Patent ID: 7568879

Claim:
Robotized device to move an object, comprising: a support element; a pantograph mechanism including: a manipulator element with gripping elements adapted to grip said object, said gripping elements lying on a determinate plane of manipulation; a first motor mounted to said support element; a first movement unit connected among said first motor, said support element and said manipulator element, said first movement unit including: a toggle lever; a tie-rod pivotally connected between said support element and said toggle lever; a first arm connected for rotation with said first motor and pivotally connected to said toggle lever, wherein said tie-rod and said first arm rotate in parallel with one another; a rigid element pivotally connected between said toggle lever and said manipulator element; a first rod pivotally connected between said toggle lever and said manipulator element; a second motor mounted to said support element; a second movement unit between said second motor and said manipulator element, said second movement unit including: a second arm connected for rotation with said second motor; a second rod pivotally connected between said second arm and said manipulator element, said rigid element and said second rod being pivotally connected to said manipulator element along a common axis; a third motor whose rotor is solid with said support element so as to make it rotate selectively with respect to an axis of rotation substantially vertical, wherein said first motor and said second motor have respective axes of rotation that are parallel to each other and substantially horizontal, wherein the axis of rotation of said third motor is substantially vertical and orthogonal to the axes of rotation of said first and second motor and equidistant from said axes, so as to orient said support element on an arc of 360°, and wherein said object is moved while said gripping elements during movement lie substantially parallel to said determinate plane of manipulation.