A movable manipulator assembly for manipulating an article in a controlled environment chamber, including a support for attaching the manipulator assembly in a gas tight manner to an entry port of a controlled environment chamber and externally with respect to the chamber, a ball joint including a central passage, sealingly seated in the support, for permitting three axis movement of the manipulator assembly while maintaining a gas seal, a manipulator arm extending from the ball joint externally with respect to the chamber, the arm including a central passage aligned with the central passage of the ball joint, the arm further including a closable entry port through which the central passage of the manipulator arm can be accessed, and a gimbaled bearing assembly connected to the manipulator arm for three axis movement of the arm.

A camera for observing an inside of a shielded cell including a support including a spring in a form of a gripper for mounting it on a remote-manipulation arm performing a task to be observed, by another arm, exerting solely a force for opening branches of the spring, after which the camera is properly held, while being able to be removed without difficulty. A stop mechanism provides a correct angular position of the camera while preventing its support from turning about the arm, and thus making it possible to position it correctly by another remote-manipulation mechanism.

A trolley arrangement for a galley of an aircraft has a trolley container in which at least two trolleys can be arranged in a longitudinal direction and a trolley-handling device for pulling and pushing a trolley longitudinally into the trolley container. This device has a linear guide with a stationary guiding bar and a slide movable along the guiding bar longitudinally, a pulling and pushing bar extending along a longitudinal axis, axially fixed on the slide, but rotatable about the longitudinal axis, a hook at a distal end of the pulling and pushing bar remote from the slide, a handling bar axially fixed on the slide or on the pulling and pushing bar, and a joint between the handling bar and the slide or the pulling and pushing bar, so that the handling bar and the pulling and pushing bar are axially connected and are rotationally coupled.

A trolley arrangement for a galley of an aircraft has a trolley container in which at least two trolleys can be arranged in a longitudinal direction and a trolley-handling device for pulling and pushing a trolley longitudinally into the trolley container. This device has a linear guide with a stationary guiding bar and a slide movable along the guiding bar longitudinally, a pulling and pushing bar extending along a longitudinal axis, axially fixed on the slide, but rotatable about the longitudinal axis, a hook at a distal end of the pulling and pushing bar remote from the slide, a handling bar axially fixed on the slide or on the pulling and pushing bar, and a joint between the handling bar and the slide or the pulling and pushing bar, so that the handling bar and the pulling and pushing bar are axially connected and are rotationally coupled.

A robot includes a base and a robot main body. The robot main body includes a plurality of structural members driven by a plurality of actuators. The base includes a housing into which a control cable drawn, a first opening portion provided on a lower surface of the housing, and a second opening portion provided on a side surface of the housing. The first opening portion is configured capable of selectively attaching/detaching either one of a first connector plate including a connector to which a tip end portion of the control cable can be attached and a first lid portion not including the connector. The second opening portion is configured capable of selectively attaching/detaching either one of a second connector plate including a connector to which a tip end portion of the control cable can be attached and a second lid portion not including the connector.

The invention relates to a trolley arrangement (1) of a galley of a vehicle, especially of an aircraft, wherein the trolley arrangement (1) comprises a trolley container (2) in which at least two trolleys (3, 4) can be arranged along a longitudinal direction (L), wherein the trolley arrangement (1) furthermore comprises a trolley handling device (5) for pulling and pushing a trolley (3, 4) into the trolley container (2) in the longitudinal direction (L). To facilitate the handling of the trolleys when storing them in the trolley container and taking them out of the same the invention is characterized in that the trolley handling device (5) comprises a linear guide (6, 7, 8) with at least one stationary guiding bar (6, 7) and a slide (8) which is movable along the at least one guiding bar (6, 7) in longitudinal direction (L), a pulling and pushing bar (9) which is axially fixed at the slide (8) but which can rotate around its axis which is oriented in longitudinal direction (L), wherein at least one hook (10) is arranged at the distal end of the pulling and pushing bar (9) which is remote from the slide (8), and a handling bar (11) which is axially fixed at the slide (8) or at the pulling and pushing bar (9), wherein a joint (12) is arranged between the handling bar (11) and the slide (8) or the pulling and pushing bar (9), so that the handling bar (11) and the pulling and pushing bar (9) are axially connected and are rotationally coupled.

The invention relates to a trolley arrangement (1) of a galley of a vehicle, especially of an aircraft, wherein the trolley arrangement (1) comprises a trolley container (2) in which at least two trolleys (3, 4) can be arranged along a longitudinal direction (L), wherein the trolley arrangement (1) furthermore comprises a trolley handling device (5) for pulling and pushing a trolley (3, 4) into the trolley container (2) in the longitudinal direction (L). To facilitate the handling of the trolleys when storing them in the trolley container and taking them out of the same the invention is characterized in that the trolley handling device (5) comprises a linear guide (6, 7, 8) with at least one stationary guiding bar (6, 7) and a slide (8) which is movable along the at least one guiding bar (6, 7) in longitudinal direction (L), a pulling and pushing bar (9) which is axially fixed at the slide (8) but which can rotate around its axis which is oriented in longitudinal direction (L), wherein at least one hook (10) is arranged at the distal end of the pulling and pushing bar (9) which is remote from the slide (8), and a handling bar (11) which is axially fixed at the slide (8) or at the pulling and pushing bar (9), wherein a joint (12) is arranged between the handling bar (11) and the slide (8) or the pulling and pushing bar (9), so that the handling bar (11) and the pulling and pushing bar (9) are axially connected and are rotationally coupled.

An extended-reach tool system may include a gimbal positioned adjacent a surface opening; an extended-reach arm having a tool and engaging the gimbal; a sensor system for measuring a position of the arm relative to the gimbal and a position and spatial orientation of the tool relative to the opening; a computer control that converts one or both of the rotational and linear measurements from the sensor system into spatial location representations for virtual representations of 3-D models of the workpiece and tool, determines a position and orientation of the tool relative to the opening and workpiece, and adjusts the virtual representations of the 3-D models of the workpiece and tool as the arm and tool move relative to the workpiece, representing a real-time orientation of the tool relative to the workpiece; and a display for displaying the virtual representations of the 3-D models of the workpiece and tool.

An extended-reach tool system may include a gimbal positioned adjacent a surface opening; an extended-reach arm having a tool and engaging the gimbal; a sensor system for measuring a position of the arm relative to the gimbal and a position and spatial orientation of the tool relative to the opening; a computer control that converts one or both of the rotational and linear measurements from the sensor system into spatial location representations for virtual representations of 3-D models of the workpiece and tool, determines a position and orientation of the tool relative to the opening and workpiece, and adjusts the virtual representations of the 3-D models of the workpiece and tool as the arm and tool move relative to the workpiece, representing a real-time orientation of the tool relative to the workpiece; and a display for displaying the virtual representations of the 3-D models of the workpiece and tool.

A trajectory record arm is disclosed, on which the connection apparatus is engaged in order to provide the transmission of the motion trajectory of a connection apparatus to a trajectory recording device. The trajectory record arm includes: at least one telescopic bar which is engaged on one side with at least one fastening element and on the other side with the connection apparatus such that freedom of rotation is allowed between the fastening element and the connection apparatus, at least one first sensor for detecting the movement between the telescopic bar and the fastening element, at least one second sensor for detecting the distance change between the fastening element and the connection apparatus based on the change in the length of the telescopic bar, at least one third sensor for detecting the movement of the connection apparatus in relation with the telescopic bar.