DRIVE FOR MANIPULATOR Russian patent published in 1994 - IPC

FIELD: mechanical engineering. SUBSTANCE: shaft 2 received in case 1 is coupled with Maltese mechanism, disk 16 of which is kinematically coupled with shaft 2, and with mechanism for rectilinear movement of the shaft made of cantilever 4 pivotally connected to shaft 2 and cam 3 pivotally connected to crank 14 of Maltese mechanism. Disk 16 of the Maltese mechanism and cam 3 are kinematically coupled with shaft 2 of an actuator through cylindric gears. Gear wheels 18,19 of one of the gears are changeable. EFFECT: improved design. 1 dwg