Elbow jointed handling arm with pincers - has swivel joints linking pincers to forearm and upper arm driven by shaft

摘要

The handling arm has prehensile pincers (7,8) mounted at an extremity of a movable linkage connected to a motor. It comprises an articulation of two intermediate sections (1,2). These are rotatably connected to a support (5) and to the pincers respectively, the axis of rotation for these joints being normal to that (3) for the joint between them. Drive may be provided by a drive shaft comprised of three separate co-axial shafts (10-12) which pass through the support into the top piece. The outer shaft (10) rotates the top section (2) relative to the support, the intermediate shaft (11) rotates the sections relative to each other through returned bevel gears (14,15) and the inner shaft (12) rotates the pincers through double returned bevel gears (17-19).