Metal working – Means to assemble or disassemble – Heat exchanger
Patent
1985-06-27
1987-06-16
Goldberg, Howard N.
Metal working
Means to assemble or disassemble
Heat exchanger
29400N, 29522R, 29714, 29723, 29809, 29818, 33286, 165 76, 376249, 376463, 414145, 901 41, 901 45, B23P 1526, B23P 1900
Patent
active
046727418
ABSTRACT:
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 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.
REFERENCES:
patent: 3691609 (1972-09-01), Ice, Jr. et al.
patent: 4205939 (1978-01-01), Reyes
patent: 4231690 (1980-11-01), Burns
patent: 4303368 (1981-12-01), Dent et al.
patent: 4329769 (1982-05-01), Glatthorn
patent: 4369662 (1983-01-01), Rieben et al.
patent: 4390042 (1983-01-01), Kucherer et al.
patent: 4393899 (1983-07-01), Tsuji et al.
Jack Rebman, "Compliance For Robotic Assembly Using Elastomeric Technology", Lord Corp. (U.S.A.), a paper presented at the Ninth International Symposium on Industrial Robots, Washington, D.C. (March 1979), pp. 153-166.
Maurer Robert J.
Veronesi Luciano
Zafred Paolo R.
Goldberg Howard N.
Wallace Ronald S.
Westinghouse Electric Corp.
LandOfFree
End effector apparatus for positioning a steam generator heat ex does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with End effector apparatus for positioning a steam generator heat ex, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and End effector apparatus for positioning a steam generator heat ex will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-675981