| 摘要 |
Manipulator (1) for moving and positioning a piece between a first position (2) and a second position (3) along a predefined path (4), having: -a load-bearing structure (40) provided with a support element (44); - a mobile arm for gripping the piece (20) comprising a driven pin or transferor (14) projecting transversely from said mobile arm (20); - a guide wall (15) supported by said support element (44) having a rear face (15'') facing towards the support element and an opposite front face (15 ') wherein said guide wall (15) comprises a curvilinear guide groove or cam (13) configured to slidingly engage said driven pin or transferor (14) so that said pin or transferor (14) can travel along the curvilinear guide groove or cam (13) for its entire length dragging the mobile arm (20); - an input shaft of the oscillating rotary movement (51) rotatably connected to said support element (44) in a substantially orthogonal manner to the guide wall (15), said shaft defining a rotation axis (S-S); - an oscillating arm (52) fixed orthogonally to said input shaft of the movement (51), said oscillating arm having a groove (53) radial in relation to the input shaft of the movement (51), said radial groove (53) slidingly engaging said driven pin or transferor (14) so that said driven pin or transferor (14) can traverse the radial groove (53) for its entire length; so that the input shaft of the rotary oscillating movement (51) drags in rotation the oscillating arm, said oscillating arm dragging the driven pin or transferor simultaneously along the radial groove and along the guide groove, dragging the mobile arm (20) along said predefined path (4); wherein said manipulator is characterized in that: said guide wall (15) is a flat plate made of two plate portions (11, 12) substantially parallel to each other or lying on the same plane, and wherein said two plate portions (11, 12) are movable away from/towards each other along said lying plane so as to vary the shape of the guide groove or cam (13). |
