Multi-degree-of-freedom industrial robot mechanism

Abstract

The invention discloses a multi-degree-of-freedom industrial robot mechanism. The lower end of a first rotating hinge support of the robot mechanism is connected to a rack; one end of the first connection rod is connected with the upper end of the first rotating hinge support, and the other end of the first connection rod is connected with one end of a second connection rod; the other end of the second connection rod is connected with one end of a third connection rod; the other end of the third connection rod is connected with one end of a fourth connection rod; the other end of the fourth connection rod is connected with the upper end of a second rotating hinge support; the lower end of the second rotating hinge support is connected to the rack; the lower end of a first spherical hinge support is connected to the second connection rod and the third connection rod simultaneously; one end of the fifth connection rod is connected to a the first spherical hinge support, and the other end of the fifth connection rod is connected to a movable platform. The multi-degree-of-freedom industrial robot mechanism has the advantages of large rigidity-weight ratio, high bearing capacity, low error accumulation and the like of a conventional parallel robot and has a larger moving space and is more flexible than the conventional parallel robot.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a multi-degree-of-freedom industrial robot mechanism. Background technique [0002] An industrial robot is a machine device that performs work automatically, and is a machine that realizes various functions by its own power and control capabilities. It can accept human intelligence, or it can execute according to pre-programmed programs. In industrial production, industrial robots can replace people to do some monotonous, frequent and repetitive long-term operations, or operations in dangerous and harsh environments. They are widely used in stamping, die casting, heat treatment, welding, coating, machining and In the process of simple assembly, as well as in the atomic energy industry and other departments, the handling or process operation of materials harmful to the human body is completed. [0003] Existing industrial robots are basically articulated robots. The mechanical s...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a multi-degree-of-freedom industrial robot mechanism, which solves the problem that the motor of the traditional open-chain series robot mechanism is installed at its hinge, resulting in heavy arm weight, poor rigidity, large inertia, joint error accumulation, and poor dynamic performance of the mechanism. The load is light, it is difficult to install large and heavy working devices, and it is difficult to ensure high accuracy. The hydraulic mechanical arm can realize flexible and changeable motion trajectories, but there are problems such as hydraulic oil leakage and high cost of parts processing and maintenance.

Images