ES236310U - Manipulador con control a distancia para realizar operacio- nes en un equipo. - Google Patents

Manipulador con control a distancia para realizar operacio- nes en un equipo.

Info

Publication number
ES236310U
ES236310U ES1978236310U ES236310U ES236310U ES 236310 U ES236310 U ES 236310U ES 1978236310 U ES1978236310 U ES 1978236310U ES 236310 U ES236310 U ES 236310U ES 236310 U ES236310 U ES 236310U
Authority
ES
Spain
Prior art keywords
equipment
satellite
car
manipulator
main
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
ES1978236310U
Other languages
English (en)
Other versions
ES236310Y (es
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Westinghouse Electric Corp
Original Assignee
Westinghouse Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Westinghouse Electric Corp filed Critical Westinghouse Electric Corp
Publication of ES236310U publication Critical patent/ES236310U/es
Application granted granted Critical
Publication of ES236310Y publication Critical patent/ES236310Y/es
Expired legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F22—STEAM GENERATION
    • F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
    • F22B37/00—Component parts or details of steam boilers
    • F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
    • F22B37/006—Walking equipment, e.g. walking platforms suspended at the tube sheet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Thermal Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)

Abstract

Manipulador con control a distancia para realizar operaciones en un equipo, que incluye un carro satélite que puede acoplarse con dicho equipo para posicionar unos instrumentos con relación a dicho equipo, un brazo de manipulador satélite situado cerca de dicho carro satélite para posicionar dicho carro satélite y para transferir dichos instrumentos hasta dicho carro satélite, un carro principal sujeto de manera similar en un modelo a escala de dicho equipo situado a distancia de dicho equipo, con lo cual el accionamiento manual de dicho carro principal es reproducido automáticamente por dicho carro satélite, un brazo de manipulador principal situado cerca de dicho carro principal para controlar dicho brazo de manipulador satélite, con lo cual el accionamiento manual de dicho brazo de manipulador principal es reproducido automáticamente por dicho brazo de manipulador satélite, y un dispositivo de control para coordinar los movimientos de dichos carros y dichos brazos.
ES1978236310U 1977-06-13 1978-05-26 Manipulador con control a distancia para realizar operacio- en un equipo. Expired ES236310Y (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/806,232 US4168782A (en) 1977-06-13 1977-06-13 Remote access manipulator

Publications (2)

Publication Number Publication Date
ES236310U true ES236310U (es) 1978-12-16
ES236310Y ES236310Y (es) 1979-05-01

Family

ID=25193612

Family Applications (1)

Application Number Title Priority Date Filing Date
ES1978236310U Expired ES236310Y (es) 1977-06-13 1978-05-26 Manipulador con control a distancia para realizar operacio- en un equipo.

Country Status (5)

Country Link
US (1) US4168782A (es)
JP (1) JPS546272A (es)
BE (1) BE861842A (es)
ES (1) ES236310Y (es)
GB (1) GB1560136A (es)

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2415515A1 (fr) * 1978-01-30 1979-08-24 Framatome Sa Dispositif de vissage a commande a distance
DE2830306C2 (de) * 1978-07-10 1982-11-04 Kraftwerk Union AG, 4330 Mülheim Prüfeinrichtung für einen Wärmetauscher
US4302146A (en) * 1978-08-23 1981-11-24 Westinghouse Electric Corp. Probe positioner
US4303368A (en) * 1978-09-18 1981-12-01 Westinghouse Electric Corp. Remote docking apparatus
US4247974A (en) * 1978-10-18 1981-02-03 Westinghouse Electric Corp. Set-up method for steam generator tube installation apparatus
FR2455834A1 (fr) * 1979-03-30 1980-11-28 Framatome Sa Dispositif d'inspection televisuelle de la surface interieure d'une enceinte cylindrique
US4287655A (en) * 1979-04-30 1981-09-08 Westinghouse Electric Corp. End effector position and identification system for steam generator servicing machine
US4406856A (en) * 1980-09-29 1983-09-27 Westinghouse Electric Corp. Removal of portions of tubes from steam generator of nuclear reactor
US4367790A (en) * 1980-12-16 1983-01-11 Draeger Walter A Multiple tube cleaning apparatus
FR2503920B1 (fr) * 1981-04-08 1987-08-21 Intercontrole Sa Dispositif pour le positionnement d'un organe en vis-a-vis des perforations d'une plaque
FR2503921A1 (fr) * 1981-04-10 1982-10-15 Commissariat Energie Atomique Dispositif pour le positionnement d'un organe en vis-a-vis des perforations d'une plaque et procede de montage a distance d'un tel dispositif
JPS58120001A (ja) * 1982-01-08 1983-07-16 関西電力株式会社 固定架台
FR2529131B1 (fr) * 1982-06-23 1985-11-22 Int Robotic Engineerin Robot capable de se deplacer sur parois inclinees ou verticales
US4595419A (en) * 1982-12-27 1986-06-17 Proto-Power Corporation Ultrasonic decontamination robot
JPS59128448A (ja) * 1983-01-14 1984-07-24 Hitachi Ltd 配管検査装置
JPS61192101U (es) * 1985-05-24 1986-11-29
DE3521355A1 (de) * 1985-06-14 1986-12-18 Brown Boveri Reaktor GmbH, 6800 Mannheim Absturzsicherung fuer eine vorrichtung zum ausziehen eines rohres aus einem rohrboden eines waermetauschers
JPH0789286B2 (ja) * 1986-02-28 1995-09-27 株式会社日立製作所 多関節マニピユレ−タの作業原点決定方法
US4831531A (en) * 1987-02-20 1989-05-16 Sargent Industries, Inc. System for the performance of activity in space
FR2625936A1 (fr) * 1988-01-14 1989-07-21 Hispano Suiza Sa Procede de mise en place d'un robot porte-outils destine a des interventions en milieu humainement hostile
FR2626515B1 (fr) * 1988-02-02 1990-07-20 Barras Provence Vehicule concu pour se deplacer sur la plaque perforee d'un faisceau de tubes, pour positionner selectivement un outil au droit des tubes dudit faisceau
FR2644568B1 (fr) * 1989-03-16 1991-07-05 Intercontrole Sa Dispositif d'intervention, notamment pour le controle, l'inspection et la maintenance des echangeurs de chaleur
FR2674938B1 (fr) * 1991-04-05 1993-07-30 Barras Provence Vehicule d'exploration et de maintenance d'un reseau de tubes d'un generateur de vapeur.
US5164151A (en) * 1991-06-24 1992-11-17 Shah Jagdish H Manipulator system for an enclosure with a limited access point
US5178820A (en) * 1991-09-06 1993-01-12 B&W Nuclear Service Company Tool positioning assembly
NL9200286A (nl) * 1992-02-17 1993-09-16 Sven Ploem Botsvrij besturingssysteem voor een meerassig bestuurbare manipulator.
US5751610A (en) * 1996-10-31 1998-05-12 Combustion Engineering, Inc. On-line robot work-cell calibration
US6161272A (en) * 1999-08-23 2000-12-19 Madison; Charles D. Liquid storage tank apparatus and method of forming same
JP5314609B2 (ja) * 2010-01-27 2013-10-16 三菱重工業株式会社 水室内作業装置
US8973648B2 (en) 2012-05-10 2015-03-10 Westinghouse Electric Company Llc Tubesheet gripping mechanism and method
US8938044B2 (en) * 2012-05-10 2015-01-20 Westinghouse Electric Company Llc Tubesheet walker for heat exchanger inspections
US12202126B2 (en) * 2020-06-03 2025-01-21 Westinghouse Electric Company Llc Articulated manipulator for navigating and servicing a heat exchanger

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1082718B (de) * 1955-10-10 1960-06-02 Wilhelm Ludowici Dr Ing Einrichtung zur Steuerung der Bewegung von lastenfoerdernden Geraeten
US3282442A (en) 1964-06-23 1966-11-01 Ca Atomic Energy Ltd Remote control manipulators
DE2013422A1 (de) * 1969-04-29 1970-11-12 VEB Weimar-Kombinat Landmaschinen, χ 53OO Weimar tentwesen, Ost-Berlin WPl39649 Kopiereinrichtung zur Genauführung der Arbeitswerkzeuge hydraulisch betriebener Bagger und Krane
US3913752A (en) * 1973-08-01 1975-10-21 Combustion Eng Remotely movable platform
FR2309314A1 (fr) * 1974-12-05 1976-11-26 Framatome Sa Dispositif de positionnement selectif d'un organe sur une plaque tubulaire
JPS5248201A (en) * 1975-10-15 1977-04-16 Hokushin Electric Works Device for operating power shovel
US4018346A (en) * 1975-11-18 1977-04-19 Combustion Engineering, Inc. Mounting arrangement for anchor fingers on a surface traversing apparatus

Also Published As

Publication number Publication date
GB1560136A (en) 1980-01-30
JPS546272A (en) 1979-01-18
ES236310Y (es) 1979-05-01
BE861842A (fr) 1978-03-31
US4168782A (en) 1979-09-25

Similar Documents

Publication Publication Date Title
ES236310U (es) Manipulador con control a distancia para realizar operacio- nes en un equipo.
SE7906428L (sv) Robot
GB562688A (en) Improvements in gyroscope centralising gear for automatic pilots and like instruments
GB1253787A (en) Writing doll
FR1268718A (fr) Dispositif de régulation automatique de la profondeur d'attaque d'outils de travailliés à un tracteur par des parallélogrammes articulés comportant un dispositif de palpage
FR1229853A (fr) Dispositif de commande hydraulique à distance
JPS5413310A (en) Head positioning device
FR1232837A (fr) Dispositif d'abattage destiné aux exploitations minières
FR1187150A (fr) Mécanisme d'avance et de mise en position d'un chariot porte-outil
FR1372430A (fr) Dispositif de compas magnétique
FR1254297A (fr) Dispositif de commande d'avance
GB856345A (en) An improved straight line motion device
FR68147E (fr) Dispositif de commande à distance par fluide comprimé, notamment pour la manoeuvre de portes
FR1187502A (fr) Dispositif de relevage d'outils portés sur tracteur
FR1050674A (fr) Dispositif de transformation de mouvement permettant la commande à distance
ES241389A1 (es) Perfeccionamientos en las torretas portaherramientas para tornos
FR68796E (fr) Dispositif de manoeuvre d'un appareillage oléo-pneumatique
CA630146A (en) Instrument tilt simulator for non-flying aircraft trainer
FR1286248A (fr) Perfectionnements aux poignées de commande
CA650603A (en) Latch mechanism assembly for retractable ball pen
FR1200336A (fr) Dispositif de manoeuvre électrique d'un chariot porte-outils
AU1448755A (en) Improvements in or relating toa cable tool drill
FR1221669A (fr) Dispositif de commande d'orientation du faisceau d'un alignement rayonnant
FR67933E (fr) Porte-outil avec dispositif de positionnement de l'outil
GB780917A (en) Improvements in or relating to control devices for actuating flexible cables