SE7709558L - Manipulator - Google Patents
ManipulatorInfo
- Publication number
- SE7709558L SE7709558L SE7709558A SE7709558A SE7709558L SE 7709558 L SE7709558 L SE 7709558L SE 7709558 A SE7709558 A SE 7709558A SE 7709558 A SE7709558 A SE 7709558A SE 7709558 L SE7709558 L SE 7709558L
- Authority
- SE
- Sweden
- Prior art keywords
- manipulator
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/24—Probes
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
- G21C17/01—Inspection of the inner surfaces of vessels
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/02872—Pressure
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Life Sciences & Earth Sciences (AREA)
- High Energy & Nuclear Physics (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Plasma & Fusion (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Health & Medical Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2640055A DE2640055C3 (de) | 1976-09-06 | 1976-09-06 | Rohrkrfimmermanipulator, insbesondere zur Ultraschallprüfung bei Kernreaktoranlagen |
Publications (2)
Publication Number | Publication Date |
---|---|
SE7709558L true SE7709558L (sv) | 1978-03-07 |
SE431919B SE431919B (sv) | 1984-03-05 |
Family
ID=5987247
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE7709558A SE431919B (sv) | 1976-09-06 | 1977-08-25 | Manipulator for materialtestande av rorkrokar fran dessas insida |
Country Status (12)
Country | Link |
---|---|
US (1) | US4131018A (sv) |
JP (1) | JPS6057543B2 (sv) |
BE (1) | BE858401A (sv) |
BR (1) | BR7705921A (sv) |
CH (1) | CH619042A5 (sv) |
DE (1) | DE2640055C3 (sv) |
ES (1) | ES462152A1 (sv) |
FR (1) | FR2363866A1 (sv) |
GB (1) | GB1568724A (sv) |
IT (1) | IT1087380B (sv) |
NL (1) | NL7709083A (sv) |
SE (1) | SE431919B (sv) |
Families Citing this family (70)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5518962A (en) * | 1978-07-27 | 1980-02-09 | Hitachi Ltd | Device for detecting in nuclear reactor vessel |
DE2834108C2 (de) * | 1978-08-03 | 1980-09-04 | Kraftwerk Union Ag, 4330 Muelheim | Inspektionseinrichtung |
US4302286A (en) * | 1979-04-24 | 1981-11-24 | Westinghouse Electric Corp. | Reactor vessel in-service inspection assembly and ultrasonic centering device |
DE3030032A1 (de) * | 1980-08-08 | 1982-03-25 | Hochtemperatur-Reaktorbau GmbH, 5000 Köln | Halte- und fuehrungseinrichtung fuer ein mess- oder ueberwachungsinstrument |
US4394345A (en) * | 1980-12-29 | 1983-07-19 | General Electric Company | Ultrasonic method and apparatus |
GB2094375A (en) * | 1981-02-17 | 1982-09-15 | Grathnail Dev Co Ltd | Mining |
JPS57148248A (en) * | 1981-03-10 | 1982-09-13 | Hitachi Ltd | Ultrasonic defect finding device |
DE3111814A1 (de) * | 1981-03-25 | 1982-10-07 | Kraftwerk Union AG, 4330 Mülheim | Selbstfahrender rohrinnenmanipulator zum fernbedienten transportieren von pruefgeraeten und werkzeugen laengs vorgegebener vorschubbahnen, vorzugsweise fuer kernkraftanlagen |
US4368644A (en) * | 1981-05-26 | 1983-01-18 | Combustion Engineering, Inc. | Tool for inspecting defects in irregular weld bodies |
US4432931A (en) * | 1981-10-02 | 1984-02-21 | Electric Power Research Institute, Inc. | Inspection system |
US4505874A (en) * | 1982-03-08 | 1985-03-19 | Combustion Engineering Co., Inc. | Vessel inspection boom |
FR2530214A1 (fr) * | 1982-07-15 | 1984-01-20 | Commissariat Energie Atomique | Vehicule autopropulse a bras articules, reservoir et dispositif d'entrainement debrayable pouvant etre montes sur ledit vehicule |
JPS5943355A (ja) * | 1982-09-03 | 1984-03-10 | Kubota Ltd | 管内面検査装置の検出器支持装置 |
US4591477A (en) * | 1982-09-30 | 1986-05-27 | Rettew Robert A | Apparatus and method for servicing a nuclear reactor system |
DE3236947A1 (de) * | 1982-10-06 | 1984-04-12 | Rainer 6074 Rödermark Hitzel | Rohrmanipulator fuer das durchfahren von rohrleitungen |
JPS5964565U (ja) * | 1982-10-22 | 1984-04-28 | 株式会社ハツコ− | 磁気探傷機 |
EP0108587A3 (en) * | 1982-11-02 | 1985-08-21 | Ian Roland Yarnell | Remotely controllable inspection camera apparatus |
FR2552346B1 (fr) * | 1983-09-23 | 1986-06-20 | Gaz De France | Appareil a deplacement autonome pour sa progression a l'interieur d'une canalisation, notamment pour son exploration et/ou son traitement, et/ou son tubage a distance |
US4643029A (en) * | 1983-10-27 | 1987-02-17 | Westinghouse Electric Corp. | Ultrasonic probe for the remote inspection of nuclear reactor vessel nozzles |
GB2152621A (en) * | 1984-01-09 | 1985-08-07 | John Edmund Dawe | A method of threading an elongate flexible element through an elongate passage |
JPH0686207B2 (ja) * | 1984-04-07 | 1994-11-02 | 株式会社東芝 | 管内走行車両 |
DE3419683A1 (de) * | 1984-05-24 | 1985-11-28 | Mannesmann AG, 4000 Düsseldorf | Rohrmolch mit fahrwerken |
US4581938A (en) * | 1984-07-30 | 1986-04-15 | Combustion Engineering, Inc. | Tool for scanning the inner surface of a large pipe |
US4654702A (en) * | 1984-11-09 | 1987-03-31 | Westinghouse Electric Corp. | Portable and collapsible pipe crawler |
US4586380A (en) * | 1985-01-17 | 1986-05-06 | General Electric Company | Ultrasonic transducer assembly |
DE3524857A1 (de) * | 1985-07-12 | 1987-01-22 | Gutehoffnungshuette Man | Einrichtung zur pruefung schwer zugaenglicher oberflaechen |
US4757258A (en) * | 1985-11-27 | 1988-07-12 | Westinghouse Electric Corp. | Probe carrier system for inspecting boiler tubes |
US4651566A (en) * | 1986-04-28 | 1987-03-24 | The Boeing Company | Portable impedance meter for non-destructive testing of sound absorbing panels |
JPH0625755B2 (ja) * | 1988-07-22 | 1994-04-06 | 動力炉・核燃料開発事業団 | 枝配管内の超音波探傷検査装置 |
FR2638813B1 (fr) * | 1988-11-09 | 1991-02-01 | Nancy Ecole Sup Sciences Techn | Vehicule autopropulse pour meulage de tuyauterie |
US5133220A (en) * | 1989-07-26 | 1992-07-28 | Westinghouse Electric Corp. | Rotor bore inspection system |
NL9001124A (nl) * | 1990-05-14 | 1991-12-02 | Nucon Eng & Contracting Bv | Inrichting voor het in het inwendige van een buisvormig lichaam beweegbaar dragen van inspectiemiddelen. |
FR2662989A1 (fr) * | 1990-06-11 | 1991-12-13 | Esstin | Vehicule auto propulse et articule a verins telescopiques pour l'inspection de tuyauteries. |
US5157977A (en) * | 1990-06-13 | 1992-10-27 | Tuboscope Vetco International Inc. | Inspection machine |
FR2668605B1 (fr) * | 1990-10-31 | 1994-03-18 | Commissariat A Energie Atomique | Sonde de controle de tubes cintres, a tete de controle tournante. |
US5204622A (en) * | 1990-11-28 | 1993-04-20 | Westinghouse Electric Corp. | Improved probe for inspecting tubes having mechanism for maintaining alignment of probe axis of rotation |
US5272734A (en) * | 1992-04-09 | 1993-12-21 | General Electric Company | Repair of incore housings using ultrasonic examinations |
US5197816A (en) * | 1992-08-07 | 1993-03-30 | Tuboscope Vetco International, Inc. | Locking double U-joint assembly |
US5371363A (en) * | 1993-07-26 | 1994-12-06 | Lilimpakis; Emmanuel | Device for measuring radiation within a pipe |
US5370006A (en) * | 1993-09-20 | 1994-12-06 | The United States Of America As Represented By The United States Department Of Energy | Piping inspection carriage having axially displaceable sensor |
US5375530A (en) * | 1993-09-20 | 1994-12-27 | The United States Of America As Represented By The Department Of Energy | Pipe crawler with stabilizing midsection |
US5594176A (en) * | 1994-04-05 | 1997-01-14 | Gas Research Institute | Scan assembly and method for transferring power and data across a rotary interface |
US6035696A (en) * | 1994-04-05 | 2000-03-14 | Gas Research Institute | Scan assembly and method for calibrating the width of an input pulse to an ultrasonic transducer of the scan assembly |
US5574223A (en) * | 1994-04-05 | 1996-11-12 | Gas Research Institute | Scan assembly and method using scan rate modulation |
US5648613A (en) * | 1994-04-05 | 1997-07-15 | Gas Research Institute | Scan assembly and method for signal discrimination |
US5641909A (en) * | 1994-04-05 | 1997-06-24 | Gas Research Institute | Scan assembly structure |
DE19617789A1 (de) * | 1996-05-05 | 1997-11-13 | Roland Thom | Inspektionseinrichtung für Lichtmasten |
US5760306A (en) * | 1996-08-30 | 1998-06-02 | Framatome Technologies, Inc. | Probe head orientation indicator |
US6222897B1 (en) * | 1998-02-27 | 2001-04-24 | General Electric Company | Wrist raster scan methods |
US6215836B1 (en) * | 1998-05-07 | 2001-04-10 | Electric Power Research Institute, Inc. | Apparatus and method for ultrasonically examining remotely located welds in cast stainless steel nuclear steam supply systems |
ES2182611B2 (es) * | 1999-07-30 | 2005-04-01 | Framatome Technologies, Inc. | Sonda para la inspeccion de tubos. |
US7512207B2 (en) * | 2005-04-12 | 2009-03-31 | General Electric Company | Apparatus for delivering a tool into a submerged bore |
US7543512B2 (en) * | 2005-04-13 | 2009-06-09 | General Electric Company | Bore inspection probe |
AT502333B1 (de) * | 2005-09-09 | 2007-12-15 | Voest Alpine Ind Anlagen | Kippbares metallurgisches gefäss |
FR2895791B1 (fr) * | 2005-12-29 | 2008-04-04 | Framatome Anp Sas | Procede de reparation d'au moins une zone de raccordement d'une plaque de partition sur une plaque tubulaire d'une boite a eau d'un echangeur de chaleur. |
DE102009025829A1 (de) * | 2009-05-18 | 2010-11-25 | Thomas Reutemann | Vorrichtung zum Aushärten von Kunststofflinern |
KR101103805B1 (ko) * | 2009-08-06 | 2012-01-06 | 한전케이피에스 주식회사 | 착탈가능한 탐촉자를 구비한 검사장치 |
KR101176082B1 (ko) * | 2010-02-15 | 2012-08-23 | 가부시끼가이샤 도시바 | 배관 내 작업 장치 |
CN101894593B (zh) * | 2010-06-23 | 2012-07-11 | 中广核检测技术有限公司 | 反应堆压力容器检查机的探头扫查装置 |
JP5713766B2 (ja) * | 2011-04-04 | 2015-05-07 | 三菱重工業株式会社 | 配管処理装置および配管処理方法 |
CN103871515B (zh) * | 2012-12-17 | 2016-06-15 | 核动力运行研究所 | 一种反应堆压力容器主管道超声检查工具 |
CN103063743B (zh) * | 2013-01-11 | 2014-08-13 | 浙江大学 | 一种基于移动式进给机构的弯曲钢管超声波探伤系统 |
JP6129583B2 (ja) * | 2013-02-27 | 2017-05-17 | 三菱重工業株式会社 | ウォータジェットピーニング装置 |
JP6104636B2 (ja) * | 2013-02-27 | 2017-03-29 | 三菱重工業株式会社 | 検査方法および検査装置 |
CN104500914B (zh) * | 2014-12-11 | 2016-09-14 | 浙江理工大学 | 水库涵管检测机器人 |
CN105806938B (zh) * | 2014-12-30 | 2019-03-26 | 中核武汉核电运行技术股份有限公司 | 一种核反应堆压力容器出水口内圆角超声自动检查装置 |
DE102018212768A1 (de) * | 2018-07-31 | 2020-02-06 | Siemens Aktiengesellschaft | Verfahren zum Erzeugen einer Bewegungsinformation |
CN113702508B (zh) * | 2021-09-03 | 2023-07-07 | 浙江师范大学 | 一种共振声学无损检测装置 |
CN114441636B (zh) * | 2021-12-27 | 2024-02-09 | 中核武汉核电运行技术股份有限公司 | 一种喇叭口筒环管材机械臂居中方法 |
CN115432082B (zh) * | 2022-09-09 | 2023-08-15 | 北京合聚数字技术有限公司 | 一种通信线缆用作业机器人 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
BE791704A (fr) * | 1971-11-23 | 1973-05-22 | Westinghouse Electric Corp | Dispositif d'inspection en service d'une cuve de |
US3786684A (en) * | 1971-12-27 | 1974-01-22 | Automation Ind Inc | Pipeline inspection pig |
GB1401460A (en) * | 1972-12-18 | 1975-07-16 | Atomic Energy Authority Uk | Apparatus for carrying out ultrasonic inspection of pressure vessels |
US3911750A (en) * | 1974-02-04 | 1975-10-14 | Babcock & Wilcox Co | Apparatus for the internal inspection of tubular conduits |
DE2547472A1 (de) * | 1975-10-23 | 1977-04-28 | Interatom | Vorrichtung zur handhabung von pruefgeraeten innerhalb eines druckbehaelters |
DE2557992C3 (de) * | 1975-12-22 | 1978-06-29 | Kraftwerk Union Ag, 4330 Muelheim | Prüfsystemträger zum Prüfen des AnschluBstutzenbereiches bei Druckbehältern, insbesondere Reaktordruckbehältern von Kernkraftwerken mit Ultraschall |
-
1976
- 1976-09-06 DE DE2640055A patent/DE2640055C3/de not_active Expired
-
1977
- 1977-07-28 CH CH931577A patent/CH619042A5/de not_active IP Right Cessation
- 1977-08-17 NL NL7709083A patent/NL7709083A/xx not_active Application Discontinuation
- 1977-08-25 SE SE7709558A patent/SE431919B/sv unknown
- 1977-09-01 IT IT27170/77A patent/IT1087380B/it active
- 1977-09-05 BE BE180671A patent/BE858401A/xx not_active IP Right Cessation
- 1977-09-05 BR BR7705921A patent/BR7705921A/pt unknown
- 1977-09-05 FR FR7726886A patent/FR2363866A1/fr active Granted
- 1977-09-06 GB GB37214/77A patent/GB1568724A/en not_active Expired
- 1977-09-06 JP JP52107179A patent/JPS6057543B2/ja not_active Expired
- 1977-09-06 ES ES462152A patent/ES462152A1/es not_active Expired
- 1977-09-07 US US05/831,111 patent/US4131018A/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
CH619042A5 (sv) | 1980-08-29 |
ES462152A1 (es) | 1978-11-16 |
BE858401A (fr) | 1978-01-02 |
IT1087380B (it) | 1985-06-04 |
JPS6057543B2 (ja) | 1985-12-16 |
DE2640055C3 (de) | 1979-07-19 |
BR7705921A (pt) | 1978-06-20 |
DE2640055B2 (de) | 1978-11-23 |
US4131018A (en) | 1978-12-26 |
FR2363866B1 (sv) | 1982-12-17 |
JPS5332085A (en) | 1978-03-25 |
NL7709083A (nl) | 1978-03-08 |
SE431919B (sv) | 1984-03-05 |
GB1568724A (en) | 1980-06-04 |
FR2363866A1 (fr) | 1978-03-31 |
DE2640055A1 (de) | 1978-03-09 |
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