MANIPULATOR Russian patent published in 1996 - IPC

FIELD: mechanical engineering. SUBSTANCE: manipulator has base 1 and carrier hand 2 fixed on base 1. Carrier hand, as well as other hands of manipulator, has three links 3 and is terminated with end link 4 which is put onto pivot joint 5 and retained by power devices 6. Upper part 7 of link 4 is set on lower part 8 through bearings 9 and is retained by plate 10. Auxiliary hand 12 is mounted above end of upper part 7. Platform 13 is mounted in upper part 7 of end link for displacement along guides 14 by means of gear 16 and power device 6. Auxiliary hand 17 provided with working tool is mounted on movable platform 13. Another auxiliary platform 18 is mounted on movable platform 13 for displacement by gear 21 and power device 6. Auxiliary hand 22 with working tool is fixed on platform 18. Manipulator hands, working tools and power devices are driven by signals generated by control systems. EFFECT: increased efficiency in assembly, simplified construction and enhanced reliability in operation. 3 dwg