MANIPULATOR HINGED JOINT Russian patent published in 2000 - IPC

FIELD: mechanical engineering. SUBSTANCE: toothed rims interacting with each other are positioned on driving and driven members of manipulator. Carriers are mounted on axles of driving and driven members. Roller coupled to driving system of manipulator by flexible tie-rod is mounted on driving member axle for free turning. This roller is embraced by each branch of flexible tie-rod over perimeter at least once. Driven member axle carries auxiliary roller embraced by flexible tie-rod branches. Coupling elements of flexible tie-rod branches are fixed to driven member. Each roller may be made in form of two discs separated along axis. In this case, each disc of driving member roller is embraced by flexible tie-rod branch over perimeter at least once. Each disc of auxiliary roller is also embraced by flexible tie-rod branch. EFFECT: enhanced rigidity, enlarged gear ratio. 2 cl, 4 dwg