DE3106360C2 - Manipulator für das Arbeiten an einem Wärmetauscher - Google Patents

Manipulator für das Arbeiten an einem Wärmetauscher

Info

Publication number
DE3106360C2
DE3106360C2 DE3106360A DE3106360A DE3106360C2 DE 3106360 C2 DE3106360 C2 DE 3106360C2 DE 3106360 A DE3106360 A DE 3106360A DE 3106360 A DE3106360 A DE 3106360A DE 3106360 C2 DE3106360 C2 DE 3106360C2
Authority
DE
Germany
Prior art keywords
axis
manipulator
support frame
arm
turntable
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
Application number
DE3106360A
Other languages
German (de)
English (en)
Other versions
DE3106360A1 (de
Inventor
Taenji Shiga Igarashi
Shiso Akashi Hyogo Kihara
Kenji Kameoka Kyoto Mangetsu
Takeo Kobe Hyogo Omichi
Michitsune Kobe Hyogo Shima
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kyushu Electric Power Co Inc
Shikoku Electric Power Co Inc
Mitsubishi Heavy Industries Ltd
Original Assignee
Kyushu Electric Power Co Inc
Shikoku Electric Power Co Inc
Mitsubishi Heavy Industries Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kyushu Electric Power Co Inc, Shikoku Electric Power Co Inc, Mitsubishi Heavy Industries Ltd filed Critical Kyushu Electric Power Co Inc
Priority to DE3106360A priority Critical patent/DE3106360C2/de
Priority to GB8105568A priority patent/GB2093796B/en
Priority to FR8103595A priority patent/FR2500354A1/fr
Publication of DE3106360A1 publication Critical patent/DE3106360A1/de
Application granted granted Critical
Publication of DE3106360C2 publication Critical patent/DE3106360C2/de
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • 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)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Thermal Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
DE3106360A 1981-02-20 1981-02-20 Manipulator für das Arbeiten an einem Wärmetauscher Expired DE3106360C2 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE3106360A DE3106360C2 (de) 1981-02-20 1981-02-20 Manipulator für das Arbeiten an einem Wärmetauscher
GB8105568A GB2093796B (en) 1981-02-20 1981-02-21 Manipulators for working in heat exchangers
FR8103595A FR2500354A1 (fr) 1981-02-20 1981-02-24 Manipulateur pour travail dans un echangeur de chaleur

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE3106360A DE3106360C2 (de) 1981-02-20 1981-02-20 Manipulator für das Arbeiten an einem Wärmetauscher
GB8105568A GB2093796B (en) 1981-02-20 1981-02-21 Manipulators for working in heat exchangers
FR8103595A FR2500354A1 (fr) 1981-02-20 1981-02-24 Manipulateur pour travail dans un echangeur de chaleur

Publications (2)

Publication Number Publication Date
DE3106360A1 DE3106360A1 (de) 1982-09-09
DE3106360C2 true DE3106360C2 (de) 1985-01-10

Family

ID=27189156

Family Applications (1)

Application Number Title Priority Date Filing Date
DE3106360A Expired DE3106360C2 (de) 1981-02-20 1981-02-20 Manipulator für das Arbeiten an einem Wärmetauscher

Country Status (3)

Country Link
DE (1) DE3106360C2 (en, 2012)
FR (1) FR2500354A1 (en, 2012)
GB (1) GB2093796B (en, 2012)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3741632A1 (de) * 1987-12-05 1989-06-22 Noell Gmbh Verfahren und vorrichtung zum erkennen und ansteuern eines raumzieles

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4595419A (en) * 1982-12-27 1986-06-17 Proto-Power Corporation Ultrasonic decontamination robot
DE3317099A1 (de) * 1983-05-10 1984-11-15 Kraftwerk Union AG, 4330 Mülheim Positioniereinrichtung zur fernbedienbaren inspektion, reinigung und reparatur der parallelen rohre eines rohrbuendels
FR2564362B1 (fr) * 1984-05-18 1986-11-07 Realisa Indles Et Robot de travail a l'interieur d'une capacite, procede de mise en position de travail d'un outil a l'interieur d'une capacite a l'aide d'un tel robot et procede de changement d'outil sur un tel robot
FR2570314B1 (fr) * 1984-09-20 1987-03-06 Commissariat Energie Atomique Robot porte-outil pour effectuer des interventions a l'interieur d'une enceinte possedant une ouverture d'acces
EP0239409A1 (en) * 1986-03-28 1987-09-30 Life Technology Research Foundation Robot for surgical operation
US4828782A (en) * 1987-07-07 1989-05-09 Bbc Brown Boveri Nuclear Services Apparatus and method for inspection of fuel assemblies
DE3803040A1 (de) * 1988-02-02 1989-08-10 Eke Robotersysteme Gmbh Schwenkantrieb fuer den arm eines industrieroboters
FR2628671B1 (fr) * 1988-03-18 1990-08-24 Electricite De France Dispositif de telemanipulation a positionnement fin, notamment pour reparation des tubes d'un generateur de vapeur dans une centrale nucleaire a eau sous pression
FR2647251B1 (fr) * 1989-05-16 1991-08-23 Intercontrole Sa Appareil pour le positionnement d'un organe dans une cavite cylindrique comportant des perforations disposees selon un reseau regulier
DE4110569C1 (en) * 1991-03-30 1992-10-01 Technische Universitaet "Otto Von Guericke" Magdeburg, O-3010 Magdeburg, De Machining internal cavities of workpiece - applying telescopic cylinders to gripper and chuck of manipulator controlled by master arm
EP1666792A1 (en) * 2004-12-06 2006-06-07 Huibrecht Pieter Vermaat Manipulator
JP2012042185A (ja) * 2010-08-23 2012-03-01 Mitsubishi Heavy Ind Ltd クランパおよび水室内作業装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3984009A (en) * 1975-12-24 1976-10-05 General Motors Corporation Article gripper mounting device
US4205939A (en) * 1978-01-30 1980-06-03 Westinghouse Electric Corp. Apparatus for remotely repairing tubes in a steam generator
US4188167A (en) * 1978-03-07 1980-02-12 The Babcock & Wilcox Company Apparatus for aligning an inspection or repair device with a selected tube in a heat exchanger
US4303368A (en) * 1978-09-18 1981-12-01 Westinghouse Electric Corp. Remote docking apparatus

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3741632A1 (de) * 1987-12-05 1989-06-22 Noell Gmbh Verfahren und vorrichtung zum erkennen und ansteuern eines raumzieles

Also Published As

Publication number Publication date
DE3106360A1 (de) 1982-09-09
GB2093796B (en) 1984-07-18
FR2500354A1 (fr) 1982-08-27
GB2093796A (en) 1982-09-08
FR2500354B1 (en, 2012) 1984-10-05

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Legal Events

Date Code Title Description
OP8 Request for examination as to paragraph 44 patent law
8128 New person/name/address of the agent

Representative=s name: HENKEL, G., DR.PHIL. FEILER, L., DR.RER.NAT. HAENZ

D2 Grant after examination
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee