Abstract: A swivelling handle includes three reduction gear assemblies, each assuring the control of movement about the three axes of rotation. Each reduction gear assembly has a first reduction stage and a second reduction stage with coaxial drive. This arrangement makes possible great compactness. The third motor can be placed transversally, essentially in the axis of the second reduction unit. Thus a swivelling handle is obtained with three axes of rotation, with full electrical controls, in which the movements of rotation are created by three independent electric motors corresponding to each of the three axes of rotation. The unit is especially compact and adaptable to any type of industrial robot.

Abstract: A mechanism to set in motion the rectilinear transfer of a moving body sliding in relation to a support is disclosed. A servomotor drives a shaft in rotation. The rotation is transformed by pulleys and belts. Two belts are staggered along the shaft axis and are wound on two pulleys of the same diameter. A first end of each of these belts is attached to the corresponding pulley, while the second end of each of these belts is attached to the moving body, the winding directions being opposite so that each rotation in one direction or the other of the shaft causes the winding of one of the belts and the unwinding of the other. Application is to Cartesian displacement robot arms and devices of rectilinear transfer with cross-motions back and forth and up and down.

Abstract: A swivelling handle includes three reduction gear assemblies, each assuring the control of movement about the three axes of rotation. Each reduction gear assembly has a first reduction stage and a second reduction stage with coaxial drive. This arrangement makes possible great compactness. The third motor can be placed transversally, essentially in the axis of the second reduction unit. Thus a swivelling handle is obtained with three axes of rotation, with full electrical controls, in which the movements of rotation are created by three independent electric motors corresponding to each of the three axes of rotation. The unit is especially compact and adaptable to any type of industrial robot.

Abstract: A production-line robot comprising an operative arm provided at its outer, pivoted end with a support mechanism is coupled via the latter to one of a plurality of tools associated with the robot, the tools being supported in their inoperative position by lock plates or bolts operable by the tool holder of the robot arm. The lock plates may comprise a tool receiving support provided with centering members with which a tool bearing plate is adapted to co-operate in the inoperative tool position, the bearing plate and the end support of the robot comprising mutual centering mechanisms, at least one of them being provided with controlled coupling and uncoupling members so that the robot can pick up and become coupled with one tool automatically and, after using this tool, deposit same upon the corresponding receiving support for subsequently picking up and becoming coupled with another tool waiting on its relevant receiving support.