Spatial-link-type manipulator

摘要

A spatial-link-type manipulator, comprising a drive device (10), links and rotating shafts connected between the links; the drive device comprises a connecting shaft (13); the connecting shaft comprises an outer wall (131) and an inner wall (133); each link comprises a large boom (20), a small boom (30), an oblique large boom (60), an oblique small boom (50) and a terminal component (40); the large boom and the oblique large boom are respectively a straight link; the small boom and the oblique small boom are respectively a bent link; the large boom, the small boom and one end of the terminal component form a primary motion chain; the oblique large boom, the oblique small boom and the other end of the terminal component form a secondary motion chain; the drive device drives the large boom to move around a rotating shaft A so as to drive the primary motion chain, and drives the secondary motion chain via the terminal component so as to realize rectilinear motion of the terminal component. The present invention has a simple structure and is easy to realize.

主权项

1. A spatial-link-type manipulator, comprises a drive device, links and a rotating shaft for connecting the links,
said drive device comprising a connecting shaft and an oblique connecting member; wherein the connecting shaft comprises an outer wall and an inner wall each link comprises a large boom, a small boom, an oblique large boom, an oblique small boom and a terminal component; the large boom and the oblique large boom are respectively a straight link, while the small boom and the oblique small boom are respectively a bent link; one end of the large boom is connected with the outer wall through a rotating shaft A, while the other end is connected to the small boom through a rotating shaft B; the two ends of the terminal component are respectively connected with the small boom and the oblique small boom through a rotating shaft C and a rotating shaft D; one end of the oblique large boom is connected with the oblique small boom through a rotating shaft E, while the other end is connected with the inner wall through a rotating shaft F; the large boom, the small boom and one end of the terminal component form a primary motion chain ABC, while the oblique large boom, the oblique small boom and the other end of the terminal component form a secondary motion chain DEF; the drive device drives the large boom to move around the rotating shaft A for driving the primary motion chain ABC, and drives the secondary motion chain DEF via the terminal component so as to realize rectilinear motion of the terminal component; and wherein the axes of the rotating shafts A, B, C are vertical to the plane of the terminal component and the axes of the rotating shafts D, E, F are mutually parallel and not vertical to the plane of the terminal component.