Industrial robot of six-degrees of freedom

Abstract

The invention provides an industrial robot of six-degrees of freedom. The industrial robot comprises a base, a first component, a second component, a third component, a fourth component, a fifth component and a sixth component, wherein the fifth component and the sixth component are connected with each other through double revolute pairs; the sixth component comprises a lower seat and four third connecting rods; and a first linear module and a second linear module drive a first crank shaft-sliding block structure and a second crank shaft-sliding block structure to conduct linear movement respectively, so as to drive a first connecting rod and a second connecting rod to conduct linear movement respectively, drive a first actuating arm and a second actuating arm to rotate respectively, and drive the fifth component and the sixth component to rotate together. According to the invention, a serial mechanism and a serial mechanism are combined to design the industrial robot with parallel large rotation wrists, so as to realize large angle rotation; and due to the parallel wrists, singular points which are inevitable to a common industrial robot of six-degrees of freedom are avoided. Therefore, the movement of the robot is quicker and smoother, and the robot can be widely applied to industrial operation.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a six-degree-of-freedom industrial robot. Background technique [0002] At present, the existing six-degree-of-freedom robots on the market are basically the same, and they all adopt a series connection method. Such a robot will inevitably have a singular point when it moves, resulting in a reduction in the robot's degree of freedom, which causes a lot of inconvenience in practical applications. At present, it is generally adopted to solve this problem by avoiding singular points in robot motion, or by researching new robot algorithms, but there is no very reasonable and convenient solution yet. Contents of the invention [0003] The present invention proposes a six-degree-of-freedom industrial robot, which combines a series mechanism and a parallel mechanism to design a six-degree-of-freedom industrial robot with a parallel large-rotation wrist. At the same time, due to the a...

AI Technical Summary

Problems solved by technology

[0002] At present, the existing six-degree-of-freedom robots on the market are basically the same, and they all adopt a series connection method. Such a robot will inevitably have a singular point during motion, resulting in a reduction in the robot's degree of freedom, which causes a lot of inconvenience in practical applications.

At present, it is generally adopted to solve this problem by avoiding the singularity point in the robot movement, or by studying a new robot algorithm, but there is no very reasonable and convenient solution yet.

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