Inventors:
William E. Pirl - Penn Township, Westmoreland County PA
Kurt K. Lichtenfels - Murrysville PA
Assignee:
Westinghouse Electric Corporation - Pittsburgh PA
International Classification:
B23K 2608
Abstract:
A frame is coupled to a remotely operable service arm (ROSA), and a rotatable carousel, in turn, is carried by the frame to position several tool modules used in a welding operation adjacent to a damaged tube in a tubesheet of a nuclear steam generator. The arm positions an alignment module directly beneath the damaged tube and the module aligns the carousel. The carousel is rotated to sequentially align and register a laser welding module, a cleaning module, and an inspection module with the damaged tube for a welding operation on a lower portion of the damaged tube in the tubesheet area. One embodiment for the alignment module has a pneumatically operated pin which is operator controlled, and which has an increasing diameter from its distal end to obtain a gross to a vernier alignment of the carousel and, thus, a proper alignment for the remaining modules. A further embodiment provides an alignment pin which is automatically computer controlled without operator intervention. Limit switches and grooves are used as a logic checking device for the proper positioning of a respective module in the frame, and a pneumatically operated radial pin holds the module in the frame.