JPS546272A - Facility inspection repair method and remote and approach able manipulator - Google Patents

Facility inspection repair method and remote and approach able manipulator

Info

Publication number
JPS546272A
JPS546272A JP7045178A JP7045178A JPS546272A JP S546272 A JPS546272 A JP S546272A JP 7045178 A JP7045178 A JP 7045178A JP 7045178 A JP7045178 A JP 7045178A JP S546272 A JPS546272 A JP S546272A
Authority
JP
Japan
Prior art keywords
manipulator
approach
remote
repair method
facility inspection
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.)
Pending
Application number
JP7045178A
Other languages
English (en)
Inventor
Harorudo Sutaajiesu Ji Robaato
Rei Rifu Derumaa
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 JPS546272A publication Critical patent/JPS546272A/ja
Pending legal-status Critical Current

Links

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
    • F22B37/006—Walking equipment, e.g. walking platforms suspended at the tube sheet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms

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)
JP7045178A 1977-06-13 1978-06-13 Facility inspection repair method and remote and approach able manipulator Pending JPS546272A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/806,232 US4168782A (en) 1977-06-13 1977-06-13 Remote access manipulator

Publications (1)

Publication Number Publication Date
JPS546272A true JPS546272A (en) 1979-01-18

Family

ID=25193612

Family Applications (1)

Application Number Title Priority Date Filing Date
JP7045178A Pending JPS546272A (en) 1977-06-13 1978-06-13 Facility inspection repair method and remote and approach able manipulator

Country Status (5)

Country Link
US (1) US4168782A (ja)
JP (1) JPS546272A (ja)
BE (1) BE861842A (ja)
ES (1) ES236310Y (ja)
GB (1) GB1560136A (ja)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58120001A (ja) * 1982-01-08 1983-07-16 関西電力株式会社 固定架台
JPS59128448A (ja) * 1983-01-14 1984-07-24 Hitachi Ltd 配管検査装置
JPS61192101U (ja) * 1985-05-24 1986-11-29
JP2015515935A (ja) * 2012-05-10 2015-06-04 ウエスチングハウス・エレクトリック・カンパニー・エルエルシー 熱交換器検査用管板歩行ロボット

Families Citing this family (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2415515A1 (fr) * 1978-01-30 1979-08-24 Framatome Sa Dispositif de vissage a commande a distance
DE2830306C2 (de) * 1978-07-10 1982-11-04 Kraftwerk Union AG, 4330 Mülheim Prüfeinrichtung für einen Wärmetauscher
US4302146A (en) * 1978-08-23 1981-11-24 Westinghouse Electric Corp. Probe positioner
US4303368A (en) * 1978-09-18 1981-12-01 Westinghouse Electric Corp. Remote docking apparatus
US4247974A (en) * 1978-10-18 1981-02-03 Westinghouse Electric Corp. Set-up method for steam generator tube installation apparatus
FR2455834A1 (fr) * 1979-03-30 1980-11-28 Framatome Sa Dispositif d'inspection televisuelle de la surface interieure d'une enceinte cylindrique
US4287655A (en) * 1979-04-30 1981-09-08 Westinghouse Electric Corp. End effector position and identification system for steam generator servicing machine
US4406856A (en) * 1980-09-29 1983-09-27 Westinghouse Electric Corp. Removal of portions of tubes from steam generator of nuclear reactor
US4367790A (en) * 1980-12-16 1983-01-11 Draeger Walter A Multiple tube cleaning apparatus
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
FR2529131B1 (fr) * 1982-06-23 1985-11-22 Int Robotic Engineerin Robot capable de se deplacer sur parois inclinees ou verticales
US4595419A (en) * 1982-12-27 1986-06-17 Proto-Power Corporation Ultrasonic decontamination robot
DE3521355A1 (de) * 1985-06-14 1986-12-18 Brown Boveri Reaktor GmbH, 6800 Mannheim Absturzsicherung fuer eine vorrichtung zum ausziehen eines rohres aus einem rohrboden eines waermetauschers
JPH0789286B2 (ja) * 1986-02-28 1995-09-27 株式会社日立製作所 多関節マニピユレ−タの作業原点決定方法
US4831531A (en) * 1987-02-20 1989-05-16 Sargent Industries, Inc. System for the performance of activity in space
FR2625936A1 (fr) * 1988-01-14 1989-07-21 Hispano Suiza Sa Procede de mise en place d'un robot porte-outils destine a des interventions en milieu humainement hostile
FR2626515B1 (fr) * 1988-02-02 1990-07-20 Barras Provence Vehicule concu pour se deplacer sur la plaque perforee d'un faisceau de tubes, pour positionner selectivement un outil au droit des tubes dudit faisceau
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
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.
US5164151A (en) * 1991-06-24 1992-11-17 Shah Jagdish H Manipulator system for an enclosure with a limited access point
US5178820A (en) * 1991-09-06 1993-01-12 B&W Nuclear Service Company Tool positioning assembly
NL9200286A (nl) * 1992-02-17 1993-09-16 Sven Ploem Botsvrij besturingssysteem voor een meerassig bestuurbare manipulator.
US5751610A (en) * 1996-10-31 1998-05-12 Combustion Engineering, Inc. On-line robot work-cell calibration
US6161272A (en) * 1999-08-23 2000-12-19 Madison; Charles D. Liquid storage tank apparatus and method of forming same
JP5314609B2 (ja) * 2010-01-27 2013-10-16 三菱重工業株式会社 水室内作業装置
US8973648B2 (en) 2012-05-10 2015-03-10 Westinghouse Electric Company Llc Tubesheet gripping mechanism and method
US20210383937A1 (en) * 2020-06-03 2021-12-09 Westinghouse Electric Company Llc Articulated manipulator for navigating and servicing a heat exchanger

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1082718B (de) * 1955-10-10 1960-06-02 Wilhelm Ludowici Dr Ing Einrichtung zur Steuerung der Bewegung von lastenfoerdernden Geraeten
DE2013422A1 (de) * 1969-04-29 1970-11-12 VEB Weimar-Kombinat Landmaschinen, χ 53OO Weimar tentwesen, Ost-Berlin WPl39649 Kopiereinrichtung zur Genauführung der Arbeitswerkzeuge hydraulisch betriebener Bagger und Krane
US3913752A (en) * 1973-08-01 1975-10-21 Combustion Eng Remotely movable platform
FR2309314A1 (fr) * 1974-12-05 1976-11-26 Framatome Sa Dispositif de positionnement selectif d'un organe sur une plaque tubulaire
JPS5248201A (en) * 1975-10-15 1977-04-16 Hokushin Electric Works Device for operating power shovel
US4018346A (en) * 1975-11-18 1977-04-19 Combustion Engineering, Inc. Mounting arrangement for anchor fingers on a surface traversing apparatus

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58120001A (ja) * 1982-01-08 1983-07-16 関西電力株式会社 固定架台
JPS59128448A (ja) * 1983-01-14 1984-07-24 Hitachi Ltd 配管検査装置
JPH0359379B2 (ja) * 1983-01-14 1991-09-10 Hitachi Ltd
JPS61192101U (ja) * 1985-05-24 1986-11-29
JP2015515935A (ja) * 2012-05-10 2015-06-04 ウエスチングハウス・エレクトリック・カンパニー・エルエルシー 熱交換器検査用管板歩行ロボット

Also Published As

Publication number Publication date
GB1560136A (en) 1980-01-30
BE861842A (fr) 1978-03-31
US4168782A (en) 1979-09-25
ES236310Y (es) 1979-05-01
ES236310U (es) 1978-12-16

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