GB1599700A - Auxiliary extended reach system for master-slave manipulator - Google Patents

Description

(54) AUXILIARY EXTENDED REACH SYSTEM FOR MASTER-SLAVE MANIPULATOR (71) We, CENTRAL RESEARCH LABORATORIES, INC., a corporation organised and existing under the laws of the State of Minnesota, United States of America, of Route 2, Red Wing, Minnesota 55066, United States of America, do hereby declare the invention for which we pray that a patent may be granted to us, and the method by which it is to be performed, to be particularly described in and by the following statement: This invention relates to remote control master-slave manipulators of the type by which an operator on one side of a protective barrier wall engages a handle in movements which are reproduced in a tong or other tool on the opposite side of the barrier wall. The role of such manipulators in the nuclear industry has changed from relatively simple laboratory instruments to work-horses of the industry.Emphasis has shifted from simple remote handling capability to considerations for overall manipulator performance including decontamination and maintenance considerations, higher manipulator handling capacities, reliability considerations, and overall operating efficiency. The present invention is directed to a manipulator which satisfies the demands imposed by this new role and at the same time includes considerations for exchangeability with existing manipulator systems allowing retrofitting of existing facilities with the manipulator according to the present invention.

In the past thirty years or so, master-slave manipulators have evolved from simple mechanical devices capable of basic movements and functions to highly sophisticated systems of greatly enhanced capability and efficiency. Early improvements included "Y" motion indexing to extend the forward reach of the manipulator and to facilitate installation, lateral rotation or side canting of the slave arm relative to the master arm, and "Z" motion extension by which the length of the slave arm is increased relative to the master arm. Systems have been developed for translation of linear motions into rotary motions for transfer through rotary seals in order to insure safe separation of the operator's environment and that of the work area. Specific improvements have been made in handles, wrist joints, tong mechanisms, and the like.

According to the invention there is provided a remote control master-slave manipulator for performing work on the opposite side of a barrier wall, said manipulator comprising a rotatable horizontal support adapted to extend through said barrier wall, a longitudinally extensible master arm pivotally connected to one end of said horizontal support and rotatable therewith and a longitudinally extensible double telescoping slave arm pivotally connected to the opposite end of said horizontal support and rotatable therewith, said manipulator characterized by:: A) linear motion transmission means interconnecting the telescoping segments of the slave arm for moving the slave arm longitudinally, B) means for transmitting manual longitudinal Z motion of said master arm through the horizontal support as input to said linear motion transmission means for manually moving the slave arm with the master arm, C) rotary Z motion indexing means connected to said linear motion transmission means for translation of rotary motion to linear Z motion, and D) a motor connected to drive said rotary Z motion indexing means as input to move the slave arm independently of the motion of the master arm.

Brief description of the drawings: The manipulator according to the present invention is illustrated in the accompanying drawings in which like numerals refer to corresponding parts and in which: Figure 1 is an elevation, partly in section and partly broken away, showing the manipulator mounted in a protective barrier wall; Figure 2 is a front elevation, from the operator's point of view, of the master arm subassembly of the manipulator shown partly in section and partly broken away; Figure 3 is a similar right side elevation of the master arm subassembly; Figure 4 is a fragmentary elevation on an enlarged scale of the wall side of the master arm assembly, generally on the line 4-4 of Figure 3 and in the direction of the arrows; Figure 5 is a left hand elevation of the master transfer assembly of the manipulator;; Figure 6 is a plan view, partly in horizontal section on the line 6-6 of Figure 5 and in the direction of the arrows, of the master transfer assembly; Figure 7 is a front elevation (operator's view) of the master transfer assembly; Figure 8 is an end elevation from the wall side of the master transfer assembly; Figure 9 is a fragmentary side elevation showing the slave end of the seal tube assembly which extends through the barrier wall; Figure 10 is a horizontal section through the seal tube on the longitudinal axis thereof.

Figure 11 is an end elevation of the slave arm end of the seal tube assembly; Figure 12 is an end elevation of the master arm end of the seal tube assembly; Figure 13 is a horizontal section through the slave transfer assembly on the line 13-13 of Figure 16 and in the direction of the arrows; Figure 14 is a fragmentary horizontal section on an enlarged scale showing a typical coupling for connecting the slave Z motion indexing transfer to the seal tube; Figure 15 is a vertical section through the slave transfer assembly on the longitudinal axis thereof; Figure 16 is an end elevation (operator's view) of the slave transfer assembly; Figure 17 is a section on the line 17-17 of Figure 13 and in the direction of the arrows; Figure 18 and 18A are a left side elevation of the slave arm assembly (from the operator's point of view), shown partly in section and partly broken away;; Figure 19 is a rear (cell side) elevation of the slave pivot assembly; Figure 20 is a left hand elevation thereof.

Figure 21 is a top view thereof; Figure 22 is a front (operator's view) elevation thereof; Figure 23 is a bottom view thereof; Figure 24 is a left side elevation of the slave azimuth assembly; Figure 25 is a top view thereof.

Figure 26 is a rear (cell side) elevation thereof; Figure 27 is a front (operator's view) elevation thereof; Figure 28 is a left side elevation of the intermediate slave carriage assembly; Figure 29 is a rear (cell side) elevation thereof.

Figure 30 is a top view thereof; and Figure 31 is a schematic perspective view showing how vertical movement of the master arm produces a corresponding vertical movement (or Z motion) in the slave arm.

The complete manipulator, of which the present invention is a part, and its mode of operation, are fully illustrated and described in application No. 25607/78 (Serial No.

1599698), of which this application is a division. Only those parts of the manipulator which are directly related to the auxiliary extended reach system are identified and described in detail herein. However, because the manipulator includes associated systems for performing other motions and functions, both independently and simultaneously with the auxiliary extended reach system, other parts are necessarily shown in the drawings.

Throughout this application the manipulator is described and illustrated in terms of a single horizontal support with a single master arm and a single slave arm. It is to be understood, however, that in virtually all instances the manipulators are employed in laterally spaced pairs so that the operator, by the use of two master control arms, is able to manipulate two slave arms in order to reproduce the action of a pair of hands in the remote area on the opposite side of the barrier wall. Although illustrated and described with reference to a sealed manipulator, sealing is not an essential feature of the invention.

General Arrangement of Parts (Figure 1): Referring now to the drawings, and particularly to Figure 1, the remote control master-slave manipulator according to the present invention comprises generally a master arm assembly, indicated generally at 10, connected through a master transfer assembly, indicated generally at 11, to a horizontal seal tube assembly, indicated generally at 12. The seal tube assembly 12 functions, along with master and slave transfer assemblies, as a horizontal support for the master and slave arms and extends through a generally vertical barrier or shielding wall 13, being mounted therein in a horizontal tube 14 secured so as to be structurally integral with the wall.A slave arm assembly, indicated generally at 15, is pivotally connected to a slave transfer assembly, indicated generally at 16, which in turn is connected to the seal tube assembly 12 on the opposite side of the barrier wall. Wall 13 is provided with a window 17 of approximately the same thickness as the wall.

A handle 18 is secured to the wrist joint 19 at the lower end of the master arm assembly.

A tong 20, or other working tool, is secured to the wrist joint 21 at the lower end of the slave arm. In normal non-operating position, the master arm 10 and the slave arm 15 are balanced to hang generally vertically. The master arm assembly 10 with its transfer assembly 11, the slave arm assembly 15 with its transfer assembly 16, and the seal tube assembly 12, are all completely separable units. These units are standardized and are interchangeable with different corresponding units in the event of failure or contamination of one or two of these units making up the manipulator, without the necessity of replacing all of the manipulator units. Connections are made through rotary mechanical couplings at the interface between adjacent units.

As indicated in Figure 1, the slave arm 15 may be indexed forwardly or backwardly (in Y motion) relative to the master arm. The extended length of the slave arm (Z motion) can be indexed relative to the master arm. Also, as in Patent Specification No. 876,736, the slave arm may be indexed laterally (X motion) to right or left relative to the master arm.

The Master Arm (Figures 1-4 and 31): The master arm assembly includes a relatively stationary part or trunk tube comprising a pair of spaced apart parallel tubular guides 22 supported in an intermediate pivot frame 24 and secured at their respective ends in a top bracket 25 and bottom bracket 26. This relatively stationary part of the master arm is pivotally connected at 27 to the master transfer assembly 11 forming part of the horizontal support for the manipulator. The master arm also includes a relatively movable part comprising a boom tube 28 which is longitudinally reciprocable relative to the stationary part of the arm. The lower end of the movable boom tube carries a wrist joint which may be the type illustrated and described in Patent Specification No.. 1,236,006.

The top end of boom tube 28 carries a guide bracket 30 rotatably secured to the boom tube. Guide bracket 30 is provided with a plurality of rollers 32 which engage tubular members 22 of the trunk tube and guide the boom tube in its reciprocal movement. Boom tube 28 is guided for axial movement in an azimuth assembly 34 carried by the bottom bracket 26 of the master trunk tube. The structure of the master azimuth assembly resembles that of the corresponding assembly on the slave arm which is described in greater detail hereinafter.

The azimuth assembly carries a bank of eight pulleys PB1 of the same size rotatable about a common axis for engaging tapes associated with transmission of various motions, including Z motion, as identified in Table I. Since the invention of this application is limited to Z motion, only the tapes, drums, pulleys, etc. associated with that motion are identified and described in detail.

A bank of ten pulleys PB3 on the operator's side at the top of the master trunk tube top bracket 25 carries various tapes associated with Z and other motions. A further bank of nine pulleys PB4 is mounted on the top of the trunk tube top bracket 25 on the wall side for carrying the tapes associated with the same motions. A bank of ten pulleys PB5 (Figure 4) is mounted on the wall side of the master pivot assembly 24 for directing the paths of the tapes for the same motions into the master transfer assembly.

Master Transfer Assembly (Figures 1 and 5-8) The master transfer assembly, indicated generally at 11, comprises part of the horizontal tubular support of the manipulator. The transfer assembly comprises an outer housing 60, adapted to be fixed to and rotate with the seal tube assembly 12, and an inner housing 62 suitably journaled so as to be rotatable relative to the outer housing 60. Inner housing 62 carries a pair of spaced apart arms 64 and 66, the ends of which carry a pair of studs 68 and 70 on which the master arm assembly 10 is pivotally supported on pivot axis 27.

A pair of pulley banks are supported between arms 64 and 66, the upper tier bank of two pulleys PB6 carrying the tape for Z motion and the lower tier bank of four pulleys PB7 also carrying the tape for Z motion, as identified in the Table. A tape drum Z7 for transmission of Z motion is journaled in housing 62 between arms 64 and 66. The drum is double track having one tape wound in one direction and another tape wound in the opposite direction.

The tape drum is coupled to a bevel gear which meshes with another bevel gear coupled to a horizontal shaft for translation of linear tape motion to rotary motion for transmission through the barrier wall to the slave arm. Thus tape drum Z7 is coupled to bevel gear 72.

Gear 72 meshes with a further bevel gear 74 coupled to horizontal rod 76 journaled for rotation within housing 62. Shaft 76 is coupled through a flexible universal joint coupling 78 to horizontal shaft 80 journaled for rotation within housing 60 and terminating in a coupling 82 for connection to the seal tube. The flexible coupling accomplished by universal joint 78 accomodates lateral rotation up to about 35 in either direction for the Z motion.

The motion transfer coupling 82 for Z motion protrudes from master transfer assembly end plate 164. A pair of locating and orientation pins 165 and 166 also project from end plate 164 to assist in connection of the master transfer assembly to the seal tube assembly.

Seal Tube Assembly (Figures I and 9-12): The horizontal seal tube assembly or through tube 12 is adapted to extend through the barrier wall mounted in horizontal tube 174. Tube 174 is sealed in the tube 14 in the wall opening by compression of seal rings 170 by pressure applied to compression ring 171 by screws 172 to cause the rings to expand radially outwardly and tightly engage the surface of the opening in sealing relationship. Tube 174A is journaled within tube 174 so as to be freely rotatable therein.

Tube 174A is sealed in tube 174 by means of an annular rotary shaft seal 173 which may be, for example, of the type shown and described in Patent Specification No. 1,226,690, or equivalent shaft sealing means. Preferably, however, the seals are of the so-called "Ferro-Fluidic" type.

The end plate 164 of the master transfer assembly is adapted to fit in face-to-face abutment with a mirror image end plate 175 of the seal tube (Figure 12). Orientation pins 165 and 166 of the master transfer assembly engage sockets 176 and 177, respectively, in the seal tube end plate. The two end plates are secured together as by bolts or equivalent fastening means. Master transfer Z motion coupling 82 engages seal plate coupling 178.

Coupling 178 is splined to be rotatable with a horizontal shaft 184 which extends through the length of the seal tube and terminates in a further coupling 190 in the seal tube end plate 196 at the slave end. Coupling 178 is spring loaded and provided with ratchet lock means for engaging similar lock means in seal tube face plate 175 so that upon assembly and disassembly of the seal tube and master transfer assembly, the seal tube coupling and shaft retain their proper orientation. When the master transfer end plate is connected to the seal tube end plate, the master transfer couplings project sufficiently far that upon engagement with the corresponding seal tube couplings, the coupling 178 on shaft 184 is forced toward the slave arm sufficiently far to release the locking means and permit rotation of the shaft.

Shaft 184 is provided with appropriate seals to prevent transmission of contaminating substances from the slave cell to the operator's area. Preferably these are Ferro-Fluidic seals. Before terminating in coupling 190 in end plate 196, shaft 184 extends through an intermediate end plate 197 at the slave cell end of the seal tube. End plate 196 is movable relative to the intermediate end plate 197 to facilitate coupling of the slave transfer assembly 16 to the seal tube.

As best seen in Figure 10, means are provided by which longitudinal extension of the slave arm relative to the master arm, or Z motion indexing, is accomplished. A bevel gear 200 driven by an electric motor 201 through an appropriate gear reduction system in gear box 202 is mounted on the master end of the seal tube on the operator's side of the barrier wall. Bevel gear 200 meshes with a further bevel gear 203 secured to one end of horizontal shaft 204 journaled for rotation within the seal tube and terminating in a coupling 205 for transmission of rotary motion to the slave arm for extension of that arm.

Slave Transfer Assembly (Figures 1 and 13-17): The slave transfer assembly 16 is enclosed within a rigid tubular housing rigidly connected to and rotatable with the seal tube assembly 12. The slave transfer housing is provided with a pair of projecting ears 235 and 236 engageable, respectively, with the notched seats 227 of projecting arms 225 and 226 of the seal tube assembly. When the slave transfer assembly is seated between arms 225 and 226 of the seal tube, then movable end wall 196 of the seal tube is retracted, as heretofore described, to expose the couplings 190 and 205. At the same time, as arms 225 and 226 are retracted with the end wall, the entire slave transfer assembly is pulled into contact with the seal tube such that Z motion couplings 190 and 205 engage corresponding couplings 240 and 246, respectively, for continued transfer of the various functional rotary motions. Thus, manual Z motion coupling 190 in the seal tube engages coupling 240 in the transfer assembly, and motorized Z extension coupling 205 engages coupling 246. Locating pins 228 and 229 engage sockets 247 and 248 in the slave transfer assembly to insure proper engagement of the various couplings.

Couplings 240 and 246 are each connected for rotation of horizontal shafts 250 and 256, respectively. As in the case of the seal tube couplings, slave transfer couplings 240 and 246 are splined to be rotatable with shafts 250 and 256 and longitudinally movable with respect to those shafts. The couplings are spring loaded and provided with ratchet lock means for maintaining the proper orientation of the couplings and shafts. When the slave transfer assembly is coupled to the seal tube assembly, the couplings are forced inwardly against spring pressure and the ratchet locks are released and the transfer shafts are properly oriented with the corresponding seal tube shafts.

Each of shafts 250 and 256 terminates in a bevel gear 260 and 266, respectively. Bevel gears 260 and 266 mesh, respectively, with further bevel gears 270 and 276, each of which is coupled to a tape drum, for retranslation of rotary Z motion to linear motion. Thus, bevel gear 270 is coupled to drum Z18 for transmission of manual Z motion and bevel gear 276 is coupled to drum Z38 for transmission of motorized Z extension motion.

Arms 286 and 287 extending from the slave transfer housing support a pair of pulley banks, upper tier PB8 of three pulleys for carrying tape for transmitting Z motion as identified in the Table and a lower tier PB9 of five pulleys for carrying tape for transmission of Z motion.

Slave Arm Assembly (Figures 1, 18, 18A and 31): The slave arm assembly 15 is supported in arms 286 and 287 of the slave transfer assembly 16 for pivotal movement about pivot axis 283. The slave arm is comprised of a plurality of telescoping tubular segments, a trunk tube 305, an intermediate tube 306 of lesser diameter, and a boom tube 307 of still lesser diameter. A wrist joint 21 corresponding to the master arm wrist joint 19 is mounted in the bottommost end of the boom tube 307. A slave azimuth assembly 308, as described in greater detail hereinafter, is mounted on the bottommost end of slave trunk tube 305. An intermediate carriage 309 is mounted on the top of intermediate tube 306 and assists in guiding the intermediate tube in its longitudinal movement relative to the trunk tube. Intermediate tube 306 extends through azimuth assembly 308.A boom tube guide assembly 311 is carried by the lower end of intermediate tube 306. A boom tube carriage assembly 312 supporting a plurality of rollers 313 spaced about its periphery is secured to the top end of boom tube 307. Intermediate tube 306 is suspended to travel at half the speed of the boom tube 307. A Z motion counterweight 322 is suspended around the outside of trunk tube 305 to travel at half the speed of the intermediate tube 306.

Slave Pivot Assembly (Figures 18 and 19-23): The pivot housing 302 supports the trunk tube and connects the slave arm to the slave transfer assembly for rotary movement therewith about the longitudinal axis of the through tube and for relative pivotal movement toward and away from the barrier wall, as described. The pivot housing encloses a plurality of pulley banks. A bank of twelve pulleys PB10 on the wall side of the housing just below the pivot axis 283 carries tape for Z motion as identified in the Table. A middle tier bank of ten pulleys PB11 and lower tier bank of ten pulleys PB12 on the opposite side of the pivot housing carry Z motion tapes, as identified in the Table. In addition, the pivot housing carries guide pulleys for Z motion tapes, as shown.

Slave Azimuth Assembly (Figures 18 and 24-27): The slave azimuth assembly 308 is fixed to the bottommost end of slave trunk tube 305.

The azimuth assembly carries guide pulleys for carrying Z motion tapes as identified.

Intermediate Carriage Assembly (Figures 18 and 28-30): Intermediate tube 306 is rotatably supported at its top end in carriage assembly 309.

Carriage 309 is adapted for travel within the slave trunk tube 305. The carriage is guided in its travel by rollers 350 which bear against the inside trunk tube wall. The carriage is fixed against rotation by groove guide roller 352 which engages a longitudinal track 353 (Figure 18) on the inside wall of the slave trunk tube. The intermediate carriage carries a bank of eight pulleys PB13 which carry the tapes for Z motion, as shown and identified in the Table.

Other guide pulleys for Z motion tapes are mounted on the carriage as shown.

Z Motion and Z Extension (Figure 31): The manner in which longitudinal extension and retraction of the master boom tube causes corresponding extension and retraction of the slave boom tube, and the manner in which the slave boom tube may be extended relative to the master boom tube, are shown schematically in Figure 31. For the most part, to avoid obscuring the structure of the various assemblies comprising the manipulator system the assembly and subassembly drawings are shown without tapes in engagement with the various pulleys and drums. These tape paths in association with the various pulleys and drums are, however, shown schematically.

One end of Z motion tape 370 extends from an anchorage 371 in the master azimuth assembly up and over pulley Z1 in guide carriage 30 at the top of the master boom tube, down and around Z2 in pulley bank PB1 in the master azimuth assembly, up and over pulleys Z3 and Z4 in pulley banks PB3 and PB4, respectively, in the bracket at the top of the master arm, down and around pulley Z5 in pulley bank PB5 in the master pivot frame, under guide pulley Z6 in the pulley bank PB6 in the master transfer assembly, and terminating on tape drum 27 about which it is wound.Tape 372 is wound around drum Z7 in the opposite direction and extends over pulley Z9 in pulley bank PB7 in the master transfer assembly, under and around pulley Z10 in the master pivot frame, up and over pulleys Z11 and Z12 in the pivot frame, down and around pulley Z13 also in pulley bank PB5, up and over pulley Z14 in pulley bank PB4, under and around pulley Z15 and over pulley Z16, both in the master top bracket, down and around pulley Z17 in guide carriage 30 and up to an anchorage 373 in the top bracket.

As the master boom tube is extended or retracted, drum Z7 is caused to rotate, translating the linear travel of tapes 370 and 372 into rotary motion which is transmitted through bevel gears 72 and 74, and the interconnecting shafts and couplings to bevel gears 260 and 270. Bevel gear 270 is coupled to tape drum Z18 to retranslate the rotary motion into linear motion.Tape 374 is wound about drum Z18 in one direction and extends under pulley Z19 in the slave transfer assembly, over pulleys Z20, Z21 and Z22 in pulley banks PB10, PB11 and PB12 in the slave pivot, down and around pulley Z24 in the slave azimuth assembly, up and over pulley Z26 in the slave intermediate carriage, down and around pulley Z28, over pulleys Z29 and Z30 and down and around pulley Z31, all in the slave azimuth assembly, up and over pulley Z32 in the intermediate carriage, down and around pulley Z33 in the azimuth assembly, and up and around pulleys Z34, Z35 and Z36 in pulley banks PB11, PB10 and PB9, respectively, in the slave pivot, over pulley Z37 and terminating wound about drum Z38 in the opposite direction from drum Z18.

Tape 375 is wound about drum Z38 in the opposite direction from tape 374 and extends under pulley Z39 in the slave transfer assembly, around pulley Z40 in pulley bank PB10, down and around pulley Z41 in the pivot housing, down and around pulley Z42 in pulley bank PB13 in the intermediate carriage, up and around pulleys Z43, Z44 and Z45 in the slave pivot housing, down and around pulley Z46 in pulley bank PB13, up and around pulley Z47 in the slave pivot, and pulley Z48 in pulley bank PB10, over pulley Z49 in the slave transfer assembly to drum Z18 where it is wound in the opposite direction from tape 374.

As previously described, electric motor 201 is coupled to rotate bevel gears 200, 203 and the intervening shafts and couplings to rotate bevel gears 266 and 276 which cause rotation of drum Z38. It will be seen that the slave boom tube is extended and retracted both in response to manual extension and retraction of the master boom tube and in response to operation of electric motor 201.

Where a sealed environment is not essential, the Z indexing system described may be utilized in a conventional manipulator system in which Z motion is transmitted by tapes or cables. In this instance, tapes 370 and 372 are connected directly to tapes 375 and 374, respectively, eliminating drum Z7 and Z18 and interconnecting shaft and gears. Then, motor 201 is connected to drive drum Z38 directly, eliminating the interconnecting shaft and gearing shown in the drawing.

Attention is hereby directed to the claims of our copending Application No. 25607/78 (Serial No. 1599698) and our copending Divisional Application No. 12286/80 (Serial No.

1599699).

TABLE I Pulley Bank # Location Order of taps as viewed by operator 1 Master azimuth assembly Z2 3 Master top bracket operator's side Z3 4 Master top bracket wall side Z14 Z4 5 Master pivot frame Z13 Z5 Z10 6 Master transfer upper tier Z6 7 Master transfer lower tier Z9 8 Slave transfer upper tier Z39 Z19 9 Slave transfer lower tier Z37 Z49 10 Slave pivot - upper tier Z36 Z40 Z48 Z20 11 Slave pivot - middle tier Z35 Z21 12 Slave pivot - lower tier Z34 Z22 13 Slave intermediate carriage Z42 Z46 WHAT WE CLAIM IS: 1.A remote control master-slave manipulator for performing work on the opposite side of a barrier wall, said manipulator comprising a rotatable horizontal support adapted to extend through said barrier wall, a longitudinally extensible master arm pivotally connected to one end of said horizontal support and rotatable therewith and a longitudinally extensible double telescoping slave arm pivotally connected to the opposite end of said horizontal support and rotatable therewith, said manipulator characterized by:: A) linear motion transmission means interconnecting the telescoping segments of the slave arm for moving the slave arm longitudinally, B) means for transmitting manual longitudinal Z motion of said master arm through the horizontal support as input to said linear motion transmission means for manually moving the slave arm with the master arm, C) rotary Z motion indexing means connected to said linear motion transmission means for translation of rotary motion to linear Z motion, and D) a motor connected to drive said rotary Z motion indexing means as input to move the slave arm independently of the motion of the master arm.

2. A manipulator according to Claim 1 wherein said motor for driving the rotary Z motion indexing means is an electric motor.

3. A manipulator according to Claim 1 wherein: A) said horizontal support includes a through tube comprising a cylindrical housing, B) said means for transmitting longitudinal Z motion of the master arm is a first longitudinal manual Z motion shaft journaled in the housing for rotation responsive to longitudinal extension of the master arm, C) a coupling is disposed in each end of said housing at each end of said shaft, D) a second longitudinal Z motion shaft is journaled in said housing,

**WARNING** end of DESC field may overlap start of CLMS **.

Claims (1)

1. **WARNING** start of CLMS field may overlap end of DESC **.

   TABLE I Pulley Bank # Location Order of taps as viewed by operator

   1 Master azimuth assembly Z2

   3 Master top bracket operator's side Z3

   4 Master top bracket wall side Z14 Z4

   5 Master pivot frame Z13 Z5 Z10

   6 Master transfer upper tier Z6

   7 Master transfer lower tier Z9

   8 Slave transfer upper tier Z39 Z19

   9 Slave transfer lower tier Z37 Z49

   10 Slave pivot - upper tier Z36 Z40 Z48 Z20

   11 Slave pivot - middle tier Z35 Z21

   12 Slave pivot - lower tier Z34 Z22

   13 Slave intermediate carriage Z42 Z46 WHAT WE CLAIM IS: 1.A remote control master-slave manipulator for performing work on the opposite side of a barrier wall, said manipulator comprising a rotatable horizontal support adapted to extend through said barrier wall, a longitudinally extensible master arm pivotally connected to one end of said horizontal support and rotatable therewith and a longitudinally extensible double telescoping slave arm pivotally connected to the opposite end of said horizontal support and rotatable therewith, said manipulator characterized by:: A) linear motion transmission means interconnecting the telescoping segments of the slave arm for moving the slave arm longitudinally, B) means for transmitting manual longitudinal Z motion of said master arm through the horizontal support as input to said linear motion transmission means for manually moving the slave arm with the master arm, C) rotary Z motion indexing means connected to said linear motion transmission means for translation of rotary motion to linear Z motion, and D) a motor connected to drive said rotary Z motion indexing means as input to move the slave arm independently of the motion of the master arm.

   2. A manipulator according to Claim 1 wherein said motor for driving the rotary Z motion indexing means is an electric motor.

   3. A manipulator according to Claim 1 wherein: A) said horizontal support includes a through tube comprising a cylindrical housing, B) said means for transmitting longitudinal Z motion of the master arm is a first longitudinal manual Z motion shaft journaled in the housing for rotation responsive to longitudinal extension of the master arm, C) a coupling is disposed in each end of said housing at each end of said shaft, D) a second longitudinal Z motion shaft is journaled in said housing,

   E) a coupling is disposed in the slave arm end of said housing at the end of said second shaft, F) said coupling at the master arm end of the first Z motion shaft is connected to a rotary means operable by linear motion means for translating linear motion of the master arm to rotary motion for transfer through the barrier wall by said first shaft and each of said couplings at the slave arm end of said housing is connected to a rotary means operating linear motion means for retranslating rotary motion to linear motion of the slave arm.

   4. A manipulator according to Claim 3 wherein: A) each of said rotary means is a drum or pulley, and B) each of said linear motion means is a tape or cable wrapped around the rotary means.

   5. A manipulator according to Claim 3 wherein: A) said means for driving the independent rotary Z motion indexing means is an electric motor mounted on said housing adjacent the master arm end thereof, and B) gear means interconnect said second shaft and motor for rotation of the second shaft.

   6. A manipulator according to Claim 3 wherein: A) said through tube is a closed cylindrical seal tube housing, and B) at least one rotary shaft seal surrounds each of said shafts.

   7. A manipulator according to Claim 1 wherein: A) said linear motion transmission means are a pair of tapes or cables, B) said manual Z motion transmission means are a pair of tapes or cables extending from the master arm through the horizontal support to the slave arm, C) one end of each of said manual Z motion transmission tapes or cables is integral with one end of each of said linear motion tapes or cables, D) said rotary Z motion indexing means is a drum or pulley, and E) the opposite ends of said linear motion tapes or cables are wrapped in opposite directions around the rotary means.

   8. A manipulator according to Claim 7 wherein: A) said rotary Z motion drum or pulley is mounted at the slave arm end of said horizontal support B) said means for driving said drum or pulley is an electric motor mounted on said support, and C) gear means interconnect the motor and drum or pulley.