Robot arm apparatus

Title: Robot arm apparatus

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Abstract

A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.

Inventors:

Nachbar, Henry D ^[1]

Ballston Lake, NY

Issue Date:: 1992-01-01

Research Org.:: Knolls Atomic Power Lab. (KAPL), Niskayuna, NY (United States)

OSTI Identifier:: 875151

Patent Number(s):: H1115

Assignee:: United States of America as represented by United States (Washington, DC)

DOE Contract Number:: AC12-76SN00052

Resource Type:: Patent

Country of Publication:: United States

Language:: English

Subject:: robot; arm; apparatus; provided; inspecting; maintaining; interior; steam; generator; outside; wall; accessing; flexible; movable; conduit; conveying; inspection; maintenance; terminal; translated; motors; located; employed; moving; inside; z; directions; respectively; commonly; conducted; operations; visual; damaged; water; jet; lancing; cleaning; sludge; deposits; core; boring; obtaining; scrubbing; internal; outside wall; arm apparatus; visual inspection; steam generator; located outside; water jet; robot arm; /165/122/376/414/901/

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                    Nachbar, Henry D. Robot arm apparatus.  United States: N. p., 1992. 
        Web.

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                    Nachbar, Henry D. Robot arm apparatus.  United States.

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                    Nachbar, Henry D. Wed .  
        "Robot arm apparatus".  United States.  https://www.osti.gov/servlets/purl/875151.

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@article{osti_875151,

  title        = {Robot arm apparatus},

  author       = {Nachbar, Henry D},

  abstractNote = {A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {1992},

  month        = {1}

}

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