DRIVE OF GRIPPER Russian patent published in 1998 - IPC

FIELD: mechanical engineering. SUBSTANCE: invention is meant for increase of value of transmitted torque in mechanisms with two independent motions with reference to two mutually perpendicular axes. Carrier of key conical differential mechanism is made fast to first intake shaft of additional conical differential mechanism and has two arms which are placed in opposition and are intercoupled with the use of four-link conical planetary transmission. Carrier of additional conical differential mechanism is made fast to central gear of key conical differential mechanism. First and second intake shafts of additional conical differential mechanism are kinematically coupled to braking devices. Additional satellite gear is put on additional arm of carrier of key conical differential mechanism. Additional central gear is mounted for rotation on first intake shaft and is thrown into engagement with key and additional satellite gears. Key satellite gear is jointed to carrier and is made fast to gripper. EFFECT: increased value of transmitted torque. 1 dwg