US 4,168,782 A · Remote access manipulator

Abstract

A remote access manipulator for performing operations on equipment located in areas where human access is limited. The manipulator comprises a slave carriage located in the equipment on which the operation is to be performed, such as a nuclear steam generator, for carrying tools and inspection devices for performing operations on the equipment together with a master carriage located in a scale model of the equipment and electrically connected to the slave carriage for controlling the movement of the slave carriage. The slave carriage is capable of advancing across a surface of the equipment to position the devices which it carries. The manipulator further comprises a slave manipulator arm used to move the slave carriage into and out of the equipment on which the operation is to be performed in conjunction with a master manipulator arm located in the scale model for controlling the movement of the slave manipulator arm.

Claims9

Dependent claims

A remote access manipulator comprising:

first carriage means, attached to equipment on which operations are to be performed, for positioning instruments at various locations on said equipment so that the operation may be performed on said equipment;
second carriage means being substantially a master scale model of said first carriage means and similarly attached to a scale model of said equipment located remote from said equipment for controlling said first carriage means whereby manual manipulation of said second carriage means is automatically replicated by said first carriage means;
first arm means located near said first carriage means for positioning said first carriage means and for transferring said instruments to said first carriage means;
second arm means being substantially a master scale model of said first arm means and located near said second carriage means for controlling said first arm means whereby manual manipulation of said second arm means is automatically replicated by said first arm means;
and
control means connected between said carriage means and arm means for controlling their movement.

3 more elements

Dependencies are inferred from the claim text.

Remote access manipulator

Life of this patent

Remote access manipulator

Life of this patent

Abstract

Claims9