Robot arm apparatus
- Ballston Lake, NY
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.
- Research Organization:
- Knolls Atomic Power Laboratory (KAPL), Niskayuna, NY (United States)
- Sponsoring Organization:
- USDOE
- DOE Contract Number:
- AC12-76SN00052
- Assignee:
- United States of America as represented by United States (Washington, DC)
- Patent Number(s):
- H001115
- Application Number:
- 07/546827
- OSTI ID:
- 875151
- Resource Relation:
- Patent File Date: 1990 Jul 02
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
arm
apparatus
provided
inspecting
maintaining
interior
steam
generator
outside
wall
accessing
flexible
movable
conduit
conveying
inspection
maintenance
translated
motors
located
employed
moving
terminal
inside
z
directions
respectively
commonly
conducted
operations
visual
damaged
water
jet
lancing
cleaning
sludge
deposits
core
boring
scrubbing
internal
outside wall
arm apparatus
visual inspection
steam generator
located outside
water jet
robot arm
statutory invention registration
/165/122/376/414/901/