BALANCED PNEUMATIC MANIPULATOR Russian patent published in 2017 - IPC B25J13/00 B25J18/00 B25J19/00 

FIELD: machine engineering.

SUBSTANCE: manipulator comprises a support device with a knot formed rotatably around a vertical axis, articulated parallelogram mechanism with hand engages swinging motion, a pneumatic linear actuator acting between the rotary assembly and the articulated parallelogram mechanism, causing the arm to pivot about the axis of oscillation slide connected driven and mounted slidably on the swivel head through the first rectilinear guide means extending in a first predetermined voltage occurrence, a second rectilinear guide means formed integrally with the carriage and extending in a second direction perpendicular to the first direction, and an engaging member mounted on the arm and adapted to engage with the second direction, perpendicular to the first direction, and an engaging member mounted on the arm and configured to engage with the second guiding means.

EFFECT: invention provides constant balancing of the manipulator in all ranges of movements of the drive, which contributes to precise movements of the tool combined with the manipulator, and also the manipulator is characterized by exceptional stability, safety and ease of use.

11 cl, 9 dwg