| 摘要 |
The device includes a multipart hand element, movable about plural axes of rotation, secured on a multipart arm element, also movable about plural axes of rotation, and also includes a programming device which can be programmed by following a program track to be covered, as well as drives respective to each axis of rotation operable to displace the parts about the associated axes. A manually operable multipart framework is mounted on the hand-arm unit to extend parallel to the unit for limited displacement relative thereto. A number of switches equal to the number of axes of rotation, and each respective to a single axis, are operable to activate and deactivate the associated drives. The hand element has a terminal part for mounting either a track guide or a tool adapted to follow mechanically the program track. At least a part of the framework is displaceable relative to the unit during such mechanical following, and the switches control the associated drives responsive to such relative displacement of parts of the framework. Respective displacement pickups are operatively associated with each axis of rotation to feed the track program into the programming device responsive to relative displacement of the parts of the units about the associated axis. The coupling elements between the framework and the parts of the unit preferably comprise rotatable springs yielding to a torsional load in the direction of rotation and each spring carries one-half of a switch for turning relative to the other half of the switch, the other half being secured on the respective part of the unit.
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