A manipulator and a method for opening and/or closing hinged and/or sliding members supported on bodies.

摘要

For example, a boot/bonnet manipulator has a carriage (200) movable longitudinally of a paint spray booth along tracks (202). A support frame (228) on the carriage supports a slide member (230) mounted for movement transversely relative to the tracks. A plate (240) is mounted on the slide (230) by way of a spherical bearing (232) such that any movement out of the horizontal plane can be detected by sensors which can thereby signal an overload condition. A system of pivotally connected arms (244, 250, 260) are connected to a pivot (242) on the plate (240). The arm (260) carries a resiliently mounted finger (262) arranged to engage in a ring (270) on the boot or bonnet to be opened and closed. When the finger is engaged, raising the arms will lift the boot or bonnet. Sensors within the finger arm (260) detect the deflection of the finger against the action of its mounting means as the boot or bonnet is raised and thus signal that the finger (262) is engaged with the ring (270).