Robot arm apparatus
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:
-
- Ballston Lake, NY
- Issue Date:
- Research Org.:
- Knolls Atomic Power Laboratory (KAPL), Niskayuna, NY
- 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/
Citation Formats
Nachbar, Henry D. Robot arm apparatus. United States: N. p., 1992.
Web.
Nachbar, Henry D. Robot arm apparatus. United States.
Nachbar, Henry D. Wed .
"Robot arm apparatus". United States. https://www.osti.gov/servlets/purl/875151.
@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}
}