Material or article handling – Vertically swinging load support – Grab
Patent
1977-05-19
1980-02-12
Werner, Frank E.
Material or article handling
Vertically swinging load support
Grab
3 123, 3 125, 414 4, 414739, 414744, B25J 300
Patent
active
041881664
ABSTRACT:
A compact telemanipulator arm assembly with a rotatable gripping tool is disclosed that is watertight and has a sleek profile suitable for penetrating into narrow underwater passages of nuclear reactors. The assembly has a plurality of elongated arm elements jointed together end-to-end in series relationship. Bending of adjacent elements is achieved by an axially aligned motor housed within one of the adjacent elements, a screw-nut system that converts the motor shaft rotation to axial movement of a slider, and mechanical linkage that converts the slider movement to relative pivoting of the elements. The gripping tool is mounted on a tool support on an end element. Tool gripping members are operated by a first axially aligned motor housed within the end element and a screw-nut system that converts the first motor shaft rotation to axial movement of a slider. Tool rotation is controlled by a second axially aligned motor housed within the end element and mounted on the slider between the first motor and the tool. A pin is attached to the second motor drive shaft and extends through a central bore of the tool support. The pin has an axial key which travels in a longitudinal groove on the bore. Linear movement of the pin caused by the slider operates the tool gripping members; rotation of the pin caused by the rotating shaft of the second motor rotates the tool. The motors are permanent magnet DC electric brake motors.
REFERENCES:
patent: 2861701 (1958-11-01), Bergsland et al.
patent: 3247978 (1966-04-01), Neumeier
patent: 3272347 (1966-09-01), Lemelson
patent: 3429457 (1969-02-01), Jennrich et al.
patent: 3610438 (1971-10-01), Opdahl
Moreau Claude
Schreder Rene
Ateliers et Chantiers de Bretagne--A.C.B.
Lindrooth Charles H.
Werner Frank E.
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