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1. 发明申请

US20140311270A1 SPATIAL-LINK-TYPE MANIPULATOR 有权
标题翻译：空间链式操纵器
公开(公告)号：US20140311270A1
公开(公告)日：2014-10-23
申请号：US14356770
申请日：2012-07-19
申请人： Daokui Qu , Yucong Zhu , Fengli Wang , Weijin Zhu , Yitian Sun , Jishun Dong , Junshan Bao , Xinrong Shang
发明人： Daokui Qu , Yucong Zhu , Fengli Wang , Weijin Zhu , Yitian Sun , Jishun Dong , Junshan Bao , Xinrong Shang
IPC分类号： B25J9/10
CPC分类号： B25J9/107 , H01L21/67742 , Y10T74/20305
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.
摘要翻译：一种空间连杆型操纵器，包括驱动装置（10），连接在连杆之间的连杆和旋转轴; 所述驱动装置包括连接轴（13）; 连接轴包括外壁（131）和内壁（133）; 每个连杆包括一个大吊杆（20），一个小吊臂（30），一个斜大吊臂（60），一个倾斜小动臂（50）和一个终端部件（40）。大型起重臂和斜大吊杆分别为直杆; 小动臂和斜小吊杆分别为弯曲连杆; 大动臂，小动臂和终端组件的一端形成主要运动链; 斜大吊臂，斜小吊杆和端子部件的另一端形成二次运动链; 驱动装置驱动大吊臂围绕旋转轴A移动以驱动主运动链，并且经由终端部件驱动次运动链，以实现终端部件的直线运动。本发明结构简单，易于实现。

2. 发明授权

US09399287B2 Spatial-link-type manipulator 有权
标题翻译：空间链接型机械手
公开(公告)号：US09399287B2
公开(公告)日：2016-07-26
申请号：US14356770
申请日：2012-07-19
申请人： Daokui Qu , Yucong Zhu , Fengli Wang , Weijin Zhu , Yitian Sun , Jishun Dong , Junshan Bao , Xinrong Shang
发明人： Daokui Qu , Yucong Zhu , Fengli Wang , Weijin Zhu , Yitian Sun , Jishun Dong , Junshan Bao , Xinrong Shang
IPC分类号： B25J9/10 , H01L21/677
CPC分类号： B25J9/107 , H01L21/67742 , Y10T74/20305
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.
摘要翻译：一种空间连杆型操纵器，包括驱动装置（10），连接在连杆之间的连杆和旋转轴; 所述驱动装置包括连接轴（13）; 连接轴包括外壁（131）和内壁（133）; 每个连杆包括一个大吊杆（20），一个小吊臂（30），一个斜大吊臂（60），一个倾斜小动臂（50）和一个终端部件（40）。大型起重臂和斜大吊杆分别为直杆; 小动臂和斜小吊杆分别为弯曲连杆; 大动臂，小动臂和终端组件的一端形成主要运动链; 斜大吊臂，斜小吊杆和端子部件的另一端形成二次运动链; 驱动装置驱动大吊臂围绕旋转轴A移动以驱动主运动链，并且经由终端部件驱动次运动链，以实现终端部件的直线运动。本发明结构简单，易于实现。

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