Abstract: A robot system with robot specific effects. Reconstructable for other fields of activities with few manipulations by the users themselfs. This objective is achieved in accordance with the present invention by standard robot-block parts of nearly the similar design for the installation of multiblock-robots with self operating walk, drive and manipulation faculties, with horizontally and vertically fitting, rotation flange plug connections, with turntables and driving motors and with current and communication channels which are leading through the center of the rotation plug connections and which provide current and communication supply lines and current and communication control lines. These lines are leaded to inside and outside slip-ring and induction units and to equipment components, composed of accumulators, sensors and electronic boards inside the block chamber.

Abstract: A wrist unit for an industrial robot includes an arm member with a motor installed therein and having a pair of integral guide portions. Holes are formed in respective guide portions, the holes being coaxial. A wrist member having receiving portions is disposed in a space formed between the guide portions. Two intermediate members are attached by fasteners to the wrist member and project into bearings mounted in the holes. A pair of cover members are fastened on opposite sides of the guide portions in order to retain the bearings.

Abstract: An articulated robot arm or the like comprising a base, an upper arm which is pivotally secured to the base at a shoulder joint, a lower arm pivotally secured to the upper arm at an elbow joint, and optionally a "hand" or tool support pivotally secured to the lower arm at a wrist joint. A parallelogram linkage controls the relative position of the upper arm, lower arm, and base. The linkage has first, second, third, and fourth links joined by pivots. The first link is a crank which is pivotally connected to the base by a first pivot which is coaxial with the shoulder pivot. The second link of the parallelogram linkage is parallel to the crank link, and is fixed with respect to the lower arm. The third and fourth links join the first and second links to complete the parallelogram. At least one of the third and fourth links is fixed to the upper arm.

Abstract: A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler pulleys of different diameter, is mounted at a point removed from the actuator, and preferably as close as possible to the output joint. An axially split spool mounted on the actuator output wraps the outgoing and returning cable sections on different halves of the spool in opposite directions to provide pretensioning of the cable in the entire cable circuit at one point. To form a differential, a pretensioned cable carried on paired pulleys having smooth outer surfaces parallel to the axis of rotation couples the pulleys. The pulleys have axes of rotation that can intersect and their cable carrying surfaces are closely spaced, preferably by less than half the width of the cable.

Abstract: A 2-D pointer motor provides for panning (sideways actuate motion) and tilt (yaw motion) and may be made smaller than one-cubic inch. The motor is preferably controlled by a microcomputer based controller using pulse-width modulation (PWM) to separately control each of its three coils. The coils are arranged orthogonally to provide a single unified torque vector which turns the rotor and accurately points it in the desired directions. The motor is especially adapted to carry a sensor such as a CCD array.

Abstract: An industrial robot includes a a hollow arm extending from a robot base, a wrist base mounted on a distal end of the hollow arm for rotation about a longitudinal axis of the hollow arm, a wrist mounted on a distal end of the wrist base for swinging movement about an axis transverse to the longitudinal axis, and a wrist socket mounted on a distal end of the wrist for rotation about an axis parallel to the longitudinal axis. The industrial robot also includes first, second, and third actuators such as motors. The first actuator is fixedly mounted on a rear end of the arm remotely from the wrist base and produces rotational drive forces that are transmitted to rotate the wrist base. The second actuator is fixedly mounted on the rear end of the arm and produces rotational drive forces that are transmitted to swing the wrist. The third actuator is fixedly mounted on the wrist and produces rotational drive forces that are transmitted to rotate the wrist socket.

Abstract: The casing of an arm of an articulated robot has a shell-like structure which serves a load-bearing function and houses a module containing the motor unit and related transmission.

Abstract: Two electrical cables of an articulated robot arm are in the form of helical cords which lengthen and shorten respectively during the rotation of the arm.

Abstract: A plurality of identical modules are serially connected together with each module including a base plate and a top plate interconnected by a universal joint assembly so that the top plate is adapted to pivotally nutate around the base plate to describe a cone in space. An array of twenty-four electromagnets, sequentially energized in sets of three, are arranged in a ring around the periphery of the base plate. Selective energization of the eight sets of electromagnets causes the rim of the top plate to be magnetically attracted to the energized electromagnets. The tilt of the top pivot plate is detected and controlled over a range of 360.degree., thus permitting a series string of modules to assume any desired elongated configuration.

Abstract: An improved break-away, end-of-arm robotic tooling assembly that has been designed to prevent damage to the robot arm in the event it would come in contact with something it should not. The robotic tooling assembly has a two inch inside diameter bore for air and paint lines. The robotic tooling assembly is compliant in all directions with the exception of a pulling force and it can be reset on repeating registration structure within the robotic tooling assemble. An air switch is incorporated which instantly signals the robot controller to perform an emergency stop.

Abstract: This invention is a flexible limb capable of changing length, bending in any direction, twisting, and changing cross-sectional size. Its skeletal structural design promotes optimal simplicity of control, ease of construction, lightness, and stiffness.

Abstract: An industrial robot with a horizontal telescopic arm unit having an arm casing horizontally slidably mounted on a vertical upright column, a telescopic arm encased in the arm casing to be telescopically moved with respect to the arm casing and in synchronism with the horizontal sliding movement of the arm casing, and a common drive motor causing the horizontal linear sliding movement of the arm casing and the telescopic movement of the telescopic arm via a rotation to linear movement converting mechanism.

Abstract: These joints are particularly useful for transmitting a flux (electrical, optical, liquid or gaseous) either entirely across the joint, or from one side of the joint to devices mounted on the joint itself that use such a flux. Such devices can, for example, be motors to drive the joint itself. The interlocking bodies are typically but not necessarily circular rings, mounted to a common internal structure that permits each body to rotate about its own axis. The resulting joints can rotate in all directions with a very high angular range--in most cases limited only by the angle subtended by connecting stems used to mount the joint to a base or to mount objects to the joint for motion. Some of these joints have hollow central enclosures for passing flexible wires or tubing to carry the flux, so that the flux can be transmitted across or into the joint with the same high degree of freedom, and yet without slip rings, brushes, or other expensive motionaccommodating components subject to wear.

Abstract: An electromagnetic actuator includes a cylindrical rod made of a magnetic substance and having a large number of annular teeth formed on an outer surface thereof at a fixed pitch, and a plurality of annular electromagnets fitted on the cylinder rod. The intervals of the annular electromagnets are set such that the offsets between the annular teeth of the annular electromagnets and the annular teeth of the corresponding cylindrical rod gradually increase. This ensures highly accurate axisymmetric configuration which in turn ensures a completely axisymmetric distribution of the magnetic flux. In consequence, the radial force which acts between the electromagnet and the rod can be reduced, and control over the movement of the rod in the axial direction is thus facilitated.

Abstract: The invention is an apparatus for transporting a limp material segment, such as cloth, along a reference axis parallel to a planar work surface. The apparatus includes a base member positioned above a work surface. A four-bar linkage assembly couples a segment coupling assembly to the base member. The four-bar linkage assembly includes first and second elongated bar assemblies, each being pivotally coupled to the base member. The length of the second bar assembly is controllable within a predetermined range. A third elongated bar assembly is pivotally coupled at a first end to the segment coupling assembly, at a second end to the second bar assembly, and at an intermediate point to the first bar assembly. In addition, the apparatus includes a rotary actuator for selectively rotating the second bar assembly about a pivot axis extending through its point of connection to the base member.

Abstract: A motor-drive industrial robot which can be used as a painting robot is mainly constructed by a direct-drive motor, a fixed portion such as a base, and a movable portion such as a rotary table, an arm etc. The direct-drive motor for driving the movable portion is constructed by a rotor and a stator. Preferably, the stator is attached to the fixed portion, while the rotor is attached to the movable portion. In order to avoid the generation of sparks in the flammable atmosphere, this robot is designed as the explosion-proof construction, so that the protective gas ie enclosed within the direct-drive motor. This protective gas is supplied into an annular space formed between the rotor and stator via a through hole formed through the stator or rotor. In addition, this annular space is sealed such that the protective gas is not leaked from the direct-drive motor.

Abstract: A multi-cylinder and short lead screw driven travel arm or machinery movement unit achieving infinitely variable travel through the design limits of travel imposed thereon. In one working configuration using 1", 2", 4" and 8" travel pneumatic cylinders and a 1" travel screw together yield a sixteen inch travel range with an infinite range of fully programmable settings through selected activation of cylinders along with the selected vernier setting of the 1" threaded travel screw. The travel range of settings may be increased even further by adding additional travel cylinders and increased length travel guide structure adequate for such increased travel range of settings, for example, addition of a 5" travel cylinder extends the range of settings to a maximum of twenty one inches.

Abstract: An assembly robot has rotational arm and a lifting axis and three rotational axes. A first rotary joint for defining the first rotational axis is mounted in a lateral projection of the lifting column. The assembly makes possible large pivoting angles.

Abstract: This invention relates to a six-axis machine for locating an operator with respect to an object, and more particularly to a versatile machine tool in which the tool can be moved in three lineal directions and three rotational directions in relation to the surface of a workpiece.

Abstract: A multi-articulation robot formed of a plurality of rotary articulation mechanisms, rocking articulation mechanisms, rotary shafts and vertical rods so that the above mentioned rotary articulation mechanisms, rocking articulation mechanisms and rotary shafts may be sequentially controlled to move to any predetermined position a working attachment provided at the tip.

Abstract: An industrial robot has a robot unit (10) comprising a fixed base (12) and movable robot components (16, 18, 20) operatively controlled by driving motors (M.theta., MW, MU, M.alpha., M.beta., M.gamma.) provided with absolute position detecting encoders (EC.theta., ECW, ECU, EC.alpha., EC.beta., EC.gamma.). The swivel body (16) among the movable robot components, mounted on the fixed base (12) is mounted, on its mount, with the driving motor (M.theta.) for operatively controlling the same, and is mounted with and holds a battery (46) for supplying a backup voltage to the encoders of the driving motors (MW, MU, M.alpha., M.beta., M.gamma.) for operatively controlling the movable robot components (18, 20). The battery is connected electrically by cables (48, 49) to the encoders (EC.theta., ECW, ECU, EC.alpha., EC.beta., EC.gamma.).

Abstract: Swinging arm robot comprises at least two swinging arms and motor-operated articulated drives. Each motor of the drive is arranged on an articulated part of an articulated axle. At least one swinging arm is not provided with a motor. The motors of the two articulated axles, which are assigned to the one swinging arm, are each fastened at an adjacent articulated part.

Abstract: A control unit for a multi-degree-of-freedom manipulator comprising a torque sensor for detecting the force exerting on each joint shaft and operational means for adding first and second correction values to the input signals to the motor actuator in accordance with the torque signal produced from the torque sensor. With this construction, non-linear and interference forces as well as effects due to the low rigidity of the joints can be removed without identifications of the link or arm parameters, and a striking improvement of the control performance can be achieved.

Abstract: A machine includes a pair of spaced supports, one of which may mount an operator such as a tool in a spindle and the other of which may mount an object such as a workpiece. The spaced platforms are joined by six powered and extensible legs joined to the respective platforms by universal joints. The length of the legs is individually manipulated to vary the position of the platforms and therefore the object and operator relative to each other in six axes. The powered legs may be hydraulic cylinders or recirculating ball screw driven. The distance between the spaced platforms may be measured by separate instrument arms which join the platforms. The instrument arms may use a digital position device to measure the extension and contraction of the instrument arms or may use a laser interferometer for that purpose. The changes in the instrument arm's lengths may be used to generate signals which are used to control the extension and contraction of the powered legs.

Abstract: A system for accurately and smoothly moving the tool centerpoint of a manipulator device. The system includes means for measuring the angles at the elbow pivot joint and shoulder pivot joint of the manipulator device. Required compensating movement in a second axis of the manipulator linkage as a result of movement in a first axis thereof is anticipated by the control system to enable substantially simultaneous movement of both axes, and feedback of the angular position of the pivot joints during such movements enables enhancement of the precision of the tool centerpoint movement.

Abstract: An internal pressure explosion-proof construction for an electrically-driven robot with which purging of airtight chambers of the robot in which electric motors are installed can be performed efficiently in a short time when air or inert gas is charged into the airtight chambers. The airtight chambers in which the electric motors are divided into a plurality of blocks, and an automatic opening and closing valve is provided at an outlet port connected to each of the blocks such that it may be opened only when the corresponding block is to be purged.

Abstract: A pulse width modulation (PWM) control circuit provides for improved implementation of position, velocity and current feedback loops for digital servo control of a multi axis robot. The PWM circuit utilizes a single resistor for sensing joint motor drive current. Circuitry is also disclosed for reducing audible noise and motor heating in large servo motors used for joint arms operated at relatively low PWM frequencies by reducing the motor ripple current.

Abstract: The device comprises a base element (1) and a movable element (8). Three control arms (4) are rigidly mounted at their first extremity (15) on three shafts (2) which may be rotated. The three assemblies each formed by a shaft (2) and an arm (4) are the movable parts of three actuators (13) of which the fixed parts (3) are integral with the base element. The other extremity (16) of each control arm is made integral with the movable element through two linking bars (5a, 5b) hingedly mounted on the one hand to the second extremity (16) of the control arm and, on the other hand, to the movable element. The inclination and the orientation in space of the movable element remain unchanged, whatever the motions of the three control arms may be. The movable element supports a working element (9) of which the rotation is controlled by a fixed motor (11) situated on the base element. A telescopic arm (14) connects the motor to the working element.

Abstract: Multi-jointed robot for use in a clean room specifically applicable during the production of semiconductor devices where contaminant material must be eliminated to the extent possible. The robot includes a sectional body defined at least in part by a plurality of arm members wherein a plurality of pivotal joints are provided to pivotably connect adjacent arm members with respect to each other. The arm members and the pivotal joints are hollow such that an uninterrupted air passage is provided in the robot extending through each of the pivotal joints and the arm members of the sectional body thereof. The robot includes a terminal arm member located at one end of the sectional body which has an opening on the exterior surface thereof defining one end of the air passage through the robot. A rotary fan is mounted in the robot at the other end of the air passage and is operable upon rotation to exhaust air through the air passage within the interior of the sectional body of the robot.

Abstract: In an industrial robot employing electric motors (Mz, M.theta., Mu, Mw) as drive sources for driving functional robot units for movement respectively about articulatory axes (Z, .theta., U, W), electric drive currents supplied to the electric motors (Mz, M.theta., Mu, Mw) associated with the articulatory axes (Z, .theta., U, W) are detected by a current detecting unit (30), the detected electric drive current supplied to the electric motor (Mz, M.theta., Mu, Mw) associated with one selected articulatory axis among the articulatory axes (Z, .theta., U, W) is sampled every predetermined minute sampling time in a period between a first time and a second time in a robot control program for controlling the motions of the functional robot units respectively about the articulatory axes (Z, .theta., W), computing means (CPU) calculates the ratio of the root-mean-square value of the electric current supplied to the electric motor (Mz, M.theta.

Abstract: The present invention is a control system for a seven-degree-of-freedom robotic arm. The robotic arm (10) includes two links (12 and 14), each having two degrees of freedom, and a spherical wrist (26) having three degrees of freedom. The kinematics of the spherical wrist are decoupled from the kinematics of the arm. The four degrees of freedom of the arm create a redundancy which provides versatility in the positioning of the arm. Fixing the redundant arm parameter and locating the end point (24) of the end effectuator path away from areas of limited mobility results in a marked simplification of the algorithms which describe the equations of motion of the arm. Additionally, further computation reduction can be achieved by updating the control gains less frequently than every microprocessor cycle, such as updating once for every five degrees of pitch angle rotation of either joint.

Abstract: A dual forearmed robotic elbow configuration comprises a main arm having a double elbow from which two coplanar forearms depend, two actuators carried in the double elbow for moving the forearms, and separate, independent end effectors, operated by a cable carried from the main arm through the elbow, is attached to the distal end of each forearm. Coiling the cables around the actuators prevents bending or kinking when the forearms are rotated 360 degrees. The end effectors can have similar or different capabilities. Actuator cannisters within the dual elbow are modular for rapid replacement or maintenance. Coarse and fine resolver transducers within the actuators provide accurate position referencing information.

Abstract: An industrial robot includes a base body, a hand, first and second horizontal arms rotatably coupled to each other, and a lift shaft provided between the base body and the first horizontal arm. The robot also includes drivers provided on the base body for driving the first and second horizontal arms and the hand, respectively, and transmission mechanisms provided in the base body and the first and second horizontal arms for transmitting the output power of the drivers to each of the first and second horizontal arms and the hand.

Abstract: A dispenser apparatus for dropping paste onto a substrates, etc. including a syringe having a nozzle, a motor which moves the syringe up and down, a controller which controls the rotational stopping positions and rotational speed of the motor, and digital switches for inputting a setting program into the controller. The setting program sets the rotational stopping positions and rotational speed of the motor so that the position at which lowering of the nozzle stops and the speed at which the nozzle is raised are controlled through the setting program.

Abstract: An industrial robot control apparatus for teaching an industrial robot and operating the robot in accordance with the teaching comprises a teaching handle (9) having a teaching switch (10), and a brake release switch (11) and a sequence control circuit (1). When the operator grips the teaching handle (9), the brake release switch (11) is activated, whereby a servo amplifier (6) is brought to an emergency stop condition in response to a signal from the switch, and a dynamic brake and a mechanical brake are released.

Abstract: A wrist mechanism of an industrial robot is provided with a forearm, a wrist base mounted on the forearm so as to be rotatable about a lengthwise rotary axis of the forearm, a wrist body mounted on the wrist base so as to be swingable about a swing axis perpendicularly crossing the rotary axis of the wrist base, and a wrist top mounted on the wrist body so as to be rotatable about an axis perpendicular to the swing axis of the wrist body. The wrist base is characterized in that a motor for rotating the wrist tip and a motor for swinging the wrist body are arranged opposite to each other in a lengthwise direction.

Abstract: In a two-arm type manipulator, it is very rare that two arms develop trouble simultaneously due to malfunction of motors and/or cables. In view of the above fact, motors for actuating manipulator joint mechanisms and cables connected between the motors and the manipulator frame are removably mounted on the shoulder section of the frame of the manipulator. Further, the first arm is so arranged as to be accessible to the second shoulder section or the second arm is so arranged as to be accessible to the first shoulder section. Therefore, it is possible to allow an access of one manipulator arm to the other disabled manipulator elements (motors and/or cables) for removal and replacement of the disabled elements with new elements without aid of another manipulator, in particular, where the manipulator is equipped in atomic facilities which refuse access, thus saving equipment investment.

Abstract: A multi-post gimbal mechanism for imparting motion to an object about a cer of rotation including a frame for supporting the object and a plurality of elongated posts coupled to the frame so as to permit orbital rotation of the frame about each of the coupling points. Each of the elongated posts is selectively adjustable in position and drive means are coupled to the elongated posts to selectively adjust the position. The drive means are supported on a mounting base and are pivotally attached to the mounting base such that each drive mechanism can rotate about an axis that is orthogonal to the longitudinal axis of its corresponding elongated support post.

Abstract: A mechanical manipulator having a joint with a base support and an output support each of which has an orthogonal pivot connection arrangement connecting them in one axis to a common joining arrangement connecting them in an orthogonal axis through which they are movably joined, there being a pair of guides with each rotatably connected to one of the supports and movably joined with each other. A plurality of such joints joined with one another can be provided between two rotary interfaces.

Abstract: Provided is a compact first arm (12) of an industrial robot having articulated horizontal arms, which first arm has a direct drive motor (19), an electromagnetic brake (25), and a rotary encoder (34, 36) disposed close to each other concentrically between the first arm (12) and a base post (10) supporting the first arm (12), and has another direct drive motor (39), another electromagnetic brake (45), and another rotary encoder (54, 56) disposed close to each other concentrically between the first arm (12) and a second arm (14) rotatably supported by the first arm (12).

Abstract: A velocity control apparatus according to the present invention controls the velocity of the distal end of a load such as a robot upon estimating the velocity of a servomotor from a detected position signal. In order to raise the speed at which estimated values of position and velocity are computed by an observer, a model serving as the object under the control of the observer is reconstructed as a simplfied servo-control system, and an estimated value (V.sub.L) of the velocity of the distal end of the mechanical load is computed upon regarding a difference value in the amount of rotation of the servomotor every fixed period as being the rotational velocity (V) thereof.

Abstract: A direct-drive-type multi-articulated robot comprising: a stationary support shaft (14), a cylindrical rotary casing (16) surrounding the stationary support shaft (14), a first robot arm (18) joined to the upper end (16a) of the rotary casing (16), a second robot arm (20) pivotally joined to the extremity of the first robot arm (18), a direct-drive motor (M.theta.) interposed between the lower end of the rotary casing (16) and the lower end of the stationary support shaft (14) to drive the rotary casing (16) and the first robot arm (18) together for turning motion, a brake gear (24) interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18) to arrest the turning motion of the first robot arm (18), and an encoder (26) for detecting turning motion, interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18).

Abstract: A robot arm usable for an industrial robot adapted to freely bend to realize a pattern of movement having a high ability of movement, excellent reachability and high accuracy by virtue of a comparatively small amount of rotational movement and a comparatively large amount of translational movement. The robot arm has cylindrical arm portions (14, 15, 16) flexibly connected to one after another via joints, and the arm portions comprise one upper arm (14), at least one intermediate arm (15) and one lower arm (16). An arm portion which belongs to a certain joint is formed with joint faces (21) which are inclined with respect to a longitudinally extending axis (29). A joint axis (22) of this joint extends at a right angle with respect to each of the joint faces (21). Each of the arm portions is freely turnable about the joint axis (22) independently of adjacent one or plural arm portions.

Abstract: A covering for a mechanical linkage comprises a material which is substantially impermeable to both liquid and particle contaminants and conforms to the outer surface of the mechanical linkage. Because the covering conforms to the surface of the mechanical linkage, the covering does not have loose portions that billow and rub together as the mechanical linkage operates. This lessens the possibility of pieces of the covering and contaminating material detaching and falling from the mechanical linkage. The covering also comprises access openings whereby the mechanical linkage can be serviced without removing the entire covering. In a preferred embodiment, the covering comprises a plurality of sections, each section having fasteners for securing the sections about the mechanical linkage. The separate sections can be individually removed and replaced in a relatively short period of time.

Abstract: A digital control for a multiaxis robot includes position, velocity and torque controls that drive a motor voltage control loop. Pulse width modulated control signals operate power switches in a power bridge to control the current to each robot joint motor. A single resistor is connected in the bridge circuit to supply motor current feedback needed for control loop operation.

Abstract: An industrial robot includes a movable arm and an electric motor driving the arm. A current flowing through the motor is controlled so that the arm is moved into predetermined positions and is balanced in the predetermined positions sequentially. A device memorizes values of the motor current at which the arm is balanced in the respective predetermined positions. A target value of the motor current is calculated on the basis of the memorized motor current values. The target motor current value allows the arm to be balanced in a given position.

Abstract: A pulse width moduation (PWM) scheme provides for digital implementation of robot control commands. For this purpose, it provides time stabilized current sampling synchronized to the sampling frequency of the position and velocity loops in the robot control. The PWM scheme enables accurate motor current measurement through usage of a single current sense resistor independent of the number of legs in a power amplifier configuration. This scheme permits commercially available, low cost, power blocks to be used for implementation of robot control system power amplifiers.The PWM scheme is cost effectively implemented in a semi-custom large scale integrated (LSI) circuit which provides the digital interface between a torque loop microprocessor and the drive circuitry for the power handling devices used to apply voltage to the robot axis actuator. Interface and control for three axes is provided by a single LSI device.

Abstract: A velocity control apparatus according to the invention is used in order to acccept feedback data, for velocity control of a servomotor or the like. The disclosed apparatus provides velocity information in the form of discrete data from a pulse coder or the like, and forms a prescribed control command by digitally processing the data in a microprocessor. In a case where the above mentioned data are sampled at a predetermined sampling rate during a processing period so as to accommodate processing by the microprocessor, a lag element results when the data are accepted within the computer as velocity information which causes an inaccuracy in servomotor control. Accordingly, a detection signal forming unit (5) processes the discrete count data as the sum of count data synchronized to the sampling rate which is the processing period subdivided into a fraction, in which fraction the denominator is an integer.

Abstract: A vehicle automatic fueling assembly having an automatic teller-type control command center which is energized by insertion of money or credit card by the vehicle driver from within the vehicle to select and pay for the amount of fuel desired. A computer control assembly is provided in operative command control engagement with the automatic teller-type command center so as to selectively actuate a robot controlled fueling assembly having an automatic cut-off fueling nozzle assembly into mating fueling engagement with an automatic cut-off fuel receiving valve assembly provided in associated with the modified gasoline tank of a vehicle. The vehicle automatic fuel assembly is also provided with wheel stop lock means and windshield cleaning and drying means which are also automatically controlled by the computer control assembly.

Abstract: A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.