Abstract: An inspection system and process for inspecting a plurality of conduits mounted in a manifold is disclosed herein. The system generally comprises a probe carrier for driving an eddy current or ultrasonic probe throughout the conduits to be inspected, and a delivery assembly detachably mountable within the manifold for remotely delivering and inserting the probe carrier into the open ends of the conduits. The delivery system includes an insertion and pusher mechanism for selectively inserting and pushing the probe carrier through the open ends of the tubes, a rail assembly which is removably mountable within the manifold, and a carriage slidably mounted on the rail assembly for supporting and axially positioning the insertion and pusher mechanism. Angular and axial electric drive motors are also provided for rotating and moving the insertion and pusher to a selected angle around and point along the longitudinal axis of the manifold.

Abstract: According to the invention, the fiber scope is inserted into the highly rigid tube and this tube is clamped as a rigid member by the robot wrist (or fiber scope supporting device) and camera supporting device, thereby allowing the camera supporting device and tube to move intergrally with the robot wrist. Therefore, no twisting of the fiber scope occurs within the operating range of the robot wrist axis. Also, even at any position in the operating range of the robot wrist axis as well, the angle of bend of the fiber scope can be held to a constant value below the allowable bending angly of the fiber scope. Consequently, it has been possible to realize an imaging device in which interference between the object to be worked and the optical system is remarkably improved.

Abstract: A machine for examining a nuclear reactor fuel assembly, having a flooring of elongated shape, a rotary container located on a support at one end of the flooring, two vertically arranged rigid structures each consisting of two parallel tubes, a latching mechanism for the fuel assembly, including a large and a small branch which are pivotable with respect to each other, a device for immobilizing the small branch relative to the large branch, a trolley that can be displaced along the flooring towards and away from the support and carries a vertical column along which a bracket with a carriage is movable on which a television system or the like for examining the fuel assembly may be mounted.

Abstract: This invention relates to a method of measuring by a coordinate measuring instrument and the coordinate measuring instrument, wherein a probe to be brought into abutting contact with a work to be measured is moved in two- or tri-dimensional direction by a robot mechanism provided independently of a main body of measuring instrument. A moving path of the robot mechanism is preset, and, when a command to carry out a predetermined measuring program is given from a data processing unit, the robot mechanism is moved in accordance with the moving path, and a measured result is calculated to seek a dimension of the work, on the basis of measured data given through an abutting contact between the probe and the work.

Abstract: Apparatus for positioning a probe carried by an elongated flexible carrier includes a cantilevered telescoping extensible boom. A sprocketed tractor feed mounted at the distal end of the boom engages apertures in the carrier for feeding it and deflecting it from the boom in a direction substantially perpendicular to the longitudinal axis thereof. The tractor feed is mounted for rotational movement about the longitudinal axis of the boom. A withdrawal device engages the carrier adjacent to the supported end of the boom for reeling the carrier up into a cartridge. Extension and retraction of the boom is effected by a rack and pinion mechanism. Rotary resolvers measure the movement of the boom, the movement of the carrier with respect to the boom and the rotary movement of the tractor feed for providing signals to an associated microcomputer, accurately to detect and control the position of the probe. The microcomputer additionally provides on-line visualization of sludge profilometry and topography.

Abstract: An apparatus for automatically opening and closing a door of a vehicle body which is transferred by a conveyor or is stopped at a predetermined position in a manufacturing process. The apparatus accurately control the opened angle of the door with the guidance of the combination between an engagement member and an opening thereof.

Abstract: A rotational apparatus for molding dolls including an automatic control mechanism, a mold holding mechanism, a robot mechanism having a mold cover opening and closing means for opening and closing the mold, mold releasing means for releasing a molded product from the mold, mold release detecting and cleaning means and a raw material charging means, a heating means and a cooling means.

Abstract: An apparatus is disclosed for carrying out repair, maintenance or testing of apparatus, components and the like in hot cells, more particularly hot cells of reprocessing plants for spent nuclear fuels. The position of damage zones is detected and ascertained with the use of coordinates. Replacement parts and tools are moved into the maintenance and work position in dependence upon the coordinate data, and the repair of maintenance work is automatically carried out under computer control, with remote operation and remote monitoring. For carrying out the work, computer-controlled handling machines and manipulators are used which are adapted to travel in controllable manner in the hot cell. The monitoring and detecting, using coordinates, of damage zones and defects may be carried out with the use of cameras and/or leak detectors.

Abstract: The method of inspecting and determining the status of a hole in a surface of a part comprising placing a robot at a stationary position, said robot being controlled by a programmable controller and having a movable arm with a fiber optic scanner device capable of sensing a reflective surface. The part to be inspected is placed in a stationary fixture spaced from the robot and the robot arm with the fiber optic scanner device is moved to a point spaced from the part surface. The robot arm with the fiber optic scanner is incrementally moved closer to the part surface until light reflection is detected from the part surface by the fiber optic scanner. A signal is sent to the robot controller upon detecting light reflection from the part surface to stop further incremental movement of the robot arm and fiber optic scanner closer to the part.

Abstract: An ultrasonic decontamination robot removes radioactive contamination from the internal surface of the inlet and outlet headers, divider plate, tube sheet, and lower portions of tubes of a nuclear power plant steam generator. A programmable microprocessor controller guides the movement of a robotic arm mounted in the header manway. An ultrasonic transducer having a solvent delivery subsystem through which ultrasonic action is achieved is moved by the arm over the surfaces. A solvent recovery suction tube is positioned within the header to remove solvent therefrom while avoiding interference with the main robotic arm. The solvent composition, temperature, pressure, viscosity, and purity are controlled to optimize the ultrasonic scrubbing action. The ultrasonic transducer is controlled at a power density, frequency, and on-off mode cycle such as to optimize scrubbing action within the range of transducer-to-surface distance and solvent layer thickness selected for the particular conditions encountered.

Abstract: A testing mechanism is disclosed for incorporation with the gripping fingers of a robot arm, to enable the real time testing of a device under test after it is picked up by the grippers. The robot arm has opposed fingers mounted thereon for transverse clamping of the sides of the device under test, which can be a semiconductor module. Mounted to the robot arm is a test head which can be brought into electrical contact with the pins of the device under test when the device has been picked up by the arm. Test signals supplied through the test head will conduct real time testing of the device while it is being transported by the robot arm from the pick-up point to one of several destination receptacles. The identity of the destination receptacle into which the tested device will be deposited, will depend upon the results of the real time test being carried out while the device is being transported.

Abstract: A multiarticulated manipulator including a multijoint connecting mechanism having a plurality of arms, each arm having a joint capable of being bent in one plane and all the arms being connected with one another in positions spaced apart from one another by circumferential extent of 90 degrees. A plurality of wires are provided, each wire being connected to one of the arms and all the wires being supported and guided by wire guides and driven by a drive. The multiarticulated manipulator incorporated in a movable type remoted-controlled visual monitor system further includes a lens fixed to a forward end of the multijoint connecting mechanism, a fiberscope connected to the lens, and a movable member having the drive mounted therein and supporting the multijoint connecting mechanism, and a camera mounted in the movable member and connected to the lens through the fiberscope.

Abstract: An automatic contour grinding system for smoothing a surface, including: a robot; a robot controller; a grinder device mounted to the robot; means for monitoring the grinding action of the grinder device; means, responsive to the means for monitoring, for determining the vector position of the grinder area in contact with the contour to be smoothed; means, responsive to the means for monitoring, for detecting the material being ground; a contour data base for providing the predetermined shape of the contour being ground; and a controller driver unit responsive to the contour data base, the means for determining the vector position, and the means for detecting to grind until there is achieved the shape of the contour being ground.

Abstract: A robot system comprising readily interchangeable hands. Usually the system will be controlled by a computer which will communicate with servo motors in each hand through an analog pulse width generator on the robot. The computer controller will also be able to utilize robot-associated circuitry to obtain information directly from each hand.

Abstract: A dimensional measurement system comprises a plurality of operating arms simultaneously controlled and monitored by a computer system wherein each of the arms includes a support structure for a measurement end and includes orthoganally displaceable members enabling three dimensions of orthoganal movement of the measurement end. The displaceable members preferably comprise a first carriage slidably engaged with a support beam, a sliding beam slidably secured to the first carriage, a second carriage secured to the sliding beam, and a second sliding beam slidably secured to the second carriage, wherein the support for the measurement end is on the end of the second sliding beam. The beams preferably include racks engaged by motor driven gears to provide controlled displacement of the displaceable members. The computer system preferably simultaneously controls movement of the arms as well as delivery of workpieces to the arms.

Abstract: A tactile sensor in which the sensor elements are discrete, elastomeric, electrically conductive, electrically force-sensitive forcel units electrically insulated from one another, each forcel unit defining a local force-resolution region (forcel) for resolving a deflection pattern in the surface of the sensor, each sensor element being connected between a pair of electrical channels which produce a set of signals representative of the deflection pattern in the surface; a sensing system for determining a parameter of an object being contacted by the tactile sensor; and a method of fabricating the sensor.