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1. 发明公开

EP2239105A2 Manipulator for remote activities in a nuclear reactor vessel 审中-公开
标题翻译：操作员fürdezentraleAktivitäten在einemKernreaktorbehälter
公开(公告)号：EP2239105A2
公开(公告)日：2010-10-13
申请号：EP10156961.4
申请日：2010-03-18
申请人： GE-Hitachi Nuclear Energy Americas LLC
发明人： Offer, Henry , Welsh, Christopher , Jones, William Dale , Broaddus, Mark , Runkle, Gary
IPC分类号： B25J9/06 , G21C17/01
CPC分类号： B25J9/06 , G21C17/01 , G21C19/207 , Y10T74/20329
摘要： A manipulator (10) for remotely controlled underwater operation in a nuclear radiation environment to perform service activities at difficult to access regions of the reactor vessel is disclosed. The manipulator (10) includes six degrees of freedom in its ability to move so that it can get past obstructions inside a reactor vessel to access and service remote locations in the vessel. The manipulator (10) also includes an axial (12) drive for inserting and removing the manipulator (10) into and from a reactor vessel and for rotating the manipulator (10) within the vessel. It also includes an arm (20) with two rotary joints (18,40) and three pivot joints (34,36,42) that can be deployed for better access to difficult to reach locations. The manipulator (10), which is remotely operated, can be used to manipulate a variety of tools (48,90,94) to perform various service activities. The tools (48,90,94), which are attached to the end of the arm (20), include a water jet (48), a gripper (90), a cutter (94) and a camera.
摘要翻译：公开了一种用于在核辐射环境中进行遥控水下操作以在反应堆容器难以到达的区域执行服务活动的操纵器（10）。操纵器（10）包括其移动能力的六个自由度，使得其能够超过反应堆容器内的障碍物以接近和维护容器中的远程位置。操纵器（10）还包括轴向（12）驱动器，用于将操纵器（10）插入反应器容器并从反应器容器移除并将其移动到容器内。它还包括具有两个旋转接头（18,40）和三个枢轴接头（34,36,42）的臂（20），其可被部署以便更好地进入难以到达的位置。远程操作的操纵器（10）可用于操纵各种工具（48,90,94）以执行各种服务活动。附接到臂（20）的端部的工具（48,90,94）包括水射流（48），夹具（90），切割器（94）和相机。

2. 发明公开

EP2136374A1 Apparatus and method for remotely inspecting and/or treating the inside surface of pipes or elongated vessels, especially in nuclear reactor coolant systems 审中-公开
标题翻译：一种用于在核反应堆的反应堆冷却剂系统的远程检查和/或管道或细长的容器的内表面的远程处理，特别是
公开(公告)号：EP2136374A1
公开(公告)日：2009-12-23
申请号：EP09162844.6
申请日：2009-06-16
申请人： GE-Hitachi Nuclear Energy Americas LLC
发明人： Offer, Henry , Pao, Hsueh-Wen , Jones, William Dale
IPC分类号： G21C17/017 , F16L55/34
CPC分类号： G21C17/017 , G21Y2002/203 , G21Y2002/304 , G21Y2002/401 , G21Y2004/40 , G21Y2004/501 , G21Y2004/504 , Y10T29/49718 , Y10T29/49732 , Y10T29/49734 , Y10T29/53087
摘要： A tool (10) for remotely inspecting and/or treating the inside surface of a pipe (60) is disclosed. The tool (10) is placed at the entrance to the pipe (60) and walks into the pipe (60) to the desired location. Upon reaching the desired location, the tool (10) anchors itself, then advances an end effector, e.g. a brush (52) axially and/or radially until it touches the inside surface of the pipe (60). The tool (10) activates the end effector in order for the inspection and/or treatment process to be carried out.
Application for inspecting and/or treating (e.g. brushing) a weld for mitigating corrosion.
摘要翻译：一种用于远程检查和/或治疗的管的内表面工具（10）（60）是圆盘游离缺失。所述工具（10）的入口处的配管（60）被放置并走进管（60）到所需的位置。一旦达到所需的位置，所述工具（10）锚定本身，然后前进到端部执行器，E.G. 一个刷（52）轴向和/或径向直到它接触管（60）的内表面。所述工具（10）的激活端部执行器，以便检查和/或治疗过程中进行。用于检查和/或治疗（例如刷牙）用于减轻腐蚀的焊接应用。

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