Patent GB-875906-A (GB)
Title: Remote control for manipulators
IPC: B25J5/04
Filed: 1959-09-08
Abstract: 875,906. Handling radioactive materials. GENERAL MILLS Inc. Sept. 8, 1959 [Sept. 19, 1958], No. 30681/59. Class 39(4). A remote controlled articulated handling unit 10, Fig. 1, has a number of electric motors (not shown) for causing the various relative movements between the several connected parts, each motor being controlled by a corresponding one of a number of switches- 27.. 33 in a control box 26. Each switch is similar to a switch 198, Fig. 8, and has three positions, movement to one side or the other from a central position about an axis 214 causing a circuit to be made between wires 210, 208 or 210, 212 and the corresponding motor to move in the appropriate direction. Movement of switch 27 in the direction 56 causes opening of hand 12, movement in the direction 58 causing closing of the hand. Movement of switch 28 in the direction 56 causes forearm 14 to swing about joint 16 in the direction 46, movement of the switch in direction 58 causing reverse movement of the forearm in the direction 47. Switch 29 causes similar movement of the upper arm 18 about joint 20, whereas switch 30 causes an extension or contraction movement in the direction 51 or 52 of the shoulder support member 21. Switch 31 causes movement of the shoulder support member 22 in the direction 53 or 54 along tracks 24. Switches 32, 33 move in a direction perpendicular to that of the switches 27..31 and control relative rotary movements between two parts about a common longitudinal axis thereof. Switch 32 when moved in the direction 60 or 62 causes rotation of the hand 12 in the direction 44 or 44a whilst switch 33 causes rotation of the shoulder 19 in the direction 50 or 50a. A handling unit 110, Fig. 3, in which a greater number of movements are possible comprises a boom support 130 having a ring gear 134 driven by a motor 138 through a pinion 136. A boom rack 128 on the boom 126 is driven through a gear 142 by a motor 140 to effect extension and contraction of the boom along its longitudinal axis. A shoulder member 114 is mounted on one end of the boom 126 and is rotatable thereon by a motor 144 through gears 146. Upper arm member 116 is pivoted at 147 to the shoulder 114 and is driven for swinging movement by a motor 150 through gears 148. Upper arm 116 comprises first and second sections 152 and 154 which are telescopic and are axially movable relatively to one another by a motor 158. A motor 160 connected to the section 152 operates through gears 162 to rotate section 154 about the upper arm axis 161. The forearm 118 is pivotally movable about axis 163 on the arm 116 by a motor 166 acting through gears 164. A wrist member 120 is pivotally movable about an axis 168 on the arm 118 by a motor 172 acting through a gear 170. A hand mechanism 122 is mounted on the member 120 for rotation on the longitudinal axis of the hand, i.e. wrist rotation, this rotation being produced by a motor 176 acting through gears 174. The jaws 178, 180 of the hand are moved by a plunger 182 reciprocated by a motor 184. The motors are controlled by respective switches 188, 190, 192, 194, 196, 198, 200, 202, 204 and 206 in a control box 186, Fig. 5. Switches 188.. 198 control motors 184, 172, 166, 158, 150 and 140, respectively, whereas switches 200.. 206 which move at right angles to switches 188.. 198 control motors 144, 138, 176 and 160, respectively, the last-mentioned motors producing rotary movements between two parts about a common longitudinal axis thereof. Specification 865,517 is referred to.