| 摘要 |
PCT No. PCT/US82/01353 Sec. 371 Date Jan. 10, 1983 Sec. 102(e) Date Jan. 10, 1983 PCT Filed Sep. 24, 1982.A device for robot manipulators having a multiply articulated manipulator arm (7, 8, 10) rotatably mounted in a swivelling socket (1), wherein all the servo-cylinders (46) are placed in the base (1) and wherein a mechanical power transmission mechanism is disposed between the tool holder (11) and each of the parts of the manipulator arm (7, 8, 10) respectively and the associated servo-cylinder (46). The linear movement of the individual servo-cylinders (46) is converted into a substantially proportional rotary movement over the whole working range of the servo-cylinder (46). Said power transmission mechanisms are so designed that when one or more of them is in action and the portions of the manipulator arm (7, 8, 10) are moved in relation to one another, the other power transmission mechanisms are not influenced as a result of these movements. All the servo-cylinders (46) have a piston rod (47), the diameter of which is reduced to below the bending limit for a conventional freely mounted piston rod, since the piston rod (47) is rigidly connected, at one end, to the piston (48) of the servo-cylinder (46) and is rigidly connected, at the other end, to a guide (50) adapted to slide or roll (51) in fixed guides (52), as a result of which the contact area and hence the friction between the piston rod (47) and piston rod packing (59) is reduced to a minimum. |
