US2973107A - Remote-controlled manipulating apparatus for manipulating objects inside sealed chambers - Google Patents

Remote-controlled manipulating apparatus for manipulating objects inside sealed chambers Download PDF

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Publication number
US2973107A
US2973107A US774484A US77448458A US2973107A US 2973107 A US2973107 A US 2973107A US 774484 A US774484 A US 774484A US 77448458 A US77448458 A US 77448458A US 2973107 A US2973107 A US 2973107A
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United States
Prior art keywords
magnet
manipulating
chamber
movement
operating
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Expired - Lifetime
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US774484A
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English (en)
Inventor
Cherel Guy
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Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
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Commissariat a lEnergie Atomique CEA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
    • B66C2700/088—Remote control of electric cranes

Definitions

  • the present invention based on a system devised by Guy Cherel, aims at providing a telemanipulator or remote-controlled manipulating apparatus for sealed chambers, which does not call for the creation of openings in the walls of these chambers, and which therefore does not have the abovementioned disadvantages.
  • a telemanipulator of this kind comprises a first group of control units which are outside a sealed chamber and which actuate at least one second group of corresponding operating units inside the chamber, and, according to the invention, is essentially characterized in this, that the connection between the abovementioned two groups of units is effected by means of at least one transmission system known per se and comprising on the one hand a first movable magnet disposed outside and against the wall of the chamber, which wall is made of non-magnetic material, and on the other hand a second magnet disposed inside and against the wall of the chamber.
  • a telemanipulator of this kind calls for a chamber of which the walls are made of a material that is not magnetic; this is generally true of the unoxidizable metals and plastic materials ordinarily used.
  • This telemanipulator with magnetic transmission makes it possible to construct chambers that are perfectly sealed with respect to their surroundings, without in any way affecting the movements to be performed; moreover, these movements may be very varied; for instance, they may be such movements as are performed by a human hand.
  • the operating unit (inside the chamber) and the control unit (outside the chamber) are separate makes it possible to work a plurality of chambers, each provided with its own operating units, by means of a single group of control units.
  • the accompanying drawing diagrammatically is an elevation section of a telemanipulator of this kind.
  • This telemanipulator essentially comprises two groups of un-ts:
  • This group is made up of movement control units.
  • the movements may be horizontal translations parallel to the directions XX and YY', vertical translation movements ZZ', gripping movements 5 and rotary movements 9 about a vertical axis of a forceps or tongs. All of these control units end in magnets (electromagnets or permanent magnets) disposed outside and against the wall of the chamber 1 which wall is made of non-magnetic material,
  • This group is made up of units performing the different movements hereinabove referred to as XX, YY', ZZ, e and 9. These movement-performing units are controlled from magnets (electromagnets or permanent magnets) disposed inside and against the wall of the chamber 1, opposite the corresponding magnets of the outer group when operating.
  • magnets electromagnets or permanent magnets
  • the outer group receives the commands of the operator through the intermed-ary of mechanical means when the activity inside the sealed chamber 1 is at a low level, or of electrical means (such as direct-current motors) when this activity is at a high level; in this latter case, the creation of openings in additional protective barriers constituted by walls 2 and a movable caisson 3 forming a roof, is avoided. These walls 2 and this caisson 3 are so made as to ensure protection against radiation, in any of the ways known in this art.
  • the outer group is connected to the caisson 3 which moves in the direction XX on rails 4 fixed for instance to the protective walls 2.
  • Any vertical movement ZZ which has to be imparted to a tongs or forceps is performed by raising or lowering a handle 5.
  • the pulley 12A is connected rigidly to a magnet 14A by a shaft 15A passing through a casing 16A which is fixed to the caisson 3 by a support 17.
  • the rotation Q of the tongs 19 about a vertical axis is effected by rotating the handle 5 about its axis; this causes rotation of a tube 20, which is rigid with this handle, and of pairs of bevel pinions 21 and 22 operatively interconnected by a shaft 23 passing through the casing 3.
  • the pinions 21 and 22, and also the shafts 23 and 26A are kept in place by hollow tubes 27 and 28 fixed at 29 to a. tube 30 which is fixed at 31 to the casing 25A which is thus made rigid with the group.
  • the tongs 19 is made to pivot about its vertical axis by this magnet 24B by means of a shaft 26B and a lug 32 passing through a longitudinal'slot 33 made in the body of the tongs 1'9.
  • the system comprising the lug 32 and the slot 33 allows the tongs 19 to be raised or lowered without being rotated.
  • the closing of the tongs 19, diagrammatically .indicated by the arrow e, is controlled by pulling a handle .34
  • a magnet 3813 (contained in a casing 39B) which corresponds to the magnet 33A by means of a pulley 40B connected to the magnet by a shaft 41B.
  • This magnet 38B actuates a cable in a flexible tube 43. The pull on this cable displaces a lever 44 which closes the jaws 46 of the tongs 19 through the intermediary of a linkage 45.
  • the magnets 14A, 24A and 38A displaces the part of the telemanipulator situated inside the sealed chamber, by imparting their own movements to the corresponding magnets 14B, 24B and 38B which are inside.
  • the three magnets 14B, 24B and 38B are interconnected for movement along the axis XX, by means of a beam 48 to which the casings 16B and 38B are fixed and along which the casing 258 is displaced.
  • the beam 4-8 can roll, through the intermediary of rollers 48A, on rolling tracks 4813 which are parallel to the direction XX and are fixed to the inside of the wall of the chamber 1.
  • Displacement along the axis YY' is controlled in a similar manner by pushing the handle 5 to the right or to the left.
  • This actuates the tubes 27 and 28 which slide across the caisson 3 by means of ball bearings 49 and 50 respectively.
  • the magnet 24A which is connected to these two tubes is thereby displaced in the direction YY.
  • the casing 25B is provided with rollers 51 which permit this casing to run along the beam 48, which forms a rolling track, when the casing is driven by the magnet 2413.
  • the magnet 24B follows the displacements of the magnet 24A along the axis YY', and the tongs 19, which is connected to the magnet 24B, therefore follows the displacements of the handle 5 along the axis YY.
  • the casings of the magnets 14A, 14B, 38A and 33B are mounted on bearings 52 supported on the walls of the chamber 1, in order to facilitate their movements and to keep the interferric spaces between each driving magnet and receiving magnet constant. This arrangement keeps the mutual characteristics of each pair of magnets constant, independently of the force that has to be transmitted.
  • the rotation about a vertical axis is through 120
  • the closing movement of the tongs has an amplitude ranging from to 150 millimetres
  • the lifting force of the tongs is of the order of several kilogrammes, which is generally sufiicient for manipulation of objects in sealed chambers in technical laboratories; however, with magnets having stronger fields it is possible to improve the performance of the tongs.
  • the magnets are horseshoe magnets made of the usual alloys such as aluminium-nickel-cobalt or titanium-cobalt-aluminium, with oriented grains.
  • the selected arrangement of the magnets is important: it is necessary to avoid interaction between them, and to form a rigid unit. Thus, grouping all themagnets on one and the same plate would make it difiicult to avoid interaction; on the other hand, disposing the magnets on each vertical wall of .the chamber would seriously increase the external dimensions, but would make 'it easy to obtain rigidity of the inner group.
  • the arrangement chosen and described above is a compromise between these two solutions.
  • a telemanipulator for manipulating objects inside a sealed chamber having walls of. non-magnetic material comprising manipulative means for manipulating objects; means for movably mounting said manipulative means inside said chamber; operating means operatively connected to said manipulative means located inside said chamber; control means located outside said chamber; control magnet means connected to said control means; operating magnet means connected to said operating means for cooperation with said control magnet means, whereby control movements applied tosaid control means are imparted to said manipulative means; said manipulative means being mounted forsliding movement on a beam movable in a plane parallel to and below a top wall of the chamber; other operating magnet means for opening, closing, and vertically moving said manipulative means mounted on the ends of said beam; and other control magnet means, cooperating with said other operating magnet means, connected to said control means.
  • a telemanipulator for manipulating objects inside a sealed chamber having walls of non-magnetic material comprising: means for manipulating objects; means for mounting said manipulating means for movement along XX and Y--Y' axes, in a vertical direction, in a rotary direction, and for opening and closing movement, said means including a beam within said chamber, means for movably mounting said manipulating means for movement along a YY axis on said beam, means for mounting said beam for movement along an XX axis; first operating magnet means carried by the ends of said beam and connected to said manipulating means to move said beam along an XX axis, to move said manipulating means vertically and for opening and closing movement; other operating magnet means carried by said means for mounting the manipulating means for movement along a YY axis and connected to said manipulating means for rotary movement and vertical movement; control magnet means mounted outside said chamber in cooperating relation with said first operating magnet means and said other operating magnet means; and control means, connected to said control magnet means, to remotely a
  • a telemanipulator for manipulating objects inside a sealed chamber having walls of non-magnetic material comprising: means for manipulating objects comprising a pair of opposed jaws; means for pivotally mounting said jaws for movement toward and away from one another; means for supporting said manipulating means including a beam within said chamber; means for mounting said manipulating means on said beam for movement in a Y-Y direction, said mounting means including a connection for vertical and rotational movement of the manipulating means; means for mounting said beam for movement in an X-X direction; a first rotatable operating magnet meanson one end of the beam adjacent a wall of the chamber; connecting means between said magnet means and the manipulating means for raising and lowering the manipulating means; a second rotatable operating magnet means on the other end of the beam adjacent a wall of the chamber; connecting means between said second operating magnet means and manipulating means to operate the jaws thereof; a third rotatable operating magnet means on the manipulating means mounting means adjacent a wall of the chamber; connecting means between said third operating magnet means and
  • control means comprises a manually operated member mounted for axial movement, and rotational movement about a longitudinal axis, and connecting means between said manually operated member and said first and third controlling rotatable magnet means whereby axial movement of the member produces rotation of said first controlling magnet means, and rotational movement about a longitudinal axis produces a rotation of the third controlling magnet means.
  • said movable support includes means to support said connecting means between the control member and the first and third controlling magnet means for movement along a YY axis, whereby movement of the control member along a YY' axis causes concurrent movement of the first and third control magnet means.
  • a telemanipulator comprising: control means located outside said chamber; operating means located inside said chamber; control and operating magnet means cooperating with said control means and said operating means, respectively, whereby a magnetic coupling is established through the wall of the chamber between said control means and said operating means; rotatably mounted shafts carrying said magnetic means; housings having means rotatably supporting said shafts; rolling means, carried by said housings, having rolling contact with the outside walls and inside walls of said chamber; rotating means, responsive to said control means, rotating said control magnet around an axis perpendicular to said walls; and means, responsive to said control means, translating said control magnet means along said walls.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Particle Accelerators (AREA)
  • Food Preservation Except Freezing, Refrigeration, And Drying (AREA)
US774484A 1959-01-20 1958-11-17 Remote-controlled manipulating apparatus for manipulating objects inside sealed chambers Expired - Lifetime US2973107A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR784500A FR74850E (fr) 1959-01-20 1959-01-20 Télémanipulateur à transmission magnétique pour manipulation à l'intérieur d'enceintes étanches

Publications (1)

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US2973107A true US2973107A (en) 1961-02-28

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US774484A Expired - Lifetime US2973107A (en) 1959-01-20 1958-11-17 Remote-controlled manipulating apparatus for manipulating objects inside sealed chambers
US2446A Expired - Lifetime US3090500A (en) 1959-01-20 1960-01-14 Remote-controlled manipulating apparatus

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US2446A Expired - Lifetime US3090500A (en) 1959-01-20 1960-01-14 Remote-controlled manipulating apparatus

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BE (2) BE572859A (en))
CH (2) CH350484A (en))
DE (2) DE1111357B (en))
FR (2) FR1187997A (en))
GB (2) GB873441A (en))
LU (2) LU36586A1 (en))
NL (1) NL102032C (en))

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3090500A (en) * 1959-01-20 1963-05-21 Commissariat Energie Atomique Remote-controlled manipulating apparatus
US3139151A (en) * 1959-01-05 1964-06-30 Spandock Friedrich Method and apparatus for determining acoustic effects
US3173297A (en) * 1961-10-18 1965-03-16 Lloyd G D Thompson Pendulum apparatus for relative gravity determinations
US3365079A (en) * 1963-09-27 1968-01-23 Commissariat Energie Atomique Application of said method hot cell having a thin diaphragm and method of maintaining a flat surface on said diaphragm
DE1270252B (de) * 1961-03-27 1968-06-12 Central Res Lab Inc Fernhandhabungsgeraet
US3499279A (en) * 1967-02-20 1970-03-10 Akira Abe Digital timer
FR2281196A1 (fr) * 1974-08-06 1976-03-05 Kernforschungsanlage Juelich Manipulateur pour deplacer des objets disposes dans une enceinte a vide pousse
US4181465A (en) * 1975-02-13 1980-01-01 Aktiebolaget Electrolux Apparatus utilizing magnetic means for transferring articles to and from predetermined positions
US4768911A (en) * 1987-09-01 1988-09-06 Huntington Mechanical Laboratories, Inc. Device for moving objects within and between sealed chambers
US4797053A (en) * 1988-02-16 1989-01-10 Huntington Mechanical Laboratories, Inc. Manipulator for vacuum applications
US4893980A (en) * 1988-12-19 1990-01-16 Huntington Mechanical Laboratories, Inc. Device for moving objects within a sealed chamber
EP0423608A1 (en) * 1989-10-20 1991-04-24 Applied Materials, Inc. Two-axis magnetically coupled robot
US5227708A (en) * 1989-10-20 1993-07-13 Applied Materials, Inc. Two-axis magnetically coupled robot
US5447409A (en) * 1989-10-20 1995-09-05 Applied Materials, Inc. Robot assembly
US5539266A (en) * 1993-01-28 1996-07-23 Applied Materials Inc. Dual coaxial magnetic couplers for vacuum chamber robot assembly
US6145517A (en) * 1998-05-11 2000-11-14 Keibler-Thompson Corp. Method of removing agglomerations of polyethylene from reactor
US20100078610A1 (en) * 2005-08-22 2010-04-01 Mark Turner Line retrieval system and method
CN116443728A (zh) * 2023-06-16 2023-07-18 河南省铁山起重设备集团有限公司 一种房建石材起吊支承装置及起吊方法

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1285384A (fr) * 1961-01-12 1962-02-23 Commissariat Energie Atomique Perfectionnements apportés aux appareils télécommandés pour la manoeuvre d'organes à l'intérieur d'enceintes étanches, notamment radioactifs
BE631545A (en)) * 1962-04-25
FR1365371A (fr) * 1963-05-10 1964-07-03 Commissariat Energie Atomique Perfectionnement aux dispositifs d'articulation avec transmission de mouvements
US3754356A (en) * 1972-02-28 1973-08-28 Hamlin Casting Corp Positioning machine
US4042119A (en) * 1975-06-30 1977-08-16 International Business Machines Corporation Workpiece positioning apparatus
JPS594266B2 (ja) * 1978-07-28 1984-01-28 元田電子工業株式会社 先端制御ロボツト
FR2501563B1 (fr) * 1981-03-10 1986-07-18 Sormel Sa Manipulateur automatique
IT1178975B (it) * 1984-06-19 1987-09-16 Bisiach & Carru Struttura porta a carro porta le mobile su rotaie
DD240351A1 (de) * 1985-08-19 1986-10-29 Werkzeugmasch Okt Veb Industrieroboter fuer die handhabung von werkstuecken und werkzeugen
JPH0825150B2 (ja) * 1991-07-25 1996-03-13 健 柳沢 運動機構
US5311791A (en) * 1991-08-07 1994-05-17 Ken Yanagisawa Two dimensional drive system
CN109264560B (zh) * 2018-10-30 2020-07-31 广东南桂起重机械有限公司 一种智能立体仓储自动起重机自动定位系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2159657A (en) * 1937-09-03 1939-05-23 Pittsburgh Plate Glass Co Magnetic drive for lehr rolls
AT174407B (de) * 1950-10-16 1953-03-25 Well Surveys Inc Einrichtung zur Vornahme von ferngesteuerten Manipulationen
US2752932A (en) * 1950-06-15 1956-07-03 Trist & Co Ltd Ronald Magnetically-operated control device
US2861699A (en) * 1950-10-16 1958-11-25 Gen Mills Inc Method and apparatus for performing operations at a remote point

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2556854A (en) * 1949-10-29 1951-06-12 Standard Oil Dev Co Magnetic coupling drive for highpressure stirred reactors
FR1187997A (fr) * 1959-01-20 1959-09-17 Commissariat Energie Atomique Télémanipulateur à transmission magnétique pour manipulation à l'intérieur d'enceintes étanches

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2159657A (en) * 1937-09-03 1939-05-23 Pittsburgh Plate Glass Co Magnetic drive for lehr rolls
US2752932A (en) * 1950-06-15 1956-07-03 Trist & Co Ltd Ronald Magnetically-operated control device
AT174407B (de) * 1950-10-16 1953-03-25 Well Surveys Inc Einrichtung zur Vornahme von ferngesteuerten Manipulationen
US2861699A (en) * 1950-10-16 1958-11-25 Gen Mills Inc Method and apparatus for performing operations at a remote point

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3139151A (en) * 1959-01-05 1964-06-30 Spandock Friedrich Method and apparatus for determining acoustic effects
US3090500A (en) * 1959-01-20 1963-05-21 Commissariat Energie Atomique Remote-controlled manipulating apparatus
DE1270252B (de) * 1961-03-27 1968-06-12 Central Res Lab Inc Fernhandhabungsgeraet
US3173297A (en) * 1961-10-18 1965-03-16 Lloyd G D Thompson Pendulum apparatus for relative gravity determinations
US3365079A (en) * 1963-09-27 1968-01-23 Commissariat Energie Atomique Application of said method hot cell having a thin diaphragm and method of maintaining a flat surface on said diaphragm
US3499279A (en) * 1967-02-20 1970-03-10 Akira Abe Digital timer
FR2281196A1 (fr) * 1974-08-06 1976-03-05 Kernforschungsanlage Juelich Manipulateur pour deplacer des objets disposes dans une enceinte a vide pousse
US4030615A (en) * 1974-08-06 1977-06-21 Kernforschungsanlage Julich Gesellschaft Mit Beschrankter Haftung Manipulator for movement of articles in a controlled environment chamber, especially a high vacuum chamber
US4181465A (en) * 1975-02-13 1980-01-01 Aktiebolaget Electrolux Apparatus utilizing magnetic means for transferring articles to and from predetermined positions
US4768911A (en) * 1987-09-01 1988-09-06 Huntington Mechanical Laboratories, Inc. Device for moving objects within and between sealed chambers
US4797053A (en) * 1988-02-16 1989-01-10 Huntington Mechanical Laboratories, Inc. Manipulator for vacuum applications
US4893980A (en) * 1988-12-19 1990-01-16 Huntington Mechanical Laboratories, Inc. Device for moving objects within a sealed chamber
US5447409A (en) * 1989-10-20 1995-09-05 Applied Materials, Inc. Robot assembly
US5990585A (en) * 1989-10-20 1999-11-23 Applied Materials, Inc. Two-axis magnetically coupled robot
EP0423608A1 (en) * 1989-10-20 1991-04-24 Applied Materials, Inc. Two-axis magnetically coupled robot
US5227708A (en) * 1989-10-20 1993-07-13 Applied Materials, Inc. Two-axis magnetically coupled robot
US5583408A (en) * 1989-10-20 1996-12-10 Applied Materials Two-axis magnetically coupled robot
US5678980A (en) * 1989-10-20 1997-10-21 Applied Materials, Inc. Robot assembly
US5879127A (en) * 1989-10-20 1999-03-09 Applied Materials, Inc. Robot assembly
US5539266A (en) * 1993-01-28 1996-07-23 Applied Materials Inc. Dual coaxial magnetic couplers for vacuum chamber robot assembly
US6145517A (en) * 1998-05-11 2000-11-14 Keibler-Thompson Corp. Method of removing agglomerations of polyethylene from reactor
US20100078610A1 (en) * 2005-08-22 2010-04-01 Mark Turner Line retrieval system and method
US8087643B2 (en) 2005-08-22 2012-01-03 Labor Saving Systems, Ltd. Line retrieval system and method
US8157244B2 (en) 2005-08-22 2012-04-17 Labor Saving Systems, Ltd. Line retrieval system and method
US8186650B2 (en) 2005-08-22 2012-05-29 Labor Saving Systems, Ltd. Line retrieval system and method
US8500100B2 (en) 2005-08-22 2013-08-06 Labor Savings Systems, Ltd. Line retrieval system and method
CN116443728A (zh) * 2023-06-16 2023-07-18 河南省铁山起重设备集团有限公司 一种房建石材起吊支承装置及起吊方法
CN116443728B (zh) * 2023-06-16 2023-08-25 河南省铁山起重设备集团有限公司 一种房建石材起吊支承装置及起吊方法

Also Published As

Publication number Publication date
CH357893A (fr) 1961-10-31
DE1127561C2 (en)) 1962-10-25
FR1187997A (fr) 1959-09-17
CH350484A (fr) 1960-11-30
LU38136A1 (en)) 1960-04-12
BE572859A (en)) 1958-11-29
DE1127561B (de) 1962-04-12
NL102032C (en)) 1962-08-15
GB873441A (en) 1961-07-26
LU36586A1 (en)) 1959-01-13
US3090500A (en) 1963-05-21
FR74850E (fr) 1961-03-03
GB876898A (en) 1961-09-06
BE586419R (fr) 1960-05-03
DE1111357B (de) 1961-07-20

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