| 摘要 |
A rotatable lever and an initially transversely disposed adjustable linkage mechanism for attachment in predetermined relation to at least one movable work-performing arm and operable such that upon rotation of the lever and linkage mechanism responsive to pivotal rotary movement of the lever portion thru a designated travel arc of at least approximately 90 DEG , the movable arm moves much more rapidly during the first approximate one-half to three-quarters of its designated travel arc, and thereafter continues to move progressively slower in a firm positive manner thru the remainder of the travel arc, while moving from its transverse relationship to a generally parallel or linearly aligned relationship. This simplified mechanism is non-servo in character and relatively low cost compared to servo devices embodying continuous sensing and feedback circuitry. Among various uses are easy association with various known industrial type robot devices embodying programmed control of articulated mechanical arms. This new mechanism preferably includes a reversible electric motor for rotating the actuating lever, and also includes either manual or similar reversible motor-actuated, adjustable linkage mechanism interconnected therewith to vary the mechanical advantage, relative travel distance and speed of the lever-linkage mechanism and one or more actuating arms. This adjustment feature facilitates this assembly's cooperation with different size/type workpieces, including handling of fragile items.
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