Patent ID: 7430266
Filing Date: 2008-09-30
Classification: G21C,Y02E,Y10T

Abstract:
1. A procedure for the repair of a defective section of a pipe in the primary circuit of a nuclear reactor cooled by pressurized water connecting a first and a second component of the primary circuit, the procedure comprising the steps: assembling a self contained unitary movable robotic work device having three main parts, a programmed and remote controlled working anthropomorphic arm movable along six axes, a crawler providing motion for the device, and a support for stabilizing the device in a pipe; introducing in its entirety the robotic work device, inclusive of its three main parts, into the pipe from one of the first and second components of the primary circuit; remotely controlling the positioning of the work device within the pipe; an end part of the arm being remotely operated under computer control to selectively pick up and replace on-board automatic tools to perform tasks respectively including— a) inspecting a pipe interior surface b) machining selected inspected interior portions of the pipe surface; and c) welding selected machined portions of the pipe interior surface.