Teaching manipulator

Abstract

The invention relates to a teaching manipulator, which comprises a rotating table, a shoulder part, a big arm and a small arm which are sequentially connected, a first driving motor is arranged on the shoulder part, and one end, close to the big arm, of the small arm is connected to the output end of a second driving motor, and is characterized in that the big arm comprises a first joint, a second joint, a connecting arm and a fastening mechanism; the first joint is connected to the output end of the first driving motor, the second driving motor is arranged on the second joint, one end of the connecting arm is detachably connected to the first joint through the fastening mechanism, and the other end of the connecting arm is detachably connected to the second joint through the fastening mechanism. Through cooperation of the first joint, the second joint and the connecting arm, disassembly and assembly of the connecting arm are achieved, so that convenience is provided for replacement of the connecting arm, and track comparison of all D-H parameters is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a teaching manipulator. Background Art

[0002] With the widespread application of manipulator technology, general teaching manipulators with independent controllers, flexible movements, and suitable for experimental teaching in colleges and universities have developed rapidly. In the teaching process, the trajectory test of the DH parameters of each arm is particularly important.

[0003] At present, the teaching robot adopts a structural method in which the drive motor is installed at the joint. All the drive motors are installed on the joints of the robot. The motor drives the rotation of the joints of the robot to realize various movements of the robot.

[0004] However, when conducting the DH parameter test, it is necessary to replace the booms of different specifications, because one end of the boom is detachably connected to the output end of the first drive motor of the shoulder, the second drive motor of the forearm is detachably connected to the other end of the boom, and one end of the forearm is detachably connected to the output end of the second drive motor of the forearm. This method is inconvenient for disassembly and assembly of the boom, making disassembly and assembly of the boom time-consuming and laborious. Summary of the invention

[0005] Based on the above description, the present invention provides a teaching manipulator, which aims to solve the problem that the upper arm of the existing teaching manipulator is inconvenient to disassemble and assemble.

[0006] The technical solution of the present invention to solve the above technical problems is as follows: A teaching manipulator, comprising a rotating table, a shoulder, an upper arm and a lower arm connected in sequence, wherein the shoulder is provided with a first drive motor, and one end of the lower arm close to the upper arm is connected to the output end of the second drive motor, characterized in that the upper arm comprises a first joint, a second joint, a connecting arm and a fastening mechanism, the first joint is connected to the output end of the first drive motor, the second drive motor is provided on the second joint, one end of the connecting arm is detachably connected to the first joint through the fastening mechanism, and the other end of the connecting arm is detachably connected to the second joint through the fastening mechanism Based on the above technical solution, the present invention can also be improved as follows.

[0007] Furthermore, the first joint and the second joint are each provided with a mounting groove relative to one end of the connecting arm, and both ends of the connecting arm are provided with clamping holes, and each of the fastening mechanisms includes a pair of connecting assemblies, and the connecting assemblies correspond to the mounting grooves one by one. The connecting assemblies include a clamping arm and an elastic member, and the clamping arm is rotatably arranged in the mounting groove, one end of the elastic member abuts against a side of the clamping arm relative to the mounting groove, and the other end of the elastic member abuts against a side wall of the mounting groove.

[0008] Furthermore, the connecting arm comprises a tube arm and a step arm, the tube arm has a receiving cavity, the step arm has an inserting section, and the inserting section is inserted into the receiving cavity.

[0009] Furthermore, it comprises a mounting arm, wherein the mounting arm is arranged at one end of the forearm away from the upper arm.

[0010] Furthermore, a third drive motor is provided in the forearm, and an output end of the third drive motor is connected to the mounting arm.

[0011] Further, it includes a clamp, which includes a cylinder, a clamping assembly and a driving mechanism, the cylinder is detachably arranged on an end of the mounting arm away from the forearm, the clamping assembly includes a rotating wheel, a connecting plate and a clamping plate, the connecting plate is connected to the end of the cylinder away from the mounting arm, the rotating wheel is rotatably arranged on a side of the connecting plate close to the cylinder, the rotating wheel is provided with a plurality of arc holes, all of the arc holes are arranged at intervals around the axis of the rotating wheel, the connecting plate corresponds to each of the arc holes and a sliding groove is provided, the number of the clamping plates is associated with the number of the sliding grooves, the clamping plates correspond to the sliding grooves one-to-one, the clamping plates and the sliding grooves are slidably matched, each of the clamping plates is provided with a connecting rod, the connecting rods are inserted into the arc holes one-to-one, and the output end of the driving mechanism is connected to the rotating wheel.

[0012] Further, the driving mechanism includes a transmission gear assembly and a rotating sleeve, the transmission gear assembly includes a first gear, a second gear and an internal gear, the first gear sleeve is arranged on the rotating wheel, the second gear is rotatably arranged on the connecting plate, the second gear is meshed with the first gear, the internal gear is meshed with the second gear, a through hole for the second gear to pass through is opened at the end of the cylinder away from the mounting arm, the internal gear is located outside the cylinder, the rotating sleeve is rotatably arranged on the cylinder, and the end of the rotating sleeve away from the mounting arm is connected to the internal gear.

[0013] Furthermore, the inner gear is provided with a plurality of slots spaced apart along the circumferential direction, and an insert plate is provided at one end of the rotating sleeve away from the mounting arm corresponding to each of the slots, and the insert plates are inserted into the slots one by one.

[0014] Furthermore, a protrusion is provided on the inner wall of the rotating sleeve, and the clamp comprises a compression sleeve, which is arranged between the cylinder and the rotating sleeve.

[0015] Furthermore, the protrusion is a rectangular structure or a right-angled trapezoidal structure.

[0016] Compared with the prior art, the technical solution of this application has the following beneficial technical effects: (1) The present application realizes the disassembly and assembly of the connecting arm by cooperating with the first joint, the second joint and the connecting arm, thereby providing convenience for the replacement of the connecting arm and facilitating the trajectory comparison of various DH parameters.

[0017] (2) The present application can be used to clamp a workpiece through a clamp, or can be used to clamp tools such as clamping jaws to facilitate the disassembly and assembly of tools such as clamping jaws. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a general assembly diagram of a teaching manipulator provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the upper arm in an embodiment of the present invention; Figure 3 It is a structural schematic diagram of a fastening mechanism in an embodiment of the present invention; Figure 4 is a schematic structural diagram of a first joint in an embodiment of the present invention; Figure 5 Schematic diagram of the structure of the first embodiment of the connecting arm in the embodiment of the present invention; Figure 6 This is a schematic structural diagram of a second embodiment of a connecting arm in an embodiment of the present invention; Figure 7 This is a schematic structural diagram of Embodiment 3 of the connecting arm in an embodiment of the present invention; Figure 8 This is a schematic structural diagram of a fourth embodiment of a connecting arm in an embodiment of the present invention; Fig. 9 This is a schematic structural diagram of a fifth embodiment of a connecting arm in an embodiment of the present invention; Fig.10 This is a schematic structural diagram of a sixth embodiment of a connecting arm in an embodiment of the present invention; Fig.11 This is a schematic structural diagram of Embodiment 7 of the connecting arm in an embodiment of the present invention; Fig.12 Schematic diagram of the structure of the eighth embodiment of the connecting arm in the embodiment of the present invention; Fig.13 This is a schematic structural diagram of a ninth embodiment of a connecting arm according to an embodiment of the present invention; Fig.14This is a schematic structural diagram of a tenth embodiment of a connecting arm in an embodiment of the present invention; Fig.15 Schematic diagram of the structure of the step arm in an embodiment of the present invention; Fig.16 is an assembly diagram of a clamp in an embodiment of the present invention; Fig.17 is a cross-sectional view of a clamp in an embodiment of the present invention; Fig.18 It is a schematic diagram of the assembly of the clamping assembly and the driving mechanism in an embodiment of the present invention; Fig.19 It is a structural schematic diagram of a cylinder in an embodiment of the present invention; Fig. 20 This is a schematic diagram of the structure of the connecting plate in an embodiment of the present invention; Fig.21 It is a schematic diagram of the structure of a splint in an embodiment of the present invention; Fig. 22 It is a structural schematic diagram of a transmission gear assembly in an embodiment of the present invention; Fig.23 It is a structural schematic diagram of a rotating sleeve in an embodiment of the present invention; Fig.24 Schematic diagram of the structure of the compression sleeve in the embodiment of the present invention.

[0019] Description of reference numerals: 10. Rotating table; 20. Shoulders; 30. Upper arm; 31. First joint; 311. Mounting slot; 312. Stopper; 32. Second joint; 33. Connecting arm; 3301. Clamping hole; 331. Tube arm; 3311. First strip hole; 3312. Second strip hole; 332. Step arm; 3321. Insertion section; 34. Fastening mechanism; 341. Connecting assembly; 3411. Clamping arm; 3412. Elastic member; 40. Forearm; 50. Mounting arm; 60. Clamp; 61. Cylinder; 62. Clamping assembly; 621. Rotating wheel; 6211. Arc hole; 622. Connecting plate; 6221. Slide groove; 623. Clamping plate; 6231. Connecting rod; 63. Driving mechanism; 631. Transmission gear assembly; 6311. First gear; 6312. Second gear; 6313. Internal gear; 63131. Slot; 632. Rotating sleeve; 6321. Inserting plate; 6322. Protrusion; 64. Pressing sleeve. DETAILED DESCRIPTION

[0020] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0022] It will be appreciated that spatial relationship terms such as "under," "beneath," "below," "under," "above," "above," etc., may be used herein to describe the relationship of an element or feature shown in the figures to other elements or features. It will be appreciated that, in addition to the orientations shown in the figures, spatial relationship terms also include different orientations of the device in use and operation. For example, if the device in the accompanying drawings is flipped, an element or feature described as "under other elements" or "under it" or "under it" will be oriented as being "above" the other elements or features. Thus, the exemplary terms "under" and "under" may include both upper and lower orientations. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptors used herein are interpreted accordingly.

[0023] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" etc. specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0024] Reference Figure 1~2 As shown in 5~13, the present invention provides a technical solution: a teaching robot, comprising a rotating table 10, a shoulder 20, an upper arm 30 and a lower arm 40 connected in sequence, the shoulder 20 is provided with a first drive motor, and one end of the lower arm 40 close to the upper arm 30 is connected to the output end of the second drive motor, characterized in that the upper arm 30 comprises a first joint 31, a second joint 32, a connecting arm 33 and a fastening mechanism 34, the first joint 31 is connected to the output end of the first drive motor, the second drive motor is arranged on the second joint 32, one end of the connecting arm 33 is detachably connected to the first joint 31 by a fastening mechanism 34, and the other end of the connecting arm 33 is detachably connected to the second joint 32 by a fastening mechanism 34.

[0025] Exemplarily, the fastening mechanism 34 may be a screw or a bolt, and screw holes or through holes for connection with the screw or the bolt may be provided on the first joint 31 , the second joint 32 and the connecting arm 33 .

[0026] According to this embodiment, the first joint 31, the second joint 32 and the connecting arm 33 cooperate to realize the disassembly and assembly of the connecting arm 33, thereby providing convenience for replacing the connecting arm 33. In addition, by replacing connecting arms 33 of different shapes and making the teaching manipulator move according to the set trajectory, the DH parameters of the connecting arms 33 of various shapes can be obtained, thereby facilitating the trajectory comparison of various DH parameters.

[0027] For example, the DH parameters of various embodiments of the connecting arm 33 are as follows:

[0028] Reference Figures 1 to 5 As shown, in some embodiments, the first joint 31 and the second joint 32 are each provided with a mounting groove 311 at one end relative to the connecting arm 33, and clamping holes 3301 are each provided at both ends of the connecting arm 33. Each fastening mechanism 34 includes a pair of connecting assemblies 341, and the connecting assemblies 341 correspond to the mounting groove 311 one by one. The connecting assemblies 341 include a clamping arm 3411 and an elastic member 3412. The clamping arm 3411 is rotatably disposed in the mounting groove 311, and one end of the elastic member 3412 abuts against one side of the clamping arm 3411 relative to the mounting groove 311, and the other end of the elastic member 3412 abuts against the side wall of the mounting groove 311.

[0029] Exemplarily, the elastic member 3412 may be a spring or an elastic rubber pad, etc.

[0030] According to this embodiment, after the clamp arm 3411 is loosened, the clamp arm 3411 is propped open by the elastic member 3412, so that the clamping end of the clamp arm 3411 is inserted into the clamp hole 3301, so that the limiting portion of the clamp hole 3301 limits the clamping end of the clamp arm 3411, and the connection arm 33 can be fixed. By pressing the clamp arm 3411 inward to deform the elastic member 3412, the clamping end of the clamp arm 3411 can be separated from the clamp hole 3301, and the connection arm 33 can be disassembled. In this way, the disassembly and assembly of the connection arm 33 can be more convenient, making the replacement of the connection arm 33 more time-saving.

[0031] Reference Figure 2 As shown, in some embodiments, a limiting member 312 is disposed in each installation slot 311 , and the limiting member 312 is located between the clamping arm 3411 and the installation slot 311 .

[0032] Exemplarily, the limiting clamp may be a limiting bolt or a limiting rod, etc.

[0033] According to this embodiment, when the clamp arm 3411 is pressed inward, the clamp arm 3411 is limited by the limiting member 312, thereby preventing the pressing end of the clamp arm 3411 from penetrating into the installation slot 311 and failing to apply force.

[0034] Reference Figures 14 and 15 As shown, in the tenth embodiment, when the connecting arm 33 is circular and non-twisted and / or offset, the connecting arm 33 includes a tube arm 331 and a step arm 332, the tube arm 331 has a receiving cavity, the step arm 332 has an inserting section 3321, and the inserting section 3321 is inserted into the receiving cavity.

[0035] According to this embodiment, the connecting arm 33 is designed in sections, so that the connecting arm 33 can be more conveniently assembled and disassembled.

[0036] Reference Fig.14 As shown, in some embodiments, a first strip hole 3311, a second strip hole 3312 and a connecting hole are provided on the tube arm 331, the first strip hole 3311 is connected to the second strip hole 3312, the first strip hole 3311 and the second strip hole 3312 are both connected to the accommodating cavity, the connecting holes are a pair, and the pair of connecting holes are axially symmetrical about the central axis of the first strip hole 3311.

[0037] Exemplarily, the connection hole may be a through hole or a screw hole, etc.

[0038] According to this embodiment, the first strip hole 3311 cooperates with the second strip hole 3312 to reduce friction when the plug section 3321 is inserted into the accommodating cavity, thereby ensuring smooth movement of the plug section 3321. After the plug section 3321 is inserted into the accommodating cavity, the tube arm 331 can be tightened by inserting a fastener into a pair of connecting holes.

[0039] The fasteners may be bolts or screws.

[0040] Reference Figure 1 As shown, in some embodiments, a mounting arm 50 is included. The mounting arm 50 is disposed at one end of the small arm 40 away from the large arm 30 .

[0041] According to this embodiment, the mounting arm 50 is used to mount a clamp 60 or a clamping jaw or the like.

[0042] Reference Figure 1 As shown, in some embodiments, a third drive motor is disposed in the small arm 40 , and an output end of the third drive motor is connected to the mounting arm 50 .

[0043] According to this embodiment, the mounting arm 50 can be driven to rotate by the third driving motor, so that the angle of the clamp 60 and the like can be adjusted.

[0044] Reference Figures 16 to 24As shown, in some embodiments, a clamp 60 is included, the clamp 60 includes a cylinder 61, a clamping assembly 62 and a driving mechanism 63, the cylinder 61 is detachably arranged at one end of the mounting arm 50 away from the small arm 40, the clamping assembly 62 includes a rotating wheel 621, a connecting plate 622 and a clamping plate 623, the connecting plate 622 is connected to one end of the cylinder 61 away from the mounting arm 50, the rotating wheel 621 is rotatably arranged on one side of the connecting plate 622 close to the cylinder 61, and a plurality of arc holes 6211 are opened on the rotating wheel 621, All the arc holes 6211 are arranged at intervals around the axis of the rotating wheel 621, and the connecting plate 622 opens a slide groove 6221 corresponding to each arc hole 6211. The number of the splints 623 is related to the number of the slide grooves 6221. The splints 623 correspond to the slide grooves 6221 one by one, and the splints 623 and the slide grooves 6221 are slidably matched. Each splint 623 has a connecting rod 6231, and the connecting rod 6231 is inserted into the arc hole 6211 one by one. The output end of the driving mechanism 63 is connected to the rotating wheel 621.

[0045] Exemplarily, the driving mechanism 63 may be a stepping motor or a servo motor.

[0046] According to this embodiment, the driving mechanism 63 drives the rotating wheel 621 to rotate, and through the shape of each arc hole 6211, it can provide push-pull power to each connecting rod 6231, so that each clamping plate 623 slides along the slide groove 6221, and then multiple clamping plates 623 can be opened or closed to achieve a clamping effect. In this way, it can be used to clamp workpieces, or it can be used to clamp tools such as clamping claws to facilitate the disassembly and assembly of tools such as clamping claws.

[0047] Reference Figures 17 and 18 As shown in Figure 22, in some embodiments, the driving mechanism 63 includes a transmission gear assembly 631 and a rotating sleeve 632, the transmission gear assembly 631 includes a first gear 6311, a second gear 6312 and an internal gear 6313, the first gear 6311 is sleeved on the rotating wheel 621, the second gear 6312 is rotatably disposed on the connecting plate 622, the second gear 6312 is meshed with the first gear 6311, the internal gear 6313 is meshed with the second gear 6312, a through hole for the second gear 6312 to pass through is opened at one end of the cylinder 61 away from the mounting arm 50, the internal gear 6313 is located outside the cylinder 61, the rotating sleeve 632 is rotatably disposed on the cylinder 61, and the end of the rotating sleeve 632 away from the mounting arm 50 is connected to the internal gear 6313.

[0048] According to this embodiment, when the driving wheel 621 rotates, the rotating sleeve 632 drives the internal gear 6313 to rotate by rotating the rotating sleeve 632, and the force is transmitted to the rotating wheel 621 via the second gear 6312 and the first gear 6311 in sequence, thereby providing power to the rotating wheel 621.

[0049] Reference Figures 17 and 18As shown in Figures 22-23, in some embodiments, the internal gear 6313 is provided with a plurality of slots 63131 arranged at intervals along the circumferential direction, and an insert plate 6321 is provided at the end of the rotating sleeve 632 away from the mounting arm 50 corresponding to each slot 63131, and the insert plates 6321 are inserted into the slots 63131 one by one.

[0050] Exemplarily, the plug plate 6321 and the slot 63131 may be transitionally matched.

[0051] According to this embodiment, the rotating sleeve 632 and the internal gear 6313 can be easily assembled and disassembled.

[0052] Reference Figures 17 and 18 As shown in FIGS. 23 to 24 , in some embodiments, the inner wall of the rotating sleeve 632 is provided with a protrusion 6322 , and the clamp 60 includes a compression sleeve 64 , which is disposed between the cylinder 61 and the rotating sleeve 632 .

[0053] For example, the compression sleeve 64 and the cylinder body 61 may be clearance-fitted or thread-fitted, etc. The protrusion 6322 is made of rubber material, such as silicone rubber, etc.

[0054] According to this embodiment, when the rotating sleeve 632 does not need to be rotated, the pressing sleeve 64 is moved toward the connecting plate 622, so that the cylinder 61 is in close contact with the protrusion 6322. The friction between the cylinder 61 and the protrusion 6322 produces a limiting effect on the rotating sleeve 632, preventing the rotating sleeve 632 from rotating slightly.

[0055] Optionally, the protrusion 6322 is a rectangular structure or a right-angled trapezoidal structure.

[0056] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A teaching manipulator, comprising a rotating platform (10), a shoulder (20), an upper arm (30) and a lower arm (40) connected in sequence, wherein the shoulder (20) is provided with a first drive motor, and an end of the lower arm (40) close to the upper arm (30) is connected to an output end of a second drive motor, characterized in that: The upper arm (30) comprises a first joint (31), a second joint (32), a connecting arm (33) and a fastening mechanism (34); the first joint (31) is connected to the output end of a first drive motor; the second drive motor is arranged on the second joint (32); one end of the connecting arm (33) is detachably connected to the first joint (31) via the fastening mechanism (34); and the other end of the connecting arm (33) is detachably connected to the second joint (32) via the fastening mechanism (34).

2. The teaching manipulator according to claim 1, characterized in that: The first joint (31) and the second joint (32) are each provided with a mounting groove (311) at one end relative to the connecting arm (33), and clamping holes (3301) are each provided at both ends of the connecting arm (33). Each of the fastening mechanisms (34) comprises a pair of connecting assemblies (341), and the connecting assemblies (341) correspond to the mounting grooves (311) one by one. The connecting assemblies (341) comprise clamping arms (3411) and elastic members (3412), and the clamping arms (3411) are rotatably arranged in the mounting grooves (311), and one end of the elastic member (3412) abuts against a side of the clamping arm (3411) relative to the mounting groove (311), and the other end of the elastic member (3412) abuts against a side wall of the mounting groove (311).

3. The teaching manipulator according to claim 2, characterized in that: The connecting arm (33) comprises a tube arm (331) and a step arm (332); the tube arm (331) has a receiving cavity; the step arm (332) has an inserting section (3321); the inserting section (3321) is inserted into the receiving cavity.

4. The teaching manipulator according to any one of claims 1 to 3, characterized in that: It comprises a mounting arm (50), wherein the mounting arm (50) is arranged at one end of the small arm (40) away from the large arm (30).

5. The teaching manipulator according to claim 4, characterized in that: A third drive motor is provided in the small arm (40), and an output end of the third drive motor is connected to the mounting arm (50).

6. The teaching manipulator according to claim 5, characterized in that: The clamp (60) comprises a cylinder (61), a clamping assembly (62) and a driving mechanism (63); the cylinder (61) is detachably arranged at one end of the mounting arm (50) away from the small arm (40); the clamping assembly (62) comprises a rotating wheel (621), a connecting plate (622) and a clamping plate (623); the connecting plate (622) is connected to one end of the cylinder (61) away from the mounting arm (50); the rotating wheel (621) is rotatably arranged on a side of the connecting plate (622) close to the cylinder (61); a plurality of arc-shaped holes (6211) are formed on the rotating wheel (621); all the arc-shaped holes (6211) are arranged on the rotating wheel (621); The arc-shaped holes (6211) are arranged at intervals around the axis of the rotating wheel (621); the connecting plate (622) is provided with a slide groove (6221) corresponding to each of the arc-shaped holes (6211); the number of the clamping plates (623) is associated with the number of the slide grooves (6221); the clamping plates (623) correspond to the slide grooves (6221) one by one; the clamping plates (623) and the slide grooves (6221) are slidably matched; each of the clamping plates (623) has a connecting rod (6231); the connecting rods (6231) are inserted into the arc-shaped holes (6211) one by one; and the output end of the driving mechanism (63) is connected to the rotating wheel (621).

7. The teaching manipulator according to claim 6, characterized in that: The driving mechanism (63) comprises a transmission gear assembly (631) and a rotating sleeve (632); the transmission gear assembly (631) comprises a first gear (6311), a second gear (6312) and an internal gear (6313); the first gear (6311) is sleeved on the rotating wheel (621); the second gear (6312) is rotatably disposed on the connecting plate (622); the second gear (6312) and the first gear (6311) are rotatably coupled to each other. The inner gear (6313) is meshed with the second gear (6312); an end of the cylinder (61) facing away from the mounting arm (50) is provided with a through hole for the second gear (6312) to pass through; the inner gear (6313) is located outside the cylinder (61); the rotating sleeve (632) is rotatably arranged on the cylinder (61); and an end of the rotating sleeve (632) facing away from the mounting arm (50) is connected to the inner gear (6313).

8. The teaching manipulator according to claim 7, characterized in that: The internal gear (6313) is provided with a plurality of slots (63131) arranged at intervals along the circumferential direction, and an insert plate (6321) is provided at one end of the rotating sleeve (632) away from the mounting arm (50) corresponding to each of the slots (63131), and the insert plates (6321) are inserted into the slots (63131) one by one.

9. The teaching manipulator according to claim 8, characterized in that: The inner wall of the rotating sleeve (632) is provided with a protrusion (6322), and the clamp (60) comprises a compression sleeve (64), and the compression sleeve (64) is arranged between the cylinder (61) and the rotating sleeve (632).

10. The teaching manipulator according to claim 9, characterized in that: The protrusion (6322) is a rectangular structure or a right-angled trapezoidal structure.

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