End effector position and identification system for steam...

Details End effector position and identification system for steam... End effector position and identification system for steam...

F - Mech Eng,Light,Heat,Weapons

22

B

341/97

F22B 33/00 (2006.01) G05B 19/414 (2006.01)

Patent

CA 1130893

18 47,919 ABSTRACT OF THE DISCLOSURE The identity of a cantilevered end effector support member and its angular position on the platform member of a carriage movable along an arm which is rota- table in a plane parallel to a steam generator tubesheet, are supplied to a tubesheet servicing machine control system in the form of a discrete pattern of electrical signals which is used to determine the offset required in aligning the end effector with a particular point on the tubesheet. The discrete pattern of electrical signals is generated by at least two sensor elements mounted on one of the members, preferably at different radial distances from the pivot axis of the support member. At least two trigger elements are mounted on the other member in such a pattern as to trigger selected sensor elements to produce the discrete pattern of signals.

347688

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