ROBOT MANIPULATOR Russian patent published in 2019 - IPC B66C23/44 

FIELD: robotics.

SUBSTANCE: invention relates to robotics and specifically to loaders used in field works. Robot-manipulator comprises base, on which there is a technical vision sensor, hinges, actuating links connected to each other by means of five-movable spherical hinge, made in the form of linear drives, load gripper. Manipulator additionally comprises four posts, two linear drives and platform of self-propelled chassis. Each post is attached to the base and to platform of self-propelled chassis by means of spherical hinges with kinematic pair of the third class, which form space-parallelogram mechanism. One of the linear drives is fixed by one end to the post at height of 1/3 of the total height of the post by means of cylindrical hinges with kinematic pair of the fifth class, and by the other end is attached to platform of self-propelled chassis by means of spherical hinges with kinematic pair of third class, on one line of posts fixtures. Second linear drive is fixed by its one end to the other post at height of 1/3 of the total height of the post by means of cylindrical hinges with kinematic pair of the fifth class, and by the other end is attached to platform of self-propelled chassis by means of spherical hinges with kinematic pair of the third class, which hinge is located on one line with extreme posts hinges. Manipulator has additional sensors of technical vision, which are installed in front part of self-propelled chassis, gripper is made self-aligning, base is made in form of rectangular truss with three ledges for attachment of linear drives.

EFFECT: increased service area is achieved.

1 cl, 1 dwg