GB2093796B - Manipulators for working in heat exchangers - Google Patents

Manipulators for working in heat exchangers

Info

Publication number
GB2093796B
GB2093796B GB8105568A GB8105568A GB2093796B GB 2093796 B GB2093796 B GB 2093796B GB 8105568 A GB8105568 A GB 8105568A GB 8105568 A GB8105568 A GB 8105568A GB 2093796 B GB2093796 B GB 2093796B
Authority
GB
United Kingdom
Prior art keywords
manipulators
working
heat exchangers
exchangers
heat
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
GB8105568A
Other versions
GB2093796A (en
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.)
Kansai Electric Power Co Inc
Kyushu Electric Power Co Inc
Shikoku Electric Power Co Inc
Mitsubishi Heavy Industries Ltd
Original Assignee
Kansai Electric Power Co Inc
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
Priority to DE3106360A priority Critical patent/DE3106360C2/en
Application filed by Kansai Electric Power Co Inc, Kyushu Electric Power Co Inc, Shikoku Electric Power Co Inc, Mitsubishi Heavy Industries Ltd filed Critical Kansai Electric Power Co Inc
Priority to GB8105568A priority patent/GB2093796B/en
Priority to FR8103595A priority patent/FR2500354A1/en
Publication of GB2093796A publication Critical patent/GB2093796A/en
Application granted granted Critical
Publication of GB2093796B publication Critical patent/GB2093796B/en
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)
GB8105568A 1981-02-20 1981-02-21 Manipulators for working in heat exchangers Expired GB2093796B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE3106360A DE3106360C2 (en) 1981-02-20 1981-02-20 Manipulator for working on a heat exchanger
GB8105568A GB2093796B (en) 1981-02-20 1981-02-21 Manipulators for working in heat exchangers
FR8103595A FR2500354A1 (en) 1981-02-20 1981-02-24 MANIPULATOR FOR WORKING IN A HEAT EXCHANGER

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE3106360A DE3106360C2 (en) 1981-02-20 1981-02-20 Manipulator for working on a heat exchanger
GB8105568A GB2093796B (en) 1981-02-20 1981-02-21 Manipulators for working in heat exchangers
FR8103595A FR2500354A1 (en) 1981-02-20 1981-02-24 MANIPULATOR FOR WORKING IN A HEAT EXCHANGER

Publications (2)

Publication Number Publication Date
GB2093796A GB2093796A (en) 1982-09-08
GB2093796B true GB2093796B (en) 1984-07-18

Family

ID=27189156

Family Applications (1)

Application Number Title Priority Date Filing Date
GB8105568A Expired GB2093796B (en) 1981-02-20 1981-02-21 Manipulators for working in heat exchangers

Country Status (3)

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

Families Citing this family (13)

* 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 (en) * 1983-05-10 1984-11-15 Kraftwerk Union AG, 4330 Mülheim POSITIONING DEVICE FOR THE REMOTE CONTROLLED INSPECTION, CLEANING AND REPAIR OF THE PARALLEL TUBES OF A TUBE BUNDLE
FR2564362B1 (en) * 1984-05-18 1986-11-07 Realisa Indles Et WORKING ROBOT WITHIN A CAPACITY, METHOD FOR PLACING A WORKING POSITION OF A TOOL WITHIN A CAPACITY USING SUCH A ROBOT, AND METHOD FOR CHANGING TOOL ON SUCH A ROBOT ROBOT
FR2570314B1 (en) * 1984-09-20 1987-03-06 Commissariat Energie Atomique TOOL HOLDER ROBOT FOR PERFORMING INTERVENTIONS WITHIN AN ENCLOSURE HAVING AN ACCESS OPENING
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
DE3741632A1 (en) * 1987-12-05 1989-06-22 Noell Gmbh METHOD AND DEVICE FOR DETECTING AND CONTROLLING A SPACE TARGET
DE3803040A1 (en) * 1988-02-02 1989-08-10 Eke Robotersysteme Gmbh SWIVEL DRIVE FOR THE ARM OF AN INDUSTRIAL ROBOT
FR2628671B1 (en) * 1988-03-18 1990-08-24 Electricite De France THIN POSITIONING TELEMANIPULATION DEVICE, PARTICULARLY FOR REPAIRING THE TUBES OF A STEAM GENERATOR IN A NUCLEAR PRESSURE WATER PLANT
FR2647251B1 (en) * 1989-05-16 1991-08-23 Intercontrole Sa APPARATUS FOR POSITIONING AN ORGAN IN A CYLINDRICAL CAVITY COMPRISING PERFORATIONS ARRANGED ACCORDING TO A REGULAR NETWORK
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 (en) * 2010-08-23 2012-03-01 Mitsubishi Heavy Ind Ltd Clamper, and in-water-chamber operation device

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

Also Published As

Publication number Publication date
DE3106360C2 (en) 1985-01-10
DE3106360A1 (en) 1982-09-09
FR2500354B1 (en) 1984-10-05
GB2093796A (en) 1982-09-08
FR2500354A1 (en) 1982-08-27

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Legal Events

Date Code Title Description
746 Register noted 'licences of right' (sect. 46/1977)
PCNP Patent ceased through non-payment of renewal fee

Effective date: 19970221