US3155240A - Remote manipulation apparatus - Google Patents
Remote manipulation apparatus Download PDFInfo
- 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
Links
Images
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)
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 (xx) |
BE (1) | BE599856A (xx) |
CH (1) | CH370168A (xx) |
FR (2) | FR1260036A (xx) |
GB (1) | GB973101A (xx) |
LU (1) | LU39744A1 (xx) |
NL (1) | NL261475A (xx) |
Cited By (5)
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)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS571116Y2 (xx) * | 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 (en) * | 1980-11-17 | 1985-03-13 | Hitachi, Ltd. | Assembling or processing system |
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)
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 |
-
0
- NL NL261475D patent/NL261475A/xx unknown
-
1960
- 1960-02-16 FR FR818564A patent/FR1260036A/fr not_active Expired
- 1960-08-19 FR FR836225A patent/FR78265E/fr not_active Expired
-
1961
- 1961-02-03 CH CH131961A patent/CH370168A/fr unknown
- 1961-02-03 BE BE599856A patent/BE599856A/fr unknown
- 1961-02-06 US US87269A patent/US3155240A/en not_active Expired - Lifetime
- 1961-02-06 LU LU39744D patent/LU39744A1/xx unknown
- 1961-02-16 GB GB5783/61A patent/GB973101A/en not_active Expired
Patent Citations (4)
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)
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 |
---|---|
NL261475A (xx) | |
FR78265E (fr) | 1962-06-29 |
BE599856A (fr) | 1961-05-29 |
CH370168A (fr) | 1963-06-30 |
GB973101A (en) | 1964-10-21 |
LU39744A1 (xx) | 1961-04-06 |
FR1260036A (fr) | 1961-05-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US3155240A (en) | Remote manipulation apparatus | |
US4499784A (en) | Split-ball type wrist and manipulating assembly for robot | |
US3033059A (en) | Drive means for remote control manipulator | |
US3043448A (en) | Vehicle-mounted manipulator | |
US4047448A (en) | Robot head | |
GB880152A (en) | Remote control manipulators | |
EP0048904B1 (en) | An industrial robot | |
US3817403A (en) | Remote manipulator | |
US4576544A (en) | Swivelling handle with three axes of rotation for an industrial robot | |
GB1019989A (en) | Manipulator hand | |
US3090500A (en) | Remote-controlled manipulating apparatus | |
GB1372327A (en) | Articulated manipulator | |
US5655988A (en) | Geared drive unit for imparting motion to a load | |
DE3369269D1 (en) | Drive means for the two axes of the wrist of an industrial robot | |
US4492510A (en) | Robot hand driving mechanism | |
EP0128544B1 (en) | A joint structure between link members primarily of an industrial robot arm | |
EP2389276A1 (en) | Manipulator system | |
GB859162A (en) | Power-operated manipulator | |
GB1111039A (en) | Remote handling arm | |
ATE248046T1 (de) | Drehantrieb für einem arm, wie einen roboterarm, um eine vertikalachse und handhabungsroboter mit einem derartigen antrieb | |
GB1568248A (en) | Manipulator arm including a drive unit | |
GB2126559A (en) | Manipulator apparatus | |
RU172431U1 (ru) | Манипулятор мр-48 для атомной промышленности | |
JP6687928B2 (ja) | 関節駆動装置及び多軸マニュピレータ | |
JPH02198789A (ja) | 産業用ロボットの胴体構造 |