling connecting the second robotic ...

Robot platform for remotely controlled and/or autonomous inspection of technical facilities

Die Erfindung betrifft eine Roboterplattform (20), welche zur ferngesteuerten und/oder selbständigen Inspektion von technischen Einrichtungen, insbesondere in Kraftwerken, vorgesehen ist und wenigstens Antriebsmittel (15) für die Fortbewegung der Roboterplattform (20), Inspektionsmittel (17) für die Inspektion der technischen Einrichtung sowie Kommunikationsmittel zum Austausch von Mess- und/oder Steuerdaten umfasst. Eine besondere Flexibilität im Einsatz und erweiterte Einsatzbereiche werden dadurch erzielt, dass die Roboterplattform (20) modular aufgebaut ist und die Kommunikationsmittel nach einem einheitlichen Standard arbeiten.

INSPECTION VEHICLE WITH MAINTENANCE TOOLS

APPARATUS FOR NON-DESTRUCTIVELY TESTING MATERIALS

Apparatus

REMOTE VISUAL INSPECTION SYSTEM

A system for the remote visual inspection of a structure including two vessels, one disposed within the other and defining an annulus therebetween. A guide member is provided circumferentially about an upper periphery of the two vessels. Mounted on the guide member are two motor-driven, diametrically opposed trolleys which support a flexible track member which extends downwardly through the annulus from one of the trolleys and back up the other side of the annulus to the other trolley. At least one motor-driven carriage is mounted on the track member and carries a camera and light source. By appropriate positioning of the trolleys and the carriage, all the surfaces of the vessels defining the annulus are accessible for visual inspection by the camera. In accordance with a particular preferred embodiment, markers are placed at preselected points in the annulus on one of the vessels to permit verification of the location of the camera and carriage. Advantageously, the markers are in the form ...

Operating inspection device

Tool for delivery of testing element to a limited access location within a nuclear containment

An improved tool for delivery of a testing element to a limited access location within a nuclear containment includes a rotation apparatus having a connection element that is configured to have an aperture that is formed generally centrally therein. The aperture is structured to receive therein a cable that extends from a testing element, which that avoids the need to use slip rings or similar devices to permit the testing element to carried on a pivotable and rotatable structure. Moreover, an improved submersible machine is structured to carry the tool to a limited access location within a nuclear containment.

In-reactor work system and in-reactor work method

According to an embodiment, an in-reactor operation system which is provided with a crack detection vehicle that moves in a circumferential direction along an outer surface of a shroud disposed in a reactor pressure vessel with the axis vertical, an inspection/check sensor that is mounted on the crack detection vehicle and performs an operation with respect to the shroud, a vehicle positioning mast for setting an initial position of the crack detection vehicle on the shroud, a vehicle fixation mechanism for attaching and detaching the crack detection vehicle to and from the vehicle positioning mast, and a conveyance vehicle for conveying the vehicle positioning mast on which the crack detection vehicle is mounted into the reactor pressure vessel.

Water-chamber working apparatus and installation method of water-chamber working apparatus

A water-chamber working apparatus ( 1 ) that performs a predetermined work inside a water chamber ( 131 ) of a steam generator includes at least two locking units ( 2 ) inserted into and locked to heat transfer tubes ( 132 ) provided on a tube plate ( 137 ) in the water chamber ( 131 ), a support means ( 3 ) spanned between the respective locking units ( 2 ), and a movable body ( 4 ) movably provided along the spanned support means ( 3 ). Accordingly, the movable body ( 4 ) can be stably supported in the water chamber ( 131 ) and can be easily moved.

Water-chamber working apparatus

A water-chamber working apparatus ( 1 ) that performs a predetermined work inside a water chamber ( 131 ) of a steam generator ( 130 ) including a support shaft ( 2 ) that is formed to be extendable and retractable, a rotary means ( 3 ) that is respectively provided at opposite ends of the support shaft ( 2 ) rotatably around a vertical shaft center, while coming into contact with an inner wall surface ( 131 a ) of the water chamber ( 131 ) by extension of the support shaft ( 2 ), and a movable body ( 4 ) that is provided to be movable along the support shaft ( 2 ).

STEAM GENERATOR UPPER BUNDLE INSPECTION TOOLS

In inspection system for inspecting the interior of a steam generator includes, in one aspect, a first boom and a second, telescoping boom having a proximal end pivotally attached to the first boom and a distal end bearing a delivery capsule, the delivery capsule defining a storage bay. The inspection system includes a first robotic inspection vehicle dimensioned to fit in the delivery capsule storage bay and itself defines a storage bay. The first robotic inspection vehicle includes at least one inspection camera and at least one lighting system. The first robotic inspection vehicle further includes cabling connecting the first robotic inspection vehicle to the delivery capsule. The inspection system also includes a second robotic inspection vehicle dimensioned to fit in the first robotic inspection vehicle storage bay. The second robotic inspection vehicle includes at least one inspection camera and at least one lighting system and further includes cabling connecting the second robotic inspection vehicle to the first robotic inspection vehicle. 1. An inspection system configured to inspect the secondary side of a steam generator , comprising:a first boom;a second, telescoping boom having a proximal end pivotally attached to the first boom to permit upward rotation of the second, telescoping boom relative to the first, telescoping boom by an angle of about 90 degrees, and the second, telescoping boom comprising a distal end bearing a delivery capsule, the delivery capsule defining a storage bay;a first robotic inspection vehicle dimensioned to fit in the delivery capsule storage bay, the first robotic inspection vehicle defining a storage bay and comprising at least one inspection camera and at least one lighting system, the first robotic inspection vehicle further comprising cabling connecting the first robotic inspection vehicle to the delivery capsule; anda second robotic inspection vehicle dimensioned to fit in the first robotic inspection vehicle storage bay, ...

Nozzle Inspection Tool for Nuclear Power Plants

A device is provided to inspect welds in nozzles located in water within a containment vessel of a nuclear power plant. A computer connected to the device controls movement by use of thrusters located along a main rail while buoyancy packs regulate the depth. After the device is navigated to a weld needing inspection, feet extend radially outward from the main rail to secure the device in the nozzle. Then transducer clusters are moved along the main rail to be radially inside the weld to be inspected. Thereafter, the transducer clusters are extended radially outward and rotated adjacent to the weld while simultaneously emitting test signals and receiving reflected signals to indicate the condition of the weld.

CAMERA INSPECTION ARM FOR BOILING WATER REACTOR

There is disclosed a remotely deployed and operated boiling water reactor camera inspection arm. In an embodiment, the remotely deployed and operated boiling water reactor camera inspection arm has a vertical actuator, that includes a bi-stable lightweight reelable tube configurable from a rolled retracted state to an extended tubular state by unrolling downwardly, and back to a rolled retracted state by rolling upwardly. An inspection camera is attached to an end of the reelable tube. Other embodiments are also disclosed. 1. A remotely deployed and operated camera inspection arm comprising:a vertical actuator, comprising a bi-stable lightweight reelable tube configurable from a rolled retracted state to an extended tubular state by unrolling downwardly, and back to a rolled retracted state by rolling upwardly; andan inspection camera attached to an end of the reelable tube.2. The camera inspection arm of claim 1 , wherein the reelable tube is a rolatube.3. The camera inspection arm of claim 1 , wherein the reelable tube comprises a material in which fibers are arranged such that the material is bi-stable and passively maintains its shape retracted as a coil or extended as a tube.4. The camera inspection arm of claim 1 , wherein the reelable tube comprises a material in which geometry of the material allows the material to become bi-stable and passively maintain its shape retracted as a coil or extended as a tube.5. The camera inspection arm of claim 1 , wherein the reelable tube comprises a material that creates a stiff structure that dampens unwanted motions at the camera when extended within the reactor.6. The camera inspection arm of claim 1 , wherein the inspection camera is submersible.7. The camera inspection arm of claim 1 , wherein the inspection camera is radiation tolerant.8. The camera inspection arm of claim 1 , wherein the inspection camera is radiation tolerant and submersible.9. The camera inspection arm of claim 1 , wherein the inspection camera is ...

Eddy current inspection probe

A probe for transporting a nondestructive inspection sensor through a tube, that employs wheels to reduce friction. The radial travel of the wheels are mechanically linked through a cam and axially reciprocal plunger arrangement that centers the probe at tube diameter transitions. Internal wire bending is minimized and a dynamic seal is provided to facilitate an insertion force at the probe and reduce or eliminate compressive load buckling of the flexible cable carried by the probe. Like the wheel arrangement, radial travel of the seal segments are mechanically linked to provide probe centering.

APPARATUS AND METHOD TO INSPECT, MODIFY, OR REPAIR NUCLEAR REACTOR CORE SHROUDS

This invention generally concerns robotic systems and is particularly concerned with improved apparatus and methods for remotely inspecting, modifying or repairing a core shroud in a nuclear reactor. The apparatus of the invention includes a partial upper track which horizontally movable along the core shroud, a head and frame assembly which is horizontally movable along the partial upper track, a lower track which is connected to the head and frame assembly and is horizontally movable along the core shroud, and a carriage and arm assembly which extends downward into an annulus formed by the reactor pressure vessel and the core shroud, wherein the arm includes at least one sensor for inspecting the core shroud. 1. An apparatus for remotely inspecting a core shroud of a nuclear reactor , comprising:a partial upper track positioned on an annular rim of the core shroud and horizontally movable along the rim; a head movably connected to the partial upper track such that the head is horizontally movable along the partial upper track;', 'a lower track;', 'a frame having a first end and a second end, the first end being mounted to the head and the second end being connected to the lower track such that the lower track is horizontally movable along the core shroud;', 'a carriage movably connected to the lower track;', 'a scan arm connected to the carriage and extending vertically downward along the core shroud; and', 'at least one sensor connected to the scan arm for inspecting the core shroud., 'an assembly, comprising2. The apparatus of claim 1 , wherein the partial upper track is positioned on a steam dam of the core shroud as a result of its center of gravity.3. The apparatus of claim 1 , wherein the head includes a positioning motor and gear combination to move the head along the partial upper track.4. The apparatus of claim 1 , wherein a track brake system is connected to the partial upper track.5. The apparatus of claim 4 , wherein when the track brake system is ...

INSPECTION DEVICE

There is provided an inspection device for inspecting an inner surface of a nozzle provided in a reactor vessel. The inspection device includes: a device frame, an inspection unit provided on the device frame, an inspection unit push-out moving mechanism for pushing out and moving the inspection unit to the inner surface of the nozzle, a rotation moving mechanism for rotating and moving the inspection unit, a calibration test unit arranged on the device frame for calibrating the inspection unit; and a calibration test unit forward/backward moving mechanism for moving the calibration test unit forward or backward in the direction along the central axis with regard to a track where the inspection unit makes push-out movement. 1. An inspection device for inspecting a body which is to be inspected , the body being provided in a nuclear power plant ,the inspection device comprising:a device frame installed at the reference position for inspecting the body;an inspection unit provided on the device frame, for inspecting the inspection target portion of the body;an inspection unit push-out moving mechanism for pushing out and moving the inspection unit to the inspection target portion while the device frame is installed at the reference position;a calibration test unit provided on the device frame, for calibrating the inspection unit; anda calibration test unit forward/backward moving mechanism for moving the calibration test unit forward or backward with regard to a track where the inspection unit makes push-out movement in such a state that the inspection unit is installed at the reference position.2. An inspection device for inspecting an inner surface of a nozzle provided in a reactor vessel ,the inspection device comprising:a device frame inserted into inside of the nozzle;an inspection unit provided on the device frame, for inspecting the inner surface of the nozzle;an inspection unit push-out moving mechanism for pushing out and moving the inspection unit to the ...

APPARATUS FOR USE IN THE INSPECTION OF A TOP GRID GUIDE OF BOILING WATER REACTOR

An apparatus for performing an inspection on the beams of the top guide of a BWR includes a housing, an alignment assembly, and an inspection system. The housing is receivable atop the upper edges of a first pair of beams adjacent a receptacle of the top guide. The reception of the housing atop the upper edges of the first pair of beams is facilitated by the alignment assembly which includes a plurality of legs that are simultaneously moved between a retracted position wherein one or more of the legs is disengaged from the beams within the receptacle and an extended position wherein all of the legs are engaged with the beams of the top guide within the receptacle. The inspection system includes a pair of inspection elements that are translated above a second pair of beams that are adjacent the receptacle and that do not have the housing received thereon. 111-. (canceled)12. An apparatus configured to inspect at least a portion of a top guide of a nuclear reactor , wherein the nuclear reactor comprises a plurality of beams arranged in a grid pattern , the apparatus comprising:an alignment assembly comprising a plurality of legs and an actuator configured to move the plurality of legs between a retracted position wherein at least one of the legs of the plurality of legs is disengaged from at least one beam of the plurality of beams and an extended position wherein all of the legs of the plurality of legs are engaged with at least one beam of the plurality of beams; andan inspection element coupled to the alignment assembly, wherein the inspection element is configured to be positioned a predetermined distance away from a beam of the plurality of beams when the legs are in the extended position.13. The apparatus of claim 12 , further comprising a pair of supports claim 12 , wherein each support of the pair of supports comprises an engagement edge configured to mechanically engage an upper edge of a beam of the plurality of beams.14. The apparatus of claim 12 , further ...

APPARATUS AND METHOD FOR IDENTIFYING CRACKS IN A STRUCTURE USING A MULTI-STAGE CLASSIFIER

A method of inspecting a structure for cracks is disclosed. The method includes the steps of moving an inspection vehicle along a pre-determined path through an area to be inspected, the inspection vehicle having a camera apparatus configured to scan the area to be inspected; using the camera apparatus to scan the area to be inspected at a pre-determined distance per second, thereby capturing scan data for analysis; and analyzing the scan data to classify cracks in the structure. 1. A method of inspecting a structure for cracks , comprising the steps of:moving an inspection vehicle along a pre-determined path through an area to be inspected, the inspection vehicle having a camera apparatus configured to scan the area to be inspected;using the camera apparatus to scan the area to be inspected at a pre-determined distance per second, thereby capturing scan data for analysis; andanalyzing the scan data to classify cracks in the structure.2. The method according to claim 1 , wherein the inspection vehicle is autonomous.3. The method according to claim 1 , wherein the inspection vehicle is remote controlled.4. The method according to claim 1 , wherein the step of analyzing includes the steps of:filtering the scan data to generate crack and scratch image frames;registering the crack and scratch image frames to generate a single mosaic image; andperforming shape and segmentation processing to remove small high amplitude disc noise, smooth fragmented cracks, and extract elongated targets that are crack like.5. The method according to claim 4 , wherein the step of filtering includes applying a three-stage filter to the scan image to remove non-uniform illumination claim 4 , separate the scan image into high amplitude scratch and low amplitude crack+grind frames claim 4 , and enhance high special frequency components of cracks.6. The method according to claim 4 , further including the step of generating texture and spatial frequency data for cracks.7. The method according to ...

High efficiency, smooth robot design

An underwater robot includes a body, a propeller connected to an end of the body, a controller, and first and second actuation units that output jets of fluid. The propeller propels the robot, and the controller stabilizes the robot using the jets of fluid. The controller determines which actuation unit to activate based on a calculation involving a yaw rate and a yaw angle of the robot.

REMOTELY OPERATED VEHICLES, SYSTEMS, AND METHODS FOR INSPECTING CORE SHROUDS

A remotely operated vehicle (ROV) for inspecting a core shroud having an outer surface may include: a body configured to be operatively connected to a tether; and/or a sensor, configured to be operatively connected to the body, and configured to provide inspection information of the shroud. The tether may be configured to provide vertical position information for the ROV relative to the outer surface. A system for inspecting a core shroud may include: a trolley; an arm; the tether; and/or the ROV. The arm may be configured to be operatively connected to the trolley. The ROV may be configured to be operatively connected to the arm via the tether. A method for inspecting a core shroud may include: installing a system for inspecting the shroud on the shroud; driving the system horizontally around the shroud; and/or using a sensor of the system to inspect the shroud. 1. A remotely operated vehicle (ROV) for inspecting a core shroud having an outer surface , the ROV comprising:a body configured to be operatively connected to a tether; anda sensor, configured to be operatively connected to the body, and configured to provide inspection information of the core shroud;wherein the tether is configured to provide vertical position information for the ROV relative to the outer surface of the core shroud.2. The ROV of claim 1 , wherein the tether is further configured to support a weight of the ROV.3. The ROV of claim 1 , wherein the tether is further configured to support a submerged weight of the ROV.4. The ROV of claim 1 , wherein the body comprises one or more devices configured to provide thrust to move the ROV relative to a medium in which the ROV is submerged.5. The ROV of claim 1 , wherein the body comprises one or more devices configured to create a vacuum between a portion of the ROV and the outer surface of the core shroud.6. The ROV of claim 1 , wherein the body comprises one or more devices configured to maintain a vacuum between a portion of the ROV and the outer ...

STATE ESTIMATION AND LOCALIZATION FOR ROV-BASED STRUCTURAL INSPECTION

A vision-based state estimation framework to estimate the state of an underwater remotely operated vehicle (ROV) used for inspection of an underwater structure, for example, a nuclear reactor pressure vessel. The framework employs an external overhead, pan-tilt-zoom (PTZ) camera as the primary sensing modality and incorporates prior knowledge of the geometry of the structure. 1. A system for localizing an underwater remotely controlled vehicle for inspecting a structure comprising:a pan-tilt-zoom camera, disposed below the surface of the water; panning and tilting the camera to follow a plurality of fiducials mounted on the vehicle;', 'collecting an image from the pan-tilt-zoom camera;', 'estimating the angular velocity of the camera about a vector comprising a combination of the pan and tilt axes of the camera;', 'predicting a future state of the system based on the estimate of angular velocity;', 'calculating a correction to the predicted state of the system based on detecting in the collected image, the plurality of fiducials on the vehicle and one or more landmarks defined on the map of the structure;', 'applying the correction to the predicted state of the system; and', 'using the corrected predicted state as the previous state for the next iteration of the loop., 'software, executing on a processor, the software iterating a loop performing the functions of2. The system of wherein predicting a future state of the system is further based on one or more additional terms representing the focal length of the camera.3. The system of wherein predicting the future state of the system produces a predicted state and a covariance of the predicted state.4. The system of wherein applying the corrected state to the predicted state produces a corrected state and a covariance of the corrected state.5. The system of wherein the estimate of the angular velocity of the camera is based on a comparison of the collected image with one or more previous images6. The system of wherein ...

METHOD FOR INSPECTING CORE SHROUD USING REMOTE OPERATED VEHICLE (ROV)

The method includes installing a system for inspecting the core shroud on the core shroud, driving the system horizontally around the core shroud, and using a sensor of the system to inspect the core shroud, where the system includes a trolley, an arm, a tether, and a remotely operated vehicle (ROV) for inspecting the core shroud. The ROV includes a body configured to be operatively connected to the tether, and the sensor is configured to be operatively connected to the body, and configured to provide inspection information of the core shroud. The arm is configured to be operatively connected to the trolley. The ROV is configured to be operatively connected to the arm via the tether, and the tether is configured to provide vertical position information for the ROV relative to the outer surface of the core shroud. 1. A method for inspecting a core shroud having an outer surface , the method comprising:installing a system for inspecting the core shroud on the core shroud;driving the system horizontally around the core shroud; andusing a sensor of the system to inspect the core shroud; a trolley;', 'an arm;', 'a tether; and', 'a remotely operated vehicle (ROV) for inspecting the core shroud;, 'the system includes a body configured to be operatively connected to the tether; and', 'the sensor, configured to be operatively connected to the body, and configured to provide inspection information of the core shroud;, 'the ROV includesthe arm being configured to be operatively connected to the trolley,the ROV being configured to be operatively connected to the arm via the tether, andthe tether being configured to provide vertical position information for the ROV relative to the outer surface of the core shroud.2. The method of claim 1 , wherein the installing of the system for inspecting the core shroud comprises installing the trolley on a steam dam of the core shroud.3. The method of claim 1 , wherein the driving of the system horizontally around the core shroud comprises ...

Transformer in-situ inspection vehicle with a cage hull

An inspection device for use in a fluid container includes at least one thrust device, at least one ballast device and a cage which carries the at least one thrust device and the at least one ballast device. The cage includes at least two bars. Each bar provides an opening, the openings forming a cage cavity to carry the at least one thrust device and the at least one ballast device.

Positioning and inspection apparatuses for use in nuclear reactors

Systems are provided for inspection and tooling submerged in nuclear reactors. Systems mount at the reactor edge, such as on a steam dam, to be independently operable from a refueling bridge or refueling operations. A moveable steam dam clamp may hold a position apparatus at the edge. The positioning apparatus includes a rotatable shoulder and arms move a tool, reactor component, and/or inspection device like a camera or VARD to desired and highly-determinable reactor positions. A float may counter shear and rotation on the shoulder from the arms. Motors at the shoulder with internal transmissions may rotate the shoulder and arms, or manual rotation may be used. The arms may also overlap vertically for installation and removal. Power, controls, and/or data may be provided underwater through an umbilical connection to operators.

POSITIONING AND INSPECTION APPARATUSES FOR USE IN NUCLEAR REACTORS

Devices position inspection and operation tools in a nuclear reactor without use of a bridge or other refueling structure well above the reactor core. Devices can selectively join to in-reactor structures like steam dams through clamping that permits limited movement. Clamps can include one or more rollers that allow for controlled, accurate positioning of the devices relative to the structures. Devices include an extension to which the tools can be affixed. Through selective disengagement of joining structures, devices can move over obstacles on the mounting structure. Devices further include controls so that operators positioned outside the reactor can move the device while mounted on a static structure. The controls can further move the inspection tool in other directions with the extension. Devices are useable underwater or submerged in other fluid and may include powering lines or mechanical extensions that permit powering or direct interfacing from operators outside the reactor. 1. A positioning apparatus for use in a shutdown nuclear reactor , wherein the apparatus comprises:a clamp configured to clamp on opposite sides of a steam dam in the nuclear reactor, wherein the clamp allows circumferential movement of the apparatus along the steam dam and prevents radial and vertical movement of the apparatus relative to the steam dam; andan arm extendible from the clamp, wherein the arm is configured to hold a tool.2. The apparatus of claim 1 , wherein the clamp includes at least two rollers configured to roll against opposite sides of the steam dam.3. The apparatus of claim 2 , further comprising:a plurality of rotatable arms, each of the arms including at least two of the rollers, wherein a first roller of the two rollers is positioned at a pivot point of the rotatable arm, and wherein a second roller of the two rollers is positioned away of the pivot point so as to permit the second roller to rotate against an opposite side of the steam dam from the first roller. ...

Device and method for cleaning surfaces

A device for submersibly cleaning surfaces inside a nuclear reactor includes a pump and a nozzle connected to said pump. The nozzle is arranged to face surfaces to be cleaned. The device includes cleaning means capable of removing debris on surfaces to be cleaned. The device includes adjustable flotation means, capable of adjusting the flotation capability of the device depending on a type of cleaning application.

Apparatus and method to inspect nuclear reactor components in the core annulus, core spray and feedwater sparger regions in a nuclear reactor

This invention generally concerns robotic systems and is specifically concerned with an improved apparatus and method for inspecting nuclear reactor components in limited access areas, such as, the core annulus, core spray and feedwater sparger regions of a nuclear reactor. This invention includes an apparatus for remotely operating and positioning at least one inspection device for inspecting at least one component in an annulus region of a reactor pressure vessel of a nuclear power plant. The apparatus includes a track, a braking system and a frame assembly which has a frame movably connected to the track, at least one mast assembly and at least one mast positioning assembly. The at least one inspection device is attached to the at least one mast assembly. In certain embodiments, the at least one mast assembly includes a mast that is capable of becoming rigidly stable in both an extended tube form and a retracted rolled form.

Repairing system as well as repairing method

A repairing system () is used for applying an adhesive to a location to be repaired underwater in a container. The repairing system () comprises a movable and remotely controlled repairing robot () that is configured to be driven underwater. The repairing robot () comprises a repairing module (12) that is configured to be coupled with an adhesive applying module (). The adhesive applying module () is configured to dispense an adhesive on the location to be repaired. Further, a repairing method is described. 115-. (canceled)16. A repairing system for applying an adhesive to a location to be repaired underwater in a container , the system comprising:a movable and remotely controlled repairing robot that is configured to be driven underwater, the repairing robot comprising a repairing module, the movable and remotely controlled repairing robot being constructed modularly, the repairing module being a central repairing module that provides respective interfaces for connecting further modules, the repairing module being configured to be coupled with an adhesive applying module, the adhesive applying module being configured to dispense an adhesive on the location to be repaired, the repairing module comprising two driving interfaces each configured to be coupled with a corresponding driving module having at least one wheel, which ensures the movability of the repairing robot.17. The system of claim 16 , wherein the repairing module is configured to be coupled with a cleaning module.18. The system of claim 17 , wherein the cleaning module comprises at least one cleaning brush unit.19. The system of claim 16 , wherein the adhesive applying module comprises an appliance brush.20. The system of claim 19 , wherein the adhesive applying module has an outlet for dispensing the adhesive on the location to be repaired claim 19 , and wherein the outlet is assigned to the appliance brush.21. The system of claim 16 , wherein the repairing module is configured to be coupled with a ...

SEALING OF A CRACK IN A POOL OF A NUCLEAR FACILITY, USING A ROBOT

The sealing of a crack in a pool of a nuclear facility, using a robot. The sealing, concerns in particular, that of a crack in a wall of a pool of a nuclear facility. In particular, it implements a mobile robot carrying an adhesive tape dispenser. At least the following are provided: controlling a plurality of suction systems, the dispenser being mechanically integral with a first suction system, and controlling the movement of the first system relative to the other systems of said plurality of systems. 115-. (canceled)16. A method for sealing a seam in a wall of a pool of a nuclear facility , making use of a mobile robot carrying a dispenser for an adhesive tape , the method comprising:controlling a plurality of suction systems, the dispenser being mechanically integral with a first suction system, andcontrolling the movement of the first suction system relative to the other suction systems of said plurality of suction systems.17. The method according to claim 16 , wherein claim 16 , to move the dispenser relative to a wall of the pool claim 16 , alternating steps are ordered which comprise at least the following:activating the suction systems while deactivating the first suction system, moving the first suction system relative to the other suction systems in a given direction,activating the first suction system while deactivating the other suction systems,moving the first suction system relative to the other suction systems in a direction opposite the given direction.18. The method according to claim 16 , wherein the seam to be sealed is a weld between sheets covering an inner wall of the pool19. The method according to claim 18 , wherein said weld contains a crack.20. A mobile robot for sealing a seam in a wall of a pool of a nuclear facility claim 18 , the mobile robot carrying a dispenser of an adhesive tape claim 18 , and comprising:a plurality of suction systems, the dispenser being mechanically integral with a first suction system, andmovement means for ...

ARTICULATED MANIPULATOR

Disclosed herein is an articulated manipulator capable of moving a tool such as an inspection device, a processing device, or a welding device to a desired position for inspection or repair of a defect portion in a limited place. The articulated manipulator includes a base plate, a movable unit slidably coupled on the base plate, a rotatable unit rotatably coupled on the movable unit, and a rotation unit rotatably coupled to one side of the rotatable unit. 1. An articulated manipulator comprising:a base plate having a length that is longer than a width thereof;a movable unit slidably coupled to the base plate, and configured to slide in a direction of the length of the base plate;a rotatable unit rotatably coupled to an upper side of the movable unit, and configured to rotate along a plane which is parallel to a plane on which the base plate is disposed; anda rotation unit rotatably coupled to one side of the rotatable unit and comprising a plurality of rotation modules which are configured to be assembled together in a modular manner.2. The articulated manipulator according to claim 1 , wherein each of the rotation modules comprises a coupling block coupled to one side of the rotatable unit or one side of another adjacent rotation module claim 1 , and a rotation member rotatably coupled to the coupling block.3. The articulated manipulator according to claim 2 , wherein each of the rotation modules further comprises a motor provided at one side of the rotation member to rotate the rotation member relative to the coupling block.4. The articulated manipulator according to claim 2 , wherein at least one of the rotation modules further comprises an arm coupled to one side of the rotation member.5. The articulated manipulator according to claim 1 , further comprising at least one support member having an adjustable length which is shortened and lengthened by an actuation cylinder claim 1 , wherein the at least one support member is provided at an upper side of the base ...

Cleaning Device for Bottom Surfaces

A cleaning device includes an external casing (1) forming a suction hood and an upper suction mouth (2) and being provided with drive arrangements arranged on each side and equipped with independent motors and corresponding transmission mechanisms on each side; and cleaning rollers (51, 52, 53, 54); sets of internal cleaning rollers (53, 54) disposed close to the centre of the hollow interior of the casing (1) and having a width approximately equal to the distance between the side elements (11) of the casing (1); sets of external cleaning rollers (51, 52) located close to the front and rear edges of the casing (1) of the cleaning device and having a total width slightly greater than the width of the casing; a resilient joint at the support for the external rollers; an adhesion turbine, a suction turbine, and auxiliary drive wheels on the internal cleaning rollers. 1. A floor cleaner , comprising:an outer casing which forms a suction bell, an upper suction mouth on said casing,a pulling arrangement set on opposite sides of the casing, the pulling arrangement fitted with independent drive motors and corresponding transmission mechanisms on each side, andcleaning rollers, the cleaning rollers including:an assembly of interior cleaning rollers placed close to a center of the casing, and having a width roughly equal to a distance between lateral side elements of said casing, andan assembly of outer cleaning rollers placed in a zone close to front and rear edges of the casing of the cleaner, and having a total width slightly greater than a width of said casing.2. A floor cleaner claim 1 , according to claim 1 , wherein the suction mouth is provided with a rotary element joined to the casing.3. A floor cleaner claim 1 , according to claim 1 , wherein the suction mouth is connected to an external source of suction.4. A floor cleaner claim 3 , according to claim 3 , further comprising a body rotating at 45° with a lower element connected to the suction mouth and an upper ...

APPARATUS AND METHOD TO INSPECT NUCLEAR REACTOR COMPONENTS IN THE CORE ANNULUS, CORE SPRAY AND FEEDWATER SPARGER REGIONS IN A NUCLEAR REACTOR

This invention generally concerns robotic systems and is specifically concerned with an improved apparatus and method for inspecting nuclear reactor components in limited access areas, such as, the core annulus, core spray and feedwater sparger regions of a nuclear reactor. This invention includes an apparatus for remotely operating and positioning at least one inspection device for inspecting at least one component in an annulus region of a reactor pressure vessel of a nuclear power plant. The apparatus includes a track, a braking system and a frame assembly which has a frame movably connected to the track, at least one mast assembly and at least one mast positioning assembly. The at least one inspection device is attached to the at least one mast assembly. In certain embodiments, the at least one mast assembly includes a mast that is capable of becoming rigidly stable in both an extended tube form and a retracted rolled form. 18.-. (canceled)9. A method for inspecting an annulus region of a reactor pressure vessel in a nuclear power plant , comprising:positioning a partial track on an annular rim of a core shroud in the reactor pressure vessel such that the track is horizontally movable along the rim; 'a frame movably connected to the partial track such that the frame is horizontally movable along the partial track;', 'positioning a frame assembly on the partial track, the frame assembly comprisingconnecting at least one mast assembly to the frame assembly;connecting at least one mast positioning assembly to the frame assembly;connecting at least one inspection device to the frame assembly;connecting a braking system to the partial track and the frame assembly; and activating the braking system to horizontally move the frame assembly along the partial track with the partial track being stationary; and', 'deactivating the braking system to horizontally move the partial track along the rim of the annular rim of the core shroud and the frame assembly being stationary ...

Device for monitoring and collecting information from an area with potential risk of irradiation

A device for monitoring and collecting information ( 10 ) from an area with potential risk of irradiation, including at least one storage box ( 12 ) intended to be positioned permanently in a nuclear infrastructure ( 2 ) and including a unit for communication with a control station ( 14 ) intended to be positioned outside ( 8 ) the nuclear infrastructure ( 2 ), characterized in that the storage box ( 12 ) is intrinsically protected from any external stresses, and includes a televisual inspection unit and a unit for measuring environmental parameters that can be deployed from inside the nuclear infrastructure ( 2 ).

Systems, methods and apparatus for in-service tank inspections

Systems, methods and apparatuses for inspecting a tank containing a flammable fluid are provided. The method includes opening a lid of a tank containing the flammable fluid. The method includes connecting a cable to a vehicle that includes a battery and a control unit. The method includes lowering, via the cable and through an opening of the tank, the vehicle through a vapor barrier within the tank and on top of the flammable fluid. The method includes disengaging the cable from the vehicle subsequent to the vehicle contacting a floor of the tank. The method includes removing the cable from the tank. The method includes performing, via the control unit of the vehicle, a tank inspection process under battery power, the tank inspection process comprising generating a map of the tank and determining a quality metric for a portion of the tank corresponding to a location on the generated map.

NUCLEAR PLANT MANIPULATOR SYSTEM

A nuclear plant manipulator system is disclosed which can include a manipulator with an image acquisition device and remote-control drive, a remote-operating device, as well as an analysis device for analyzing image data of the image acquisition device. The analysis device can be configured in such a way that when the manipulator moves along a path of movement based on image data, respective known objects that are found along the path of movement are automatically identified, and when such an object is passed, depending on the direction, an object counter is incremented or decremented, whereby the current value of the object counter is provided to the remote-operating device. A method is disclosed for controlling a manipulator of the nuclear plant manipulator system. 1. A nuclear plant manipulator system , comprising:a manipulator with an image acquisition device and remote-control drive;a remote-operating device; andan analysis device for evaluating image data of the image acquisition device, wherein the analysis device is configured such that when the manipulator moves along a path of movement based on image data, known objects that are found along the path of movement are automatically identified, and when such an object is passed, depending on direction an object counter is incremented or decremented, and a current value of the object counter is provided to the remote-operating device.2. The nuclear plant manipulator system according to claim 1 , wherein the manipulator is an immersion contactor.3. The nuclear plant manipulator system according to claim 1 , wherein the image acquisition device is configured to pivot relative to the manipulator claim 1 , such that its image acquisition area can be oriented both crosswise to a feeding direction of the drive and to an identified object.4. The nuclear plant manipulator system according to claim 1 , wherein the remote-operating device comprises:a display device for depicting the current value of the object counter.5. ...

LIQUID TANK INSPECTION INCLUDING DEVICE FOR LAUNCHING SUBMERSIBLE

A launching tube for use with a liquid filled tank can be sized to accommodate a submersible vehicle for dispensing into the liquid tank. The tank can be an electrical transformer or any other liquid containing tank such as but not limited to a chemical tank. The launching tube can include a valve for insertion into a launching chamber, and a tank side valve for launching of the submersible into the tank. In one form the launching tube includes an antenna for communication with the submersible and/or a base station. The launching tube can also include a sensor such as a camera, as well as an agitator. The agitator can be used to facilitate bubble removal from the inside of the launching tube. 1. An apparatus comprising:a liquid tank structured to enclose a working liquid within an interior of the tank, the tank including a port through which a robotic submersible can be inserted into the tank from an exterior position, the port coupled with a launching tube attached opposite the interior of the liquid tank, the launching container having an outside valve configured to be opened and closed, a launching chamber sized to receive the robotic submersible through the outside valve, and a tank-side valve placed opposite the launching chamber from the outside valve and structured to be open to permit ingress of the robotic submersible into the interior of the tank.2. The apparatus of claim 1 , which further includes an air release passage in fluid communication with the launching chamber.3. The apparatus of claim 1 , which further includes an agitator structured to cause the release of air bubbles in a liquid medium within the launching chamber.4. The apparatus of claim 1 , wherein in the launching tube is attached to the top of the tank claim 1 , and which further includes a communication antenna.5. The apparatus of claim 1 , wherein the launching tube is attached to a side of the tank claim 1 , and which further includes a visual sensor.6. The apparatus of claim 1 , ...

SYSTEMS AND METHODS FOR INSPECTING A MACHINE

An inspection system for inspecting a machine includes an inspection vehicle constructed for wireless operation while submersed in a dielectric liquid medium. The inspection vehicle is self-propelled. A controller is operative to direct the activities of the inspection vehicle. A plurality of status interrogation systems is disposed on the inspection vehicle. The status interrogation systems are operative to capture inspection data regarding a plurality of inspection procedures performed on the machine. 1. An inspection system for inspecting a machine , comprising:an inspection vehicle constructed for wireless operation while submersed in a dielectric liquid medium, wherein the inspection vehicle is self-propelled;a controller operative to direct activities of the inspection vehicle; anda plurality of status interrogation systems disposed on the inspection vehicle, wherein the plurality of status interrogation systems are operative to capture inspection data regarding a plurality of inspection procedures performed on the machine.2. The inspection system of claim 1 , further comprising a base station claim 1 , wherein the controller is coupled to at least one of the status interrogation systems and operative to wirelessly transmit the captured data to the base station.3. The inspection system of claim 1 , wherein the plurality of status interrogation systems includes an ultrasound sensor operative to measure a thickness.4. The inspection system of claim 1 , wherein the plurality of status interrogation systems includes a microphone operative to sense sound waves associated with a partial discharge.5. The inspection system of claim 4 , wherein the microphone is a plurality of microphones.6. The inspection system of claim 5 , wherein the controller is coupled to the plurality of microphones; andwherein the controller is operative to triangulate a location of the partial discharge; orfurther comprising a base station, wherein the controller is operative to wirelessly ...

UNDERWATER MOVING VEHICLE

The present invention provides an underwater moving vehicle improved in motion performance and capable of stably maintaining its position. 1. An underwater moving vehicle comprising:a vehicle body configured to be set in advance in such a manner that weight of the vehicle body becomes larger than buoyant force generated in water;a thruster configured to generate an upward thrust by driving screw propellers;a drive adjuster configured to control water depth of the vehicle body to a predetermined position by adjusting drive of the screw propellers and generating the upward thrust equivalent to difference between the weight and the buoyant force; anda water flow deflector configured to move the vehicle body in a horizontal direction by deflecting a downward water flow generated by the screw propellers.2. The underwater moving vehicle according to claim 1 , raise the vehicle body by generating the upward thrust exceeding the difference, and', 'lower the vehicle body by generating the upward thrust smaller than the difference., 'wherein the drive adjuster is configured to'}3. The underwater moving vehicle according to claim 1 , at least two guide vanes configured to guide water flow; and', 'a guide vane driver configured to deflect the water flow by changing directions of the guide vanes., 'wherein the water flow deflector includes4. The underwater moving vehicle according to claim 1 , a balance weight configured to keep attitude of the vehicle body; and', 'a balance weight driver configured to deflect the water flow by moving the balance weight and tilting the attitude of the vehicle body., 'wherein the water flow deflector includes5. The underwater moving vehicle according to claim 1 , further comprising contra-rotating propellers in which two sets of the screw propellers are coaxially arranged and rotate in directions opposite to each other.6. The underwater moving vehicle according to claim 1 , further comprising a water depth sensor configured to detect water depth ...

Submersible inspection system

A submersible inspection system for inspection of liquid cooled electrical transformers having a wirelessly controlled submersible inspective device. A submersion depth of the submersible can be controlled using a ballast system. The system can also include an input/output selector to switch between camera images from the submersible. A heartbeat signal indicative of a health of the transmitted signal can be transmitted to the submersible, and redundant channel selection logic can facilitate switching to a channel that includes a current heartbeat. A plurality of status interrogation systems disposed on the submersible can capture data regarding inspection procedures performed on the transformer, and the submersible can include tools for repair procedures. Data transmitted from the submersible, and overlayed with input data from an operator, can facilitate real time inspection analysis. The system can also form a model of an internal in the transformer, as well as produce a three-dimensional field of view.

INSPECTION VEHICLE WITH MAINTENANCE TOOLS

An inspection vehicle operable for performing one or more maintenance and repair operations in a housing filled at least partially with a liquid medium is disclosed in the present application. The inspection vehicle includes a propulsion device operable in the liquid medium and includes at least one sensor operable for sensing and transmitting data associated therewith. A control system including an electronic controller is in electronic communication with the inspection vehicle to transmit and receive communication signals to/from the inspection vehicle. One or more maintenance tools operable with the inspection vehicle are configured to perform maintenance and/or repair operations within the liquid filled housing. 1. An inspection system comprising:an inspection vehicle having a propulsion device operable in an enclosed tank at least partially filled with a liquid medium;at least one sensor operable with the inspection vehicle;a control system including an electronic controller in electronic communication with the inspection vehicle; andone or more maintenance tools operable with the inspection vehicle.2. The inspection system of claim 1 , wherein the one or more maintenance tools includes at least one of a suction pump claim 1 , a grasping device claim 1 , a cutting device claim 1 , an impact device claim 1 , a magnet claim 1 , a welder and a rotary tool.3. The inspection system of claim 2 , wherein the suction pump is in fluid communication with an inlet port formed in a housing of the inspection vehicle.4. The inspection system of claim 1 , further comprising an outlet port formed in the housing of the inspection vehicle claim 1 , the outlet port in fluid communication with the inlet port.5. The inspection system of claim 4 , wherein the suction pump is operable for drawing in a quantity of the liquid with entrained solid particulate through the inlet port and for discharging the liquid and solid particulate through the outlet port.6. The inspection system of ...

Loading apparatus of steam generation inspection robot

본 발명은 상단에 원자력 발전용 증기 발생기의 전열관에 삽입되는 삽입핀이 설치되며, 상기 증기 발생기의 일측에 형성된 개구로 삽입된 가이드 레일과, 상기 가이드 레일을 상기 증기 발생기의 개구 일측에 고정시키는 가이드 고정유닛 및 상기 가이드 레일을 따라 이동하면서 상기 전열관을 검사하는 검사로봇이 장착되는 이송유닛을 포함하는 것을 특징으로 하는 전열관 검사로봇의 입퇴실장치에 관한 것이다. 이에, 본 발명은 핵분열에서 발생하는 에너지를 이용하여 증기를 발생시키는 전열관을 검사하는 검사로봇을 증기발생기의 내부로 인입시키고, 인출시키도록 하되, 정교하게 그 위치를 조절할 수 있도록 하여 검사로봇이 정확하게 전열관을 검사할 수 있도록 증기 발생기의 개구에 가이드 레일을 고정시켜 가이드 레일을 따라 검사로봇을 증기발생기의 내부로 이송시키도록 이루어짐에 따라 검사로봇을 증기 발생기의 내부로 이송시키기 용이하고, 정확한 위치로 이송시킬 수 있는 효과가 있다. The present invention has an insertion pin is inserted into the heat transfer tube of the steam generator for nuclear power generation at the top, a guide rail inserted into the opening formed on one side of the steam generator, and a guide for fixing the guide rail to the opening side of the steam generator It relates to the entrance and exit device of the heat transfer tube inspection robot, characterized in that it comprises a transfer unit is mounted to the inspection robot for inspecting the heat transfer pipe while moving along the fixed unit and the guide rail. Therefore, the present invention is to introduce the inspection robot for inspecting the heat transfer tube that generates steam by using the energy generated from the nuclear fission into the steam generator, and to draw out, but to precisely control the position so that the inspection robot accurately The guide rail is fixed to the opening of the steam generator so that the heat pipe can be inspected, and the inspection robot is moved along the guide rail to the inside of the steam generator. There is an effect that can be transferred.

Maintenance structure apparatus setting on upper side of polar crane in nuclear power plant containment building

본 고안의 실시예에 따른 원자력 발전소 격납건물 폴라 크레인 상부설치 정비용 구조물 장치는, 원자로 격납건물 라이너 플레이트(CLP, Containment Liner Plate)의 정비를 위하여 복수 층으로 배치되는 구조물로 이루어진 정비용 구조물 장치로서, 폴라 크레인 상에서 배치되는 적어도 하나의 제1 구조물과, 상기 제1 구조물이 상기 폴라 크레인 상에서 이동 가능하도록 상기 제1 구조물에 착탈 가능하게 결합되어 상기 폴라 크레인 상에 구비되는 제1 가이드를 따라 이동되는 제1 구동부와, 상기 적어도 하나의 제1 구조물 상에 배치되는 적어도 하나의 제2 구조물 및 상기 제2 구조물이 상기 적어도 하나의 제1 구조물 상에서 선형 이동 가능하도록 상기 제2 구조물에 착탈 가능하게 결합되어 상기 제1 구조물의 상면에 길게 구비되는 제2 가이드를 따라 이동되는 제2 구동부를 포함할 수 있다. A structure device for maintenance installed on top of a nuclear power plant containment polar crane according to an embodiment of the present invention is a structure device for maintenance consisting of a structure arranged in multiple layers for maintenance of a containment liner plate (CLP). At least one first structure disposed on the polar crane, and the first structure is detachably coupled to the first structure to be movable on the polar crane and moved along a first guide provided on the polar crane A first driving unit, at least one second structure disposed on the at least one first structure, and the second structure are detachably coupled to the second structure so as to be linearly movable on the at least one first structure, It may include a second driving unit moving along a second guide provided long on the upper surface of the first structure.

Nondestructive testing apparatus for omega seal of reactor vessel closure head assembly

본 발명은 원자로 용기 밀폐헤드의 오메가 씰 용접부를 비파괴 검사하기 위한 오메가 씰 용접부 검사장치에 관한 것으로, 본 발명의 검사장치는 수평으로 설치되는 가이드바(10)와; 상기 가이드바(10)에 슬라이딩 가능하게 설치되는 이동블록(20)과; 상기 이동블록(20)의 상면에 설치되며, 그 상면에 상기 가이드바(10)의 설치방향과 직각으로 설치되는 레일(31)이 구비되는 베이스플레이트(30)와; 상기 레일(31)에 슬라이딩 가능하게 설치되는 이송플레이트(40)와; 상기 이송플레이트(40)의 상면에 설치되고, 복수 개의 회전판으로 이루어져 상기 복수 개의 회전판이 구동모터의 회전에 의해 펼쳐짐으로써 상기 오메가 씰 용접부의 외주면을 따라 360°회전 이동되는 레일조립체(50)와; 상기 레일조립체(50)의 최상단에 설치되는 회전판의 상면에 위치하면서 검사대상 용접부를 검사하는 탐상유닛 및; 상기 이동블록(20), 이송플레이트(40) 및 레일조립체(50)의 이동을 제어하는 컨트롤러(60)로 이루어지는 것을 특징으로 한다. 상기와 같은 구성에 의해 본 발명은 오메가 씰의 용접부의 외주면을 따라 이동하면서 검사를 진행할 수 있기 때문에 신속한 검사가 이루어질 수 있고, 또한 탐상유닛의 위치가 정밀하게 제어될 수 있기 때문에 검사의 질과 신뢰성이 향상된다.

Inspection apparatus for heat transfer pipe

본 발명은 카메라를 갖는 검사 헤드를 원하는 방향으로 용이하게 이동시킬 수 있는 증기발생기 검사 장치를 제공한다. 본 발명의 일 측면에 따른 전열관 검사 장치는 상기 증기발생기의 내부에 삽입 배치되는 레일부, 카메라와 발광소자를 포함하는 검사 헤드, 상기 레일부를 따라 이동 가능하게 설치되며 상기 검사 헤드를 이동시키는 대차, 및 상기 검사 헤드와 전기적으로 연결되며 가요성을 갖는 복수의 보호관을 포함하는 관 결합체를 포함하고, 상기 보호관들은 복수의 접합부에 의하여 이웃하는 보호관에 고정되되 상기 접합부는 상기 관 결합체의 길이방향으로 이격 형성된다. The present invention provides a steam generator inspection apparatus capable of easily moving an inspection head having a camera in a desired direction. A heat transfer tube inspection apparatus according to an aspect of the present invention includes a rail part inserted and disposed inside the steam generator, an inspection head including a camera and a light emitting element, a bogie installed movably along the rail part and moving the inspection head; and a tube assembly electrically connected to the inspection head and including a plurality of flexible protective tubes, wherein the protective tubes are fixed to neighboring protective tubes by a plurality of joint portions, wherein the joint portions are spaced apart in the longitudinal direction of the tube assembly. is formed

Pulley apparatus for installing and transporting maintenance structure setting on upper side of polar crane in nuclear power plant containment building

본 고안의 실시예들은 제1 구조물에 대해 제2 구조물을 들어올릴 수 있어 예를 들면 원자로의 격납건물의 천정 영역에서 구조물을 설치하기 어려운 사각지대에 이르기까지 정비를 위한 구조물을 원활하게 설치할 수 있으며, 따라서 라이너 플레이트 유지보수와 같은 작업을 원활하게 수행할 수 있는 원자력 발전소 격납건물 폴라 크레인 상부설치 정비용 구조물 이송운반용 풀리 장치를 제공한다. Embodiments of the present invention can lift the second structure with respect to the first structure, so for example, it is possible to smoothly install the structure for maintenance from the ceiling area of the containment building of the nuclear reactor to the blind spot where it is difficult to install the structure, , therefore, to provide a pulley device for transporting structures for maintenance of polar cranes in a nuclear power plant containment building that can smoothly perform tasks such as liner plate maintenance.

moving platform inspecting and maintaining apparatus for nuclear reactor

The present invention relates to a moving platform of an inspection and maintenance device for a reactor head, comprising: an x-axis support unit (10) which is installed to be rotated on the upper top surface of a bioshield (201) installed in a reactor head (200) and move a z-axis support unit (40) installed on the top surface thereof forward/backward in an x-axis direction; a rotation axis support unit (20) which includes at least two or more axes, meets the x-axis support unit (10) at the center thereof and is extended to the upper top surface of the bioshield (201) in a radius direction; a rotation roller (30) which is attached to the ends of the x-axis support unit (10) and the rotation axis support unit (20) to be rotated along the upper top surface of the bioshield (201); the z-axis support unit (40) which is installed on the top surface of the x-axis support unit (10) to vertically move an inspection or maintenance device (300); and an x-axis actuator (50) which is installed on the other end of the x-axis support unit (10) to move the z-axis support unit (40) forward/backward along an x-axis. The moving platform is capable of: performing various works by freely detaching/attaching the non-destructive inspection and maintenance system in the reactor head; being applied to various reactor heads by freely adjusting lengths of the support axes: minimizing workers by automatically moving the inspection and maintenance system in a high radioactivity area; easily disassembling/assembling equipment; and minimizing workers by allowing the workers to freely move/install the equipment having the small weight, thereby improving efficiency in inspection and maintenance.

System, mobile device and method for reducing the deposition of contaminants

Manipulative control device

FIELD: nuclear power. SUBSTANCE: invention relates to manipulative control devices (MCD) of nuclear reactor. MCD comprises gantry for repeated connection to reactor housing (1) with telescopic post (2). Portal (1) has central part (1.1) and at least three bearing brackets (1.2), attached to it, arranged regularly along outline of central part (1.1) and designed for repeated connection to reactor housing. Central part (1.1) of portal (1) is equipped with rotary device (1.1.1) with hole in middle and drive for turning telescopic post (2), wherein said rotary device (1.1.1) is equipped with flange for repeated connection with telescopic post (2), while telescopic post (2) contains guide post (2.1), outer post (2.2) and telescopic inner pole (2.3), located in it, designed for mutual displacement inside each other. Guide posts (2.1) are equipped with connecting element for repeated connection with flange of portal (1), while inner post (2.3) at lower end is equipped with transverse way (3) with at least one carriage, intended for arrangement of probes, and distributing box for cabling to probes. EFFECT: technical result is increased efficiency of inspection of open reactor housing. 10 cl, 11 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 607 721 C1 (51) МПК G21C 17/01 (2006.01) G01N 29/24 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ФОРМУЛА (21)(22) Заявка: ИЗОБРЕТЕНИЯ К ПАТЕНТУ РОССИЙСКОЙ ФЕДЕРАЦИИ 2015141522, 30.09.2015 (24) Дата начала отсчета срока действия патента: 30.09.2015 Дата регистрации: (73) Патентообладатель(и): ШКОДА ЙС а.с. (CZ) Приоритет(ы): (30) Конвенционный приоритет: (56) Список документов, цитированных в отчете о поиске: SU1263116 A1, 05.11.2014 CZ CZ2014-752 Адрес для переписки: 119019, Москва, Гоголевский б-р, 11, этаж 3, "Гоулингз Интернэшнл Инк.", Гизатуллина Евгения Михайловна 2 6 0 7 7 2 1 (57) Формула изобретения 1. Манипуляционное контрольное устройство, содержащее портал (1), к которому присоединена выдвижная стойка (2), ...

Underwater mobile inspection system

Apparatus to inspect outer surface of the metal containment vessel of nuclear power plants

본 발명의 실시예에 따른 원자력 발전소의 격납용기 외면 검사 장치는, 격납용기의 외면을 촬영함으로써 격납용기의 외면 상태에 대한 촬영 정보를 획득하는 카메라 유닛; 카메라 유닛이 연결되며, 카메라 유닛을 격납 용기의 좌우 방향 및 상하 방향으로 위치 조절하는 위치 조절 유닛; 및 카메라 유닛에 연결되어 카메라 유닛을 상방으로 들어올리기 위한 거상력을 발생시키는 거상력 발생 유닛;을 포함할 수 있다. 본 발명의 실시예에 따르면, 원격 조절에 의해 카메라 유닛을 격납용기의 원하는 영역으로 위치시킨 후 격납용기의 외면 검사를 수행할 수 있어 원자력 발전소의 안정성을 확보할 수 있을 뿐만 아니라 부식 정도를 정확하게 식별할 수 있어 수명 연장을 구현할 수 있다. 또한, 장소가 협소하여 사람이 직접 검사하기가 불가능하였던 격납용기의 외면을 검사할 수 있을 뿐만 아니라 격납용기의 상부에 이르기까지 광범위하게 검사가 수행될 수 있어 검사의 효율성을 향상시킬 수 있다. According to an aspect of the present invention, there is provided an apparatus for inspecting an outer surface of a containment container, the apparatus including: a camera unit acquiring photographing information about an outer state of a containment container by photographing an outer surface of the containment container; A camera unit to which the camera unit is connected, and which adjusts the camera unit in a left and right direction and a vertical direction of the container; And an elevation force generating unit connected to the camera unit to generate an elevation force for lifting the camera unit upward. According to an embodiment of the present invention, by positioning the camera unit to a desired area of the containment by remote control, the outer surface of the containment can be inspected to ensure the stability of the nuclear power plant as well as accurately identify the degree of corrosion. It can achieve longer life. In addition, it is possible to inspect the outer surface of the containment container, which was not possible to inspect by a person due to the narrow space, and the inspection can be performed extensively up to the upper part of the containment container, thereby improving the inspection efficiency.

Automatic remote measuring digital probe fixing apparatus for measuring gap of reactor inner structure

본 고안은 디지털프로브를 이용하여 원자로용기돌출물과 노심지지통돌출물 사이의 간극 측정시 디지털프로브의 고정부위에 유격이 발생하지 않도록 견고히 고정하기 위한 디지털프로브 고정장치를 제공하고자 함에 그 목적이 있다. The object of the present invention is to provide a digital probe holding device for firmly fixing the gap between the reactor vessel projections and the core bearing projections using the digital probe so that there is no play in the fixed portion of the digital probe. 이를 구현하기 위한 본 고안은, 원자로용기 내부에 돌출형성된 원자로용기돌출물(8)과 상기 원자로용기 내부에 설치된 노심지지통의 외측으로 돌출형성된 노심지지통돌출물(7) 사이의 간극을 측정하기 위한 디지털프로브(14)가 삽입되는 디지털프로브홀(115)이 관통형성된 하우징(110)과, 상기 디지털프로브홀(115)에 삽입된 디지털프로브(14)의 외주면을 가압하여 고정하기 위한 세트스크류(130)를 포함하여 이루어진다. The present invention for implementing this, the digital for measuring the gap between the reactor vessel projections (8) protruding in the reactor vessel and the core support projections (7) protruding outward of the core support installed in the reactor vessel The housing 110 through which the digital probe hole 115 into which the probe 14 is inserted is formed, and the set screw 130 for pressing and fixing the outer circumferential surface of the digital probe 14 inserted into the digital probe hole 115. It is made, including. 원자로, 간극, 원격, 자동, 디지털프로브, 고정 Reactor, Gap, Remote, Auto, Digital Probe, Fixed

An inspecting robot arrangement device

본 발명은 원자로에 구비된 칼란드리아 관에 삽입되는 검사로봇의 정렬을 위한 검사로봇 정렬장치에 관한 것으로, 더욱 상세하게는 상기 검사로봇에 구비되어 레이저를 발광하는 레이저발광부; 상기 검사로봇의 단부 외측면에 형성된 연결판; 상기 연결판의 단부에 구비되어 상기 레이저발광부를 통해 발광된 레이저가 일정각도 꺾여져 상기 칼란드리아 관 내벽으로 반사되도록 하는 반사부; 및 상기 검사로봇에 구비되어 상기 반사부를 통해 반사된 레이저가 수광되는 레이저수광부; 상기 칼란드리아 관 내벽에서 반사되는 레이저를 스캔하는 스캔부; 및 상기 스캔부를 통해 스캔정보를 입력받아 검사로봇의 위치를 조절하는 제어부;를 포함하는 검사로봇 정렬장치에 관한 것이다. 본 발명은 검사로봇 정렬장치는 칼란드리아 관 내벽에서 반사되는 레이저의 반사과정(스캔정보)을 이용하여 검사로봇의 위치가 조절되도록 함으로써 칼란드리아 관 내부 벽면에 접촉되지 않은 상태로 검사로봇이 칼란드리아 관 내부에 삽입되어 기기에 대한 검사를 수행할 수 있게 하는 효과가 있다. 또한 칼란드리아 관과 검사로봇의 접촉으로 인한 칼란드리아 관 내벽과 검사로봇의 파손을 방지하는 효과도 있다. The present invention relates to an inspection robot alignment apparatus for aligning an inspection robot inserted into a calandria tube provided in a reactor, and more particularly, A connection plate formed on an outer side surface of the end portion of the inspection robot; A reflector provided at an end of the coupling plate to reflect the laser emitted through the laser emitting unit to an inner wall of the calandria tube by being bent at a predetermined angle; And a laser light receiving unit provided in the inspection robot and receiving a laser reflected through the reflection unit; A scan unit for scanning a laser beam reflected from the inner wall of the calandria tube; And a controller for receiving the scan information through the scan unit and adjusting the position of the inspection robot. In the inspection robot alignment apparatus, the position of the inspection robot is adjusted by using the reflection process (scan information) of the laser reflected from the inner wall of the calandria tube, so that the inspection robot is not in contact with the inner wall of the calandria tube, It is possible to inspect the apparatus by inserting it into the tube. It also has the effect of preventing damage to the inner wall of the calandria tube and the inspection robot caused by contact between the calandria tube and the inspection robot.

Flange surface movement guide device of nuclear vessel

According to an embodiment of the present invention, the present invention relates to a flange surface movement guide device of a reactor vessel which guides a probe unit, which is in contact with a flange surface provided in a circular opening of a reactor vessel in a circumferential direction to inspect the flange surface, to move along the circumferential direction of the flange surface. The flange surface movement guide device of a reactor vessel comprises: a rotation arm including one end connected to be rotatable in a vertical direction, which is vertical to the ground, as a shaft direction, and the other end extending from one end to the outside of a radius direction of the circular opening to have the probe unit mounted therein at a fixing unit to which a reactor vessel is fixed; and a first driving unit rotating the rotation arm to move the other end of the rotation arm in the circumferential direction of the flange surface.

Inspection system and inspection process utilizing magnetic inspection vehicle

一种用于检查蒸汽发生器的检查车，包括：前底盘，具有两个独立驱动的磁轮；后底盘，具有两个独立驱动的磁轮；以及连接构件，将所述前底盘与所述后底盘柔性连接，以允许沿着至少一个轴线在所述前底盘与所述后底盘之间进行相对运动。所述连接构件、前底盘和后底盘共同限定容纳区域。所述检查车还包括：导航相机，设置在所述前底盘上；以及摇摄和倾斜检查相机组件，包括由第一电机驱动的第一可旋转臂、设置在所述第一可旋转臂的远端部分上的第二可旋转臂、以及可旋转地设置在所述第二臂的远端部分上的检查相机，所述第二可旋转臂由第二电机驱动，所述检查相机由第三电机驱动。

Automated inside reactor inspection system

An apparatus and method for maintaining contact between a pod of transducers and an inner surface of a reactor pressure vessel filled with water of a nuclear power plant is described. An underwater carriage carries the pod of transducers each of which is independently movable and are constantly urged against the surface of the vessel during inspection. Each transducer is independently pivotable about two axes. Each transducer emits and receives signals to detect any flaws of potential problems in the reactor pressure vessel.

Inspection tool

A tool is receivable into an interior region of a core shroud of a Boiling Water Reactor. The tool includes an elongated frame, an elevator apparatus situated on the frame, and a manipulator apparatus situated on the elevator apparatus. The tool further includes a reciprocation apparatus that is situated on the manipulator apparatus and that has a mount that is structured to carry a device thereon. The reciprocation apparatus includes an elongated rack of an arcuate profile. The elevator apparatus is operable to move the reciprocation apparatus along the longitudinal extent of the frame. The tool further includes a foot apparatus that is situated at an end of the frame and that is receivable on a core plate to enable the frame to be pivoted about an axis of elongation of the frame with respect to the core plate.

Carrying tool which can be moved by adhering action

Small Mobile Feeder Pipe Inspection Robot for Pressurized Heavy Water Reactor with One-Touch Installation Mechanism

본 발명은 원터치 삽입형 가압 중수로용 급수배관 검사용 이동로봇에 관한 것이며, 그 목적은 중수로형 원자로의 압력관에 부착된 급수배관을 따라 자동으로 이동하며 급수배관의 두께를 측정하는 한편, 1차곡관부 뿐만 아니라 2차곡관부까지 측정이 가능하여 원자로의 안전성을 보다 향상시킬 수 있으며, 장치의 설치가 원터치 방식으로 간단하고 자동으로 측정이 수행됨으로 작업자의 피폭량을 감소시킬 수 있는 급수배관 검사용 이동로봇을 제공함에 있다. The present invention relates to a mobile robot for inspecting the water supply pipe for pressurized heavy water reactors, the purpose of which is to automatically move along the water supply pipe attached to the pressure pipe of the heavy water reactor reactor, while measuring the thickness of the water supply pipe, In addition, it is possible to measure up to the secondary curved pipe part to improve the safety of the reactor, and the installation of the device provides a mobile robot for inspecting the water supply pipe that can reduce the exposure of the worker because the measurement is performed simply and automatically by the one-touch method. Is in. 본 발명은 급수배관 외벽에 부착되는 후방그리퍼부와, 상기 후방그리퍼부에 부착되어 원주방향으로 회전시키는 회전구동력을 제공하는 회전구동부와, 상기 회전구동부에 부착되어 급수배관의 길이방향으로 전·후진시키는 구동력을 제공하는 확장구동부와, 상기 확장구동부에 부착되어 자유롭게 회전하는 전방그리퍼부로 구성된 원터치 삽입형 가압 중수로 원자로용 급수배관 검사용 이동로봇에 관한 것을 그 기술적 요지로 한다. The present invention provides a rear gripper portion attached to the outer wall of the water supply pipe, a rotation driving unit attached to the rear gripper unit to provide a rotational driving force to rotate in the circumferential direction, and attached to the rotary driving unit to move forward and backward in the longitudinal direction of the water supply pipe. The technical gist of the present invention relates to a one-touch inserting pressurized heavy water reactor for a feedwater pipe inspection mobile robot comprising an expansion driving unit for providing a driving force and a front gripper unit attached to the expansion driving unit and freely rotating. 후방그리퍼부, 회전구동부, 확장구동부, 전방그리퍼부, 급수배관 Rear Gripper, Rotating Drive, Expansion Drive, Front Gripper, Water Supply Pipe

DEVICE FOR EXPLORING AND / OR TREATING A CURVED SMOOTH SURFACE

FINGER CLAMP TYPE INSPECTION ROBOT FOR TUBES OF A STEAM GENERATOR

Le robot d'inspection (R) comprend un module à déplacement avant ou arrière (10), un module à déplacement gauche ou droite (20), espacé du module à déplacement avant ou arrière (10), un module à dispositif d'inspection (30) installé sur le module à déplacement avant ou arrière (10) pour examiner l'intérieur de tubes de chauffe, et des modules de serrage (40) installés avec possibilité de déplacement vertical et horizontal et de rotation et comprenant une pluralité d'éléments de serrage à doigt, destinés à être insérés dans les tubes de chauffe par un mouvement vertical, de manière à serrer simultanément les tubes de chauffe. Grâce au déplacement avant ou arrière, au déplacement gauche ou droite et à la rotation des modules de serrage (40), le robot d'inspection (R) peut être déplacé librement pour examiner les tubes de chauffe, situés à différents emplacement, et peut serrer facilement les tubes de chauffe, ce qui permet d'obtenir un temps d'inspection réduit et une inspection stable. The inspection robot (R) comprises a forward or reverse displacement module (10), a left or right displacement module (20), spaced from the forward or reverse displacement module (10), an inspection device module (30) installed on the forward or backward displacement module (10) for examining the interior of heating tubes, and clamp modules (40) installed with the capability of vertical and horizontal displacement and rotation and comprising a plurality of finger clamping elements, intended to be inserted into the heating tubes by a vertical movement, so as to simultaneously clamp the heating tubes. With forward or backward movement, left or right movement and rotation of the clamping modules (40), the inspection robot (R) can be moved freely to examine the heating tubes, located at different locations, and can Easily clamp the heating tubes, which can achieve reduced inspection time and stable inspection.

METHOD FOR REMOTE INTERVENTION ON A SITE, SUCH AS A DAMAGED NUCLEAR POWER PLANT.

VEHICLE FOR DECONTAMINATION OF A NUCLEAR REACTOR POOL.

- Ledit véhicule (V) comprend un châssis mobile (4), au moins une tête de nettoyage (8), au moins un bras articulé (15) reliant le châssis (4) à la tête de nettoyage (8), le bras articulé (15) contenant une première traverse (18) comprenant un premier axe longitudinal (18.1) et reliée en rotation au châssis (4), une deuxième traverse (20) comprenant un deuxième axe longitudinal (20.1) et reliée en translation à la première traverse (18) de façon que le deuxième axe longitudinal (20.1) reste perpendiculaire au premier axe longitudinal (18.1), la tête de nettoyage (8) étant reliée en translation à la deuxième traverse (20). - said vehicle (V) comprises a movable frame (4), at least one cleaning head (8), at least one articulated arm (15) connecting the frame (4) to the cleaning head (8), the articulated arm (15) containing a first cross member (18) comprising a first longitudinal axis (18.1) and connected in rotation to the frame (4), a second cross member (20) comprising a second longitudinal axis (20.1) and connected in translation to the first cross member (18) so that the second longitudinal axis (20.1) remains perpendicular to the first longitudinal axis (18.1), the cleaning head (8) being connected in translation to the second crossbar (20).

Sealing of a crack in a pool of a nuclear facility, using a robot

Colmatage de fissure dans une piscine d'installation nucléaire, utilisant un robot L'invention concerne le colmatage notamment de fissure dans une paroi de piscine d'une installation nucléaire. En particulier, l'invention met en ouvre un robot mobile portant un dévideur (DIS) de ruban adhésif. On prévoit alors au moins : - une commande d'une pluralité de systèmes d'aspiration (V11-V14; V21-V24), le dévideur étant solidaire mécaniquement d'un premier système d'aspiration (V21-V24), et - une étape de commande de déplacement du premier système (V21-V24) par rapport aux autres systèmes (V11-V14) de ladite pluralité de systèmes

System and method for inspecting a secondary side of a steam generator

Ce système d’inspection (2) comprend un dispositif de levage (12) configuré pour être inséré dans un générateur de vapeur et comprenant un chariot (14) configuré pour se déplacer verticalement à travers des ouvertures de passage périphériques prévues sur des plaques entretoises du générateur de vapeur, le dispositif de levage (12) comprenant des moyens d’immobilisation configurés pour coopérer avec le générateur de vapeur de manière à immobiliser le chariot (14) par rapport à un enveloppe interne du générateur de vapeur ; et un dispositif d’inspection (13) comprenant une lance d’inspection (26) et une partie de guidage et de déplacement (32) comprenant un système d’entraînement configuré pour déplacer la lance d’inspection (26) entre une position rétractée et une position déployée ; le dispositif de levage (12) comportant des moyens de levage configurés pour déplacer verticalement le dispositif d’inspection (13) à travers les ouvertures de passage périphériques du générateur de vapeur. Figure 1 This inspection system (2) comprises a lifting device (12) configured to be inserted into a steam generator and comprising a carriage (14) configured to move vertically through peripheral passage openings provided on spacer plates of the steam generator, the lifting device (12) comprising immobilization means configured to cooperate with the steam generator so as to immobilize the carriage (14) with respect to an internal casing of the steam generator; and an inspection device (13) comprising an inspection lance (26) and a guiding and moving part (32) comprising a drive system configured to move the inspection lance (26) between a retracted position and a deployed position; the lifting device (12) comprising lifting means configured to move the inspection device (13) vertically through the peripheral passage openings of the steam generator. Figure 1

FINGER CLAMP TYPE INSPECTION ROBOT FOR TUBES OF A STEAM GENERATOR

Le robot d'inspection (R) comprend un module à déplacement avant ou arrière (10), un module à déplacement gauche ou droite (20), espacé du module à déplacement avant ou arrière (10), un module à dispositif d'inspection (30) installé sur le module à déplacement avant ou arrière (10) pour examiner l'intérieur de tubes de chauffe, et des modules de serrage (40) installés avec possibilité de déplacement vertical et horizontal et de rotation et comprenant une pluralité d'éléments de serrage à doigt, destinés à être insérés dans les tubes de chauffe par un mouvement vertical, de manière à serrer simultanément les tubes de chauffe. Grâce au déplacement avant ou arrière, au déplacement gauche ou droite et à la rotation des modules de serrage (40), le robot d'inspection (R) peut être déplacé librement pour examiner les tubes de chauffe, situés à différents emplacement, et peut serrer facilement les tubes de chauffe, ce qui permet d'obtenir un temps d'inspection réduit et une inspection stable. The inspection robot (R) comprises a front or rear displacement module (10), a left or right displacement module (20), spaced from the front or rear displacement module (10), an inspection device module (30) installed on the front or rear displacement module (10) for examining the inside of heating tubes, and clamping modules (40) installed with the possibility of vertical and horizontal displacement and rotation and comprising a plurality of finger clamping elements, intended to be inserted into the heating tubes by a vertical movement, so as to simultaneously tighten the heating tubes. By moving forward or backward, moving left or right and rotating the clamping modules (40), the inspection robot (R) can be moved freely to examine the heating tubes at different locations, and can easily tighten the heating tubes, resulting in reduced inspection time and stable inspection.

Patent FR2267612A1

Patent JPS50138294A

AUTOPROPULSE VEHICLE HAVING ARTICULATED ARMS, TANK AND DEBRAYABLE DRIVE DEVICE MOUNTING ON THE VEHICLE

LA PRESENTE INVENTION A POUR OBJET UN VEHICULE APTE A SE DEPLACER ENTRE DEUX PAROIS 4, 6 ET NOTAMMENT DANS L'ESPACE INTER-CUVES D'UN REACTEUR A NEUTRONS RAPIDES. CE VEHICULE COMPREND DEUX ROUES 20, 22 S'APPUYANT SUR L'UNE 6 DES DEUX PAROIS ET RELIEES AU CORPS DU VEHICULE PAR DEUX BRAS LONGITUDINAUX 21, 23, DEUX ROUES 24, 26 S'APPUYANT SUR L'AUTRE PAROI 4, DISPOSEES SYMETRIQUEMENT PAR RAPPORT AUX PRECEDENTES ET RELIEES AU CORPS DU VEHICULE PAR DEUX BRAS TRANVERSAUX 25, 27, LES BRAS LONGITUDINAUX ET TRANSVERSAUX ETANT REPLIABLES AFIN DE PERMETTRE LE PASSAGE DE L'ENSEMBLE PAR UNE OUVERTURE D'INTRODUCTION 8. APPLICATION AU CONTROLE PAR ULTRASONS DES CUVES DE REACTEURS NUCLEAIRES A NEUTRONS RAPIDES. THE SUBJECT OF THE PRESENT INVENTION IS A VEHICLE SUITABLE TO MOVE BETWEEN TWO WALLS 4, 6 AND IN PARTICULAR IN THE INTER-TANK SPACE OF A QUICK NEUTRON REACTOR. THIS VEHICLE INCLUDES TWO WHEELS 20, 22 BEEN RELIED ON ONE 6 OF THE TWO WALLS AND CONNECTED TO THE BODY OF THE VEHICLE BY TWO LONGITUDINAL ARMS 21, 23, TWO WHEELS 24, 26 BEEN RELIED ON THE OTHER WALL 4, ARRANGED SYMMETRICALLY COMPARED TO PREVIOUS AND CONNECTED TO THE BODY OF THE VEHICLE BY TWO TRANVERSAL ARMS 25, 27, THE LONGITUDINAL AND TRANSVERSAL ARMS BEING FOLDABLE IN ORDER TO ALLOW THE PASSAGE OF THE ASSEMBLY THROUGH AN INTRODUCTION OPENING 8. APPLICATION TO ULTRASONIC TANK CONTROL FAST NEUTRON NUCLEAR REACTORS.

CRACKING CRACKING IN A NUCLEAR FACILITY SWIMMING POOL, USING A ROBOT.

L'invention concerne le colmatage notamment de fissure dans une paroi de piscine d'une installation nucléaire. En particulier, l'invention met en oeuvre un robot mobile portant un dévideur (DIS) de ruban adhésif. On prévoit alors au moins : - une commande d'une pluralité de systèmes d'aspiration (V11-V14 ; V21-V24), le dévideur étant solidaire mécaniquement d'un premier système d'aspiration (V21-V24), et - une commande de déplacement du premier système (V21-V24) par rapport aux autres systèmes (V11-V14) de ladite pluralité de systèmes d'aspiration. The invention relates to clogging including crack in a pool wall of a nuclear facility. In particular, the invention uses a mobile robot carrying a dispenser (DIS) of adhesive tape. At least then: - a control of a plurality of suction systems (V11-V14; V21-V24), the reel being secured mechanically to a first suction system (V21-V24), and - a moving control of the first system (V21-V24) relative to the other systems (V11-V14) of said plurality of suction systems.

DEVICE FOR MOVING, INSIDE A PIPE, DETECTOR ELEMENTS OF A DEVICE FOR CHECKING THE FAULTS OF THE PIPE

L'invention concerne un dispositif pour le contrôle de l'état de la paroi interne de conduites. Le dispositif proposé comporte deux organes d'appui frontaux 1, venant à tour de rôle en contact avec la surface intérieure 2 de la conduite 3 et reliés entre eux par un élément de déplacement 4 dont la longueur varie après l'application de l'un des organes d'appui contre la surface 2 de la conduite 3. Chaque organe d'appui frontal 1 comporte un boîtier 5, 6 sur la surface latérale duquel est disposée une chambre annulaire 9, 10 limitée par une enveloppe élastique 7, 8. Application : contrôle de l'état de conduites. The invention relates to a device for checking the condition of the internal wall of pipes. The proposed device comprises two front support members 1, in turn coming into contact with the inner surface 2 of the pipe 3 and interconnected by a displacement element 4 whose length varies after the application of one. support members against the surface 2 of the pipe 3. Each front support member 1 comprises a housing 5, 6 on the lateral surface of which is disposed an annular chamber 9, 10 limited by an elastic envelope 7, 8. Application : checking the condition of pipes.

VEHICLE HAVING A VARIABLE GEOMETRY BEARING MECHANISM

A)VEHICULE A MECANISME DE ROULEMENT A GEOMETRIE VARIABLE; B)VEHICULE CARACTERISE EN CE QUE LES MOTEURS D'ENTRAINEMENT OU DE TRANSMISSION (8, 9) DE L'ENTRAINEMENT EN DEPLACEMENT ET DE L'ENTRAINEMENT EN BASCULEMENT, SONT PRINCIPALEMENT SITUES A L'INTERIEUR DU CONTOUR DU MECANISME DE DEPLACEMENT OU EXTERIEUREMENT AU CONTOUR DU CORPS DU VEHICULE; C)L'INVENTION CONCERNE LES VEHICULES NOTAMMENT A BRAS MANIPULATEUR. A) VEHICLE WITH VARIABLE GEOMETRY BEARING MECHANISM; B) VEHICLE CHARACTERIZED IN THAT THE DRIVE OR TRANSMISSION MOTORS (8, 9) OF THE TRAVELING DRIVE AND THE TILTING DRIVE, ARE PRIMARILY LOCATED INSIDE THE SURROUND OF THE DISPLACEMENT MECHANISM OR EXTERNAL TO THE DRIVE. CONTOUR OF THE BODY OF THE VEHICLE; C) THE INVENTION CONCERNS VEHICLES IN PARTICULAR WITH MANIPULATOR ARMS.

DEVICE AND METHOD FOR DECONTAMINATING A RADIOACTIVE SWIMMING POOL

L'invention concerne un dispositif pour la décontamination d'une piscine (120) de protection radiologique, caractérisé en ce qu'il comprend : a. un véhicule aquatique téléguidé, dit ROV de mesure (251), comportant des moyens de mesure radiologique ; b. un véhicule aquatique téléguidé, dit ROV de décapage (252), comportant des moyens de brossage et d'aspiration, apte à évoluer sur les parois de la piscine ; c. un circuit fermé, dit circuit d'aspiration (230), apte à collecter l'eau aspirée par le ROV de décapage et à la refouler dans la piscine (120) et comprenant des moyens (265) de rétention des déchets aspirés ; d. un dispositif (210) de pilotage du ROV de décapage comprenant, dans des moyens de mémoire, une cartographie de la contamination des parois de la piscine. L'invention concerne également un procédé pour la mise en oeuvre d'un tel dispositif. The invention relates to a device for the decontamination of a swimming pool (120) for radiological protection, characterized in that it comprises: a. an unmanned water vehicle, said measuring ROV (251), comprising radiological measuring means; b. a remote-controlled water vehicle, called stripping ROV (252), comprising brushing and suction means, able to evolve on the walls of the pool; vs. a closed circuit, said suction circuit (230), adapted to collect the water sucked by the pickling ROV and to pump it back into the pool (120) and comprising means (265) for retention of waste aspired; d. a device (210) for controlling the stripping ROV comprising, in memory means, a mapping of the contamination of the walls of the pool. The invention also relates to a method for implementing such a device.

METHOD AND DEVICE FOR OPTICAL CONTROL OF A WELDING LOCATED BELOW AN INSULATING LAYER

In order to test a weld of a workpiece (1) which is located under an insulating layer or at a site otherwise inaccessible, it is proposed to test with the aid of an endoscope (3) guided in a guide tube (2) about the weld. Near the outside of the insulating layer, the guide tube (2) has an expanded end (8) into which the endoscope (3) can also be threaded by a manipulator. Following the course of the weld, the guide tube (2) is attached to the workpiece (1) and open towards the weld. When the endoscope is inserted or retracted, the test site is illuminated and an image of the test site is transmitted via a television camera (6) to a monitor (7). Sliding pieces (22) attached at intervals to the endoscope effect precise guidance of the endoscope over the weld to be tested. The guidance of the endoscope by a small carriage, and additional illumination of the test site by a further optical fibre, can further enhance the precision of the test.

METHOD FOR REMOTELY OPERATING A SITE, SUCH AS A DAMAGED NUCLEAR POWER PLANT

L'invention concerne un procédé d'intervention à distance sur un site, tel qu'une centrale nucléaire endommagée. Il consiste à disposer bout à bout des tronçons (4) de guides d'ondes grâce à au moins un chariot (3) télécommandé par la ligne de guides d'ondes ainsi réalisée et pourvu d'éléments de préhension (5) pour la pose et d'au moins un bras manipulateur (6) pour la connexion des tronçons (4) de guides d'ondes, à partir d'un poste de contrôle (1) comprenant un générateur et un récepteur de signaux et jusqu'au site (2) à inspecter et à traiter éventuellement. The invention relates to a method of remote intervention on a site, such as a damaged nuclear power plant. It consists of placing the sections (4) of waveguides end to end by means of at least one carriage (3) remotely controlled by the line of waveguides thus produced and provided with gripping elements (5) for installation. and at least one manipulator arm (6) for connecting the sections (4) of waveguides, from a control station (1) comprising a generator and a signal receiver and up to the site ( 2) to be inspected and possibly treated.

VEHICLE FOR DECONTAMINATION OF A NUCLEAR REACTOR POOL.

ROBOTIZED AND SELF-PROPELLED DEVICE FOR INSPECTION AND/OR TREATMENT OF AN INTERNAL SURFACE OF A PIPE

Appareil robotisé (1) et autopropulsé comprenant au moins trois chenilles motorisées (3) reliées à un châssis (2) par des mécanismes à parallélogramme déformable (40) articulés entre le châssis et la chenille motorisée concernée et rétractables pour une mobilité de chaque chenille motorisée entre une position rétractée et une position déployée, un système de support (6) monté sur le châssis et supportant au moins un élément d'inspection et/ou de traitement (60; 61), et un système de manœuvre (5) pourvu d'un moteur de manœuvre (50) porté par le châssis et accouplé aux chenilles motorisées via un dispositif mécanique de manœuvre pour actionner une mobilité synchronisée de toutes les chenilles motorisées entre leurs positions rétractées et leurs positions déployées respectives qui sont guidées par une déformation synchronisée de tous les mécanismes à parallélogramme déformable. Robotic and self-propelled apparatus (1) comprising at least three motorized caterpillars (3) connected to a frame (2) by deformable parallelogram mechanisms (40) articulated between the frame and the motorized caterpillar concerned and retractable for mobility of each motorized caterpillar between a retracted position and a deployed position, a support system (6) mounted on the frame and supporting at least one inspection and/or treatment element (60; 61), and a maneuvering system (5) provided with a shunting motor (50) carried by the frame and coupled to the powered tracks via a mechanical shunting device to actuate a synchronized mobility of all the powered tracks between their retracted positions and their respective deployed positions which are guided by a synchronized deformation of all deformable parallelogram mechanisms.

Positioning and inspection apparatuses for use in nuclear reactors.

Inspección de posición de dispositivos y herramientas de operación en un reactor nuclear sin el uso de un puente u otra estructura de repostaje muy por arriba del centro de reactor; los dispositivos se pueden unir selectivamente a estructuras dentro del reactor como presas de vapor a través de sujeción que permite movimiento limitado; las mordazas pueden incluir uno o más rodillos que permiten el posicionamiento controlado y preciso de los dispositivos en relación con las estructuras; los dispositivos incluyen una extensión a la cual se pueden fijar las herramientas; a través del desenganche selectivo de estructuras de unión, los dispositivos se pueden mover sobre obstáculos sobre la estructura de montaje; los dispositivos además incluyen controles de modo que los operadores posicionados fuera del reactor puedan mover el dispositivo mientras está montado en una estructura estática; los controles además pueden mover la herramienta de inspección en otras direcciones con la extensión; los dispositivos se pueden usar bajo el agua o sumergidos en otro fluido y pueden incluir líneas de energía o extensiones mecánicas que permiten energizar o dirigir la interfaz de los operadores fuera del reactor.

Electrolytic interior surface treatment apparatus

Electrolytic interior surface treatment apparatus (100) for the electrolytic treatment of an internal surface (102) of a metallic pipe (1) includes at least two oppositely polarised electrodes (3, 4). The apparatus (100) includes: an electrically insulating centralisation arrangement (106) to keep, in use, the electrodes (3, 4) centred within the pipe (1); and an electrically insulating flexible connection arrangement (104) located between the two electrodes (3, 4) to permit movement of one electrode relative to the other. The centralisation arrangement (106) includes a plurality of spaced apart centralisation devices (5, 6). Each centralisation device (5, 6) includes an electrically insulating mounting (7) for mounting the respective centralisation device (5, 6) to the apparatus (100). Each centralisation device (5, 6) includes a plurality of flexible elements (108), each of which is fixed to the mounting (7) and extends outwardly from the mounting (7).

Systems, methods and apparatus for in-service tank inspections

Systems, methods and apparatuses for inspecting a tank containing a flammable fluid are provided. The system includes a vehicle having a propeller, a latch mechanism, a pressure switch, and an inspection device. The system includes a control unit in communication with the propeller, the latch mechanism, and the inspection device, and electrically connected to the pressure switch. The control unit powers on responsive to the pressure switch detecting an ambient pressure greater than a minimum threshold. The control unit receives, from the latch mechanism, an indication of a state of the latch mechanism. The control unit determines that the cable used to lower the vehicle into the tank containing the flammable fluid is detached from the vehicle. The control unit commands the propeller to move the vehicle through the flammable fluid. The control unit determines a quality metric of a portion of the tank.

Inspection tool

A tool is receivable into an interior region of a core shroud of a Boiling Water Reactor. The tool includes an elongated frame, an elevator apparatus situated on the frame, and a manipulator apparatus situated on the elevator apparatus. The tool further includes a reciprocation apparatus that is situated on the manipulator apparatus and that has a mount that is structured to carry a device thereon. The reciprocation apparatus includes an elongated rack of an arcuate profile. The elevator apparatus is operable to move the reciprocation apparatus along the longitudinal extent of the frame. The tool further includes a foot apparatus that is situated at an end of the frame and that is receivable on a core plate to enable the frame to be pivoted about an axis of elongation of the frame with respect to the core plate.

Guiding device for flexible lance

Dispositif de guidage (2) d'une lance de nettoyage, comportant notamment une partie de transport (13) comprenant des moyens de roulement configurés pour rouler sur une paroi de l'enceinte, et des moyens de maintien configurés pour maintenir les moyens de roulement en contact avec ladite paroi lors des déplacements du dispositif de guidage le long de ladite paroi, et une partie de guidage et d'entraînement (11) comprenant un système d'entraînement configuré pour déplacer la lance flexible entre une position rétractée et une position déployée. La partie de transport (13) comporte un premier module de transport (13a) et un deuxième module de transport (13b) montés articulés l'un par rapport à l'autre, et les moyens de roulement comportent au moins une roue motrice (14) montée sur le premier module de transport (13a), et au moins une roue directrice (18) montée sur le deuxième module de transport (13b). Device for guiding (2) a cleaning lance, comprising in particular a transport part (13) comprising rolling means configured to roll on a wall of the enclosure, and holding means configured to maintain the rolling means in contact with said wall during movements of the guide device along said wall, and a guiding and driving portion (11) comprising a drive system configured to move the flexible lance between a retracted position and an extended position . The transport part (13) comprises a first transport module (13a) and a second transport module (13b) mounted articulated with respect to each other, and the rolling means comprise at least one drive wheel (14). ) mounted on the first transport module (13a), and at least one steering wheel (18) mounted on the second transport module (13b).

Inner hole positioning device, positioning method and crawling mechanism

本发明公开了一种内孔定位装置、定位方法及爬行机构，下气缸设于上气缸的内部，下气缸的缸盖与上气缸的活塞杆连接，上气缸的活塞顶部设有第一上空腔，上气缸的活塞底部设有第一下空腔，下气缸的活塞顶部设有第二上空腔，下气缸的活塞底部设有第二下空腔，第一上空腔、第一下空腔、第二上空腔、第二下空腔分别通过气口与充气管道连接；脚爪芯穿过上气缸的活塞杆中部通孔，脚爪芯的底部与下气缸的缸盖连接，脚爪芯外壁设有沿轴向滑动的滑块，滑块底部开有倒L形沟槽，下气缸的活塞杆顶部设有与滑块数量相等的凸块，凸块尺寸适配倒L形沟槽。本发明结构可靠，内孔定位稳定，避免定位失效，重量轻，承载能力大，对定位状态进行实时监测。

An inspection apparatus

Föreliggande uppfinning avser en inspektionsappratur för att de-tektera defekter i ett testobjekt (4) i ett vätskefyllt utrymme (1,2). Inspektionsapparaturen innefattar en inspektionskropp (8),en kamera (9) och vertikal positioneringsutrustning som är an-passad att justera positionen hos kameran i en vertikal riktning.Den vertikala positioneringsutrustningen innefattar ettlångsträckt element (19) som har ett vertikalt parti (19b), ettfästorgan (28) som är anpassat att fästa detekteringsanordning-en (9) pà det vertikala partiet (19b), en vertikal drivmekanism(23, 26) som är anpassad att tillhandahålla en rörelse av detvertikala partiet (19b) hos det långsträckta elementet (19) så attden för detekteringsanordningen (9) till en önskad vertikal posi-tion längs en vertikal axel (27). Det vertikala partiet (19b) hosdet långsträckta elementet (19) har egenskapen att vara vrids-tyft runt den vertikala axeln (27). (Fig. 3) The present invention relates to an inspection apparatus for detecting defects in a test object (4) in a liquid-filled space (1,2). The inspection apparatus comprises an inspection body (8), a camera (9) and vertical positioning equipment adapted to adjust the position of the camera in a vertical direction. The vertical positioning equipment comprises an elongate member (19) having a vertical portion (19b), a fastener (28) adapted to attach the detection device (9) to the vertical portion (19b), a vertical drive mechanism (23, 26) adapted to provide a movement of the vertical portion (19b) of the elongate member (19). so as to move the detection device (9) to a desired vertical position along a vertical axis (27). The vertical portion (19b) of the elongate member (19) has the property of being torsionally rigid about the vertical axis (27). (Fig. 3)

Remote surface testing and inspection vehicle

A remotely controlled vehicle capable of roving over the outer surface of a nuclear reactor primary vessel carrying inspection instrumentation. The vehicle comprises an elongate bridge 2 having a pair of suction support pads 3. Each pad carries gas thrusters 11 for acting in opposition to the suction effort thereby to reduce adherence of the pads and enable displacement of the vehicle over the surface. The vehicle is supported by a services conducting umbilical. <IMAGE>

Heat Exchanger of Nuclear Power Plant water chamber positions plate welding seams automatic scanning device

本发明属于核电站无损检测技术领域，具体公开了一种核电站热交换器水室定位板焊缝自动扫查装置，包括安装轨道、可滑动的设于所述安装轨道上的扫查组件，所述扫查组件包括滑动的设于所述安装轨道上的机架、与所述机架可转动相连的一段或多段扫查轨道段、以及配设焊缝检查装置的扫查轨道车，所述扫查轨道段展开形成供所述扫查轨道车运动的扫查轨道，本装置的扫查轨道采用折叠式结构，安装和拆卸时扫查轨道折叠起来，从而减小整体尺寸，进入水室后，扫查轨道展开形成长轨道，提高了本装置的扫查范围，本装置的安装和拆卸均在水室外面进行，人员无需进入水室内部，降低了人员受辐照的风险。

System and method for inspecting a secondary side of a steam generator

Ce système d’inspection (2) comprend un dispositif de levage (12) configuré pour être inséré dans un générateur de vapeur et comprenant un chariot (14) configuré pour se déplacer verticalement à travers des ouvertures de passage périphériques prévues sur des plaques entretoises du générateur de vapeur, le dispositif de levage (12) comprenant des moyens d’immobilisation configurés pour coopérer avec le générateur de vapeur de manière à immobiliser le chariot (14) par rapport à un enveloppe interne du générateur de vapeur ; et un dispositif d’inspection (13) comprenant une lance d’inspection (26) et une partie de guidage et de déplacement (32) comprenant un système d’entraînement configuré pour déplacer la lance d’inspection (26) entre une position rétractée et une position déployée ; le dispositif de levage (12) comportant des moyens de levage configurés pour déplacer verticalement le dispositif d’inspection (13) à travers les ouvertures de passage périphériques du générateur de vapeur. Figure 1 This inspection system (2) comprises a lifting device (12) configured to be inserted into a steam generator and comprising a carriage (14) configured to move vertically through peripheral passage openings provided on spacer plates of the steam generator, the lifting device (12) comprising immobilization means configured to cooperate with the steam generator so as to immobilize the carriage (14) with respect to an internal casing of the steam generator; and an inspection device (13) comprising an inspection lance (26) and a guiding and moving part (32) comprising a drive system configured to move the inspection lance (26) between a retracted position and a deployed position; the lifting device (12) comprising lifting means configured to move the inspection device (13) vertically through the peripheral passage openings of the steam generator. Figure 1

Systems and method for inspecting a machine

An inspection system for inspecting a machine includes an inspection vehicle constructed for wireless operation while submersed in a dielectric liquid medium. The inspection vehicle is self-propelled. A controller is operative to direct the activities of the inspection vehicle. A plurality of status interrogation systems is disposed on the inspection vehicle. The status interrogation systems are operative to capture inspection data regarding a plurality of inspection procedures performed on the machine.

Remote work manipulator

Apparatus for the exploration and/or treatment of a smooth curved surface

inspection device for use in a fluid container and inspection device for use in a fluid

a presente invenção refere-se a um dispositivo de inspeção (30) para utilização dentro de um contentor de fluido que inclui pelo menos um dispositivo de impulsão (38, 42), pelo menos um dispositivo de lastro (46) e uma gaiola (34) a qual carrega o pelo menos um dispositivo de impulsão (38, 42) e o pelo menos um dispositivo de lastro (46). a gaiola inclui pelo menos duas barras (60, 62). cada barra (60, 62) provê uma abertura (82), as aberturas formando uma cavidade de gaiola (92) para carregar o pelo menos um dispositivo de impulsão (38, 42) e o pelo menos um dispositivo de lastro (46). The present invention relates to an inspection device (30) for use within a fluid container including at least one thrust device (38, 42), at least one ballast device (46) and a cage (34). ) which carries at least one thrust device (38, 42) and at least one ballast device (46). the cage includes at least two bars (60, 62). each bar (60, 62) provides an opening (82), the apertures forming a cage cavity (92) for loading the at least one thrust device (38, 42) and the at least one ballast device (46).

Device for remote inspection and testing of a structure

A self-propelled carriage for inspecting the primary vessel of a fast reactor is capable of displacement within the interspace between the primary vessel and the containment vessel in order to inspect and test any predetermined zone of the primary vessel, the carriage being associated with a drive mechanism and applied against the oppositely-facing wall of the containment vessel. The carriage is suspended from a composite cable actuated by a handling apparatus for introducing the carriage into the interspace and withdrawing it therefrom. The composite cable supplies electric power as well as the different fluids required for positioning and operation of the inspection devices which are mounted on the carriage.

VEHICLE FOR MOVING A TOOL OR CONTROL MEANS SUPPORTING ONLY ANY ORIENTATION SURFACE OF ANY

L'invention concerne un véhicule de déplacement d'un outil ou d'un moyen de contrôle en appui sur une seule surface d'orientation quelconque par rapport à la verticale. Le véhicule comporte des roues motrices et directrices et des moyens permettant son maintien contre la surface d'appui Les moyens de maintien sont constitués par au moins un caisson rigide ouvert sur une de ses faces so idaire sur le pourtour de cette face d'une jupe d'étanchéité souple destinée à venir en contact avec la surface d'appui et un moyen d'aspiration relié au caisson pour créer une dépression dans ce caisson. Le dispositif est maintenu contre la surface d'appui par l'application sur le caisson de la pression différentielle entre la pression atmosphérique et la pression régnant dans le caisson. L'invention s'applique, en particulier, au contrôle des cuves de réacteurs nucléaires. The invention relates to a vehicle for moving a tool or a control means resting on a single surface of any orientation with respect to the vertical. The vehicle comprises driving and steered wheels and means allowing it to be held against the bearing surface. The holding means consist of at least one rigid box open on one of its faces so idaire around the periphery of this face of a skirt flexible sealing intended to come into contact with the bearing surface and a suction means connected to the box to create a vacuum in this box. The device is held against the bearing surface by the application on the box of the differential pressure between atmospheric pressure and the pressure prevailing in the box. The invention applies, in particular, to the control of nuclear reactor vessels.

Patent JPH0253270B2

Reciprocation apparatus for an inspection tool

A reciprocation apparatus adapted to be situated on a manipulator apparatus and that has a mount that is structured to carry a device thereon. The reciprocation apparatus includes an elongated rack of an arcuate profile. The elevator apparatus is operable to move the reciprocation apparatus along the longitudinal extent of the frame. The tool further includes a foot apparatus that is situated at an end of the frame and that is receivable on a core plate to enable the frame to be pivoted about an axis of elongation of the frame with respect to the core plate.

Systems for reducing surface deposition and contamination

Device and method for transformer on-site inspection

Un dispositivo de inspección (16) para un contenedor de fluido (12) que tiene al menos una abertura (80), que comprende: una carcasa (30) dimensionada para encajar a través de la abertura (80), teniendo dicha carcasa (30) una pluralidad de canales de flujo de fluido (44) que se extienden a través del mismo, teniendo cada uno de dichos canales de flujo (44) al menos una entrada (46A) y al menos una salida (46B), teniendo dicha carcasa (30) una antena (70) que genera una señal inalámbrica (72) desde una posición de la carcasa (30) dentro del contenedor de fluido (12); una pluralidad de bombas (64) y una pluralidad de motores (62) mantenidos en dicha carcasa (30) dichas bombas (64) mantenidas dentro de dichos canales de flujo de fluido (44), en donde dichos motores (62) son reversibles para controlar el funcionamiento de dichas bombas (64) que hacen que el fluido fluya a través de cada uno de dichos canales de flujo de fluido (44) en una dirección especificada para maniobrar selectivamente dicha carcasa (30) dentro del contenedor de fluido (12), y en donde el dispositivo de inspección (16) comprende además: un ordenador (18) que mantiene una imagen virtual (20) de dicha carcasa (30) y el contenedor de fluido (12); y al menos un receptor de señal de transmisión (82) montado en o cerca del contenedor de fluido (12) para determinar la posición de dicha carcasa (30) en el contenedor de fluido (12) en base a la señal inalámbrica (72), dicho al menos un receptor de señales de transmisión (82) que genera una señal de posición inalámbrica (84) que representa, en la imagen virtual (20), la posición de dicha carcasa (30) en el contenedor de fluido (12) y transmitir la señal de posición inalámbrica (84) al ordenador (18), siendo recibida la señal de posición inalámbrica (84) por dicho ordenador (18), mostrando el ordenador (18) la posición de la carcasa (30) dentro del contenedor de fluido (12). An inspection device (16) for a fluid container (12) having at least one opening (80 ...