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. Driving member axle carries roller coupled to drive system through flexible tie-rod. Auxiliary roller embraced by branches of flexible tie-rod is mounted on driven member axle. Auxiliary axle carrying guide roller is installed on driving member. Driving member roller and guide roller are embraced by crossing branches of flexible tie-rod along sectors facing each other. Coupling elements of flexible tie-rod branches are fixed on driven member. Each roller may be made in form of two discs separated along their axis. Each disc of auxiliary roller is embraced by flexible tie-rod branch. Each disc of driving member roller and each disc of guide roller are embraced by crossing branches of flexible tie-rod along sectors facing each other. EFFECT: enlarged gear ratio, enhanced rigidity. 2 cl, 4 dwg