A device for inspecting the support plates (26) and tube sheet of a nuclear steam generator. The device comprises a boom (14, 16) for extending into an access port of a steam generator and into a lane separating two rows of members, the boom being uprightable within the lane (21); and a video camera (30) attached to the boom for inspecting the tube members and support plates within the lane when the boom is uprighted. In a preferred embodiment the video camera comprises a charge coupled device affixed to a remotely controlled pan and tilt mechanism.

Support plate inspection device.

An apparatus (10) for the location and removal of foreign objects from a difficult to access geometry utilizes a flexible lance (12) formed of individual hose bar segments (14) strung on cables (16) to give a structure that is flexible along its length and fairly rigid in a direction transverse to its length Extending from working channels (18) of nozzle block (20) of the lance (12) are a pair of multi-prong retrievers (22) A miniaturized Videoprobe camera (24) is provided in the nozzle block (20) between the two retrievers (22) The retrievers are each connected to an actuating cable (26), which extends through the flexible lance (12) to a manual control (28) The camera (24) is connected by a cable (30) to suitable video processing circuits for generation of images on a video display (32) The cable (30) also houses a fiber optic bundle which conveys light to the area being serviced by the lance (12) The flexible lance (12) extends through a transporter (34), which positions the nozzle block end of the lance (12) opposite a portion of a steam generator or other difficult to access geometry The transporter (34) moves along a transport rail (36) to move the nozzle block end of the lance (12) into position The lance (12) is then advanced through the transporter (34) to move the nozzle block end into the difficult to access geometry and retracted to withdraw the nozzle block end from the difficult to access geometry

In bundle foreign object search and retrieval apparatus

An improved robotic arm system for servicing the tubesheet located within the channel head of a nuclear steam generator is provided. The system includes a robotic arm whose shoulder and elbow joints are rotatable only in the plane parallel to the tubesheet in order to eliminate the imposition of cantileverly-induced torques on the electric motors driving these joints, as well as to minimize the possibility of mechanical interference between the arm and the walls of the channel head. Each of the motorized joint assemblies of the arm includes resolvers connected not only to the output of the drive train that moves the joint, but also to the drive shaft of the electric motor that drives the drive train, wherein the feedback signal generated by the resolver connected to the drive shaft of the electric motor is the primary signal used to modulate the amount of electric power conducted to the motor of the joint. Such a configuration advantageously results in smoother robotic arm movement. Finally, the control circuit assembly of the robotic arm system includes a control processing unit (CPU) which is capable of simultaneously driving not only the joint assemblies of the robotic arm, but also any computer-operated mechanisms associated with a variety of end effectors which the arm is capable of delivering. The CPU, power supply and other components of the control circuit assembly are installable in the containment area surrounding the steam generator in order to eliminate the number of cable penetrations through the containment walls that are necessary to operate the system.

Robotic system for servicing the heat exchanger tubes of a nuclear steam generator

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 the electrical control. wiring and circuitry. The main body (202) has a front camera (204) and a rear camera (205) used to direct, the movements of the apparatus (112). The main body..also has two turret-type telescoping mast assemblies (208) with telescoping masts 210 and 212, which are capable of. extending at a. selected distance above and below the main body (202). The mast assemblies 210 and 212 support inspection equipment such as radiation- shielded EVT-I -capable video cameras and radiation-tolerant fiberscopes.- The apparatus (112) and its inspection tools are remotely controlled via control consoles with video monitors from a low-dose, non- contaminated enclosure located remotely from a boiling water reactor.

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

In order to carry out interventions, particularly for inspection and maintenance purposes, within heat exchangers, such as the steam generators equipping nuclear power stations, a device is proposed, which has an articulated arm formed from at least two rigid segments (24a, 24b), which are articulated to one another about an axis (A), as well as two plates (30a, 30b) mounted at the ends of the articulated arm via two handles (28a, 28b), each authorizing two rotations about two orthogonal axes (B, C), whereof one (B) is parallel to axis (A) and the other (C) is perpendicular to the surface (31a, 31b) of the corresponding plate. Each plate (30a, 30b) carries fastening members (32) able to engage in perforations (20a) of a tube plate (12) of the exchanger, as well as a support (34) for an intervention tool.

Intervention device, particularly for checking, inspecting and maintaining heat exchangers

The invention provides a method of positioning a robot intended to perform inspection and maintenance operations within a nuclear plant, and especially within a vessel of a pressurized-water reactor. The robot, which comprises an articulated arm, is controlled so that it initially attaches its head at one end of the arm to a support point having known coordinates. Then, supported on this point, the robot brings and attaches a foot-plate at the other end of the arm to a working support position having known coordinates adjacent the access opening of the vessel. The head is then released and the robot operated to move and position the head through the access opening and into the operating zone in the vessel.

Method of putting a tool-carrying robot into position in a containment vessel

The present invention relates to a process for introducing a robot (5) intended for carrying out inspection and maintenance operations within nuclear installations, particularly in pressurized-water reactor vessels (1). This robot (5) is introduced autonomously by temporarily fixing its head (7) at a known point (14) and then, bearing on this point (14), by bringing its sole plate (13) into a working position and, finally, by effecting a movement in which it pulls itself up on itself in order to place the head (7) in the zone (2) where the work is to take place by passing via the opening (4) made in the chamber (1).

Process for introducing a tool-carrying robot into a human hostile environment

La presente invention concerne un procede de mise en place d'un robot 5 destine a effectuer des operations d'inspection et de maintenance au sein d'installations nucleaires, notamment dans des cuves 1 de reacteurs a eau pressurisee. Conformement a l'invention ce robot 5 se met en place de facon autonome en fixant provisoirement sa tete 7 en un point 14 connu, puis, s'appuyant sur ce point 14, en amenant sa semelle 13 en position de travail et, enfin, en effectuant un retablissement sur lui-meme pour placer la tete 7 dans la zone 2 d'intervention en passant par l'ouverture 4 menagee dans l'enceinte 1.

Procede de mise en place d'un robot porte-outils destine a des interventions en milieu humainement hostile

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Method of putting a tool-carrying robot into position in a containment vessel

Process for introducing a tool-carrying robot into a human hostile environment

Procede de mise en place d'un robot porte-outils destine a des interventions en milieu humainement hostile