Manipulator for working on a heat exchanger

摘要

This manipulator is characterised in that a supporting frame (11) can be inserted into a water space (5) outlined by a boiler end plate (2) and a tube plate (3) with numerous heat-transfer tubes (4) of a vertical heat exchanger, in that a base end section of a main arm (101) which can be extended and shortened as desired is assembled or mounted on the supporting frame (11), which main arm (101) is rotatable about the base end section and perpendicularly pivotable about a pivot provided on the latter, in that a base end section of a secondary arm (401) is assembled or mounted on the front end section of the main arm (101), which secondary arm (401) is rotatable about its base end section and perpendicularly pivotable about a pivot provided on the latter and in addition can be orientated parallel to the tube plate (3), in that a perpendicularly displaceable clamping shaft (351) which can be inserted into a heat-transfer tube (4) is arranged coaxially to the axis of rotation of the secondary arm (401), and in that the clamping shaft (351) carries a position detector for its orientation coaxially to the heat-transfer tube (4). <IMAGE>