Under vessel automated work platform assembly
View Patent ↗An automated high speed under vessel work platform with three automated axes comprising a 360° rotational horizontal axis, a linear horizontal axis via a traversing trolley, and a linear vertical axis via swappable task robots, which can also add fourth and fifth axes capabilities. The automated high speed under vessel work platform has the ability to drive to a specific location by typing the core location into the control software. The work platform can be operated manually via a hand wheel, or locally via a handheld pendant or from the control room. The work platform also has a camera for inspections and verification of the work.
1. An under vessel automated work platform assembly for remotely servicing a lower portion of a vessel, the platform assembly comprising:
a horizontal generally circular work platform extending in a first plane;
a generally circular rail extending in a second plane substantially parallel to the first plane, the rail supporting an orbital track on which the work platform is rotationally supported to rotate the work platform in the first plane and the orbital track includes a circumferential drive ring having gear teeth and extending in a third plane substantially parallel to the second plane;
a pin gear structured to interact with the gear teeth of the circumferential drive;
a remotely controlled motor for rotating the work platform on the orbital track by driving the pin gear;
a linear track extending across a diameter of the work platform;
a remotely controlled carriage moveable on the linear track across the diameter of the work platform;
an automated tool programed to perform at least part of a reactor maintenance task, attached to the remotely controlled carriage and moveable therewith, the automated tool having a vertically extending member moveable in a direction perpendicular to the first plane; and
a controller for remotely inputting an in-vessel cell coordinate and automatically positioning the automated tool under the in-vessel cell coordinate by controlling the rotation of the work platform on the orbital track and movement of the remotely controlled carriage on the linear track.
2. The under vessel automated work platform assembly of claim 1 including a hand wheel for manually moving the work platform around the orbital track.
3. The under vessel automated work platform assembly of claim 1 wherein the automated tool is a swappable task robot.
4. The under vessel automated work platform assembly of claim 1 wherein the automated work platform assembly is sized to fit under the vessel.
5. The under vessel automated work platform assembly of claim 1 wherein the work platform supports a camera generally focused on the distal end of the vertically extending member.
6. The under vessel automated work platform assembly of claim 5 wherein the camera has a remote controlled panning capability.
7. The under vessel automated work platform assembly of claim 5 wherein the camera has a remote controlled tilt capability.
8. The under vessel automated work platform assembly of claim 1 for servicing a nuclear reactor having a nuclear core and a refueling system command station for refueling the core, and the remotely controlled motor and the remotely controlled carriage are structured to communicate with the controller that is structured to control the rotation of the work platform and the movement of the remotely controlled carriage and provide an output identifying a position of the remotely controlled carriage in a form that can be received and understood by the refueling system command station so the refueling system command station is notified of the position of the remotely controlled carriage so that proper work processes can be adhered to.