ZR-100 Inspection & Repair Robot
The design of the ZR-100 provides a very efficient footprint for moving and repositioning within the steam generator. The unique motion and small size provide the ultimate flexibility in reaching all tubes within the tube sheet without complex repositioning motions. This provides quick and efficient motion in positioning the ZR-100 to a target zone or specific tube. All of this is accomplished while providing industry leading speed. The ZR-100 can transverse across the tube sheet at speeds of up to 5 feet per minute for large moves and can achieve tube-to-tube speeds during test or repair operations of up to 4 inches/second. The ZR-100 utilizes built-in Machine Vision for secondary tube verification for all attached tooling.
Advanced high performance gripper design will not cause tube damage, yet provides high load capacity (of up to 300 lbs per gripper) and automatically provides grip force to match the load applied to the ZR-100. All of this is accomplished while remaining fail-safe during power service interruptions yet the ZR-100 is easy to remove during emergency situations.
Features & Benefits
- Small footprint provides ultimate maneuverability for efficient repositioning in all regions of the tube sheet while occupying less area thereby allowing the use of multiple robots per head.
- Light Weight at less than 35lbs it provides for easy transportation and installation. In conjunction with the small footprint it requires less energy to grip into the tube sheet.
- Fail safe revolutionary gripper design ensures that the ZR-100 will remain attached to the tube sheet through loss of all power, yet remains easily removable during emergency situations.
- Fast and strong with a tube-to-tube speed of up to 4 inches/sec and up to 300lbs load capacity per gripper. The ZR-100 is capable of performing both high speed inspections and supporting the load demands of repair tooling.
- A simplified system uses a revolutionary application of CAN-bus (Controller-area Network) control system architecture. The ZR- 100 provides the smallest robot cable bundle in the industry with a diameter of less than 1 inch.
- Intelligent software control manages the telemetry of all ZR-100 robots within a steam generator to avoid robot to robot collisions as well as probe collisions with robots operating in the opposite channel head.
- Seamless Interface with Zetec’s MIZ®-80iD intelligent system capabilities for exchange information between hardware components and tooling.