Master-slave manipulator
First Claim
1. A remote control master-slave manipulator for performing work on the opposite side of a barrier wall, said manipulator comprising a rotatable fixed 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 slave arm pivotally connected to the opposite end of said horizontal support and rotatable therewith, said manipulator characterized by:
- (A) a first rotary element journaled for rotation within said horizontal support,(B) linear motion transmission means responsive to manual squeezing motion of an operator extending from the master arm to said first rotary element to translate linear motion to rotary motion,(C) a second rotary element journaled for rotation within said horizontal support and coupled to said first rotary element for rotation therewith,(D) means operative in response to both rotary elements for transmitting tong motion through the horizontal support to the slave arm, and(E) power assist means coupled to said first and second rotary elements for controlling the grip closure and amplifying gripping force of the manipulator.
2 Assignments
0 Petitions
Accused Products
Abstract
An improved remote control master-slave manipulator of the type by which an operator working on one side of a protective barrier wall may perform work on the opposite side of that wall. The improved manipulator is characterized by a unique power assist tong system permitting increased handling capacity. It has a rotating counterweight system for improved balancing of the manipulator in its "Y" motion forwardly away from the operator. It has means for translating linear motion into rotary motion for transfer through the barrier wall and retranslation into linear motion. The wrist joint assemblies are remotely removable, replaceable and interchangeable as are the tong assemblies.
70 Citations
20 Claims
-
1. A remote control master-slave manipulator for performing work on the opposite side of a barrier wall, said manipulator comprising a rotatable fixed 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 slave arm pivotally connected to the opposite end of said horizontal support and rotatable therewith, said manipulator characterized by:
-
(A) a first rotary element journaled for rotation within said horizontal support, (B) linear motion transmission means responsive to manual squeezing motion of an operator extending from the master arm to said first rotary element to translate linear motion to rotary motion, (C) a second rotary element journaled for rotation within said horizontal support and coupled to said first rotary element for rotation therewith, (D) means operative in response to both rotary elements for transmitting tong motion through the horizontal support to the slave arm, and (E) power assist means coupled to said first and second rotary elements for controlling the grip closure and amplifying gripping force of the manipulator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
-
-
14. A romote 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 slave arm pivotally connected to the opposite end of said horizontal support and rotatable therewith, means within said horizontal support for translating linear motion to rotary motion for transfer through the barrier wall and retranslating to linear motion, said manipulator characterized by:
-
(A) said horizontal support comprising a rotatable through tube, a master transfer assembly secured to the through tube at one end and a slave transfer assembly secured to the through tube at the opposite end, (B) said master transfer assembly comprising; (1) a generally cylindrical housing abutting the through tube at one end, (2) pivot means supporting the master arm at the opposite open end, (3) a rotary Y motion element journaled for limited rotational movement within said housing, (4) link means coupling said rotary element to the master arm for transmission of Y motion, (5) a longitudinal Y motion shaft journaled for rotation within said housing, and (6) a gear on said rotary element engaging a gear on said Y motion shaft, (C) counterweight means on said master transfer assembly comprising; (1) a pair of rings journaled for rotation about said housing adjacent the closed end thereof, (2) an annular ring gear within each of said rings, (3) a radial arm extending outwardly from each of said rings and a weight on each of said arms, (4) a first pinion gear on said Y motion shaft, (5) a second gear engaged with said first gear and with one of said ring gears to rotate one of the weights in one direction, (6) a third and fourth gear engaged with each other, said third gear engaged with said first gear and said fourth gear engaged with the other of said ring gears to rotate the other of said weights in the opposite direction. - View Dependent Claims (15, 16)
-
-
17. 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) lineare 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 means as input to move the slave arm independently of the motion of the master arm. - View Dependent Claims (18, 19, 20)
-
Specification