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1. 发明授权

US5657245A Component maintenance system 失效
标题翻译：组件维护系统
公开(公告)号：US5657245A
公开(公告)日：1997-08-12
申请号：US281713
申请日：1994-11-09
申请人： Michael D. Hecht , Chris W. Bach , Steve J. Orbon , Paul J. Boone , John M. Driggers , Stephen M. Ira , Lyman J. Petrosky
发明人： Michael D. Hecht , Chris W. Bach , Steve J. Orbon , Paul J. Boone , John M. Driggers , Stephen M. Ira , Lyman J. Petrosky
IPC分类号： G06F11/22 , G21C17/003 , G01N1/08 , G01N27/82 , G21C7/36
CPC分类号： G21C17/003 , G06F11/2268 , G21Y2002/201 , G21Y2002/202 , G21Y2002/304 , G21Y2002/40 , G21Y2004/30 , G21Y2004/503
摘要： A component maintenance system having a network linked to a data acquisition system, a data analysis system, a historical file of component design and inspection information, and a diagnostic system having the capability to perform structural analysis of discontinuities identified by the data acquisition system. The network nodes may be located apart from each other; for example in the maintenance of a nuclear power plant steam generator, the data acquisition system may be located in a high radiation area while the data analysis system is safely located away from the radiation areas. Furthermore, the diagnostic system and the file of component design and inspection history information may be centrally located and shared to support component evaluations being conducted in numerous geographic locations. Network communication facilitates the rapid evaluation of discontinuities, thereby permitting the inspection plan to be modified as the inspection results are obtained.
摘要翻译：具有链接到数据采集系统的网络，数据分析系统，组件设计和检查信息的历史文件的组件维护系统以及具有执行由数据采集系统识别的不连续性的结构分析能力的诊断系统。网络节点可以彼此分开定位; 例如在核电厂蒸汽发生器的维护中，数据采集系统可以位于高辐射区域，同时数据分析系统安全地位于远离辐射区域的位置。此外，诊断系统和组件设计和检查历史信息的文件可以位于中心并被共享以支持在许多地理位置进行的组件评估。网络通信有助于快速评估不连续性，从而允许在获得检查结果时修改检查计划。

2. 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。

3. 发明授权

US4577127A Lightweight electric robotic actuator 失效
标题翻译：轻型电动机器人执行机构
公开(公告)号：US4577127A
公开(公告)日：1986-03-18
申请号：US563912
申请日：1983-12-21
申请人： Herbert E. Ferree , Thomas R. Wagner , Michael D. Hecht , Thomas J. Donnelly
发明人： Herbert E. Ferree , Thomas R. Wagner , Michael D. Hecht , Thomas J. Donnelly
IPC分类号： B25J9/10 , B25J9/12 , B25J17/02 , B25J19/00 , F16D55/00 , F16D55/28 , F16D59/02 , F16D65/14 , H02K7/102 , H02K7/116 , H02K7/20 , H02K9/08 , H02K11/00 , H02K7/06
CPC分类号： B25J9/1025 , B25J17/0241 , B25J19/0004 , B25J19/0054 , B25J9/126 , F16D55/28 , F16D59/02 , H02K11/21 , H02K11/225 , H02K7/1025 , H02K7/116 , F16D2055/0058 , F16D2121/22
摘要： An improved electric actuator is provided, having in association therewith a resolver. The actuator includes a stationary and a rotatable housing, and an electric motor within it. The electric motor drives the rotary housing through a speed reducing harmonic drive mechanism. The actuator has an opening in the rotary housing, and a cavity inwardly of the opening having a mating anchoring element connected with the stationary housing. A modular resolver is provided, of a shape and size to have a major portion of it occupy the cavity provided in the actuator, and having a mating part for engaging the mating part of the stationary housing, upon assemblage of the resolver to the actuator. A rotatable part of the resolver is secured to the rotary housing. A heat dissipation system is provided, including a fan mounted on a rotary member of the actuator and a closed circuit for the passage of air between the fan and a heat conductive plate forming a part of the stationary housing. Stability for the rotary housing is provided by widely spaced ball bearings supporting a rotary shaft extending from the rotary housing, the ball bearings being located at the maximum axial spacing within the stationary housing. In addition, an electromagnetic brake of lightweight construction is provided to prevent rotation of the rotary housing, and the resolver includes a coupling of the bellows type for elastic isolation from distortion of the parts, due to stresses between the fixed and rotary parts of the resolver.
摘要翻译：提供了一种改进的电致动器，其具有与其一起的旋转变压器。致动器包括固定的和可旋转的壳体，以及在其内的电动机。电动机通过减速谐波驱动机构来驱动旋转壳体。致动器在旋转壳体中具有开口，并且开口内部的空腔具有与固定壳体连接的配合锚定元件。提供了一种模块化旋转变压器，其形状和尺寸使其主要部分占据设置在致动器中的空腔，并且当旋转变压器组装到致动器上时，具有用于接合固定壳体的配合部分的配合部件。旋转变压器的可旋转部分被固定到旋转壳体。提供一种散热系统，包括安装在致动器的旋转构件上的风扇和用于风扇和形成固定壳体的一部分的导热板之间的空气通过的闭合回路。旋转壳体的稳定性由支撑从旋转壳体延伸的旋转轴的宽间距球轴承提供，球轴承位于固定壳体内的最大轴向间隔处。另外，提供轻便结构的电磁制动器以防止旋转壳体的旋转，并且旋转变压器包括用于弹性隔离的波纹管类型的耦合，以及由于分解器的固定和旋转部件之间的应力而导致的部件变形。

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