INDUSTRIAL MANIPULATORS HAVING ATTACHABLE AND DETACHABLE 4-BAR-LINKAGE-TYPED MECHANICAL DRIVING MODULE

摘要

PURPOSE: An industrial robot with a detachable four-bar link mechanism driving device is provided to change payload and increase the rigidity of a robot without increase in the weight of the robot than adding an actuator. CONSTITUTION: An industrial robot with a detachable four-bar link mechanism driving device comprises a base frame(110), a pivot frame(120), a post frame(130), a reducer(350), and a four-bar link. The base frame comprises a rotary joint(112) for the robot(100). The pivot frame is coupled to the rotary joint and comprises a pivot joint(300). The post frame is coupled to the pivot joint and comprises a linear joint(400). The reducer receives driving force to pivot the post frame from a servo motor(310) and is mounted on the bottom plate(121) of the pivot frame or the pivot joint.