TWO-LEVEL HANDLER WITH CLOSED KINEMATIC CHAIN Russian patent published in 2014 - IPC B25J9/02 F16H21/14 

FIELD: machine building.

SUBSTANCE: invention relates to machine building, to design of robots and handlers and is intended to be used in the production areas where monotonous, exhausting, physically hard and dangerous for people works are to be carried out. A two-level handler with closed kinematic chain comprises a crank, a connecting rod and a rocker being the elements of the first level installed on a fixed pole, and a gripper coupled to the connecting rod by a hinge. Three connecting rods intercoupled via rotating kinematic pairs and being the elements of the second level are additionally mounted on the first level connecting rod. The handler is fitted by the first level drive actuating the rocker and the elements set on the pole, the second level drive mounted on the first level drive and actuating the second level connecting rod, and the gripper drive with the gripper being set on one of the second level connecting rods.

EFFECT: invention allows for the expansion of handler functionality due to the use of closed kinematic chain arranged in two levels.

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