Universal manipulator for in-service inspection at reactor pressure vessels

摘要

The universal manipulator consists of a basic manipulator carriage (1) which can be moved along a vertically running guide rail (4) and carries a horizontal extension-arm base (7). An extension arm (8) adapted to the curvature of a vessel wall (2) is movably mounted on the extension-arm base (7) and is motor-driven via two pinions (12) and a toothed rack (15). An inspection carriage (10) which carries the inspection system (11) is movable relative to the extension arm (8). IMAGE