Disclosed herein is an articulated manipulator capable of moving a tool such as an inspection device, a processing device, or a welding device to a desired position for inspection or repair of a defect portion in a limited place. The articulated manipulator includes a base plate, a movable unit slidably coupled on the base plate, a rotatable unit rotatably coupled on the movable unit, and a rotation unit rotatably coupled to one side of the rotatable unit.

An apparatus for aligning tubes of a heat exchanger includes a generally planar body having an insertion end and an actuator end, a first driving member received by the body and extending between the insertion end and the actuator end, the first driving member being movable axially with respect to the body, and a first biasing member operatively connected to the first driving member. The first driving member is actuatable to move the first biasing member between a clearance position in which the first driving member lays generally flat within respect to the body, and an extended position in which the first biasing member extends generally perpendicular from the body.

Provided herein is a remote inspection apparatus for a heating tube of a steam generator, the apparatus including a fixing unit installed in a flange surface of a hand hole of the steam generator in a fixed manner, and having one or more rail guiders for guiding a guide rail into the steam generator; the guide rail configured to be guided by the rail guider to enter between the heating tube and a divider plate inside the steam generator; a rail driving unit fitted at one end of the guide rail and arranged outside the steam generator, and having a bobbin around which a steel belt is wound; and a probe feeding unit configured to receive a driving force from the rail driving unit through the steel belt to be moved along the guide rail, and having a band shaped probe extending in a length direction and an inspection camera fitted at one end of the probe.

An apparatus for removing foreign substances around a heating tube of a steam generator is proposed. The apparatus includes a universal machine unit configured to hold the foreign substances, a connecting rod unit including a distal end connecting rod and a connecting rod part, a connecting rod moving unit configured to supply the connecting rod unit into the heating tube to move the connecting rod unit, a connecting rod supply unit provided to sequentially supply the plurality of connecting rods to the connecting rod moving unit, an image-capturing unit configured to be moved to a point where the foreign to substances are located to capture an image of the foreign substances, and a controller connected to the universal machine unit, the connecting rod moving unit, and the connecting rod supply unit to control operations thereof.

The present disclosure relates to a drilling instrument for machining tubes in tube sheets of heat exchangers in a radioactive environment, comprising a transport device having clamping elements and having a drilling device with clamping fingers, which are arranged in each case on a common first side. The transport device and the drilling device are connected to a support device having a support plate on which a resting plate of the drilling device rests. In addition, the support plate is connected to the resting plate by way of at least one movable connecting element, and the resting plate is connected to the support plate in a play-free manner in a first position of the connecting element, wherein the resting plate exhibits predefinable play with regard to the carrier plate in a second position of the connecting element.

The invention relates to a flexible lance for machining or inspecting a tubesheet of a boiler, having a first strip made of a flexible, metallic material and a second strip made of a flexible, metallic material, wherein the second strip is arranged on the first strip in the longitudinal direction, and wherein at least the second strip has a shaped portion extending in the longitudinal direction for receiving a supply line for a machining or inspection head arranged at the free end of the flexible lance, and wherein the first strip is connected to the second strip such that an open side of the shaped portion is covered by the first strip so as to form a guide channel, and wherein at least one edge region of the flexible lance, extending in the longitudinal direction, is formed only by the first strip or the second strip.

The present disclosure relates to a drilling device for machining tubes in tube sheets of heat exchangers in a radioactive environment. A retaining plate is clampable in the tubes with at least two retaining fingers on a first side and a first drive, which drives a tool shaft, is arranged on a second side. A tool chuck on a first end side of the tool shaft is connected detachably to the latter, wherein a forward feed of the tool shaft is brought about by a feed device. In addition, the tool chuck is unlockable from the tool shaft by way of an unlocking instrument and the unlocking instrument is controllable by a remote-control device.

An apparatus for aligning tubes of a heat exchanger includes a generally planar body having an insertion end and an actuator end, a first driving member received by the body and extending between the insertion end and the actuator end, the first driving member being movable axially with respect to the body, and a first biasing member operatively connected to the first driving member. The first driving member is actuatable to move the first biasing member between a clearance position in which the first biasing member lays generally flat within respect to the body, and an extended position in which the first biasing member extends generally perpendicular from the body.

The present disclosure relates to a drilling instrument for machining tubes in tube sheets of heat exchangers in a radioactive environment, comprising a transport device having clamping elements and having a drilling device with clamping fingers, which are arranged in each case on a common first side. The transport device and the drilling device are connected to a support device having a support plate on which a resting plate of the drilling device rests. In addition, the support plate is connected to the resting plate by way of at least one movable connecting element, and the resting plate is connected to the support plate in a play-free manner in a first position of the connecting element, wherein the resting plate exhibits predefinable play with regard to the carrier plate in a second position of the connecting element.

The present disclosure relates to a drilling device for machining tubes in tube sheets of heat exchangers in a radioactive environment. A retaining plate is clampable in the tubes with at least two retaining fingers on a first side and a first drive, which drives a tool shaft, is arranged on a second side. A tool chuck on a first end side of the tool shaft is connected detachably to the latter, wherein a forward feed of the tool shaft is brought about by a feed device. In addition, the tool chuck is unlockable from the tool shaft by way of an unlocking instrument and the unlocking instrument is controllable by a remote-control device.