公开(公告)号：US10522258B2

公开(公告)日：2019-12-31

申请号：US14418574

申请日：2013-07-30

申请人： ELECTRICITE DE FRANCE

发明人： Marc Kuntz ,  Mathieu Lamontagne

IPC分类号： G21C9/00 ,  G21C19/20 ,  E04G23/02 ,  G21C13/028 ,  G21C17/013

摘要： 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.

公开(公告)号：US20190389548A1

公开(公告)日：2019-12-26

申请号：US16434643

申请日：2019-06-07

申请人： ABB Schweiz Ag

发明人： Gregory A. Cole ,  William J. Eakins ,  Daniel I. Lasko ,  Harshang Shah ,  Thomas A. Fuhlbrigge ,  Luiz V. Cheim ,  Poorvi Patel ,  Biao Zhang ,  Saumya Sharma ,  Andrew Salm

IPC分类号： B63G8/00 ,  G01N21/954 ,  G21C17/013 ,  G21C17/017 ,  B63G8/16 ,  G05D1/00

摘要： 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.

公开(公告)号：US20190315446A1

公开(公告)日：2019-10-17

申请号：US16301695

申请日：2017-04-19

申请人： KABUSHIKI KAISHA TOSHIBA ,  Toshiba Energy Systems & Solutions Corporation

发明人： Tomoyuki ITO ,  Koichi SOMA

IPC分类号： B63H5/15 ,  B63C11/48 ,  B63H5/10 ,  G21C17/013 ,  G21C17/01

摘要： The present invention provides an underwater moving vehicle improved in motion performance and capable of stably maintaining its position.[Solution]An underwater moving vehicle comprising: a vehicle body (1) configured to be set in advance in such a manner that weight of the vehicle body (1) becomes larger than buoyant force generated in water; a thruster (32) configured to generate an upward thrust by driving screw propellers (21); a drive adjuster (50) configured to control water depth of the vehicle body (1) to a predetermined position by adjusting drive of the screw propellers (21) and generating the upward thrust equivalent to difference between the weight and the buoyant force; and a water flow deflector (34) configured to move the vehicle body (1) in a horizontal direction by deflecting a downward water flow generated by the screw propellers (21).

公开(公告)号：US10311986B2

公开(公告)日：2019-06-04

申请号：US14155799

申请日：2014-01-15

申请人： Matthew Robert Hastings ,  Ryan M. Smith ,  Lenin N. Benicki

发明人： Matthew Robert Hastings ,  Ryan M. Smith ,  Lenin N. Benicki

IPC分类号： G21C17/003 ,  G21C17/007 ,  G21C17/013 ,  G21C19/20 ,  G21C15/25

摘要： An inspection apparatus may include an installation platform and a scan head. The scan head may be configured to engage in an index movement, a theta movement, a wrist fold movement, and a scan movement. During the scan movement, a transducer of the scan head travels a circumferential path so as to allow an inspection of a surface that is opposite of a surface on which the installation platform is mounted. The inspection apparatus may be used to inspect a reactor component in a nuclear reactor.

公开(公告)号：US09646727B2

公开(公告)日：2017-05-09

申请号：US13197418

申请日：2011-08-03

申请人： Brandon Lee Smith ,  Colin F. Kelemen ,  Vladimir V. Ghita

发明人： Brandon Lee Smith ,  Colin F. Kelemen ,  Vladimir V. Ghita

IPC分类号： H04N7/18 ,  G21C17/013

CPC分类号： G21C17/013

摘要： Embodiments provide a system and apparatus for visual inspection of a nuclear vessel. The system includes a submersible remotely operated vehicle (SROV) system that is movable to an area within a nuclear vessel. The SROV system includes a maneuverable inspection camera assembly for visual inspection of nuclear vessel components, where the inspection camera assembly is maneuverable in relation to the SROV system. The system also includes a control system located in an area remote from the area within the nuclear vessel. The control system is configured to control the movement of the SROV system and the maneuvering of the inspection camera assembly.

公开(公告)号：US09334031B2

公开(公告)日：2016-05-10

申请号：US14315993

申请日：2014-06-26

申请人： Hitachi-GE Nuclear Energy, Ltd.

发明人： Hayato Mori ,  Ryosuke Kobayashi ,  Satoshi Okada ,  Naoyuki Kono ,  Katsuhiko Hirano ,  Yosuke Takatori ,  Masahiro Tooma

IPC分类号： B63G8/14 ,  B63G8/00 ,  B65H75/44 ,  G21C17/013

CPC分类号： B63G8/001 ,  B63G8/14 ,  B63G2008/007 ,  B65H75/4484 ,  G21C17/013

摘要： A system for attitude control of an underwater vehicle 20 of the present invention includes an underwater vehicle 20 with a thruster 65, an assist device 10 that is coupled to the underwater vehicle 20 with a cable 1 and has cable handling equipment 2 and a thruster 58, a cable attachment-to-attachment distance detection unit 50 that detects distance between a cable attachment of the underwater vehicle 20 and a cable dispenser of the assist device 10, and a control unit 32 that previously stores the relationship between the attachment-to-attachment distance and cable length including a predetermined amount of slack and determines the amount of cable to be wound up or let out based on the cable length associated with the detected attachment-to-attachment distance.

摘要翻译： 本发明的水下航空器20的姿态控制系统包括具有推进器65的水下航行器20，辅助装置10，其利用缆线1联接到水下航行器20，并具有缆线处理设备2和推进器58 检测水下航空器20的电缆附件与辅助装置10的电缆分配器之间的距离的电缆附件到安装距离检测单元50，以及预先存储辅助装置10之间的关系的控制单元32， 附件距离和电缆长度包括预定量的松弛，并且基于与检测到的附件到附接距离相关联的电缆长度来确定要卷起或放出的电缆的量。

公开(公告)号：US09116025B2

公开(公告)日：2015-08-25

申请号：US13689970

申请日：2012-11-30

申请人： KOREA ATOMIC ENERGY RESEARCH INSTITUTE

发明人： Yong Chil Seo ,  Kyung Min Jeong ,  Ho Cheol Shin

IPC分类号： B25G3/20 ,  F16B2/00 ,  F16B7/04 ,  G01D21/00 ,  G21C17/017 ,  G21C17/013

CPC分类号： G01D21/00 ,  G21C17/013 ,  G21C17/017 ,  Y10T403/7051

摘要： A cam-locking dissimilar material sleeve installed on an outer surface of an expansion shaft of an inspection robot inserted into a heat transfer tube of a steam generator for generating nuclear power to inspect the heat transfer tube, the cam-locking dissimilar material sleeve includes: a tension part formed of steel and including a plurality of upwardly opened slits and a plurality of downwardly opened slits alternately formed in zigzags and legs formed between the upwardly opened slits and the downwardly opened slits; a plurality of upper contact parts formed of a synthetic resin through injection-molding to surround an upper end of the tension part and surround parts located between the upwardly opened slits; and a plurality of lower contact parts formed of a synthetic resin through injection-molding to surround a lower end of the tension part and surround parts located between the downwardly opened slits.

摘要翻译： 凸轮锁定异种材料套筒，其安装在插入到用于产生核能的蒸汽发生器的传热管的检查机器的膨胀轴的外表面上，以检查传热管，所述凸轮锁定异种材料套筒包括： 由钢构成的张力部分，包括多个向上开口的狭缝和多个向下开口的狭缝，交替地形成在形成在向上开口的狭缝和向下开口的狭缝之间的之字形和腿部; 由合成树脂通过注射成型形成的多个上部接触部分，以围绕所述张力部分的上端并围绕位于所述向上开口的狭缝之间的部分; 以及由合成树脂通过注射成型形成的多个下接触部分，以围绕所述张紧部分的下端并围绕位于所述向下打开的狭缝之间的部分。

公开(公告)号：US20140341329A1

公开(公告)日：2014-11-20

申请号：US14277469

申请日：2014-05-14

申请人： Thierry GODER ,  Victorien FRADEL

发明人： Thierry GODER ,  Victorien FRADEL

IPC分类号： G21C17/013 ,  G21F7/06 ,  G05D1/00 ,  B25J5/00

CPC分类号： G21C17/013 ,  B25J5/007 ,  G05D1/0038 ,  G21C17/003 ,  G21C17/08 ,  G21F7/063

摘要： 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).

摘要翻译： 一种用于从具有潜在的照射风险的区域监测和收集信息（10）的装置，包括至少一个旨在永久定位在核基础设施（2）中的存储箱（12），并且包括用于与控制站通信的单元 （14）旨在位于核基础设施（2）的外部（8）处，其特征在于，所述存储箱（12）本质上不受任何外部应力的保护，并且包括电视检查单元和用于测量环境参数的单元 从核设施内部部署（2）。

公开(公告)号：US20140270038A1

公开(公告)日：2014-09-18

申请号：US13832082

申请日：2013-03-15

申请人： WESTINGHOUSE ELECTRIC COMPANY LLC

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

IPC分类号： G21C17/003 ,  G21C17/013

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。

公开(公告)号：US20140098922A1

公开(公告)日：2014-04-10

申请号：US13798474

申请日：2013-03-13

申请人： WESTINGHOUSE ELECTRIC COMPANY LLC

发明人： KEVIN J. FOLEY ,  MARK STEVE EVERETT ,  CHARLES R. BARRETT

IPC分类号： G21C17/013

CPC分类号： G21C17/013 ,  G21C17/003 ,  G21C17/007 ,  G21F3/00

摘要： 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.

摘要翻译： 本发明一般涉及机器人系统，并且特别涉及用于在核反应堆中远程检查，修改或修理核心护罩的改进的装置和方法。 本发明的装置包括一个可沿着核心护罩水平移动的部分上部轨道，一个可沿着部分上部轨道水平移动的头部和框架组件，一个连接到头部和框架组件上的水平移动的下部轨道 所述芯护罩以及从所述反应堆压力容器和所述芯护罩形成的环形空间向下延伸的托架和臂组件，其中所述臂包括用于检查所述芯护罩的至少一个传感器。