Westinghouse Electric Corporation

Westinghouse Electric Company LLC

Paul J Boone

James W Everett

Annette M Costlow

James J Roberts

David J Fink

Michael D Hecht

Richard Fredenberg

Tom Nenno

Corey Adamonis

Benjamin Bachman

Jeffrey Monaco

Lyman J Petrosky

Adrian Peter Wivagg

John M Driggers

Wenche W Cheng

Thomas W Nenno

Robert P Vestovich

Robert D Senger

Stephen M Ira

Randall A Holmes

Patrick M Minogue

George A Savage

Raymond G Kelly, Jr

Steve J Orbon

Bruce R Cox

Chris W Bach

Anthony Grieco

Kurt K Lichtenfiels

Stanley F Niziol

Tara D Mapson

Michael H Canton

James M Adamski

Paul R Radovich, Sr

An inspection vehicle structured to inspect a portion of the turbine disk, preferably the blade attachment hubs, while the turbine disk is disposed within a turbine housing assembly is provided. A turbine disk is generally planar but includes a inner hub and an outer blade attachment hub. The inner hub is coupled to a shaft and the blade attachment hub provides a surface to which removable blades are attached. The area between the inner hub and outer blade attachment hub is substantially planar. The inner and blade attachment hubs are the 'inspection areas' that the inspection vehicle is structured to inspect. The inspection vehicle travels over, and is magnetically coupled to the planar surface between the two hubs.

Inspection vehicle for a turbine disk

An inspection vehicle structured to inspect a portion of the turbine disk, preferably the blade attachment hubs, while the turbine disk is disposed within a turbine housing assembly is provided. A turbine disk is generally planar but includes a inner hub and an outer blade attachment hub. The inner hub is coupled to a shaft and the blade attachment hub provides a surface to which removable blades are attached. The area between the inner hub and outer blade attachment hub is substantially planar. The inner and blade attachment hubs are the 'inspection areas' that the inspection vehicle is structured to inspect. The inspection vehicle travels over, and is magnetically coupled to, the planar surface between the two hubs.

A reactor service manipulator delivery system supported on a remotely operated trolley that travels on top of a track attached to the steam dam of a BWR shroud. The trolley has a mast and pulley system designed to manipulate a TV camera for inspection of various reactor components inboard and outboard of the shroud at the same time that fuel is being moved within the core during a refueling operation so that refueling can be performed in parallel with the inspection.

BWR inspection manipulator

An end effector for supporting an ultrasonic testing probe on a robot arm having a robot mounting bracket for use in a nuclear reactor pressure vessel. The end effector has a wrist assembly with a rotatable wrist axle. The wrist assembly is coupled to the robot mounting bracket and a probe assembly is coupled to the wrist shaft. The ultrasonic testing probe is floatably disposed within the probe assembly.

Floating ultrasonic testing end effector for a robotic arm

A method of removing a metal plug from a conduit includes the steps of simultaneously applying a static pull force and repetitive impulses to the plug. The method is particularly suited to removing a plug from a heat exchanger tube in a nuclear powered steam generator. A tool for practicing the method on such plugs includes a first hydraulic actuator for first moving an expansion member out of engagement with an interior plug wall, a second hydraulic actuator capable of attachment to the plug for applying a static pull force to the plug, and an arrangement connecting an air impact tool to the second hydraulic actuator for applying, simultaneously with the static force, high-frequency impulses to the plug entirely through solid members.

Tool for removing a metallic plug from a tube

A component maintenance system having a network linked to a data acquisition system, a data analysis system, a historical file of component design and inspection information, and a diagnostic system having the capability to perform structural analysis of discontinuities identified by the data acquisition system. The network nodes may be located apart from each other; for example in the maintenance of a nuclear power plant steam generator, the data acquisition system may be located in a high radiation area while the data analysis system is safely located away from the radiation areas. Furthermore, the diagnostic system and the file of component design and inspection history information may be centrally located and shared to support component evaluations being conducted in numerous geographic locations. Network communication facilitates the rapid evaluation of discontinuities, thereby permitting the inspection plan to be modified as the inspection results are obtained.

Component maintenance system

A tool for removing a metal plug from a tube with repeated pulling impulses includes a pneumatic cylinder defining an interior, cylindrical chamber. A distal end surface of the cylinder defines an anvil. A cylindrical slug, or hammer, is sealingly slidable within the chamber in response to a pressure difference above and below the hammer within the chamber. The cylinder is rigidly connected to the plug so as to hang therefrom, the weight of the cylinder providing a static pull force working in conjunction with the pulling impulses. A pulling impulse is provided by first raising the hammer above the anvil by pneumatically creating a first pressure difference wherein the pressure below the hammer is greater than the pressure above the hammer, then creating a second pressure difference wherein the pressure below the hammer is no greater than the pressure above the hammer in order to drive the hammer against the anvil at speed. The tool is also adapted for disengaging an expander member engaged in a tapered plug shell with a mandrel that includes a push-rod having an end extending into the top of the chamber proximate the plug. Repeated displacement impulses are applied to the expander member by applying a different sequence of forces to the hammer so as to cause it to repeatedly strike the push-rod against the expander member. The tool and a method of using the tool are particularly suited to removing a plug from a heat exchanger tube in a nuclear powered steam generator.

Pneumatic tool and method for plug removal

Method for removing a metallic plug from a tube

An improved robotic arm system for servicing the tubesheet located within the channel head of a nuclear steam generator is provided. The system includes a robotic arm whose shoulder and elbow joints are rotatable only in the plane parallel to the tubesheet in order to eliminate the imposition of cantileverly-induced torques on the electric motors driving these joints, as well as to minimize the possibility of mechanical interference between the arm and the walls of the channel head. Each of the motorized joint assemblies of the arm includes resolvers connected not only to the output of the drive train that moves the joint, but also to the drive shaft of the electric motor that drives the drive train, wherein the feedback signal generated by the resolver connected to the drive shaft of the electric motor is the primary signal used to modulate the amount of electric power conducted to the motor of the joint. Such a configuration advantageously results in smoother robotic arm movement. Finally, the control circuit assembly of the robotic arm system includes a control processing unit (CPU) which is capable of simultaneously driving not only the joint assemblies of the robotic arm, but also any computer-operated mechanisms associated with a variety of end effectors which the arm is capable of delivering. The CPU, power supply and other components of the control circuit assembly are installable in the containment area surrounding the steam generator in order to eliminate the number of cable penetrations through the containment walls that are necessary to operate the system.

Robotic system for servicing the heat exchanger tubes of a nuclear steam

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Bethel Park, PA, United States of America

Paul J Boone