Remote manipulator
First Claim
1. An apparatus for translating the power input of at least two parallel drive shafts into angular or rotational output motions around two respective axes which extend at a right angle to each other, comprising drive means including said parallel drive shafts, frame means supporting said drive means, first motion output means, first bearing means rotatably supporting said first motion output means relative to said frame means, second motion output means, second bearing means rotatably securing said second motion output means to said first motion output means, said first and second motion output means having respective first and second longitudinal axes extending substantially at a right angle relative to each other, differential gear means including first and second bevel gears rotatably supported relative to said first motion output means and a bevel pinion gear rigidly secured to said second motion output means, first gear train means operatively interposed between one of said parallel drive shafts and said first bevel gear, second gear train means operatively interposed between the other of said parallel drive shafts and said second bevel gear, said bevel pinion gear meshing with said first and second bevel gear whereby rotation of said first and second bevel gears in the same direction rotates said first motion output means about its respective first longitudinal axis while simultaneously rotating the second motion output means also about said first longitudinal axis, and whereby rotation of said first and second bevel gears in opposite directions rotates said second motion output means about its own longitudinal axis.
1 Assignment
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Accused Products
Abstract
A remote manipulator of the force reflecting servomaster-slave type comprises manipulator elements capable of at least seven distinct motions corresponding to respective degrees of freedom. The manipulator elements include an upper arm journalled in a shoulder assembly and a lower arm operatively connected to the upper arm by an elbow assembly. A gripping device such as a conventional tong is secured to the lower end of the lower arm through a wrist mechanism. Two cooperating motors establish an input output transmission through a differential gear system which permits two motions about axes extending perpendicularly to each other. One axis defines the longitudinal axis of the shoulder assembly. The other axis defines the longitudinal axis of the upper manipulator arm. The parallel drive shafts of the two motors transmit the drive power through parallel gear trains to the differential gear system, whereby coaxial shafts are avoided for the two motions. A third motor may be provided for a third motion, whereby the power transmission may extend through a hollow shaft, thus providing three motions, although using only one hollow shaft.
105 Citations
10 Claims
- 1. An apparatus for translating the power input of at least two parallel drive shafts into angular or rotational output motions around two respective axes which extend at a right angle to each other, comprising drive means including said parallel drive shafts, frame means supporting said drive means, first motion output means, first bearing means rotatably supporting said first motion output means relative to said frame means, second motion output means, second bearing means rotatably securing said second motion output means to said first motion output means, said first and second motion output means having respective first and second longitudinal axes extending substantially at a right angle relative to each other, differential gear means including first and second bevel gears rotatably supported relative to said first motion output means and a bevel pinion gear rigidly secured to said second motion output means, first gear train means operatively interposed between one of said parallel drive shafts and said first bevel gear, second gear train means operatively interposed between the other of said parallel drive shafts and said second bevel gear, said bevel pinion gear meshing with said first and second bevel gear whereby rotation of said first and second bevel gears in the same direction rotates said first motion output means about its respective first longitudinal axis while simultaneously rotating the second motion output means also about said first longitudinal axis, and whereby rotation of said first and second bevel gears in opposite directions rotates said second motion output means about its own longitudinal axis.
Specification