| 摘要 |
An actuator for performing work in a nuclear reactor is described. In one embodiment, the actuator includes an x-axis linear slide assembly, a y-axis linear slide assembly, and a z-axis linear slide assembly. The x-axis linear slide assembly is mounted to a junction box, the y-axis linear slide assembly is mounted on a carriage of the x-axis assembly, and the z-axis linear slide assembly is mounted on a carriage of the y-axis assembly. The actuator also includes motor assemblies coupled to respective linear slide assemblies. Each motor assembly includes a motor and a resolver sealed in a leakproof can. Pulley-timing belt assemblies couple each motor to a respective lead screw. Specifically, a drive pulley is connected to a rotor shaft of each motor, and a lead screw pulley is secured to an end of each lead screw. Each pulley-timing belt assembly also includes an idler pulley, and a belt extends around the lead screw pulley, the idler pulley, and the drive pulley. The motor assemblies are mounted so that the axis of each motor is substantially parallel to the axis the respective lead screw. By mounting motor assemblies in this configuration, the overall dimensions of the actuator are believed to be minimized when each slide assembly is fully retracted. The actuator further includes a delivery system interface for firmly attaching the actuator to a delivery system, and a tool mounting platform attached to the z-axis linear slide assembly. Threaded openings are located on the platform face and are used to secure various attachments to the platform. Many different attachments, such as an ultrasonic inspection unit, a brushing unit, and an electrical discharge machine (EDM) unit, can be secured to the platform.
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