초록 ▼

A manipulator has a carriage adapted for free travel movement along a surface and a reversible first motor for driving the carriage. An upstanding support is mounted on the carriage and a manipulation arm assembly is supported for movement on the upstanding support. A reversible second motor drives

A manipulator has a carriage adapted for free travel movement along a surface and a reversible first motor for driving the carriage. An upstanding support is mounted on the carriage and a manipulation arm assembly is supported for movement on the upstanding support. A reversible second motor drives the arm assembly on the upstanding support. An operating head includes a tool supported at the end of the manipulation arm assembly. A remote control mechanism operates the first and second motors and the operating head at a remote location. A first television camera is supported at the upper end of the upstanding support and adapted to scan a first image field in front of the manipulator. A second camera is supported by the manipulation arm assembly and adapted to scan a second image field including the operating head and an article to be operated on by the operating head. Video signals are transmitted by a transmitting mechanism and received to display picture information defined by the first and second image fields scanned by the first and second television cameras to permit a person operating the remote control mechanism at the remote location to view an area immediately in front of the manipulator, the operating head and an area immediately in front of the operating head. Another feature is directed to a cycle initiating circuit for initiating operation of a program control circuit to cause it to generate command control signals which operate a plurality of motors causing various movements in an article manipulation apparatus. A wireless signal transmitter and wireless receiver circuitry operate with short wave command control signals to effectuate remote control of the manipulation apparatus.

대표청구항 ▼

Article manipulation apparatus comprising: (a) a manipulator including a carriage having transport means adapted to support and guide said carriage on a ground surface, (b) a manipulator arm assembly supported by said carriage and including a tool head, (c) first power means for propelling and maneu

Article manipulation apparatus comprising: (a) a manipulator including a carriage having transport means adapted to support and guide said carriage on a ground surface, (b) a manipulator arm assembly supported by said carriage and including a tool head, (c) first power means for propelling and maneuvering said transport means across said ground surface in an infinite number of directions so as to permit the manipulator to reach different locations and to attain different positions on said surface, (d) second power means including a plurality of separately operable motors for operating said arm assembly, (e) first control means for controlling said plurality of motors to cause said arm assembly to execute various maneuvers, (f) said first control means including input means for receiving command control signals, and (g) respective closed loop control means for each of said motors connected to said input means, (h) program control means for generating a plurality of command control signals which are operative for controlling said plurality of motors defining said second power means for causing said arm assembly to execute a programmed maneuver, (i) said program control means being connected to said input means to permit the signals generated thereby to be applied to said closed loop control means for respective of said motors, (j) cycle initiating means for initiating operation of said program control means to cause it to generate said command control signals, (k) remote control means for said manipulator located at a monitor station and including a command control signal generator and a wireless signal transmitter connected to transmit signals generated by said generator by shortwave, (l) a wireless receiver supported by said manipulator for receiving said shortwave command control signals transmitted thereto by said transmitter, said receiver being connected for selectively controlling operation of said first power means and said motors defining said second power means in accordance with signals received from said transmitter so as to permit said carriage to be remotely controlled in its movement and to remotely control the movement of and predeterminately position said arm assembly and said carriage by applying said command control signals to said closed loop control means for respectively operating said motors, (m) a first television camera disposed on said manipulator, a second television camera disposed on said tool head and arranged to always have its scanning axis in a direction toward said tool head, motor means for driving said first television camera to scan the area in the immediate vicinity of the manipulator along a plurality of axes which are different than said scanning axis of said second television camera, and a television receiver at said monitor station for signals generated by said cameras whereby movement of said tool head can be viewed by the first and second television cameras to control said manipulator, (n) said cycle initiating means being operable when said manipulator is predeterminately located for causing said program control means to generate said command control signals and to thereby control the operation of said manipulator to execute a programmed cycle of operation.