Apparatus for automated positioning of eddy current test probe

Abstract

An apparatus for automated inspection and repair of a tube sheet. The apparatus has a rotating gripper pod, comprising at least one tube gripper, a sliding body portion containing the gripper pod; a housing portion comprising at least one tube gripper and a tool head coupling. The tool head coupling swapably attaches to a eddy current test probe and at least one kind of tube repair tool. Novel, auto-locking tube grippers are also disclosed. A serial bus connects electronic modules within the apparatus and also connects the apparatus to an external controller.

What is claimed is: 
     
         1 . A method for controlling an apparatus for gripping a device to the inside wall of a tube, the apparatus having
 an insertion actuator,   gripper shoes,   a gripper shoe actuator and   a position sensor,   the method comprising:
 activating said insertion actuator for a first time period during which the device is inserted into the tube; 
 activating said gripper shoe actuator for a second time period; 
 sensing the location of the apparatus within the tube; 
 adjusting the position of the actuator within in the tube by retracting the apparatus and reinserting the apparatus with different values for at least one of said first and second time periods.