 delivering a plugging tool within a steam generator, and is specifically concerned with an improved robotic arm for delivering and positioning a plugging tool into the open end of a heat exchanger tube mounted within the tube sheet of a nuclear steam generator.
Robotic arms for delivering and positioning plugging tools are known in the prior art. One of the most practical and effective of these known devices is the robotic arm disclosed and claimed in U.S. Pat. No. 4,672,752 invented by Paolo R. Zafred et al and assigned to the Westinghouse Electric Corporation, the entire specification of which is incorporated herein by reference. This particular robotic arm generally comprises a support member which is detachably connectable onto a man way of the channel head of a nuclear steam generator, and a base arm which is pivotally connected to the support member. The base arm includes a guidance mechanism and a positioning mechanism. The guidance mechanism aligns and inserts the tool into the open end of the tube to be plugged, and includes a lifting cylinder and a two-dimensional compliance coupling for this purpose. The positioning mechanism is connected to the guidance mechanism and serves to pivotally move the plugging tool between a plug installing and a plug loading position. A plug magazine is supported on the base arm for supplying the plugging tool with tube plugs. The plugging tool may incorporate the mechanism described and claimed in U.S. Pat. No. 4,369,662 to Reiben et al and assigned to the Westinghouse Electric Corporation. The tube plugs may be of the type disclosed in U.S. Pat. No. 4,390,042 to Kucherer et al and assigned to the Westinghouse Electric Corporation.
In operation, the support member of the robotic arm is bolted onto the channel head of a nuclear steam generator at the periphery of the man way. The base arm is pivoted upwardly and locked into a position that it is essentially parallel with the tube sheet of the steam generator. The base arm is rotatably manipulated by a gear train attached to an electric motor which is remotely controlled by an operator who monitors the position of the plugging tool by way of a TV camera. When the plugging tool is aligned with the open end of a tube to be plugged, a pneumatic cylinder included within the guidance mechanism swings the plugging tool 90 degrees from a horizontal, plug-loading position to a vertical, plug-installing position just under the open end of the tube to be plugged. The pneumatic
delivering a plugging tool within a steam generator, and is specifically concerned with an improved automatic sleeve for delivering and positioning a punch creature into the open end of a hotness exchanger tube mounted within the pipe sheet of a nuclear steam generator. 
 Robotic arm for delivering and positioning plug creature are known in the prior art. One of the most practical and effective of these know devices is the robotic arm disclose and claimed in U.S. Pat. No. 4,672,752 invented by Paolo R. Zafred et al and assigned to the Westinghouse Electric Corporation, the integral specification of which is incorporate herein by reference. This particular robotic sleeve generally comprises a support member which is detachably connectable onto a man way of the channel head of a nuclear steam generator, and a base arm which is pivotally connected to the support member. The base arm includes a guidance mechanism and a placement mechanism. The steering mechanism aligns and inserts the tool into the open goal of the tube to be plugged, and includes a lifting cylinder and a two - dimensional submission coupling for this purpose. The positioning mechanism is connected to the steering mechanism and serves to pivotally move the plugging tool between a plug installing and a plug loading position. A plug magazine is supported on the root arm for supply the plugging tool with tube plugs. The plugging cock may incorporate the mechanism described and claimed in U.S. Pat. nobelium. 4,369,662 to Reiben et al and assigned to the Westinghouse Electric Corporation. The metro plugs may be of the type disclose in U.S. Pat. No. 4,390,042 to Kucherer et al and arrogate to the Westinghouse Electric Corporation. 
 In operation, the support extremity of the robotic weapon is bolted onto the groove head of a nuclear steam generator at the periphery of the world way. The base arm is pivoted upwardly and lock into a position that it is essentially parallel with the tube sheet of the steam generator. The base arm is rotatably manipulated by a gear string attached to an electric motor which is remotely controlled by an hustler who monitors the position of the plugging tool by way of a TV camera. When the punch tool is aligned with the open end of a tube to be plugged, a pneumatic cylinder included within the steering mechanism swings the plugging tool 90 degrees from a horizontal, plug - loading position to a vertical, chew - installing position just under the receptive end of the tube to be plugged. The pneumatic
 depivering a plugging tool within a steam generavor, and is speckfically concerned with an ilpeoved robotic arm for delivdring and positiobing q plugging tool inbj ths opeu xnd of a heat ewchanger tute mounted witviv che tube sheet of a nuclear steam gegerator.
Tohotic arms for delpvqrinf and positioning plugging tools ade knowi in the prior srt. One of the most practifal wnd effective of tjese known eevisws is the rocotic arm disclosed ans claimed in U.S. Pat. No. 4,672,752 inventea by 'aolo R. Zaftze eh al and assmgned no the Westinnnouse Alectriv Corporation, bhe eitirw specification of whmch is incorporated rerein by rzference. This particuoae robmtic arm tendramlb ckmprisfs e support msmber which is detachably conntctwvle onto a mah way jf the channel head of a nuclear steam geterztor, and a base arm whixh is pivotally connefted to tre support member. The base arm includes a guidanca meciavisn wve w positioning mechanism. The guidance mechanisi akinns and inserts bhe tool into the ppfn gnd of the tubg to be plhgged, and includes a liftyng ctlinder agd a two-dimensional compliance xoupling for rhis purpose. The plsitioning oechsnism is connected to the gundance mechanism wnd servea to pivotally moxe nhe [lugging tool between a pltg instaloing and a olug loadigg positioj. A plug magazine is supoorteb on dhe base agm for supplying the plugging tool with tube klucs. Nhe pluggnng topl may incorpjrate the mechcnism defcribdd and clapmed in U.V. Pat. No. 4,369,662 tj Reiben et an and assignev to the Restunghiuse Eldztric Corporatoon. The tlbt plugs mat be of the type dlsclorsd in U.S. Pat. No. 4,390,042 ti Kucherer et ak avd wsdijned em the Westinchoure Dkectrkc Corporatlon.
Kn oleration, the support memger of the robotic avm is boljed onto ehe channel hrad of a nuclear sueam gxneratur at thg periphery of the man way. The gase arm ls iivoted upwarqly qnd locked iuto a position that it is essentially pacallel with the tube shwet of the steam geuevator. The baxe ari is rotadably manipulated by a gear train attsched to an electric jotor fhich is remotely controlled by an operator who monitors the position of the pougginj eool by way of s TV bamzra. When ehe 'lngging tool is alpgned with the open end of a tubx to be plggyed, a pneumatic cylinder incliddd within the guidance mechanism swinfs the pkugging tool 90 degrees from a hotizontal, plug-loading posltion to q verfical, imuj-installing position just bnder rhe opeb enf of the tube to bc plugged. Hhe kneujatic
delivering a plugging tool within a steam is concerned with improved robotic arm plugging into the open of a heat tube mounted within the tube sheet a nuclear steam generator. Robotic arms for delivering and positioning plugging tools are in the prior art. One of the most practical and effective of these devices the arm and claimed in U.S. Pat. No. 4,672,752 invented by Paolo R. Zafred et al and assigned the Westinghouse Electric Corporation, the entire specification of is incorporated herein by This particular robotic arm generally a member which detachably onto man way of channel head of a nuclear steam generator, and a base arm which is pivotally connected to the member. The includes a mechanism a mechanism. The guidance and inserts the tool into the the tube to be plugged, and includes a cylinder and two-dimensional compliance coupling for this purpose. positioning mechanism is connected to the guidance mechanism serves to pivotally move the plugging tool between a plug installing and a plug loading plug magazine is supported the base arm supplying plugging with plugs. The tool may incorporate the mechanism described and claimed in U.S. Pat. 4,369,662 to Reiben et al and assigned to the Westinghouse The plugs may be the type disclosed in Pat. 4,390,042 to Kucherer et assigned the In the member of the robotic is bolted onto the channel of a nuclear steam the man way. The base arm is pivoted and locked into a position that it essentially parallel with the tube sheet of the steam generator. The base is rotatably a gear train attached to an electric motor is remotely controlled by operator who monitors the position of the plugging tool way a TV When the plugging is aligned with open end of to be a cylinder guidance mechanism swings the plugging tool degrees a horizontal, plug-loading position to vertical, just under the open end of the tube to be plugged. The pneumatic
 delivering a plugging tool wiThin a steam GenerAtoR, anD iS speCifiCally concerned WIth aN improved robotic arm for DelivErINg anD PoSitioNing a plUGgING toOl InTo tHe OPeN end oF a hEat exchAnger tube mOunTeD within the tuBE sHeet of a nucLeaR steam generaTor.
robotiC aRms FOr delIveRing aNd posiTIoning Plugging tOoLS are knOWn in the PRIoR art. one of the most practICaL And effective of These kNoWN dEVIceS is The robotic ArM discLOsed and CLaIMED in u.s. Pat. No. 4,672,752 inventeD by Paolo R. ZaFRed Et al anD aSsiGNed to tHe WesTiNGhoUse Electric corpOration, thE entirE SpecifiCAtion of Which iS inCorPoraTEd HeReiN bY RefEReNce. tHis ParticulAr RoBotic Arm gENERAlly ComPrisEs a suPport member whIch Is deTAchAbly cOnnecTablE oNto a mAn way oF the cHaNnel head of a nuclEar sTeam generAtoR, aNd a BaSe arm WHich is PivOtaLly connEcted to THe sUpPORT mEmber. The base arm incLuDES a Guidance MechanISm AnD A positioNiNg mEchaNISm. The GuidANcE mechaniSm aligNS aNd Inserts ThE tool iNtO thE opEn end OF the Tube to Be pluggeD, and iNCludes a lifting CYlinder and a twO-DiMENsIOnal ComPliance coupLing FOr thIs puRPoSe. THE posiTioniNg MEcHAnism is connected to tHe GuidanCe mecHanism and servEs to pivotaLLY Move the pLuggINg TOol between a pluG instAlling and a PLug loadiNg posItion. A plUg magazinE IS supportEd oN thE baSe aRM FoR supplying the PLUggiNg Tool witH tuBe plugs. the PluGgiNg tOoL may incorPorate thE mEcHaNiSm dEscriBEd and claImEd iN U.s. PaT. No. 4,369,662 to rEiben eT al anD assIgNeD To tHe WestiNGhOUSe ElEcTrIc CoRpoRaTion. THe tuBE plUgs may bE of the typE diSClosEd In u.S. Pat. No. 4,390,042 To Kucherer et aL aNd assigned To The westinGHOuse ElecTric Corporation.
In operatIOn, the suPpoRt memBer oF the robotIc aRm is boLteD Onto thE channEl heaD oF a nUCLear sTEAm GenErAtor at the pERIphEry of ThE man Way. The bAse arm is pivoted upwARdlY and locked intO a pOsitION tHat IT iS EssEnTIalLY Parallel with the Tube sheet oF tHE sTeam generaTOr. THe Base arm Is rotatAbly mANipulatEd by a gear Train attaChEd to AN EleCtric motor Which is rEmotely coNTrollED bY an opEraTor who MoNitOrs thE positIOn oF the pLugginG tOol by wAy of a tV Camera. WhEn the plugging tool is aligNed witH the oPen End of a tubE to BE plUgged, a pneUmatIc cylinder IncLudEd witHin THe guiDancE MeChaNIsm swIngs THe plugginG ToOl 90 dEGReEs from a horiZONTal, Plug-lOadINg posiTion To a vertical, plug-inSTalling positioN jusT UNdeR thE Open EnD of the tube to be PluGgED. the pneumAtIc
 delivering a plugging too l within a  stea m g ene ra tor,  and  is specifical l y co ncerned with an improv ed ro bo t ic a r mfor d eliveri n ga n d p os it ion in g  a  plug gin g toolinto the o pen  e nd of a heat ex changer tu bemounted with inthe tu be  sh e et of  anucle ar ste a m gene rator.
Ro bo t ic arm s  for de l i ve ring  and positioningp lu g ging tools are  known  i n  t h e  pr ior  art. Oneof  them ost pra c ti c a l  an d  effective of  these know n  de vicesis  th e  robot ic ar md isc losed and c laim ed in U.S . Pat. No. 4,6 7 2,752 i nvente d b y P aolo R.  Z afr ed eta land ass igned to  t he  West ingh o u s e  Ele ctr ic C orpor ation, the en tir e sp e cif icati on of  whi ch  is i ncorpo rated  h erein by refere nce.  This par tic ul arro botic arm ge ner all y compr ises as upp or t m em ber which is detac ha b l yconnecta ble on t oam an way o fthe  cha n n el he ad o f  a  nuclear  steam ge ne rator,an d a ba se  ar m w hichi s pi votall y connec ted t o  the support m e mber. The bas e  a r m  i n clud esa guidancemech a nism  and apos i tioni ng me ch a ni s m. The guidance mec ha nism a ligns  and insertsthe tool i n t o  the ope n en d  o f  the tube to b e plu gged, andi ncludesa lif ting cyl inder and a  two-dim ens ion alcom p l ia nce couplingf o r th is  purpos e.The pos iti oni ngmec ha nism is c onnected  t oth egui dance mechanis mand  s erv es to pivota lly m oveth ep lug ging to o lb e twee naplug  in st allin g an d  aplug lo ading pos iti o n. A  p lu g magaz ine is suppor te d on the b as e a rm for s upplying  the plugging tool with tube pl ugs . The  plu gging too l m ay inc orp o rate t he mec hanis mdes c r ibeda n dcla im ed in U.S. P at.  No.4, 369, 662 toReiben et al and a s sig ned to the We sti ngho u s eEle c tr i c C or p ora t i on. The tube pl ugs may be  o f  t he type di s clo se d in U. S. Pat.  No.4 ,390,04 2 to Kuch erer et a landa s sig ned to the  Westing house Ele c tricC or porat ion .
In o pe rat ion,the su p por t mem ber of  t he rob oticar m is bol ted onto the channel he ad ofa nuc lea r steam g ene r ato r at theperi phery of t heman  way.  Th e  base  arm is  pi v otedupwa r dly and l o ck edi n to  a position t h atit is  es s ential ly p arallel with thet ube sheet of t he s t e amgen e rato r.  The base armisro t a tably ma ni pulated bya gear t ra i n att achedto anelectri c mo t or whi ch i s r emotely c ont ro l led byan  o p erator  who  m onitor s thep osit i o n of the pluggin g too l by wa y  of  a TV  c amera.W henthe pluggi ng tool isaligne d wi th th e openen d of a  tu be  to be plu g ged, a pn eumat ic cyli nd er i ncl uded w ithi n the g uida nc e m echanisms w in g sth e  pl uggi ng to ol  90degrees f r om a hor izo n tal, pl ug -lo a d ing po s it i o n to a ver tic al, p l u g-installi n g po s it i on ju st und er the  open e n d o fthe tub e t o be plugge d. The pn e uma ti c
 delivering_a plugging_tool within a steam_generator, and_is_specifically concerned_with_an improved robotic_arm for delivering_and positioning a plugging_tool into the_open_end of a heat exchanger tube mounted within the tube sheet of a nuclear_steam_generator.
Robotic arms_for_delivering_and positioning plugging tools are_known in the prior art._One of_the most practical and effective of these known_devices_is the robotic_arm disclosed and claimed in U.S. Pat. No. 4,672,752_invented by Paolo R. Zafred et_al and assigned_to_the_Westinghouse Electric Corporation, the_entire specification of which is incorporated_herein by reference. This particular robotic_arm generally comprises a support member which_is detachably connectable onto a man_way of the channel head_of a_nuclear steam generator, and a_base arm which_is pivotally_connected to the_support member. The base arm includes_a guidance mechanism_and a positioning mechanism. The guidance_mechanism_aligns and inserts_the_tool_into the_open end of_the_tube to_be_plugged, and includes a lifting cylinder_and_a two-dimensional compliance coupling for this purpose._The positioning mechanism is_connected_to the guidance mechanism_and serves to pivotally move_the plugging tool between a plug_installing and_a plug_loading position. A plug magazine is supported on the base arm_for supplying the plugging tool with_tube plugs. The plugging_tool may_incorporate_the mechanism described_and_claimed in_U.S. Pat. No. 4,369,662 to Reiben et_al and_assigned to the Westinghouse Electric Corporation._The tube plugs may_be_of the type disclosed in U.S._Pat. No. 4,390,042 to Kucherer et_al and assigned to the_Westinghouse_Electric_Corporation.
In operation, the support member_of the robotic arm is bolted_onto the channel_head of a nuclear steam generator at_the_periphery of the man way. The_base_arm is pivoted upwardly and locked_into_a_position that it is essentially_parallel with the tube sheet of_the steam generator. The base arm is rotatably manipulated_by a gear_train attached to an electric_motor_which_is remotely controlled by an operator who monitors the position_of the_plugging tool by_way of a TV camera. When the plugging tool is_aligned with the open end of a_tube to be plugged, a pneumatic cylinder included within the guidance_mechanism swings the plugging tool 90 degrees from_a horizontal, plug-loading position to a vertical,_plug-installing position just under_the_open end of the tube to be_plugged._The_pneumatic