B - Operations – Transporting – 25 – J
Patent
B - Operations, Transporting
25
J
26/51
B25J 3/02 (2006.01) F22B 37/00 (2006.01) F22B 37/58 (2006.01)
Patent
CA 1261599
32 ABSTRACT OF THE DISCLOSURE 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 operable to correct lateral and angular misalignments of the tool with the plug magazine and the defective tube as the guidance mechanism is moved toward same when disposed at the respective plug -33- 52,781 dispensing and applying positions. Further, the positioning mechanism employs an articulated linkage which is moved in sissor-like fashion between the folded and unfolded conditions for respectively moving the guidance mechanism and plugging tool therewith between the plug dispensing and applying positions.
511214
Maurer Robert J.
Veronesi Luciano
Zafred Paolo R.
Oldham And Company
Westinghouse Electric Corporation
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