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    • 1. 发明授权
    • Ultrasonic decontamination robot
    • 超声波去污机器人
    • US4595419A
    • 1986-06-17
    • US453762
    • 1982-12-27
    • Richard S. Patenaude
    • Richard S. Patenaude
    • F22B37/00G21F9/00B08B3/12
    • F22B37/003G21F9/005
    • An ultrasonic decontamination robot removes radioactive contamination from the internal surface of the inlet and outlet headers, divider plate, tube sheet, and lower portions of tubes of a nuclear power plant steam generator. A programmable microprocessor controller guides the movement of a robotic arm mounted in the header manway. An ultrasonic transducer having a solvent delivery subsystem through which ultrasonic action is achieved is moved by the arm over the surfaces. A solvent recovery suction tube is positioned within the header to remove solvent therefrom while avoiding interference with the main robotic arm. The solvent composition, temperature, pressure, viscosity, and purity are controlled to optimize the ultrasonic scrubbing action. The ultrasonic transducer is controlled at a power density, frequency, and on-off mode cycle such as to optimize scrubbing action within the range of transducer-to-surface distance and solvent layer thickness selected for the particular conditions encountered. The robot is also equipped with an ultrasonic position-sensing transducer for determining standoff distance.
    • 超声波去污机器人从核电厂蒸汽发生器的入口和出口集管,分隔板,管板和管的下部的内表面去除放射性污染物。 可编程微处理器控制器引导安装在接头管道中的机器人手臂的运动。 具有通过其获得超声波作用的溶剂输送子系统的超声波换能器通过臂在表面上移动。 溶剂回收吸管位于集管内以从其中除去溶剂,同时避免与主机械臂的干涉。 控制溶剂组成,温度,压力,粘度和纯度以优化超声波洗涤作用。 超声波换能器被控制在功率密度,频率和开 - 关模式周期,以便在针对所遇到的特定条件选择的换能器到表面距离和溶剂层厚度的范围内优化擦洗作用。 机器人还配备有用于确定间隔距离的超声波位置感测传感器。
    • 2. 发明授权
    • Fuel pin transfer tool
    • 燃油销转移工具
    • US4539174A
    • 1985-09-03
    • US427621
    • 1982-09-29
    • Richard S. Patenaude
    • Richard S. Patenaude
    • G21C19/10
    • G21C19/10Y10S294/906
    • A fuel pin transfer tool has a latching device of the collet type attached to a first member movable vertically through a long work stroke enabling a fuel pin in an under water assembly to be engaged and withdrawn therefrom or placed therein and released. The latching device has a collet provided with a plurality of resilient fingers having cam portions normally spaced apart to receive the upper end of a fuel pin between them and a second member, movable vertically through a short stroke relative to the first member is provided with cam portions engageable with those of the fingers and is yieldably and resiliently held in a raised position in which its cam portions engage those of the fingers and force the fingers into their pin-gripping positions. When a predetermined force is applied to the second member, it is so moved that its cam portions are disengaged from the cam portions of the fingers permitting the latter to move into their normal relationship in which a gripped pin is released or another pin received but with their pin-gripping relationship positively re-established and maintained once the force on the tubular member is lessened. Movement of the first member in either direction and movement of the second member into its raised position is attended by forces inadequate to affect the integrity of fuel pin cladding. That force is applied in the preferred embodiment, by a power operated actuator which is within the upper portion of a housing and, in the preferred embodiment, carried by the long stroke member but always in the upper housing portion which is of a material sufficiently translucent to enable the actuator to be observed throughout the work stroke and is sufficiently light in weight to prevent the tool from being top heavy.
    • 燃料销转移工具具有夹头类型的锁定装置,该闩锁装置连接到通过长的工作行程垂直运动的第一构件,使得下水组件中的燃料销能够接合并从中抽出或放置在其中并被释放。 闩锁装置具有设置有多个弹性指状物的夹头,其具有通常间隔开的凸轮部分,以容纳在它们之间的燃料销的上端和相对于第一构件在短行程中垂直移动的第二构件设置有凸轮 可与手指的那些接合的部分,并且可屈服地和弹性地保持在升高位置,在凸起位置中,其凸轮部分接合手指的凸起部分并且将手指压入其夹持位置。 当预定的力施加到第二构件时,其被移动,使得其凸轮部分从指状物的凸轮部分脱离,从而允许凸轮部分移动到它们的正常关系中,在该关系中夹持的销被释放,或者另一个销被接收, 一旦管状构件上的力减小,它们的夹紧关系就被肯定地重新建立和维持。 第一构件在任一方向上的移动和第二构件到其升高位置的运动由不足以影响燃料销包层的完整性的力来承受。 在优选实施例中,通过位于壳体的上部内的动力操作的致动器施加该力,并且在优选实施例中,由长行程构件承载,但总是在上壳体部分中,其具有足够半透明的材料 以使致动器能够在整个工作行程中被观察并且重量足够轻以防止工具被顶部重重。