Designation:

The robotic system “Scheme” with a manipulator and a radiation-resistant video camera is oriented for CCTV inspection of hard-to-reach construction elements of nuclear reactor on nuclear power-stations.

The manipulator is meant for operating TV control of metal inner surfaces and the metalware schemes of nuclear reactors RBMK 1000 type.

The manipulator by means of supporting device and a set of connectable rods up to 12 m in length is lowering in a hard-to-reach area of the reactor metalware. Four degrees of manipulator mobility allow to position the video camera in different states necessary for the detailed metalware survey.

Components and technical characteristics:

1. Manipulator

• general length (without video camera) 1500 mm
• bar diameter 95 mm
• bar quantity – 4
• range of gripper tilt ± 90°
• range of gripper rotation ± 160°
• range of arm tilt + 90° minus 70°
• range of arm rotation ± 150°
• position sensors of bars drives
• maximum angular rate of bar movements not less than 20°/sec
• weight (without video camera) 35 kgs

2. Video camera

• type: black-and-white
• sensitive element: vidicon 2/3''
• resolution 600 TV lines
• built-in lighting
• scaling (zoom) 4,8
• remote control of focusing, zoom, diaphragm and lighting brightness
• viewing angle along the diagonal from 9° up to 43°
• possibility of size measuring of inspected objects with inaccuracy not more than 10%
• maximum power of radiation dose, not less than 300 000 Rad/h
• integral dose of gamma radiation, not less than 50 000 000 Rad/h
• dimensions Ø95x
• weight 5,7 kgs

3. Cable drum-hoist with electric drive and with cable 70 m in length

4. Control station with in-built monitor and videotape recorder

5. Control panel

6. Work station (Notebook)

7. Supporting device with a set of rods

At sudden disconnection of power supply at emergency situation the system of drives allows to straighten the manipulator under its own weight for drawing it out from the hard-to-reach area of metalware nuclear reactor.

General circuit of robotic complex "Scheme" (footnote - the manipulator)

Videocamera

Cable drum-hoist

Control station with work station