GB1389284A – Vessel inspection device
– Google Patents
GB1389284A – Vessel inspection device
– Google Patents
Vessel inspection device
Info
Publication number
GB1389284A
GB1389284A
GB1834272A
GB1834272A
GB1389284A
GB 1389284 A
GB1389284 A
GB 1389284A
GB 1834272 A
GB1834272 A
GB 1834272A
GB 1834272 A
GB1834272 A
GB 1834272A
GB 1389284 A
GB1389284 A
GB 1389284A
Authority
GB
United Kingdom
Prior art keywords
drum
boom assembly
boom
assembly
tube assembly
Prior art date
1971-04-22
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
GB1834272A
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
PROGRAMMED AND REMOTE SYST CORP
Original Assignee
PROGRAMMED AND REMOTE SYST CORP
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
1971-04-22
Filing date
1972-04-20
Publication date
1975-04-03
1972-04-20
Application filed by PROGRAMMED AND REMOTE SYST CORP
filed
Critical
PROGRAMMED AND REMOTE SYST CORP
1975-04-03
Publication of GB1389284A
publication
Critical
patent/GB1389284A/en
Status
Expired
legal-status
Critical
Current
Links
Espacenet
Global Dossier
Discuss
238000007689
inspection
Methods
0.000
title
abstract
4
XLYOFNOQVPJJNP-UHFFFAOYSA-N
water
Substances
O
XLYOFNOQVPJJNP-UHFFFAOYSA-N
0.000
abstract
3
238000001514
detection method
Methods
0.000
abstract
1
238000007654
immersion
Methods
0.000
abstract
1
230000000717
retained effect
Effects
0.000
abstract
1
Classifications
G—PHYSICS
G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
G21C—NUCLEAR REACTORS
G21C17/00—Monitoring; Testing ; Maintaining
G21C17/003—Remote inspection of vessels, e.g. pressure vessels
G21C17/01—Inspection of the inner surfaces of vessels
B—PERFORMING OPERATIONS; TRANSPORTING
B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
B25J18/00—Arms
B25J18/02—Arms extensible
B25J18/025—Arms extensible telescopic
B—PERFORMING OPERATIONS; TRANSPORTING
B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B25J19/0004—Braking devices
B—PERFORMING OPERATIONS; TRANSPORTING
B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
B25J5/00—Manipulators mounted on wheels or on carriages
B—PERFORMING OPERATIONS; TRANSPORTING
B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
B25J9/00—Programme-controlled manipulators
B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
B25J9/041—Cylindrical coordinate type
G—PHYSICS
G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
G21C—NUCLEAR REACTORS
G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
G21C19/02—Details of handling arrangements
G21C19/10—Lifting devices or pulling devices adapted for co-operation with fuel elements or with control elements
G—PHYSICS
G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
G21C—NUCLEAR REACTORS
G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
G21C19/02—Details of handling arrangements
G21C19/10—Lifting devices or pulling devices adapted for co-operation with fuel elements or with control elements
G21C19/105—Lifting devices or pulling devices adapted for co-operation with fuel elements or with control elements with grasping or spreading coupling elements
G—PHYSICS
G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
G21C—NUCLEAR REACTORS
G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
G21C19/20—Arrangements for introducing objects into the pressure vessel; Arrangements for handling objects within the pressure vessel; Arrangements for removing objects from the pressure vessel
G21C19/207—Assembling, maintenance or repair of reactor components
Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
Y02E30/00—Energy generation of nuclear origin
Y02E30/30—Nuclear fission reactors
Abstract
1389284 Winches; manipulators PROGRAMMED & REMOTE SYSTEMS CORP 20 April 1972 [22 April 1971] 18342/72 Headings B8B and B8H [Also in Division H4] Apparatus for inspecting the interior surface of a nuclear reactor pressure vessel comprises a telescopic tube assembly 24 extensible along a vertical axis coincident with that of the vessel; a transverse boom assembly 51 mounted at the lower end of the tube assembly 24 the boom assembly being displaceable angularly about the vertical axis; an inspection unit mounted on the boom assembly 51; and position detection and indication means for indicating the position of the boom assembly along the vertical axis and for indicating the angular position of the boom assembly about the vertical axis. The telescopic, tube assembly can be extended and retracted by a winch 31. A tripod mounting arrangement for centring the apparatus by engagement of the tripod legs 20 with respective studs 17 extending vertically from the vessel comprises legs two of which embody pivoted-jaw clamping devices (Figs. 3-5, not shown) which are operative to centre the tube assembly 24 accurately relative to the vessel. The transverse boom assembly 51 comprises telescopic tubes which are arranged to be extended and retracted by a double-acting ram (Fig. 7, not shown). Alternatively, or in addition, the boom comprises a manipulator 81 which can be used to mount an inspection unit or to position various other components mounted on the boom. Electrical encoders, such as are described with reference to the boom assembly (Fig. 11, not shown) are provided to indicate the axial extension of tube assembly 24 and boom assembly 51 and angular position of the boom assembly about the axis of the tube assembly 24. Pivoting movements of the manipulator may also be encoded (Fig. 8, not shown). Since the vessel to be inspected may contain water, components at the lower end of the tube assembly 24 receive compressed air to maintain a pressure differential which acts to exclude water from them. The differential is maintained irrespective of depth of immersion by a relay which senses the water pressure (Fig. 12, not shown). The inspection unit may comprise an ultrasonic device or a television camera and lights. The winch 31 comprises a pair of drums 93, 118. A motor 104 drives bevel gearing 105, 106 the latter being fast on shaft 102. Winch drum 93 is rotatable on the shaft 102 but is normally driven therewith by engagement of a pin 107 projecting from gear 106 against a shoulder defined between ramp surfaces on the hub of drum 93. At the other end of drum 93 is a gear 110 followed, in the axial direction by a friction disc 111, ratchet wheel 112, another friction disc 111 and finally a hub 113 on the shaft 102. A pawl 115 permits rotation of the ratchet wheel in one direction only. A cable 92 wound on the drum passes to a load pulley 90 and then returns to a slidable, spring urged anchor member 94. With the cable under normal tension, the head of member 94 is retained in a lower position; should the tension be relaxed, the head is raised by the spring 97 to trip a switch 98 to turn off the winch motor 104 and actuate a brake 123. The latter is rotated by drive transmitted from drum 93 via gear 110, intermeshing gear 117 on drum 118 and bevel gearing 121, 122. A rotary limit switch 126 is driven from gear 117 to control the maximum extension of the cable 92 or cable 119 wound on the drum 118. The cable 119 also is connected to an anchor member 94A which can operate a motor and brake control switch 98A. The provision of two cables provides redundancy in the winch operation and is a safety provision. An electrical encoder 130 indicates the amount of pay-out of the cables. The provision of the ratchet and friction discs is a “fail-safe”; if, for any reason, the loadpulleys 90, 91 start to fall and the brake 123 does not operate, the drums 93, 118 are driven in reverse by the unwinding of the cables. As drum 93 runs in reverse, the driving pin 107 runs up the ram surfaces and hence the drum is urged towards the limb 113. Pawl 115 prevents rotation of the ratchet wheel 112 and the tightening of the friction discs 111 against the wheel 112 due to the axial movement of the drum 93 brakes the latter.
GB1834272A
1971-04-22
1972-04-20
Vessel inspection device
Expired
GB1389284A
(en)
Applications Claiming Priority (1)
Application Number
Priority Date
Filing Date
Title
US13641171A
1971-04-22
1971-04-22
Publications (1)
Publication Number
Publication Date
GB1389284A
true
GB1389284A
(en)
1975-04-03
Family
ID=22472737
Family Applications (1)
Application Number
Title
Priority Date
Filing Date
GB1834272A
Expired
GB1389284A
(en)
1971-04-22
1972-04-20
Vessel inspection device
Country Status (6)
Country
Link
US
(1)
US3780571A
(en)
JP
(1)
JPS545694B2
(en)
FR
(1)
FR2134034B1
(en)
GB
(1)
GB1389284A
(en)
IT
(1)
IT957649B
(en)
SE
(1)
SE372838B
(en)
Cited By (6)
* Cited by examiner, † Cited by third party
Publication number
Priority date
Publication date
Assignee
Title
GB2129653A
(en)
*
1982-11-02
1984-05-16
Ian Roland Yarnell
Remotely controllable mounting for camera or tool
GB2150341A
(en)
*
1983-11-21
1985-06-26
Westinghouse Electric Corp
Quick release cushioned t.v. camera mount
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*
1983-11-21
1985-06-26
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Priority date
Publication date
Assignee
Title
DE2154015C3
(en)
*
1971-10-29
1974-05-09
Maschinenfabrik Augsburg-Nuernberg Ag, 8900 Augsburg
Device for carrying out examinations and repeat tests on the inner surfaces of open-top pressure vessels
GB1439760A
(en)
*
1972-12-18
1976-06-16
Atomic Energy Authority Uk
Apparatus for carrying out ultrasonic inspection of pressure vessels
FR2242750B1
(en)
*
1973-08-27
1976-12-03
Commissariat Energie Atomique
US3960006A
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*
1973-12-03
1976-06-01
Alco Standard Corporation
Non-destructive test apparatus and method for a material having a cavity therein
FR2259419A1
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*
1974-01-25
1975-08-22
Commissariat Energie Atomique
Manipulator for inspection of nuclear reactor pressure vessel – vertical arm centralised by tripod with hydraulic position indicators
FR2267612B1
(en)
*
1974-04-10
1978-08-04
Commissariat Energie Atomique
FR2287753A1
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*
1974-10-10
1976-05-07
Westinghouse Electric Corp
METHOD OF DETECTION AND LOCATION OF DEFECTIVE FUEL ELEMENTS IN A NUCLEAR REACTOR
US3952581A
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*
1974-11-29
1976-04-27
Alco Standard Corporation
Ultrasonic flaw detecting apparatus for turbine rotors
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1975-07-04
1979-05-10
Foster Wheeler Power Prod
Apparatus for the testing of inaccessable parts
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1975-09-15
1979-11-20
Foster Wheeler Energy Corporation
Testing of interiors of pressure vessels
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1977-03-25
1979-11-20
Westinghouse Electric Corp.
Positioning means for circumferentially locating inspection apparatus in a nuclear reactor vessel
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1977-10-26
1979-10-02
The Babcock & Wilcox Company
Nuclear reactor vessel inspection apparatus
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1977-12-12
1980-04-01
General Electric Company
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1978-03-21
1980-06-03
Westinghouse Electric Corp.
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1978-07-27
1980-02-09
Hitachi Ltd
Device for detecting in nuclear reactor vessel
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1980-04-10
1982-11-18
US4394345A
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1980-12-29
1983-07-19
General Electric Company
Ultrasonic method and apparatus
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1981-05-26
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Combustion Engineering, Inc.
Tool for inspecting defects in irregular weld bodies
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1981-09-28
1983-04-14
Deutsche Gesellschaft für Wiederaufarbeitung von Kernbrennstoffen mbH, 3000 Hannover
“METHOD FOR MAINTENANCE OF DEVICES AND COMPONENTS IN HOT CELLS, ESPECIALLY REPROCESSING PLANTS FOR WASTE NUCLEAR FUELS, AND DEVICE FOR CARRYING OUT THE METHOD
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1981-10-02
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Electric Power Research Institute, Inc.
Inspection system
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1982-03-08
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Combustion Engineering Co., Inc.
Vessel inspection boom
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1982-03-08
1986-12-15
Acec
SAFETY DEVICE FOR LOAD GRIP MECHANISM OF NUCLEAR FUEL ELEMENTS.
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1982-06-17
1985-10-18
Allibert Sa
TELESCOPIC TRANSFER DEVICE IN PARTICULAR FOR INDUSTRIAL ROBOTS
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1982-07-23
1985-11-08
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ROBOT ARM
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1983-03-23
1986-03-06
Kraftwerk Union AG, 4330 Mülheim
REPAIR DEVICE FOR A REACTOR PRESSURE TANK
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1983-08-29
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Pipeline inspection device using ultrasonic apparatus for corrosion pit detection
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The United States Of America As Represented By The United States Department Of Energy
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DEVICE FOR EXPLORING AND / OR TREATING THE SURFACE OF A CYLINDRICAL SAS WITH LOW RADIUS OF CURVATURE
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三菱重工業株式会社
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Tillmanns; Josef
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patent/IT957649B/en
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Expired
Cited By (8)
* Cited by examiner, † Cited by third party
Publication number
Priority date
Publication date
Assignee
Title
GB2129653A
(en)
*
1982-11-02
1984-05-16
Ian Roland Yarnell
Remotely controllable mounting for camera or tool
GB2150341A
(en)
*
1983-11-21
1985-06-26
Westinghouse Electric Corp
Quick release cushioned t.v. camera mount
GB2150342A
(en)
*
1983-11-21
1985-06-26
Westinghouse Electric Corp
Refueling machine mounted fuel assembly inspection t.v. cameras
CN103963054A
(en)
*
2014-05-07
2014-08-06
河南工业大学
Silo cleaning robot
CN103963054B
(en)
*
2014-05-07
2017-04-05
河南工业大学
Vertical silo clears up robot
CN106932221A
(en)
*
2015-12-30
2017-07-07
核动力运行研究所
A kind of cable for nuclear power station keeps sample device
CN106932221B
(en)
*
2015-12-30
2023-11-21
核动力运行研究所
Cable sample reserving device for nuclear power station
CN110849916A
(en)
*
2019-11-30
2020-02-28
秦立臣
Boiler pressure vessel inspection and detection device
Also Published As
Publication number
Publication date
FR2134034A1
(en)
1972-12-01
FR2134034B1
(en)
1976-08-06
JPS4829460A
(en)
1973-04-19
SE372838B
(en)
1975-01-13
US3780571A
(en)
1973-12-25
JPS545694B2
(en)
1979-03-20
IT957649B
(en)
1973-10-20
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Legal Events
Date
Code
Title
Description
1975-08-13
PS
Patent sealed [section 19, patents act 1949]
1986-12-17
PCNP
Patent ceased through non-payment of renewal fee
