Patent GB-1341489-A (GB)
Title: Remote handling devices
IPC: B25J3/00
Filed: 1971-09-20
Abstract: 1341489 Remote handling apparatus UNITED KINGDOM ATOMIC ENERGY AUTHORITY 17 July 1972 [20 Sept 1971] 43790/71 Heading B4Q A master-slave manipulator as used for handling nuclear fuel materials includes means for connecting a slave assembly to, or disconnecting it from, the remainder of the manipulator and for raising or lowering a slave assembly to or from a position adjacent its operating position. The master assembly 11 comprises a shoulder assembly 15 from which depends an arm 14 with a hand grip 16. The arm 14 comprises a boom 17 telescopically mounted in a housing 18, and is pivotable about the pivot 19 of the shoulder assembly 15. Flexible metal tapes, chains or cables (not shown) are housed within the boom 17 and housing 18 whereby movement of the hand grip 16 is transmitted to a slave assembly 13 via a gear-box 20 which converts longitudinal movements of the flexible members into rotational movements of transmission shafts (not shown) extending through the biological shield by way of a through tube assembly 12. The components of the slave assembly 13 comprise the equivalent to those of the master assembly 11, the gripping mechanism 33 being mounted for articulate movement on the end of the boom 27 and copies the movement of the hand grip 16. A portion 28 of the through tube assembly 12 which projects into the hot cell 29 serves to accommodate the shoulder assembly 23 of the slave assembly 13 and has two slots 30 (shown in broken outline) to accommodate locating lugs 31 on the shoulder assembly 23. The means for connecting/disconnecting the slave assembly 13 comprise a winch drum 40 on to which is wound a flexible metal tape 75 attached to the slave assembly, an intermeshing worm 43 and worm-wheel 42, the latter being connected to the winch drum 40, and locking means operable either (i) to prevent the worm-wheel and winch drum from rotating whilst permitting the worm-wheel to travel along the worm when this is rotated such that the worm-wheel is operable on the slave assembly to move it from a first position where it is connected to the remainder of the manipulator to a second position where it is wholly supported by the metal tape 75, and vice versa, or (ii) to prevent the worm-wheel from travelling along the worm whilst permitting it to be rotated and winch in or pay out the metal tape. The locking means for (i) comprises a ratchet 48 fixed to the worm-wheel 42 and a pawl 49 capable of being disengaged from the ratchet 48 via a cable 51 extending from the master assembly side of the manipulator through the through tube assembly 12. The locking means for (ii) is a latch 58 which is lifted when a projection 68 on the slave assembly 13 contacts a catch 62. The worm 43 is driven from the master assembly side via a hand wheel and a shaft which extends through the through tube assembly 12. The winch drum 40 and worm-wheel 42 are mounted on a common carriage 41. A locking plate 38 connected to the carriage 41 is provided to apply a force on the lugs 31 to move the slave assembly 13 to and from the first and second positions referred to above. The latch 58 engages a slot 59 in the locking plate 38 to prevent the carriage 41 from movement when the slave assembly 13 is being hoisted to or from the second position.