GB1341489A - Remote handling devices - Google Patents
Remote handling devicesInfo
- Publication number
- GB1341489A GB1341489A GB1341489DA GB1341489A GB 1341489 A GB1341489 A GB 1341489A GB 1341489D A GB1341489D A GB 1341489DA GB 1341489 A GB1341489 A GB 1341489A
- Authority
- GB
- United Kingdom
- Prior art keywords
- assembly
- worm
- slave
- wheel
- master
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Manipulator (AREA)
Abstract
1341489 Remote handling apparatus UNITED KINGDOM ATOMIC ENERGY AUTHORITY 17 July 1972 [20 Sept 1971] 43790/71 Heading B4Q A master-slave manipulator as used for handling nuclear fuel materials includes means for connecting a slave assembly to, or disconnecting it from, the remainder of the manipulator and for raising or lowering a slave assembly to or from a position adjacent its operating position. The master assembly 11 comprises a shoulder assembly 15 from which depends an arm 14 with a hand grip 16. The arm 14 comprises a boom 17 telescopically mounted in a housing 18, and is pivotable about the pivot 19 of the shoulder assembly 15. Flexible metal tapes, chains or cables (not shown) are housed within the boom 17 and housing 18 whereby movement of the hand grip 16 is transmitted to a slave assembly 13 via a gear-box 20 which converts longitudinal movements of the flexible members into rotational movements of transmission shafts (not shown) extending through the biological shield by way of a through tube assembly 12. The components of the slave assembly 13 comprise the equivalent to those of the master assembly 11, the gripping mechanism 33 being mounted for articulate movement on the end of the boom 27 and copies the movement of the hand grip 16. A portion 28 of the through tube assembly 12 which projects into the hot cell 29 serves to accommodate the shoulder assembly 23 of the slave assembly 13 and has two slots 30 (shown in broken outline) to accommodate locating lugs 31 on the shoulder assembly 23. The means for connecting/disconnecting the slave assembly 13 comprise a winch drum 40 on to which is wound a flexible metal tape 75 attached to the slave assembly, an intermeshing worm 43 and worm-wheel 42, the latter being connected to the winch drum 40, and locking means operable either (i) to prevent the worm-wheel and winch drum from rotating whilst permitting the worm-wheel to travel along the worm when this is rotated such that the worm-wheel is operable on the slave assembly to move it from a first position where it is connected to the remainder of the manipulator to a second position where it is wholly supported by the metal tape 75, and vice versa, or (ii) to prevent the worm-wheel from travelling along the worm whilst permitting it to be rotated and winch in or pay out the metal tape. The locking means for (i) comprises a ratchet 48 fixed to the worm-wheel 42 and a pawl 49 capable of being disengaged from the ratchet 48 via a cable 51 extending from the master assembly side of the manipulator through the through tube assembly 12. The locking means for (ii) is a latch 58 which is lifted when a projection 68 on the slave assembly 13 contacts a catch 62. The worm 43 is driven from the master assembly side via a hand wheel and a shaft which extends through the through tube assembly 12. The winch drum 40 and worm-wheel 42 are mounted on a common carriage 41. A locking plate 38 connected to the carriage 41 is provided to apply a force on the lugs 31 to move the slave assembly 13 to and from the first and second positions referred to above. The latch 58 engages a slot 59 in the locking plate 38 to prevent the carriage 41 from movement when the slave assembly 13 is being hoisted to or from the second position.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB4379071 | 1971-09-20 |
Publications (1)
Publication Number | Publication Date |
---|---|
GB1341489A true GB1341489A (en) | 1973-12-19 |
Family
ID=10430323
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB1341489D Expired GB1341489A (en) | 1971-09-20 | 1971-09-20 | Remote handling devices |
Country Status (1)
Country | Link |
---|---|
GB (1) | GB1341489A (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4474518A (en) * | 1981-05-18 | 1984-10-02 | British Nuclear Fuels Limited | Shielded cells having manipulators comprising a master arm and a slave arm |
US4915563A (en) * | 1987-05-20 | 1990-04-10 | Societe Nouvelle D'exploitation La Calhene | Automatic lock for mechanisms controlling various movements of the gripping pliers of a remote handling device when dismounting the ball and socket joint bearing these pliers |
FR2667532A1 (en) * | 1990-10-03 | 1992-04-10 | Commissariat Energie Atomique | Element for operating operating (controlling) a manipulating arm |
CN113246090A (en) * | 2021-06-03 | 2021-08-13 | 中国核电工程有限公司 | Master-slave manipulator and operation room in nuclear industry |
CN113770996A (en) * | 2021-09-16 | 2021-12-10 | 中国核电工程有限公司 | Master-slave manipulator for small joints |
-
1971
- 1971-09-20 GB GB1341489D patent/GB1341489A/en not_active Expired
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4474518A (en) * | 1981-05-18 | 1984-10-02 | British Nuclear Fuels Limited | Shielded cells having manipulators comprising a master arm and a slave arm |
US4915563A (en) * | 1987-05-20 | 1990-04-10 | Societe Nouvelle D'exploitation La Calhene | Automatic lock for mechanisms controlling various movements of the gripping pliers of a remote handling device when dismounting the ball and socket joint bearing these pliers |
FR2667532A1 (en) * | 1990-10-03 | 1992-04-10 | Commissariat Energie Atomique | Element for operating operating (controlling) a manipulating arm |
CN113246090A (en) * | 2021-06-03 | 2021-08-13 | 中国核电工程有限公司 | Master-slave manipulator and operation room in nuclear industry |
CN113770996A (en) * | 2021-09-16 | 2021-12-10 | 中国核电工程有限公司 | Master-slave manipulator for small joints |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PS | Patent sealed | ||
746 | Register noted 'licences of right' (sect. 46/1977) | ||
PCNP | Patent ceased through non-payment of renewal fee |