APPARATUS AND METHOD TO INSPECT, MODIFY, OR REPAIR NUCLEAR REACTOR CORE SHROUDS

摘要

This invention generally concerns robotic systems and is particularly concerned with improved apparatus and methods for remotely inspecting, modifying or repairing a core shroud (132) in a nuclear reactor. The apparatus of the invention includes a partial upper track (114) which is horizontally movable along the core shroud (132), a head (110) and frame assembly (112) which is horizontally movable along the partial upper track (114), a lower track (120) which is connected to the head (110) and frame assembly (112) and is horizontally movable along the core shroud (132), and a carriage (122) and arm (134) assembly which extends downward into an annulus formed by the reactor pressure vessel and the core shroud (132), wherein the arm (134) includes at least one sensor (182) for inspecting the core shroud (132).