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公开(公告)号：US4000819A
公开(公告)日：1977-01-04
申请号：US650657
申请日：1976-01-20
摘要： The control arm for a remotely operated power manipulator comprises a system for carrying out a number of movements and position detectors for each movement. The number of possible movements of the arm is equal to the number of possible movements of the manipulator and motion-control operations can be interrupted at will. Means are provided on at least one portion of the control arm for interlockiing it with respect to another portion of the arm independently of the other movements as long as the position of the manipulator and of the arm have not been brought into complete concordance and for releasing the interlock when complete concordance is achieved.
摘要翻译： 用于远程操作的动力操纵器的控制臂包括用于为每个运动执行多个运动和位置检测器的系统。 臂的可能运动次数等于机械手的可能运动次数，运动控制操作可随意中断。 装置设置在控制臂的至少一部分上，用于使其相对于臂的另一部分进行互锁，而与其他运动无关，只要操纵器和手臂的位置未完全一致并释放 完成一致后的互锁。
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2.发明授权
公开(公告)号：US4696612A
公开(公告)日：1987-09-29
申请号：US777714
申请日：1985-09-19
CPC分类号： F22B37/003 , B25J18/00 , B25J9/04 , F22B37/005
摘要： A tool holder robot makes it possible to carry out various interventions within a closed enclosure having an access opening. It comprises a cylindrical ferrule fixed to the opening, a cylindrical shaft mounted in rotary manner in the ferrule, a guide rail fixed to the inner wall of the shaft, in which a first arm is slidingly mounted, a second arm pivotably mounted to the free end of the first arm and a tool holder carriage slidingly mounted on the second arm. The second arm is in two parts and can rotate about its longitudinal axis.Application to the inspection and maintainance, without human intervention, of water boxes of nuclear power station steam generators.
摘要翻译： 工具架机器人使得可以在具有进入开口的封闭的外壳内执行各种干预。 它包括固定到开口的圆柱形套圈，以旋转方式安装在套圈中的圆柱形轴，固定到轴的内壁的导轨，第一臂滑动安装在该内壁上，第二臂可枢转地安装到自由 第一臂的端部和滑动地安装在第二臂上的工具架托架。 第二臂分为两部分，并可绕其纵向轴线旋转。 应用于核电站蒸汽发生器水箱的检查和维护，无需人为干预。
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公开(公告)号：US4179035A
公开(公告)日：1979-12-18
申请号：US862152
申请日：1977-12-19
CPC分类号： B25J19/002 , B25J3/00 , B25J9/04
摘要： A master-slave manipulator which penetrates an enclosure wall through an opening fitted with a mounting plate has a slave arm and master arm pivoted respectively to each end of a pivotally mounted central cylindrical body and constituted by one or more articulated cylindrical segments in end-to-end relation. A tool or tong unit is fitted at the slave end while a control handle and balance weight are fitted at the master end. The segments of the master arm are in an inverted homothetic relationship with those of the slave arm with respect to the point of intersection of the axis of the central body with the pivotal mounting axis and are in a ratio equal to -k while the weights of the homothetic segments are in a ratio of 1/k. The movements transmitted by the master arm to the slave arm ensure that, at each instant, the angle made by the two homothetic segments of the slave arm are equal and opposite, the dimensions of one segment of the master arm being equal to k times those of the corresponding slave segment.
摘要翻译： 通过装配有安装板的开口穿过外壳壁的主从操纵器具有分别枢转到枢转安装的中心圆柱形主体的每个端部并由一个或多个铰接圆柱形段构成的从动臂和主臂， 关系 在从动端装有工具或钳子单元，同时在主端安装控制手柄和平衡重。 主臂的区段与从臂相对于中心体的轴线与枢转安装轴线的交点相反的同系关系，并且其比例等于-k，而重量 同质段的比例为1 / k。 由主臂传递到从动臂的动作确保在每个时刻，由两个同步的臂组成的角度相等和相反，主臂的一个部分的尺寸等于那些 的相应从属段。
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公开(公告)号：US4078670A
公开(公告)日：1978-03-14
申请号：US596122
申请日：1975-07-15
CPC分类号： B25J19/002 , B25J3/04 , B25J9/104
摘要： The movement of rotation of each element of the manipulator arm about the shoulder, elbow and wrist pins is controlled by a motor and a cable consisting of two oppositely-acting lengths by means of a pulley-block which carries at least two lengths, two pairs of pulley-blocks being located within a barrel unit. The length of cable which emerges from each pulley-block is passed over a return pulley carried by the shoulder pin and guided within a stationary manipulator body in a direction parallel to the axis of the barrel unit, each emergent length of cable being actuated by one of the motors mounted on the manipulator body.
摘要翻译： 操纵器臂的每个元件围绕肩部，肘部和腕部销的旋转的运动由电动机和由两个相对作用的长度构成的电缆控制，所述电缆通过带轮至少两个长度，两对 滑轮块位于筒体内。 从每个滑轮块出来的电缆的长度通过由肩销承载的返回滑轮，并在平行于机筒单元的轴线的方向上在固定的操纵器主体内引导，电缆的每个紧急长度由一个 安装在机械手身上的电机。
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