Automated inside reactor inspection system
An apparatus and method for maintaining contact between a pod of transducers and an inner surface of a reactor pressure vessel filled with water of a nuclear power plant is described. An underwater carriage carries the pod of transducers each of which is independently movable and are constantly urged against the surface of the vessel during inspection. Each transducer is independently pivotable about two axes. Each transducer emits and receives signals to detect any flaws of potential problems in the reactor pressure vessel.
1. An apparatus for inspecting inside a reactor containment vessel filled with a fluid, the apparatus comprising:
a carriage having a shell with a skirt there around and thrust fans creating a vacuum to moveably attach said carriage to an inside wall of said reactor containment vessel, said carriage being independently moveable on said inside wall;
a support rail attached to one edge of said shell of said carriage and moveable with movements of said carriage on said inside wall;
at least two slides spaced apart and slideably attached to said support rail;
a triangular shaped main bracket pivotally attached on one side to said slides and moveable along said support rail with movement of said slides;
a main bracket spring for urging a corner opposite said one side of said triangular shaped main bracket toward said inside wall of said reactor containment vessel;
a support structure pivotally connected to said corner of said triangular shaped main bracket;
a first pair of transducer brackets pivotable about a first axis of said support structure;
a second pair of transducer brackets spaced apart from said first pair of transducer brackets and pivotable about a second axis of said support structure, said first axis being perpendicular to said second axis;
at least one transducer being located within each of said transducer brackets of said first pair and said second pair, said transducers each being pivotable within said transducer brackets;
transducer springs for urging each of said transducers against said inside wall of said reactor containment vessel;
said main bracket having three degrees of movement with movement of said carriage, said transducer brackets having at least two degrees of movement, and said transducers having at least one degree of movement, all totaling at least six degrees of movement to maximize contact by said transducers with said inside wall.