Handling gear for repositioning pieces

摘要

A manipulator device for the repositioning of parts having at least one pivot arm (15) able to be driven to perform an oscillating pivotal movement about a pivot axis (16), such pivot arm (15) so acting during the pivotal movement on a gripper carrier (6) serving for carrying a gripper (7) that the gripper carrier (6) is shifted in position without changing its alignment in space along a predetermined manipulation path (5). The gripper carrier (6) is connected with a cam follower (35), engaging a path cam (36) defining the desired course of the manipulation path (5) and extending some distance about the pivot axis (16). Furthermore, in order to move along a manipulation path (5) at least partially departing from a circular path, the gripper carrier (6) is movably arranged in relation to the pivot axis (16) in a direction which is radial with respect to such radial direction so that it may perform a radial movement combined with the orbital movement about the pivot axis (16).