INDUSTRIAL ROBOT Russian patent published in 1997 - IPC

FIELD: machine engineering, robot making, namely for transferring blanks between manufacturing equipment stations. SUBSTANCE: industrial robot includes rotary link 2 of mechanical arm and rotary link 9 of hand being in the form of pendulum with springs 1 and provided with limit stoppers. Mass center of movable link 9 of hand is shifted relative to axis of arm. Link 9 is mounted possibility of lengthwise motion along axis of arm and it is spring-loaded relative to rotation center of said arm. Limit position stoppers are in the form of cams that may fix arm for preventing rotation of it in zone of limit positions along axis of said arm. EFFECT: improved design. 1 dwg