Patent Number: 
Section: claims

1. A method for removing spent nuclear fuel from a fuel pool comprising the steps of:moving a cask below a penetration of the fuel pool using a transporter while a cover of the penetration is closed so that the transport and the cask are moved below a handling mechanism that is at a fixed position below the fuel pool penetration;raising the cask off of the transporter using the handling mechanism engaging only upper trunnions of the cask so that the cask self-aligns with the penetration using gravity while the cover of the penetration is closed;moving the transporter away from the cask and the handling mechanism after the cask is raised off of the transporter by the handling mechanism;engaging and sealing the cask to the penetration while the cask is off of the transporter and supported by the handling mechanism;while the cask is sealed to the penetration, opening the cover of the penetration and inserting the spent fuel into the cask;after the spent fuel is inserted into the cask, unsealing the cask from the penetration;moving the transporter back below the cask and the handling mechanism and lowering the cask loaded with the spent fuel onto the transporter using the handling mechanism; andmoving transporter with the cask loaded with the spent fuel away from the penetration and the handling mechanism. 2. The method according to claim 1, wherein the step of raising the cask from the transporter includes the steps of engaging the upper trunnions of the cask with pivoting paddles of the handling mechanism. 3. The method according to claim 2, wherein the pivoting paddles have keyholes receiving the upper trunnions. 4. The method according to claim 1, wherein the transporter is a self-powered vehicle. 5. The method according to claim 1, after the step of moving the transporter away from the cask and the handling mechanism after the cask is raised off of the transporter by the handling mechanism, further comprising the step of engaging lower trunnions of the cask with a keyed structure of a seismic restraint to prevent swinging motion of the cask in a seismic event. 6. The method according to claim 1, wherein the handling mechanism comprises a fixed position frame configured to permit the transporter to move thereunder while the supporting the spent nuclear fuel cask, wherein the handling mechanism comprises a cask engagement tool movable in the vertical direction relative to the frame below the penetration and configured to selectively move the spent nuclear fuel cask in the vertical direction relative to the frame when the spent nuclear fuel cask is secured to the cask engagement tool to selectively raise and lower the spent nuclear fuel cask onto and off of the transporter, wherein the handling mechanism comprises a plurality of hydraulic cylinders extending between the frame and the cask engagement tool for vertically moving the cask engagement tool relative to the frame, wherein the handling mechanism comprises a pair of paddles carried by the cask engagement tool and pivotably attached to the cask engagement tool for selectively engaging the upper trunnions of the cask to selectively secure the spent nuclear fuel cask to the cask engagement tool, and wherein the handling mechanism comprises an actuator for selectively pivoting the pair of paddles into and out of engagement with the upper trunnions of the cask. 7. The method according to claim 1, further comprising the step of filling the cask with water while the cask is supported by the handling mechanism to equalize pressure with water within the fuel pool prior to the step of opening the penetration cover. 8. An upper handling mechanism for raising and lowering a spent nuclear fuel cask having pairs of upper and lower trunnions off of and onto a transporter, the mechanism comprising, in combination:a fixed position frame configured to permit the transporter to move thereunder while supporting the spent nuclear fuel cask;a cask engagement tool linearly movable in the vertical direction relative to the frame and configured to selectively move the spent nuclear fuel cask in the vertical direction relative to the frame when the spent nuclear fuel cask is secured to the cask engagement tool to selectively raise and lower the spent nuclear fuel cask onto and off of the transporter;a plurality of vertically-extending hydraulic cylinders extending between the frame and the cask engagement tool and configured to move together for linearly raising and lowering the cask engagement tool relative to the frame;a pair of paddles carried by the cask engagement tool and pivotably attached to the cask engagement tool for selectively engaging the upper trunnions of the cask to selectively secure the spent nuclear fuel cask to the cask engagement tool; andan actuator for selectively pivoting the pair of paddles into and out of engagement with the upper trunnions of the cask. 9. The mechanism according to claim 8, wherein the paddles have keyholes for receiving the upper trunnions. 10. The mechanism according to claim 8, wherein the frame is secured below a penetration of a fuel pool. 11. The mechanism according to claim 8, wherein the frame is secured above a floor an adequate distance to permit a cask transporter to travel therebelow. 12. The mechanism according to claim 8, wherein upper handling mechanism is configured to engage only upper trunnions of the cask. 13. A method for removing spent nuclear fuel from a fuel pool comprising the steps of:moving a cask below an opening at a first station in a fuel hall using a self-powered transporter;rotating the cask from a horizontal orientation to a vertical orientation at the first station;removing lids of the cask with a crane extending through the opening while the cask is in the vertical orientation;moving the cask below another opening at a second station using the self-powered transporter while the cask is in the vertical orientation;removing a biological lid from the cask with a hoist extending through the another opening while the cask is in the vertical orientation;moving the cask below a penetration of the fuel pool at a third station using the self-powered transporter while the cask is in the vertical orientation and a cover of the penetration is closed so that the transport and the cask are moved below a handling mechanism that is at a fixed position below the fuel pool penetration;raising the cask off of the self-powered transporter to the penetration with the handling mechanism fixed below the penetration while the cover of the penetration is closed;moving the self-powered transporter away from the cask and the handling mechanism after the cask is raised off of the transporter and supported by the handling mechanism;engaging and sealing the cask to the penetration with the handling mechanism fixed below the penetration while the cask is off of the transporter and while the cover of the penetration is closed;while the cask is sealed to the penetration, opening the cover of the penetration and inserting the spent fuel into the cask;after the spent fuel is inserted into the cask, unsealing the cask from the penetration;moving the self-powered transporter back below the cask and the handling mechanism at the third station and lowering the cask loaded with the spent fuel onto the self-powered transporter using the handling mechanism; andmoving self-powered transporter with the cask loaded with the spent fuel away from the penetration and the handling mechanism. 14. The method according to claim 13, wherein the self-powered transporter is guided by rails. 15. The method according to claim 13, wherein the cask is raised from the transporter using the handling mechanism engaging only upper trunnions of the cask so that the cask self-aligns with the penetration using gravity. 16. The method according to claim 15, wherein the handling mechanism comprises, a fixed position frame configured to permit the self-powered transporter to move thereunder while the supporting the spent nuclear fuel cask, wherein the handling mechanism comprises a cask engagement tool movable in the vertical direction relative to the frame below the penetration and configured to selectively move the spent nuclear fuel cask in the vertical direction relative to the frame when the spent nuclear fuel cask is secured to the cask engagement tool to selectively raise and lower the spent nuclear fuel cask onto and off of the self-powered transporter, wherein the handling mechanism comprises a plurality of hydraulic cylinders extending between the frame and the cask engagement tool for vertically moving the cask engagement tool relative to the frame, wherein the handling mechanism comprises a pair of paddles carried by the cask engagement tool and pivotably attached to the cask engagement tool for selectively engaging the upper trunnions of the cask to selectively secure the spent nuclear fuel cask to the cask engagement tool, and wherein the handling mechanism comprises an actuator for selectively pivoting the pair of paddles into and out of engagement with the upper trunnions of the cask. 17. The method according to claim 13, wherein the self-powered vehicle has a plurality of independently driven and independently steered wheels on each lateral side of the transporter. 18. The method according to claim 13, after the step of moving the transporter away from the cask and the handling mechanism after the cask is raised off of the transporter by the handling mechanism and supported by the handling mechanism, further comprising the step of engaging lower trunnions of the cask with a keyed structure of a seismic restraint to prevent swinging motion of the cask in a seismic event. 19. A self-powered vehicle for transporting a spent nuclear fuel cask having pairs of upper and lower trunnions, the vehicle comprising, in combination:a body;an upender structure for holding the cask and carried by the body;wherein the upender structure is selectively pivotable relative to the body with the cask held thereto between vertical and horizontal orientations by hydraulic motors coupling to the upender structure and is selectively movable in a vertical direction relative to the body with the cask held thereto by hydraulic cylinders;a plurality of independently driven and independently steered duel wheel sets on each lateral side of the body;a plurality of drive motors for driving the plurality of duel wheel sets;a plurality of rotary actuators for steering the plurality of duel wheel sets;wherein each of the duel wheel sets includes a pair of coaxial wheels; one of the plurality of drive motors located between the pair of wheels and coaxial with the pair of wheels, and one of the plurality of rotary actuators located above the drive motor and having a vertical axis of rotation for selectively rotating the pair of wheels and the drive motor located between the pair of wheels; anda diesel-engine driven electric generator carried by the body for producing electric power to selectively move the upender structure, to selectively drive each of the duel wheel sets, and to selectively steer each of the duel wheel sets. 20. The vehicle according to claim 19, wherein the plurality of drive motors is a plurality of hydraulic motors for driving the wheels. 21. The vehicle according to claim 19, the plurality of rotary actuators is a plurality of rack and pinion actuators. 22. The vehicle according to claim 19, wherein the plurality of duel wheel sets includes four duel wheel sets on each lateral side of the body.