Underwater manipulator
Abstract
Self-contained, waterproof, water-submersible, remote-controlled apparatus is provided for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer .+-.45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer .+-.10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.
- Inventors:
-
- Clairton, PA
- Pittsburgh, PA
- Issue Date:
- Research Org.:
- Westinghouse Electric Corp., Pittsburgh, PA (United States)
- OSTI Identifier:
- 868747
- Patent Number(s):
- 5203645
- Assignee:
- United States of America as represented by United States (Washington, DC)
- Patent Classifications (CPCs):
-
B - PERFORMING OPERATIONS B63 - SHIPS OR OTHER WATERBORNE VESSELS B63C - LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS
G - PHYSICS G21 - NUCLEAR PHYSICS G21C - NUCLEAR REACTORS
- DOE Contract Number:
- AC11-76PN00014
- Resource Type:
- Patent
- Country of Publication:
- United States
- Language:
- English
- Subject:
- underwater; manipulator; self-contained; waterproof; water-submersible; remote-controlled; apparatus; provided; manipulating; device; ultrasonic; transducer; measuring; crack; propagation; specimen; undergoing; shock; testing; subject; metal; bellows; transmittal; angular; motions; rotating; shaft; seals; o-rings; inside; stepper; motor; controls; movement; preferred; embodiment; permit; move; 45; degrees; plane; 10; orthogonal; addition; xy; motor-driven; table; provides; motion; shaft seal; crack propagation; stepper motor; ultrasonic transducer; preferred embodiment; rotating shaft; motor control; metal bellows; /405/166/
Citation Formats
Schrum, Phillip B, and Cohen, George H. Underwater manipulator. United States: N. p., 1993.
Web.
Schrum, Phillip B, & Cohen, George H. Underwater manipulator. United States.
Schrum, Phillip B, and Cohen, George H. Fri .
"Underwater manipulator". United States. https://www.osti.gov/servlets/purl/868747.
@article{osti_868747,
title = {Underwater manipulator},
author = {Schrum, Phillip B and Cohen, George H},
abstractNote = {Self-contained, waterproof, water-submersible, remote-controlled apparatus is provided for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer .+-.45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer .+-.10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1993},
month = {1}
}