A five-degree-of-freedom robot

Abstract

The invention provides a five-DOF (Degree of Freedom) robot which comprises a base, a mobile arm, a large arm, a small arm, a wrist and an output shaft, wherein a translational degree of freedom is formed between the large arm and the mobile arm; a rotational degree of freedom is formed between the wrist and the small arm; another rotational degree of freedom is formed between the output shaft and the wrist; rotation shafts, relative to the mobile arm, the large arm and the small arm respectively, of the large arm, the small arm and the wrist are parallel to each other, and are further parallel to a translation shaft, relative to the base, of the mobile arm; rotation shafts, relative to the wrist and the small arm respectively, of the output shaft and the wrist are perpendicular to each other. The five-DOF robot gives the consideration to both the flexibility and the cost, has the advantages of simple structure, high reliability, large work space, high flexibility, high tail end locating precision and the like. A corresponding end executor is installed at the tail end of the five-DOF robot, to complete the transportation, assembly, arc welding and other operations.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a five-degree-of-freedom robot. Background technique [0002] With the continuous development of robot technology, more and more robots are used in various industries, among which industrial robots account for a large proportion. According to the different robot configurations, it can be divided into two categories: parallel robots and serial robots. Since the serial robot has the advantages of simple structure and large working space, it is widely used at present. At present, the number of joint axes commonly used in industrial robots mainly includes four degrees of freedom, five degrees of freedom, and six degrees of freedom. The cost of the four-degree-of-freedom robot is low, but its flexibility is poor, and it can only be used in occasions where the action is relatively simple. Six degrees of freedom robots are the most flexible, but also the most expensive. The f...

AI Technical Summary

Problems solved by technology

The cost of the four-degree-of-freedom robot is low, but the flexibility is poor, and it can only be used in occasions with relatively simple movements

Six degrees of freedom robots are the most flexible, but also the most expensive

However, since each joint is driven by a cylinder, continuous and precise positioning of each joint cannot be achieved, and the end of the manipulator can only achieve positioning of a limited number of points, so it can only be used in occasions where the action is relatively simple and continuous positioning is not required

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