Apparatus and method to control sensor position in limited access areas within a nuclear reactor

Patent metadata

Field	Value
Publication number	US-9437333-B2
Application number	US-201313802907-A
Country	US
Kind code	B2
Filing date	Mar 14, 2013
Priority date	Oct 9, 2012
Publication date	Sep 6, 2016
Grant date	Sep 6, 2016

Abstract

This invention concerns robotic systems and is specifically concerned with an improved apparatus and method for remotely positioning a sensor, such as an ultrasonic probe, in limited access areas within a nuclear reactor. The apparatus includes a bottom frame and a top cover which is substantially aligned with and positioned above the bottom frame. A sensor is connected to the top cover and linear rails are connected to the bottom frame in a parallel relationship. There is a mechanism movably connected to the first and second linear rails in order to allow horizontal travel of the top cover. Further, there is at least one cable connected to the sensor and a power source, signal source or receiver.

First claim

We claim:

1. A robotic apparatus for remotely positioning a sensor in a nuclear reactor, comprising:
a sensor;
a bottom frame;
a top cover having a first end and an opposite second end, the sensor connected to the first end, the top cover positioned parallel to the bottom frame and spaced apart from the bottom frame;
a first linear rail connected to the bottom frame;
a second linear rail connected to the bottom frame, substantially aligned in a parallel relationship to the first linear rail and spaced apart from the first linear rail;
a first linear rail support coupled to the top cover and movably connected to the first linear rail;
a second linear rail support coupled to the top cover and movably connected to the second linear rail; and
a plurality of hydraulic cylinders attached to the top cover and structured to drive and move the top cover a distance in a horizontal direction, thereby moving the sensor connected to the top cover an equivalent distance in the horizontal direction, relative to the bottom frame, and thereby moving in a horizontal direction the first and second linear rail supports, coupled to the top cover, relative to the first and second linear rails, respectively.

2. The apparatus of claim 1 , further comprising a two bar linkage system, the linkage system comprising:
a first bar having a first end and a second end;
a second bar having a first end and a second end;
the first end of the first bar connected to a first pin which is attached to the bottom frame;
the second end of the first bar connected to a pivot pin;
the first end of the second bar connected to a second pin which is attached to the top cover; and
the second end of the second bar connected to the pivot pin,
wherein when the top cover is moved horizontally the two bar linkage system is in an extended position.

3. The apparatus of claim 1 , wherein the plurality of hydraulic cylinders comprises two hydraulic cylinders.

4. A system for inspection in a nuclear reactor, which comprises:
a reactor pressure vessel having a wall;
a core shroud having an annular rim;
an annulus formed between the core shroud and the wall of the reactor pressure vessel;
an inspection tool connected to the core shroud and positioned in the annulus, which comprises:
an upper portion of the inspection tool positioned on the annular rim of the core shroud;
an arm of the inspection tool coupled to the upper portion and extending vertically downward along the core shroud in the annulus; and

a robotic apparatus connected to the arm of the inspection tool, the robotic apparatus, which comprises:
a sensor;
a bottom frame;
a top cover having a first end and an opposite second end, the sensor connected to the first end, the top cover positioned parallel to the bottom frame and spaced apart from the bottom frame;
a first linear rail connected to the bottom frame;
a second linear rail connected to the bottom frame, substantially aligned in a parallel relationship to the first linear rail and spaced apart from the first linear rail;
a first linear rail support coupled to the top cover and movably connected to the first linear rail;
a second linear rail support coupled to the top cover and movably connected to the second linear rail; and
a plurality of hydraulic cylinders attached to the top cover and structured to drive and move the top cover a distance in a horizontal direction, thereby moving the sensor connected to the top cover an equivalent distance in the horizontal direction, relative to the bottom frame, and thereby moving in a horizontal direction the first and second linear rail supports, coupled to the top cover, relative to the first and second linear rails, respectively,

wherein, the sensor is effective to inspect a component in a nuclear reactor.

5. The system of claim 4 , wherein the upper portion comprises a partial upper track positioned on the annular rim of the core shroud and horizontally movable along the rim.

6. The system of claim 5 , wherein the inspection tool further comprises:
an assembly, which comprises:
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 and having one end of the arm connected thereto and the other opposite end of the arm having connecting thereto the robotic apparatus, and extending vertically downward along the core shroud;
a first driving mechanism connected to the head and the partial upper track, and structured to drive the head along the partial upper track and to drive the partial upper track along the rim;
a second driving mechanism connected to the frame and structured to drive the lower track along the core shroud; and
a third driving mechanism connected to the carriage and structured to drive said carriage along the lower track; and

a track brake system connected to the partial upper track,
wherein, when the track brake system is activated, the partial upper track remains stationary and the head is movable along the partial upper track, and
wherein, when the track brake system is deactivated, the partial upper track can be driven into a different position along the annular rim of the core shroud.

7. The system of claim 6 , wherein bearing wheels are attached to the frame such that the frame is horizontally movable along the lower track.

Assignees

• Westinghouse Electric Co Llc

Inventors

• Foley Kevin J

Classifications

• G21C17/003

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

• G21C19/20 Primary

  Arrangements for introducing objects into the pressure vessel; Arrangements for handling objects within the pressure vessel; Arrangements for removing objects from the pressure vessel · CPC title

• G21C17/013

  Inspection vehicles · CPC title

• G21C19/207

  Assembling, maintenance or repair of reactor components (G21C3/334 takes precedence) · CPC title

• G01N29/265

  by moving the sensor relative to a stationary material · CPC title