公开(公告)号：US5371363A

公开(公告)日：1994-12-06

申请号：US97566

申请日：1993-07-26

申请人： Emmanuel Lilimpakis

发明人： Emmanuel Lilimpakis

IPC分类号： G01T1/169 ,  G21C17/013 ,  G21C17/017

CPC分类号： G21C17/013 ,  G01T1/169 ,  G21C17/017 ,  G21Y2002/203 ,  G21Y2002/204 ,  G21Y2002/304 ,  G21Y2002/401 ,  G21Y2004/30 ,  G21Y2004/502

摘要： A device for detecting radiation within a pipe having one or more carriages adapted for movement through the pipe. A set of radiation sensors is mounted on each carriage for detecting radiation on the interior of the pipe. The radiation sensors are positioned to cover a complete circumferential strip on the pipe interior while maintaining the geometry required to meet U.S. government criteria for the unconditional release of the pipe. Readings from the radiation sensors are transmitted out of the pipe and recorded to establish a detailed radiological survey of the pipe interior.

摘要翻译： 一种用于检测管内的辐射的装置，其具有适于通过所述管移动的一个或多个托架。 一组辐射传感器安装在每个托架上，用于检测管道内部的辐射。 放射线传感器定位成覆盖管内部上的完整圆周条带，同时保持满足美国政府无条件释放管道标准所需的几何形状。 辐射传感器的读数从管道传出，并进行记录，以便对管道内部进行详细的放射学检验。

公开(公告)号：US4883576A

公开(公告)日：1989-11-28

申请号：US126859

申请日：1987-11-30

申请人： Antoine Gemma

发明人： Antoine Gemma

IPC分类号： G21F9/28 ,  B62D57/00 ,  C25F7/00 ,  F22B37/00 ,  G21C17/003 ,  G21C17/013 ,  G21F9/00

CPC分类号： F22B37/006 ,  B62D57/00 ,  C25F7/00 ,  F22B37/003 ,  G21C17/013

摘要： The invention relates to an apparatus for survey and/or treatment of a smooth curved surface.The apparatus comprises a vehicle able to be moved on the surface along a predetermined path, the vehicle being provided with abutment means movable with respect to the body of the vehicle. A support arm of the vehicle is fixed to this by a swivel pivot point. The support arm is fixed close to the center of curvature of the curved surface. The axes of the abutment means and of the arm of two supports can be oriented to be substantially concurrent in the vicinity of the center of curvature of the curved surface. Means for survey and/or treatment of the curved surfaces are fixed to the vehicle. Means for control of driving of the vehicle and of the survey and/or treatment means are also provided.Application to the survey and to the maintenance of water boxes of steam generators of electo-nuclear power stations.

摘要翻译： 本发明涉及一种用于测量和/或处理光滑曲面的装置。 该装置包括能够沿着预定路径在表面上移动的车辆，车辆设置有可相对于车辆主体移动的抵靠装置。 车辆的支撑臂通过旋转枢转点固定到该支撑臂上。 支撑臂固定在弯曲表面的曲率中心附近。 两个支撑件的抵接装置和臂的轴线可以被定向成在弯曲表面的曲率中心附近基本上同时进行。 用于对曲面进行测量和/或处理的装置固定在车辆上。 还提供了控制车辆驾驶和调查和/或处理装置的手段。 应用于电核电站蒸汽发生器水箱检测和水箱维护。

公开(公告)号：US4661309A

公开(公告)日：1987-04-28

申请号：US579748

申请日：1984-02-13

申请人： Lawrence R. Hayes

发明人： Lawrence R. Hayes

IPC分类号： G21F9/28 ,  B25J5/00 ,  F22B37/00 ,  G21C17/003 ,  G21C17/013 ,  G21C17/00

CPC分类号： B25J5/007 ,  F22B37/002 ,  G21C17/013

摘要： A motorized transporter is placed at the periphery of the tube bundle which extends up from the tube sheet within a nuclear steam generator shell. The transporter can be separated into parts as required to move it into and out of the limited space between the tube bundle and inside wall of the generator. A control station external the generator is connected by flexible cables to the transporter and its equipment in order to move the transporter, observe the transporter path for foreign objects, and retrieve such objects.

摘要翻译： 电动运输机被放置在管束的周边，该管束在核蒸汽发生器壳体内从管板向上延伸。 输送器可根据需要分成多个部分，以将其移入和移出管束与发生器内壁之间的有限空间。 发电机外部的控制站通过柔性电缆连接到运输车及其设备，以便移动运输车辆，观察异物的运输路径，并检索这些物体。

公开(公告)号：US4345658A

公开(公告)日：1982-08-24

申请号：US77380

申请日：1979-09-20

申请人： Francois Danel ,  Henri Nicollet ,  Paul Marchal ,  Marc Robin ,  Jean Vertut

发明人： Francois Danel ,  Henri Nicollet ,  Paul Marchal ,  Marc Robin ,  Jean Vertut

IPC分类号： B25J5/00 ,  B62D57/024 ,  G21C17/013 ,  B62D57/02

CPC分类号： G21C17/013 ,  B62D57/024

摘要： Vehicle able to move by adhesion on a random surface, with a central body defining a pivoting axis which remains substantially perpendicular to a surface and which has two groups of central supports which adhere to the surface; first and second carriages, each provided with two groups of adhesive end supports; first and second members for the guidance in rectilinear translation and without rotation of the first and second carriages in accordance with two directions which remain substantially orthogonal to the pivoting axis. The first and second carriages are displaceable along the guidance members; the first and second guidance members are pivotal about the pivot axis and the groups of central supports are rotatable about the pivot axis.

摘要翻译： 能够通过粘附在随机表面上的车辆，其中心体限定枢转轴线，该枢转轴线基本上垂直于表面并且具有两组粘附到该表面上的中心支撑件; 第一和第二托架，每个具有两组粘合端支架; 用于引导直线平移的第一和第二构件，并且不依照保持基本上垂直于枢转轴线的两个方向使第一和第二托架旋转。 第一和第二托架可沿引导构件移位; 第一和第二引导构件围绕枢转轴线枢转，并且中心支撑件组可围绕枢转轴线旋转。

公开(公告)号：US4330865A

公开(公告)日：1982-05-18

申请号：US170594

申请日：1980-07-21

申请人： Eric A. Hyde ,  Hugh A. Goldsmith ,  Michael J. Proudlove

发明人： Eric A. Hyde ,  Hugh A. Goldsmith ,  Michael J. Proudlove

IPC分类号： G01N21/84 ,  G01N29/26 ,  G21C17/013 ,  G21C17/00

CPC分类号： G21C17/013 ,  G01N2291/02872 ,  Y10S180/901

摘要： 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 having a pair of suction support pads. Each pad carries gas thrusters 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.

摘要翻译： 一种遥控车辆，能够在载有检查仪器的核反应堆主船的外表面上粗纱。 车辆包括具有一对吸力支撑垫的细长桥。 每个垫片携带气体推进器，用于与抽吸力相反地作用，从而减少垫的粘附并使车辆在表面上移位。 车辆由脐带服务提供支持。

公开(公告)号：US20230343477A1

公开(公告)日：2023-10-26

申请号：US17759415

申请日：2021-01-19

申请人： Westinghouse Electric Company LLC

发明人： David W. EARGLE

IPC分类号： G21C17/013 ,  G21C19/20 ,  B25J5/00 ,  B25J19/02 ,  B25J11/00 ,  B25J9/16

CPC分类号： G21C17/013 ,  B25J5/007 ,  B25J9/162 ,  B25J9/1664 ,  B25J11/00 ,  B25J19/022 ,  B25J19/023 ,  G21C19/207

摘要： 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.

公开(公告)号：US10074448B2

公开(公告)日：2018-09-11

申请号：US13230434

申请日：2011-09-12

申请人： Kevin J. Foley ,  Charles R. Barrett ,  Roy May

发明人： Kevin J. Foley ,  Charles R. Barrett ,  Roy May

IPC分类号： G21C17/013 ,  G21C17/003 ,  G21C19/16

CPC分类号： G21C17/013 ,  G21C17/003 ,  G21C19/16

摘要： A 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. A submersible machine is structured to carry the tool to a limited access location within a nuclear containment. The submersible machine includes a mount apparatus configured to be movably clamped onto a steam dam of a nuclear reactor apparatus and to drive the submersible machine circumferentially along the steam dam to inspect a plurality of jet pumps or other limited access locations of the nuclear reactor apparatus. The improved submersible machine advantageously further includes an adjustment table between the mount apparatus and a frame that carries the tool to enable rapid accurate positioning of the frame, and thus the tool, once the submersible machine has been mounted to the steam dam.

公开(公告)号：US09728282B2

公开(公告)日：2017-08-08

申请号：US14766037

申请日：2013-02-12

申请人： Hitachi, Ltd.

发明人： Saku Egawa ,  Satoshi Nakamura ,  Makoto Hattori ,  Junichi Tamamoto

IPC分类号： G21C17/003 ,  G21C19/34 ,  B25J5/02 ,  G21C17/013 ,  G21C17/01 ,  G21C19/10 ,  G21C19/02 ,  G21F9/30 ,  B25J9/02 ,  B25J9/04 ,  G21D1/00 ,  B25J11/00 ,  B25J15/00 ,  F16M13/02

CPC分类号： G21C17/003 ,  B25J5/02 ,  B25J9/023 ,  B25J9/041 ,  B25J11/005 ,  B25J15/0019 ,  F16M13/022 ,  G21C17/01 ,  G21C17/013 ,  G21C19/02 ,  G21C19/10 ,  G21C19/34 ,  G21D1/003 ,  G21F9/30 ,  Y02E30/40 ,  Y10S901/16 ,  Y10S901/17 ,  Y10S901/27 ,  Y10S901/41

摘要： 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.

公开(公告)号：US20170140844A1

公开(公告)日：2017-05-18

申请号：US14942996

申请日：2015-11-16

申请人： GE-Hitachi Nuclear Energy Americas LLC

发明人： Colin F. Kelemen

IPC分类号： G21C17/013

CPC分类号： G21C17/013 ,  G21C17/01 ,  G21C19/207

摘要： 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.

公开(公告)号：US20160247586A1

公开(公告)日：2016-08-25

申请号：US15075440

申请日：2016-03-21

申请人： WESTINGHOUSE ELECTRIC COMPANY LLC

发明人： JONATHAN K. DELAUNE ,  MICHAEL E. FREEMAN

IPC分类号： G21C17/013 ,  G21C17/01

CPC分类号： G21C17/013 ,  G21C17/003 ,  G21C17/01 ,  G21Y2002/202 ,  G21Y2002/40 ,  G21Y2002/501 ,  G21Y2004/501 ,  G21Y2004/502

摘要： 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.

摘要翻译： 本发明一般涉及机器人系统，并且具体涉及用于检查核反应堆的核心环，核心喷雾和给水分布器区域的有限进入区域中的核反应堆部件的改进的装置和方法。 本发明包括用于远程操作和定位至少一个检查装置的装置，用于检查核电站的反应堆压力容器的环形区域中的至少一个部件。 该装置包括轨道，制动系统和框架组件，其具有可移动地连接到轨道的框架，至少一个桅杆组件和至少一个桅杆定位组件。 所述至少一个检查装置附接到所述至少一个桅杆组件。 在某些实施例中，至少一个桅杆组件包括能够在延伸的管形式和缩回的轧制形式中变得刚性稳定的桅杆。