Power transfer circuit

Claim 1

A control circuit for a manipulator robot of the type having a power source and a device which controls the functioning of the robot, said robot having a plurality of connection joints between the power source and a free end having an end axis and an actuator, said control circuit transmitting electrical power along the members of the robot to carry remote control instructions from the control device to the free end of the robot, said robot comprising: generator means for generating alternating-current electrical power at a predetermined frequency, a power-transmission circuit for conducting said power from said generator means to said actuator, said circuit including rotary means connecting successive portions of said circuit without continuous contact, and, at least at one of the robot's joints, enabling rotation of one member of the robot and of said transmission circuit with respect to another member of the robot, each said rotary means comprising a first transformer with its primary and secondary windings each housed in a separate ferrite core, the cores being rotatable relative to each other in parallel planes around a common axis, and control transmitting means to carry remote control instructions comprising a remote control transmitter which modulates the frequency of the power generated by the power generator at one end of the robot, at the opposite end of the robot, a second, end transformer supplying electrical power to said free end and having a primary winding, a main secondary winding across which is a rectifier across which is placed the load of the actuator and a supplementary secondary winding, a frequency modulation receiver connected to said supplementary secondary winding, a telemetering transmitter connected to the free end of the robot provided with the actuator for transmitting along said power-transmission circuit at a frequency F greater than a transmission frequency f of the power generator, and a telemetering receiver tuned to the frequency F connected at the opposite end of the power-transmission circuit said telemetering receiver being connected to said power-transmission circuit F in parallel with said generator means and via a filter L-C circuit which conducts at frequency F at an impedance approaching zero and presents to frequency f an impedance approaching infinity, said power generator being connected to said power transmission circuit via a filter L-C circuit which conducts the frequency f at an impedance approaching zero and presents to the frequency F an impedance approaching infinity.