Tube sheet runner (TSR) is a polyvalent device designed to perform different tasks in steam generators with the aim of positioning, moving and working with a variety of Modules, primarily with probes for NDE. Movement is achieved by translating the main axis and sticking fingers (grippers) in the tubes of the steam generator tube sheet. The device moves like a spider in all working positions: horizontal, ceiling, vertical and rounded, and easy adaptation to different parameters of heat exchangers. The main advantage is the high-speed inspection because TSR principal axes remain idle while the auxiliary axes can inspect up to 72 tubes before the next TSR movement.

Functional parameters:

• The entire device is modular with "snap on" connectors (single gripper, the main axis, the control box, pneumatics) and each module is detected and reported to the system with a "plug and play" feature
• Extremely high inspection speed in relation to existing systems
• Machine vision integrated to the system to assure independent position verification
• Safety lock grippers with sensor detection (pre-calibrated to the posture working force of 1700N)
• Automatic leveling through the tri-axis inclinometer/accelerometer
• Suitable for individual inspection strategy, as well as the complete inspection strategy of a heat exchanger.

Principal axes guidance has been specifically designed (in comparison to others) in order to allow angular and linear oscillations (without jeopardizing system integrity) and to assure the correct leveling of the entire device.

Grippers are equipped with many safety features that prevent the falling of the TSR in the event of power or air pressure failure. They always remain locked for posture working force of 1700N. If more posture force is required, it can be achieved by raising the pressure in the locking chamber to get maximum holding force of over 2300N. The integration of a second auxiliary axis combination on the upper linear axis is assured to obtain the possibility of simultaneous work with two modules.