DEVELOPMENT OF TECHNOLOGY TO REMOTELY NAVIGATE VERTICAL PIPE ARRAYS [electronic resource].
- Washington, D.C. : United States. Dept. of Energy, 2011.
Oak Ridge, Tenn. : Distributed by the Office of Scientific and Technical Information, U.S. Dept. of Energy.
- Additional Creators:
- United States. Department of Energy. Savannah River Site
United States. Department of Energy
United States. Department of Energy. Office of Scientific and Technical Information
- Situations exist around the Savannah River Site (SRS) and the Department of Energy (DOE) complex where it is advantageous to remotely navigate vertical pipe arrays. Specific examples are waste tanks in the SRS Tank Farms, which contain horizontal cooling coils at the tank bottom, vertical cooling coils throughout and a limited number of access points or ''risers''. These factors limit accessibility to many parts of these tanks by conventional means. Pipe Traveler technology has been developed to address these issues. The Pipe Traveler addresses these issues by using the vertical cooling coils as its medium of travel. The unit operates by grabbing a pipe using dual grippers located on either side of the equipment. Once securely attached to the pipe a drive wheel is extended to come in contact with the pipe. Rotation of the drive wheel causes the unit to rotate around the pipe. This action is continued until the second set of grippers is aligned with the next pipe. Extension pistons are actuated to extend the second set of grippers in contact with a second pipe. The second set of grippers is then actuated to grasp the pipe. The first set of grippers releases the original pipe and the process is repeated until the unit reaches its desired location. Once at the tool deployment location the desired tool may be used. The current design has proven the concept of pipe-to-pipe navigation. Testing of the Pipe Traveler has proven its ability to transfer itself from one pipe to another.
- Published through SciTech Connect.
ANS Robotics and Remote Systems Topical.
Krementz, D.; Immel, D.; Vrettos, N.; Nance, T.; Marzolf, A.
- Funding Information:
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