"HAND" TYPE APPARATUS FOR HANDLING ARTICLES Russian patent published in 2001 - IPC

FIELD: multilink mechanisms with complex motion of output links used together with machines, machine tools, presses and so on. SUBSTANCE: apparatus is in the form of combination mechanism having movable base carrying actuating mechanism with jaws, rotation mechanism and drive unit. Movable base is rigidly joined with outlet link of rotation mechanism. Driving links of actuating mechanism are mounted on base with possibility of rotation, outlet links are mounted with possibility of complex motion. Driving links of actuating mechanism are kinematically joined with driving link of rotation mechanism. Kinematic circuit of driving links includes pulleys and flexible members. Actuating mechanism is in the form of set of multilink cam-leverage mechanisms; each such mechanism includes driving cam, rocker arm and outlet link. EFFECT: enlarged manufacturing possibilities, enhanced efficiency of apparatus. 6 cl, 1 dwg