Multi-function end effector for performing operations on a nuclear steam generator tubesheet equipment.

摘要

The invention relates to a multi-function end effector (200) for performing operations on a tubesheet (28) of a nuclear steam generator (20) to which hazardous environment limits human access. A vertical member (202) is supported by the tubesheet through an attachment mechanism (204), a body (92) and camlocks 112, 120. The vertical member has a horizontal table (208) which is capable of positioning tools (234) in relation to the tubesheet and capable of driving the tools. The table comprises a centering device (290) for positioning the tools in proper relation to the tubesheet The horizontal table has a crescent-shaped gear (222) which provides a receptacle to hold the tools in place and prevent rotation and also provides rotary motion of the tools.