SKEWER MANIPULATOR Russian patent published in 2020 - IPC B25J21/00 B25J11/00 

FIELD: manipulators.

SUBSTANCE: invention relates to sword manipulators. Manipulator comprises driving, ball bearing with retainer, wherein ball support consists of concentrically arranged four said spherical elements in form of inner, outer and two middle spherical elements, wherein the inner spherical member is connected to the pipe by a bellows or membrane sealed jacket, and the other end of the pipe is connected to the control handle by another bellows or membrane sealed jacket to form cavities which are filled with a screening substance, wherein in the walls of the spherical elements, in the pipe and in the tunnelling, holes are made in the form of channels located perpendicular to each other. Mechanism of multiple hinged parallelogram is made with rigidly fixed central hinge separating multiple hinged parallelogram to drive link consisting of one parallelogram, and driven link consisting of several parallelograms, wherein driving link parameters are more than parameters of driven links, which are identical to each other, wherein the drive link is connected to the rod and the control handle through the rigidly fixed central hinge, and the driven link is connected to the manipulator working member.

EFFECT: technical result consists in improvement of degree of biological protection and expansion of possibility of complete sealing of manipulator.

1 cl, 3 dwg