US3155240A - Remote manipulation apparatus - Google Patents

Remote manipulation apparatus Download PDF

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Publication number
US3155240A
US3155240A US87269A US8726961A US3155240A US 3155240 A US3155240 A US 3155240A US 87269 A US87269 A US 87269A US 8726961 A US8726961 A US 8726961A US 3155240 A US3155240 A US 3155240A
Authority
US
United States
Prior art keywords
pincer
arm
forearm
movement
manipulation
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 - Lifetime
Application number
US87269A
Other languages
English (en)
Inventor
Eude Jean-Claude
Piron Claude
Savouyaud Jean
Vertut Jean
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from FR827297A external-priority patent/FR77717E/fr
Application filed by Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Application granted granted Critical
Publication of US3155240A publication Critical patent/US3155240A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • 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
    • 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
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
    • G21C19/02—Details of handling arrangements
    • G21C19/10—Lifting devices or pulling devices adapted for co-operation with fuel elements or with control elements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • the present invention relates to remote control apparatus allowing an operator to operate remoteiy upon dangerous materials, particularly radioactive materials, located inside a protective enclosure.
  • the invention principally consists in -transmitting the four movements of which the manipulation head is capable by means of kinematic linkages comprising gears and transmission shafts from four external motor members, each effecting one movement and mounted on the part of the said manipulation head furthest away from the pincer.
  • motor members may be of any desired kind e.g. electric, rotary hydraulic, or rotary pneumatic motor.
  • the invention is concerned more particularly with certain methods of application (those for which it is used to operate upon radioactive materials inside protective enclosures and also with certain embodiments of the said devices. Still more particularly and by way of new industrial products, the invention concerns means of the kind in question which can be applied to these same devices, and also assemblies or installations fitted with similar devices.
  • FIGURE l shows an outside View of the manipulation head, according to the invention
  • FIGURE 2 shows a diagrammatic view of the transmission of the opening movement of the pincer
  • FIGURE 3 shows in diagrammatic View the transmission ofthe rotary movement of the pincer
  • FIGURE 4 shows a diagrammatic View of the transmission of the elbow movement
  • FlGURE 5 shows a diagrammatic view of the transmission of the rotary movement of the entire manipulation head.
  • the manipulation head as nay be seen in FIGURE l, comprises au arm, itself comprising lan upperpart 1, integral with a support 2 and ice carrying motors generally indicated at 3 and with a lower part 4, a forearm 5, articulated on the lower part 4 of the arm at an elbow joint shaft 6, and a pincer 7 connected to the forearm 5 by a pincer carrier 8.
  • the said manipulation head is capable of the following four elementary movements:
  • the closure of the jaws such as S2 of the pincer is carried out by the toothed rack 53, in engagement with the gearing on the heels of the jaws, by means of two identical toothed wheels such as 54, which have the object of reversing the direction of opening of the pincer and of allowing by this fact the dismantling of [the pincer and the pincer carrier.
  • the toothed rack 53 is integral with a ring 55 of a planetary differential reducer 56 disposed within the housing of the forearm 5.
  • a train of gears 57, a flexible transmission shaft 58, which allows the elbow to move, a train of gears 59, a hollow shaft 60 and a train of gears 61 connect the aforementioned assembly to ia motor 62 placed at the top of the upper part 1 of the arm.
  • the rotation of the pmcer carrier 3 about the axis 10 of the forearm is produced by a motor 63, the movement of which is transmitted from the top of the upper part 1 of the arm by by a gear 64, a hollow shaft 65, a train of gears 66, a llexible transmission shaft 67, which Vallows the elbow to move a train of gears 68,'a planetary diierential reducer 69, located inside the housing of the forearm 5.
  • the ring of the reducer 69 is integral with the toothed wheel 71 which transmits its movement to the pincer carrier 8 by the means of planet wheels such as 72, mounted loose on an axis 73 integral with the forearm 5. This latter turns about the axis 74 integral with the forearm 5.
  • the elbow movement about the axis of shaft 6 is produced by a motor 75 and transmitted from the top of the upper part 1 of the arm by a planetary differential reducer 76, located in the housing of the upper part 1 of the arm, a bevel gear 77 and a toothed wheel 73 which simultaneously drives two identical toothed wheels such as 79 respectively integral with two screws such as 80 which in their turn respectively drive two identical sectors, such as 8l, keyed on tothe shaft 6 integral with the forearm 5 (FIGURE 5).
  • the clearance of the forearm 5 in relation to the arm 4 is Referring to FIGURE 5, the rotation of the lower l part 4 of the arm in relation to the upper part 1 is pro-
  • the embodiment which has just been described relates, to the manipulation head, but the latter can be mounted on different sorts of supports in order to form any number of operating devices'.
  • Remote manipulation apparatus having a manipulation head, the head comprising an arm, a forearm and a pincer, and constructed and arranged for unlimited rotation of the arm, for elbow movement of the forearm with respect to the arm, for unlimited movement of the pincer and for closure of the pincer, kinematic linkages transmitting these movements to the head, the linkages comprising gearing and ilexible driving shafts, four external motor members driving said linkages, one motor for each movement and the motors being mounted upon the References Cited by the Examiner UNITED STATES PATENTS 2,822,094 2/58 Greer. 2,861,701 1l/58 Bergsland et al. 3,033,059 5/62 lMelton et al. 3,043,448 7/ 62 Melton.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Manipulator (AREA)
US87269A 1960-02-16 1961-02-06 Remote manipulation apparatus Expired - Lifetime US3155240A (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR818564A FR1260036A (fr) 1960-02-16 1960-02-16 Appareil télécommandé d'intervention sur des matériels dangereux
FR827297A FR77717E (fr) 1960-05-16 1960-05-16 Appareil télécommandé d'intervention sur des matériels dangereux
FR836225A FR78265E (fr) 1960-02-16 1960-08-19 Appareil télécommandé d'intervention sur des matériels dangereux

Publications (1)

Publication Number Publication Date
US3155240A true US3155240A (en) 1964-11-03

Family

ID=27245405

Family Applications (1)

Application Number Title Priority Date Filing Date
US87269A Expired - Lifetime US3155240A (en) 1960-02-16 1961-02-06 Remote manipulation apparatus

Country Status (7)

Country Link
US (1) US3155240A (fr)
BE (1) BE599856A (fr)
CH (1) CH370168A (fr)
FR (2) FR1260036A (fr)
GB (1) GB973101A (fr)
LU (1) LU39744A1 (fr)
NL (1) NL261475A (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4149278A (en) * 1977-09-27 1979-04-17 Nasa Compact artificial hand
US4370091A (en) * 1979-07-18 1983-01-25 Ateliers Et Chantiers De Bretagne Remote manipulator arm
US4766775A (en) * 1986-05-02 1988-08-30 Hodge Steven W Modular robot manipulator
US4973215A (en) * 1986-02-18 1990-11-27 Robotics Research Corporation Industrial robot with servo
US5249479A (en) * 1988-10-24 1993-10-05 Fanuc Ltd. Wrist mechanism for an industrial robot

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS571116Y2 (fr) * 1978-01-31 1982-01-08
FR2492304A1 (fr) * 1980-10-17 1982-04-23 Commissariat Energie Atomique Ensemble de telemanipulation monte sur une plate-forme mobile et comportant un ensemble porteur telescopique retractable a l'interieur d'une hotte etanche, et procede de mise en place sur une enceinte
EP0052367B1 (fr) * 1980-11-17 1985-03-13 Hitachi, Ltd. Ensemble d'assemblage et de montage
FR2645788B1 (fr) * 1989-04-13 1995-07-28 Sit Innovations Tech Engin de telemanipulation prevu pour etre suspendu a une unite de levage
JP2642226B2 (ja) * 1990-07-23 1997-08-20 ファナック株式会社 高密度設置形ロボット
CN106272360A (zh) * 2016-09-28 2017-01-04 钦州学院 多自由度装卸机械手
CN108406747B (zh) * 2018-03-22 2021-02-05 吉林大学 助力机械手
CN109807856B (zh) * 2019-04-09 2020-10-30 合肥伟达智能科技有限公司 一种工业用货物搬运机械手臂及其工作方式

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2822094A (en) * 1953-09-29 1958-02-04 Greer Hydraulics Inc Bridge manipulator
US2861701A (en) * 1958-05-19 1958-11-25 Gen Mills Inc Remote controlled handling unit
US3033059A (en) * 1958-09-19 1962-05-08 Gen Mills Inc Drive means for remote control manipulator
US3043448A (en) * 1958-09-19 1962-07-10 Gen Mills Inc Vehicle-mounted manipulator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2822094A (en) * 1953-09-29 1958-02-04 Greer Hydraulics Inc Bridge manipulator
US2861701A (en) * 1958-05-19 1958-11-25 Gen Mills Inc Remote controlled handling unit
US3033059A (en) * 1958-09-19 1962-05-08 Gen Mills Inc Drive means for remote control manipulator
US3043448A (en) * 1958-09-19 1962-07-10 Gen Mills Inc Vehicle-mounted manipulator

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4149278A (en) * 1977-09-27 1979-04-17 Nasa Compact artificial hand
US4370091A (en) * 1979-07-18 1983-01-25 Ateliers Et Chantiers De Bretagne Remote manipulator arm
US4973215A (en) * 1986-02-18 1990-11-27 Robotics Research Corporation Industrial robot with servo
US5581166A (en) * 1986-02-18 1996-12-03 Robotics Research Corporation Industrial robot with servo
US4766775A (en) * 1986-05-02 1988-08-30 Hodge Steven W Modular robot manipulator
US5249479A (en) * 1988-10-24 1993-10-05 Fanuc Ltd. Wrist mechanism for an industrial robot

Also Published As

Publication number Publication date
BE599856A (fr) 1961-05-29
NL261475A (fr)
FR78265E (fr) 1962-06-29
GB973101A (en) 1964-10-21
CH370168A (fr) 1963-06-30
FR1260036A (fr) 1961-05-05
LU39744A1 (fr) 1961-04-06

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