Multifunctional six-axis manipulator

Abstract

The invention provides a multifunctional six-axis manipulator. The multifunctional six-axis manipulator comprises a base, an upper arm, a lower arm, a first rotating seat, a second rotating seat, a first transmission mechanism, a second transmission mechanism, a third transmission mechanism, a fourth transmission mechanism, a fifth transmission mechanism and a sixth transmission mechanism. The whole manipulator structure adopts aluminium alloy castings, the weight of the manipulator is reduced, the motor load is reduced, a high-precision harmonic reducer is arranged on each of the six axes, a first-axis servo motor, a second-axis servo motor, a third-axis servo motor and a sixth-axis servo motor and the reducers are directly connected, errors are effectively reduced, and the precision is improved. An automatic compensation module monitors dynamic feedback of the servo motors at any time for position correcting compensation. The performance of the servo motors is optimized by adjusting internal parameters of drivers, so that the servo motors can work stably. A control system sends various pulse commands to the servo drivers through efficient and accurate calculation so as to control the manipulator to complete various actions efficiently and accurately, and the accuracy is improved.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a multifunctional six-axis manipulator. Background technique [0002] At present, industrial production is facing a shortage of workers, high labor costs, and workers will be fatigued, product quality is unstable, and some harsh working environments that cause harm to human health or are potentially dangerous. Therefore, the use of manipulators instead of labor can alleviate the shortage of workers in enterprises, the pressure of high labor costs, and the use of manipulators can ensure stable product quality and can still work normally in harmful environments. At present, under the background of the rapid development of industrial automation, the application of foreign robot technology has a history of several decades and is becoming mature. However, my country has only vigorously developed automation technology, especially robot technology, in recent years, and has achieve...

AI Technical Summary

Problems solved by technology

However, at present, domestic manipulators generally have problems such as bulky design, high power, high energy consumption, and low efficiency; and the accuracy is not high, the operation is unstable, and the product quality cannot be guaranteed.

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