Abstract: An inspection system for inspecting the interior of a steam generator includes, in one aspect, a first boom and a second, telescoping boom having a proximal end pivotally attached to the first boom and a distal end bearing a delivery capsule, the delivery capsule defining a storage bay. The inspection system includes a first robotic inspection vehicle dimensioned to fit in the delivery capsule storage bay and itself defines a storage bay. The first robotic inspection vehicle includes at least one inspection camera and at least one lighting system. The first robotic inspection vehicle further includes cabling connecting the first robotic inspection vehicle to the delivery capsule. The inspection system also includes a second robotic inspection vehicle dimensioned to fit in the first robotic inspection vehicle storage bay.

Abstract: An inspection vehicle configured to inspect steam generators includes a front chassis having two independently driven magnetic wheels, a rear chassis having two independently driven magnetic wheels, and a connecting member flexibly connecting the front chassis to the rear chassis to permit relative motion between the front chassis and the rear chassis along at least one axis. The connecting member, front chassis, and rear chassis collectively define a receiving area.

Abstract: In inspection system for inspecting the interior of a steam generator includes, in one aspect, a first boom and a second, telescoping boom having a proximal end pivotally attached to the first boom and a distal end bearing a delivery capsule, the delivery capsule defining a storage bay. The inspection system includes a first robotic inspection vehicle dimensioned to fit in the delivery capsule storage bay and itself defines a storage bay. The first robotic inspection vehicle includes at least one inspection camera and at least one lighting system. The first robotic inspection vehicle further includes cabling connecting the first robotic inspection vehicle to the delivery capsule. The inspection system also includes a second robotic inspection vehicle dimensioned to fit in the first robotic inspection vehicle storage bay.

Abstract: An inspection vehicle configured to inspect steam generators includes a front chassis having two independently driven magnetic wheels, a rear chassis having two independently driven magnetic wheels, and a connecting member flexibly connecting the front chassis to the rear chassis to permit relative motion between the front chassis and the rear chassis along at least one axis. The connecting member, front chassis, and rear chassis collectively define a receiving area.

Abstract: A remote inspection device for the inspection of the tubesheet in-bundle region of a steam generator. The device includes a rail system that is easily and quickly mounted to the end of tube at an in-bundle region of a steam generator, a carriage movable on the rail system for feeding at flexible, tape-like wand into the tube, and a probe mounted on an end of the flexible, tape-like wand for performing the inspection operation. The flexible, tape-like wand, which is composed of a flexible metal alloy, has a non-circular center section forming a channel for receiving cabling for the probe and opposed flat, wings on either side of the non-circular center section. Each wing has a row of feed holes positioned remote from the center section that provide engagement with a feed wheel of the carriage.

Abstract: A remote inspection device for the inspection of the tubesheet in-bundle region of a steam generator. The device includes a rail system that is easily and quickly mounted to the end of tube at an in-bundle region of a steam generator, a carriage movable on the rail system for feeding at flexible, tape-like wand into the tube, and a probe mounted on an end of the flexible, tape-like wand for performing the inspection operation. The flexible, tape-like wand, which is composed of a flexible metal alloy, has a non-circular center section forming a channel for receiving cabling for the probe and opposed flat, wings on either side of the non-circular center section. Each wing has a row of feed holes positioned remote from the center section that provide engagement with a feed wheel of the carriage.

Abstract: Apparatus for inspecting the surfaces of inaccessible objects such as the components of a nuclear power plant steam generator includes: an articulated inspection wand having a proximal end and a distal end movable into position adjacent the surface to be inspected, a laser light source located remotely from the distal end, first and second position sensing detectors located remotely from the distal end of the wand, first and second extending imaging light guides extending from the laser light source, and the position sensing detectors to the distal end of the wand.

Abstract: A device for inspecting the interior of steam generators capable of visually inspecting interior of tubes in steam generators, including upper portions steam generator tubes, tops and bottoms of support plates, wrapper-to-support plate welds, and other internal structures.

Abstract: Apparatus for inspecting the nuclear reactor comprising a boom rotatably connected by a pivot point to the top of a reactor head, a mechanism for rotating the boom with respect to said pivot point, a camera affixed to said boom and being slidingly affixed thereto such that the camera may be slidably adjusted in a longitudinal direction with respect to said boom.

Abstract: A device for inspecting the support plates and tube sheet of a nuclear steam generator. The device comprises a boom for extending into an access port of a steam generator and into a lane separating two rows of members, the boom being uprightable within the lane; and a video camera attached to the boom for inspecting the tube members and support plates within the lane when the boom is uprighted. In a preferred embodiment the video camera comprises a charge coupled device affixed to a remotely controlled pan and tilt mechanism.