CN210791002U - Reamer robot - Google Patents
Reamer robot Download PDFInfo
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- CN210791002U CN210791002U CN201921444058.XU CN201921444058U CN210791002U CN 210791002 U CN210791002 U CN 210791002U CN 201921444058 U CN201921444058 U CN 201921444058U CN 210791002 U CN210791002 U CN 210791002U
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- support arm
- motor
- rotating shaft
- machine table
- arm
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Abstract
The utility model discloses a reamer robot, which comprises a machine table base; a first motor with an upward rotating shaft is vertically arranged in the machine table base, and a first support arm in rotating fit with the machine table base is arranged on the machine table base; the bottom of the first support arm is fixedly connected with a rotating shaft of a first motor, a second support arm is rotatably matched on the right side of one end, far away from the machine table, of the first support arm, and a second motor is arranged on the horizontal left side of one end, far away from the machine table, of the first support arm; a rotating shaft of the second motor is fixedly connected with the second support arm; a third support arm is rotatably matched with the left side of one end, far away from the machine table, of the second support arm, and a third motor is horizontally arranged on the right side of one end, far away from the machine table, of the second support arm; a rotating shaft of the third motor is fixedly connected with the third support arm; a fourth motor is fixedly arranged at one end of the third support arm close to the second support arm; a rotating shaft of the fourth motor is parallel to the length direction of the third support arm; and a rotating rod in running fit with the third support arm is arranged in the third support arm.
Description
Technical Field
The utility model relates to a reamer robot.
Background
An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field, can automatically execute work, and is a machine which realizes various functions by means of self power and control capacity; the robot can receive human commands and can also run according to a pre-arranged program, and a modern industrial robot can also perform actions according to a principle formulated by an artificial intelligence technology;
the following problems exist in the market at present: the existing robot for the reamer generally does not have a displacement measuring sensor, and the accuracy is low; only by means of a set program, after the operation is carried out for a period of time, the position can generate deviation, and a measuring sensor does not detect the position, so that the operation quality and the operation efficiency are influenced.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an it is not enough to overcome above-mentioned condition, aims at providing the technical scheme that can solve above-mentioned problem.
A reamer robot comprises a machine table base; a first motor with an upward rotating shaft is vertically arranged in the machine table base, and a first support arm in rotating fit with the machine table base is arranged on the machine table base; the bottom of the first support arm is fixedly connected with a rotating shaft of a first motor, a second support arm is rotatably matched on the right side of one end, far away from the machine table, of the first support arm, and a second motor is arranged on the horizontal left side of one end, far away from the machine table, of the first support arm; a rotating shaft of the second motor is fixedly connected with the second support arm; a third support arm is rotatably matched with the left side of one end, far away from the machine table, of the second support arm, and a third motor is horizontally arranged on the right side of one end, far away from the machine table, of the second support arm; a rotating shaft of the third motor is fixedly connected with the third support arm; a fourth motor is fixedly arranged at one end of the third support arm close to the second support arm; a rotating shaft of the fourth motor is parallel to the length direction of the third support arm; a rotating rod which is in rotating fit with the third support arm is arranged in the third support arm; one end of the rotating rod is fixedly connected with a rotating shaft of a fourth motor, and the other end of the rotating rod is fixedly connected with a fourth support arm; the fourth support arm is in rotating fit with the third support arm, and one end of the fourth support arm, which is far away from the third support arm, is connected with a fifth support arm; the other end of the fifth support arm is connected with a material clamp; the left side surface and the right side surface of the material clamp are symmetrically provided with two displacement measuring sensors.
Preferably, the material clamp comprises a shell; the shell is hollow, an opening is formed in the top of the shell, a hydraulic cylinder with an upward piston rod is vertically arranged in the shell, and a left clamping arm and a right clamping arm are respectively arranged at the left end and the right end of the inner top of the shell; the left end of the bottom of the left clamping arm is rotationally matched with the inner top of the shell, and the right end of the bottom of the left clamping arm is rotationally matched with the front end of a piston rod of the hydraulic cylinder; the right end of the bottom of the right clamping arm is in running fit with the top of the shell, and the left end of the bottom of the right clamping arm is in running fit with the rear end of a piston rod of the hydraulic cylinder.
Preferably, four angles in the bottom of the machine base are provided with damping rubber.
Preferably, the displacement measuring sensor is in the model of OD1-B150F0AQ 14.
Preferably, the first motor, the second motor, the third motor and the fourth motor are all servo motors.
Preferably, a fifth motor is arranged on the side surface of the fourth support arm; a rotating shaft is fixedly connected to a rotating shaft of the fifth motor; the rotating shaft is positioned in the fourth support arm and is in rotating fit with the fourth support arm; the fifth support arm is fixedly connected with the rotating shaft, and the length direction of the fifth support arm is perpendicular to the length direction of the rotating shaft.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses reamer robot is equipped with displacement measurement sensor, can detect the position of work piece, feeds back its detected signal to the computer, realizes motor position correction through prior art's procedure to improve industrial robot's accuracy.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of the structure of the material clamp of the present invention.
Fig. 3 is a schematic view of the structure of the rotating shaft of the present invention.
In the figure: a machine base 1; a first electric machine 2; a first arm 3; a second support arm 4; a second motor 5; a third support arm 6; a third motor 7; a fourth motor 8; rotating the rod 9; a fourth support arm 10; a fifth support arm 11; a material clamp 12; a displacement measuring sensor 13; a housing 14; a hydraulic cylinder 15; a left clamp arm 16; a right clamp arm 17; a cushion rubber 18; a fifth motor 19; the shaft 20 is rotated.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it should be understood that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 to 3, in an embodiment of the present invention, a reamer robot includes a machine base 1; a first motor 2 with an upward rotating shaft is vertically arranged in the machine table base 1, and a first supporting arm 3 in rotary fit with the machine table base 1 is arranged on the machine table base 1; the bottom of the first support arm 3 is fixedly connected with a rotating shaft of the first motor 2, the right side of one end, far away from the machine table, of the first support arm 3 is rotatably matched with a second support arm 4, and the horizontal left side of one end, far away from the machine table, of the first support arm 3 is provided with a second motor 5; a rotating shaft of the second motor 5 is fixedly connected with the second support arm 4; a third support arm 6 is rotatably matched on the left side of one end, far away from the machine table, of the second support arm 4, and a third motor 7 is horizontally arranged on the right side of one end, far away from the machine table, of the second support arm 4; a rotating shaft of the third motor 7 is fixedly connected with the third support arm 6; a fourth motor 8 is fixedly arranged at one end of the third support arm 6 close to the second support arm 4; the rotating shaft of the fourth motor 8 is parallel to the length direction of the third support arm 6; a rotating rod 9 which is in rotating fit with the third support arm 6 is arranged in the third support arm; one end of the rotating rod 9 is fixedly connected with a rotating shaft of the fourth motor 8, and the other end of the rotating rod 9 is fixedly connected with a fourth support arm 10; the fourth support arm 10 is in rotating fit with the third support arm 6, and a fifth support arm 11 is connected to one end, far away from the third support arm 6, of the fourth support arm 10; the other end of the fifth support arm 11 is connected with a material clamp 12; the left side surface and the right side surface of the material clamp 12 are symmetrically provided with two displacement measuring sensors 13.
Preferably, the cartridge 12 comprises a housing 14; the inside of the shell 14 is hollow, an opening is formed in the top of the shell 14, a hydraulic cylinder 15 with an upward piston rod is vertically arranged in the shell 14, and a left clamping arm 16 and a right clamping arm 17 are respectively arranged at the left end and the right end of the inner top of the shell 14; the left end of the bottom of the left clamping arm 16 is rotationally matched with the inner top of the shell 14, and the right end of the bottom of the left clamping arm 16 is rotationally matched with the front end of a piston rod of the hydraulic cylinder 15; the right end of the bottom of the right clamping arm 17 is in running fit with the inner top of the shell 14, and the left end of the bottom of the right clamping arm 17 is in running fit with the rear end of the piston rod of the hydraulic cylinder 15.
Preferably, four angles in the bottom of the machine base 1 are provided with damping rubber 18.
Preferably, the displacement measuring sensor 13 is of the type OD1-B150F0AQ 14.
Preferably, the first motor 2, the second motor 5, the third motor 7 and the fourth motor 8 are all servo motors.
Preferably, a fifth motor 19 is arranged on the side surface of the fourth support arm 10; a rotating shaft 20 is fixedly connected to a rotating shaft of the fifth motor 19; the rotating shaft 20 is positioned in the fourth support arm 10 and is in rotating fit with the fourth support arm 10; the fifth support arm 11 is fixedly connected with the rotating shaft 20, and the length direction of the fifth support arm 11 is perpendicular to the length direction of the rotating shaft 20.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. 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.
Claims (6)
1. A reamer robot is characterized by comprising a machine table base; a first motor with an upward rotating shaft is vertically arranged in the machine table base, and a first support arm in rotating fit with the machine table base is arranged on the machine table base; the bottom of the first support arm is fixedly connected with a rotating shaft of a first motor, a second support arm is rotatably matched on the right side of one end, far away from the machine table, of the first support arm, and a second motor is arranged on the horizontal left side of one end, far away from the machine table, of the first support arm; a rotating shaft of the second motor is fixedly connected with the second support arm; a third support arm is rotatably matched with the left side of one end, far away from the machine table, of the second support arm, and a third motor is horizontally arranged on the right side of one end, far away from the machine table, of the second support arm; a rotating shaft of the third motor is fixedly connected with the third support arm; a fourth motor is fixedly arranged at one end of the third support arm close to the second support arm; a rotating shaft of the fourth motor is parallel to the length direction of the third support arm; a rotating rod which is in rotating fit with the third support arm is arranged in the third support arm; one end of the rotating rod is fixedly connected with a rotating shaft of a fourth motor, and the other end of the rotating rod is fixedly connected with a fourth support arm; the fourth support arm is in rotating fit with the third support arm, and one end of the fourth support arm, which is far away from the third support arm, is connected with a fifth support arm; the other end of the fifth support arm is connected with a material clamp; the left side surface and the right side surface of the material clamp are symmetrically provided with two displacement measuring sensors.
2. The reamer robot of claim 1, wherein the collet comprises a housing; the shell is hollow, an opening is formed in the top of the shell, a hydraulic cylinder with an upward piston rod is vertically arranged in the shell, and a left clamping arm and a right clamping arm are respectively arranged at the left end and the right end of the inner top of the shell; the left end of the bottom of the left clamping arm is rotationally matched with the inner top of the shell, and the right end of the bottom of the left clamping arm is rotationally matched with the front end of a piston rod of the hydraulic cylinder; the right end of the bottom of the right clamping arm is rotationally matched with the inner top of the shell, and the left end of the bottom of the right clamping arm is rotationally matched with the rear end of a piston rod of the hydraulic cylinder; the two displacement measuring sensors are respectively positioned on the left side surface and the right side surface of the shell.
3. The reamer robot of claim 1, wherein four corners of the bottom of the base of the machine platform are provided with damping rubber.
4. The reamer robot of claim 1, wherein the displacement measurement sensor is OD1-B150F0AQ 14.
5. The reamer robot of claim 1, wherein the first motor, the second motor, the third motor, and the fourth motor are all servo motors.
6. The reamer robot of claim 1, wherein a fifth motor is disposed on a side of the fourth arm; a rotating shaft is fixedly connected to a rotating shaft of the fifth motor; the rotating shaft is positioned in the fourth support arm and is in rotating fit with the fourth support arm; the fifth support arm is fixedly connected with the rotating shaft, and the length direction of the fifth support arm is perpendicular to the length direction of the rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921444058.XU CN210791002U (en) | 2019-09-02 | 2019-09-02 | Reamer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921444058.XU CN210791002U (en) | 2019-09-02 | 2019-09-02 | Reamer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210791002U true CN210791002U (en) | 2020-06-19 |
Family
ID=71244062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921444058.XU Active CN210791002U (en) | 2019-09-02 | 2019-09-02 | Reamer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210791002U (en) |
-
2019
- 2019-09-02 CN CN201921444058.XU patent/CN210791002U/en active Active
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