US3066969A - Combined grapple and television guide - Google Patents

Combined grapple and television guide Download PDF

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Publication number
US3066969A
US3066969A US707301A US70730158A US3066969A US 3066969 A US3066969 A US 3066969A US 707301 A US707301 A US 707301A US 70730158 A US70730158 A US 70730158A US 3066969 A US3066969 A US 3066969A
Authority
US
United States
Prior art keywords
camera
casing
tongs
television
grapple
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US707301A
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English (en)
Inventor
Camac George
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
A E I-John Thompson Nuclear Energy Co Ltd
THOMPSON NUCLEAR ENERGY CO Ltd
Original Assignee
THOMPSON NUCLEAR ENERGY CO Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by THOMPSON NUCLEAR ENERGY CO Ltd filed Critical THOMPSON NUCLEAR ENERGY CO Ltd
Application granted granted Critical
Publication of US3066969A publication Critical patent/US3066969A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F7/00—Shielded cells or rooms
    • G21F7/06—Structural combination with remotely-controlled apparatus, e.g. with manipulators
    • G21F7/061—Integrated manipulators
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/08—Structural combination of reactor core or moderator structure with viewing means, e.g. with television camera, periscope, window
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
    • G21C19/26—Arrangements for removing jammed or damaged fuel elements or control elements; Arrangements for moving broken parts thereof
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F7/00—Shielded cells or rooms
    • G21F7/02—Observation devices permitting vision but shielding the observer
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • This invention relates to television guided grapple apparatus for remote locations and has an important application in apparatus for removingbroken particles of fuel elements from the fuel channels of nuclear reactors.
  • the present invention comprises the combination of a television camera of the reactor inspection type carried on the end of a flexible supporting and supply cable together with mechanical handling apparatus capable of gripping a broken fragment of fuel and mounted on the underside of the camera, a first driving spindle for actuating said apparatus extending longitudinally along the outside of the camera and a second driving spindle for positioning the handling apparatus also extending longitudinally along the outside of the camera and electrical driving apparatus for operating each of said spindles and located above the camera.
  • the spindles may be suitably positioned along the sides of the cathode ray tube for instance, side by side, or concentrically.
  • the driving spindles may extend along the sides of the camera on diametrically opposite sides.
  • reactor inspection television camera implies a camera of the kind which is located in a cylindrical housing and supported by a supply cable at the upper end whilst at the other end there can be an adjustable mirror for selecting the area to be viewed.
  • a camera is described in the Journal of the British Nuclear Energy Conference in a paper entitled Uranium Fuel Handling, and presented November 22 and 23, 1956.
  • the handling apparatus may comprise tongs or a grab which may be opened and closed to grip a fragment of fuel.
  • the assembly may be lowered into a fuel channel from the winding drum on which'the multi core supply cable is wound and when not in use it may held inside a shielded coffin.
  • FIG. 1 is a general vertical view of the apparatus
  • FIG. 2 is a sectional plan view on the line 11-11 of FIG. 1,
  • FIG. 3 is an enlarged view of the handling apparatus
  • FIG. 4 shows a detachable head used in the arrangement of FIG. 3,
  • FIG. 5 is an underside view of a detachable head.
  • FIG. 6 shows somewhat diagrammatically a modified arrangement of the drive
  • FIGS. 7 and 8 which correspond to FIGS. 1 and 2, respectively show a modified form of easing.
  • the apparatus shown comprises a cylindrical casing 1 and longitudinal ribs 2 which are adapted to fit in vertical guide grooves in the fuel channel.
  • the television camera indicated generally by the reference numeral 3
  • the handling apparatus indicated generally by the reference numeral 4.
  • the whole assembly is suspended on the end of a stainless steel flexible hose 5 encasing a multi-core supply cable 5A which enters the top of the casing. Coolant gas can also pass through the interior of the hose to the camera and other apparatus, as indicated by the arrows.
  • drive motors 7 Within an extension 6 at the upper end of the casing 1 are located drive motors 7.
  • FIGS. 3, 4 and 5 which show the handling apparatus at the lower end of the assembly, there is shown attached to the underside of the camera casing a circular support member 10 carrying an annular member 11 having an inwardly projecting rim 12 which slides in a channel in the support member 10.
  • a pinion drive 13 engages teeth 14 around the periphery of the annular member 11 for the purpose of rotating it.
  • the annular member 11 carries a detachable handling head which consists of a plate 15 having a pair of parallel flanges 16 which slide in corresponding grooves in the ring member 11.
  • the plate 15 is formed on the underside with a pair of lugs 17 and carries.
  • a pair of tongs 18 which are pivoted at 19 so that they can expand and contract in a horizontal plane.
  • the control ofthese tongs is effected through a spindle 20 which drives a left and right hand nut 21 acting on the expanding and contracting rods 22 which are pivoted to the two tongs 18.
  • the spindle 20 is driven through bevel gearing from an annular bevel wheel 23 carried ona ring 24 which is rotatable about the plate 15 through a pinion 25 which in turn is driven through the vertical spindle 9. It will be appreciated that there will normally be a number of plates lSeach carrying a pair of tongs 18 which are of a different size and anappropriate set will-be selected in accordance with the job which is to be performed.
  • the television camera is so directed that objects gripped between the tongs may be observed.
  • the tongs are not actuated by virtue of interaction between the ring 24 and pinion 25. This actuation of the tongs may be avoided by' a compensating rotation of shaft 9 when shaft 8 is rotated or by disengaging the solenoid operated clutch26 so as to disconnect the drive.
  • FIG. 6 shows a modified arrangement in which both shaft 8 and shaft 9-are driven from a single motor 27.
  • the shaft 9 is driven through a clutch 28 operated by a solenoid 29.
  • clutch 28 is disengaged, but when the head is to be rotated, clutch 28 is engaged. This will rotate shaft 9 and at the same time apply a compensating rotation to shaft 8.
  • FIGS. 7 and 8 show a modification of the arrangement of FIG. 1 which can be used in circular fuel channels without guide grooves.
  • the casing 1 is circular and the driving shafts 8 and 9 are adjacent.
  • wing pieces of channel sections 30 and 31 may be attached as shown; these are attached in the actual arrangement shown by 3 bolts 32 extending through plates 33 attached to the side members of the channel sections.
  • the supply leads in this case pass through a multi pin plug and socket connection at 35 and the cable 5 to the television camera passes outside of the motors and not through hollow spindles, as in the arrangement of FIG. 1.
  • Television inspection equipment comprising a television camera arranged for downward viewing, a casing therefor, means including a flexible cable for supporting said casing and providing electrical connections thereto, mechanical apparatus for gripping broken fragments mounted on the underside of said casing, said apparatus comprising an annular carrier rotatably mounted in a position underneath the camera face, horizontally extending pivotal tongs supported by said carrier and extending inwardly, means for rotating said carrier including a first driving spindle extending along the outside of said casing, and means for operating said tongs including a second driving spindle also extending along the outside of said carrier.
  • Television inspection equipment comprising a television camera arranged for downward viewing, a casing therefor, means including a flexible cable for supporting said casing and providing electrical connections thereto, mechanical handling apparatus for gripping broken fragments mounted on the underside of said casing, said apparatus comprising an annular carrier rotatably mounted about the axis of said casing, a laterally detachable head mounted on said carrier, horizontally extending tongs pivotally mounted on said head, means for rotating said carrier including a first driving spindle extending along the outside of said casing, and means for operating said tongs including a second driving spindle also extending along the outside of said casing.
  • Television inspection equipment comprising a television camera arranged for downward viewing, a casing therefor, means including a flexible cable for supporting said casing and providing electrical connections thereto, mechanical apparatus for gripping broken fragments mounted on the underside of said casing, said apparatus comprising an annular carrier rotatably mounted in said casing in a position underneath the camera face, horizontally extending pivotal tongs supported by said carrier and extending inwardly, means for rotating said carrier including a first driving spindle extending along the outside of said casing, means for operating said tongs including a second driving spindle extending also along the outside of said casing, and clutch means for de-energising said second driving spindle to prevent operation of said tongs when rotating said carrier.
  • Television guided grapple equipment for a nuclear reactor comprising a television camera, a cylindrical casing housing said camera, flexible suspending and electrical supply means for said camera and said casing, mechanical handling apparatus for gripping a broken fragment of fuel attached to said casing adjacent the underside of the camera, said casing having hollow ribs extending longitudinally on substantially diametrically opposite sides thereof and detachable from said cylindrical casing, means 7 including a first driving spindle for actuating said handling apparatus extending longitudinally within one of said hollow ribs, means including a second driving spindle for positioning the handling apparatus extending longitudinal- A 7 if 1y within the second hollow rib, and electrical driving means supported Within said casing for operating each of said driving spindles.
  • Television guided grapple equipment for a nuclear reactor comprising a television camera, a cylindrical casing housing said camera, flexible suspending and electrical supply means for said casing and said camera, mechanical handling apparatus for gripping a broken fragment of fuel attached to said casing adjacent the underside of the camera, said handling apparatus including a circular support rotatable about a vertical axis and a 7 handling head detachably mounted on said support, said handling head having a pair of tongs, means including a first driving spindle for controlling the angular position of said support, said spindle extending longitudinally along the outside of the camera, means including a second driving spindle for operating said tongs, said second spindle extending longitudinally along the outside of the camera, and electrical driving means for operating each of said spindles.
  • Television guided grapple equipment for a nuclear reactor comprising a television camera, a cylindrical casing housing said camera, flexible suspending and electrical supply means for said casing and said camera, mechanical handling apparatus for gripping a broken fragment of fuel attached to said casing adjacent the underside of the camera, said handling apparatus including a circular support rotatable about a vertical axis and a handling head detachably mounted on said support, said handling head having a pair of tongs, means including a first driving spindle for controlling the positioning of said support, said spindle extending longitudinally along the outside of the camera, means including a second driving spindle for operating said tongs, said second spindle extending longi- V tudinally along the outside of the camera, electrical driving means for operating each of said spindles, and means for eflecting a compensating rotation of the handling apparatus when the carrier rotates so as to avoid actuation of the handling apparatus as a result of reaction through the drive.
  • Television guided grapple equipment for a nuclear reactor comprising a television camera, a cylindrical casing housing said camera, a flexible cable for supporting said casing and supply power to said camera, mechanical handling apparatus for gripping a broken fragment of fuel attached to said casing adjacent the underside of the camera, said handling apparatus including an annular support rotatable about a vertical axis and a handling head detachably mounted on said support, said handling head having a pair of tongs, a circular rack mounted on said support, a first driving spindle extending longtiudinally along the outside of the camera and carrying pinion means engaging the rack, a second circular and rotatable rack operatively connected with said tongs, a second driving spindle extending longitudinally along the outside of the 7 camera and carrying pinion means engaging said second circular rack and electrical driving means located above the camera for operating both said spindles.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Plasma & Fusion (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
US707301A 1957-01-09 1958-01-06 Combined grapple and television guide Expired - Lifetime US3066969A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB871/57A GB879528A (en) 1957-01-09 1957-01-09 Improvements relating to television inspection apparatus for nuclear reactors

Publications (1)

Publication Number Publication Date
US3066969A true US3066969A (en) 1962-12-04

Family

ID=9711948

Family Applications (1)

Application Number Title Priority Date Filing Date
US707301A Expired - Lifetime US3066969A (en) 1957-01-09 1958-01-06 Combined grapple and television guide

Country Status (7)

Country Link
US (1) US3066969A (de)
BE (1) BE563798A (de)
DE (1) DE1057249B (de)
ES (1) ES239278A1 (de)
FR (1) FR1189609A (de)
GB (1) GB879528A (de)
NL (2) NL106535C (de)

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3184541A (en) * 1963-01-10 1965-05-18 Shell Oil Co Underwater television camera mounting providing three directions of movement for thecamera
US3227804A (en) * 1963-02-25 1966-01-04 Shell Oil Co Underwater camera mounting system
US3598255A (en) * 1968-10-28 1971-08-10 Peacock Brothers Ltd Equipment for high line transfer
US4258388A (en) * 1979-02-02 1981-03-24 The United States Of America As Represented By The Secretary Of The Army Optical indexing system
FR2473775A1 (fr) * 1980-01-15 1981-07-17 Westinghouse Electric Corp Appareil pour mettre en place des temoins d'irradiation
US4482520A (en) * 1982-01-08 1984-11-13 Maine Yankee Atomic Power Company Fuel pin transfer tool
US4643867A (en) * 1983-11-21 1987-02-17 Westinghouse Electric Corp. Refueling machine mounted fuel assembly inspection T.V. cameras
US4649650A (en) * 1985-05-03 1987-03-17 Westinghouse Electric Corp. Nuclear reactor fuel assembly grid measuring method and device
US4650634A (en) * 1983-11-21 1987-03-17 Westinghouse Electric Corp. Quick release cushioned T.V. camera mount
EP0230377A2 (de) * 1986-01-15 1987-07-29 Westinghouse Electric Corporation Transportsystem für Ferninspektionseinrichtung
US4702878A (en) * 1986-01-15 1987-10-27 Westinghouse Electric Corp. Search and retrieval device
US4961111A (en) * 1989-07-21 1990-10-02 Safe T. V., Inc. Video inspection system for hazardous environments
US5068720A (en) * 1989-07-21 1991-11-26 Safe T.V., Inc. Video inspection system for hazardous environments
US5098642A (en) * 1989-09-18 1992-03-24 General Electric Company System for identification of components
EP0509837A1 (de) * 1991-04-16 1992-10-21 General Electric Company Brennstoffladegreifer für Kernreaktoren
US5265129A (en) * 1992-04-08 1993-11-23 R. Brooks Associates, Inc. Support plate inspection device
US5275038A (en) * 1991-05-20 1994-01-04 Otis Engineering Corporation Downhole reeled tubing inspection system with fiberoptic cable
US5305356A (en) * 1992-05-14 1994-04-19 Brooks Support Systems, Inc. Inspection device
US5419188A (en) * 1991-05-20 1995-05-30 Otis Engineering Corporation Reeled tubing support for downhole equipment module
US5485745A (en) * 1991-05-20 1996-01-23 Halliburton Company Modular downhole inspection system for coiled tubing
US20060167340A1 (en) * 2005-01-10 2006-07-27 Pease Alfred A Optical snake
US20080053654A1 (en) * 2006-08-30 2008-03-06 Kalim Ullah Electro-optic cablehead for oilwell applications

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL252026A (de) * 1959-05-30
GB912537A (en) * 1959-11-26 1962-12-12 Atomic Energy Authority Uk Improvements in or relating to nuclear reactor refuelling machines
NL123424C (de) * 1960-06-08 1900-01-01
DE1168479B (de) * 1961-01-21 1964-04-23 Fernseh Gmbh Fernsehaufnahmeeinrichtung
DE3020105A1 (de) * 1980-05-27 1981-12-03 Hochtemperatur-Reaktorbau GmbH, 5000 Köln Fernsehkamera fuer die besichtigung von innenraeumen bei kernreaktoranlagen
DE3020093A1 (de) * 1980-05-27 1981-12-03 Hochtemperatur-Reaktorbau GmbH, 5000 Köln Fernsehkamera fuer die besichtigung von innenraeumen bei kernreaktoranlagen

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1881706A (en) * 1931-02-05 1932-10-11 Western Electric Co Apparatus for handling articles
US2229800A (en) * 1939-03-20 1941-01-28 William T Dean Tongs
US2355086A (en) * 1943-10-27 1944-08-08 Walter B Lang Marine salvage device
US2815878A (en) * 1955-05-24 1957-12-10 Elwell Parker Electric Co Roll handling mechanism for an industrial truck

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1881706A (en) * 1931-02-05 1932-10-11 Western Electric Co Apparatus for handling articles
US2229800A (en) * 1939-03-20 1941-01-28 William T Dean Tongs
US2355086A (en) * 1943-10-27 1944-08-08 Walter B Lang Marine salvage device
US2815878A (en) * 1955-05-24 1957-12-10 Elwell Parker Electric Co Roll handling mechanism for an industrial truck

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3184541A (en) * 1963-01-10 1965-05-18 Shell Oil Co Underwater television camera mounting providing three directions of movement for thecamera
US3227804A (en) * 1963-02-25 1966-01-04 Shell Oil Co Underwater camera mounting system
US3598255A (en) * 1968-10-28 1971-08-10 Peacock Brothers Ltd Equipment for high line transfer
US4258388A (en) * 1979-02-02 1981-03-24 The United States Of America As Represented By The Secretary Of The Army Optical indexing system
FR2473775A1 (fr) * 1980-01-15 1981-07-17 Westinghouse Electric Corp Appareil pour mettre en place des temoins d'irradiation
US4286287A (en) * 1980-01-15 1981-08-25 Westinghouse Electric Corp. Irradiation specimen installation apparatus with television inspection
US4482520A (en) * 1982-01-08 1984-11-13 Maine Yankee Atomic Power Company Fuel pin transfer tool
US4643867A (en) * 1983-11-21 1987-02-17 Westinghouse Electric Corp. Refueling machine mounted fuel assembly inspection T.V. cameras
US4650634A (en) * 1983-11-21 1987-03-17 Westinghouse Electric Corp. Quick release cushioned T.V. camera mount
US4649650A (en) * 1985-05-03 1987-03-17 Westinghouse Electric Corp. Nuclear reactor fuel assembly grid measuring method and device
EP0230377A3 (de) * 1986-01-15 1989-01-25 Westinghouse Electric Corporation Transportsystem für Ferninspektionseinrichtung
US4702878A (en) * 1986-01-15 1987-10-27 Westinghouse Electric Corp. Search and retrieval device
EP0230377A2 (de) * 1986-01-15 1987-07-29 Westinghouse Electric Corporation Transportsystem für Ferninspektionseinrichtung
US4961111A (en) * 1989-07-21 1990-10-02 Safe T. V., Inc. Video inspection system for hazardous environments
US5068720A (en) * 1989-07-21 1991-11-26 Safe T.V., Inc. Video inspection system for hazardous environments
US5098642A (en) * 1989-09-18 1992-03-24 General Electric Company System for identification of components
EP0509837A1 (de) * 1991-04-16 1992-10-21 General Electric Company Brennstoffladegreifer für Kernreaktoren
US5419188A (en) * 1991-05-20 1995-05-30 Otis Engineering Corporation Reeled tubing support for downhole equipment module
US5275038A (en) * 1991-05-20 1994-01-04 Otis Engineering Corporation Downhole reeled tubing inspection system with fiberoptic cable
US5485745A (en) * 1991-05-20 1996-01-23 Halliburton Company Modular downhole inspection system for coiled tubing
US5265129A (en) * 1992-04-08 1993-11-23 R. Brooks Associates, Inc. Support plate inspection device
US5305356A (en) * 1992-05-14 1994-04-19 Brooks Support Systems, Inc. Inspection device
US20060167340A1 (en) * 2005-01-10 2006-07-27 Pease Alfred A Optical snake
US7758495B2 (en) 2005-01-10 2010-07-20 Perceptron, Inc. Remote inspection device
US20080053654A1 (en) * 2006-08-30 2008-03-06 Kalim Ullah Electro-optic cablehead for oilwell applications
US7699114B2 (en) 2006-08-30 2010-04-20 Schlumberger Technology Corporation Electro-optic cablehead and methods for oilwell applications

Also Published As

Publication number Publication date
GB879528A (en) 1961-10-11
BE563798A (de)
ES239278A1 (es) 1958-06-16
NL106535C (de)
FR1189609A (fr) 1959-10-05
DE1057249B (de) 1959-05-14
NL223857A (de)

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