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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
First Claim
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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.

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