Abstract: 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.

Abstract: 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.

Abstract: 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.