# US 4,393,920 A · Manipulator for working in a heat exchanger

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- Number: US 4,393,920 A
- Document ID: US4393920A
- Status: Granted
- Kind: A
- Application number: 06/235,029
- Filed: 1981-02-17
- Granted: 1983-07-19
- Earliest claimed: 1981-02-17
- Assignees: The Kansai Electric Power Co., Inc.; Kyushu Electric Power Co., Inc.; Shikoku Electric Power Co., Inc.; Mitsubishi Jukogyo Kabushiki Kaisha
- Inventors: Michitsune Shima; Shiso Kihara; Takeo Omichi; Taenji Igarashi; Kenji Mangetsu
- Web page: https://patentgrep.com/patent/US4393920A

## CPC

- B25J 18/025: {telescopic}
- B25J 9/10: characterised by positioning means for manipulator elements
- F28F 11/00: Arrangements for sealing leaky tubes and conduits (stopping flow from or in pipes in general F16L55/10)
- Y10S 165/003: Remote control inspection means
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- F28F: DETAILS OF HEAT-EXCHANGE AND HEAT-TRANSFER APPARATUS, OF GENERAL APPLICATION (water and air traps, air venting F16)
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

In a vertical type heat exchanger including a water chamber delimited by a drum end plate and a header plate on which a large number of heat transfer tubes are arrayed, a novel manipulator for working in the heat exchanger is provided such that a support frame is disposed within the water chamber, a base end portion of a freely extensible and contractible main arm which is rotatable about its base end portion and vertically swingable about a fulcrum at its base end portion, is mounted on the support frame, a base end portion of a sub-arm which is rotatable about its base end portion and vertically swingable about a fulcrum at its base end portion and also which can be positioned in parallel to the header plate, is mounted at the tip end portion of the main arm, a vertically movable clamp shaft which can be inserted into the heat transfer tube is provided coaxially with the rotational axis of the sub-arm, and a position detector for detecting the position of the clamp shaft so as to assist in positioning the clamp shaft so as to become coaxial with the heat transfer tube, is provided on the clamp shaft.

## Claims

### Claim 1

A manipulator for working in a heat exchanger, the heat exchanger including a water chamber delimited by a drum end plate and a header plate on which a large number of heat transfer tubes of a vertical type heat exchanger are arrayed, the manipulator comprising a support frame disposable within said water chamber; a freely extensible and contractible main arm having a first base end portion mounted on said support frame and a tip end portion, said main arm being rotatable about said first base end portion and vertically swingable about a first fulcrum at said first base end portion; a sub-arm having a second base end portion mounted at said tip end portion of said main arm, said sub-arm being rotatable about said second base end portion and vertically swingable about a second fulcrum at said second base end portion, said sub-arm being positionable in parallel to said header plate; a vertically movable clamp shaft insertable into one of said large number of heat transfer tubes, coaxial with the rotational axis of said sub-arm; and a position detector for detecting the position of said clamp shaft for use in positioning said clamp shaft so as to become coaxial with said one of said large number of heat transfer tubes, provided on said clamp shaft.

### Claim 2 (depends on 1)

A manipulator as in claim 1, wherein said header plate extends in a horizontal plane and said large number of heat transfer tubes extend in a vertical direction.

### Claim 3 (depends on 1)

A manipulator as in claim 1, further comprising means for independently extending, retracting, rotating and pivoting each of said main arm and said clamp shaft.

### Claim 4

A manipulator for working in a heat exchanger which includes a water chamber delimited by a drum end plate and a header plate on which a plurality of parallel heat transfer tubes of a vertical type heat exchanger are arrayed so as to extend in a first direction, the manipulator comprising:
a support frame disposable within said water chamber;
a main arm extensible and contractable in a radial direction, having a first base end and a tip end opposite said first base end;
first means for rotatably mounting said main arm to said frame at said first base end so as to be rotatable about a first axis generally stationary with respect to said frame;
said first means including second means for pivotally mounting said main arm at said first base end to said first means so as to be pivotable about a second axis which rotates about said first axis with rotation of said main arm about said first axis;
a sub-arm having a second base end;
third means for pivotally mounting said sub-arm at said second base end to said main arm at said tip end so that said sub-arm is pivotable about a third axis fixed with respect to said tip end;
said third means including fourth means for rotatably mounting said sub-arm at said second base end to said third means so as to be rotatable about a fourth axis which pivots about said third axis with pivotal movement of said sub-arm about said third axis, said sub-arm being positionable in parallel with the header plate;
a clamp shaft insertable into each of the plurality of heat transfer tubes, said clamp shaft extending coaxially with said fourth axis and being movable therealong relative to said tip end; and
means, disposed on said clamp shaft, for detecting the position of said clamp shaft in positioning said clamp shaft so as to become coaxial with one of said plurality of heat transfer tubes.

### Claim 5 (depends on 4)

A manipulator as in claim 4, wherein the first direction is perpendicular to the header plate.

### Claim 6 (depends on 4)

A manipulator as in claim 4, further comprising means for adjusting the orientation of said first axis with respect to said frame.

### Claim 7 (depends on 4)

A manipulator as in claim 4, further comprising means for independently extending, retracting, rotating and pivoting each of said main arm and said clamp shaft.