Autonomous cask translocation crane

1. An apparatus for transferring a cask from a first position to a second position comprising:

a first beam having a first proximal end and a first distal end, said first proximal end adapted for pivotal connection to a base;

a second beam having a second proximal end and a second distal end, said second proximal end adapted for pivotal connection to said base;

a member connecting said first distal end and said second distal end, said member comprising a lifting device adapted to raise and lower said cask;

wherein said member, said first pivot beam, and said second pivot beam form a unitary structure; and

means to rotate said unitary structure about an axis, said rotational means comprising first and third hydraulic cylinders pivotally connected to opposing sides of said first beam and second and fourth hydraulic cylinders pivotally connected to opposing sides of said second beam.

2. The apparatus of claim 1 wherein said lifting device comprises a lift yoke for engaging a spent nuclear fuel containment cask.

3. The apparatus of claim 1 wherein said lifting device comprises one or more strand jacks.

4. The apparatus of claim 1 wherein said unitary structure is an upside-down substantially U-shaped structure.

5. The apparatus of claim 1 wherein said member is pivotally connected to said first and second distal ends.

6. The apparatus of claim 1 further comprising said base, said base comprising a base frame, said first and second beams pivotally connected to said base frame.

7. The apparatus for transferring a cask from a first position to a second position comprising:

a base comprising a base frame;

a first beam having a first proximal end and a first distal end, said first proximal end pivotally connected to said base frame;

a second beam having a second proximal end and a second distal end, said second proximal end pivotally connected to said base frame;

a member connecting said first distal end and said second distal end, said member comprising a lifting device adapted to raise and lower said cask;

wherein said member, said first pivot beam, and said second pivot beam form a unitary structure; and

means to rotate said unitary structure about an axis;

wherein said base frame comprises first and second carriages and first and second tracks, said first and second carriages adapted to ride on said first and second tracks respectively.

8. The apparatus of claim 7 wherein said first and second beams are pivotally connected to said first and second carriages respectively, allowing translational motion of said unitary frame with respect to said tracks.

9. The apparatus of claim 8 wherein said rotational means comprises first, second, third, and fourth hydraulic cylinders, said first and third hydraulic cylinders connected to opposing sides of said first beam and to said first carriage, said second and fourth hydraulic cylinders connected to opposing sides of said second pivot beam and to said second carriage.

10. The apparatus of claim 6 wherein said first and second beams are pivotally connected to said base frame so that said unitary structure is incapable of translational motion with respect to said base frame.

11. The apparatus of claim 10 wherein said base frame comprises first and second mounting brackets, said first and second beams pivotally connected to said first and second mounting brackets respectively.

12. The apparatus of claim 7 wherein said first and second beams are adapted to pivotally connect to said base to allow said unitary structure to rotate in both a clockwise and counterclockwise direction from a substantially upright position.

13. The apparatus of claim 7 wherein said apparatus is adapted to allow said cask to pass between said first and second beams.

14. The apparatus of claim 13 wherein said first and second beams are separated by a distance that is at least as wide as said cask.

15. A method of transferring a cask comprising:

providing an apparatus comprising a base comprising a base frame, a first beam having a first proximal end and a first distal end, said first proximal end pivotally connected to a base; a second beam having a second proximal end and a second distal end, said second proximal end pivotally connected to said base; a member connecting said first distal end and said second distal end, said member comprising a lifting device adapted to raise and lower said cask, said lifting member comprising a means to engage a spent nuclear fuel containment cask; wherein said member, said first pivot beam, and said second pivot beam form a unitary structure; and means to rotate said unitary structure about an axis, wherein said base frame comprises first and second carriages and first and second tracks, said first and second carriages adapted to ride on said first and second tracks respectively;

engaging a spent nuclear fuel containment cask located in a first position with the engagement means;

lifting said spent nuclear fuel containment cask with said lifting device;

translating said unitary structure and said spent nuclear fuel containment cask along said first and second tracks;

rotating said unitary structure about said axis so that said cask is above a second position; and

lowering said cask onto said second position.

16. The method of claim 15 wherein said first position is within a spent fuel pool and said second position is a staging area.

17. The method of claim 15 wherein said first position is a staging area and said second position is atop a storage cask.

18. The method of claim 15 wherein when said unitary structure is rotated about said axis so that said cask is above a second position, said cask passes between said first and second beams.