COPYING MANIPULATOR Russian patent published in 2021 - IPC B25J3/02 

FIELD: mechanical engineering.

SUBSTANCE: invention relates to mechanical engineering and can be used in machining centers and automatic lines. The copying manipulator contains a master device and a copying executive device of the working body, installed on the base with the formation of a closed kinematic chain, and a drive. The driving device is made in the form of a driving hinged four-link linkage of variable geometry. The copying actuator is a copying hinged four-link variable geometry. The hinged four-link links are geometrically similar and are hingedly connected to each other by means of four double-hinged links of the same length and eight double hinges, which form hinged parallelograms between them.

EFFECT: design of the manipulator is simplified, the labor intensity of its manufacture and assembly is reduced, and its functionality is expanded.

8 cl, 6 dwg