MANIPULATOR Russian patent published in 1994 - IPC

FIELD: mechanical engineering. SUBSTANCE: each of hands of manipulator has its working organ and hinge connected links with individual drives. Link 4 of driving hand is made as rack, on which driven hand body 5 is moving. Body 5 is moving, using forward motion drive, electric engine and gear 7. Wheel 8 is mounted on body. Bearings 9, 10 prevent wheel 8 from longitudinal and transverse shifts. Bearings 10 are mounted between wall of wheel 8 and supporting site 11. Gear 12 with inner threading is fixed on wheel. Rotation of wheel 8 is exercised by electric motor 13 with gear 14, that is engaged with gear 12. Links of driven hand with their hinge couplings, drives and working organ are mounted on wheel. Block of control gives command to switch driven hand engine on. Electric engine, rotating gear 7, lifts body 5. Then electric engine 13 is switched on, that rotates gear 12. Block of control brings drives of links 15 of driven hand into definite position. Manipulator is ready to operate. After operation is ended, block of control brings manipulator back to initial position. Manipulator is capable to fulfil operations inside bodies of machines and other equipment. EFFECT: manipulator is used for auxiliary operations to change pieces positions and in assembling operations. 4 cl, 3 dwg and other