Four-joint manipulator

Abstract

The invention relates to a four-joint manipulator. The four-joint manipulator can guarantee that a grabbing mechanism on a wrist can only do translational displacement but not rotate during movement. One end of a directional lower rod is hinged to a rotary table through a fifth hinge, and the other end of the directional lower rod is hinged to a corner through a sixth hinge; one end of a directional upper rod is hinged to the wrist through a seventh hinge, and the other end of the directional upper rod is hinged to the corner by using an eighth hinge; four straight lines where the hinge axes of first, fifth, sixth and second hinges are positioned respectively are the straight lines where four lateral edges of a parallelepiped are positioned respectively; four straight lines where the hinge axes of second, eighth, seventh and fourth hinges are positioned respectively are the straight lines where four lateral edges of another parallelepiped are positioned respectively.

Description

technical field [0001] The invention relates to a four-joint manipulator. Background technique [0002] Multi-joint manipulators are widely used in various fields. For example, the application number is 201210106092.2, and the name is the Chinese patent of the bionic multi-joint handling robot arm. [0003] This kind of manipulator in the prior art, when the mechanical arm rotates, due to the linkage of the structure, the wrist itself will rotate again during the moving process, and the grasping mechanism on the wrist can grasp the workpiece. After the arm drives the wrist to reach the grasping station, the wrist often needs to be rotated again to make the grasping mechanism turn to a suitable angle. In this case, an additional power device needs to be equipped on the wrist. For some workplaces, the workpiece is moved from one station to another by the manipulator, and the workpiece is only translated between the two stations. The relative angle between them is fixed. Fo...

AI Technical Summary

Problems solved by technology

[0003] This kind of manipulator in the prior art, when the mechanical arm rotates, due to the linkage of the structure, the wrist itself will rotate again during the moving process, and the grasping mechanism on the wrist can grasp the workpiece. After the arm drives the wrist to reach the grabbing station, the wrist often needs to be turned again to make the grabbing mechanism turn to a suitable angle. In this case, an additional power device needs to be equipped on the wrist

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