| 摘要 |
<p>1307611 Manipulators UNIMATION Inc 5 March 1970 [18 March 1969] 10698/70 Heading B8H [Also in Divisions G3 and G4] A programme - controlled manipulator is mounted on a base 40 and comprises an electronic control system, see Divisions G2-G3, in a console 42 and a boom assembly 50 pivoted by members 54, 56 on a hollow trunk 60 rotatable with respect to the base. The boom assembly is tilted by an hydraulic cylinder 64 and arm portions 70 are extended by a long-stroke piston in a cylinder, not shown, mounted between the arm portions. A crosshead assembly 74, mounted on the arm portions, carries a hand assembly comprising opposed grasping fingers 82, 84. The hand assembly is given wrist bend and swivel movement by hydraulic assemblies on each side of the boom assembly. One hydraulic assembly is shown and comprises an hydraulic cylinder 100 having a double-acting piston 102 driving a roller chain over sprockets 106. The rear sprocket drives a bevel gear 108 which rotates a torque tube, not shown, to operate the hand assembly. The boom assembly is rotated on the trunk 60 by a ring-gear and a rack, not shown, actuated by pistons in cylinders 124, 126. Hydraulic power for the positioning system is provided by a gear-type pump, not shown, driven by an electric motor 142. Associated with the pump is an accumulator 160.</p> |
