Master-slave manipulator

• US 4,221,516 A
• Filed: 05/31/1978
• Issued: 09/09/1980
• Est. Priority Date: 05/31/1978
• Status: Expired due to Term

• Current Assignee: Delaware Capital Formation Incorporated (Dover Corporation)
• Original Assignee: Central Research Fund Limited
• Inventors: Jelatis, Demetrius G., Haaker, Lester W.
• Primary Examiner(s): Paperner, L. J.
• Application Number:
  US05/911,232
• Time in Patent Office: 832 Days
• Field of Search: 414/1, 414/2, 414/3, 414/4, 414/5, 414/6, 414/7, 414/8
• US Class Current: 414/5
• CPC Class Codes: B25J 19/002 using counterweights
• CPC Class Codes: B25J 3/00 Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements

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.

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.

2. A manipulator according to claim 1 wherein said power assist means comprises:

(A) a motor connected to drive said second rotary element, and

(B) a differential system coupling said first and second rotary elements for summing the travels of the manual squeeze input and motor input to said first and second rotary elements.

3. A manipulator according to claim 2 wherein the control system for said motor comprises:

(A) a command potentiometer driven in response to said manual squeezing motion,

(B) a feedback potentiometer driven by said motor, and

(C) an amplifier for providing a drive signal for said motor, said amplifier responsive to the error signal resulting from the difference in output voltages of said potentiometers.

4. A manipulator according to claim 1 wherein:

(A) said first rotary member is a drum journaled for rotation about a transverse axis, and

(B) said second rotary member is a gear coupled to a first longitudinal shaft for transmitting tong motion through said horizontal support to the slave arm.

5. A manipulator according to claim 1 wherein a handle is supported from the end of the master arm, said handle comprising:

(A) a fixed palm engaging portion,

(B) a movable finger engaging member,

(C) a rotary member journaled for limited rotation responsive to finger movement,

(D) a potentiometer,

(E) gears interconnecting said rotary member and potentiometer, whereby the resistance of the potentiometer is related to the position of the finger engaging member.

6. A manipulator according to claim 5 wherein:

(A) said rotary member is a disc,

(B) a linear motion transmission element is connected to said disc for linear travel in response to rotation of the disc, and

(C) said interconnecting gears comprise one gear rotatable with the disc and engaging another gear connected to said potentiometer.

7. A manipulator according to claim 4 wherein:

(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 includes a generally cylindrical housing comprised of a first part secured to the through tube and a second part rotatable relative to the first part about a longitudinal axis,

(C ) said first and second rotary element, longitudinal shaft and interconnecting gear means are in said second housing part,

(D) to accommodate relative rotation of said housing parts;

(1) a gear train connects said first longitudinal shaft to a further shaft journaled in both housing parts for rotation about the longitudinal axis of the housing,

(2) another gear train connects said further shaft to another longitudinal shaft, parallel to the first longitudinal shaft and journaled for rotation therewith in the first part of said housing.

8. A manipulator according to claim 1 wherein:

(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 a generally cylindrical housing abutting the through tube,

(C) a further Y motion rotary element is journaled for limited rotational movement within said master transfer housing,

(D) link means couple said further rotary element to the master arm for transmission of Y motion,

(E) a longitudinal Y motion shaft is journaled for rotation within said housing,

(F) a gear on said rotary element engages a gear on said Y motion shaft, and

(G) counterweight means on said master transfer assembly comprise;

(1) a pair of rings journaled for rotation about said master transfer housing adjacent the slave 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 counterweight gear on said Y motion shaft,

(5) a second counterweight gear engaging said first counterweight gear and one of said ring gears to rotate one of the weights in one direction,

(6) a third and fourth counterweight gear engaging each other, said third counterweight gear engaging said first counterweight gear and said fourth counterweight gear engaging the other of said ring gears to rotate the other of said weights in the opposite direction.

9. A manipulator according to claim 8 wherein:

(A) said further rotary memberis a rocker arm journaled for pivotal movement about a transverse axis, and

(B) said engaging gears on said second rotary element and second longitudinal shaft are bevel gears.

10. A manipulator according to claim 1 wherein:

(A) said slave arm is double telescoping and provided with linear motion transmission means interconnecting the telescoping segments of the slave arm for moving the slave arm longitudinally,

(B) means are provided 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) further rotary Z motion means are provided connected to said linear motion transmission means for translation of rotary motion to linear Z motion, and

(D) a motor is connected to drive said rotary Z motion means as input to move the slave arm independently of the motion of the master arm.

11. A manipulator according to claim 10 wherein:

(A) said manual Z motion transmission means comprise a first longitudinal Z motion shaft journaled in the through tube for rotation responsive to longitudinal extension of the master arm,

(B) a coupling is disposed in each end of the through tube at each end of said shaft,

(C) a second longitudinal Z motion shaft is journaled in said through tube,

(D) a motor is mounted on said through tube housing adjacent the master arm end thereof,

(E) gear means interconnect said second shaft and motor for rotation of the second shaft, and

(F) a coupling is disposed in the slave arm end of said housing at the end of said second shaft.

12. A manipulator according to claim 11 wherein:

(A) said through tube is a closed cylindrical seal tube housing, and

(B) at least one rotary shaft seal surrounds each of said shafts.

13. A manipulator according to claim 10 wherein:

(A) said linear motion transmission means are a pair of tapes or cables,

(B) said manual Z motion transmission means are a pair of tapes or cables extending from the master arm through the horizontal support to the slave arm,

(C) one end of each of said manual Z motion transmission tapes or cables is integral with one end of each of said linear motion tapes or cables,

(D) said rotary Z motion means is a drum or pulley, and

(E) the opposite ends of said linear motion tapes or cables are wrapped in opposite directions around the rotary means.

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.

15. A manipulator according to claim 14 wherein:

(A) said rotary member is a rocker arm journaled for pivotal movement about a transverse axis, and

(B) said engaging gears on said rotary element and longitudinal Y motion shaft are bevel gears.

16. A manipulator according to claim 14 wherein:

(A) means are provided for transmitting manual longitudinal Z motion of said master arm through the horizontal support to the slave arm,

(B) said slave arm is double telescoping and provided with further linear means for extending the slave arm longitudinally independent of the master arm,

(C) further rotary means are provided connected to said further linear means for translation of rotary motion to linear Z motion, and

(D) a motor is connected to drive said further rotary means to independently extend the slave arm.

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.

18. A manipulator according to claim 17 wherein:

(A) said means for transmitting manual Z motion includes means within said horizontal support for translating linear motion to rotary motion for transfer through the barrier wall and retranslating to linear motion,

(B) said horizontal support includes a through tube comprising a cylindrical housing,

(C) a first longitudinal manual Z motion shaft is journaled therein for rotation responsive to longitudinal extension of the master arm,

(D) a coupling is disposed in each end of said housing at each end of said shaft,

(E) a second longitudinal Z motion indexing shaft is journaled in said housing,

(F) said motor is mounted on said housing adjacent the master arm end thereof,

(G) gear means interconnect said second shaft and motor for rotation of the second shaft, and

(H) a coupling is disposed in the slave arm end of said housing at the end of said second shaft whereby said motor is connected to drive said rotary Z motion indexing means.

19. A manipulator according to claim 18 wherein:

(A) said through tube is a closed cylindrical seal tube housing, and

(B) at least one rotary shaft seal surrounds each of said shafts.

20. A manipulator according to claim 17 wherein:

(A) said linear motion transmission means are a pair of tapes or cables,

(B) said manual Z motion transmission means are a pair of tapes or cables extending from the master arm through the horizontal support to the slave arm,

(C) one end of each of said manual Z motion transmission tapes or cables is integral with one end of each of said linear motion tapes or cables,

(D) said rotary Z motion means is a drum or pulley, and

(E) the opposite ends of said linear motion tapes or cables are wrapped in opposite directions around the rotary means.