APPARAT FOR MASKINELL, GENOM FORENDERLIGA PROGRAM STYRBAR HANDRECKNINGSANORDNING

摘要

A mechanical handling apparatus controlled by a recorded but variable program has a rotatable base. An upper arm is pivoted on the base. A forearm is pivoted on the upper arm, and a wrist movement and gripper are pivoted on the end of the forearm. Each part subject to rotary motion is driven by an epicyclic gear located as near as possible to the part to reduce slack or backlash. Each gear is driven through belts and bevel gears by an electric motor located in the base. The program is pre-recorded and all movements of the apparatus when in use generate signals which are compared with the program, which thus controls the motor drives.