Six-degree-of-freedom manipulator

Abstract

The invention provides a six-degree-of-freedom manipulator. The six-degree-of-freedom manipulator comprises mechanical arms, a lifting upright column 2 and an output flange 12, wherein the mechanical arms comprise a mechanical arm A6, a mechanical arm B7, a mechanical arm C8 and a mechanical arm D10 which are sequentially connected to one another; a lifting track is arranged on the lifting upright column 2; the mechanical arm A6 is connected to the lifting track of the lifting upright column 2 in parallel; a lifting table 3 with a rotating shaft is arranged at a position where the mechanical arm A6 is connected with the lifting track; the mechanical arm B7 is connected with the mechanical arm A6 through a rotatable joint; the mechanical arm C8 is connected with the mechanical arm B7 through a rotatable joint; the mechanical arm D10 is connected with the mechanical arm C8 through a rotating shaft; and the output flange 12 is connected with the mechanical arm D10 through a rotating shaft. The positioning precision of the manipulator under complicated working conditions is improved, operation dead angles are reduced, the multi-degree-of-freedom manipulator capable of carrying a plurality of operation terminals is provided, and can drive the operation terminals to implement lifting, rotating and pitching in six-degree-of-freedom directions, the operation dead angles are eliminated in all directions, and therefore, the six-degree-of-freedom manipulator has high popularization and application value in lots of fields.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a six-degree-of-freedom manipulator. Background technique [0002] Devices that replace human hands to complete various operating functions are collectively called manipulators. Manipulators are automatic mechanical devices that can automatically grab, carry or operate according to a given program, trajectory and requirements. Manipulators used in industrial production are called industrial manipulators. Industrial manipulator is a new technology emerging in the field of modern automatic control, and has become an important part of modern machinery manufacturing production system, which involves mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer Technology and other scientific fields are a kind of high-tech automatic production equipment developed in recent decades. Industrial manipulators are also an importa...

AI Technical Summary

Problems solved by technology

[0004] With the development of science and technology, manipulators in some application fields have higher and higher requirements for the flexibility and freedom of manipulators, such as assembly, cutting, spraying, cleaning and other fields, which require manipulators to work in complex working conditions. Accurate positioning, the existing manipulator programming is complex, the cost is too high, it is difficult to achieve the operation requirements of complex working conditions, and it is even more difficult to achieve all-round operation without dead ends

Images