Multi-axis mechanical manipulator

A multi-axis mechanical manipulator having adjustable travel and protection against overloads, comprising:

• a worm wheel reducing gear;
• a sliding rotor motor coupled to said gear for driving said worm wheel reducing gear;
• a first adjustable torque limiter connected to said worm wheel reducing gear;
• an indexing mechanism coupled to said torque limiter for receiving motion transmitted by the sliding rotor motor and the first adjustable torque limiter;
• a spring bushing coupled to said indexing mechanism;
• a second worm wheel reducing gear provided so as to turn in a different plane from said first worm wheel reducing gear;
• a second rotor motor coupled to said second gear for driving said second worm wheel reducing gear;
• a second adjustable torque limiter connected to said second worm wheel reducing gear;
• a cylindrical cam coupled to said spring bushing and second adjustable torque limiter;
• a manipulator arm engaged with said cylindrical cam that moves via a drive force from the indexing mechanism and a second drive force from the second rotor motor along said cylindrical cam;
• and
• a spring plate connected to said manipulator arm for effecting displacement of the manipulator arm;
• wherein motion of the indexing mechanism is determined to obtain a constant speed over a wide range having optional stopping points,
• wherein a linkage of a rotating frame with the indexing mechanism is obtained via the spring bushing, and
• wherein motion is transmitted to the cylindrical cam via the second adjustable torque limiter, and displacement of the manipulator arm is effected in such a manner by the spring plate so as to enable a momentary angular retraction of the arm when it encounters an obstacle.