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Title: Refueling machine with relative positioning capability

Abstract

A refueling machine 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.

Inventors:
 [1];  [2]
  1. (Livermore, CA)
  2. (Saratoga, CA)
Issue Date:
Research Org.:
GENERAL ELECTRIC CO
OSTI Identifier:
872048
Patent Number(s):
5850424
Assignee:
General Electric Company (Schenectady, NY) LLNL
DOE Contract Number:  
AC03-90SF18494
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
refueling; machine; relative; positioning; capability; nuclear; reactor; pair; articulated; arms; mounted; bridge; arm; supports; respective; telescoping; mast; designed; flex; laterally; response; application; lateral; thrust; pendant; carries; air-actuated; grapple; television; cameras; ultrasonic; transducers; waterjet; thrusters; detect; gross; position; bail; fuel; assembly; core; acquire; image; compared; pre-stored; computer; memory; rotated; match; predetermined; tolerance; similarly; apply; flexible; fine; function; discrepancy; images; relative position; television camera; ultrasonic transducer; nuclear fuel; nuclear reactor; fuel assembly; fuel core; ultrasonic transducers; refueling machine; relative positioning; position relative; predetermined tolerance; television cameras; stored image; positioning capability; /376/

Citation Formats

Challberg, Roy Clifford, and Jones, Cecil Roy. Refueling machine with relative positioning capability. United States: N. p., 1998. Web.
Challberg, Roy Clifford, & Jones, Cecil Roy. Refueling machine with relative positioning capability. United States.
Challberg, Roy Clifford, and Jones, Cecil Roy. Thu . "Refueling machine with relative positioning capability". United States. https://www.osti.gov/servlets/purl/872048.
@article{osti_872048,
title = {Refueling machine with relative positioning capability},
author = {Challberg, Roy Clifford and Jones, Cecil Roy},
abstractNote = {A refueling machine 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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1998},
month = {1}
}

Patent:

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