Patent GB-1019989-A (GB)
Title: Manipulator hand
IPC: B25J18/02
Filed: 1963-12-11
Abstract: 1,019,989. Manipulators. PROGRAMMED & REMOTE SYSTEMS CORPORATION. Dec. 11, 1963 [Dec. 12, 1962], No. 49029/63. Heading B4Q. A remotely controlled manipulator comprises a hand member, a wrist member supporting the hand member, the hand member including a gripping tool, actuating means on the hand member for moving the gripping tool between open and closed positions, rotating power means on the wrist member connected to the actuating means through an axially disengageable driving connection, and releasable means retaining the hand member on the wrist member. The arrangement enables the hand member to be exchanged for another having a different tool, the tool of the removed hand member retaining its gripping force on any part held thereby. The manipulator, Fig. 1, comprises gripping jaws 202, 203 carried by a hand member 95 releasably connected to a wrist member 79, the hand member being rotatably and axially movable within the wrist member by respective electric motors (Fig. 3A, not shown) mounted within the wrist member, these motors being controlled by switches 134, 103 in a control box 27. The wrist member 79 is pivotally connected about an axis 82 to a forearm 56, the latter being pivoted to an upper arm 44 itself pivoted about an axis 45 to a shoulder 42. Three motors (Fig. 4, not shown) .in the shoulder 42 and controlled by switches 84, 85, 88 drive respective chain and sprocket systems to produce pivotal movement of the wrist member 79 and arms 56, 44 in the direction of the arrows 83, 57 and 46. The shoulder 42 is supported by and rotatable with respect to, a telescopic tube set 36, the shoulder being rotated by a motor (not shown) and the tube set being extended by a motor 41. The tube set 36 is carried by a carriage 32 having wheels 33 movable along a bridge 16 by a motor 39 controlled by a switch 31. The bridge 16 has wheels 21 driven by a motor 22 along tracks 17 and is controlled by a switch 28. In Fig. 3B which shows the hand member 95 and the lower part of the wrist member in detail the jaws 202, 203 are pivoted to a housing 182 by actuator links 192, 193 and further links 206, 207, the links 192, 193 being pivoted to the housing by pins 194, 196. A nut 180 rotatable on bearings 181 in the housing 182 receives an actuating screw 183 having a head 184 with pins 190 received in slots 191 in the links 192; 193. Thus rotation of the nut 180 causes axial movement of the screw 183 to move the jaws 202, 203 between open and closed positions. A flexible diaphragm 215 seals the head 184 to the housing 182. A ring 220 rigid with the housing 182 has on its outer surface a series of closely spaced spherical indentations 222 arranged as an annular band. The lower part of the wrist member comprises an annular hand mounting member 174 having three annularly arranged openings 223 receiving balls 224. As shown in Fig. 3B, the balls 224 are urged into three of the indentations 222 by the inner surface of a locking collar 225 whereby the hand member 95 is locked to the mounting member 174 of the wrist member. The collar 225 is slidably connected to the housing 182 and biased by springs 226 to the locking position. In order to remove the hand member 95 the collar 225 is moved in the direction 229 to bring its larger diameter inner surface 230 over the balls 224 whereby the latter can leave the indentations 222 and the hand member withdrawn. Similarly, the hand member 95 is coupled to the wrist member by introducing the mounting member 174 between the collar 225 and the ring 220, the balls 224 being urged on to a ramp surface 233 of the collar whereby the latter is moved against the springs 226 until the balls are received in three of the indentations 222 whereupon the collar is returned to its locking position by the springs. Owing to the large number of the indentations 222 a particular angular alignment of the hand member with the wrist member is not required. The coupling and uncoupling of the hand member is performed in conjunction with a fixture (Fig. 10, not shown) into which the hand member is placed by the manipulator. The nut 180 is driven for operating the jaws by a clutch plate 178 attached to the nut through a hub 179. The plate 178 co-operates with a clutch plate 17] of an electromagnetic clutch 172, the transmitted torque being variable by controlling the current applied to a coil 173. The clutch 172 is rigid with the mounting member 174 except for the plate 171 which is rotatable by shaft 170 of a motor 165 rigid with the member 174. Thus when the hand member is removed from the wrist member the clutch plates 178, 171 merely disengage and the jaws 202, 203 may continue to exert their gripping action as imposed by the nut 180.