Robotic arm for delivering a tube plugging tool
US4945979A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jun 23, 1988 |
| Grant date | Aug 7, 1990 |
| Priority date | — |
| Expiry date | Jun 23, 2008 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T29/53478
- WIPO fieldThermal processes and apparatus
- WIPO sectorMechanical engineering
Abstract
An improved robotic arm for effecting a tube plugging operation is disclosed herein. The improvement generally comprises the provision of a compliance coupling between the plugging tool and the guidance mechanism of the robotic arm that is compliant in three dimensions, thereby allowing the plugging tool to smoothly insert tube plugs into the mouths of heat exchanger tubes despite inaccuracies in alignment caused by sag and other factors. The improvement further comprises a length adjustment assembly for allowing the length of the base arm of the robotic arm to be easily and conveniently changed so that the robotic arm can service more than one particular type of nuclear steam generator, as well as an emergency release mechanism for remotely detaching the tool from the arm in the event of a jam. Finally, a rotary-type tube plug magazine is provided which includes a spring loaded drum having a plurality of spring clips mounted around its periphery for detachably retaining a large inventory of tube plugs and unloading these plugs without scratching. A stop mechanism with rollers prevents the tube plugs retained by the spring clips from rotating past an unloading position where the pl…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.