JPS545694B2 - - Google Patents

Info

Publication number
JPS545694B2
JPS545694B2 JP3822272A JP3822272A JPS545694B2 JP S545694 B2 JPS545694 B2 JP S545694B2 JP 3822272 A JP3822272 A JP 3822272A JP 3822272 A JP3822272 A JP 3822272A JP S545694 B2 JPS545694 B2 JP S545694B2
Authority
JP
Japan
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
JP3822272A
Other versions
JPS4829460A (ja
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.)
Filing date
Publication date
Application filed filed Critical
Publication of JPS4829460A publication Critical patent/JPS4829460A/ja
Publication of JPS545694B2 publication Critical patent/JPS545694B2/ja
Expired legal-status Critical Current

Links

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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
  • Investigating Or Analyzing Materials By The Use Of Electric Means (AREA)
JP3822272A 1971-04-22 1972-04-15 Expired JPS545694B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US13641171A 1971-04-22 1971-04-22

Publications (2)

Publication Number Publication Date
JPS4829460A JPS4829460A (ja) 1973-04-19
JPS545694B2 true JPS545694B2 (ja) 1979-03-20

Family

ID=22472737

Family Applications (1)

Application Number Title Priority Date Filing Date
JP3822272A Expired JPS545694B2 (ja) 1971-04-22 1972-04-15

Country Status (6)

Country Link
US (1) US3780571A (ja)
JP (1) JPS545694B2 (ja)
FR (1) FR2134034B1 (ja)
GB (1) GB1389284A (ja)
IT (1) IT957649B (ja)
SE (1) SE372838B (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5753164Y2 (ja) * 1980-04-10 1982-11-18

Families Citing this family (67)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2154015C3 (de) * 1971-10-29 1974-05-09 Maschinenfabrik Augsburg-Nuernberg Ag, 8900 Augsburg Einrichtung zum Durchführen von Untersuchungen und Wiederholungsprüfungen an den Innenflächen von oben offenen Druckbehältern
GB1439760A (en) * 1972-12-18 1976-06-16 Atomic Energy Authority Uk Apparatus for carrying out ultrasonic inspection of pressure vessels
FR2242750B1 (ja) * 1973-08-27 1976-12-03 Commissariat Energie Atomique
US3960006A (en) * 1973-12-03 1976-06-01 Alco Standard Corporation Non-destructive test apparatus and method for a material having a cavity therein
FR2259419A1 (en) * 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 (ja) * 1974-04-10 1978-08-04 Commissariat Energie Atomique
JPS5426680B2 (ja) * 1974-10-10 1979-09-05
US3952581A (en) * 1974-11-29 1976-04-27 Alco Standard Corporation Ultrasonic flaw detecting apparatus for turbine rotors
GB1545514A (en) * 1975-07-04 1979-05-10 Foster Wheeler Power Prod Apparatus for the testing of inaccessable parts
CA1066775A (en) * 1975-09-15 1979-11-20 Foster Wheeler Energy Corporation Testing of interiors of pressure vessels
US4174999A (en) * 1977-03-25 1979-11-20 Westinghouse Electric Corp. Positioning means for circumferentially locating inspection apparatus in a nuclear reactor vessel
US4169758A (en) * 1977-10-26 1979-10-02 The Babcock & Wilcox Company Nuclear reactor vessel inspection apparatus
US4196048A (en) * 1977-12-12 1980-04-01 General Electric Company Corrosion measuring apparatus for radioactive components
US4205940A (en) * 1978-03-21 1980-06-03 Westinghouse Electric Corp. Apparatus for remotely repairing tubes in a steam generator
JPS5518962A (en) * 1978-07-27 1980-02-09 Hitachi Ltd Device for detecting in nuclear reactor vessel
US4394345A (en) * 1980-12-29 1983-07-19 General Electric Company Ultrasonic method and apparatus
US4368644A (en) * 1981-05-26 1983-01-18 Combustion Engineering, Inc. Tool for inspecting defects in irregular weld bodies
US4421715A (en) * 1981-06-04 1983-12-20 Westinghouse Electric Corp. Baffle maintenance apparatus
US4432271A (en) * 1981-08-17 1984-02-21 Combustion Engineering, Inc. Locomotion unit for a tool support adapted for progression through passageways
DE3138484A1 (de) * 1981-09-28 1983-04-14 Deutsche Gesellschaft für Wiederaufarbeitung von Kernbrennstoffen mbH, 3000 Hannover "verfahren zur instandhaltung von vorrichtungen und bauteilen in heissen zellen, insbesondere von wiederaufarbeitungsanlagen fuer abgebrannte kernbrennstoffe, und vorrichtung zur durchfuehrung des verfahrens
US4432931A (en) * 1981-10-02 1984-02-21 Electric Power Research Institute, Inc. Inspection system
US4505874A (en) * 1982-03-08 1985-03-19 Combustion Engineering Co., Inc. Vessel inspection boom
DE3274447D1 (en) * 1982-03-08 1987-01-15 Acec Safety device for the load-engaging mechanism of nuclear combustion elements
FR2528752B1 (fr) * 1982-06-17 1985-10-18 Allibert Sa Dispositif de transfert telescopique en particulier pour robots industriels
FR2530526B1 (fr) * 1982-07-23 1985-11-08 Ind Bras de robot
EP0108587A3 (en) * 1982-11-02 1985-08-21 Ian Roland Yarnell Remotely controllable inspection camera apparatus
DE3310947A1 (de) * 1983-03-23 1986-03-06 Kraftwerk Union AG, 4330 Mülheim Reparatureinrichtung fuer einen reaktordruckbehaelter
US4532545A (en) * 1983-08-29 1985-07-30 Hanson Lowell C Subteranean surveying apparatus
US4650634A (en) * 1983-11-21 1987-03-17 Westinghouse Electric Corp. Quick release cushioned T.V. camera mount
US4643867A (en) * 1983-11-21 1987-02-17 Westinghouse Electric Corp. Refueling machine mounted fuel assembly inspection T.V. cameras
US4641529A (en) * 1984-04-12 1987-02-10 Magnaflux Pipeline Services, Inc. Pipeline inspection device using ultrasonic apparatus for corrosion pit detection
US4610838A (en) * 1984-07-26 1986-09-09 Westinghouse Electric Corp. Method for removing debris from a nuclear reactor vessel
US4686078A (en) * 1985-04-08 1987-08-11 Nuclear Energy Services, Inc. Method and apparatus for displacing a reactor weld scanner assembly by variable buoyancy
US4756656A (en) * 1986-03-03 1988-07-12 The United States Of America As Represented By The United States Department Of Energy Sectional device handling tool
WO1987005849A1 (en) * 1986-03-25 1987-10-08 Laser Lab Limited Work head device
US4822238A (en) * 1986-06-19 1989-04-18 Westinghouse Electric Corp. Robotic arm
FR2610758B1 (fr) * 1987-02-09 1992-01-03 Electricite De France Dispositif d'exploration et/ou de traitement de surface d'un sas cylindrique a faible rayon de courbure
US4991441A (en) * 1987-11-06 1991-02-12 Westinghouse Electric Corp. Positioning assembly for a transducer in a boresonic inspection system
CA2039546A1 (en) * 1990-04-27 1991-10-28 Gordon Walter Culp Robotic articulation
JP2535550Y2 (ja) * 1990-06-05 1997-05-14 三菱重工業株式会社 水中移動型検査装置
JP2813486B2 (ja) * 1991-03-06 1998-10-22 三菱重工業株式会社 穴内面の検査装置
EP0541811B1 (en) * 1991-05-28 1999-07-07 Kabushiki Kaisha Toshiba Working device
US5265129A (en) * 1992-04-08 1993-11-23 R. Brooks Associates, Inc. Support plate inspection device
US5305356B1 (en) * 1992-05-14 1998-09-01 Brooks Support Systems Inc Inspection device
US5440476A (en) * 1993-03-15 1995-08-08 Pentek, Inc. System for positioning a work point in three dimensional space
US5408407A (en) * 1993-03-15 1995-04-18 Pentek, Inc. System and method for positioning a work point
US5425279A (en) * 1993-09-23 1995-06-20 Atlantic Richfield Company Vessel inspection system
US5604532A (en) * 1994-06-06 1997-02-18 Tillmanns; Josef Apparatus and method for insitu inspection of pressurized vessels
US5544206A (en) * 1994-06-17 1996-08-06 R. Brooks Associates, Inc. Reactor head work station
US5767401A (en) * 1994-07-27 1998-06-16 Socon Sonar Control Device for surveying subterranean spaces or caverns
GB2306155B (en) * 1995-10-11 1997-11-19 Toshiba Kk Apparatus and method for disassembling and assembling gas turbine combuster
US5757419A (en) * 1996-12-02 1998-05-26 Qureshi; Iqbal Inspection method and apparatus for tanks and the like
DE29703255U1 (de) * 1997-02-24 1998-07-02 Siemens Ag Einrichtung zum Prüfen einer Schweißnaht am Außenmantel eines Reaktordruckbehälters
JP3069558B1 (ja) * 1999-07-30 2000-07-24 株式会社日立製作所 制御棒案内管清掃装置
US6687583B1 (en) * 1999-12-15 2004-02-03 Yacht Watchman International Vessel monitoring system
WO2003083460A1 (en) * 2002-03-25 2003-10-09 Geo-Centers, Inc. Automated inspection and processing system
US7267019B2 (en) * 2005-12-06 2007-09-11 General Electric Company Method of inspecting or utilizing tools in a nuclear reactor environment
DE102008014544A1 (de) * 2008-03-15 2009-09-17 Areva Np Gmbh Vorrichtung zur Reparatur einer Schadstelle in einem unter Wasser befindlichen Wandbereich eines Behälters oder Beckens
SE533807C2 (sv) * 2009-05-27 2011-01-18 Wesdyne Trc Ab En inspektionsapparatur
US9058905B2 (en) * 2012-04-06 2015-06-16 Ihi Southwest Technologies Automated inside reactor inspection system
JP5989221B2 (ja) * 2013-02-12 2016-09-07 株式会社日立製作所 遠隔作業マニピュレータ
FR3004432B1 (fr) * 2013-04-15 2015-04-03 Gaztransp Et Technigaz Equipement pour effectuer des operations de maintenance et/ou d'inspection a l'interieur d'une cuve et procede de montage d'un tel equipement
CN103963054B (zh) * 2014-05-07 2017-04-05 河南工业大学 立筒仓清理机器人
KR101548867B1 (ko) * 2014-05-15 2015-08-31 한전케이피에스 주식회사 관리장비 이송기구
CZ2014752A3 (cs) * 2014-11-05 2016-07-07 Ĺ KODA JS a.s. Manipulační kontrolní zařízení
CN106932221B (zh) * 2015-12-30 2023-11-21 核动力运行研究所 一种用于核电站的电缆留样装置
CN110849916A (zh) * 2019-11-30 2020-02-28 秦立臣 一种锅炉压力容器检验检测装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2940305A (en) * 1956-05-21 1960-06-14 Curtiss Wright Corp Arrangement for positioning ultrasonic probe
BE577732A (ja) * 1958-04-15
US3111027A (en) * 1960-12-23 1963-11-19 Whessoe Ltd Ultrasonic test apparatus
GB1212349A (en) * 1967-04-14 1970-11-11 Thomas Graham Brown Improvements in or relating to ultrasonic detection apparatus more particularly for diagnostic application
US3517768A (en) * 1968-09-03 1970-06-30 Mobil Oil Corp Focusing system for dual transducer logging tool
US3534591A (en) * 1968-09-26 1970-10-20 Shurtronics Corp Automated ultrasonic bond tester
US3614891A (en) * 1969-03-17 1971-10-26 Prakla Seismos Gmbh Well surveying instrument and method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5753164Y2 (ja) * 1980-04-10 1982-11-18

Also Published As

Publication number Publication date
IT957649B (it) 1973-10-20
US3780571A (en) 1973-12-25
GB1389284A (en) 1975-04-03
JPS4829460A (ja) 1973-04-19
FR2134034A1 (ja) 1972-12-01
SE372838B (ja) 1975-01-13
FR2134034B1 (ja) 1976-08-06

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