US3817403A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Remote manipulator
Assignee: Commissariat à l'Énergie Atomique et Aux Énergies Alternatives
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Filing: 1973-04-25
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Granted: 1974-06-18
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Expires: 1993-04-25
Abstract
Abstract The remote manipulator of the master-slave type comprises an arm pivoted about a shoulder axis, a fore-arm pivotally mounted on an elbow pin having an axis which is parallel to the shoulder axis and a tong unit pivotally mounted on a wrist pin provided at that end of the fore-arm which is remote from the elbow pin. In order to carry out the movement of the arm about the shoulder axis, the movement of rotation of the arm about its own axis and the movement of the fore-arm about the elbow-pin axis, two motors are mounted as a differential drive system so as to ensure that the sum of their actions initiates one of the movements and the difference thereof initiates a second movement whilst a third motor initiates the third movement independently of the two other motors.
Inventors
- 👤 C Glachet
- 👤 J Guilbaud
- 👤 J Vertut
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 17:05
CPC Classifications
B; B25; B25J; B25J19/00; B25J19/0008; B25J19/002; B25J17/00; B25J17/02; B25J17/0283; B25J9/00; B25J9/02; B25J9/04
Claims Analysis
Total Claims: 5
Claim 1
Independent Claim
276 words
A remote manipulator comprising an arm pivoted about a shoulder axis, a fore-arm pivotally mounted at one end of the arm on an elbow pin which is parallel to the shoulder axis and a tong unit pivotally mounted on a wrist pin provided at that end of the fore-arm which is remote from the elbow pin, the control motions of closure of the tongs, of rotation of the tong unit about its own axis and of elevation of said tong unIt about its wrist-pin axis as well as the movement of rotation of the fore-arm about its own axis being performed by means of four independent motors carried by a supporting block pivotally mounted on a pin which is parallel to the elbow pin at the opposite end of the arm, movements having the same amplitudes and the same directions as those of the fore-arm being imparted to said supporting block so as to ensure continuous balancing of the remote manipulator about the shoulder axis and the arm axis proper irrespective of the movements of the arm and of the fore-arm, wherein said remote manipulator is provided for the purpose of carrying out three further movements consisting in the movement of the arm about the shoulder axis, in the movement of rotation of said arm about its own axis and in the movement of the fore-arm about the elbow-pin axis with two motors mounted as a differential drive system so as to ensure that the sum of their actions initiates one of the movements and the difference thereof initiates a second movement whilst a third motor initiates the third movement independently of the two other motors.
Claim 2
Dependent Claim
276 words
A remote manipulator comprising an arm pivoted about a shoulder axis, a fore-arm pivotally mounted at one end of the arm on an elbow pin which is parallel to the shoulder axis and a tong unit pivotally mounted on a wrist pin provided at that end of the fore-arm which is remote from the elbow pin, the control motions of closure of the tongs, of rotation of the tong unit about its own axis and of elevation of said tong unIt about its wrist-pin axis as well as the movement of rotation of the fore-arm about its own axis being performed by means of four independent motors carried by a supporting block pivotally mounted on a pin which is parallel to the elbow pin at the opposite end of the arm, movements having the same amplitudes and the same directions as those of the fore-arm being imparted to said supporting block so as to ensure continuous balancing of the remote manipulator about the shoulder axis and the arm axis proper irrespective of the movements of the arm and of the fore-arm, wherein said remote manipulator is provided for the purpose of carrying out three further movements consisting in the movement of the arm about the shoulder axis, in the movement of rotation of said arm about its own axis and in the movement of the fore-arm about the elbow-pin axis with two motors mounted as a differential drive system so as to ensure that the sum of their actions initiates one of the movements and the difference thereof initiates a second movement whilst a third motor initiates the third movement independently of the two other motors.
Claim 3
Dependent Claim
37 words
A remote manipulator according to claim 1, wherein the movement of the arm about the shoulder axis causes the fore-arm to carry out an equal relative movement of rotation through an opposite angle about the elbow-pin axis.
Claim 4
Dependent Claim
66 words
A remote manipulator according to claim 1, wherein the movement of the arm about the shoulder axis is carried out by means of a pivotal fork which supports the arm by means of ball-bearings within two bearing housings, said fork which is mounted within a fixed casing being provided with a toothed ring disposed in meshing engagement with a drive pinion driven by the third motor.
Claim 5
Dependent Claim
236 words
A remote manipulator according to claim 1, wherein the movements of rotation of the arm about it own axis and of the fore-arm about its elbow-pin axis are carried out by means of two parallel toothed rings driven by the two motors of the differential drive system, one of said rings being rigidly fixed to a cylindrical extension and the other of said rings being rigidly fixed to a shaft in coaxial relation thereto, each of said extension and shaft carrying a further parallel ring provided with a peripheral set of bevel-gear teeth located on a common generating cone having a vertex at the point of intersection of the shoulder axis and of the axis of the arm, said gear-teeth being intended to produce the independent rotation of pinions carried by sleeves surrounding the arm and capable of rotating freely on said arm by means of bearings, said pinions being in turn adapted to drive two further rings provided with peripheral sets of bevel-gear teeth and carried by a pulley rotatably mounted on a stub shaft rigidly fixed to the arm and having an axis in coincident relation with the shoulder axis, said pulley being provided with grooves for guiding and transferring an element for the transmission of the movement of rotation thereof to a pulley having the same diameter which is secured to the fore-arm and the axis of which coincides with the elbow-pin axis.
References Cited (Backward Citations)
US3601280A
Cited
US3664517A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1977-06-17 | 1977-12-17 | 1978-06-18 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1981-06-17 | 1981-12-17 | 1982-06-18 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1985-06-17 | 1985-12-17 | 1986-06-18 | $7700.00 | Window Closed / Lapsed |