Apparatus for aligning an inspection or repair device with a...

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G01B 5/255 (2006.01) B23Q 1/00 (2006.01) B23Q 1/48 (2006.01) B23Q 9/00 (2006.01) F22B 37/00 (2006.01) G05D 3/00 (2006.01)

Patent

CA 1115513

APPARATUS FOR ALIGNING AN INSPECTION OR REPAIR DEVICE WITH A SELECTED TUBE IN A HEAT EXCHANGER ABSTRACT Apparatus including a portable manipulator for the axial alignment of an inspection or repair device with a selected tube in a heat exchanger. The manipulator is angularly positionable about a center toward and away from an arbitrarily chosen axis and radi- ally toward and away from the center by means of remotely controlled servomotors. Incorporated in the manipulator are position feed- back devices whereby the manipulator is positioned to the predeter- mined polar coordinates of the selected tube.

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