EP0030828A1 - Selbstzentrierender Werkzeughalter - Google Patents

Selbstzentrierender Werkzeughalter Download PDF

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Publication number
EP0030828A1
EP0030828A1 EP80304392A EP80304392A EP0030828A1 EP 0030828 A1 EP0030828 A1 EP 0030828A1 EP 80304392 A EP80304392 A EP 80304392A EP 80304392 A EP80304392 A EP 80304392A EP 0030828 A1 EP0030828 A1 EP 0030828A1
Authority
EP
European Patent Office
Prior art keywords
tool
base member
tool holding
pin
generally
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.)
Ceased
Application number
EP80304392A
Other languages
English (en)
French (fr)
Inventor
Leonard Richard Golick
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.)
CBS Corp
Original Assignee
Westinghouse Electric Corp
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 Westinghouse Electric Corp filed Critical Westinghouse Electric Corp
Publication of EP0030828A1 publication Critical patent/EP0030828A1/de
Ceased legal-status Critical Current

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B25/00—Implements for fastening, connecting or tensioning of wire or strip

Definitions

  • This invention relates to a tool holding chuck and more particularly to a chuck mounted on a remotely operated tool-positioning arm and having limited self-centering and self-aligning capability.
  • Quick release tool holding chucks are well known in the prior art. Such chucks are generally solidly mounted in apparatus to provide definite, repeatable positioning of the tool.
  • the tools which are particularly adapted to perform various operations in a remote detubing/retubing procedure are mounted on an apparatus such as discussed in U.S. Patent 4,205,940, in which they are automatically positioned from a remote control facility as therein discussed.
  • the tool positioning is sufficiently accurate.
  • the tool is mounted on the distal end of an arm that magnifies any angular mis-positioning of the arm.
  • the weight of the arm and the working force applied by the tool at the end may cause a deflection in the support structure.
  • the present invention resides in a tool holding apparatus for use with a tool support and positioning mechanism comprising a base member rotatably mounted on said support mechanism and defining a first surface generally perpendicular to the axis of rotation of said member, a tool holding member including means for releasably engaging a tool within a tool receiving cavity open at one end and having a second surface at the opposite end generally perpendicular to the axis of said cavity and in spaced facing relationship with said first surface with said members being generally coaxial, and an intermediate member disposed between said spaced first and second surfaces and defining generally parallel end surfaces, with one of said end surfaces in adjacent facing relationship with said first surface and the other of said end surfaces in adjacent facing relationship with said second surface, said base member and said intermediate member defining first engaging means for rotational generally coaxial driving engagement therebetween, said first engaging means further permitting relative translational movement therebetween in a first plane, characterized in that said tool holding member and said intermediate member define second engaging means for rotational generally coaxial driving engagement therebetween, said
  • FIG. 1 the particular remotely controlled apparatus disposed in the channel head of a nuclear steam generator and which supports the tool holder of the present invention is shown.
  • Such apparatus is more fully described and claimed in U.S. Patent 4,205,940, which is herein incorporated by reference for the description of this particular structure.
  • the tool holding chuck (59 therein) is supported on the distal end of a removably mounted cantilevered tool holder arm (57 therein) supporting a tool generally in axial alignment with tubes extending through a tubesheet (3 therein) of the nuclear steam generator.
  • the tool holder 59 of the present invention permits, whenever such misalignment occurs, a self-centering of the tool as guided by the tool pilot as it enters the tube.
  • the tool chuck 59 is clearly shown as mounted on the distal end of the tool holding arm 57 of such an apparatus shown in Fig. 1.
  • the chuck 59 is formed of an assembly of parts comprising a rotatably driven base member 14 having a shank portion 16 vertically supported in a pair of bearings 18 in the arm 57 and a drive gear is keyed thereto for rotating the base member 14 from a gear drive arrangement described in the above-referenced copending application.
  • base member 14 projects above the arm 57 and defines an enlarged cylindrical head 20 having a generally planar upper face 22 defining a groove or channel 24 (see Fig. 3) extending diametrically there- across.
  • a pair of diametrically opposed roller members 26 are supported within appropriate openings 28 in the head 20 via horizontal axial roller shafts 30 received within a horizontal bore 32 in the head 20 perpendicular to the channel 24.
  • the rollers 26 extend upwardly through the surface 22 of the head 20 so that the peripheral rolling surface of the rollers 26 projects above the general plane of the upper surface, as is seen, and provides a rolling direction parallel to the channel 24.
  • the head 20 is also externally threaded as at 34 for threaded engagement of an upstanding internally threaded annular collar member 36, to be described later, and an internally threaded lock nut 38.
  • An intermediate cylindrical plate member 40 having a generally planar lower surface 42 rests on the opposed rollers 26 so that the plate 40 is elevated somewhat from the surface 22 of the base member 14 and thus free to teeter or wobble thereon with the roller members 26 forming the fulcrum.
  • the lower surface 42 of the plate 40 defines a downwardly projecting diametrically extending tongue or rib 44 slidingly received in the channel 24 of the spindle member 14 to provide an indexed engagement therebetween which guides any translational movement of the plate 40 permitted by the rolling supports 26 so that both rotational and translational movement permitted thereby is in a common vertical plane on the surface 22.
  • the upper surface 46 of the plate 40 is likewise generally planar except for a pair of diametrically extending and opposed upwardly projecting tongures or ribs 48 angularly off-set from the lower rib 44 90°.
  • a pair of diametrically opposed rollers 50 (similar to the rollers 26 in the base member 14 and more clearly shown in Fig. 3) are supported in the plate 40 and have a peripheral surface projecting slightly the planar surface 46 of the plate.
  • the rotational axis of the rollers 50 is likewise angularly offset from the axis of rollers 26 in the base member 14 by 90°.
  • outer diameter of the plate 40 is somewhat less than the inner diameter of the collar 36 to provide an annular gap therebetween.
  • the tool-holding portion comprises a generally cup-like upper cylinder member 52 having an open upper end formed by a central cavity 53 and a planar lower surface 54 resting on the rollers 50 of the plate 40.
  • the lower surface 54 defines a diametrically extending groove or channel 56 for receiving the ribs 48 of the plate 40 for indexed angular orientation of the cylinder member on the plate.
  • the cylinder member 52 has an annular exterior flange 58 at its base with the upper surface 60 thereof angled outwardly downwardly.
  • the upper end 62 of the collar member 36 has an internal complimentary annular shoulder 64 angled inwardly upwardly overlapping the flange 62 of the cylinder member 52. It is noted that the internal diameter of the collar 36 is likewise greater than the outer diameter of the cylinder member 52 to define a like annular gap therebetween.
  • the plate member 40 is axially aligned on the base member 14 with the respective ribs and channels properly engaged and the upper cylinder member 52 is likewise axially aligned on the plate 40 with the respective ribs 48 and channels 56 engaged.
  • the lock nut 38 is threaded into a lowered position on the spindle head 20 and the collar 36 is threaded onto the spindle until initial abutment between the complimentary engaging surfaces 60, 64 of the cylinder member 52 and the collar 36. (After this initial abutment the collar 36 is then slightly backed-off to permit generally free movement of the plate 40 and cylinder member 52 without interference of the complimentary surfaces 60, 64). And the lock nut is then tightened against the collar to maintain such assembly.
  • the tool holder of the present invention includes an insert 68 that closely fits within the cavity 53 of the cup-like member 52 and which is securely attached to the shank 70 of the tool supported in the tool holder.
  • the insert 68 includes a set-screw 71 projecting through the sidewall thereof and into the bore for engagement of the tool shank 70 to prevent relative rotation of the tool within the insert, and a second set-screw 72 forming a vertically adjustable base for the insert to preset the depth of the insertion of the tool within the insert.
  • the cylindrical member 52 has a quick-release capability for engaging the insert 68 and to this end includes an upper annular camming ring 76 in close sliding engagement with the exterior of the member 52 and defining an upper surface 78 abutting a retaining ring 80 mounted in an annular groove adjacent the top of the member 52 and further defining a lower depending leg portion 84 having an internal diameter in sliding engagement with the member 52. Between the upper surface 78 and the leg portion 84 the ring defines a generally concave surface 86 providing an annular space and including downwardly inwardly tapered area 88 extending to the sliding engaging leg portion 84.
  • the cylindrical member 52 defines an elongated horizontal aperture 90 through the cylindrical wall in alignment with the lower portion 84 of the ring 76.
  • a locking pin 92 is slidingly housed within the slot 90 and extends into the inner area of the member 52 to engage a complimentary engaging groove 94 in the insert 68 for locking engagement between the member 52 and the insert.
  • a key 96 retains the locking pin 92 from sliding completely through the aperture 90 when the insert 68 is removed.
  • a tensile coil spring 98 encircles the cylindrical member 52 with the opposite ends thereof received in appropriate facing notches 100 and 102 in the collar member 36 and the ring member 76 respectively, and the normal biasing force of the spring retains the ring 76 in its upward position wherein the leg portion 84 prevents the locking pin 92 from sliding outwardly and thus locks the tool insert 68 within the cavity 90 of the cylindrical member 52.
  • manually forcing the ring 76 downwardly moves the concave portion 86 thereof into alignment with the pin 92 and thus upward manual force on the tool insert 68 will cam the locking pin 92 outwardly into the annular space 86 and out of the way of further withdrawal of the insert permitting quick release of the tool and insert from the cylinder member 52.
  • An annular outer skirt 104 is attached to the ring 76 to enclose the spring 98 and provide a generally smooth outer surface for manual engagement, and also a guard to keep cutting chips from entering the internal mechanism.
  • the tool holder of the present invention also includes cooling fluid delivery to the tool and to this end the base member 14, plate 40, cylindrical member 52, and set screw 72, all have an axial oversized bore 106 for receiving therethrough a tube 108 containing both a lubricant delivery line (not shown) and a pressurized air delivery line (not shown) so that at the terminal end of the tube 108, which mates with an axial bore in the tool, pressurized cooling fluid is delivered thereto for flowing through the tool and out appropriate apertures through the side of the tool.
  • a lubricant delivery line not shown
  • a pressurized air delivery line not shown
  • a bearing member 16 is retained in the bottom of the member 52 so as to be between the rotatable member 52 and the stationary tube 108 so that any movement of the member 52, whether the permitted translational movement or the rocking or teetering movement provided by these members being supported on the rollers, is transmitted to the flexible tube 108 to similarly move or flex it such that the tube 108 does not come into contact with any rotating part that would otherwise eventually wear the tube away.
  • the tool holder through its ability to also pivot or teeter in two vertical planes off-set 90° and about surface 22 can also permit the axis of the tool to be in alignment with the axis of the opening and angularly off-set from the axis of the drive so that any stress on the tool, tool holder or drive mechanism due to slight misalignment is minimized.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Thermal Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Gripping On Spindles (AREA)
  • Jigs For Machine Tools (AREA)
  • Manipulator (AREA)
EP80304392A 1979-12-05 1980-12-05 Selbstzentrierender Werkzeughalter Ceased EP0030828A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US10067979A 1979-12-05 1979-12-05
US100679 1998-06-19

Publications (1)

Publication Number Publication Date
EP0030828A1 true EP0030828A1 (de) 1981-06-24

Family

ID=22280985

Family Applications (1)

Application Number Title Priority Date Filing Date
EP80304392A Ceased EP0030828A1 (de) 1979-12-05 1980-12-05 Selbstzentrierender Werkzeughalter

Country Status (6)

Country Link
EP (1) EP0030828A1 (de)
JP (1) JPS5689452A (de)
KR (1) KR850000008B1 (de)
CA (1) CA1152307A (de)
ES (1) ES497466A0 (de)
YU (1) YU305980A (de)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2576239A1 (fr) * 1985-01-24 1986-07-25 Aerospatiale Support d'outil en deux parties reliees elastiquement, notamment pour robot
FR2645328A1 (fr) * 1989-04-04 1990-10-05 Framatome Sa Dispositif de centrage d'un outil d'intervention dans un tube de generateur de vapeur
WO1991008871A2 (en) * 1989-12-19 1991-06-27 Amada Company, Limited A transmission coupling for a manipulator head
DE19513460C1 (de) * 1995-04-08 1996-06-27 Bbc Reaktor Gmbh Einrichtung zur Inspektion und/oder Reparatur eines Wärmetauscherrohres
WO2013131151A1 (en) * 2012-03-09 2013-09-12 Anca Pty Ltd Adapter

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4127484A1 (de) * 1991-08-20 1993-02-25 Adolf Wellach Werkzeughalter fuer werkzeugmaschinen

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4018346A (en) * 1975-11-18 1977-04-19 Combustion Engineering, Inc. Mounting arrangement for anchor fingers on a surface traversing apparatus
FR2351242A1 (fr) * 1976-05-15 1977-12-09 Hawera Probst Gmbh Dispositif de forage comportant un fleuret a roches interchangeable, notamment un fleuret a percussion, un marteau foreur ou analogue
GB2005760A (en) * 1977-10-07 1979-04-25 Charbonnages De France Pivot device with two degrees of angular freedom
EP0006339A1 (de) * 1978-06-14 1980-01-09 Westinghouse Electric Corporation Mehrzweck-Arbeitsmanipulatorkopf zur Durchführung von Arbeiten an den einer Rohrwand zugehörigen Teilen eines nuklearen Dampferzeugers
EP0007491A1 (de) * 1978-07-19 1980-02-06 Kraftwerk Union Aktiengesellschaft Inspektionseinrichtung für Wärmetauscherrohre, insbesondere für Dampferzeuger in Kernkraftwerken
US4202557A (en) * 1976-05-15 1980-05-13 Hawera Probst Gmbh & Co. Drilling device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4018346A (en) * 1975-11-18 1977-04-19 Combustion Engineering, Inc. Mounting arrangement for anchor fingers on a surface traversing apparatus
FR2351242A1 (fr) * 1976-05-15 1977-12-09 Hawera Probst Gmbh Dispositif de forage comportant un fleuret a roches interchangeable, notamment un fleuret a percussion, un marteau foreur ou analogue
US4202557A (en) * 1976-05-15 1980-05-13 Hawera Probst Gmbh & Co. Drilling device
GB2005760A (en) * 1977-10-07 1979-04-25 Charbonnages De France Pivot device with two degrees of angular freedom
EP0006339A1 (de) * 1978-06-14 1980-01-09 Westinghouse Electric Corporation Mehrzweck-Arbeitsmanipulatorkopf zur Durchführung von Arbeiten an den einer Rohrwand zugehörigen Teilen eines nuklearen Dampferzeugers
EP0007491A1 (de) * 1978-07-19 1980-02-06 Kraftwerk Union Aktiengesellschaft Inspektionseinrichtung für Wärmetauscherrohre, insbesondere für Dampferzeuger in Kernkraftwerken

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2576239A1 (fr) * 1985-01-24 1986-07-25 Aerospatiale Support d'outil en deux parties reliees elastiquement, notamment pour robot
EP0190957A1 (de) * 1985-01-24 1986-08-13 AEROSPATIALE Société Nationale Industrielle Aus zwei elastisch miteinander verbundenen Teilen bestehender Werkzeughalter, z.B. für Roboter
US5133925A (en) * 1989-04-04 1992-07-28 Framatome Device for centering a servicing tool in a steam generator tube
EP0391778A1 (de) * 1989-04-04 1990-10-10 Framatome Vorrichtung zum Zentrieren eines Interventionsgerät in einem Dampferzeugerrohr
FR2645328A1 (fr) * 1989-04-04 1990-10-05 Framatome Sa Dispositif de centrage d'un outil d'intervention dans un tube de generateur de vapeur
WO1991008871A2 (en) * 1989-12-19 1991-06-27 Amada Company, Limited A transmission coupling for a manipulator head
WO1991008871A3 (en) * 1989-12-19 1991-07-25 Amada Co Ltd A transmission coupling for a manipulator head
US5328222A (en) * 1989-12-19 1994-07-12 Amada Company, Limited Transmission coupling for a manipulator head
DE19513460C1 (de) * 1995-04-08 1996-06-27 Bbc Reaktor Gmbh Einrichtung zur Inspektion und/oder Reparatur eines Wärmetauscherrohres
WO2013131151A1 (en) * 2012-03-09 2013-09-12 Anca Pty Ltd Adapter
CN104245194A (zh) * 2012-03-09 2014-12-24 安卡有限公司 适配器
US9586269B2 (en) 2012-03-09 2017-03-07 Anca Pty Ltd Collet adapter
CN104245194B (zh) * 2012-03-09 2017-05-10 安卡有限公司 夹头适配器

Also Published As

Publication number Publication date
CA1152307A (en) 1983-08-23
JPS5689452A (en) 1981-07-20
ES8202179A1 (es) 1982-01-16
KR850000008B1 (ko) 1985-02-08
YU305980A (en) 1983-02-28
KR830004071A (ko) 1983-07-06
ES497466A0 (es) 1982-01-16

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PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Designated state(s): BE CH DE FR GB SE

17P Request for examination filed

Effective date: 19811223

STAA Information on the status of an ep patent application or granted ep patent

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18R Application refused

Effective date: 19840214

RIN1 Information on inventor provided before grant (corrected)

Inventor name: GOLICK, LEONARD RICHARD