Four-degree of freedom 3D scanning frame

The invention discloses a four-degree of freedom 3D scanning frame, which belongs to the field of surface geometry 3D scanning. The four-degree of freedom 3D scanning frame comprises a 3D scanner, an upper platform, a rotation arm, a rotation platform, a winch, a rotation driver, rope drivers, a rope and a lower platform, wherein the 3D scanner is fixed on the upper platform; the upper platform is hinged with the upper end of the rotation arm; the lower end of the rotation arm is hinged with the rotation platform; the rotation platform is fixed on the rotation shaft of the rotation driver; the rotation driver is fixed on the lower platform; four groups of rope drivers are arranged on the lower platform; tail ends of the rope drivers are connected with the winch; the rope is wound on the winch; and the tail end of the rope is connected with the upper platform. Stiffness performance is good, vibration generated when the scanner moves can be reduced, the scanning precision is improved, the 3D scanning frame has large work space, the structure is simple, and manufacturing is easy.