Apparatus for decontaminating nuclear steam generators.

摘要

Manipulator apparatus for cleaning a nuclear steam by sweeping a spray nozzle (32) about a pivot mechanism (20, 22) inside a spherical plenum (10) of the steam generator. The nozzle directs a water-grit mixture toward the inside surface (12, 14, 16) of the plenum in order to abrasively remove contaminates from the inside surface. The apparatus uses microprocessors (147, 159) to compute appropriate control parameters in order to maintain constant tangential velocity of the nozzle in relation to the inside surface. The microprocessors also compute, in one of the three modes of operation, appropriate control parameters for maintaining a predetermined distance between the nozzle and the surface to be cleaned so as to provide adequate cleaning of the surface but no damage thereto.