JP2012515895A5 - - Google Patents
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- Publication number
- JP2012515895A5 JP2012515895A5 JP2011546426A JP2011546426A JP2012515895A5 JP 2012515895 A5 JP2012515895 A5 JP 2012515895A5 JP 2011546426 A JP2011546426 A JP 2011546426A JP 2011546426 A JP2011546426 A JP 2011546426A JP 2012515895 A5 JP2012515895 A5 JP 2012515895A5
- Authority
- JP
- Japan
- Prior art keywords
- tube
- shoe
- outer housing
- gripping
- actuator
- 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.)
- Granted
Links
- 238000003780 insertion Methods 0.000 claims 4
- 230000037431 insertion Effects 0.000 claims 4
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 230000013011 mating Effects 0.000 claims 2
- 239000000523 sample Substances 0.000 claims 2
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000007689 inspection Methods 0.000 claims 1
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US14562909P | 2009-01-19 | 2009-01-19 | |
| US61/145,629 | 2009-01-19 | ||
| PCT/US2010/021407 WO2010083521A2 (en) | 2009-01-19 | 2010-01-19 | Apparatus for automated positioning of eddy current test probe |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2012515895A JP2012515895A (ja) | 2012-07-12 |
| JP2012515895A5 true JP2012515895A5 (enExample) | 2013-03-07 |
| JP5676479B2 JP5676479B2 (ja) | 2015-02-25 |
Family
ID=42336330
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2011546426A Active JP5676479B2 (ja) | 2009-01-19 | 2010-01-19 | 渦電流試験プローブの自動位置決め装置 |
Country Status (9)
| Country | Link |
|---|---|
| US (3) | US8746089B2 (enExample) |
| EP (2) | EP2389538B1 (enExample) |
| JP (1) | JP5676479B2 (enExample) |
| KR (3) | KR101894596B1 (enExample) |
| CN (1) | CN102388266B (enExample) |
| CA (2) | CA2750221C (enExample) |
| ES (2) | ES2728721T3 (enExample) |
| SI (2) | SI2389538T1 (enExample) |
| WO (1) | WO2010083521A2 (enExample) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| US8278779B2 (en) | 2011-02-07 | 2012-10-02 | General Electric Company | System and method for providing redundant power to a device |
| CN102649274A (zh) * | 2011-02-25 | 2012-08-29 | 富泰华工业（深圳）有限公司 | 机器人手爪及采用该机器人手爪的机器人 |
| GB2522472B (en) * | 2014-01-27 | 2017-09-06 | Epsilon Optics Aerospace Ltd | A method and apparatus for a structural monitoring device adapted to be locatable within a tubular structure |
| CN104249368B (zh) * | 2014-09-09 | 2016-06-01 | 上海交通大学 | 双柱形自重构模块化机器人 |
| WO2016083897A2 (en) * | 2014-11-24 | 2016-06-02 | Kitov Systems Ltd. | Automated inspection |
| US9961194B1 (en) * | 2016-04-05 | 2018-05-01 | State Farm Mutual Automobile Insurance Company | Systems and methods for authenticating a caller at a call center |
| CN105945962B (zh) * | 2016-05-19 | 2018-01-30 | 哈尔滨工业大学 | 用于蒸汽发生器热管检测的关节式爬行机器人 |
| DE102016013245B4 (de) | 2016-11-08 | 2025-10-16 | Westinghouse Electric Germany Gmbh | Bohrgerät für das Bearbeiten von Rohren in radioaktiver Umgebung |
| DE102016013247A1 (de) * | 2016-11-08 | 2018-05-09 | Westinghouse Electric Germany Gmbh | Bohrvorrichtung für das Bearbeiten von Rohren an Rohrböden in radioaktiver Umgebung |
| EP3592493A4 (en) * | 2017-03-08 | 2020-12-02 | BWXT Nuclear Energy, Inc. | PARTITION BOLT REPAIR APPARATUS AND METHOD |
| CN106970146B (zh) * | 2017-03-28 | 2020-02-21 | 哈尔滨工业大学 | 一种蒸汽发生器传热管检测设备定位连接机构 |
| US11112382B2 (en) * | 2018-03-21 | 2021-09-07 | Infrastructure Preservation Corporation | Robotic magnetic flux inspection system for bridge wire rope suspender cables |
| US20220260529A1 (en) * | 2019-03-21 | 2022-08-18 | Infrastructure Preservation Corporation | Robotic magnetic flux inspection system for broadcast tower support cables |
| FR3095274B1 (fr) * | 2019-04-19 | 2021-04-02 | Framatome Sa | Dispositif de contrôle d’une soudure d’un élément tubulaire longitudinal creux |
| CN112066158A (zh) * | 2019-12-10 | 2020-12-11 | 天目爱视（北京）科技有限公司 | 一种智能管道机器人 |
| CN111717609A (zh) * | 2020-05-13 | 2020-09-29 | 中核武汉核电运行技术股份有限公司 | 用于蒸汽发生器管板检修的运载平台及控制方法 |
| CN111458404A (zh) * | 2020-05-20 | 2020-07-28 | 四川纽赛特工业机器人制造有限公司 | 一种自动化管件测试中心 |
| CN112945507B (zh) * | 2021-02-03 | 2023-05-19 | 中国空气动力研究与发展中心高速空气动力研究所 | 一种高超声速风洞轴对称喷管 |
Family Cites Families (46)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2865640A (en) * | 1955-12-21 | 1958-12-23 | Exxon Research Engineering Co | Tube holding apparatus |
| DE1627286C3 (de) * | 1967-09-14 | 1973-01-18 | Schmid & Wezel | Handgeraet mit hin- und hergehendem Werkzeug |
| US3495546A (en) * | 1967-11-03 | 1970-02-17 | American Mach & Foundry | Speed control device for pipeline inspection apparatus |
| US3889820A (en) * | 1973-08-01 | 1975-06-17 | Combustion Eng | Method and apparatus for suspendedly supporting a platform |
| US3913752A (en) | 1973-08-01 | 1975-10-21 | Combustion Eng | Remotely movable platform |
| JPS5157489A (en) * | 1974-11-15 | 1976-05-19 | Mitsubishi Heavy Ind Ltd | Jidokensasochino kontorooruhoho |
| FR2309314A1 (fr) | 1974-12-05 | 1976-11-26 | Framatome Sa | Dispositif de positionnement selectif d'un organe sur une plaque tubulaire |
| CA1014724A (en) | 1975-03-11 | 1977-08-02 | Peter D. Stevens-Guille | Locating test probes in heat exchanger tubes |
| US4018345A (en) * | 1975-11-18 | 1977-04-19 | Combustion Engineering, Inc. | Surface traversing apparatus |
| US4018346A (en) * | 1975-11-18 | 1977-04-19 | Combustion Engineering, Inc. | Mounting arrangement for anchor fingers on a surface traversing apparatus |
| US4074814A (en) | 1976-03-26 | 1978-02-21 | Combustion Engineering, Inc. | Method and apparatus for controlling surface traversing device |
| US4193735A (en) | 1978-04-24 | 1980-03-18 | Combustion Engineering, Inc. | Work table for a stepped platform |
| GB2039268B (en) * | 1978-12-15 | 1983-01-19 | Exxon Research Engineering Co | Metal extraction by solid-liquid agglomerates |
| FR2448143A1 (fr) | 1979-02-05 | 1980-08-29 | Intercontrole Sa | Procede et dispositif pour retirer un porte-sonde de la chambre inferieure d'un echangeur de chaleur tubulaire verticale |
| 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 |
| FR2503921A1 (fr) * | 1981-04-10 | 1982-10-15 | Commissariat Energie Atomique | Dispositif pour le positionnement d'un organe en vis-a-vis des perforations d'une plaque et procede de montage a distance d'un tel dispositif |
| FR2513927A1 (fr) * | 1981-10-05 | 1983-04-08 | Framatome Sa | Tele-manipulateur d'intervention dans une boite a eau de generateur de vapeur |
| US4449599A (en) | 1982-09-27 | 1984-05-22 | Combustion Engineering, Inc. | Finger walker for tube sheet |
| JPS5997864A (ja) | 1982-11-29 | 1984-06-05 | 三菱重工業株式会社 | 作業用間欠移動装置 |
| US4688327A (en) * | 1983-10-03 | 1987-08-25 | Westinghouse Electric Corp. | Sleeving of tubes of steam generator |
| US4597294A (en) | 1984-06-25 | 1986-07-01 | Westinghouse Electric Corp. | Ultrasonic nondestructive tubing inspection system |
| DE3509177C1 (de) * | 1985-03-14 | 1986-10-02 | Brown Boveri Reaktor GmbH, 6800 Mannheim | Einrichtung zum Einbringen eines zylindrischen Koerpers,insbesondere einer Huelse,in ein Rohr eines Dampferzeugers |
| JPH086894B2 (ja) | 1985-03-22 | 1996-01-29 | 株式会社日立製作所 | 熱交換器水室内作業ロボツトの移動・保持装置 |
| US4702878A (en) * | 1986-01-15 | 1987-10-27 | Westinghouse Electric Corp. | Search and retrieval device |
| JPS6344162A (ja) * | 1986-08-11 | 1988-02-25 | Kubota Ltd | サクシヨンロ−ルシエル亀裂検出装置 |
| US4720902A (en) * | 1986-12-22 | 1988-01-26 | Carrier Corporation | One step tension expander and method of using |
| US4829648A (en) | 1987-01-27 | 1989-05-16 | Westinghouse Electric Corp. | Apparatus and method for simultaneously loading a reinforcing sleeve and mandrel into a tube |
| JPH073333B2 (ja) * | 1988-01-28 | 1995-01-18 | 住友ゴム工業株式会社 | 弾性体シートのジョイント部の不良検出方法および装置 |
| US4872524A (en) * | 1988-04-13 | 1989-10-10 | Oconnor Chadwell | Wheel-less walking dolly |
| FR2644568B1 (fr) | 1989-03-16 | 1991-07-05 | Intercontrole Sa | Dispositif d'intervention, notamment pour le controle, l'inspection et la maintenance des echangeurs de chaleur |
| FR2645328B1 (fr) | 1989-04-04 | 1991-07-19 | Framatome Sa | Dispositif de centrage d'un outil d'intervention dans un tube de generateur de vapeur |
| JPH0333651A (ja) * | 1989-06-30 | 1991-02-13 | Chubu Electric Power Co Inc | 自動検査装置 |
| US5355063A (en) * | 1990-11-01 | 1994-10-11 | Westinghouse Electric Corp. | Robotic system for servicing the heat exchanger tubes of a nuclear steam generator |
| FR2674938B1 (fr) | 1991-04-05 | 1993-07-30 | Barras Provence | Vehicule d'exploration et de maintenance d'un reseau de tubes d'un generateur de vapeur. |
| US6672257B1 (en) * | 1994-05-06 | 2004-01-06 | Foster-Miller, Inc. | Upper bundle steam generator cleaning system and method |
| US5890553A (en) * | 1996-08-01 | 1999-04-06 | California Institute Of Technology | Multifunction automated crawling system |
| DE29700027U1 (de) | 1997-01-02 | 1998-04-30 | Siemens AG, 80333 München | Prüfmanipulator zur Wirbelstrom- und Ultraschallprüfung von hohlzylindrischen Kernreaktorbauteilen, insbesondere von Steuerstabantriebsgehäusen |
| AUPO724797A0 (en) * | 1997-06-06 | 1997-07-03 | Down Hole Technologies Pty Ltd | Retrieval head for a drill bit composed of a plurality of bit segments |
| JPH11174032A (ja) * | 1997-12-10 | 1999-07-02 | Toshiba Corp | 中間熱交換器の検査装置およびその方法 |
| TW463028B (en) * | 1998-04-21 | 2001-11-11 | Hitachi Shipbuilding Eng Co | Working robot for heat exchangers and operating method thereof |
| US6450104B1 (en) | 2000-04-28 | 2002-09-17 | North Carolina State University | Modular observation crawler and sensing instrument and method for operating same |
| US7314343B2 (en) | 2002-07-22 | 2008-01-01 | Westinghouse Electric Co. Llc | Miniature manipulator for servicing the interior of nuclear steam generator tubes |
| WO2006116870A1 (en) | 2005-05-03 | 2006-11-09 | Noetic Engineering Inc. | Gripping tool |
| JP2008089328A (ja) * | 2006-09-29 | 2008-04-17 | Hitachi Ltd | 渦電流探傷装置及び渦電流探傷方法 |
| US7775572B2 (en) | 2007-12-10 | 2010-08-17 | Noetic Technologies Inc. | Gripping tool with fluid grip activation |
| US8317455B2 (en) * | 2009-11-11 | 2012-11-27 | Peinemann Equipment B.V. | Device and method for removing a bundle from a heat exchanger |
-
2010
- 2010-01-14 US US12/687,261 patent/US8746089B2/en active Active
- 2010-01-19 EP EP10700929.2A patent/EP2389538B1/en active Active
- 2010-01-19 KR KR1020117019217A patent/KR101894596B1/ko active Active
- 2010-01-19 KR KR1020187024283A patent/KR102081528B1/ko active Active
- 2010-01-19 CN CN201080011051.4A patent/CN102388266B/zh active Active
- 2010-01-19 ES ES16183475T patent/ES2728721T3/es active Active
- 2010-01-19 EP EP16183475.9A patent/EP3163161B1/en active Active
- 2010-01-19 WO PCT/US2010/021407 patent/WO2010083521A2/en not_active Ceased
- 2010-01-19 ES ES10700929.2T patent/ES2605227T3/es active Active
- 2010-01-19 CA CA2750221A patent/CA2750221C/en active Active
- 2010-01-19 SI SI201031325A patent/SI2389538T1/sl unknown
- 2010-01-19 CA CA2967589A patent/CA2967589C/en active Active
- 2010-01-19 JP JP2011546426A patent/JP5676479B2/ja active Active
- 2010-01-19 SI SI201031881T patent/SI3163161T1/sl unknown
- 2010-01-19 KR KR1020177009662A patent/KR102110018B1/ko active Active
-
2013
- 2013-08-09 US US13/963,630 patent/US9273985B2/en active Active
-
2016
- 2016-02-26 US US15/055,178 patent/US20160176685A1/en not_active Abandoned
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