B - Operations – Transporting – 25 – J
Patent
B - Operations, Transporting
25
J
294/4
B25J 13/00 (2006.01) B25J 9/04 (2006.01) B25J 9/10 (2006.01) B25J 9/14 (2006.01) B25J 17/02 (2006.01)
Patent
CA 1207356
ABSTRACT A robot manipulator having a multiply articulated manipulator arm rotatably mounted on a swivelling base, wherein all the servo-cylinders are placed in the base and wherein a mechanical power transmission mechanism is disposed between the tool holder and each of the parts of the manipulator arm respectively and the associated servo-cylinder. The linear move- ment of the individual servo-cylinders is converted into a substantially proportional rotary movement over the whole working range of the servo-cylinder. The power transmission mechanisms are so designed that when one or more of them is in action and the portions of the manipulator arm are moved in relation to one another, the other power transmission mechanisms are not influenced as a result of these movements. All the servo- cylinders have a piston rod, the diameter of which is reduced to below the bending limit for a conventional freely mounted piston rod, since the piston rod is rigidly connected, at one end, to the piston of the servo cylinder and is rigidly connected, at the other end, to a member adapted to slide or roll in fixed guides, as a result of which the contact area and hence the friction between the piston rod and piston-rod packing is reduced to a minimum.
410423
Fetherstonhaugh & Co.
Molaug Ole
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