公开(公告)号：US4580028A

公开(公告)日：1986-04-01

申请号：US695101

申请日：1985-01-25

申请人： Richard M. Kobuck ,  Arthur F. Jacobs

发明人： Richard M. Kobuck ,  Arthur F. Jacobs

IPC分类号： B23K9/028 ,  B23K1/04

CPC分类号： B23K9/0284

摘要： A welding apparatus for internally welding sleeves to tubes comprises a central shaft with an electrode attached thereto which are capable of being inserted in a tubular member. A plurality of remotely actuable seals are disposed on the welding apparatus and around the electrode for establishing a sealed chamber in the sleeve in which the welding may take place. The welding apparatus is capable of supplying an inert shielding gas to the sealed chamber for pressurizing the sealed chamber during the welding process and while the electrode completes a weld around the inner circumference of the sleeve. The apparatus may also be used to internally braze the sleeve to the tube.

摘要翻译： 用于将套管内部焊接到管的焊接装置包括具有附接到其上的电极的中心轴，其能够插入管状构件中。 多个可远程致动的密封件设置在焊接设备上并围绕电极，以在套筒中建立密封室，在该套筒中可能发生焊接。 该焊接装置能够在密封室内提供惰性保护气体，用于在焊接过程期间对密封室进行加压，同时电极在套管的内周周围完成焊接。 该装置还可以用于将套管内部钎焊到管。

公开(公告)号：US4502347A

公开(公告)日：1985-03-05

申请号：US420669

申请日：1982-09-21

申请人： George W. Norris ,  Richard M. Kobuck ,  William J. Varley ,  Arthur F. Jacobs ,  Herbert E. Ferree

发明人： George W. Norris ,  Richard M. Kobuck ,  William J. Varley ,  Arthur F. Jacobs ,  Herbert E. Ferree

IPC分类号： B25J17/00 ,  B25J17/02 ,  B25J19/00 ,  F16H1/20

CPC分类号： B25J17/0283 ,  Y10T74/19074 ,  Y10T74/19665

摘要： A robotic manipulator wrist has one part 10 rotatable relative to the other part 12 of the wrist, and gear trains 16, 18, 20, operates to rotate the end effector shaft 14 when a brake 36 is applied to prevent relative movement between the two parts 10 and 12, and to rotate one part 10 relative to the other part 12 when a second brake 38 is applied to prevent relative movement between the end effector gear 18 and the intermediate gear 16.

摘要翻译： 机器人手腕具有相对于手腕的另一部分12可旋转的一部分10，并且齿轮系16,18,20在施加制动器36时操作以旋转末端执行器轴14，以防止两部分之间的相对运动 当施加第二制动器38以防止在末端执行器齿轮18和中间齿轮16之间的相对移动时，相对于另一部分12旋转一个部件10。

公开(公告)号：US4510372A

公开(公告)日：1985-04-09

申请号：US409209

申请日：1982-08-18

申请人： Richard M. Kobuck ,  Arthur F. Jacobs

发明人： Richard M. Kobuck ,  Arthur F. Jacobs

IPC分类号： B23K9/028 ,  B23K9/12

CPC分类号： B23K9/0284

摘要： A welding apparatus for internally welding sleeves to tubes comprises a central shaft with an electrode attached thereto which are capable of being inserted in a tubular member. A plurality of remotely actuable seals are disposed on the welding apparatus and around the electrode for establishing a sealed chamber in the sleeve in which the welding may take place. The welding apparatus is capable of supplying an inert shielding gas to the sealed chamber for pressurizing the sealed chamber during the welding process and while the electrode completes a weld around the inner circumference of the sleeve. The apparatus may also be used to internally braze the sleeve to the tube.

公开(公告)号：US4149934A

公开(公告)日：1979-04-17

申请号：US781402

申请日：1977-03-25

申请人： Arthur F. Jacobs ,  Duane W. Morris

发明人： Arthur F. Jacobs ,  Duane W. Morris

IPC分类号： G01N29/04 ,  G21C17/00 ,  G21C17/01

CPC分类号： G21C17/01

摘要： An emergency retraction means is provided for removing the extended manipulator arm of a nuclear reactor vessel inspection device from within a nozzle thereof or from a fully extended position should power for normal extension drive fail. A cable is looped about the interior of a carriage assembly which drivingly engages the remainder of the manipulator arm. The cable is fixedly clamped at one location within the carriage assembly and looped about a first idler pulley mounted in the manipulator arm and is guided therefrom by another idler to an accessible point where the end of the cable is formed into a ring. The ring is detachably secured thereat to the carriage assembly.When an emergency occurs, a hook is lowered to engage the ring and is then lifted to detach it from the carriage assembly and move it upwardly therefrom. As the ring is pulled up, it tightens the cable about the first idler pulley pulling it towards the main column of the inspection device and mechanically forcing the manipulator arm extension drive to manually retract the manipulator arm.

摘要翻译： 提供了一种紧急撤回装置，用于从其喷嘴内部或从完全伸出的位置移除核反应堆容器检查装置的延伸的操纵臂，以便正常延伸驱动器的电源故障。 电缆围绕滑架组件的内部环绕，其驱动地接合机械手臂的其余部分。 电缆被固定地夹持在滑架组件内的一个位置，并围绕安装在机械手臂中的第一空转滑轮环绕，并且通过另一惰轮被引导到电缆端部形成环的可接近点。 环可拆卸地固定在支架组件上。

公开(公告)号：US4149932A

公开(公告)日：1979-04-17

申请号：US781396

申请日：1977-03-25

申请人： Arthur F. Jacobs ,  Duane W. Morris

发明人： Arthur F. Jacobs ,  Duane W. Morris

IPC分类号： B25J15/00 ,  B25J9/16 ,  B25J11/00 ,  G01N29/04 ,  G21C17/003 ,  G21C17/01 ,  G21F7/06 ,  G21C17/00

CPC分类号： B25J11/00 ,  G21C17/01

摘要： An emergency disconnect means is disclosed for uncoupling a portion of the linkage means which connects the several segments of an articulating manipulator arm employed in a nuclear reactor vessel inspection device. One of the motor housings included in the manipulator arm's segmented drive train is pivotably coupled between two segments thereof. In the event of power failure or the necessity of manual retraction of the manipulator arm from within the vessel, a lever is manually operated and moved from its normally locked position wherein the motor housing is positionally fixed to a release position wherein the motor housing and the remainder of the manipulator arm segments connected forwardly thereof are pivotally released to shorten the normal arm reach and alter the normal orientation of the manipulator arm to expedite removal without danger of collision.

摘要翻译： 公开了一种紧急断开装置，用于将连接装置的连接装置的一部分连接在用于核反应堆容器检查装置中的关节式操纵臂的几个部分。 包括在操纵臂分段的传动系中的一个电动机壳体可枢转地联接在其两个部分之间。 在电源故障或者需要从容器内手动地撤回机械手臂的情况下，手柄操作并从其常闭位置移动，其中马达壳体被位置地固定到释放位置，其中马达壳体和 其前面连接的操纵臂部分的其余部分被枢转地释放，以缩短正常臂的伸展并改变操纵臂的正常定向，以加快移除而不会有碰撞的危险。

公开(公告)号：US4196049A

公开(公告)日：1980-04-01

申请号：US912608

申请日：1978-06-05

申请人： David C. Burns ,  Lanson Y. Shum ,  Renato D. Reyes ,  Arthur F. Jacobs ,  Duane W. Morris ,  Raymond P. Castner

发明人： David C. Burns ,  Lanson Y. Shum ,  Renato D. Reyes ,  Arthur F. Jacobs ,  Duane W. Morris ,  Raymond P. Castner

IPC分类号： G21C17/01 ,  G21C17/00

CPC分类号： G21C17/01

摘要： A segmented manipulator arm for a nuclear reactor vessel inspection device is disclosed. The several segments of the arm are linked in a manner which permits independent movement of each segment in a different plane of motion. The transducer array which is utilized to conduct the examination of any appropriate point in the reactor vessel is cooperably linked to the final or most forward segment of the manipulator arm.The first segment of the manipulator arm is appropriately coupled to the main column of the inspection device for independent movement in one of three planes relative to the main column. Additional segments are employed and cooperatively linked to the first segment to yield a total of nine planes of movement for one or more of the segments. In addition, brackets are used to constrain segment movement in parallel or predetermined planes as desired.

摘要翻译： 公开了一种用于核反应堆容器检查装置的分段操纵臂。 臂的几个部分以允许每个片段在不同运动平面中独立运动的方式连接。 用于对反应堆容器中的任何适当点进行检查的换能器阵列可协调地连接到操纵臂的最后或最前部段。 操纵器臂的第一段适当地联接到检查装置的主柱，用于在相对于主柱的三个平面之一中独立运动。 使用附加段并且协作地链接到第一段，以产生一个或多个段的总共九个移动平面。 另外，根据需要，支架用于平行地或预定的平面限制段移动。