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1. 发明授权

US5355063A Robotic system for servicing the heat exchanger tubes of a nuclear steam generator 失效
标题翻译：用于维修核蒸汽发生器的热交换器管的机器人系统
公开(公告)号：US5355063A
公开(公告)日：1994-10-11
申请号：US607705
申请日：1990-11-01
申请人： Paul J. Boone , Michael H. Canton , Stanley F. Niziol , Tara D. Mapson , Bruce R. L. Cox , Raymond G. Kelly, Jr. , Robert P. Vestovich , George A. Savage , Robert D. Senger , Michael D. Hecht , Kurt K. Lichtenfiels , Anthony Grieco , Wenche W. Cheng
发明人： Paul J. Boone , Michael H. Canton , Stanley F. Niziol , Tara D. Mapson , Bruce R. L. Cox , Raymond G. Kelly, Jr. , Robert P. Vestovich , George A. Savage , Robert D. Senger , Michael D. Hecht , Kurt K. Lichtenfiels , Anthony Grieco , Wenche W. Cheng
IPC分类号： B25J9/00 , B25J9/10 , F22B37/00 , G05B19/19
CPC分类号： B25J9/1025 , F22B37/005
摘要： An improved robotic arm system for servicing the tubesheet located within the channel head of a nuclear steam generator is provided. The system includes a robotic arm whose shoulder and elbow joints are rotatable only in the plane parallel to the tubesheet in order to eliminate the imposition of cantileverly-induced torques on the electric motors driving these joints, as well as to minimize the possibility of mechanical interference between the arm and the walls of the channel head. Each of the motorized joint assemblies of the arm includes resolvers connected not only to the output of the drive train that moves the joint, but also to the drive shaft of the electric motor that drives the drive train, wherein the feedback signal generated by the resolver connected to the drive shaft of the electric motor is the primary signal used to modulate the amount of electric power conducted to the motor of the joint. Such a configuration advantageously results in smoother robotic arm movement. Finally, the control circuit assembly of the robotic arm system includes a control processing unit (CPU) which is capable of simultaneously driving not only the joint assemblies of the robotic arm, but also any computer-operated mechanisms associated with a variety of end effectors which the arm is capable of delivering. The CPU, power supply and other components of the control circuit assembly are installable in the containment area surrounding the steam generator in order to eliminate the number of cable penetrations through the containment walls that are necessary to operate the system.
摘要翻译：提供了一种用于维修位于核蒸汽发生器的通道头内的管板的改进的机器臂系统。该系统包括机器臂，其肩部和肘关节只能在与管板平行的平面中旋转，以消除在驱动这些关节的电动机上施加悬臂诱导扭矩，并且最小化机械干扰的可能性在手臂和通道头部的墙壁之间。臂的每个电动接头组件都包括不仅连接到传动系的输出的旋转变压器，该传动系的运动使接头移动，而且还连接到驱动传动系的电动机的驱动轴，其中，旋转变压器产生的反馈信号连接到电动机的驱动轴的是用于调制传导到接头的电动机的电力量的主要信号。这种配置有利地导致更平滑的机器人手臂运动。最后，机器臂系统的控制电路组件包括一个控制处理单元（CPU），该控制处理单元能够不仅同时驱动机器臂的接头组件，而且还可以驱动与各种终端执行器相关联的任何计算机操作的机构，手臂能够交付。控制电路组件的CPU，电源和其他组件可安装在蒸汽发生器周围的容纳区域中，以消除操作系统所需的通过密封壁的电缆穿透次数。

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