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    • 3. 发明授权
    • Pneumatic tool and method for plug removal
    • 气动工具和拔除插头的方法
    • US5517740A
    • 1996-05-21
    • US203632
    • 1994-02-28
    • Annette M. CostlowJames J. RobertsPaul J. BooneRandall A. Holmes
    • Annette M. CostlowJames J. RobertsPaul J. BooneRandall A. Holmes
    • B23P19/02B25B27/02B25B27/06F28F11/02B23P19/04
    • B25B27/026B23P19/025B25B27/064F28F11/02Y10T29/53839
    • A tool for removing a metal plug from a tube with repeated pulling impulses includes a pneumatic cylinder defining an interior, cylindrical chamber. A distal end surface of the cylinder defines an anvil. A cylindrical slug, or hammer, is sealingly slidable within the chamber in response to a pressure difference above and below the hammer within the chamber. The cylinder is rigidly connected to the plug so as to hang therefrom, the weight of the cylinder providing a static pull force working in conjunction with the pulling impulses. A pulling impulse is provided by first raising the hammer above the anvil by pneumatically creating a first pressure difference wherein the pressure below the hammer is greater than the pressure above the hammer, then creating a second pressure difference wherein the pressure below the hammer is no greater than the pressure above the hammer in order to drive the hammer against the anvil at speed. The tool is also adapted for disengaging an expander member engaged in a tapered plug shell with a mandrel that includes a push-rod having an end extending into the top of the chamber proximate the plug. Repeated displacement impulses are applied to the expander member by applying a different sequence of forces to the hammer so as to cause it to repeatedly strike the push-rod against the expander member. The tool and a method of using the tool are particularly suited to removing a plug from a heat exchanger tube in a nuclear powered steam generator.
    • 用于通过反复拉动冲击从管中移除金属塞的工具包括限定内部圆柱形腔室的气动缸。 圆筒的远端表面限定砧座。 响应于腔内的锤上方和下方的压力差,圆柱形塞子或锤子可在腔室内密封地滑动。 气缸刚性地连接到插头以便从其中悬挂,气缸的重量提供与拉动冲动一起工作的静态拉力。 提供拉动冲击,首先通过气动产生第一压差而将锤子提升到砧座上方,其中锤下方的压力大于锤子上方的压力,然后产生第二压力差,其中锤下方的压力不大 比锤子上方的压力高,以便以高速驱动锤子抵靠砧座。 该工具还适于使接合在锥形塞壳中的膨胀器构件与包括推杆的心轴分离,所述推杆具有延伸到靠近塞子的腔室顶部的端部。 通过向锤子施加不同的力,将重复的位移脉冲施加到膨胀器构件,以使其反复地将推杆撞击膨胀器构件。 该工具和使用该工具的方法特别适用于从核动力蒸汽发生器中的热交换器管中移除塞子。
    • 7. 发明授权
    • Robotic system for servicing the heat exchanger tubes of a nuclear steam
generator
    • 用于维修核蒸汽发生器的热交换器管的机器人系统
    • US5355063A
    • 1994-10-11
    • US607705
    • 1990-11-01
    • Paul J. BooneMichael H. CantonStanley F. NiziolTara D. MapsonBruce R. L. CoxRaymond G. Kelly, Jr.Robert P. VestovichGeorge A. SavageRobert D. SengerMichael D. HechtKurt K. LichtenfielsAnthony GriecoWenche W. Cheng
    • Paul J. BooneMichael H. CantonStanley F. NiziolTara D. MapsonBruce R. L. CoxRaymond G. Kelly, Jr.Robert P. VestovichGeorge A. SavageRobert D. SengerMichael D. HechtKurt K. LichtenfielsAnthony GriecoWenche W. Cheng
    • B25J9/00B25J9/10F22B37/00G05B19/19
    • B25J9/1025F22B37/005
    • An improved robotic arm system for servicing the tubesheet located within the channel head of a nuclear steam generator is provided. The system includes a robotic arm whose shoulder and elbow joints are rotatable only in the plane parallel to the tubesheet in order to eliminate the imposition of cantileverly-induced torques on the electric motors driving these joints, as well as to minimize the possibility of mechanical interference between the arm and the walls of the channel head. Each of the motorized joint assemblies of the arm includes resolvers connected not only to the output of the drive train that moves the joint, but also to the drive shaft of the electric motor that drives the drive train, wherein the feedback signal generated by the resolver connected to the drive shaft of the electric motor is the primary signal used to modulate the amount of electric power conducted to the motor of the joint. Such a configuration advantageously results in smoother robotic arm movement. Finally, the control circuit assembly of the robotic arm system includes a control processing unit (CPU) which is capable of simultaneously driving not only the joint assemblies of the robotic arm, but also any computer-operated mechanisms associated with a variety of end effectors which the arm is capable of delivering. The CPU, power supply and other components of the control circuit assembly are installable in the containment area surrounding the steam generator in order to eliminate the number of cable penetrations through the containment walls that are necessary to operate the system.
    • 提供了一种用于维修位于核蒸汽发生器的通道头内的管板的改进的机器臂系统。 该系统包括机器臂,其肩部和肘关节只能在与管板平行的平面中旋转,以消除在驱动这些关节的电动机上施加悬臂诱导扭矩,并且最小化机械干扰的可能性 在手臂和通道头部的墙壁之间。 臂的每个电动接头组件都包括不仅连接到传动系的输出的旋转变压器,该传动系的运动使接头移动,而且还连接到驱动传动系的电动机的驱动轴,其中,旋转变压器产生的反馈信号 连接到电动机的驱动轴的是用于调制传导到接头的电动机的电力量的主要信号。 这种配置有利地导致更平滑的机器人手臂运动。 最后,机器臂系统的控制电路组件包括一个控制处理单元(CPU),该控制处理单元能够不仅同时驱动机器臂的接头组件,而且还可以驱动与各种终端执行器相关联的任何计算机操作的机构, 手臂能够交付。 控制电路组件的CPU,电源和其他组件可安装在蒸汽发生器周围的容纳区域中,以消除操作系统所需的通过密封壁的电缆穿透次数。