Patent US3601260A successfully refreshed from Google Patents.
US3601260A
Expired / Lapsed
US
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Remote manipulators
Assignee: Commissariat à l'Énergie Atomique et Aux Énergies Alternatives
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Filing: 1970-03-09
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Granted: 1971-08-24
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Expires: 1990-03-09
Abstract
Abstract In a master-slave manipulator comprising a wall-traversing tube, two normally horizontal arms each constituted by two coaxial tube elements so arranged that one element is pivotally coupled to one end of the wall-traversing tube and the other element is pivotally coupled to a forearm, an internal sleeve is capable of pivoting within both coaxial tube elements of the master arm about the common axis thereof. The sleeve is associated with an external pulley and cable system and driven by a reduction-gear motor in order to produce the relative rotational motion of the tube element which is pivotally coupled to the slave forearm without thereby producing any relative rotational motion in the master arm between the two corresponding tube elements.
Inventors
- 👤 Rene Le Guennec
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 15:24
CPC Classifications
G; G21; G21F; G21F7/00; G21F7/06; G21F7/061; B; B25; B25J; B25J19/00; B25J19/0008; B25J19/002; B25J3/00
Claims Analysis
Total Claims: 3
Claim 1
Independent Claim
169 words
An improvement to remote manipulators of the master-slave type comprising a wall-traversing tube which is provided at the extremities thereof with shoulder yokes for paralleled arms each constituted by two coaxial tube elements which are so arranged that a first element is pivotally coupled to the corresponding shoulder yoke and a second element is provided at the extremity thereof with an elbow yoke for a forearm, wherein a sleeve is mounted between the two coaxial tube elements of the master arm and is capable of pivoting within said tube elements about the common axis thereof, said sleeve being provided externally on the one hand with a pulley coacting with at least one cable which is guided through the wall-traversing tube and coacts with another pulley carried by the second tube element of the slave arm and on the other hand with a ring gear disposed in meshing engagement with a worm driven by a reduction-gear motor which is rigidly fixed to the second tube element of the master arm.
Claim 2
Dependent Claim
169 words
An improvement to remote manipulators of the master-slave type comprising a wall-traversing tube which is provided at the extremities thereof with shoulder yokes for paralleled arms each constituted by two coaxial tube elements which are so arranged that a first element is pivotally coupled to the corresponding shoulder yoke and a second element is provided at the extremity thereof with an elbow yoke for a forearm, wherein a sleeve is mounted between the two coaxial tube elements of the master arm and is capable of pivoting within said tube elements about the common axis thereof, said sleeve being provided externally on the one hand with a pulley coacting with at least one cable which is guided through the wall-traversing tube and coacts with another pulley carried by the second tube element of the slave arm and on the other hand with a ring gear disposed in meshing engagement with a worm driven by a reduction-gear motor which is rigidly fixed to the second tube element of the master arm.
Claim 3
Dependent Claim
54 words
An improvement in accordance with claim 1, wherein the master arm is balanced by a first counterweight which is rigidly fixed to the first tube element and the slave arm is balanced by a second counterweight which is independent of the first and rigidly fixed to the pulley which is carried by the sleeve.
References Cited (Backward Citations)
US3297172A
Cited
US3428189A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1974-08-23 | 1975-02-22 | 1975-08-24 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1978-08-23 | 1979-02-22 | 1979-08-24 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1982-08-23 | 1983-02-22 | 1983-08-24 | $7700.00 | Window Closed / Lapsed |