Abstract: An improved tube inspection probe delivery system that supports a probe pusher that drives a cable connected to the probe through a flexible conduit into a tube for inspection. The probe pusher is mounted on an elevator that advances the probe pusher toward or retracts the probe pusher from the general direction of the tube as the probe is moved from tube to tube for inspection of a plurality of tubes, to maintain a substantially constant slack in the flexible conduit. The probe drive system includes a containment to control contamination that may be emitted from the tube during the inspection process.

Abstract: An improved tube inspection probe delivery system that supports a probe pusher that drives a cable connected to the probe through a flexible conduit into a tube for inspection. The probe pusher is mounted on an elevator that advances the probe pusher toward or retracts the probe pusher from the general direction of the tube as the probe is moved from tube to tube for inspection of a plurality of tubes, to maintain a substantially constant slack in the flexible conduit. The probe drive system includes a containment to control contamination that may be emitted from the tube during the inspection process.

Abstract: An improved robotic arm for effecting a tube plugging operation is disclosed herein. The improvement generally comprises the provision of a compliance coupling between the plugging tool and the guidance mechanism of the robotic arm that is compliant in three dimensions, thereby allowing the plugging tool to smoothly insert tube plugs into the mouths of heat exchanger tubes despite inaccuracies in alignment caused by sag and other factors. The improvement further comprises a length adjustment assembly for allowing the length of the base arm of the robotic arm to be easily and conveniently changed so that the robotic arm can service more than one particular type of nuclear steam generator, as well as an emergency release mechanism for remotely detaching the tool from the arm in the event of a jam.

Abstract: An apparatus for moving and positioning a tool for plugging a defective heat exchanger tube of a steam generator in a nuclear reactor includes a base, a plug magazine supported on the base, a guidance mechanism mounting the plugging tool and a positioning mechanism supported on the base and mounting the guidance mechanism. The guidance mechanism is operable to align and position the tool relative to the plug magazine and the defective heat exchanger tube to correspondingly effect, upon operation of the tool, plug loading when the tool is located in a plug dispensing position adjacent to the plug magazine and plug unloading when the tool is located in a plug applying position adjacent to the defective tube. The positioning mechanism is operable to assume folded and unfolded conditions to transfer the guidance mechanism and the plugging tool therewith respectively between the plug dispensing and applying positions.