| 摘要 |
FIELD: mechanical engineering, robotics. SUBSTANCE: industrial robot has rotary link of mechanical arm and rotary link of hand made in the form of pendulum with springs and equipped with catches of extreme positions. Center of masses of movable link of hand is shifted relative to mechanical arm, is mounted for longitudinal movement along axis of mechanical arm and is spring-loaded to the Center of mechanical arm turn. Catches of extreme positions are made in the form of cam with possible fixation of its position against turn in zone of extreme positions along axis of mechanical arm. Robot is used for shifting blanks or workpieces among production equipment. EFFECT: simpler design, enhanced dynamic characteristics due to utilization of influence of hand movement on mechanical arm motion, possible realization of multistation industrial robots of given type. |
