Robot adopting combined speed reducer

The invention relates to the technical field of mechanical automation, and discloses a robot adopting a combined speed reducer. Comprising a speed reducer which comprises three input shafts and three output shafts; the driving motors are as many as the input shafts and respectively drive the three input shafts to rotate; a gripper; the big arm, the small arm, the swing arm and the connecting rod form a four-bar mechanism; the device comprises a first synchronous pulley, a second synchronous pulley, a second auxiliary synchronous pulley, a third synchronous pulley, a first synchronous belt bypassing the first synchronous pulley and the second synchronous pulley, and a second synchronous belt bypassing the second auxiliary synchronous pulley and the third synchronous pulley; the gripper can be driven by the three output shafts to translate and rotate. 本发明涉及机械自动化技术领域，公开了一种采用组合型减速器的机器人。包括：减速器，包括三个输入轴和三个输出轴；驱动电机，与输入轴数量相同，分别带动三个输入轴转动；抓手；大臂、小臂、摆臂和连杆，形成四连杆机构；第一同步带轮、第二同步带轮、第二副同步带轮、第三同步带轮，以及绕过第一同步带轮和第二同步带轮的同步带一、绕过第二副同步