A manipulator configured to navigate a heat exchanger including a plurality of tubes extending through a tubesheet is disclosed herein, the manipulator including a first end effector, a second end effector, and an articulation assembly. The first end effector is configured to accommodate an instrument configured to service the heat exchanger and includes a first actuator configured to extend a first gripper into a tube of the plurality of tubes. The second end effector includes a second actuator configured to extend a second gripper into a tube of the plurality of tubes. The first and second gripper are configured to secure the manipulator to the tubesheet, and, when the second gripper is securing the manipulator to the tubesheet, the articulation assembly is configured to enable the first end effector to move relative to the second end effector in a plane that is parallel to the tubesheet.

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 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.

A manipulator configured to navigate a heat exchanger including a plurality of tubes extending through a tubesheet is disclosed herein, the manipulator including a first end effector, a second end effector, and an articulation assembly. The first end effector is configured to accommodate an instrument configured to service the heat exchanger and includes a first actuator configured to extend a first gripper into a tube of the plurality of tubes. The second end effector includes a second actuator configured to extend a second gripper into a tube of the plurality of tubes. The first and second gripper are configured to secure the manipulator to the tubesheet, and, when the second gripper is securing the manipulator to the tubesheet, the articulation assembly is configured to enable the first end effector to move relative to the second end effector in a plane that is parallel to the tubesheet.