HINGE MECHANISM OF A MANIPULATOR Russian patent published in 2021 - IPC B25J17/00 

FIELD: robotics.

SUBSTANCE: hinge mechanism of a manipulator is comprised of an output link fixed on a ball pin, a ball seat with channels for supply and selection of the working medium and with grooves interacting with blades on the conjugated ball surface and forming sealed cavities therewith connected with the channels for supply and selection of the working medium. Two additional ball cages are installed between the ball pin and the ball seat, configured to rotate in mutually perpendicular planes. Each of the cages is equipped with four drive blades installed in pairs symmetrically relative to the axis of rotation thereof, and with grooves interacting with the drive blades on adjacent ball surfaces. The first cage interacts with the grooves of the ball seat by the drive blades, and with the drive blades of the second cage by the grooves, wherein said second cage interacts with the drive blades of the ball pin by the grooves. Transmission collectors are placed on both ball cages and on the ball seat, forming uninterrupted flows for supply and selection of the working medium to the notches of the moving ball cages and made in the form of pairs of mutually conjugated arc slots and ends of the channels for supply and selection of the working medium, or pairs of mutually adjacent ends of the channels for supply and selection of the working medium, located diametrically opposite and coaxially to the axes of rotation of adjacent cages.

EFFECT: ensures an extension in the operating capabilities of the hinge mechanism.

1 cl, 4 dwg