GB1106472A - Remote-control manipulator - Google Patents
Remote-control manipulatorInfo
- Publication number
- GB1106472A GB1106472A GB3027664A GB3027664A GB1106472A GB 1106472 A GB1106472 A GB 1106472A GB 3027664 A GB3027664 A GB 3027664A GB 3027664 A GB3027664 A GB 3027664A GB 1106472 A GB1106472 A GB 1106472A
- Authority
- GB
- United Kingdom
- Prior art keywords
- arm
- jaws
- slave arm
- slave
- conduit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
- F15B11/10—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor in which the servomotor position is a function of the pressure also pressure regulators as operating means for such systems, the device itself may be a position indicating system
Abstract
1,106,472. Manipulators. UNITED KINGDOM ATOMIC ENERGY AUTHORITY. 26 July, 1965 [31 July, 1964], No. 30276/64. Heading B4Q. A manipulator comprises a beam 11 rotatably mounted by means (not shown) at its central portion in a shield and having pivots 16, 17 at its ends respectively supporting a master arm 12 and slave arm 13. A tube 18 rigidly fixed in the beam slidably supports a sleeve 21 connected by links 24, 28 to the upper ends of the master and slave arms whereby movement of the master arm 12 about pivot 16 causes movement of slave arm 13 about pivot 17. The master arm comprises an upper portion 25 and a lower portion 32 rotatable about its longitudinal axis on the upper portion by means of a bearing 36, this rotational action generating an hydraulic pressure which is transmitted via conduits 49, 20, 84 to the slave arm to cause corresponding rotational motion of the jaws 74 relative to the upper portion 29 of the slave arm. (The conduit 20 is hidden by a conduit 19 in the drawing.) The hydraulic system includes, in the master arm, a piston 43 biased by a spring 46 in a bore 45 and carrying a cam follower pin 42 guided in slots 41. The pin 42 co-operates with an annular cam surface 34 rigid With the arm portions 25 whereby rotation of the arm portion 32 causes movement of the piston and hydraulic pressure is transmitted to the conduit 49 through channel 47 and port 48. In the slave arm, the conduit 84 is connected to a port 83 to influence a ram 75 slidable in a bore 79 and biased by a spring 80. The ram is rigid with a sleeve 85 carrying pins 86 cooperating with helical slots 87 in the lower portion 73 of the slave arm, this portion 73 being rotatable on the upper portion 29' and carrying the jaws 74. The jaws are also closed hydraulically by a lever 51 controlling an hydraulic actuator 53 controlling the movement of a valve 66, this valve controlling hydraulic pressure transmitted through further conduits 49a, 19, 93 to a further spring-biased ram 76 in the slave arm. The ram moves the jaws through a push rod 94, the jaws being released by depressing a thumb catch 52 to reset the valve 66.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB3027664A GB1106472A (en) | 1964-07-31 | 1964-07-31 | Remote-control manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB3027664A GB1106472A (en) | 1964-07-31 | 1964-07-31 | Remote-control manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| GB1106472A true GB1106472A (en) | 1968-03-20 |
Family
ID=10305076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB3027664A Expired GB1106472A (en) | 1964-07-31 | 1964-07-31 | Remote-control manipulator |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB1106472A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0043105A2 (en) * | 1980-06-28 | 1982-01-06 | Alb. Klein GmbH & Co. KG | System for feeding back a load pressure, comprising at least one actuating valve |
| CN112045083A (en) * | 2020-08-27 | 2020-12-08 | 天津泰正机械有限公司 | Manipulator hydraulic remote control device |
-
1964
- 1964-07-31 GB GB3027664A patent/GB1106472A/en not_active Expired
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0043105A2 (en) * | 1980-06-28 | 1982-01-06 | Alb. Klein GmbH & Co. KG | System for feeding back a load pressure, comprising at least one actuating valve |
| EP0043105A3 (en) * | 1980-06-28 | 1982-01-20 | Alb. Klein Gmbh & Co. Kg | System for feeding back a load pressure, comprising at least one actuating valve |
| WO1982000112A1 (en) * | 1980-06-28 | 1982-01-21 | Stolpp S | Device for the transmission of the load pressure comprising at least a valve for the control of an apparatus |
| US4516894A (en) * | 1980-06-28 | 1985-05-14 | Alb Klein Gmbh & Co. Kg | Load pressure feedback system having at least one control valve for controlling an apparatus |
| CN112045083A (en) * | 2020-08-27 | 2020-12-08 | 天津泰正机械有限公司 | Manipulator hydraulic remote control device |
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