Mechanism for moving objects while retaining a certain alignment

摘要

The mechanism for moving objects, such as for example workpieces or working tools, while retaining a certain alignment is intended in particular for loading and unloading objects stacked in rows on pallets. It comprises a base frame (10), on which a three-part articulated arm (12, 22, 41) is rotatably mounted about a first basic axis (11). The two outer parts (22, 41) of the articulated arm are pivotal about a second and third basic axis (20, 40) respectively, which both lie parallel and at right angles to the first basic axis (11). A holding means for the objects to be moved is to be attached to the free end of the articulated arm by means of two hand axes (58, 63), arranged at right angles to each other. The first hand part (60), mounted on the first hand axis (58), is connected by a first transmission to the first arm part (12) and is thereby held in a rotationally fixed manner with respect to the first hand axis (58). The second hand part (62), mounted on the second hand axis (63), is connected by a transmission (74-94) to the base frame (10) and is held in a rotationally fixed manner in relation to the second hand axis (63). <IMAGE>