Commissariat a L'energie Atomique

La Calhene, Inc.

La Calhene Societe Anonyme

La Calhene S.a.

Jean Tentelier

Charles Glachet

Daniel Francois

Christian Frioux

A device for the disconnectable coupling of a support toggle joint of a gripper to the end of a slave arm of a remote manipulator. The arm and toggle joint each have a case in which are located means for transmitting movements to the gripper. The coupling device comprises at least two latches pivotably mounted on one of the cases and which are able to occupy a coupling position in which they bear against pins fixed to the other case. This couples the toggle joint to the end of the arm and the latches can also occupy a position in which they are disengaged from the pins in order to disconnect the toggle joint. The retractable locking means normally immobilizes the latches with respect to the case supporting them when the latches occupy the coupling position. The invention also provides a disconnection support for the coupling device.

Disconnectable coupling device for a manipulator wrist

A telescopic remote manipulator includes a rotary passage block which passes through a partition, a telescopic master arm having upper and lower segments, and a telescopic slave arm having upper, intermediate and lower segments. The arms are articulated by their upper segments on the passage block by pins. A control handle and gripping member are respectively mounted on the free ends of the master and slave arms. Means are provided for transmitting to the gripping member movements of the handle and include cable means associated with the master arm and cable means associated with the slave arm, both coacting with a rotary shaft in the passage block to transmit the handle movements to the gripping member. The slave arm cable means pass over pulleys carried by a mobile carriage positioned externally of the slave arm and then on pulleys mounted on the slave arm in the vicinity of its shoulder pin. Means are provided for displacing the mobile carriage along the slave arm, when there is a variation in the length of the slave arm, in the opposite direction of movement of the slave arm and over a distance equal to half the length variation. The means for displacing the carriage include opposing cable means whose ends are fixed to the slave arm and pass over pulleys mounted on the carriage and the upper, intermediate and lower segments of the slave arm.

Master-slave telescopic remote manipulator

A telescopic telemanipulator of the master-slave type, wherein the slave arm is equilibrated by means of at least one counterweight mounted on a link articulated to the traversing block on the master arm side, the counterweight moving along the link when an offsetting is introduced between the length of the slave arm and that of the master arm; at least a second counterweight is mounted adjacent the first counterweight on another link, such counterweight moving along the link when a variation in the length of the slave arm is controlled from the master arm. The telemanipulator has application for the remote-controlled handling, among other things, of radioactive products.

Growing community of inventors

Moree, France

Jean Tentelier