Apparatus and method to control sensor position in limited access areas within a nuclear reactor

摘要

This invention concerns robotic systems and is specifically concerned with an improved apparatus and method for remotely positioning a sensor, such as an ultrasonic probe, in limited access areas within a nuclear reactor. The apparatus includes a bottom frame and a top cover which is substantially aligned with and positioned above the bottom frame. A sensor is connected to the top cover and linear rails are connected to the bottom frame in a parallel relationship. There is a mechanism movably connected to the first and second linear rails in order to allow horizontal travel of the top cover. Further, there is at least one cable connected to the sensor and a power source, signal source or receiver.

主权项

1. A robotic apparatus for remotely positioning a sensor in a nuclear reactor, comprising:
a sensor; a bottom frame; a top cover having a first end and an opposite second end, the sensor connected to the first end, the top cover positioned parallel to the bottom frame and spaced apart from the bottom frame; a first linear rail connected to the bottom frame; a second linear rail connected to the bottom frame, substantially aligned in a parallel relationship to the first linear rail and spaced apart from the first linear rail; a first linear rail support coupled to the top cover and movably connected to the first linear rail; a second linear rail support coupled to the top cover and movably connected to the second linear rail; and a plurality of hydraulic cylinders attached to the top cover and structured to drive and move the top cover a distance in a horizontal direction, thereby moving the sensor connected to the top cover an equivalent distance in the horizontal direction, relative to the bottom frame, and thereby moving in a horizontal direction the first and second linear rail supports, coupled to the top cover, relative to the first and second linear rails, respectively.