| 摘要 |
953,468. Handling radio-active material. COMMISSARIAT A L'ENERGIE ATOMIQUE. Aug. 3, 1960 [Aug. 31, 1959], No. 26942/60. Heading B4Q. A remote controlled manipulator comprises a control head T 1 and a driven head T 2 connected together by a support (not shown), the head T 1 having a handle m to produce movements about mutually perpendicular axes A 1 A 1 , B 1 B 1 which are transmitted by cables 6, 12 to cause similar movements of jaws p in the head T 2 . The head T 1 also carries a trigger g which may be moved towards the handle m to control a cable 14 and actuate the jaws p, these jaws being closed when they are pulled into a tubular element 5 against the action of a spring q. The two heads are similar and each comprises a pair of plates 1 carrying a shaft 4 on which a support 3 may oscillate about the axis A 1 A 1 or A 2 A 2 , the cable 6 being wound round a pulley 7 secured to each support 3. The tubular element 5 is rotatable about the axis B 1 B 1 or B 2 B 2 in a support 3 and has a bevel pinion 10 meshing with a gear 11 connected to a pulley 9. The handle m is connected to the element 5 of the head T 1 and the cable 12 is wound round the pulley 9. To prevent unwanted movement of the jaw-actuating cable 14 when the heads move about the axes A 1 A 1 and A 2 A 2 each head has a pulley 15 rotatable on the shaft 4, a grooved roller 16 mounted on a spindle 17 carried by the support 3 and a pulley 20 carried by a spindle 21 secured to the plates 1. The cable 14 passes over the pulleys 15, 20 and the roller 16 as shown such that a winding up of the cable about the pulley 15 of one of heads is compensated for by an equal amount of unwinding on the pulley 15 of the other head. In a modification (Fig. 3, not shown) the pulley 20 of the driven head is so disposed that the cable 14 extends round approximately the whole periphery of the pulley 15 of that head. |
