Triaxial hinge for robots, handling apparatus and the like

Claim 1

A triaxial hinge for mechanical handling apparatus comprising first, second and third kinematic elements connected in series to provide, rotation about three axes intersecting at a single point, which three axes, in at least one operational position, are mutually perpendicular, each said element, when in said operating position, providing for said rotation about a different one of said axes, said first element having a first hydromotor with a rotary output means directly supporting said second element and providing rotation of said second element about first of said axes, said second element having parallel support carriers fixed to said first element and carrying a second hydromotor and being embraced by parallel rocker arms, said second hydromotor having rotary output means directly supporting said third element by means of said rocker arms, said support carriers and rocker arms being pivotally interconnected to enable the rotary output means of said second hydromotor to provide rotation of said third element about a second of said three axes, said third element supporting a third hydromotor having a rotary output means to provide rotation about a third of said three axes, said hydromotors being independently operable, their operation being coordinated by first, second and third synchro-drives mounted respectively to said first, second and third elements to detect and measure rotation of the respective hydromotor rotary output means, said synchro-drive of said second element being disposed within said second hydromotor of said second element for direct operation by said rotary output means of said second hydromotor, said synchro-drive of said third element being disposed within said third hydromotor of said third element for rotation by the rotary output of said third hydromotor.