Robotic arm for servicing nuclear steam generators
US5265667A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Dec 9, 1991 |
| Grant date | Nov 30, 1993 |
| Priority date | — |
| Expiry date | Dec 9, 2011 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T74/18576
- WIPO fieldThermal processes and apparatus
- WIPO sectorMechanical engineering
Abstract
An improved robotic arm which is capable of accurately manipulating a testing device beneath the tube sheet of the steam generator and accurately and consistently return to a selected tube location is provided. The robotic arm includes a base which is adapted to be fixedly secured to a support beam which initially positions the robotic arm within the steam generator, a first extension arm which is rotatably mounted on the base forming a primary rotation joint and which extends essentially parallel to the tube sheet. A second extension arm is rotatably mounted at the end of the first extension arm forming a secondary rotation joint and further extends therefrom. The testing device such as an eddy current inspection tool is positioned at a distal end of the second extension arm. The improvement includes a direct drive high-torque DC motor and a harmonic drive coupling being provided at each of the joints for providing a significant reduction ratio between the output of the high-torque DC motor and the rotational joint. Further, these components are of a light weight construction so as to limit the load carried by the robotic arm. A control device is provided for simultaneously indepe…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.