Robotic arm

• US 4,822,238 A
• Filed: 09/17/1987
• Issued: 04/18/1989
• Est. Priority Date: 06/19/1986
• Status: Expired due to Fees

• Current Assignee: Westinghouse Electric Corporation (Paramount Global (f/k/a ViacomCBS Inc.))
• Original Assignee: Westinghouse Electric Corporation (Paramount Global (f/k/a ViacomCBS Inc.))
• Inventors: Kwech, Horst
• Primary Examiner(s): Spar, Robert J.
• Assistant Examiner(s): Smith, P. McCoy
• Application Number:
  US07/097,264
• Time in Patent Office: 579 Days
• Field of Search: 901/14, 901/15, 901/18, 901/23, 901/24, 901/49, 901/50, 901/17, 901/1, 901/28, 901/29, 414/1, 414/3, 414/4, 414/7, 414/8, 414/744 A, 414/744 R, 414/718, 414/729, 414/730, 414/732, 414/735, 414/909, 74/768, 165/11.2
• US Class Current: 414/730
• CPC Class Codes: B25J 15/0206 comprising articulated grippers
• CPC Class Codes: B25J 17/0241 One-dimensional joints
• CPC Class Codes: B25J 21/00 Chambers provided with manipulation devices constructional features of the mounting of the manipulator in the wall B25J1/08 ; glove-boxes for nuclear applications G21F7/04
• CPC Class Codes: B25J 9/04 by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
• CPC Class Codes: F22B 37/002 specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
• CPC Class Codes: G21F 7/066 Remotely manipulated tools

Abstract

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

Claims

1. A robotic system comprising a robotic arm for work access to the interior of a nuclear vessel and having an operating end for holding an end effector to perform a desired operation within the nuclear vessel and a control end positionable externally of the nuclear vessel comprising, a housing attachable to the nuclear vessel, a mounting frame rotatable on the housing externally of the nuclear vessel, a plurality of arm sections positioned generally in end-to-end relation including a first arm section extending through said housing and having a length to extend from within the nuclear vessel to said control end and having longitudinal movement lengthwise of said housing, said first arm section being connected to said mounting frame for rotation therewith, means on an arm section at the operating end of the robotic arm for holding an end effector, means mounting said arm sections to enable six axes of motion of the operating end of the robotic arm including said longitudinal movement of the first arm section with a plurality of said axes of motion being between arm sections disposed in the nuclear vessel during operation of the robotic arm, means between arm sections operable to effect said plurality of axes of motion, a plurality of motors at the control end of the robotic arm for positioning outside of the nuclear vessel for providing power to said means between arm sections for moving said arm sections to achieve said six axes of motion, means mounting at least one of said motors for said longitudinal movement with said first arm section, and drive trains between certain of said motors and said means between arm sections to cause movement about said plurality of axes of motion.

2. A robotic system as defined in claim 1 wherein said six axes of motion include longitudinal and rotational movement of the entire robotic arm, a third axis of motion to rotate the operating end of the robotic arm about an axis transverse to said longitudinal movement, a fourth axis of motion to roll said operating end about an axis extending generally lengthwise thereof, a fifth axis of motion to pivot the operating end about an axis transverse to said fourth axis of motion and a sixth axis of motion to rotate the operating end about an axis generally lengthwise thereof.

3. A robotic system for working access to the interior of a nuclear vessel and having a robotic arm with a plurality of arm sections comprising, a mounting frame, a first arm section mounted on said mounting frame for rotational and longitudinal movement to define an axis of compound motion including a first rotational axis of motion and a second longitudinal axis of motion, a second arm section, means pivotally interconnecting said first and second arm sections to define a pivotal third axis of motion, a third arm section, means rotationally interconnecting said second and third arm sections to define a rotational fourth axis of motion, a fourth arm section, means pivotally interconnecting said fourth arm section to said third arm section to define a fifth axis of motion, a fifth arm section, means rotationally interconnecting said fourth and fifth arm sections, releasable means on said fifth arm section for holding an end effector, a mounting tube positionable within and connected to said nuclear vessel at the top and bottom thereof and of a size to receive said robotic arm therein, and said mounting tube having a window in the wall thereof to permit said second, third, fourth and fifth arm sections to move outwardly of the mounting tube by pivotal movement about said third axis of motion.

4. A robotic system as defined in claim 3 including bearing means on the first arm section engaging the interior of said mounting tube for guiding the movement of the first arm section.

5. A robotic system having an arm for positioning an end effector within a nuclear vessel and insertable within a relatively small diameter tube at the top of the vessel comprising, a mounting tube for positioning in fixed relation with the nuclear vessel, a mounting frame longitudinally fixed to the mounting tube at an end thereof positionable outside the nuclear vessel, a plurality of arm sections in movably-connected end-to-end relation extending lengthwise of the mounting tube, means connected between said mounting frame and the first of the arm sections for moving the arm sections lengthwise of the mounting tube, means for rotating the first arm section relative to the mounting tube, a plurality of the arm sections having coacting driven means therebetween for moving one arm section relative to another, a plurality of selectively operable drive motors mounted for movement with said first arm section, and means for transmitting motion from the drive motors to said driven means for causing one arm section to move relative to another.

6. A robotic system as defined in claim 5 wherein said arm sections are tubular and said motion-transmitting means extend lengthwise and internally of said arm sections.

7. A robotic system as defined in claim 5 including a gearbox fixed to said first arm section, a plurality of means in said gearbox for converting rotation to rotary movement of said motion-transmitting means, and said plurality of selectively operable drive motors individually connected to the input of the rotation-converting means.

8. A robotic system as defined in claim 5 wherein said arm sections include an arm section at an operating end of the robotic arm having remotely-operable means for holding an end effector.

9. A robotic system as defined in claim 8 including a plurality of arm sections intermediate said first arm section and the arm section at the operating end, and the movable connections between arm sections including means to provide pivotal movement between two arm sections and rotational movement between two arm sections.

10. A robotic system as defined in claim 5 including a second arm section, means pivotally interconnecting said first and second arm sections, and said motion-transmitting means including shafts extending lengthwise of said pivotal interconnection with flex shaft sections in said shafts at the location of said pivotally interconnecting means.

11. A robotic arm having a plurality of arm sections comprising a first arm section, means for moving said first arm section along a first axis extending lengthwise thereof, means for rotating said first arm section about said first axis which constitutes a first roll axis, a second arm section, means pivotally interconnecting said first and second arm sections for pivoting of the second arm section about a pitch axis, a third arm section, means rotatably interconnecting said second and third arm sections for rotation of the third arm section about a second roll axis extending lengthwise of the second and third arm sections, a fourth arm section, means pivotally interconnecting said fourth arm section to the third arm section for pivoting of the fourth arm section about a yaw axis extending transversely to said third roll axis, a fifth arm section having means for holding an end effector, means interconnecting said fourth and fifth arm sections for rotation about a third roll axis extending lengthwise of the fourth arm section, and selectively operable drive means for achieving movement along or about one or more of said axes comprising a plurality of servo motors and said servo motors are all located adjacent and connected for movement with the upper end of said first arm section.

12. A robotic arm as defined in claim 11 wherein said selectively operable drive means includes a plurality of motion-transmitting shafts extending through said arm sections.

13. A robotic arm defined in claim 12 wherein said selectively operable drive means includes gearing between arm sections operable to cause movement about said pitch axis, said yaw axis and said second and third roll axes, and said motion-transmitting shafts connected one to each of the gearing between arm sections.

14. A robotic system comprising, a torque housing, a mounting tube extended through said torque housing, a robotic arm with a plurality of movably interconnected arm sections with at least one arm section movably mounted within the mounting tube, a mounting frame rotatably supported by the torque housing, means connecting an upper end of the mounting tube to said mounting frame, a gearbox movable along said mounting frame at a location above the upper end of the mounting tube, a first of said arm sections extending above the upper end of the mounting tube, means connecting an upper end of said first arm section to said gearbox, drive means connected between said mounting frame and gearbox for moving said gearbox and first arm section lengthwise of the mounting frame and the mounting tube along a first axis of motion, and drive means for rotating said mounting frame including a motor supported by said torque housing for rotating the mounting tube and first arm section about a second axis of motion coincident with said first axis of motion.

15. A robotic system for work access to the interior of a nuclear vessel through a small diameter opening thereto comprising, a torque housing mountable onto the nuclear vessel externally of said opening, a mounting tube extended through said torque housing and of a length to extend into and adjacent the bottom of the nuclear vessel, a robotic arm with a plurality of movably interconnected arm sections movably mounted within the mounting tube, a mounting frame rotatably supported by the torque housing, means connecting an upper end of the mounting tube to said mounting frame, a gearbox carried by said mounting frame at a location above the upper end of the mounting tube, a first of said arm sections extending above the upper end of the mounting tube, means connecting an upper end of said first arm section to said gearbox, means mounting said gearbox for movement longitudinally of the mounting frame, drive means connected between said mounting frame and gearbox for moving said gearbox and first arm section lengthwise of the mounting frame and the mounting tube along a first axis of motion, and drive means for rotating said mounting frame including a motor supported by said torque housing for rotating the mounting tube and first arm section about a second axis of motion.

16. A robotic system as defined in claim 15 wherein said mounting tube has an opening in the wall defining a window through which a plurality of said arm sections can be extended toward a wall of a nuclear vessel.

17. A robotic system as defined in claim 16 wherein said plurality of arm sections have gear means therebetween rotatable to cause movement of one arm section relative to another, a plurality of motors on said gearbox, and drive shafts from said motors to said gear means.

18. A robotic system for work access to the interior of a nuclear vessel through a small diameter opening thereto comprising, a torque housing mountable onto the nuclear vessel externally of said opening, a mounting tube extended through said torque housing and of a length to extend into and adjacent the bottom of the nuclear vessel, a robotic arm with a plurality of movably interconnected arm sections movably mounted within the mounting tube, said mounting tube having an opening in the wall thereof defining a window through which a plurality of said arm sections can be extended toward a wall of the nuclear vessel, a mounting frame rotatably supported by the torque housing, means connecting an upper end of the mounting tube to said mounting frame, a gearbox carried by said mounting frame at a location above the upper end of the mounting tube, a first of said arm sections extending above the upper end of the mounting tube, means connecting an upper end of said first arm section to said gear box, means mounting said gearbox for movement longitudinally of the mounting frame, drive means connected between said mounting frame and gearbox for moving said gearbox and first arm section lengthwise of the mounting frame and the mounting tube along a first axis of motion, drive means for rotating said mounting frame including a motor supported by said torque housing for rotating the mounting tube and first arm section about a second axis of motion, and gear means between said plurality of arm sections rotatable to cause movement of one arm section relative to another, a plurality of motors on said gearbox, and drive shafts from said motors to said gear means.

19. A robotic system having a robotic arm for work access to the interior of a nuclear vessel and having an operating end for holding an end effector to perform a desired operation within the nuclear vessel and a control end positionable externally of the nuclear vessel comprising, a plurality of cylindrical arm sections positioned generally in end-to-end relation, means on an arm section at the operating end of the robotic arm for holding an end effector, means mounting said arm sections to enable six axes of motion of the operating end of the robotic arm with a plurality of said axes of motion being between arm sections disposed in the nuclear vessel during operation of the robotic arm, means between arm sections operable to effect said plurality of axes of motion, a plurality of motors at the control end of the robotic arm for positioning outside of the nuclear vessel for providing power to said means between arm sections for moving said arm sections to achieve said six axes of motion, drive trains between certain of said motors and said means between arm sections to cause movement about said plurality of axes of motion, a mounting tube positionable within the nuclear vessel and supported thereby at the opposite ends thereof, said robotic arm being positioned within the mounting tube for guided longitudinal and rotational movement, and means defining a window in the wall of the mounting tube at a location to permit a plurality of said arm sections to extend therethrough.

20. A robotic system as defined in claim 19 wherein two of said axes of motion include movement of the robotic arm longitudinally and rotationally with respect to the mounting tube with a third axis of motion being about an axis transverse of the length of the mounting tube, and said window having a height to enable arm sections to move outwardly of the window about said third axis in a plurality of positions of the robotic arm longitudinally of the mounting tube.