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Robot arm apparatus

Description: 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.
Date: December 31, 1990
Creator: Nachbar, H. D.
Partner: UNT Libraries Government Documents Department

Automated robotic equipment for ultrasonic inspection of pressurizer heater wells

Description: A robotic device for remotely inspecting pressurizer heater wells is provided which has the advantages of quickly, precisely, and reliably acquiring data at reasonable cost while also reducing radiation exposure of an operator. The device comprises a probe assembly including a probe which enters a heater well, gathers data regarding the condition of the heater well and transmits a signal carrying that data; a mounting device for mounting the probe assembly at the opening of the heater well so that the probe can enter the heater well; a first motor mounted on the mounting device for providing movement of the probe assembly in an axial direction; and a second motor mounted on the mounting device for providing rotation of the probe assembly. This arrangement enables full inspection of the heater well to be carried out.
Date: December 31, 1991
Creator: Nachbar, H.D.; DeRossi, R.S. & Mullins, L.E.
Partner: UNT Libraries Government Documents Department

Tube cutter tool and method of use for coupon removal

Description: It is well known in the art that metal tubes used in heat transfer devices are susceptible to wear, erosion and other degradations which may create weaknesses or other potential failure points. One typical prior art method to determine the cause of damage to a tube involves making a circumferential cut on the tube wall and removing the entire section of the tube having a damaged portion thereon. This method is useful where a straight length portion of the tube has been affected. However, access to more constricted areas and removal of relatively large sections of tubing is limited where the cutting procedure is performed from the interior of the tube. A tube cutter tool is insertable into a tube for cutting a coupon from a damaged site on the exterior of the tube. Prior to using the tool, the damaged site is first located from the interior of the tube using a multi-coil pancake eddy current test probe. The damage site is then marked. A fiber optic probe is used to monitor the subsequent cutting procedure which is performed using a hole saw mounted on the tube cutter tool. Prior to completion of the cutting procedure, a drill in the center of the hole saw is drilled into the coupon to hold it in place.
Date: December 31, 1995
Creator: Nachbar, H.D.; Etten, M.P. Jr. & Kurowski, P.A.
Partner: UNT Libraries Government Documents Department