Claims
- 1. A robotic positioning arm for accurately positioning a tool relative to a tube sheet in a nuclear steam generator comprising;
- a base adapted to be fixedly secured to an initial positioning means;
- a first extension arm rotatably mounted at a first end thereof on said base and extending therefrom;
- a first drive means for rotating said first extension arm relative to said base including a first high-torque DC motor coupled with a first harmonic drive for reducing the rotation output of said first DC motor by a first predetermined reduction ration and effecting rotation of said first extension arm;
- a second extension arm rotatably mounted at a first end thereof on a second end of said first extension arm and extending therefrom and having the tool mounted at a second end thereof;
- a second drive means for rotating said second extension arm relative to said first extension arm including a second high-torque DC motor coupled with a second harmonic drive for reducing a rotational output of said second DC motor by a second predetermined reduction ratio and effecting rotation of said second extension arm;
- a lifting linkage pivotally mounted on said second extension arm including a mounting bracket secured to a distal end of said linkage for supporting the tool, and a drive means for accurately moving said linkage including an electric motor, a follower connected to said linkage and a leadscrew connected to the output of the motor and threadedly engaged to said follower, and
- a control means for independently controlling said first and second drive means for accurately positioning the tool relative to the tube sheet in the nuclear steam generator, including first and second positioning sensors for determining a rotational position of said first and second joints, respectively,
- wherein both said first and second extension arms are disposed horizontally, and each of said joints includes a clutch means disposed between the output of the harmonic drive and its respective extension arm to minimize damage to the joint in the event that its respective arm should meet an obstruction during the operation of the drive means.
- 2. The robotic positioning arm as defined in claim 1, wherein said first predetermined reduction ratio is 200:1.
- 3. The robotic positioning arm as defined in claim 1, wherein said second predetermined reduction ratio is 200:1.
- 4. The robotic positioning arm as defined in claim 1, further comprising means for adjusting the length of said first and said second extension arm.
- 5. The robotic positioning arm as defined in claim 4, wherein said first extension arm includes a first and a second section with said first section being telescopically received within a first end of said second section, and said means for adjusting the length of said first extension arm includes a plurality of bores formed in said first section and at least one bore formed in said second section for selectively registering with one of said bores of said first section and a locking pin insertable into said registered bores for fixing said second section relative to said first section in a predetermined position.
- 6. The robotic positioning arm as defined in claim 5, wherein said first extension arm includes a third section telescopically received within a second end of said second section, said third section having a plurality of bores formed therein for selective registration with a second bore formed in said second section, and second locking pin insertable into said registered bores for fixing said second section relative to said third section in a predetermined position.
- 7. The robotic positioning arm as defined in claim 4, wherein said second extension arm includes a first and a second section with said first section being telescopically received within a first end of said second section, and said means for adjusting the length of said second extension arm includes a plurality of bores formed in said first section and at least one bore formed in said second section for selectively registering with one of said bores of said first section, and a locking pin insertable into said registered bores for fixing said second section relative to said first section in a predetermined position.
- 8. A robotic positioning arm for accurately positioning a tool relative to a tube sheet in a nuclear steam generator comprising;
- a base adapted to be fixedly secured to an initial positioning means;
- a first extension arm rotatably mounted at a first end thereof on said base and extending therefrom, said first extension arm including first and second telescopically interconnected sections;
- a first drive means for rotating said first extension arm relative to said base including a first high-torque DC motor coupled with a first harmonic drive for reducing the rotation output of said first DC motor by a first predetermined reduction ratio and effecting rotation of said first extension arm;
- a second extension arm rotatably mounted at a first end thereof on a second end of said first extension arm and extending therefrom and having the tool mounted at a second end thereof;
- a second drive means for rotating said second extension arm relative to said first extension arm including a second high-torque DC motor coupled with a second harmonic drive for reducing a rotational output of said second DC motor by a second predetermined reduction ratio and effecting rotation of said second extension arm;
- a length adjustment means for adjusting the length of said first and said second extension arms including a plurality of bores formed in said first section of said first extension arm and at least one bore formed in said second section of said first extension arm for selectively registering with one of said bores of said first section and a locking pin insertable into said registered bores for fixing said second section relative to said first section in a predetermined position; and
- a control means for independently controlling said first and second drive means for accurately positioning the tool relative to the tube sheet in the nuclear steam generator.
- 9. The robotic positioning arm as defined in claim 8, further comprising a first positioning sensor for sensing the rotational position of said first extension arm relative to said base.
- 10. The robotic positioning arm as defined in claim 9, further comprising a second positioning sensor for sensing the rotational position of said second extension arm relative to said first extension arm.
- 11. The robotic positioning arm as defined in claim 8, wherein said first predetermined reduction ratio is 200:1.
- 12. The robotic positioning arm as defined in claim 8, wherein said second predetermined reduction ratio is 200:1.
- 13. The robotic positioning arm as defined in claim 8, wherein said first extension arm includes a third section telescopically received within a second end of said second section, said third section having a plurality of bores formed therein for selective registration with a second bore formed in said second section, and second locking pin insertable into said registered bores for fixing said second section relative to said third section in a predetermined position.
- 14. The robotic positioning arm as defined in claim 8, wherein said second extension arm includes a first and a second section with said first section being telescopically received within a first end of said second section, and said means for adjusting the length of said second extension arm includes a plurality of bores formed in said first section and at least one bore formed in said second section for selectively registering with one of said bores of said first section, and a locking pin insertable into said registered bores for fixing said second section relative to said first section in a predetermined position.
- 15. The robotic positioning arm as defined in claim 8, further comprising a lifting linkage pivotally mounted on said second extension arm including a mounting bracket secured to a distal end of said linkage for supporting the tool, and a drive means for pivoting said lifting linkage for raising said mounting bracket and the tool to a predetermined position.
- 16. The robotic positioning arm as defined in claim 15, wherein said drive means includes a DC motor for rotating a lead screw in a forward and reverse direction, said DC motor and said lead screw being mounted on a reciprocable base supported by a guide means secured to said second extension arm and being reciprocable in a forward and rearward direction in response to the rotation of said lead screw.
- 17. The robotic positioning arm as defined in claim 16, further comprising a follower fixedly secured to said guide means for receiving said lead screw and causing said reciprocable base to reciprocate in said forward and rearward directions.
- 18. The robotic positioning arm as defined in claim 16, wherein rotation of said drive means is controlled by said control means.
- 19. A robotic positioning arm for accurately positioning a tool relative to a tube sheet in a nuclear steam generator comprising:
- a base adapted to be fixedly secured to an initial positioning means;
- a first extension arm rotatably mounted at a first end thereof on said base and extending therefrom;
- a first drive means for rotating said first extension arm relative to said base including a first high-torque DC motor coupled with a first harmonic drive for reducing the rotation output of said first DC motor by a first predetermined reduction ratio and effecting rotation of said first extension arm;
- a second extension arm rotatably mounted at a first end thereof on a second end of said first extension arm and extending therefrom and having the tool mounted at a second end thereof;
- a second drive means for rotating said second extension arm relative to said first extension arm including a second high-torque DC motor coupled with a second harmonic drive for reducing a rotational output of said second DC motor by a second predetermined reduction ratio and effecting rotation of said second extension arm;
- a lifting linkage pivotally mounted on said second extension arm including a mounting bracket secured to a distal end of said linkage for supporting the tool, and a drive means for accurately moving said linkage including an electric motor, a follower connected to said linkage and a leadscrew connected to the output of the motor and threadedly engaged to said follower;
- adjustment means for adjusting the length of said first and said second extension arm;
- a first positioning sensor for sensing the rotational position of said first extension arm relative to said base;
- a second positioning sensor for sensing the rotational position of said second extension arm relative to said first extension arm; and
- a control means for independently controlling said first and second drive means for accurately positioning the tool relative to the tube sheet in the nuclear steam generator,
- wherein both said first and second extension arms are disposed horizontally during operation, and wherein each of said joints includes a clutch means disposed between the output of the harmonic drive and its respective extension arm to minimize damage to the joint in the event that its respective arm should meet an obstruction during the operation of the drive means.
Parent Case Info
This application is a continuation of Ser. No. 07,407,254, filed Sep. 14, 1918, now abandoned.
US Referenced Citations (32)
Foreign Referenced Citations (1)
Number |
Date |
Country |
0251039 |
Nov 1987 |
DDX |
Non-Patent Literature Citations (1)
Entry |
Sales Flyer entitled "Robotic Service Arm Model WL-2" by Westinghouse Electric Corporation, 1989. |
Continuations (1)
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Number |
Date |
Country |
Parent |
407254 |
Sep 1989 |
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