The invention relates to a six-freedom-degree
industrial robot with
ball screw pair transmission.
Waist whole circle rotating is achieved through a
waist swing mechanism, a shoulder swing mechanism and an
elbow swing mechanism form a two-freedom-degree parallel mechanism to achieve two-dimensional horizontal moving, and ball screws are driven by motors arranged on a swing platform respectively. Three mutual-orthometric rotating shafts connected through a front arm rotating mechanism, a
wrist swing mechanism and a tool clamping base swing mechanism are driven independently by three motors respectively, and three-freedom-degree gesture adjusting of an executing
tail end tool is achieved. The
advantage of the large
working space of a serial mechanism is kept,
ball screw transmission is used, the rigidness of the mechanism is guaranteed, the positions of the driving motors are lowered, good dynamic characteristics are obtained,
bearing capacity is large, high-speed or superspeed operation can be easily achieved, and the six-freedom-degree
industrial robot has the advantages that side gaps do not exist, rigidness is high, micro-motion feeding can be conveniently achieved, accumulated errors are small,
motion accuracy is high, positive and athwart
kinematics solving is convenient, and control is convenient.