Manipulator

• US 4,501,522 A
• Filed: 10/04/1982
• Issued: 02/26/1985
• Est. Priority Date: 10/26/1981
• Status: Expired due to Fees

• Current Assignee: United Kingdom Atomic Energy Authority
• Original Assignee: United Kingdom Atomic Energy Authority
• Inventors: Orr, Donald, Causer, Roy
• Primary Examiner(s): Spar, Robert J.
• Assistant Examiner(s): NOT, DEFINED
• Application Number:
  US06/432,759
• Time in Patent Office: 876 Days
• Field of Search: 414/1-8, 414/730, 414/718, 414/719, 414/732, 414/735, 901/18, 901/25
• US Class Current: 414/4
• CPC Class Codes: B25J 17/0283 Three-dimensional joints
• CPC Class Codes: B25J 18/00 Arms
• CPC Class Codes: B25J 18/025 telescopic
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 9/046 Revolute coordinate type
• CPC Class Codes: B25J 9/10 characterised by positioning means for manipulator elements

Abstract

A manipulator for remote handling in a hostile environment 14, has a slave arm 10 comprising an upper arm 30, a forearm 52 and a jaw mechanism 60. The upper arm 30 is pivotally suspended from a shoulder support 20 and is telescopically extendible such that straight line motion of the forearm 52 is readily obtained. In addition the forearm 52 is arranged to pivot relative to the upper arm 30 through the same angle as the upper arm 30 but in the opposite sense such that the forearm 52 maintains a constant orientation when the upper arm 30 pivots. All the motions of the slave arm 10 may be controlled through mechanical linkages from a drive unit 18 situated outside the hostile environment 14, and extending through shielding 13 into the environment 14.

Claims

1. A manipulator including a slave arm comprising, a support means defining a first pivotal connection;

an upper arm portion of the slave arm arranged to be supported by the first pivotal connection at an intermediate position along the length of the upper arm portion, and defining a second pivotal connection at one end of the upper arm portion and defining a movable connection at or near the other end of the upper arm portion, the axes of the first and of the second pivotal connection being substantially parallel;

a forearm portion of the slave arm connected at one end to the second pivotal connection;

pivoting means connected to the movable connection for pivoting the upper arm portion about the first pivotal connection, and drive means for moving the pivoting means;

the distances of the second pivotal connection and of the movable connection from the first pivotal connection being variable but such that the ratio of the distances between the first and the second pivotal connections and between the first pivotal connection and the movable connection, is maintained substantially constant, and the slave arm being arranged so that pivotal movement of the upper arm portion about the first pivotal connection produces pivotal movement of the forearm portion about the second pivotal connection through the same angle as the pivotal movement of the upper arm portion but in the reverse direction.

2. A manipulator as claimed in claim 1, wherein the movable connection and the second pivotal connection are slidable along the upper arm portion.

3. A manipulator as claimed in claim 2, wherein the movable connection lies substantially in the plane defined by the axes of the first and the second pivotal connections.

4. A manipulator as claimed in claim 3, wherein the movable connection is pivotally connected to the pivoting means, having a pivotal axis substantially parallel to the axes of the first and the second pivotal connections.

5. A manipulator as claimed in claim 4, wherein the pivoting means is movable in two mutually perpendicular directions in a plane perpendicular to the axes of the first and the second pivotal connections.

6. A manipulator as claimed in claim 1, wherein an elongate member extends from the movable connection along the upper arm portion and defines a rack along a portion of the length of the elongate member, a rack member is connected to the second pivotal connection and extends along the upper arm portion, and compound gear means engage the rack and the rack member so that movement of the elongate member produces movement of the rack member and thereby of the second pivotal connection in the reverse direction and such as to maintain said ratio of distances.

7. A manipulator as claimed in claim 6, wherein the upper arm portion is of telescopic construction and the rack member comprises a telescopic member of the upper arm portion defining a rack along a portion thereof.

8. A manipulator as claimed in claim 1, wherein the upper arm portion incorporates a plurality of drives to movements of the forearm portion.

9. A manipulator as claimed in claim 8, wherein the upper arm portion comprises two members extending parallel to one another from the first pivotal connection to the second pivotal connection, each said member being of telescopic construction and incorporating some of the drives to movements of the forearm portion.

10. A manipulator as claimed in claim 8 wherein each drive comprises a telescopic rotary drive shaft drivable by gears at the ends thereof, and comprising two shafts with opposing splines telescopically slidable with respect to each other.

11. A manipulator as claimed in claim 10, wherein the drives comprise telescopic rotary drive shafts arranged concentrically around each other.

12. A manipulator as claimed in claim 8, wherein the drive means comprises a drive assembly, and a plurality of drives to movements of the pivoting means and of the forearm portion, a single motor and gear trains arranged to be driven by the motor and connected to the drives, the gear trains including pairs of magnetic particle clutches in parallel to engage or disengage a movement in a selected direction.

13. A manipulator as claimed in claim 12, wherein the drive assembly is located outside a hostile environment in which the slave arm is to be used, and sealed drive members extend through an enclosure about the hostile environment from the drive assembly.

14. A manipulator as claimed in claim 8, wherein the forearm portion includes a jaw mechanism rotatable about the longitudinal axis of the forearm portion, and about the longitudinal axis of the jaw mechanism.

15. A manipulator as claimed in claim 14, wherein the jaw mechanism is also rotatable about an axis set at an angle to the longitudinal axis of the forearm portion and at an angle to the longitudinal axis of the jaw mechanism.

16. A manipulator as claimed in claim 15 wherein both the angles are the same at about 45°

.

17. A manipulator as claimed in claim 1 in combination with a sealed enclosure through a wall of which the manipulator extends.