| 摘要 |
865,517. Handling radio-active materials. GENERAL MILLS Inc. Sept. 8, 1959 [Sept. 19, 1958], No. 30683/59. Class 39(4). A manipulator intended for removing a nuclear engine from an aircraft (Fig. 1, not shown) after previously placing a television camera within the aircraft engine compartment and permitting dismantling of the engine after its removal comprises a vehicle 16 having endless tracks 18 and supporting a shielded cab 20 by a rotatable and telescopic post 24. A boom support 54 rotatable on the cab roof through gears 36, 38 slidably carries a boom 56 which may be used in the support 54 by a rack gear (Fig. 7, not shown). A shoulder suport 66 carried by a bearing on the end of the boom 56 is rotatable about the boom axis through a gear 70, the support 66 being pivotally connected by a shaft 78 to the first section 80 of an upper arm 76. A second section 82 of the arm 76 is movable relatively to the section 80 both rotatably and slidably through respective gear arrangements (Fig. 8, not shown) and pivoted to the section 82 by a shaft 112 is a forearm 110. The upper arm 76 is driven about the axis of shaft 78 through gearing (Fig. 5, not shown) whilst forearm 110 is driven about the axis of shaft 112 by gearing (Fig. 6, not shown). A wrist member 120 is pivotally connected by a shaft 122 to the forearm 110 and driven about the shaft axis by gearing (Fig. 6, not shown), a cylindrical member 138 rotatable by gearing (Fig. 9, not shown) about its axis within the member 120 carrying a hand mechanism 130. The mechanism 130 comprises a pair of jaws operable by gearing within the member 138 and is shown in Fig. 2 supporting an engine component 182 in front of the cab window 22. Each set of gears for performing the various motions is driven by a separate electric motor situated adjacent each respective gear set, the motors being controlled by a switch panel 28. |
