Instructive six-degree-of-freedom carrying manipulator

Abstract

The invention discloses an instructive six-degree-of-freedom carrying manipulator, which comprises a supporting seat, a waist, a manipulator upper limb, a waist rotating joint, a big arm lifting joint, a forearm lifting joint, a forearm rotating joint, a wrist lifting joint, a wrist longitudinal rotating joint and a control system; the waist comprises a U-shaped base which is coaxial with the supporting seat; a big arm, a forearm driving crank, a forearm rib and an elbow joint form a parallelogram mechanism; a vertical side plate of the U-shaped base is provided with a driving mechanism for driving the forearm driving crank to rotate to form the forearm lifting joint taking the elbow joint as a rotating fulcrum; rotating axes of the forearm rotating joint, the wrist lifting joint and the wrist longitudinal rotating joint are crossed at a common point. After the structure is adopted, the instructive six-degree-of-freedom carrying manipulator is compact in structure, high in driving torque and convenient to disassemble, and can be controlled by a mobile phone in real time; moreover, the control system is open, so man-machine interaction is good; an object can be placed at an expected position and attitude in space.

Description

technical field [0001] The invention relates to a teaching model equipment for the discipline of electromechanical engineering, in particular to a teaching type six-degree-of-freedom handling manipulator. Background technique [0002] Manipulators gradually play an irreplaceable role in the automated and intelligent production process. In colleges and universities, many teachers and students are researching and studying manipulators. [0003] However, the manipulators currently used for teaching are expensive, the manipulators are inconvenient to disassemble, assemble, and process, and the control system is not open, which hinders teachers' teaching and students' learning. For example, the mounting seats of the waist joint and elbow joint of the existing six-degree-of-freedom manipulator are integrally processed, which makes it difficult to guarantee the processing accuracy and leads to insufficient control accuracy. In addition, the human-computer interaction of existing ...

AI Technical Summary

Problems solved by technology

[0003] However, the manipulators currently used for teaching are expensive, the manipulators are inconvenient to disassemble, assemble, and process, and the control system is not open, which hinders teachers' teaching and students' learning.

For example, the mounting seat of the waist joint and elbow joint of the existing six-degree-of-freedom manipulator is integrally processed, which makes it difficult to guarantee the machining accuracy and leads to insufficient control accuracy.

In addition, the human-computer interaction of existing teaching manipulators is mostly poor, and the control system is relatively complex and not open enough.

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