CN218639650U - Six arms of full-automatic anchor robot that bore - Google Patents
Six arms of full-automatic anchor robot that bore Download PDFInfo
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- CN218639650U CN218639650U CN202320190546.2U CN202320190546U CN218639650U CN 218639650 U CN218639650 U CN 218639650U CN 202320190546 U CN202320190546 U CN 202320190546U CN 218639650 U CN218639650 U CN 218639650U
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- rotary joint
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- mechanical arm
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Abstract
The utility model relates to a six arms of full-automatic anchor robot that bores belongs to and bores the anchor field, including preceding arm, back arm, first rotary joint, second rotary joint, third rotary joint and combination joint, the lower part of the one end of back arm install first rotary joint on, install the upper portion of the other end of back arm the second rotary joint, install forearm amplitude cylinder base on the second rotary joint. The utility model has the advantages that: the plane on which the X axis is located rotates through the first rotary joint, the second rotary joint and the third rotary joint; when in use, the combined joint is connected with the drilling and anchoring machine body through a bolt, and the combined joint is adjusted in two directions to enable the drilling and anchoring machine body to generate two-axis motion; when the forearm amplitude-variable oil cylinder works, the front mechanical arm is driven to move up and down, and multi-directional movement is realized.
Description
Technical Field
The utility model relates to a six arms of full-automatic anchor robot that bore belongs to the arm field.
Background
The front end of the conventional mechanical arm, especially the final output part of the mechanical arm, is driven by a chain or a belt; due to the arrangement, the lever force between the shafts is larger, so that the motor for driving the chain or the belt to move is large in load and large in output; in this case, the mechanical arm is unevenly stressed and is easy to shake.
Meanwhile, although some multi-axis mechanical arms exist in the prior art, most of the multi-axis mechanical arms adopt a mode that a guide rail supports an oil cylinder to move, the adjustment dimensionality is small, the operation is limited more, and the multi-axis mechanical arms are inflexible.
SUMMERY OF THE UTILITY MODEL
For overcoming prior art's defect, the utility model provides a six arms of full-automatic anchor robot that bores, the technical scheme of the utility model is:
the six-axis mechanical arm of the full-automatic drilling and anchoring robot comprises a front mechanical arm, a rear mechanical arm, a first rotary joint, a second rotary joint, a third rotary joint and a combined joint, wherein the lower part of one end of the rear mechanical arm is installed on the first rotary joint, the second rotary joint is installed on the upper part of the other end of the rear mechanical arm, a forearm amplitude-variable oil cylinder base is installed on the second rotary joint, the forearm amplitude-variable oil cylinder base is integrally arranged in a Z shape, one end of the front mechanical arm is installed on the upper part of the forearm amplitude-variable oil cylinder base in a rotating mode through a rear hinged base, the third rotary joint is installed on the upper part of the other end of the front mechanical arm, the combined joint is installed on the third rotary joint, a cylinder body of a forearm amplitude-variable oil cylinder is hinged to the lower part of the forearm amplitude-variable oil cylinder base, a front hinged base is arranged on the lower part of the front mechanical arm, and a piston rod of the forearm amplitude-variable oil cylinder is hinged to the front base.
The combined joint comprises a fourth rotary joint and a fifth rotary joint, and the fifth rotary joint is arranged on the upper part of the fourth rotary joint and is vertical to the fourth rotary joint.
The first rotary joint, the second rotary joint, the third rotary joint, the fourth rotary joint and the fifth rotary joint are identical in structure and respectively comprise a rotary support, a rotary disc and a driving motor, the rotary disc is rotatably mounted on the rotary support and is driven by the driving motor mounted on the rotary support, the rotary surfaces of the first rotary joint, the second rotary joint and the third rotary joint rotate along the plane where the X axis is located, the fourth rotary joint rotates along the plane where the Z axis is located, and the fifth rotary joint rotates along the plane where the Y axis is located.
The utility model has the advantages that: the plane on which the X axis is located rotates through the first rotary joint, the second rotary joint and the third rotary joint; when in use, the combined joint is connected with the body of the drilling and anchoring machine through a bolt, and the two-axis movement of the body of the drilling and anchoring machine is realized by adjusting the combined joint in two directions; when the forearm amplitude-variable oil cylinder works, the front mechanical arm is driven to move up and down, multi-directional movement is realized, the movement range is wide, and the position can be reached more accurately.
Drawings
Fig. 1 is a schematic view of the main structure of the present invention.
Fig. 2 is a top view of fig. 1.
Fig. 3 is another schematic view of fig. 1.
Wherein the first rotary joint 2001; a rear mechanical arm 2002; a second rotary joint 2003; a front mechanical arm 2004; the third rotary joint 2005; a combination joint 2006; a forearm luffing cylinder 2007; forearm luffing cylinder base 2008; a fourth rotation joint 2009; and a fifth rotary joint 2010.
Detailed Description
The invention will be further described with reference to specific embodiments, the advantages and features of the invention will become more apparent as the description proceeds. These examples are merely illustrative and do not limit the scope of the invention in any way. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention, and that such changes and modifications are intended to be included within the scope of the invention.
Referring to fig. 1 to 3, the utility model relates to a six-axis manipulator of full-automatic anchor drilling robot, including preceding manipulator 2004, back manipulator 2002, first rotary joint 2001, second rotary joint 2003, third rotary joint 2005 and combination joint 2006, the lower part of one end of back manipulator 2002 is installed on first rotary joint 2001, the upper portion of the other end of back manipulator 2002 is installed with second rotary joint 2003, install forearm luffing cylinder base 2008 on this second rotary joint 2003, this forearm luffing cylinder base 2008 is overall to be the setting of Z style, the upper portion of forearm luffing cylinder base 2008 is installed through back articulated seat pivoted to one end of this preceding manipulator 2004, the upper portion of the other end is installed with third rotary joint 2005, install on third rotary joint 2005 the combination joint 2006, the cylinder body of forearm luffing cylinder 2007 articulates the lower part of the luffing cylinder base 2008, the lower part of preceding manipulator 2004 is provided with preceding articulated seat, the piston rod of this forearm cylinder 2007 articulates together with preceding articulated seat.
The combined joint 2006 includes a fourth rotation joint 2009 and a fifth rotation joint 2010, and the fifth rotation joint 2010 is attached to an upper portion of the fourth rotation joint 2009 and is provided perpendicular to the fourth rotation joint 2009.
The first rotary joint 2001, the second rotary joint 2003, the third rotary joint 2005, the fourth rotary joint 2009 and the fifth rotary joint 2010 are identical in structure and respectively comprise a rotary support, a rotary disc and a driving motor, the rotary disc is rotatably mounted on the rotary support and is driven by the driving motor mounted on the rotary support, the rotary surfaces of the first rotary joint 2001, the second rotary joint 2003 and the third rotary joint 2005 rotate along a plane where an X axis is located, the fourth rotary joint 2009 rotates along the plane where a Z axis is located, and the fifth rotary joint 2010 rotates along the plane where the Y axis is located.
The utility model discloses a theory of operation is:
1. a rear mechanical arm 2002 of the six-axis mechanical arm is fixed on the first rotary joint 2001 through a bolt, and the rear mechanical arm 2002 rotates along with the first rotary joint 2001;
2. a second rotary joint 2003 of the six-axis mechanical arm is fixed on the rear mechanical arm 2002 through a bolt, and a forearm luffing cylinder base 2008 is fixed on the second rotary joint 2003 through a bolt and rotates along with the second rotary joint 2003;
3. the rear part of a front mechanical arm 2004 of the six-axis mechanical arm is hinged with a forearm luffing cylinder base 2008, and the front part is hinged with a piston rod of a forearm luffing cylinder 2007; when the front arm amplitude cylinder 2007 stretches, the front mechanical arm 2004 rotates at the hinged position of the front arm amplitude base 2008, and the other end of the front mechanical arm 2004 lifts and inclines around the hinged point along with the stretching of the front arm amplitude cylinder 2007;
4. the third rotary joint 2005 is fixed to the other end of the front mechanical arm 2004 by a bolt; the combined joint 2006 is fixed on the third rotary joint 2005 through a bolt, and rotates along with the rotation of the third rotary joint 2005;
5. the combined joint is connected with the drilling machine body through a bolt, and the combined joint 2006 is adjusted in two directions, so that the drilling and anchoring machine body moves in two axes.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (3)
1. The six-axis mechanical arm of the full-automatic drilling and anchoring robot is characterized by comprising a front mechanical arm, a rear mechanical arm, a first rotary joint, a second rotary joint, a third rotary joint and a combined joint, wherein the lower part of one end of the rear mechanical arm is installed on the first rotary joint, the second rotary joint is installed on the upper part of the other end of the rear mechanical arm, a forearm amplitude-variable oil cylinder base is installed on the second rotary joint, the whole forearm amplitude-variable oil cylinder base is arranged in a Z shape, one end of the front mechanical arm is installed on the upper part of the forearm amplitude-variable oil cylinder base in a rotating mode through a rear hinged seat, the third rotary joint is installed on the upper part of the other end of the front mechanical arm, the combined joint is installed on the third rotary joint, a cylinder body of a forearm amplitude-variable oil cylinder is hinged to the lower part of the forearm amplitude-variable oil cylinder base, a front hinged seat is arranged on the lower part of the front mechanical arm, and a piston rod of the forearm amplitude-variable oil cylinder is hinged to the front seat.
2. The six-axis robot arm of the fully automatic drilling and anchoring robot according to claim 1, wherein the combined joint comprises a fourth rotary joint and a fifth rotary joint, and the fifth rotary joint is installed at the upper part of the fourth rotary joint and is arranged perpendicular to the fourth rotary joint.
3. The six-axis mechanical arm of the full-automatic drilling and anchoring robot according to claim 2, wherein the first rotary joint, the second rotary joint, the third rotary joint, the fourth rotary joint and the fifth rotary joint are identical in structure and comprise rotary supports, a rotary disc and a driving motor, the rotary disc is rotatably mounted on the rotary supports and is driven by the driving motor mounted on the rotary supports, the rotary surfaces of the first rotary joint, the second rotary joint and the third rotary joint rotate along the plane where the X axis is located, the fourth rotary joint rotates along the plane where the Z axis is located, and the fifth rotary joint rotates along the plane where the Y axis is located.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320190546.2U CN218639650U (en) | 2023-02-13 | 2023-02-13 | Six arms of full-automatic anchor robot that bore |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320190546.2U CN218639650U (en) | 2023-02-13 | 2023-02-13 | Six arms of full-automatic anchor robot that bore |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218639650U true CN218639650U (en) | 2023-03-17 |
Family
ID=85501873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320190546.2U Active CN218639650U (en) | 2023-02-13 | 2023-02-13 | Six arms of full-automatic anchor robot that bore |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218639650U (en) |
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2023
- 2023-02-13 CN CN202320190546.2U patent/CN218639650U/en active Active
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