Combustion Engineering, Inc.

Adam Leshem

Martin Lewis Marugg

Frank J Formanek

Dennis E Savor

Leon Clyde Hendee, Iii

Walter Guy Hill, Jr

David Eugene Cooper

A method and apparatus are provided for controlling the movement of a surface traversing apparatus across a member which has an ordered array of openings in it's surface. Move control routines are provided, each of which instruct the traversing apparatus to move incrementally over the surface of the member by disengaging, incrementally moving, and re-engaging one of two stepping arms. Each routine operates to advance the apparatus an increment in one of a number of directions. Some of the routines move the apparatus parallel to lines or rows of openings. Others move the apparatus diagonally. Each routine senses the relative positioning of the two stepping arms to establish the sequence of operations and returns the stepping arm to its former position if it is unable to complete a step. An automatic selection operation may move the apparatus toward a target opening by comparing the present location of the apparatus with the target address and selecting a routine which minimizes the number of move increments needed to get to the target.

Method and apparatus for controlling surface traversing device

An improved surface traversing apparatus has an anchor finger selectively movable laterally of another anchor finger into near or substantial alignment with an opening in a member for insertion thereinto and includes one or more of the fingers being mounted to a base portion of the platform by a mounting arrangement which allows one finger to be deflected laterally relative to another finger such that the finger being inserted may deflect into exact alignment with the receiving opening by lateral engagement with the sidewall of the opening. Each finger is resiliently mounted to a connecting member which is, in turn, connected to the base portion of the platform. The resilient mount for each finger normally centers the finger and allows both pivotal and translatory displacement of the finger relative to the connecting member. A cylindrical adaptor is fixed to the finger and is radially supported in a circular opening in the connecting member by a resilient O-ring therebetween in mutually opposing radial engagement therewith.

Mounting arrangement for anchor fingers on a surface traversing apparatus

An improved surface traversing apparatus is provided in which one anchor or group of anchors is connected with one base, another anchor or group of anchors is connected with another base, each anchor group is movable en bloc transversely of its respective base for lateral movement across the surface of a member to be traversed, and the two bases are movable relative to one another in a direction which moves one finger group alternately toward and away from engagement with a member engaged by the other finger group. The anchors may be selectively expandable fingers which are longitudinally insertable into and retractable from openings in a steam generator tube sheet to provide the engagement therewith. The anchor fingers in each group are fixed longitudinally to their respective bases and an actuator, such as a piston and cylinder combination, is oppositely connected to the two bases for varying the spacing therebetween longitudinally of the fingers to alternately move the two finger groups respectively en bloc alternately toward and away from the tube sheet.

Surface traversing apparatus

An actuator comprises a piston and cylinder in which the piston is biased axially inwardly of the end of the cylinder to an intermediate position by two bias members respectively on axially opposite sides of the piston. Limit means associated with each respective bias member serve to coact between the respective bias member and the cylinder to limit the inward travel of the respective bias member in the cylinder to establish a constant position at which the piston receives no net biasing force from the two bias members. Each limit means may comprise a flanged cup which moves with the inner end of the bias member and a stop surface in the cylinder for engaging the cup flange to limit its inward movement, and thus the inward movement of the bias member. In one application the actuator forms part of a surface traversing apparatus, with the cylinder being fixed to a base portion of the apparatus and the piston serving to selectively position anchor fingers connected thereto to each of three precise positions relative to the cylinder in response to fluid pressure on the piston.

Three-position actuator and apparatus incorporating same

A linear motion device of the type having a plurality of gripper assemblies for engaging projections on a linearly movable element to effect stepwise movement thereof. Each of the gripper assemblies is movable into and out of engageable relationship with the element to thereby yield three relative positions between the element and the gripper assembly--a latched position, a coupled position and an unlatched position. Also, each of the gripper assemblies is movable relative to its support means between respective raised and lowered positions. The gripper assemblies are supported on the support means in spaced relationship and the projections are spacedly positioned on the element so that each gripper assembly, when in its lowered position relative to the support means, can be moved into the coupled position with respect to the element when the other gripper assembly is in its latched position and is in either its raised position or lowered position relative to the support means.

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West Hartford, CT, United States of America

Adam Leshem