Gripper for installation and removal of nozzle dam's sealing member of the nuclear reactor's steam generator

摘要

Provided is a gripper to install and remove a sealing member of a nozzle dam in a steam generator of a nuclear reactor, which includes a base (110) coupled to the end portion of an articulated robot (200) installing a nozzle dam; a first link (120) in which one end is coupled to both ends of the base (110) and the other end has a first rotary shaft (122); a second link (130) in which one end is axially coupled with respect to the first rotary shaft (122) of the first link (120) and the other end has a second rotary shaft (132); a vacuum absorption unit (140) axially coupled with respect to the second rotary shaft (132) of the second link (130) and having a vacuum absorption pad (142); a first driving unit (150) to rotate the second link (130) with respect to the first link (120); and a second driving unit (160) to rotate the vacuum absorption unit (140) with respect to the second link (130).