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US 4,922,782 AGranted
Manipulator shoulder mechanism
AssigneesDoryokuro Kakunenryo Kaihatsu Jigyodan, Meidensha Corporation
InventorSeiji Kawai
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AssigneesDoryokuro Kakunenryo Kaihatsu Jigyodan, Meidensha Corporation
InventorSeiji Kawai
Estimating the term…
In a two-arm type manipulator, it is very rare that two arms develop trouble simultaneously due to malfunction of motors and/or cables. In view of the above fact, motors for actuating manipulator joint mechanisms and cables connected between the motors and the manipulator frame are removably mounted on the shoulder section of the frame of the manipulator. Further, the first arm is so arranged as to be accessible to the second shoulder section or the second arm is so arranged as to be accessible to the first shoulder section. Therefore, it is possible to allow an access of one manipulator arm to the other disabled manipulator elements (motors and/or cables) for removal and replacement of the disabled elements with new elements without aid of another manipulator, in particular, where the manipulator is equipped in atomic facilities which refuse access, thus saving equipment investment.
A two-arm manipulator comprising:
A two-arm manipulator comprising first and second shoulder mechanisms mounted on a frame for manipulating first and second manipulator arms independently, each of said shoulder mechanisms having at least one power unit for actuating at least one joint mechanism arranged in said shoulder mechanism, each said power unit being removably mounted on said corresponding shoulder mechanism, said first arm being accessible to the second shoulder mechanism, said second arm being accessible to the first shoulder mechanism, and a detachable connector electrically connecting said power unit to said frame, said detachable connector including a first connector plate removably fixed to the frame by at least one bolt, a second connector plate removably fixed to the shoulder section with at least one bolt, and a lead wire cable connected between said first and second connector plates.
Dependencies are inferred from the claim text.