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Title: Refueling machine with relative positioning capability

Abstract

A refueling machine is disclosed having relative positioning capability for refueling a nuclear reactor. The refueling machine includes a pair of articulated arms mounted on a refueling bridge. Each arm supports a respective telescoping mast. Each telescoping mast is designed to flex laterally in response to application of a lateral thrust on the end of the mast. A pendant mounted on the end of the mast carries an air-actuated grapple, television cameras, ultrasonic transducers and waterjet thrusters. The ultrasonic transducers are used to detect the gross position of the grapple relative to the bail of a nuclear fuel assembly in the fuel core. The television cameras acquire an image of the bail which is compared to a pre-stored image in computer memory. The pendant can be rotated until the television image and the pre-stored image match within a predetermined tolerance. Similarly, the waterjet thrusters can be used to apply lateral thrust to the end of the flexible mast to place the grapple in a fine position relative to the bail as a function of the discrepancy between the television and pre-stored images. 11 figs.

Inventors:
;
Issue Date:
Research Org.:
General Electric Co., Boston, MA (United States)
Sponsoring Org.:
USDOE, Washington, DC (United States)
OSTI Identifier:
321206
Patent Number(s):
5850424
Application Number:
PAN: 8-631,496; TRN: 99:003297
Assignee:
General Electric Co., Schenectady, NY (United States)
DOE Contract Number:  
AC03-90SF18494
Resource Type:
Patent
Resource Relation:
Other Information: PBD: 15 Dec 1998
Country of Publication:
United States
Language:
English
Subject:
22 NUCLEAR REACTOR TECHNOLOGY; REACTOR CHARGING MACHINES; REACTOR FUELING; DESIGN; POSITIONING; REMOTE VIEWING EQUIPMENT

Citation Formats

Challberg, R C, and Jones, C R. Refueling machine with relative positioning capability. United States: N. p., 1998. Web.
Challberg, R C, & Jones, C R. Refueling machine with relative positioning capability. United States.
Challberg, R C, and Jones, C R. Tue . "Refueling machine with relative positioning capability". United States.
@article{osti_321206,
title = {Refueling machine with relative positioning capability},
author = {Challberg, R C and Jones, C R},
abstractNote = {A refueling machine is disclosed having relative positioning capability for refueling a nuclear reactor. The refueling machine includes a pair of articulated arms mounted on a refueling bridge. Each arm supports a respective telescoping mast. Each telescoping mast is designed to flex laterally in response to application of a lateral thrust on the end of the mast. A pendant mounted on the end of the mast carries an air-actuated grapple, television cameras, ultrasonic transducers and waterjet thrusters. The ultrasonic transducers are used to detect the gross position of the grapple relative to the bail of a nuclear fuel assembly in the fuel core. The television cameras acquire an image of the bail which is compared to a pre-stored image in computer memory. The pendant can be rotated until the television image and the pre-stored image match within a predetermined tolerance. Similarly, the waterjet thrusters can be used to apply lateral thrust to the end of the flexible mast to place the grapple in a fine position relative to the bail as a function of the discrepancy between the television and pre-stored images. 11 figs.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1998},
month = {12}
}