Manipulator having a three-ring bearing between two outer pivot arms and a platform
View Patent ↗A handling device which has a first bearing device forming a pivot point for two inner pivot arms, to each of which one outer pivot arm is pivotally attached. The two outer pivot arms support a platform. The platform is pivotally connected to the outer pivot arms by an outer three-ring bearing.
1. A handling device, comprising:
a first bearing device which forms first articulation point between two inner pivot arms comprising a first inner pivot arm and a second inner pivot arm, the inner pivot arms each being articulatedly connected to an outer pivot arm and the outer pivot arms supporting a platform,
an outer three-ring bearing, wherein the platform is pivotably connected by the outer three-ring hearing to the outer pivot arms about a second articulation point, and
a gear transmission mechanically coupling the platform to the outer pivot arms such that the outer pivot arms are arranged symmetrically with respect to the platform at all times, whereby the platform remains in an unchanged angular position in relation to a plane defined by the and second articulation points.
2. The handling device of claim 1 , wherein the outer three-ring bearing is a rolling bearing.
3. The handling device of claim 2 , wherein the outer three-ring bearing is a crossed roller bearing.
4. The handling device of claim 1 , wherein the first bearing device is a three-ring rolling bearing.
5. The handling device of claim 4 , wherein the first bearing device is a crossed roller bearing.
6. The handling device of claim 1 , further comprising: a synchronization pulley which is arranged concentrically with respect to the first bearing device and which is mechanically coupled to the inner pivot arms in such a way that, during a pivoting movement of the first inner pivot arm relative to the second inner pivot arm, said synchronization pulley co-rotates relative to each of the inner pivot arms by half of a pivot angle.
7. The handling device of claim 6 , wherein the synchronization pulley is a toothed belt pulley.
8. The handling device of claim 6 , wherein the synchronization pulley is coupled by means of a gear transmission to the inner pivot arms.
9. The handling device of claim 8 , wherein the gear transmission is a bevel gear transmission.
10. The handling device of claim 1 , wherein the gear transmission, which synchronizes pivoting movement of the outer pivot arms relative to the platform, is a bevel gear transmission.