Abstract: A lancing crawler or head crawls along a no-tube lane (NTL) on a floor defining a reference plane oriented transverse to tubes of a steam generator, and has nozzles that generate lancing fluid jets along at least two different angles in the reference plane spaced apart by at least 45°. A rotational drive rotates the nozzles about an axis of rotation that may be offset from an axis of thrust imposed by the jets from the nozzles. An on-board sighting laser may be mounted with the nozzles, along with an on-board camera. A bladder expands to secure the lancing crawler or head between steam generator tubes adjacent the NTL. Each nozzle may include a taperlock seat. A nozzle tilt drive is configured to tilt the one or more nozzles respective to the reference plane.

Abstract: A coupler body 12 with a socket 44 therein is attached to nuclear stream generator tools to be mated with an arm 22 of a remotely controlled manipulator. A plug 16 for insertion in socket 44 is mounted with a ball detent lock actuating air cylinder 18 on L-shaped bracket 20 attached to the end of arm 22. Cam surfaces 62 on body 12 and 64 on bracket 20 align the plug 16 and socket 44 for insertion to mate and couple the tools and arm 22.

Abstract: A controller for an apparatus for installing a mechanical tube plug includes a controller having a controller console remote from the tube installation site and a solenoid assembly located proximate to that site. The console includes switches and indicators for providing a rotation control signal to the apparatus. The solenoid assembly includes a circuit for receiving a torque indication signal from the apparatus and an alarm circuit for setting the torque at a predetermined upper limit in response to a signal input at said controller console. The circuit operates to terminate rotation control and disable the apparatus when said limit is reached. Other features of the controller are also disclosed.