Four-freedom degree industrial robot

Abstract

The invention discloses a four-DOF industrial robot, which comprises a pedestal (1), a moving platform (4), and a tool or a clamp (5), wherein the tool or the clamp (5) is arranged on the moving platform (4). The four-DOF industrial robot is characterized in that the pedestal (1) is connected with the moving platform (4) through four moving branched chains (2, 3, 6, 7) with same structures, four connecting rods (9, 10, 13, 14) in the moving branched chains are connected one another through four rotating pairs to form a parallelogram mechanism, the connecting rod (10) is connected with a rotating shaft (11) vertically arranged on the moving platform (4) through the rotating pair (12), and the connecting rod (14) is connected with a sliding table (16) through the rotating pair (15). Under the drive of four straight line movement driving units, the four-DOF industrial robot can realize the three-dimensional movement and the one-dimensional movement of the moving platform (4). The four-DOF industrial robot has the advantages of simple structure, large working space, high precision, strong bearing capacity, good manufacturability and the like, thus the four-DOF industrial robot can be applied in the modern industry fields of automobiles, electronics, nuclear industry, aerospace and the like.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a three-dimensional moving one-dimensional rotating four-degree-of-freedom industrial robot. Background technique [0002] Early industrial robots usually adopt a series structure, that is, the series mechanism is the prototype of the mechanism. It is generally composed of a base, a waist (or shoulder), a large arm, a small arm, a wrist and a hand, and each part is connected in series. Most of the drive motors are installed on the moving boom and forearm, which mainly have the disadvantages of complex structure, low rigidity, and large inertia. In order to overcome these deficiencies, people have turned their attention to the parallel structure robot based on the parallel mechanism. This robot is usually composed of a base, a motion platform, and multiple motion branches connected in parallel. The motors can all be installed on or near the base, which makes it have some unique p...

AI Technical Summary

Problems solved by technology

[0002] Early industrial robots usually adopt a series structure, that is, the series mechanism is the prototype of the mechanism, which is generally composed of a base, a waist (or shoulder), a large arm, a small arm, a wrist and a hand, and each part is connected in series. Most of the drive motors are installed on the moving boom and forearm, which mainly have the disadvantages of complex structure, low rigidity, and large inertia.

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