MANIPULATOR WITH RECIPROCATING MOVEMENT OF GRIPPERS Russian patent published in 2024 - IPC B25J9/10 F16H19/02 

FIELD: machine building.

SUBSTANCE: invention relates to industrial manipulators and can be used in machine building for moving objects, for example, in servicing process machines, machines and presses. Manipulator comprises a cylindrical gear wheel, an output link in the form of a gear rack, grippers fixed on the output link for the transfer of 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. Spur gear is rigidly fixed on output shaft, and the output link in the form of a gear rack is connected through a gearing with a cylindrical gear wheel on the output shaft and through a translational kinematic pair with the housing. 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 of satellite is in mesh with elliptical gear wheel of the same size. Major axles a 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