Balanced pneumatic manipulator

摘要

The manipulator comprises a supporting device (11) having an assembly (13) rotatable about a vertical axis and an articulated parallelogram (21) with a swing arm (24). A pneumatic linear actuator (22), acts between the rotatable assembly (13) and the articulated parallelogram (21), for causing the arm (24) to rotate about a horizontal axis of oscillation. A slide (23) is connected to the actuator (22) and slidably mounted on the rotatable assembly (13) by means of a first vertical guide (30). The slide has a second horizontal guide (31) in which is engaged an element (32, 33) mounted on the swing arm (24).

主权项

1. A balanced pneumatic manipulator, including:
a supporting device including an assembly rotatable about a vertical axis (z); an articulated parallelogram mechanism including a swing arm pivoted to the assembly for rotation about a horizontal axis of oscillation; at least one pneumatic linear actuator, acting between the rotatable assembly and the articulated parallelogram mechanism, for causing the arm to rotate about the axis of oscillation (x);wherein the manipulator further comprises:
a slide connected to the actuator and slidably mounted on the rotatable assembly by means of first rectilinear guiding means extended in a first given direction (c); second rectilinear guiding means, integral with the slide and extending in a second direction perpendicular to the first direction; and an engagement element, mounted on the swing arm, the element engaging the second guiding means; the engagement element comprising a roller means which is rotatably mounted about an axis integral with the swing arm and which rolls along the second rectilinear guiding means of the slide; the second guiding means comprising a pair of parallel slots spaced from one another in a direction perpendicular to the second direction and the roller means comprising a cylindrical roller rolling in both slots.