End effector position and identification system for steam genera

Details End effector position and identification system for steam genera End effector position and identification system for steam genera

1979-04-30

1981-09-08

Combs, Ervin M.

Metal working

Method of mechanical manufacture

With testing or indicating

291574, 29723, 29727, 165 76, B23P 1526, B23Q 2100

Patent

active

042876559

ABSTRACT:
The identity of a cantilevered end effector support member and its angular position on the platform member of a carriage movable along an arm which is rotatable in a plane parallel to a steam generator tubesheet, are supplied to a tubesheet servicing machine control system in the form of a discrete pattern of electrical signals which is used to determine the offset required in aligning the end effector with a particular point on the tubesheet. The discrete pattern of electrical signals is generated by at least two sensor elements mounted on one of the members, preferably at different radial distances from the pivot axis of the support member. At least two trigger elements are mounted on the other member in such a pattern as to trigger selected sensor elements to produce the discrete pattern of signals.

REFERENCES:
patent: 3889820 (1975-06-01), Ranger
patent: 3913752 (1975-10-01), Ward et al.
patent: 4004698 (1977-01-01), Gebelin
patent: 4018344 (1977-04-01), Leshem
patent: 4018345 (1977-04-01), Formanek et al.
patent: 4018346 (1977-04-01), Leshem et al.
patent: 4074814 (1978-02-01), Cooper et al.
patent: 4148403 (1979-04-01), Riffe
patent: 4158415 (1979-06-01), Young
patent: 4168782 (1979-09-01), Sturges
patent: 4178787 (1979-12-01), Gerkey

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