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What's New:
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Leading the pack.
Zetec’s MIZ-80iD combines the industry’s leading eddy current instrument, probe driver, power supply and MRPC® controller into one modular solution. To find out more,
click here.
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ZR-1 Robot System for Inspection and Maintenance/Repair
The ZR-1 Robot System combines the newest state-of-the-art robotics technology with Zetec experience-based innovation to address the needs for inspection and repair of steam generators. The multipurpose ZR-1 can be easily installed to perform the necessary eddy current inspection and remain installed ready for follow-up maintenance and repair.
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Performance
Three axis motion of arm enables 100% coverage of tube sheet.
Automated, repeatable, and precise positioning of toolheads, ensuring accurate delivery
and reducing costly rework. Reduces inspection time by 30%.*
Modular design simplifies handling and setup through small S/G manway openings.
Single-tube touch calibration reduces calibration time by 60%.*
Quick connect toolhead design and weight capacity of arm at full extension (66 pounds / 30 kg)
with less than ¼ inch deflection.
* Compared to previous generation Zetec robots.
Cost of Ownership
One platform for inspection and repair.
Low maintenance and high reliability, reduces spare parts and down time for repair.
Transportable from one job site to another.
Smooth surfaces are easy to decontaminate.
Safety
Reduces platform worker time and exposure in radioactively contaminated areas.
Toolhead attachment point presented at manway opening.
System Components
The ZR-1 robot is comprised of three modular components - the rail, mast, and arm. High torque servo motors provide fast and accurate positioning. The robust design provides for toolhead support of up to 66 pounds (30 kg). A Machine Vision camera is integrated into the arm, reducing the need for cameras on accessory toolheads.
The robot controller unit provides fast, smooth, and accurate motion control for remote ZR-1 inspection robots. With its embedded CPU, the robot locating routines are optimized with local control. Ethernet networking minimizes cables.
The ZR-1 Robot Control application module is part of the industry-leading Zetec acquisition and analysis software, EddynetSuite.
Applications
Zetec's eddy current testing solutions provide an efficient way to inspect large numbers of tubes, with precision analysis, at frequent intervals. Zetec has a comprehensive range of bobbin probes, array probes, and high-speed rotating probe heads and motor units, providing high resolution in critical areas. The ZR-1 robot equipped with an eddy current toolhead or maintenance toolhead provides the most advanced solution available today.
The ZR-1 can accommodate third party toolheads addressing applications such as tube plugging, welding, rolling, cleaning, and tube end expansion.
ZR-1 System Specifications
Regulatory
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ESA-compliant, CE (pending)
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Tube Locating Accuracy
-with Machine Vision
-without Machine Vision
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± 15% tube pitch
± 25% tube pitch
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ZR-1 Robot Specifications
Material
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Aluminum & Stainless Steel
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Dimensions
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(Typical values for small series, varies with generator) |
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Weight
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Height
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Width
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Length
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Arm
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28.0 lb (12.7 kg)
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6.9 in (176.0 mm)
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4.0 in (101.6 mm)
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26.3 in (668.0 mm)
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Mast
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57.2 lb (25.9 kg)
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9.7 in (246.0 mm)
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8.5 in (215.9 mm)
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23.9 in (607.0 mm)
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Rail
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60.0 lb (27.2 kg)
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14.0 in (355.0 mm)
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7.5 in (190.0 mm)
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31.0 in (787.0 mm)
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Environmental
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Temperature
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Operating
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0°C to + 45°C
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(32°F to + 115°F)
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Non-Operating
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– 40°C to + 65°C
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(– 40°F to + 149°F)
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Humidity
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Operating
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0 - 90% Rel
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Non-Operating
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0 - 90% Rel
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Vibration
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Random 5 - 500 Hz
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PSD = 1.5 G RMS
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Shock
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Half Sine - 50 G 2 ms
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35 G 5 ms, 30 G 11 ms
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Motor Type
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Brushless 3-phase Servo Motor
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Rotational Speed of Joints
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1.5 rpm, max
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Max Toolhead Movement Speed
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20 tube pitches/second
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Toolhead Payload Capacity
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66.0 lb (30 kg)
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Compressed Air Requirements
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80 - 120 psi
(620 - 827 kPa)
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5 CFM (142 lpm)
1/4 NPT,
female adapter
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1/4 NPT to 1/4 BPS
(supplied)
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ZR-1 Robot Controller Specifications
Dimensions
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Weight
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Height
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Width
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Length
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57.0 lb (25.9 kg)
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18.0 in (457.2 mm)
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15.0 in (381.0 mm)
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21.0 in (533.4 mm)
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Environmental
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Temperature
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Operating
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0°C to + 45°C
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(32°F to + 115°F)
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Non-Operating
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– 40°C to + 65°C
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(– 40°F to + 149°F)
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Humidity
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Operating
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0 - 90% Rel
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Non-Operating
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0 - 90% Rel
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Vibration
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Random 5 - 500 Hz
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PSD = 1.5 G RMS
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Shock
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Half Sine - 30 G 2 ms
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25 G 5 ms, 20 G 11 ms
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Power
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Line Voltage
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90 - 260 VAC
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single phase
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Frequency
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47 - 68 Hz
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Watts
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550 W
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Additional Information & Purchase:
ZR-1 Robot System Data Sheet
Email us for current pricing and ordering information.
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