ARTICULATED MANIPULATOR FOR NAVIGATING AND SERVICING A HEAT EXCHANGER

A manipulator configured to navigate a heat exchanger including a plurality of tubes extending through a tubesheet is disclosed herein, the manipulator including a first end effector, a second end effector, and an articulation assembly. The first end effector is configured to accommodate an instrume...

Ausführliche Beschreibung

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Bibliographische Detailangaben
1. Verfasser:	PETROSKY, Lyman J
Format:	Patent
Sprache:	eng
Schlagworte:	BLASTING CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS HEATING LIGHTING MANIPULATORS MECHANICAL ENGINEERING METHODS OF STEAM GENERATION NUCLEAR ENGINEERING NUCLEAR PHYSICS NUCLEAR REACTORS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS STEAM BOILERS STEAM GENERATION TRANSPORTING WEAPONS
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Beschreibung
Zusammenfassung:	A manipulator configured to navigate a heat exchanger including a plurality of tubes extending through a tubesheet is disclosed herein, the manipulator including a first end effector, a second end effector, and an articulation assembly. The first end effector is configured to accommodate an instrument configured to service the heat exchanger and includes a first actuator configured to extend a first gripper into a tube of the plurality of tubes. The second end effector includes a second actuator configured to extend a second gripper into a tube of the plurality of tubes. The first and second gripper are configured to secure the manipulator to the tubesheet, and, when the second gripper is securing the manipulator to the tubesheet, the articulation assembly is configured to enable the first end effector to move relative to the second end effector in a plane that is parallel to the tubesheet.