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

Patent metadata

Field	Value
Publication number	US-9324464-B2
Application number	US-201313832082-A
Country	US
Kind code	B2
Filing date	Mar 15, 2013
Priority date	Mar 15, 2013
Publication date	Apr 26, 2016
Grant date	Apr 26, 2016

Abstract

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.

First claim

We claim:

1. A robotic apparatus for remotely inspecting at least one component in an annulus region of a reactor pressure vessel of a nuclear power plant, comprising:
a partial track positioned on an annular rim of a core shroud in the reactor pressure vessel and horizontally movable along the rim;
a frame assembly, comprising:
a frame movably connected to the partial track such that the frame is horizontally movable along the partial track;
at least one mast assembly;
at least one mast positioning assembly; and

at least one inspection device attached to the at least one mast assembly; and
a braking system connected to the partial track and the frame assembly, structured such that when activated, the partial track is stationary and the frame assembly is horizontally movable along the partial track and when deactivated, the partial track is horizontally movable along the annular rim of the core shroud and the frame assembly is stationary.

2. The apparatus of claim 1 , wherein a first mast assembly is positioned on one side of the frame and a second mast assembly is positioned on an opposite side of the frame.

3. The apparatus of claim 1 , wherein a first mast positioning device is positioned on one side of the frame and a second mast positioning assembly is positioned on an opposite side of the frame.

4. The apparatus of claim 1 , wherein a first pan and tilt assembly is positioned on one side of the frame and a second pan and tilt assembly is positioned on an opposite side of the frame.

5. The apparatus of claim 1 , wherein the frame assembly includes a positioning motor and gear combination to move the frame assembly along the track.

6. The apparatus of claim 1 , wherein the inspection device is a camera.

7. The apparatus of claim 1 , wherein the at least one mast assembly comprises a mast that is capable of becoming rigidly stable in an extended tube form and a retracted rolled form.

Assignees

• Westinghouse Electric Corp

Inventors

• Delaune Jonathan K
• Freeman Michael E

Classifications

• G21C17/01

  Inspection of the inner surfaces of vessels · CPC title

• G21C17/003 Primary

  Remote inspection of vessels, e.g. pressure vessels · CPC title

• G21C17/013 Primary

  Inspection vehicles · CPC title

• Y02E30/30

  Nuclear fission reactors · CPC title