FIELD: machine building.
SUBSTANCE: invention relates to mechanisms with complicated travel of output links. Proposed manipulator comprises transfer mechanism, actuator mechanisms with part gripper jaws and drive. Transfer mechanism comprises drive link representing hollow rod with its center rigidly jointed to drive shaft, bell crank output link coupled with drive link and fixed cam with shaped slot to interact with output link roller. Every actuator mechanism comprises drive link representing transfer mechanism output link, output links with part gripper jaws arranged on transfer mechanism output link arm ends, and extension wedges with shaped slots arranged on their sides. Extension wedges are mounted in "part grip" and "part discharge" positions.
EFFECT: higher efficiency and accuracy of positioning.
2 cl, 3 dwg
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