A steering system for performing a straight horizontal feed movement and a rectilinear vertical lifting movement of the tool carrier of a manipulating - or charging device

摘要

The linkage produces straight line horizontal and vertical movements of the manipulator tool holder (W). A first linkage system consists of two four-bar chains with linkage points (3, 7,18,22, 23, 19) , and includes the intermediate link (6) and two actuating rams (20, 21). Extending rams (20,21) produce respectively horizontal and vertical straight line movements of a point (24) on the intermediate link within a small area (28). The motion of the point on the intermediate link is transferred to a pantograph linkage system with carrier arms (1, 2) and stabilising links (11, 12). One end of the pantograph system is pivoted (3, 16) on the machine and the other end carries the tool holder. The movements of point on the intermediate link are transferred to the tool holder with a large amplification. USE/ADVANTAGE - For robots,manipulators etc.,with simple linkage design.