Material or article handling – Vertically swinging load support – Grab
Patent
1985-04-05
1988-10-25
Spar, Robert J.
Material or article handling
Vertically swinging load support
Grab
414 8, 901 15, 901 23, 901 26, 901 27, 901 28, B25J 908, B25J 906
Patent
active
047800470
ABSTRACT:
An advanced servo manipulator has modular parts. Modular motor members drive individual input gears to control shoulder roll, shoulder pitch, elbow pitch, wrist yaw, wrist pitch, wrist roll, and tong spacing. The modules include a support member, a shoulder module for controlling shoulder roll, and a sleeve module attached to the shoulder module in fixed relation thereto. The shoulder roll sleeve module has an inner cylindrical member rotatable relative to the outer cylindrical member, and upon which a gear pod assembly is mounted. A plurality of shafts are driven by the gears, which are in turn driven by individual motor modules to transmit rotary power to control elbow pitch as well as to provide four different rotary shafts across the bendable elbow joint to supply rotary motive power to a wrist member and tong member.
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Holt William E.
Kuban Daniel P.
Martin H. Lee
Martin Marietta Energy Systems Inc.
Smith P. McCoy
Spar Robert J.
Spicer James M.
Winchell Bruce M.
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