GRIPPING MECHANISM WITH FIVE DEGREES OF MOBILITY Russian patent published in 2019 - IPC B25J3/00 

FIELD: machine building.

SUBSTANCE: invention relates to manipulators. Grip mechanism with five degrees of mobility contains a ball support built into the chamber wall. Tube is passed through the ball support, the ends of which are fixed in the elbows. One knee is hinged by means of axis with grip, and other knee is hinged by means of axis with control handle. Tube outlet from the ball support on the gripper side is sealed with a flexible jacket. Tube outlet from the ball support on the side of the control handle is sealed with an additional double flexible jacket. Sealing bushings are made with annular cavities filled with absorbing substance and forming sleeves edges pressed to tube and ball support by annular springs.

EFFECT: higher reliability of gripping mechanism.

1 cl, 2 dwg