One kind of four-axis handling robot

The present invention relates to one kind of four-axis handling robot including a base, the rotary drive mechanism, rotary platform, the first shaft, a second shaft, a third shaft, Ping Heng cylinder, a first arm, second arm and third arm; said rotating reservation of the base is fixedly connected to the drive mechanism, the bottom is fixedly connected to the rotary shaft of the revolving platform the rotation drive mechanism; are connected by a first shaft between the first arm and the rotary platform, between a first arm and a second arm by a second shaft connected, through a third shaft connected between the second arm and the third arm, the cylinder block and the cylinder constituting the rotary platform articulation of Ping Heng, Ping Heng piston is connected to the cylinders constituting the first hinge arm. The present invention provides an industrial robot of four degrees of freedom implemented operation, a unique shaft connecting structure, offset overturning moment, reducing the requirements for anti-overturning capability reducer. By providing the first arm pulling cylinder Ping Heng manner balance moment of the robot arm forward after extending produced.