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FR2426965A1 - Manipulator for weld inspection head at duct vessel junction - is parallel linkage mounted on sliding trolley and pivoted by cam mechanism - Google Patents

Manipulator for weld inspection head at duct vessel junction - is parallel linkage mounted on sliding trolley and pivoted by cam mechanism

Info

Publication number
FR2426965A1
FR2426965A1 FR7911099A FR7911099A FR2426965A1 FR 2426965 A1 FR2426965 A1 FR 2426965A1 FR 7911099 A FR7911099 A FR 7911099A FR 7911099 A FR7911099 A FR 7911099A FR 2426965 A1 FR2426965 A1 FR 2426965A1
Authority
FR
France
Prior art keywords
trolley
along
duct
manipulator
inspection head
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
FR7911099A
Other languages
French (fr)
Inventor
Walter Holzwarth
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MAN AG
Original Assignee
MAN Maschinenfabrik Augsburg Nuernberg AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MAN Maschinenfabrik Augsburg Nuernberg AG filed Critical MAN Maschinenfabrik Augsburg Nuernberg AG
Publication of FR2426965A1 publication Critical patent/FR2426965A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G12—INSTRUMENT DETAILS
    • G12B—CONSTRUCTIONAL DETAILS OF INSTRUMENTS, OR COMPARABLE DETAILS OF OTHER APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G12B5/00—Adjusting position or attitude, e.g. level, of instruments or other apparatus, or of parts thereof; Compensating for the effects of tilting or acceleration, e.g. for optical apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Abstract

A manipulator for conducting an inspection head along a seam weld at the junction between a pipe or duct and a reactor pressure vessel can travel vertically and parallel to the vessel axis along a rail and is also horizontally guided along a further rail. The manipulator comprises a parallel link mechanism mounted at one end on a trolley and carrying at the other end a test system support which typically carries a number of test heads. The test system support can be displaced linearly in a direction (X) perpendicular to a duct axis and can be rotated about the Z-axis by an in-built drive. The trolley can travel horizontally along a guide bar under its own power and the parallel linkage mechanism consists of a guide arm and support arm. The support arm is keyed to a shaft passing through the trolley and keyed at the opposite end to a lever which travels along a cam path by means of a roller as the trolley moves. This cam path is fixed to the guide rail. Pref. the keyed connected between the shaft and the lever on the opposite side of the trolley is by a multiple-grooved section; a pneumatic cylinder pushes the lever along this section to vary its position. Used particularly for testing the seam weld between a duct and a nuclear pressure vessel. The method enables access to this difficult location to be obtd. and does not require any change in the angular position of the measuring equipment relative to the duct axis as the inspection head travels along the weld.
FR7911099A 1978-05-27 1979-05-03 Manipulator for weld inspection head at duct vessel junction - is parallel linkage mounted on sliding trolley and pivoted by cam mechanism Withdrawn FR2426965A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2823220A DE2823220C2 (en) 1978-05-27 1978-05-27 Testing device for pipe connection seams of a reactor pressure vessel

Publications (1)

Publication Number Publication Date
FR2426965A1 true FR2426965A1 (en) 1979-12-21

Family

ID=6040354

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7911099A Withdrawn FR2426965A1 (en) 1978-05-27 1979-05-03 Manipulator for weld inspection head at duct vessel junction - is parallel linkage mounted on sliding trolley and pivoted by cam mechanism

Country Status (2)

Country Link
DE (1) DE2823220C2 (en)
FR (1) FR2426965A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3049065C2 (en) * 1980-12-24 1985-11-21 M.A.N. Maschinenfabrik Augsburg-Nürnberg AG, 8500 Nürnberg Manipulator for nozzle weld test

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2073478A1 (en) * 1969-12-18 1971-10-01 Combustion Eng
GB1401469A (en) * 1971-10-29 1975-07-16 Maschf Augsburg Nuernberg Ag Manipulator apparatus for use in testing pressure vessels
US4065976A (en) * 1976-09-20 1978-01-03 Stanford Research Institute Mechanical scanning method and apparatus for ultrasonic imaging, or the like
DE2634158A1 (en) * 1976-07-29 1978-02-02 Kraftwerk Union Ag Ultrasonic test head carriage for duct and penetration welds - has hoop track and axially movable arm for test heads

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2434467C3 (en) * 1974-07-18 1980-09-18 Kraftwerk Union Ag, 4330 Muelheim Movable test system for pressure vessel walls

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2073478A1 (en) * 1969-12-18 1971-10-01 Combustion Eng
GB1401469A (en) * 1971-10-29 1975-07-16 Maschf Augsburg Nuernberg Ag Manipulator apparatus for use in testing pressure vessels
DE2634158A1 (en) * 1976-07-29 1978-02-02 Kraftwerk Union Ag Ultrasonic test head carriage for duct and penetration welds - has hoop track and axially movable arm for test heads
US4065976A (en) * 1976-09-20 1978-01-03 Stanford Research Institute Mechanical scanning method and apparatus for ultrasonic imaging, or the like

Also Published As

Publication number Publication date
DE2823220C2 (en) 1983-07-14
DE2823220A1 (en) 1979-11-29

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Legal Events

Date Code Title Description
ST Notification of lapse