MANIPULATOR FOR TRANSFER OF ARTICLES Russian patent published in 2024 - IPC B25J9/10 F16H19/08 

FIELD: machine building.

SUBSTANCE: invention relates to industrial manipulators and can be used in machine building for moving objects, for example, when servicing process machines, machines and presses. Manipulator comprises an output link of the manipulator with gripping devices for transferring articles, an electric motor, which shaft is rigidly connected to the input shaft, the housing in which the input, output and intermediate shafts are installed, the fixed elliptical gear wheel is rigidly fixed on the housing. Fixed elliptical gear wheel, intermediate and output shafts are coaxial. Output link of the manipulator with grippers for transfer of articles is rigidly fixed on the output shaft. Manipulator also comprises an elliptical gear wheel mounted on the output shaft, a cylindrical gear wheel on the input shaft, connected to the gear carrier, carrier made in the form of a cylindrical gear wheel installed on the intermediate shaft and connected through the rotary kinematic pair to the satellite shaft, consisting of elliptical gear wheel and elliptical gear turned through 180° relative to each other and connected by shaft. Elliptical gear wheel of satellite is connected to fixed elliptical gear wheel of the same size, and elliptical pinion gear is in mesh with elliptical gear wheel of the same size. Major axles of all elliptical wheels are identical. Manipulator also comprises a counterweight installed on the carrier opposite to the satellite shaft at a distance H, equal to distance between axes of rotation of intermediate shaft and shaft of satellite, and having mass equal to mass of satellite.

EFFECT: high balance of manipulator and reduction of overall dimensions in axial direction.

1 cl, 5 dwg