End effector apparatus for positioning a steam generator heat exchanger tube plugging tool
US4672741A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jun 27, 1985 |
| Grant date | Jun 16, 1987 |
| Priority date | — |
| Expiry date | Jun 27, 2005 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T29/53522
- WIPO fieldThermal processes and apparatus
- WIPO sectorMechanical engineering
Abstract
An apparatus for moving and positioning a tool for plugging a defective heat exchanger tube of a steam generator in a nuclear reactor includes a base, a plug magazine supported on the base, a guidance mechanism mounting the plugging tool and a positioning mechanism supported on the base and mounting the guidance mechanism. The guidance mechanism is operable to align and position the tool relative to the plug magazine and the defective heat exchanger tube to correspondingly effect, upon operation of the tool, plug loading when the tool is located in a plug dispensing position adjacent to the plug magazine and plug unloading when the tool is located in a plug applying position adjacent to the defective tube. The positioning mechanism is operable to assume folded and unfolded conditions to transfer the guidance mechanism and the plugging tool therewith respectively between the plug dispensing and applying positions. The guidance mechanism employs a remote center compliance device in the form of a plurality of laminated elastomer and metal shim elements which extend between and connect the plugging tool and a guide fixture of the guidance mechanism. Also, the compliance device is opera…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.