Material or article handling – Article manipulator moves analogous with human hand – finger,... – Motion of hand – finger – or arm member multiplied or reduced...
Patent
1978-01-09
1979-06-19
Husar, Francis S.
Material or article handling
Article manipulator moves analogous with human hand, finger,...
Motion of hand, finger, or arm member multiplied or reduced...
165 76, 414732, 414744, 294 96, B25J 304, G21C 1932
Patent
active
041584155
ABSTRACT:
A remote access manipulator comprises a locking mechanism capable of self-alignment for performing operations on equipment located in areas where human access is limited. The manipulator further comprises a slave carriage located in the equipment on which the operation is to be performed, such as a nuclear steam generator, for carrying tools and inspection devices for performing operations on the equipment together with a master carriage located in a scale model of the equipment and electrically connected to the slave carriage for controlling the movement of the slave carriage. The slave carriage is capable of advancing across a surface of the equipment to position the devices which it carries. The manipulator further comprises a slave manipulator arm used to move the slave carriage into and out of the equipment on which the operation is to be performed in conjunction with a master manipulator arm located in the scale model for controlling the movement of the slave manipulator arm. The locking mechanism comprises camlocks mounted on the slave carriage for engaging the equipment while being capable of self-alignment with respect to the equipment.
REFERENCES:
patent: 3889820 (1975-06-01), Ranger
patent: 3913752 (1975-10-01), Ward
patent: 3934731 (1976-01-01), Muller
patent: 4018344 (1977-04-01), Leshem
patent: 4018345 (1977-04-01), Formanek
patent: 4018346 (1977-04-01), Leshem
Abraham George F.
DePaul L. A.
Dermer Z. L.
Husar Francis S.
Westinghouse Electric Corp.
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