Abstract: A light-weight, portable, pipe crawler vehicle includes a four-wheeled chassis, with the sets of wheels along the opposite sides of the chassis being respectively driven by two hydraulic motors. A foldable mast is removably pivotally mounted on the chassis and carries a pneumatic cylinder which, when the mast is in its erected position, forces bearing wheels against the opposite side of the pipe to force the chassis wheels into firm frictional engagement with the pipe so that it can traverse vertical pipe sections while remaining under control. The dimensions of the vehicle are such that when the mast is folded the vehicle will fit through a 16"-diameter manway of a nuclear steam generator vessel. The chassis also carries a three-axis remote manipulator and one or two remotely-controlled video cameras. A position indicator including a star wheel and proximity sensor is disposed for rolling engagement with the pipe to sense distance travelled.

Abstract: A tool for removing split pin remnants which remain in anchor bores in the upper core plate of a nuclear reactor vessel after removal of guide tube assemblies therefrom, includes an elongated mast having parallel tubular members with handle apparatus at the upper end thereof and carrying at the lower end thereof a ram platform having an upstanding pin removal member. The ram platform is dimensioned to be lowered through any one of the guide tube seating apertures in the upper core plate. A locating plate mounted on the mast above the ram platform seats in the seating aperture and accurately positions the ram platform below the upper core plate with the pin driving member in registry with the pin bore. A hydraulic cylinder is mounted on the mast above the locating plate and has a piston rod extending through the locating plate and fixedly secured to the ram platform for moving it up and down to drive the pin from the bore. Hydraulic fluid is carried to and from the cylinder through the mast tubes.