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

FIELD: machine building.

SUBSTANCE: sword manipulator comprises a ball bearing, which is formed by concentrically located four said spherical elements in form of inner, outer and two middle spherical elements, wherein inner spherical element is connected to pipe bellows compensator, and the other end of the pipe is connected to the control handle by another bellows compensator 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, wherein the mechanism of the multiple hinge is made with a rigidly fixed central hinge separating the multiple hinged multi-link to the driving link consisting of one parallelogram, and a driven link consisting of several parallelograms, wherein the driving link parameters are more than the driven links parameters, 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 possibility of complete sealing of manipulator.

1 cl, 2 dwg