Patent Number: 051184621
Section: abstract

A manipulator for handling operations for non-destructive testing in the vicinity of the nozzle of a vessel in the primary loop of a nuclear power plant includes a carriage being movable in circumferential direction of the nozzle of the vessel. A sled is disposed on the carriage and displaceable in the axial direction of the nozzle. A shoulder joint is disposed on the sled. A scissors half has an upper arm with one end supported in the shoulder joint and another end, a lower arm with a free end, another joint connecting the other end of the upper arm to the lower arm, a holder, and a further joint connecting the holder to the free end of the lower arm. A tool or a probe is disposed on the holder. A method for handling a device, especially a probe, in the vicinity of the nozzle of a vessel, especially in the primary loop of a nuclear power plant, with a manipulator, includes controlling the holder and the other joint along a predetermined path with a control device acting upon at least one drive motor, and varying a pivoting angle of at least one of the arms with at least one drive motor. The position of the sled may also be varied with a drive motor operatively connected to the sled.