GB953468A - Improvements in or relating to remote controlled manipulators - Google Patents

Improvements in or relating to remote controlled manipulators

Info

Publication number
GB953468A
GB953468A GB26942/60A GB2694260A GB953468A GB 953468 A GB953468 A GB 953468A GB 26942/60 A GB26942/60 A GB 26942/60A GB 2694260 A GB2694260 A GB 2694260A GB 953468 A GB953468 A GB 953468A
Authority
GB
United Kingdom
Prior art keywords
head
pulley
cable
support
jaws
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
Application number
GB26942/60A
Inventor
Pierre Pesenti
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Publication of GB953468A publication Critical patent/GB953468A/en
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20396—Hand operated
    • Y10T74/20402—Flexible transmitter [e.g., Bowden cable]
    • Y10T74/20408—Constant tension sustaining
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20396—Hand operated
    • Y10T74/20402—Flexible transmitter [e.g., Bowden cable]
    • Y10T74/2042—Flexible transmitter [e.g., Bowden cable] and hand operator
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20396—Hand operated
    • Y10T74/20474—Rotatable rod, shaft, or post
    • Y10T74/20516—Mountings

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Flexible Shafts (AREA)
  • Catching Or Destruction (AREA)

Abstract

953,468. Handling radio-active material. COMMISSARIAT A L'ENERGIE ATOMIQUE. Aug. 3, 1960 [Aug. 31, 1959], No. 26942/60. Heading B4Q. A remote controlled manipulator comprises a control head T 1 and a driven head T 2 connected together by a support (not shown), the head T 1 having a handle m to produce movements about mutually perpendicular axes A 1 A 1 , B 1 B 1 which are transmitted by cables 6, 12 to cause similar movements of jaws p in the head T 2 . The head T 1 also carries a trigger g which may be moved towards the handle m to control a cable 14 and actuate the jaws p, these jaws being closed when they are pulled into a tubular element 5 against the action of a spring q. The two heads are similar and each comprises a pair of plates 1 carrying a shaft 4 on which a support 3 may oscillate about the axis A 1 A 1 or A 2 A 2 , the cable 6 being wound round a pulley 7 secured to each support 3. The tubular element 5 is rotatable about the axis B 1 B 1 or B 2 B 2 in a support 3 and has a bevel pinion 10 meshing with a gear 11 connected to a pulley 9. The handle m is connected to the element 5 of the head T 1 and the cable 12 is wound round the pulley 9. To prevent unwanted movement of the jaw-actuating cable 14 when the heads move about the axes A 1 A 1 and A 2 A 2 each head has a pulley 15 rotatable on the shaft 4, a grooved roller 16 mounted on a spindle 17 carried by the support 3 and a pulley 20 carried by a spindle 21 secured to the plates 1. The cable 14 passes over the pulleys 15, 20 and the roller 16 as shown such that a winding up of the cable about the pulley 15 of one of heads is compensated for by an equal amount of unwinding on the pulley 15 of the other head. In a modification (Fig. 3, not shown) the pulley 20 of the driven head is so disposed that the cable 14 extends round approximately the whole periphery of the pulley 15 of that head.
GB26942/60A 1959-08-31 1960-08-03 Improvements in or relating to remote controlled manipulators Expired GB953468A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR803960A FR1243469A (en) 1959-08-31 1959-08-31 Improved head for manipulator and remote manipulator with application

Publications (1)

Publication Number Publication Date
GB953468A true GB953468A (en) 1964-03-25

Family

ID=8718719

Family Applications (1)

Application Number Title Priority Date Filing Date
GB26942/60A Expired GB953468A (en) 1959-08-31 1960-08-03 Improvements in or relating to remote controlled manipulators

Country Status (9)

Country Link
US (1) US3111230A (en)
BE (1) BE593576A (en)
CH (1) CH374263A (en)
DE (1) DE1179349B (en)
ES (1) ES260364A1 (en)
FR (1) FR1243469A (en)
GB (1) GB953468A (en)
LU (1) LU39069A1 (en)
NL (1) NL111065C (en)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1375031A (en) * 1963-05-10 1964-10-16 Commissariat Energie Atomique Articulation devices with transmission of movements
US3282442A (en) * 1964-06-23 1966-11-01 Ca Atomic Energy Ltd Remote control manipulators
US3533303A (en) * 1967-10-23 1970-10-13 Jervis Corp Right angle translator for remote control rearview mirrors
US3507163A (en) * 1968-11-08 1970-04-21 Central Research Lab Inc Sealed manipulator
DE3048067C2 (en) * 1980-12-19 1984-08-09 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Gear arrangement for the joint head of a manipulator
US4779479A (en) * 1984-09-07 1988-10-25 Bell & Howell Company Apparatus for applying a constant tensile force to a moving element
US7699835B2 (en) 2001-02-15 2010-04-20 Hansen Medical, Inc. Robotically controlled surgical instruments
US20040193016A1 (en) * 2002-06-17 2004-09-30 Thomas Root Endoscopic delivery system for the non-destructive testing and evaluation of remote flaws
US20040059191A1 (en) * 2002-06-17 2004-03-25 Robert Krupa Mechanical steering mechanism for borescopes, endoscopes, catheters, guide tubes, and working tools
US7229201B2 (en) 2003-03-26 2007-06-12 Optim Inc. Compact, high-efficiency, high-power solid state light source using a single solid state light-emitting device
US9055863B2 (en) * 2006-11-14 2015-06-16 Optim, Inc. Portable endoscope
US8152715B2 (en) 2007-09-14 2012-04-10 Optim, Incorporated Endoscope with internal light source and power supply
TW201350352A (en) * 2012-06-04 2013-12-16 Hon Hai Prec Ind Co Ltd Belt adjusting device for printer

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2476249A (en) * 1948-11-24 1949-07-12 Jr John H Payne Remote-control manipulator
US2695715A (en) * 1953-02-06 1954-11-30 Raymond C Goertz Remote-control manipulator
US2737822A (en) * 1953-04-21 1956-03-13 John F Morse Remote motion transfer mechanism
US2774488A (en) * 1955-06-17 1956-12-18 Raymond C Goertz Remote-control manipulator

Also Published As

Publication number Publication date
US3111230A (en) 1963-11-19
CH374263A (en) 1963-12-31
FR1243469A (en) 1960-10-14
BE593576A (en) 1960-11-14
DE1179349B (en) 1964-10-08
NL111065C (en)
LU39069A1 (en) 1960-10-10
ES260364A1 (en) 1960-11-01

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