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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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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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4.发明授权Handling equipment comprising a telescopic supporting assembly carrying a motorized orientation support for at least one articulated slave arm 失效处理设备包括承载用于至少一个关节式从动臂的机动定向支撑件的伸缩支撑组件
公开(公告)号：US4460302A
公开(公告)日：1984-07-17
申请号：US262920
申请日：1981-05-12
申请人： Claude Moreau , Daniel Francois , Jean Vertut , Paul Marchal , Gerard Streiff
发明人： Claude Moreau , Daniel Francois , Jean Vertut , Paul Marchal , Gerard Streiff
CPC分类号： B25J19/023
摘要： A handling equipment comprising a telescopic supporting assembly carrying a motorized orientation support for at least one articulated slave arm is disclosed. The orientation support includes a body pivotally mounted around a vertical axis at the end of the supporting assembly and at least one supporting member pivotally mounted around a horizontal axis on the body. A fixing device is provided between each slave arm and each supporting member to allow remote locking and unlocking of the slave arms. The supporting assembly bears at least one television camera for observing the free end of each slave arm.
摘要翻译： 公开了一种处理设备，其包括承载用于至少一个关节式从动臂的机动定向支撑件的伸缩支撑组件。 定位支撑件包括围绕支撑组件的端部处的垂直轴线枢转地安装的主体以及围绕身体的水平轴线可枢转地安装的至少一个支撑构件。 在每个从动臂和每个支撑构件之间设置一个固定装置，以允许从属臂的远程锁定和解锁。 支撑组件具有至少一个用于观察每个从动臂的自由端的电视摄像机。
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公开(公告)号：US4510574A
公开(公告)日：1985-04-09
申请号：US410556
申请日：1982-08-23
申请人： Jack Guittet , Paul Marchal , Alain Micaelli , Jean Vertut
发明人： Jack Guittet , Paul Marchal , Alain Micaelli , Jean Vertut
CPC分类号： G05D3/12 , B25J3/04 , Y10S414/122
摘要： A force return servosystem between a master actuator and a slave actuator connected by transmission lines, which introduce a delay, .tau..At the master actuator, the servocontrol is realized by means of two devices supplying force signals, where the smaller is applied to the master actuator, but having the polarity of the signal supplied by a first servocontrol device. The latter compares, in a known manner the position signal .theta.(t) of the master actuator with the delay position signal .theta.'(t-.tau.) of the slave actuator, whereas a second servocontrol device compares the delayed position signal .theta.(t-2.tau.) with signal .theta.'(t-.tau.).The invention may be used in manipulators, the control of the flying of a missile and any other control requiring the proportioning of the force controlling a movement of a machine.
摘要翻译： 在主执行器和由传动线连接的从动执行器之间的力返回伺服系统，其引入延迟τ。 在主执行机构，伺服控制通过提供力信号的两个装置实现，其中较小的装置施加到主致动器，但具有由第一伺服控制装置提供的信号的极性。 后者以已知方式将主致动器的位置信号θ（t）与从动执行器的延迟位置信号θ'（t-τ）进行比较，而第二伺服控制装置将延迟位置信号θ（t- 2 tau）与信号θ'（t-τ）。 本发明可以用于操纵器，控制导弹飞行以及任何其它需要控制机器运动的力的配比的控制。
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公开(公告)号：US4231171A
公开(公告)日：1980-11-04
申请号：US869148
申请日：1978-01-13
申请人： Pierre Balligand , Yves Corfa , Pierre Lemercier , Paul Marchal , Jean Vertut
发明人： Pierre Balligand , Yves Corfa , Pierre Lemercier , Paul Marchal , Jean Vertut
IPC分类号： B63B35/40 , B63C11/40 , B63H19/08 , E02F7/00 , E02F9/02 , E02F9/06 , E21C45/00 , E21C50/00 , E21C50/02 , E02F3/88
CPC分类号： E02F9/06 , B63B35/40 , B63C11/40 , B63H19/08 , E02F7/005 , E02F9/026 , E21C50/02 , B63B2035/405
摘要： Polymetallic nodules are collected by means of a plurality of self-propelled vehicles which move upwards and downwards between the sea floor and a surface platform under the action of excess ballast which is partially and progressively released as the vehicle approaches the bottom. The vehicles are propelled along the sea floor by means of at least two supporting units each having at least one helical propulsion fin, the remainder of the ballast being released in order to return the vehicles upwards for docking, unloading and energy-recharging in the surface platform.
摘要翻译： 多金属结核通过多个自走车辆收集，这些车辆在过载镇流器的作用下在海底和表面平台之间上下移动，随着车辆接近底部部分地逐渐释放。 这些车辆通过至少两个支撑单元沿着海底推进，每个支撑单元具有至少一个螺旋推进翼片，其余的镇流器被释放，以使车辆向上返回，用于在表面上对接，卸载和能量再充电 平台。
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7.发明授权Submarine vehicle for dredging and raising minerals resting on the sea bed at great depths 失效用于疏浚和提升矿床的潜艇在深海上沉没在海床上
公开(公告)号：US4357764A
公开(公告)日：1982-11-09
申请号：US142046
申请日：1980-04-21
IPC分类号： B63B3/13 , B63C11/00 , B63C11/40 , E02F3/08 , E02F5/00 , E02F7/00 , E02F9/02 , E21C45/00 , E21C50/00 , E21C50/02 , E02F9/00
摘要： A submarine vehicle for collecting and raising materials resting on the sea bed at great depths, of the type comprising a load-bearing structure, collecting elements for the materials, storage silos for storing the materials collected and/or the ballast material, transfer means between said collecting elements and said silos, and main propellers for advancing the vehicle on the sea bed, said vehicle being characterized in that said load-bearing structure is made of a buoyancy material, said structure being in the form of a ring having a longitudinal plane of symmetry and defining the stem, stern and sides of said vehicle, and defining between them a free central space, the outer surface of said structure forming the hull of said vehicle, said storage silos being arranged in the free central space and fixed to said load-bearing structure, said collecting elements being arranged in front of and below said stem, said main propellers also being fixed to the lower surface of said load-bearing structure.
摘要翻译： 一种用于在大深度上收集和堆放搁置在海床上的材料的潜艇，其类型包括承载结构，用于材料的收集元件，用于储存收集的材料的储存筒仓和/或压载材料，在 所述收集元件和所述筒仓以及用于将所述车辆推进到所述海床上的主螺旋桨，所述车辆的特征在于，所述承载结构由浮力材料制成，所述结构呈环形，具有纵向平面 对称并且限定所述车辆的杆，船尾和侧面，并且在它们之间限定自由中心空间，所述结构的外表面形成所述车辆的船体，所述储存筒仓布置在自由中心空间中并固定到所述 所述收集元件布置在所述杆的前面和下面，所述主螺旋桨也固定在所述负载轴的下表面上 ng结构。
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公开(公告)号：US4345658A
公开(公告)日：1982-08-24
申请号：US77380
申请日：1979-09-20
申请人： Francois Danel , Henri Nicollet , Paul Marchal , Marc Robin , Jean Vertut
发明人： Francois Danel , Henri Nicollet , Paul Marchal , Marc Robin , Jean Vertut
IPC分类号： B25J5/00 , B62D57/024 , G21C17/013 , B62D57/02
CPC分类号： G21C17/013 , B62D57/024
摘要： Vehicle able to move by adhesion on a random surface, with a central body defining a pivoting axis which remains substantially perpendicular to a surface and which has two groups of central supports which adhere to the surface; first and second carriages, each provided with two groups of adhesive end supports; first and second members for the guidance in rectilinear translation and without rotation of the first and second carriages in accordance with two directions which remain substantially orthogonal to the pivoting axis. The first and second carriages are displaceable along the guidance members; the first and second guidance members are pivotal about the pivot axis and the groups of central supports are rotatable about the pivot axis.
摘要翻译： 能够通过粘附在随机表面上的车辆，其中心体限定枢转轴线，该枢转轴线基本上垂直于表面并且具有两组粘附到该表面上的中心支撑件; 第一和第二托架，每个具有两组粘合端支架; 用于引导直线平移的第一和第二构件，并且不依照保持基本上垂直于枢转轴线的两个方向使第一和第二托架旋转。 第一和第二托架可沿引导构件移位; 第一和第二引导构件围绕枢转轴线枢转，并且中心支撑件组可围绕枢转轴线旋转。
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公开(公告)号：US4066909A
公开(公告)日：1978-01-03
申请号：US728841
申请日：1976-10-01
申请人： Claude Bourdois , Charles Glachet , Paul Marchal , Jean Vertut
发明人： Claude Bourdois , Charles Glachet , Paul Marchal , Jean Vertut
CPC分类号： G21F5/015
摘要： The container consists of a shielded body having an internal cavity and of a capsule which can be inserted into the cavity and is capable of sliding motion along the axis of this latter. The front face of the capsule is sealed by means of a removable door and the rear face is attached to an operating rod. The cavity is sealed beyond the front face of the capsule by means of a shielded element for positioning a cover opposite to the removable door of the capsule. The cover cooperates with means for permitting leak-tight coupling or uncoupling of the cover and the capsule by displacing these latter in relative motion.
摘要翻译： 容器由具有内腔和胶囊的屏蔽体组成，该屏蔽体可以插入空腔中，并且能够沿着该腔体的轴线滑动。 胶囊的前表面通过可拆卸的门密封，后表面连接到操作杆上。 空腔通过屏蔽元件密封在胶囊的前面之外，用于定位与胶囊的可拆卸门相对的盖。 盖与用于通过使它们相对运动地移位而允许盖和胶囊的密封耦合或解耦的装置协作。
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10.发明授权Process and apparatus for the lateral positioning of a member relative to a joint 失效一种构件相对于接头的横向定位的方法和装置
公开(公告)号：US4441010A
公开(公告)日：1984-04-03
申请号：US371268
申请日：1982-04-23
申请人： Jean Cornu , Jean-Marie Detriche , Pierre Gil , Paul Marchal , Jean Vertut
发明人： Jean Cornu , Jean-Marie Detriche , Pierre Gil , Paul Marchal , Jean Vertut
IPC分类号： B23Q35/127 , B23K9/127 , B23Q35/13 , B23K9/12
CPC分类号： B23Q35/13 , B23K9/1276
摘要： Process for the lateral positioning of a member relative to a joint formed between two metal surfaces and having discontinuities and using at least one eddy current probe, wherein the signal supplied by each of the probes are processed to obtain at least one positioning signal varying with the displacement of the axis of the corresponding probe relative to the axis of the joint and at least one signal indicating the presence of a discontinuity and transmitted when the corresponding probe faces a discontinuity of the joint, wherein the member is laterally displaced as a function of variations of the positioning signal and wherein the control of the displacement of said member is interrupted as a function of variations of the positioning signal when a signal indicating the presence of a discontinuity is transmitted.The invention also relates to an apparatus for performing this process.
摘要翻译： 一种用于相对于形成在两个金属表面之间并且具有不连续性并且使用至少一个涡流探针的接头的侧向定位的方法，其中由每个探针提供的信号被处理以获得至少一个与 相应探针的轴线相对于关节轴线的位移和至少一个指示不连续的存在的信号，并且当相应的探针面向接头的不连续部分时发送，其中该部件被横向移位作为变化的函数 并且其中当发送指示存在不连续性的信号时，所述构件的位移的控制作为定位信号的变化的函数被中断。 本发明还涉及一种用于执行该过程的装置。
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