| 摘要 |
1. Positioning apparatus comprising a piece holding element (41) mounted for pivoting with respect to a support (33) about a first axis, this support (33) being itself mounted for pivoting with respect to a first intermediate support (27) about a second axis, means for causing the piece holding element (41) to pivot with respect to its support (33) and means for causing this support (33) to pivot with respect to the first intermediate support (27), the piece holding element (41) being fixed to a shaft (42) coupled to a transmission shaft (46) which is coaxial to the pivot axis of the support (33) of the piece holding element (41) with respect to the first intermediate support (27) and which is coupled to a drive shaft (29b) carried by the first intermediate support (27), characterized in that the first intermediate support (27) is carried by two arms (26a and 26b) which are mounted on a second intermediate support (8) for pivoting about the same axis, in that said drive shaft (29b) is coupled by a transmission (50-51-52) carried by one of the arms (25b), to a first motor (53) carried by this second intermediate support (8) and in that the pivoting means (35) of the support (33) of the piece holding element (41) with respect to the first intermediate support (27) are coupled to a second drive shaft (29a) itself coupled by a transmission (37-38-39) carried by the other arm (26a) to a second motor (40) also carried by the second intermediate support (8). |
