Abstract: A speed variator comprises a bell-shaped body (5) forming a frustoconical rolling surface (6) able to rotate about its own axis of symmetry (Y), a wheel (7) able to rotate about a second axis (W) and engaged by rolling with the rolling surface (6) to allow the transmission of a driving torque between the wheel (7) and the bell-shaped body (5), and an actuator (9) acting between the wheel (7) and the bell-shaped body (5) for moving the wheel (5) and the bell-shaped body (7) towards and/or away from each other in such a way as to make the wheel (7) engage with different portions of the rolling surface (6). The rolling surface (6) and the second axis (W) converge in a point (P).

Abstract: A speed variator comprises a bell-shaped body (5) forming a frustoconical rolling surface (6) able to rotate about its own axis of symmetry (Y), a wheel (7) able to rotate about a second axis (W) and engaged by rolling with the rolling surface (6) to allow the transmission of a driving torque between the wheel (7) and the bell-shaped body (5), and movement means (9) acting between the wheel (7) and the bell-shaped body (5) for moving the wheel (5) and the bell-shaped body (7) towards and/or away from each other in such a way as to make the wheel (7) engage with different portions of the rolling surface (6). The rolling surface (6) and the second axis (W) converge in a point (P).

Abstract: A lockable elastic joint for anthropomorphous robot with a wrist and a handling organ, having a first part that is fastenable to the wrist of the robot and a second part that is fastenable to the handling organ of the robot. A first coupling is provided between the parts that is suitable to maintain the same parts at a pre-set distance and on planes parallel to each other and a second coupling is provided between the parts to allow in an elastic way or, as an alternative, to prevent mutual movements of the parts along two directions parallel to the planes of the two parts and perpendicular to each other and around an axis perpendicular to the aforesaid planes. Locking elastic joints may be provided that are suitable to lock the two parts to each other in any position, where one part is decentralized from the other.

Abstract: A single-chamber self-locking cylinder is described in which the single-chamber is made up of a male half-cylinder and a female half-cylinder that are inserted one into the other in mutually sliding way in axial direction. Two pairs of diametral rods that are angularly offset from each other are provided that operate on said half-cylinders in order to retain them in a predetermined axially centred position under the action of a fluid in pressure that is fed inside said single-chamber. Each one of said pairs of diametral rods is made up of two rods operating onto opposite faces of said half-cylinders and coupled to each other by axial tie rods. One of the two rods is fastened to a stem coupled in axially sliding way to one of the two half-cylinders while the other one is slidingly coupled to another stem that is coupled in axially sliding way to the other one of the two half-cylinders.

Abstract: A lockable elastic joint for anthropomorphous robot is described that is provided with wrist and handling organ, comprising a first part that is fastenable to the wrist of the robot and a second part that is fastenable to the handling organ of the robot. First coupling means are provided between said parts that are suitable to maintain the same parts at a pre-set distance and on planes parallel to each other and second coupling means between said parts suitable to allow in an elastic way or, as an alternative, to prevent mutual movements of said parts along two directions parallel to the planes of the two parts and perpendicular to each other and around an axis perpendicular to the aforesaid planes. In addition there are preferably provided locking means that are suitable to lock the two parts to each other in any position decentralized the one as regards the other.