Westinghouse Electric Corporation

The United States of America As Represented by the United States

Carnegie Mellon University

Amada Company, Limited

Amada America, Inc.

Robert H Sturges, Jr

Robert S Wilks

Alexander Taleff

Kensuke Hazama

Richard M Moore, Jr

David Alan Bourne

Raymond P Castner

Roger Graham Byford

Mark E Wylie

Anne Marie Murray

John G Dorman

Eliezer Sternheim

Paul H Dawson

Gerald A Breakey

Schitt Laowattana

Joseph J Birsa

Several methods and subsystems are disclosed for aligning a workpiece as it is being loaded into a die space of a bending apparatus, and for performing sensor-based control of a robot as it moves a workpiece from one location to another within a bending apparatus environment. A backgaging mechanism is provided with finger gaging mechanisms having force sensors for sensing forces in directions perpendicular to and parallel to a die. In addition, a robot gripper sensor is provided for sensing either or both of shear forces and normal forces created by movement of a workpiece being held by the gripper. Several sensor-based control modules are disclosed, including a bend-following control module, a speed control module, a module for actively damping vibrations in a workpiece, a module for controlling active compliance/contact between a workpiece and an obstacle, a module for performing a guarded move to intentionally bring a workpiece into contact with an obstacle, and a module for detecting unintentional impacts between a workpiece and an obstacle. Several droop sensing methods and systems are also disclosed, including methods for performing droop sensing and compensation with the use of a vision-based droop sensor, a compound break-beam droop sensor, and a single break-beam droop sensor. In addition, an angle sensor is disclosed, along with a springback control method utilizing the disclosed angle sensor.

Methods and apparatuses for backgaging and sensor-based control of

A flexible, steerable device for conducting exploratory procedures is disclosed. The device includes at least one spine, each having stiffening means for selectively rendering the spine rigid and flexible along its length. A flexible sheath surrounds the spine and is axially slidably moveable relative to the spine so that the sheath will follow and conform to the shape of a spine in the rigid state and resist further flexure when the spine is in a relaxed state. A steerable distal tip is provided on the distal end of the device. Controls for the distal tip are mounted on the proximal end of the device. Mechanisms are provided on the distal end of the device for selectively activating and deactivating the stiffening means of the spine. An instrument conduit may be mounted on the sheath.

Flexible steerable device for conducting exploratory procedures

An azimuth angle compensation device adapted for use with an assembler device for inserting an object into a workpiece, whereby the assembler device establishes a centerline corresponding substantially to an insertion axis of the object to be inserted into the workpiece. The azimuth compensation device includes: (1) a first member; (2) a second member; and (3) structure connecting the first and second members for causing the second member and the object to rotate about the centerline through at least one angle and in at least one direction when the object is brought into contact with the workpiece by the assembler device.

Apparatus for assembly of axisymmetric and non-axisymmetric rigid parts

A wire harness assembly arrangement acquires, prepares and routes various sections of wire by means of a wiring tool apparatus attached to a robotic manipulator. The tool apparatus moves coincident with an arm of the process controlled robotic manipulator and acquires the wire section through a front end portion. The first end of the wire section is fed into the tool apparatus and through a tail end portion of the tool apparatus. The next portion is wound around a spool member disposed within the tool apparatus and rotatable in response to a controlled motor operation. The front end portion is movable in relation to a wire feeding unit so that the wire section wound around the spool member is wound in a helical manner. The wire harness assembly arrangement can also include a strip/crimp station to prepare the acquired wire section for termination. The process controlled robotic manipulator then routes the acquired wire section along a predetermined path to form a part of the wire harness assembly. During the wire routing operation, the motor exerts a reverse torque on the spool member to prevent the wire section from springing off of the spool member.

Double-ended termination and routing arrangement for an automated wiring

A manipulator control system uses a microprocessor to compute appropriate control parameters in order to maintain constant tangential velocity of a spray nozzle in relation to the inside surface of a spherical portion of a nuclear steam generator. The microprocessor also computes, in one of the three modes of operation, of the control system, appropriate control parameters for maintaining a predetermined distance between the nozzle and the center of the spherical enclosure.

Manipulator control system and apparatus for decontaminating nuclear

Apparatus for identifying an element within an array of elements, is disclosed as including a sighting device that is disposable in a plurality of positions to facilitate the operator to position the device in an orientation so that the device is aligned with or sighted upon the element within the array, operator-controllable means coupled to the sighting device to permit the operator to variably position the sighting device, an orientation sensing means coupled to the sighting device to provide an output signal indicative of the particular orientation of the device and computing means responsive to the position indicating signals to provide a manifestation indicating the element's position within the field, as sighted by the operator.

Apparatus for mapping and identifying an element within a field of

A die for the manufacture of tray like sections has a member with a plurality of slots arranged to accommodate a variety of required gap dimensions. The slots are arranged in a pattern which consists of two sections each of which extends from a common datum in opposite directions along the length of the die. The first or integer section is of arbitrary length and contains slots spaced equally apart from each other a convenient value or metric. The distance between the right edge of the slot and the datum is equal to the metric value. The second section or vernier section contains slots with a different spacing pattern depending on the degree of precision required of the vernier. These slots are spaced incrementally from the datum by a value equal to a multiple of the metric plus a fractional value of the metric. This arrangement permits the accommodation of various tray sizes larger than a minimum size as dictated by die design. In operation, after two opposed side walls of a tray are formed, the outside dimension of the side wall is measured and the fractional part of the measurement used to determine the particular vernier slot to be used. With the correct vernier slot chosen for one side wall, a slot in the integer section automatically lines up with the other tray side wall.

Vernier press brake die set

A manipulator for transferring fuel assemblies between inclined fuel chutes for a liquid metal nuclear reactor. Hoisting means are mounted on a mount supported by beams rotatably attached by pins to the mount and to the floor. Rotation of the beams can be impelled by a one dimensional movement causing the manipulator to accomplish a complicated, two dimensional transfer.

Fuel transfer manipulator for liquid metal nuclear reactors

Control for the operation of a mechanical handling and gauging system for nuclear fuel pellets. The pellets are inspected for diameters, lengths, surface flaws and weights in successive stations. The control includes, a computer for commanding the operation of the system and its electronics and for storing and processing the complex data derived at the required high rate. In measuring the diameter, the computer enables the measurement of a calibration pellet, stores that calibration data and computes and stores diameter-correction factors and their addresses along a pellet. To each diameter measurement a correction factor is applied at the appropriate address. The computer commands verification that all critical parts of the system and control are set for inspection and that each pellet is positioned for inspection. During each cycle of inspection, the measurement operation proceeds normally irrespective of whether or not a pellet is present in each station. If a pellet is not positioned in a station, a measurement is recorded, but the recorded measurement indicates maloperation. In measuring diameter and length a light pattern including successive shadows of slices transverse for diameter or longitudinal for length are projected on a photodiode array. The light pattern is scanned electronically by a train of pulses. The pulses are counted during the scan of the lighted diodes. For evaluation of diameter the maximum diameter count and the number of slices for which the diameter exceeds a predetermined minimum is determined. For acceptance, the maximum must be less than a maximum level and the minimum must exceed a set number. For evaluation of length, the maximum length is determined. For acceptance, the length must be within maximum and minimum limits.

Apparatus and method for classifying fuel pellets for nuclear reactor

The invention provides a method of and apparatus for optically inspecting nuclear fuel pellets for surface flaws. The inspection system includes a prism and lens arrangement for scanning the surface of each pellet as the same is rotated. The resulting scan produces data indicative of the extent and shape of each flaw which is employed to generate a flaw quality index for each detected flaw. The flaw quality indexes from all flaws are summed and compared with an acceptable surface quality index. The result of the comparison is utilized to control the acceptance or rejection of the pellet.

Flaw detection and evaluation

Apparatus for inspecting nuclear fuel pellets in a sealed container for diameter, flaws, length and weight. The apparatus includes, in an array, a pellet pick-up station, four pellet inspection stations and a pellet sorting station. The pellets are delivered one at a time to the pick-up station by a vibrating bowl through a vibrating linear conveyor. Grippers each associated with a successive pair of the stations are reciprocable together to pick up a pellet at the upstream station of each pair and to deposit the pellet at the corresponding downstream station. The gripper jaws are opened selectively depending on the state of the pellets at the stations and the particular cycle in which the apparatus is operating. Inspection for diameter, flaws and length is effected in each case by a laser beam projected on the pellets by a precise optical system while each pellet is rotated by rollers. Each laser and its optical system are mounted in a container which is free standing on a precise surface and is provided with locating buttons which engage locating holes in the surface so that each laser and its optical system is precisely set. The roller stands are likewise free standing and are similarly precisely positioned. The diameter optical system projects a thin beam of light which scans across the top of each pellet and is projected on a diode array. The fl

Pellet inspection apparatus

A display apparatus provides a three-dimensional pictorial representation of the position of a movable first member in relation to a stationary second member for the purpose of remotely positioning the first member to enable docking with the second member.

Electromechanical display apparatus

A photoelectric docking device for remotely positioning a first member relative to a second member, having a point light source coupled to the first member, which is directed to focus a narrow beam of light on a photosensor fixedly connected to the second member. The photosensor is responsive to the reception of light from the point light source on the first member to provide electrical outputs representative of the relative position of the point source with respect to the photosensor in three-dimensional space. The electrical outputs of the photosensor are then displaced as a three-dimensional pictorial representation of the relative position of the first and second members. Means are further provided for identifying when the first and second members are in intimate contact.

Photoelectric docking device

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.

Growing community of inventors

Plum Borough, PA, United States of America

Robert H Sturges, Jr