Overload protected remotely manipulated mechanical hinged or telescopic arm, has load sensors in fixed in return pulley near to shoulder axis

摘要

The manipulator has a master arm (10) and a slave arm, mechanically connected to each other by a movement transmission including belts (36) and pulleys (42). One at least of the pulleys (42), on which the belts (36) move, include integrated force sensors (60) designed to measure the force applied to the pulley (42). Warning systems emit a warning signal when the force measured by each sensor (60) exceeds a set level. Recorders placed in memory the force values measured by each sensor (60). The pulleys (42) are arranged coaxially close to a shoulder axis of the master arm (10). Each pulley (42) has a non turning central part integrating the force sensor (60) and a roller whose interior cage belongs to the pulley (42) and whose exterior cage has a shape complementary to the belt (36) moving along the pulley (42).