Material or article handling – Article manipulator moves analogous with human hand – finger,... – Electric or fluid motor drive for manipulator
Patent
1982-08-30
1985-12-31
Siemens, Terrance L.
Material or article handling
Article manipulator moves analogous with human hand, finger,...
Electric or fluid motor drive for manipulator
414590, 165 111, 901 22, 901 25, 901 41, B25J 300
Patent
active
045618160
ABSTRACT:
A remote manipulator arm for positioning and operating tube sheet repair tools within a nuclear generator shell. The arm includes a number of arm segments linked serially, each having a remotely-controlled motor to pivot an elbow in the arm segment by way of gears. A mounting bracket passes through a manhole in the generator shell and provides a stable point of connection for the arm, both inside and outside the shell, as well as connections for power and control signals to the arm. A workhead is provided for mounting on the arm end opposite the bracket, and can carry a plurality of tools to conduct repair operations on tubes. The mounting bracket can be installed from without the shell and does not block the manhole, and the arm is self-installing, requiring no human presence within the generator shell.
REFERENCES:
patent: 3987498 (1976-10-01), Mason
patent: 4030309 (1977-06-01), Mason
patent: 4200424 (1980-04-01), Gerkey et al.
patent: 4222699 (1980-09-01), Dunn et al.
patent: 4303368 (1981-12-01), Dent et al.
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