CA1256145A - Remotely installed, operated and removed manipulator for steam generator - Google Patents
Remotely installed, operated and removed manipulator for steam generatorInfo
- Publication number
- CA1256145A CA1256145A CA000465070A CA465070A CA1256145A CA 1256145 A CA1256145 A CA 1256145A CA 000465070 A CA000465070 A CA 000465070A CA 465070 A CA465070 A CA 465070A CA 1256145 A CA1256145 A CA 1256145A
- Authority
- CA
- Canada
- Prior art keywords
- mast
- steam generator
- articulating arm
- movable
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000003134 recirculating effect Effects 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims description 34
- 210000003128 head Anatomy 0.000 description 39
- 238000004873 anchoring Methods 0.000 description 26
- 210000001331 nose Anatomy 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 230000008439 repair process Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000005192 partition Methods 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 230000002285 radioactive effect Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 206010073306 Exposure to radiation Diseases 0.000 description 1
- 206010063562 Radiation skin injury Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 210000000887 face Anatomy 0.000 description 1
- -1 for example Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000001314 profilometry Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 230000007103 stamina Effects 0.000 description 1
- 238000004326 stimulated echo acquisition mode for imaging Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
- F22B37/003—Maintenance, repairing or inspecting equipment positioned in or via the headers
- F22B37/005—Positioning apparatus specially adapted therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- High Energy & Nuclear Physics (AREA)
- Thermal Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US54022183A | 1983-10-11 | 1983-10-11 | |
| US540,221 | 1983-10-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1256145A true CA1256145A (en) | 1989-06-20 |
Family
ID=24154520
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000465070A Expired CA1256145A (en) | 1983-10-11 | 1984-10-10 | Remotely installed, operated and removed manipulator for steam generator |
Country Status (7)
| Country | Link |
|---|---|
| EP (1) | EP0138583B1 (en]) |
| JP (1) | JPS60108604A (en]) |
| KR (1) | KR870000801B1 (en]) |
| BE (1) | BE900811A (en]) |
| CA (1) | CA1256145A (en]) |
| DE (1) | DE3480775D1 (en]) |
| ES (2) | ES8703321A1 (en]) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE68912598T2 (de) * | 1989-12-27 | 1994-08-18 | Vermaat Technics Bv | Einrichtung zur Inspektion und Reparatur der Rohre eines Atomkraftwerks. |
| US5355063A (en) * | 1990-11-01 | 1994-10-11 | Westinghouse Electric Corp. | Robotic system for servicing the heat exchanger tubes of a nuclear steam generator |
| FR2685240B1 (fr) * | 1991-12-19 | 1996-01-26 | Expertises Sa Cie Maritime | Dispositif de manutention a structure demontable s'installant manuellement entre deux parois. |
| KR200453164Y1 (ko) * | 2009-07-31 | 2011-04-15 | (주)일진에너지 | 냉각수 수조용 평행 이동장치 |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3913752A (en) * | 1973-08-01 | 1975-10-21 | Combustion Eng | Remotely movable platform |
| FR2394374A2 (fr) * | 1977-06-15 | 1979-01-12 | Framatome Sa | Dispositif de positionnement selectif d'un organe sur une plaque tubulaire |
| IT1093293B (it) * | 1977-03-08 | 1985-07-19 | Westinghouse Electric Corp | Apparecchio per riparare a distanza tubi in un generatore di vapore |
| JPS5440634A (en) * | 1977-09-05 | 1979-03-30 | Minolta Camera Co Ltd | Reflecting mirror of pentagonal roof type |
| US4172492A (en) * | 1977-10-13 | 1979-10-30 | The Babcock & Wilcox Company | Apparatus for the in situ inspection of tubes while submerged in a liquid |
| US4302146A (en) * | 1978-08-23 | 1981-11-24 | Westinghouse Electric Corp. | Probe positioner |
| US4287655A (en) * | 1979-04-30 | 1981-09-08 | Westinghouse Electric Corp. | End effector position and identification system for steam generator servicing machine |
| JPS5633288A (en) * | 1979-08-25 | 1981-04-03 | Mitsubishi Heavy Ind Ltd | Manipulator for work of heat exchanger |
| FR2503920B1 (fr) * | 1981-04-08 | 1987-08-21 | Intercontrole Sa | Dispositif pour le positionnement d'un organe en vis-a-vis des perforations d'une plaque |
| DE3122660C2 (de) * | 1981-06-06 | 1986-06-19 | Brown Boveri Reaktor GmbH, 6800 Mannheim | Einrichtung zur Inspektion und/oder zur Reparatur der Rohre eines Dampferzeugers einer Kernkraftanlage |
-
1984
- 1984-10-10 CA CA000465070A patent/CA1256145A/en not_active Expired
- 1984-10-10 ES ES536662A patent/ES8703321A1/es not_active Expired
- 1984-10-11 BE BE213823A patent/BE900811A/fr not_active IP Right Cessation
- 1984-10-11 EP EP84306954A patent/EP0138583B1/en not_active Expired
- 1984-10-11 JP JP59211577A patent/JPS60108604A/ja active Granted
- 1984-10-11 KR KR1019840006279A patent/KR870000801B1/ko not_active Expired
- 1984-10-11 DE DE8484306954T patent/DE3480775D1/de not_active Expired - Fee Related
-
1985
- 1985-11-15 ES ES548929A patent/ES8802551A1/es not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| EP0138583B1 (en) | 1989-12-20 |
| ES8802551A1 (es) | 1988-06-16 |
| JPH0418203B2 (en]) | 1992-03-27 |
| KR870000801B1 (ko) | 1987-04-20 |
| ES536662A0 (es) | 1987-02-16 |
| DE3480775D1 (de) | 1990-01-25 |
| JPS60108604A (ja) | 1985-06-14 |
| ES548929A0 (es) | 1988-06-16 |
| EP0138583A2 (en) | 1985-04-24 |
| ES8703321A1 (es) | 1987-02-16 |
| KR850003700A (ko) | 1985-06-26 |
| BE900811A (fr) | 1985-02-01 |
| EP0138583A3 (en) | 1985-06-19 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MKEX | Expiry |