CN113664614A - Robot capable of realizing online high-precision measurement based on six degrees of freedom - Google Patents
Robot capable of realizing online high-precision measurement based on six degrees of freedom Download PDFInfo
- Publication number
- CN113664614A CN113664614A CN202111034527.2A CN202111034527A CN113664614A CN 113664614 A CN113664614 A CN 113664614A CN 202111034527 A CN202111034527 A CN 202111034527A CN 113664614 A CN113664614 A CN 113664614A
- Authority
- CN
- China
- Prior art keywords
- motor
- rotating
- drive
- rotating rod
- rotate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2452—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces
- B23Q17/2471—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces of workpieces
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot capable of realizing online high-precision measurement based on six degrees of freedom, which comprises a supporting seat, wherein a guide slide way is arranged on the inner wall of the supporting seat, a rotating wheel is arranged at the top of the guide slide way, a rotating platform is arranged at the top of the rotating wheel through a connecting seat, a supporting column is arranged at the top of the rotating platform, a supporting box is arranged at the top of the supporting column, a rotating rod is arranged on the outer wall of one side of the supporting box in a penetrating manner, one end of the rotating rod is provided with a movable arm, the top of the movable arm is provided with a transmission rod in a penetrating manner, and an installation seat is arranged on the outer side of the transmission rod in a penetrating manner. According to the invention, the assembly ring is arranged on the outer side of the two sections of movable arms, so that the device can be conveniently installed by workers, the assembly ring fixes the connecting plate, the stability of the connecting plate is ensured, the connecting screw penetrates through the connecting plate, and any additional equipment can be conveniently installed on the device, so that different equipment can be adjusted according to the working requirement.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot capable of realizing on-line high-precision measurement based on six degrees of freedom.
Background
The six-degree-of-freedom robot is a robot with 6 degrees of freedom, namely the robot can work along the directions of three orthogonal coordinate axes of x, y and z, and can completely simulate the movement of arms of a human body around the rotational degrees of freedom of the three coordinate axes and accurately move to the side of an object.
The robot in the prior art has the following defects:
1. reference CN212635739U discloses a SCARA robot, "comprising: the robot comprises a moving platform and a mechanical arm inversely arranged on the moving platform. The mobile platform includes: the device comprises a guide rail, a mounting seat connected to the guide rail in a sliding manner, and a first driving assembly connected with the mounting seat; the arm includes: the first swing arm of connection mount pad, the second swing arm of articulated first swing arm, connect the second drive assembly between first swing arm and second swing arm, wear to establish ball spline shaft on the second swing arm perpendicularly, the third drive assembly who connects ball spline shaft and the fourth drive assembly who connects ball spline shaft. The SCARA robot is arranged in a translation inverted structure, so that a first shaft of the SCARA robot is changed into translation motion, the SCARA robot is provided with a movable base point, and the mechanical arm can move along the layout direction of a workpiece by matching with an inverted installation form, so that an action dead zone is overcome, an action area is enlarged on the premise of not changing an arm extension, a measuring device is lacked in the structure of the device, the size of a product to be processed cannot be accurately measured, and the processing precision is influenced;
2. reference CN207290095U discloses a SCARA robot, "which includes a base, a mounting plate is installed below the base, and a protection plate is installed on the side of the base, or a protection plate is installed below the base, and a mounting plate is installed on the side of the base; the protection plate is provided with a first plug pipe connector and a plurality of cable connectors respectively, the base is connected with a first rotating arm, the first rotating arm is connected with a second rotating arm, the second rotating arm is connected with a ball screw, a lower protection cover is arranged at the joint, the second rotating arm is connected with a transition plate, the transition plate is provided with a second plug pipe connector, the transition plate is connected with an upper protection cover, and a corrugated pipe is connected between the transition plate and the base. The utility model has the advantages that: the requirements of the SCARA on the installation environment can be effectively reduced; the quick exchange of the base type installation and the side wall type installation modes of the SCARA robot can be easily realized, and the application range of the same robot is expanded; adopt the design of protection casing omniseal nature, the area is leaked outward to the ball of minimize, promotes SCARA robot life ", and the device is inside to lack connection structure, and the device is connected relatively fixed, and inconvenient staff changes equipment.
3. A reference CN206140498U discloses a mechanical origin identification device for a SCARA robot, which includes a base, a large arm, a small arm, and a lead screw; the first rotary joint, the second rotary joint, the third rotary joint and the first movable joint are respectively provided with vernier scales for marking the position of a mechanical origin; the vernier scale comprises a main scale and an auxiliary scale which are adjacently arranged, and the length or the angle of each grid of the main scale and the auxiliary scale is different; respectively acquiring the mechanical origin positions of the SCARA robot through the reading of the vernier scales; comparing the obtained mechanical origin position with a mechanical origin position preset by the SCARA robot to identify the mechanical origin of the SCARA robot; the utility model has low cost and simple marking process, and simultaneously, the mechanical original point marking device of the utility model can improve the marking precision of the mechanical original point, and visually quantizes the error of the mechanical original point, and only one output end inside the device can not quickly convert equipment after completing measurement, thereby influencing the processing speed;
4. reference CN209831645U discloses a SCARA robot arm structure and a SCARA robot, "including: a small arm; a drive mechanism mounted at a first end of the forearm; a lead screw spline assembly mounted at a second end of the forearm; the transmission mechanism is connected between the lead screw spline assembly and the driving mechanism; the encoder assembly is mounted on the lead screw spline assembly to acquire motion information of the lead screw spline assembly; and the control unit is in communication connection with the encoder assembly and the driving mechanism, and controls the driving mechanism according to the information transmitted by the encoder assembly so as to compensate the motion error of the lead screw spline assembly. The utility model discloses a control accuracy of SCARA robot forearm structure is high, production, control cost are low ", and the device's inside position judgement equipment is fairly simple, leads to the device can't be accurate fix a position article.
Disclosure of Invention
The invention aims to provide a robot capable of realizing online high-precision measurement based on six degrees of freedom, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a robot based on six degrees of freedom and capable of achieving online high-precision measurement comprises a supporting seat, wherein a guide slide way is mounted on the inner wall of the supporting seat, a rotating wheel is mounted at the top of the guide slide way, a rotating platform is mounted at the top of the rotating wheel through a connecting seat, a supporting column is mounted at the top of the rotating platform, a supporting box is mounted at the top of the supporting column, a rotating rod is mounted on the outer wall of one side of the supporting box in a penetrating mode, a section of movable arm is mounted at one end of the rotating rod, a transmission rod is mounted at the top of the section of movable arm in a penetrating mode, and a mounting seat is mounted on the outer side of the transmission rod in a penetrating mode;
one end of the mounting seat is provided with two sections of movable arms, one end of each of the two sections of movable arms is provided with a mounting shell, the front end of the mounting shell is provided with a rotary rod in a penetrating manner, and the front end of the rotary rod is provided with a rotary disk;
two sets of bearing plates which are symmetrically distributed are installed at the front end of the rotating disk, two sets of supporting rotating rods are installed on the inner sides of the bearing plates, and a double-end motor is installed at one end of each supporting rotating rod.
Preferably, the mounting panel is installed at the rear wall top of supporting seat, and driving motor is installed to the bottom of mounting panel, and driving rotating rod is installed to driving motor's output, and the driving gear is installed in the outside of driving rotating rod, and the bottom plate is installed to the bottom of supporting seat, installs driven rotating rod on the diapire of supporting seat, and driven rotating rod is located the place ahead of driving rotating rod, and driven gear is installed in the outside of driven rotating rod, the mutual gomphosis of driven gear and driving gear.
Preferably, a first motor is installed on the inner side of the supporting box, and the output end of the first motor is movably connected with the rotating rod.
Preferably, a second motor is installed on one side of the movable arm, and the second motor is connected with one end of the transmission rod.
Preferably, the outer side of the two sections of movable arms is fixedly provided with an assembling ring, the inner front wall of the mounting shell is provided with a third motor, and the output end of the third motor is connected with the rotating rod.
Preferably, one of them is organized the protective housing is installed in the outside of bearing plate, and the fourth motor is installed to the inboard of protective housing, and the output of fourth motor is connected with the support bull stick, and the equipment board is installed in the outside of another group bearing plate, and the front of equipment board is run through and is installed the image recognition camera.
Preferably, the spread groove is installed through the output pole to double-end motor's output, and the rotating member is installed through the output pole to another output of double-end motor, and the telescopic link is installed to the both sides of rotating member, and splint are installed to the output of telescopic link, and infrared distance measuring device is installed in the inboard run-through of splint, and the tablet is installed to the inboard of splint.
Preferably, a connecting plate is mounted at the top of the assembling ring.
Preferably, the working steps of the device are as follows:
s1, a user fixes the bottom plate on the ground through a bolt, the stability of the device is guaranteed, then when the device runs, the driving motor runs to drive the driving rotating rod, the driving rotating rod rotates to drive the driving gear to rotate, the driving gear rotates to drive the driven gear to rotate, the driven gear rotates to drive the driven rotating rod on the inner side to rotate, the driven rotating rod rotates to drive the top rotating platform to rotate, the rotating platform rotates to drive the supporting column on the top to turn, so that the supporting box is driven to adjust the direction, the device is convenient to operate and control, the rotating wheel on the bottom is driven to rotate while the rotating platform rotates, the rotating wheel moves along the top of the guide slideway, the condition of deviation in the moving process of the device is avoided, and the stable operation of the device is guaranteed;
s2, after the supporting box is rotated to a specified direction, the first motor operates to drive the rotating rod to rotate, the rotating rod rotates to drive the first movable arm to perform angle movement, the first movable arm moves to drive the second motor at the top to move, after the first movable arm is adjusted to a proper angle, the second motor operates to drive the transmission rod to rotate, the transmission rod rotates to drive the mounting seat at the outer side to rotate, and the mounting seat rotates to drive the second movable arm to adjust the angle, so that the mounting shell moves;
s3, the mounting shell fixes a third motor inside the mounting shell, the third motor operates to drive a rotating rod at the output end to rotate, the rotating rod rotates to drive a rotating disk to rotate, the rotating disk rotates to bring out a bearing plate to perform angle adjustment, and a worker can conveniently adjust the device as required;
s4, operating the fourth motor to drive the support rotating rod to rotate, rotating the support rotating rod to drive the double-head motor to rotate, so that the double-head motor finishes overturning, the connecting groove is moved to the rear end, the rotating piece at the rear end is moved to the front end, the clamping plate is moved to two sides of a product to be processed through the previous matching, then the length of the telescopic rod is adjusted, the telescopic rod is stretched to push the induction plates against the two sides of the workpiece, then the infrared distance measuring device emits infrared rays which are transmitted to an infrared receiver in the other group of infrared distance measuring devices, thereby judging the distance between the two groups of clamping plates, accurately measuring the specification of the workpiece at the position, facilitating the device to process the workpiece according to the measured data, after the measurement is finished, the double-head motor is controlled to rotate through the fourth motor, so that the processed workpiece returns to the original position, and the product is processed.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the telescopic rods are arranged on two sides of the rotating piece, the clamping plates are moved to two sides of a product to be processed, then the telescopic rods adjust the length, the telescopic rods stretch and retract to enable the induction plates to be abutted against two sides of the workpiece, then the infrared ranging device emits infrared rays, and the infrared rays are transmitted to the infrared receiver in the other infrared ranging device, so that the distance between the two groups of clamping plates is judged, the specification of the workpiece at the position can be accurately measured, the device can conveniently process the workpiece according to measured data, and after the measurement is finished, the double-head motor is controlled to rotate by the fourth motor, so that the processed workpiece returns to the original position, and the product is processed.
2. According to the invention, the assembly ring is arranged on the outer side of the two sections of movable arms, so that the device can be conveniently installed by workers, the assembly ring fixes the connecting plate, the stability of the connecting plate is ensured, the connecting screw penetrates through the connecting plate, and any additional equipment can be conveniently installed on the device, so that different equipment can be adjusted according to the working requirement.
3. According to the invention, the fourth motor is arranged, the protective shell is fixed on the inner side of the fourth motor, so that the fourth motor can run stably, the fourth motor runs to drive the supporting rotating rod at the output end to rotate, so that the double-head motor is driven to rotate, equipment is arranged at both ends of the double-head motor, the position conversion of the measuring equipment and the processing device is conveniently carried out by the device, and the production speed of the device is accelerated.
4. According to the invention, the assembly plate is fixed on the bearing plate, so that the assembly plate can conveniently mount the image recognition camera, the image recognition camera shoots objects in front, then the shot objects are transmitted to the controller, the image is analyzed by the analyzer in the controller, and the positions of the objects are judged, so that the device can accurately judge the position of a product.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a schematic view of a turntable according to the present invention;
FIG. 4 is a schematic view of a movable arm according to the present invention;
FIG. 5 is a schematic view of a two-section movable arm according to the present invention;
FIG. 6 is a schematic view of the double-headed motor of the present invention;
FIG. 7 is a schematic view of the construction of the double-ended motor of the present invention;
fig. 8 is a schematic view of the bearing plate structure of the present invention.
In the figure: 1. a supporting seat; 101. a base plate; 102. a driven rotating rod; 103. a driven gear; 104. mounting a plate; 105. a drive motor; 106. an active rotating rod; 107. a driving gear; 108. a guide chute; 2. a rotating table; 201. a rotating wheel; 202. a support pillar; 203. a support box; 204. a first motor; 205. rotating the rod; 3. a section of movable arm; 301. a second motor; 302. a transmission rod; 4. two sections of movable arms; 401. a mounting seat; 402. mounting a shell; 403. a third motor; 404. rotating the rod; 5. rotating the disc; 501. a bearing plate; 502. a protective shell; 503. a fourth motor; 504. supporting the rotating rod; 505. assembling a plate; 506. an image recognition camera; 6. a double-headed motor; 601. connecting grooves; 602. a rotating member; 603. a telescopic rod; 604. a splint; 605. an infrared distance measuring device; 606. an induction plate; 7. assembling a ring; 701. a connecting plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, an embodiment of the present invention: a robot based on six degrees of freedom can realize online high-precision measurement;
embodiment one, including the supporting seat 1, the mounting plate 104 is installed at the top of the rear wall of the supporting seat 1, the driving motor 105 is installed at the bottom of the mounting plate 104, the mounting plate 104 is fixed to the inner mounting plate 104 by the supporting seat 1, so as to facilitate the installation of the mounting plate 104 to the inner driving motor 105, and ensure the stable operation of the driving motor 105, the driving rotating rod 106 is installed at the output end of the driving motor 105, the driving gear 107 is installed at the outer side of the driving rotating rod 106, the driving motor 105 operates to drive the driving rotating rod 106, the driving rotating rod 106 rotates to drive the driving gear 107 to rotate, the driving gear 107 is engaged with the driven gear 103, the driven gear 103 is driven to rotate by the rotation of the driving gear 107, the bottom of the supporting seat 1 is installed with the bottom plate 101, the bottom plate 101 is installed on the ground for fixing the whole device, the driven rotating rod 102 is installed on the bottom wall of the supporting seat 1, and the driven rotating rod 102 is located in front of the driving rotating rod 106, driven gear 103 is installed in the outside of driven bull stick 102, driven gear 103 and the mutual gomphosis of driving gear 107, install guide slide 108 on the inner wall of supporting seat 1, runner 201 is installed at the top of guide slide 108, revolving stage 2 is installed through the connecting seat at the top of runner 201, driving gear 107 rotates and drives driven gear 103 rotatory, driven gear 103 rotates and drives inboard driven bull stick 102 rotatory, driven bull stick 102 rotates and drives top revolving stage 2 and rotate, revolving stage 2 rotates and drives the support column 202 at top and turn to, thereby drive support box 203 adjustment direction, convenient control equipment, it follows the rotation to drive runner 201 of bottom simultaneously to rotate revolving stage 2, runner 201 removes along the top of guide slide 108, avoid the device in the in-process that removes, the condition of skew takes place, guarantee that the device can even running, the support column 202 is installed at the top of revolving stage 2, support box 203 is installed at the top of support column 202, it installs dwang 205 to run through on one side outer wall of support box 203, first motor 204 is installed to the inboard of support box 203, the output and the dwang 205 swing joint of first motor 204, a lesson digging arm 3 is installed to the one end of dwang 205, support column 202 supports inboard first motor 204 and dwang 205 through support box 203, and the assurance device can normal operating, and first motor 204 operation drives dwang 205 rotatory, and dwang 205 rotates and drives a lesson digging arm 3 and carry out the angle activity, and a lesson digging arm 3 activity drives the second motor 301 at top and removes, conveniently controls a lesson digging arm 3 activity angle, a lesson digging arm 3's top is run through and is installed transfer line 302, second motor 301 is installed to one side of a lesson digging arm 3, the second motor 301 is connected with one end of the transmission rod 302, the outer side of the transmission rod 302 is provided with an installation seat 401 in a penetrating mode, after the movable arm 3 is adjusted to a proper angle, the second motor 301 operates to drive the transmission rod 302 to rotate, the transmission rod 302 rotates to drive the installation seat 401 at the outer side to rotate, and the installation seat 401 rotates to drive the movable arm 4 to adjust the angle, so that the installation shell 402 moves;
referring to fig. 1, fig. 2, fig. 5 and fig. 7, an embodiment of the present invention: a robot based on six degrees of freedom can realize online high-precision measurement;
the second embodiment comprises a mounting seat 401, wherein one end of the mounting seat 401 is provided with two movable arms 4, one end of each of the two movable arms 4 is provided with a mounting shell 402, the front end of the mounting shell 402 is provided with a rotating rod 404 in a penetrating manner, the outer side of each of the two movable arms 4 is fixedly provided with an assembling ring 7, the top of each assembling ring 7 is provided with a connecting plate 701, each assembling ring 7 is arranged on the outer wall of each of the two movable arms 4, so that a worker can conveniently mount the device, each assembling ring 7 fixes the connecting plate 701 to ensure the stability of the connecting plate 701, each connecting plate 701 is provided with a connecting screw in a penetrating manner to facilitate the work, any additional equipment can be mounted on the device, and therefore different equipment can be adjusted according to the work requirement, the third motor 403 is mounted on the inner front wall of the mounting shell 402, the output end of the third motor 403 is connected with the rotating rod 404, and the front end of the rotating rod 404 is provided with a rotating disk 5, the two sections of movable arms 4 support the mounting shell 402, so that the mounting shell 402 can conveniently fix the third motor 403 on the inner side, and the third motor 403 can stably run, after the two sections of movable arms 4 complete angle adjustment, the third motor 403 controls the rotating rod 404 to rotate, and the rotating rod 404 rotates to drive the rotating disc 5 to rotate, so that the rotating disc 5 rotates to a proper angle;
referring to fig. 1, fig. 2, fig. 5, fig. 6 and fig. 8, an embodiment of the present invention: a robot based on six degrees of freedom can realize online high-precision measurement;
the third embodiment comprises a rotating disk 5, two sets of bearing plates 501 are mounted at the front end of the rotating disk 5, two sets of bearing plates 501 are symmetrically distributed, supporting rotating rods 504 are mounted on the inner sides of the two sets of bearing plates 501, a protective shell 502 is mounted on the outer side of one set of bearing plates 501, a fourth motor 503 is mounted on the inner side of the protective shell 502, the output end of the fourth motor 503 is connected with the supporting rotating rods 504, the rotating disk 5 fixes the bearing plates 501 to ensure the stability of the bearing plates 501, the bearing plates 501 support the supporting rotating rods 504 on the inner side conveniently, the fourth motor 503 on the inner side is fixed through the protective shell 502 to ensure the smooth operation of the fourth motor 503, the fourth motor 503 operates to drive the supporting rotating rods 504 on the output end to rotate, so as to drive the double-headed motor 6 to rotate, an assembling plate 505 is mounted on the outer side of the other set of bearing plates 501, and an image recognition camera 506 is mounted on the front surface of the assembling plate 505 in a penetrating manner, bearing plate 501 is fixed to assembly plate 505, makes things convenient for assembly plate 505 to install image recognition camera 506, and image recognition camera 506 shoots the thing in front, then passes the thing of shooing to the controller, and the analysis appearance by the controller is inside analyzes the image, judges the position of thing for the device can be accurate judges the product position.
Referring to fig. 1, fig. 2, fig. 5, fig. 6 and fig. 8, an embodiment of the present invention: a robot based on six degrees of freedom can realize online high-precision measurement;
the fourth embodiment comprises a supporting rotating rod 504, a double-end motor 6 is installed at one end of the supporting rotating rod 504, a connecting groove 601 is installed at the output end of the double-end motor 6 through an output rod, the connecting groove 601 at one end of the double-end motor 6 is connected with an external processing device, so that a worker can assemble the processing device conveniently, a rotating part 602 is installed at the other output end of the double-end motor 6 through the output rod, telescopic rods 603 are installed at two sides of the rotating part 602, a clamping plate 604 is installed at the output end of the telescopic rods 603, an infrared distance measuring device 605 is installed on the inner side of the clamping plate 604 in a penetrating manner, an induction plate 606 is installed on the inner side of the clamping plate 604, one end of the double-end motor 6 supports the rotating part 602, so that the rotating part 602 can fix the telescopic rods 603, the stability of the telescopic rods 603 is ensured, the telescopic rods 603 can be conveniently connected with the clamping plate 604, and the clamping plate 604 can be moved to two sides of a product to be processed, then the length is adjusted to telescopic link 603, telescopic link 603 stretches out and draws back, support induction plate 606 in the both sides of work piece, then infrared distance measuring device 605 sends the infrared ray, the infrared ray transmits to the inside infrared receiver of another group infrared distance measuring device 605 on, thereby judge the distance that two sets of splint 604 locate, thereby the specification of measurement department work piece that can be accurate, make things convenient for the device to process the work piece according to measured data, after accomplishing the measurement, control double-end motor 6 through fourth motor 503 and rotate, make the processing work piece get back to the normal position, process the product.
The working steps of the device are as follows:
s1, a user fixes the bottom plate 101 on the ground through bolts, the stability of the device is guaranteed, then when the device runs, the driving motor 105 runs to drive the driving rotating rod 106, the driving rotating rod 106 rotates to drive the driving gear 107 to rotate, the driving gear 107 rotates to drive the driven gear 103 to rotate, the driven gear 103 rotates to drive the driven rotating rod 102 on the inner side to rotate, the driven rotating rod 102 rotates to drive the top rotating platform 2 to rotate, the rotating platform 2 rotates to drive the supporting column 202 on the top to turn, so that the supporting box 203 is driven to adjust the direction, the device is convenient to operate and control, the rotating wheel 201 on the bottom is driven to rotate along with the rotating wheel 201 on the bottom while the rotating platform 2 rotates, the rotating wheel 201 moves along the top of the guide slide 108, the situation that the device deviates in the moving process is avoided, and the stable running of the device is guaranteed;
s2, after the supporting box 203 is rotated to a specified direction, the first motor 204 operates to drive the rotating rod 205 to rotate, the rotating rod 205 rotates to drive the first movable arm 3 to perform angle movement, the first movable arm 3 moves to drive the second motor 301 at the top to move, after the first movable arm 3 is adjusted to a proper angle, the second motor 301 operates to drive the transmission rod 302 to rotate, the transmission rod 302 rotates to drive the mounting seat 401 at the outer side to rotate, and the mounting seat 401 rotates to drive the second movable arm 4 to perform angle adjustment, so that the mounting shell 402 can move;
s3, the installation shell 402 fixes the third motor 403 inside, the third motor 403 runs to drive the rotating rod 404 at the output end to rotate, the rotating rod 404 rotates to drive the rotating disc 5 to rotate, the rotating disc 5 rotates to bring the bearing plate 501 out for angle adjustment, so that a worker can conveniently adjust the device as required, and after the equipment is prepared, the worker fixes the external device on the connecting groove 601 through a bolt, so that the worker can conveniently assemble the equipment;
s4, then the fourth motor 503 operates to drive the supporting rotating rod 504 to rotate, the supporting rotating rod 504 rotates to drive the double-end motor 6 to rotate, the double-end motor 6 is enabled to turn over, the connecting groove 601 is moved to the rear end, the rotating piece 602 at the rear end is moved to the front end, the clamping plates 604 are moved to two sides of a product to be processed through the previous matching, then the telescopic rods 603 adjust the length, the telescopic rods 603 stretch and retract, the sensing plates 606 are abutted to two sides of the workpiece, then the infrared distance measuring device 605 emits infrared rays, the infrared rays are transmitted to an infrared ray receiver inside the other group of infrared distance measuring device 605, and the distance between the two groups of clamping plates 604 is judged, so that the specification of the workpiece at the position can be accurately measured, the device can process the workpiece according to the measured data, and after the measurement is completed, the double-end motor 6 is controlled to rotate by the fourth motor 503, and the processed workpiece returns to the original position to process the product.
The working principle is as follows: the user fixes the bottom plate 101 on the ground through the bolt, the stability of the device is ensured, then when the device operates, the driving motor 105 operates to drive the driving rotating rod 106, the driving rotating rod 106 rotates to drive the driving gear 107 to rotate, the driving gear 107 rotates to drive the driven gear 103 to rotate, the driven gear 103 rotates to drive the driven rotating rod 102 on the inner side to rotate, the driven rotating rod 102 rotates to drive the top rotating platform 2 to rotate, the rotating platform 2 rotates to drive the supporting column 202 on the top to turn, thereby driving the supporting box 203 to adjust the direction, the device is convenient to operate and control, the rotating wheel 201 on the bottom is driven to rotate while the rotating platform 2 rotates, the rotating wheel 201 moves along the top of the guide slideway 108, the device is prevented from moving, the condition of deviation occurs, the device can operate stably, after the supporting box 203 is rotated to the designated direction, the first motor 204 operates to drive the rotating rod 205 to rotate, the rotating rod 205 rotates to drive one section of movable arm 3 to perform angle movement, one section of movable arm 3 movably drives the second motor 301 at the top to move, after one section of movable arm 3 is adjusted to a proper angle, the second motor 301 operates to drive the driving rod 302 to rotate, the driving rod 302 rotates to drive the mounting seat 401 at the outer side to rotate, the mounting seat 401 rotates to drive the two sections of movable arms 4 to perform angle adjustment, thereby realizing the movement of the mounting shell 402, the mounting shell 402 fixes the third motor 403 at the inner part, the third motor 403 operates to drive the rotating rod 404 at the output end to rotate, the rotating rod 404 rotates to drive the rotating disk 5 to rotate, the rotating disk 5 rotates to take out the bearing plate 501 for angle adjustment, thereby facilitating the adjustment of the device by a worker according to the requirement, after the device is prepared, the worker fixes the external device on the connecting groove 601 through a bolt, thereby facilitating the assembly of the device by the worker, then the fourth motor 503 operates to drive the supporting rotating rod 504 to rotate, the supporting rotating rod 504 rotates to drive the double-end motor 6 to rotate, so that the double-end motor 6 is turned over, the connecting groove 601 is moved to the rear end, the rotating piece 602 at the rear end is moved to the front end, the clamping plates 604 are moved to two sides of a product to be processed through the previous matching, then the telescopic rods 603 adjust the length, the telescopic rods 603 stretch and retract, the sensing plates 606 are abutted to two sides of the workpiece, then the infrared distance measuring device 605 emits infrared rays, the infrared rays are transmitted to an infrared receiver inside the other group of infrared distance measuring device 605, so that the distance between the two groups of clamping plates 604 is judged, the specification of the workpiece at the position can be accurately measured, the device can conveniently process the workpiece according to the measured data, after the measurement is completed, the double-end motor 6 is controlled to rotate through the fourth motor 503, so that the processed workpiece returns to the original position, and processing the product.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. The utility model provides a robot based on six degrees of freedom, can realize online high accuracy measurement, includes supporting seat (1), its characterized in that: the inner wall of the supporting seat (1) is provided with a guide slide way (108), the top of the guide slide way (108) is provided with a rotating wheel (201), the top of the rotating wheel (201) is provided with a rotating platform (2) through a connecting seat, the top of the rotating platform (2) is provided with a supporting column (202), the top of the supporting column (202) is provided with a supporting box (203), the outer wall of one side of the supporting box (203) is provided with a rotating rod (205) in a penetrating manner, one end of the rotating rod (205) is provided with a section of movable arm (3), the top of the section of movable arm (3) is provided with a transmission rod (302) in a penetrating manner, and the outer side of the transmission rod (302) is provided with a mounting seat (401) in a penetrating manner;
one end of the mounting seat (401) is provided with two sections of movable arms (4), one end of each two section of movable arm (4) is provided with a mounting shell (402), the front end of each mounting shell (402) is provided with a rotating rod (404) in a penetrating manner, and the front end of each rotating rod (404) is provided with a rotating disk (5);
two sets of bearing plates (501) that are symmetrically distributed are installed to the front end of rotary disk (5), and are two sets of support bull stick (504) is installed to the inboard of bearing plate (501), double-end motor (6) are installed to the one end of supporting bull stick (504).
2. The robot based on six degrees of freedom and capable of realizing on-line high-precision measurement according to claim 1, characterized in that: mounting panel (104) are installed to the back wall top of supporting seat (1), driving motor (105) are installed to the bottom of mounting panel (104), initiative bull stick (106) is installed to the output of driving motor (105), driving gear (107) are installed in the outside of initiative bull stick (106), bottom plate (101) are installed to the bottom of supporting seat (1), install driven bull stick (102) on the diapire of supporting seat (1), and driven bull stick (102) are located the place ahead of initiative bull stick (106), driven gear (103) are installed in the outside of driven bull stick (102), driven gear (103) and driving gear (107) gomphosis each other.
3. The robot based on six degrees of freedom and capable of realizing on-line high-precision measurement according to claim 1, characterized in that: a first motor (204) is installed on the inner side of the supporting box (203), and the output end of the first motor (204) is movably connected with the rotating rod (205).
4. The robot based on six degrees of freedom and capable of realizing on-line high-precision measurement according to claim 1, characterized in that: and a second motor (301) is arranged on one side of the movable arm (3), and the second motor (301) is connected with one end of the transmission rod (302).
5. The robot based on six degrees of freedom and capable of realizing on-line high-precision measurement according to claim 1, characterized in that: an assembling ring (7) is fixedly mounted on the outer side of the two sections of movable arms (4), a third motor (403) is mounted on the front wall of the inner side of the mounting shell (402), and the output end of the third motor (403) is connected with a rotating rod (404).
6. The robot based on six degrees of freedom and capable of realizing on-line high-precision measurement according to claim 1, characterized in that: a protective shell (502) is installed on the outer side of one group of bearing plates (501), a fourth motor (503) is installed on the inner side of the protective shell (502), the output end of the fourth motor (503) is connected with a supporting rotating rod (504), an assembling plate (505) is installed on the outer side of the other group of bearing plates (501), and an image recognition camera (506) is installed on the front face of the assembling plate (505) in a penetrating mode.
7. The robot based on six degrees of freedom and capable of realizing on-line high-precision measurement according to claim 1, characterized in that: connecting groove (601) are installed through the output pole to the output of double-end motor (6), and rotating member (602) is installed through the output pole to another output of double-end motor (6), and telescopic link (603) are installed to the both sides of rotating member (602), and splint (604) are installed to the output of telescopic link (603), and infrared distance measuring device (605) are installed to the inboard of splint (604) through installing, and tablet (606) are installed to the inboard of splint (604).
8. The robot based on six degrees of freedom and capable of realizing on-line high-precision measurement according to claim 5, is characterized in that: the top of the assembling ring (7) is provided with a connecting plate (701).
9. The robot based on six-degree-of-freedom and capable of realizing on-line high-precision measurement according to any one of claims 1-8 is characterized by comprising the following working steps:
s1, a user fixes the bottom plate (101) on the ground through bolts, the stability of the device is ensured, then when the device runs, a driving motor (105) runs to drive a driving rotating rod (106), the driving rotating rod (106) rotates to drive a driving gear (107) to rotate, the driving gear (107) rotates to drive a driven gear (103) to rotate, the driven gear (103) rotates to drive a driven rotating rod (102) on the inner side to rotate, the driven rotating rod (102) rotates to drive a top rotating platform (2) to rotate, the rotating platform (2) rotates to drive a supporting column (202) on the top to turn, so that a supporting box (203) is driven to adjust the direction, the device is convenient to operate and control, the rotating wheel (201) on the bottom is driven to rotate while the rotating platform (2) rotates, the rotating wheel (201) moves along the top of a guide slide way (108), and the situation that the device deviates in the moving process is avoided, the device can be ensured to operate stably;
s2, after the supporting box (203) is rotated to a specified direction, the first motor (204) operates to drive the rotating rod (205) to rotate, the rotating rod (205) rotates to drive the first movable arm (3) to perform angle movement, the first movable arm (3) movably drives the second motor (301) at the top to move, after the first movable arm (3) is adjusted to a proper angle, the second motor (301) operates to drive the driving rod (302) to rotate, the driving rod (302) rotates to drive the mounting seat (401) at the outer side to rotate, and the mounting seat (401) rotates to drive the second movable arm (4) to perform angle adjustment, so that the mounting shell (402) can move;
s3, the mounting shell (402) fixes a third motor (403) inside, the third motor (403) operates to drive a rotating rod (404) at the output end to rotate, the rotating rod (404) rotates to drive a rotating disk (5) to rotate, the rotating disk (5) rotates to take out a bearing plate (501) for angle adjustment, a worker can adjust the device as required, and after the equipment is prepared, the worker fixes an external device on a connecting groove (601) through a bolt, so that the worker can assemble the equipment conveniently;
s4, then a fourth motor (503) operates to drive a supporting rotating rod (504) to rotate, the supporting rotating rod (504) rotates to drive a double-end motor (6) to rotate, the double-end motor (6) is enabled to turn over, a connecting groove (601) is moved to the rear end, a rotating piece (602) at the rear end is moved to the front end, a clamping plate (604) is moved to two sides of a product to be processed through the previous matching, then a telescopic rod (603) adjusts the length, the telescopic rod (603) stretches and retracts, an induction plate (606) is abutted to two sides of a workpiece, then an infrared distance measuring device (605) emits infrared rays, and the infrared rays are transmitted to an infrared receiver inside the other infrared distance measuring device (605), so that the distance of the two groups of clamping plates (604) is judged, the specification of the workpiece at the position can be accurately measured, and the device can conveniently process the workpiece according to measured data, after the measurement is finished, the double-head motor (6) is controlled to rotate by the fourth motor (503), so that the processed workpiece returns to the original position, and the product is processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111034527.2A CN113664614A (en) | 2021-09-03 | 2021-09-03 | Robot capable of realizing online high-precision measurement based on six degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111034527.2A CN113664614A (en) | 2021-09-03 | 2021-09-03 | Robot capable of realizing online high-precision measurement based on six degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113664614A true CN113664614A (en) | 2021-11-19 |
Family
ID=78548452
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111034527.2A Pending CN113664614A (en) | 2021-09-03 | 2021-09-03 | Robot capable of realizing online high-precision measurement based on six degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113664614A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115156425A (en) * | 2022-06-29 | 2022-10-11 | 江苏中海重型机床有限公司 | Feeding equipment capable of achieving automatic turn-over effect for numerical control bending machine |
| CN118682568A (en) * | 2024-08-23 | 2024-09-24 | 长沙精锐智能科技有限公司 | Online detection equipment for machining |
| CN118682568B (en) * | 2024-08-23 | 2024-10-22 | 长沙精锐智能科技有限公司 | Online detection equipment for machining |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015199152A (en) * | 2014-04-07 | 2015-11-12 | 株式会社ジェイテクト | Machine tool with work-affection detection sensor |
| CN108246643A (en) * | 2018-01-29 | 2018-07-06 | 河南理工大学 | A kind of industry mechanical arm processing defective work statistic device synchronous based on construction and method |
| CN207788331U (en) * | 2018-01-08 | 2018-08-31 | 江西越泰实业有限公司 | Functional universal stationary fixture |
| CN109366484A (en) * | 2017-11-30 | 2019-02-22 | 金超 | A kind of Intelligent unattended is sold goods mechanical arm and its control system |
| CN208854637U (en) * | 2018-10-08 | 2019-05-14 | 四川汉林自动化科技有限责任公司 | Mechanical arm for lens assemblage machine |
| CN211889594U (en) * | 2019-12-09 | 2020-11-10 | 徐州双驰消防器材有限公司 | Fixing clamp for welding of automobile robot |
| CN211926764U (en) * | 2020-04-26 | 2020-11-13 | 济南天马泰山石材有限公司 | Three-coordinate member using artificial stone |
| CN111993447A (en) * | 2020-07-23 | 2020-11-27 | 南京市晨枭软件技术有限公司 | Industrial robot manipulator structure with high flexibility and use method thereof |
| CN213412045U (en) * | 2020-10-23 | 2021-06-11 | 山西鹿之造电子科技有限公司 | Six-degree-of-freedom mechanical arm |
-
2021
- 2021-09-03 CN CN202111034527.2A patent/CN113664614A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015199152A (en) * | 2014-04-07 | 2015-11-12 | 株式会社ジェイテクト | Machine tool with work-affection detection sensor |
| CN109366484A (en) * | 2017-11-30 | 2019-02-22 | 金超 | A kind of Intelligent unattended is sold goods mechanical arm and its control system |
| CN207788331U (en) * | 2018-01-08 | 2018-08-31 | 江西越泰实业有限公司 | Functional universal stationary fixture |
| CN108246643A (en) * | 2018-01-29 | 2018-07-06 | 河南理工大学 | A kind of industry mechanical arm processing defective work statistic device synchronous based on construction and method |
| CN208854637U (en) * | 2018-10-08 | 2019-05-14 | 四川汉林自动化科技有限责任公司 | Mechanical arm for lens assemblage machine |
| CN211889594U (en) * | 2019-12-09 | 2020-11-10 | 徐州双驰消防器材有限公司 | Fixing clamp for welding of automobile robot |
| CN211926764U (en) * | 2020-04-26 | 2020-11-13 | 济南天马泰山石材有限公司 | Three-coordinate member using artificial stone |
| CN111993447A (en) * | 2020-07-23 | 2020-11-27 | 南京市晨枭软件技术有限公司 | Industrial robot manipulator structure with high flexibility and use method thereof |
| CN213412045U (en) * | 2020-10-23 | 2021-06-11 | 山西鹿之造电子科技有限公司 | Six-degree-of-freedom mechanical arm |
Non-Patent Citations (1)
| Title |
|---|
| 郭爱芳: "《传感器原理及应用》", 31 May 2007, 西安电子科技大学出版社 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115156425A (en) * | 2022-06-29 | 2022-10-11 | 江苏中海重型机床有限公司 | Feeding equipment capable of achieving automatic turn-over effect for numerical control bending machine |
| CN115156425B (en) * | 2022-06-29 | 2024-01-23 | 江苏中海重型机床有限公司 | Feeding equipment capable of realizing self-turning effect for numerical control bending machine |
| CN118682568A (en) * | 2024-08-23 | 2024-09-24 | 长沙精锐智能科技有限公司 | Online detection equipment for machining |
| CN118682568B (en) * | 2024-08-23 | 2024-10-22 | 长沙精锐智能科技有限公司 | Online detection equipment for machining |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111331367B (en) | Intelligent assembly control system | |
| US6366831B1 (en) | Coordinate measurement machine with articulated arm and software interface | |
| US10030972B2 (en) | Calibration of a coordinate measuring machine using a calibration laser head at the tool centre point | |
| US5402582A (en) | Three dimensional coordinate measuring apparatus | |
| US20040126198A1 (en) | Multi-axis cartesian guided parallel kinematic machine | |
| JP5580215B2 (en) | Electric coordinate measuring device | |
| CN101298984A (en) | Coordinate measuring method and device | |
| CN209295918U (en) | A kind of gear detector | |
| CN206339207U (en) | A kind of path accuracy repetition measurement instrument | |
| CN110053072A (en) | A kind of composite mechanical arm mechanism and its method for carrying out material carrying | |
| CN113664614A (en) | Robot capable of realizing online high-precision measurement based on six degrees of freedom | |
| CN114770605B (en) | Robot measurement calibration system | |
| CN110231010B (en) | Three-coordinate measuring machine and measuring method based on Delta parallel mechanism | |
| CN216558983U (en) | Multi-degree-of-freedom moving and rotating inertia measurement unit test platform | |
| CN107036795A (en) | A kind of Multifunctional debugging platform | |
| CN110398746A (en) | A kind of test device of articulated robot positioning accuracy | |
| CN107186701B (en) | Teaching mechanical arm parameter calibration device and method for three-degree-of-freedom parallel mechanism | |
| CN114459353B (en) | Pipeline pose measuring device and method | |
| CN207263146U (en) | Complex-curved measuring device based on six degree of freedom auxiliary robot | |
| CN1570558A (en) | Pose detecting device for robot with six degrees of freedom | |
| CN106546270B (en) | Robot positioning precision tester and contact type measuring method | |
| CN109839088A (en) | A kind of mechanism of portable combination of rigidity and flexibility and robot performance's test device | |
| CN108680105A (en) | A kind of method and device of the three-dimensional relative position coordinates non-contact measurement of fixed point | |
| CN206804283U (en) | A kind of Multifunctional debugging platform | |
| CN111360584A (en) | Large-size revolving body workpiece surface detection device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211119 |