MANIPULATOR Russian patent published in 2019 - IPC B25J3/00 B25J1/00 B25J21/00 

FIELD: nuclear technology; biological equipment.

SUBSTANCE: invention relates to nuclear and biological equipment and can be used in production of manipulators for handling radioactive and biological substances. Manipulator comprises a ball bearing, a bearing sword in the form of a pipe, and a grip rod. On one end of the sword there is a device for attachment of detachable grippers, and on the other end – two wave drives in the form of wave generators for transfer of reciprocating movement respectively to the sword tube relative to the ball support and the rod of the grip relative to the sword pipe using sealed flexible cups, in which said sword tubes and grip rod are installed. Sealed flexible cups are made with annular grooves on their inner surface, which engage with thread on sword tube and grip rod with possibility of regulating value of radial forces on tight flexible cups on side of generators with provision of their self-centring relative to axis of flexible cups.

EFFECT: increasing tightness, smoothness, accuracy and durability of manipulator operation.

1 cl, 3 dwg