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1.发明授权Robotic system for servicing the heat exchanger tubes of a nuclear steam generator 失效用于维修核蒸汽发生器的热交换器管的机器人系统
公开(公告)号：US5355063A
公开(公告)日：1994-10-11
申请号：US607705
申请日：1990-11-01
申请人： Paul J. Boone , Michael H. Canton , Stanley F. Niziol , Tara D. Mapson , Bruce R. L. Cox , Raymond G. Kelly, Jr. , Robert P. Vestovich , George A. Savage , Robert D. Senger , Michael D. Hecht , Kurt K. Lichtenfiels , Anthony Grieco , Wenche W. Cheng
发明人： Paul J. Boone , Michael H. Canton , Stanley F. Niziol , Tara D. Mapson , Bruce R. L. Cox , Raymond G. Kelly, Jr. , Robert P. Vestovich , George A. Savage , Robert D. Senger , Michael D. Hecht , Kurt K. Lichtenfiels , Anthony Grieco , Wenche W. Cheng
CPC分类号： B25J9/1025 , F22B37/005
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US5657245A
公开(公告)日：1997-08-12
申请号：US281713
申请日：1994-11-09
申请人： Michael D. Hecht , Chris W. Bach , Steve J. Orbon , Paul J. Boone , John M. Driggers , Stephen M. Ira , Lyman J. Petrosky
发明人： Michael D. Hecht , Chris W. Bach , Steve J. Orbon , Paul J. Boone , John M. Driggers , Stephen M. Ira , Lyman J. Petrosky
IPC分类号： G06F11/22 , G21C17/003 , G01N1/08 , G01N27/82 , G21C7/36
CPC分类号： G21C17/003 , G06F11/2268 , G21Y2002/201 , G21Y2002/202 , G21Y2002/304 , G21Y2002/40 , G21Y2004/30 , G21Y2004/503
摘要： A component maintenance system having a network linked to a data acquisition system, a data analysis system, a historical file of component design and inspection information, and a diagnostic system having the capability to perform structural analysis of discontinuities identified by the data acquisition system. The network nodes may be located apart from each other; for example in the maintenance of a nuclear power plant steam generator, the data acquisition system may be located in a high radiation area while the data analysis system is safely located away from the radiation areas. Furthermore, the diagnostic system and the file of component design and inspection history information may be centrally located and shared to support component evaluations being conducted in numerous geographic locations. Network communication facilitates the rapid evaluation of discontinuities, thereby permitting the inspection plan to be modified as the inspection results are obtained.
摘要翻译： 具有链接到数据采集系统的网络，数据分析系统，组件设计和检查信息的历史文件的组件维护系统以及具有执行由数据采集系统识别的不连续性的结构分析能力的诊断系统。 网络节点可以彼此分开定位; 例如在核电厂蒸汽发生器的维护中，数据采集系统可以位于高辐射区域，同时数据分析系统安全地位于远离辐射区域的位置。 此外，诊断系统和组件设计和检查历史信息的文件可以位于中心并被共享以支持在许多地理位置进行的组件评估。 网络通信有助于快速评估不连续性，从而允许在获得检查结果时修改检查计划。
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公开(公告)号：US08333116B2
公开(公告)日：2012-12-18
申请号：US12826789
申请日：2010-06-30
申请人： Paul J. Boone , Jeffrey Monaco , Tom Nenno , Richard Fredenberg , Corey Adamonis , Benjamin Bachman
发明人： Paul J. Boone , Jeffrey Monaco , Tom Nenno , Richard Fredenberg , Corey Adamonis , Benjamin Bachman
CPC分类号： G01B7/30 , G01M13/00 , G01N27/902 , G01N29/226 , G01N2291/2693
摘要： An inspection vehicle structured to inspect a portion of the turbine disk, preferably the blade attachment hubs, while the turbine disk is disposed within a turbine housing assembly is provided. A turbine disk is generally planar but includes a inner hub and an outer blade attachment hub. The inner hub is coupled to a shaft and the blade attachment hub provides a surface to which removable blades are attached. The area between the inner hub and outer blade attachment hub is substantially planar. The inner and blade attachment hubs are the “inspection areas” that the inspection vehicle is structured to inspect. The inspection vehicle travels over, and is magnetically coupled to, the planar surface between the two hubs.
摘要翻译： 提供了一种检查车辆，其构造成在涡轮盘设置在涡轮机壳体组件内时检查涡轮盘的一部分，优选地为叶片附接轮毂。 涡轮盘通常是平面的，但是包括内部毂和外部叶片附接毂。 内毂联接到轴，并且刀片附接轮毂提供可移动刀片附接到的表面。 内轮毂和外刀片附接轮毂之间的区域基本上是平面的。 内部和叶片附接轮毂是检查车辆结构检查的检查区域。 检查车辆在两个轮毂之间行进并且磁耦合到两个轮毂之间的平面表面。
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公开(公告)号：US06459748B1
公开(公告)日：2002-10-01
申请号：US09435548
申请日：1999-11-08
IPC分类号： G21C17003
CPC分类号： G21C17/003 , G01N2291/044 , G01N2291/2695 , G21Y2002/204 , G21Y2002/208 , G21Y2002/303 , G21Y2002/304 , G21Y2002/40 , G21Y2004/30 , G21Y2004/40 , G21Y2004/501 , G21Y2004/504
摘要： An end effector for supporting an ultrasonic testing probe on a robot arm having a robot mounting bracket for use in a nuclear reactor pressure vessel. The end effector has a wrist assembly with a rotatable wrist axle. The wrist assembly is coupled to the robot mounting bracket and a probe assembly is coupled to the wrist shaft. The ultrasonic testing probe is floatably disposed within the probe assembly.
摘要翻译： 用于在机器人臂上支撑超声波测试探针的端部执行器，其具有用于核反应堆压力容器的机器人安装支架。 末端执行器具有具有可旋转腕轴的腕部组件。 手腕组件联接到机器人安装支架，探针组件联接到腕轴。 超声波测试探头可漂浮地设置在探头组件内。
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公开(公告)号：US5517740A
公开(公告)日：1996-05-21
申请号：US203632
申请日：1994-02-28
CPC分类号： B25B27/026 , B23P19/025 , B25B27/064 , F28F11/02 , Y10T29/53839
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US20120000290A1
公开(公告)日：2012-01-05
申请号：US12826789
申请日：2010-06-30
申请人： Paul J. Boone , Jeffrey Monaco , Tom Nenno , Richard Fredenberg , Corey Adamonis , Benjamin Bachman
发明人： Paul J. Boone , Jeffrey Monaco , Tom Nenno , Richard Fredenberg , Corey Adamonis , Benjamin Bachman
CPC分类号： G01B7/30 , G01M13/00 , G01N27/902 , G01N29/226 , G01N2291/2693
摘要： An inspection vehicle structured to inspect a portion of the turbine disk, preferably the blade attachment hubs, while the turbine disk is disposed within a turbine housing assembly is provided. A turbine disk is generally planar but includes a inner hub and an outer blade attachment hub. The inner hub is coupled to a shaft and the blade attachment hub provides a surface to which removable blades are attached. The area between the inner hub and outer blade attachment hub is substantially planar. The inner and blade attachment hubs are the “inspection areas” that the inspection vehicle is structured to inspect. The inspection vehicle travels over, and is magnetically coupled to, the planar surface between the two hubs.
摘要翻译： 提供了一种检查车辆，其构造成在涡轮盘设置在涡轮机壳体组件内时检查涡轮盘的一部分，优选地为叶片附接轮毂。 涡轮盘通常是平面的，但是包括内部毂和外部叶片附接毂。 内毂联接到轴，并且刀片附接轮毂提供可移动刀片附接到的表面。 内轮毂和外刀片附接轮毂之间的区域基本上是平面的。 内部和叶片附接轮毂是检查车辆结构检查的“检查区域”。 检查车辆在两个轮毂之间行进并且磁耦合到两个轮毂之间的平面表面。
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公开(公告)号：US5664328A
公开(公告)日：1997-09-09
申请号：US387656
申请日：1995-02-13
CPC分类号： F28F11/02 , B23P19/025 , B25B27/026 , B25B27/064 , Y10T29/49352 , Y10T29/49721 , Y10T29/49824 , Y10T29/53122
摘要： A method of removing a metal plug from a conduit includes the steps of simultaneously applying a static pull force and repetitive impulses to the plug. The method is particularly suited to removing a plug from a heat exchanger tube in a nuclear powered steam generator. A tool for practicing the method on such plugs includes a first hydraulic actuator for first moving an expansion member out of engagement with an interior plug wall, a second hydraulic actuator capable of attachment to the plug for applying a static pull force to the plug, and an arrangement connecting an air impact tool to the second hydraulic actuator for applying, simultaneously with the static force, high-frequency impulses to the plug entirely through solid members.
摘要翻译： 从导管中去除金属塞的方法包括同时对插头施加静态拉力和重复脉冲的步骤。 该方法特别适用于从核动力蒸汽发生器中的热交换器管中去除塞子。 用于在这种插头上实施该方法的工具包括：第一液压致动器，用于首先使膨胀构件与内部插塞壁脱离接合;第二液压致动器，其能够附接到插头以向插塞施加静态拉力;以及 将空气冲击工具连接到第二液压致动器的装置，其与静力同时施加完全通过固体构件的插塞的高频脉冲。
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公开(公告)号：US5465483A
公开(公告)日：1995-11-14
申请号：US203631
申请日：1994-02-28
CPC分类号： F28F11/02 , B23P19/025 , B25B27/026 , B25B27/064 , Y10T29/49352 , Y10T29/49721 , Y10T29/49824 , Y10T29/53122
摘要： A method of removing a metal plug from a conduit includes the steps of simultaneously applying a static pull force and repetitive impulses to the plug. The method is particularly suited to removing a plug from a heat exchanger tube in a nuclear powered steam generator. A tool for practicing the method on such plugs includes a first hydraulic actuator for first moving an expansion member out of engagement with an interior plug wall, a second hydraulic actuator capable of attachment to the plug for applying a static pull force to the plug, and an arrangement connecting an air impact tool to the second hydraulic actuator for applying, simultaneously with the static force, high-frequency impulses to the plug entirely through solid members.
摘要翻译： 从导管中去除金属塞的方法包括同时对插头施加静态拉力和重复脉冲的步骤。 该方法特别适用于从核动力蒸汽发生器中的热交换器管中去除塞子。 用于在这种插头上实施该方法的工具包括：第一液压致动器，用于首先使膨胀构件与内部插塞壁脱离接合;第二液压致动器，其能够附接到插头以向插塞施加静态拉力;以及 将空气冲击工具连接到第二液压致动器的装置，其与静力同时施加完全通过固体构件的插塞的高频脉冲。
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