Robotic system and method for circumferential work processes and delivery of a medium
First Claim
1. A system for treating a columnar element at a remote location comprising:
- a vehicle moveable along a floor of said remote location;
an effector mounted on said vehicle; and
a controller positioned remote from said vehicle, said controller being in communication with said vehicle for directing movement of said vehicle to said columnar element and for enabling said effector to act upon a circumferential surface of said columnar element.
2 Assignments
0 Petitions
Accused Products
Abstract
A system (42) for treating a columnar element (22) at a remote location (28) includes a vehicle (68) having a moveable base (98), a clamp (100) attachable to the columnar element (22), a rotating member (104), and a jack (108) having an effector (112) coupled to the rotating member (104). The jack (108) and rotating member (104) lift the effector (112) above the base (98) and rotate the effector (112) about the columnar element (22). A vehicle controller (58), remote from the vehicle (68), but in communication with the vehicle (68), controls the components of the vehicle (68). A method (186) for treating the columnar element (22) using the vehicle (68) entails navigation and positioning of the effector (112) at the region of interest (30) via the vehicle controller (58), and enabling delivery of a medium (72) from the effector (112) about a circumference of the columnar element (22).
20 Citations
26 Claims
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1. A system for treating a columnar element at a remote location comprising:
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a vehicle moveable along a floor of said remote location;
an effector mounted on said vehicle; and
a controller positioned remote from said vehicle, said controller being in communication with said vehicle for directing movement of said vehicle to said columnar element and for enabling said effector to act upon a circumferential surface of said columnar element. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for cleaning bottom mounted instrumentation (BMI) at a penetration region of a reactor pressure vessel, said method comprising:
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remotely directing a vehicle to said BMI; and
remotely enabling delivery of a frozen carbon dioxide medium from a nozzle of said vehicle to said penetration region. - View Dependent Claims (16, 17, 18, 19)
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20. A method for treating a columnar element at a remote location using a remote controlled vehicle, said vehicle including a moveable base, a clamp mounted on said base, a jack in communication with said base, and an effector coupled to an end of said jack, said method comprising:
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directing movement of said vehicle to said columnar element;
actuating hinged jaws of said clamp to encircle said columnar element;
extending said jack to lift said effector above said base; and
enabling said effector to act upon a surface of said columnar element. - View Dependent Claims (21, 22)
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23. A system for cleaning a columnar element at a remote location comprising:
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a vehicle including;
a base moveable along a floor of said remote location;
a clamp mounted on said base for clamping attachment to said columnar element;
a rotating member coupled between said base and configured to rotate relative to said base about said columnar element; and
an effector in communication with said rotating member so that rotation of said rotating member causes rotation of said effector; and
a controller positioned remote from said vehicle, said controller being in communication with said vehicle for directing movement of said effector to said columnar element and for enabling said effector to deliver a cleaning medium to a circumferential surface of said columnar element. - View Dependent Claims (24, 25)
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26. A system for remote cleaning of a penetration region of bottom mounted instrumentation (BMI) that penetrates a reactor pressure vessel of a nuclear reactor comprising:
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a vehicle including;
a base moveable along a floor of said remote location;
a rotating member coupled to said base;
a jack having a first end in communication with said rotating member and having a second end; and
a nozzle coupled to said second end of said jack, said jack being extendible to lift said nozzle above said base and said rotating member being configured to rotate relative to said base about said BMI to enable said nozzle to deliver said cleaning medium about a circumference of said penetration region; and
a controller positioned remote from said vehicle, said controller being in communication with said vehicle for directing movement of said nozzle to said penetration region and for enabling said nozzle to deliver said cleaning medium to said circumference of said penetration region.
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Specification