WORKPIECE HANDLER Russian patent published in 1995 - IPC

FIELD: robotics. SUBSTANCE: handler has a body made of elastic material, rod, ball joints, swinging gear, controlled drive, elastic coating. The rods are secured in the body by means of ball joints. The rods are linked by means of the swinging gear, for example, in the form of connecting rod gear, with the controlled drive in the form of electromagnets with a sucked-in armature and coil. Attached to the rods is a protective elastic device in the form of film hermetically connected to the body edges. The controlled drive through the swinging gear actuates cyclic angular displacements of the rods, providing the desired law and phasing of these displacements. Flexible elastic body makes it possible to shape the handler as necessary, facilitates uniform redistribution of pressure on the rod ends. In addition to insulating and protective functions, the elastic coating gives the handler a property to move liquid, loose and viscous materials. To move these materials, use is made of the wave method of phasing of rods movement. The substance of such a phasing consists in displacement of cavities in the elastic coating arising at inclination of rods. The material moves in the direction of front-wave propagation. EFFECT: improved design. 3 dwg