Anti-toppling industrial robot

Abstract

This invention relates to the field of industrial robot technology, and in particular to an anti-tipping industrial robot. The anti-tipping industrial robot includes a robot body with support plates fixedly connected to the bottom ends on both sides. A connecting seat is fixedly connected to the center of the top of the robot body. The body contains a dynamic center of gravity adjustment mechanism composed of a drive gear, a driven gear, a swing arm, and a load-bearing block, which can adjust the center of gravity position in real time according to the working posture to counteract the tipping torque. The bottom is equipped with a hydraulically driven support plate and rubber pads, combined with an expandable gravity block auxiliary support structure. This allows for rapid expansion of the support range and improved grounding stability under heavy loads, off-center loads, and large-range extension of the robotic arm. It effectively solves the problems of insufficient anti-tipping capacity, delayed response, and easy instability in complex working conditions caused by traditional robots relying solely on passive support. The overall structure is stable and reliable, significantly improving the operational safety and applicability of industrial robots.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, specifically to an anti-tipping industrial robot. Background Technology

[0002] Industrial robots are mechatronic devices designed for industrial production. They are automatically controllable, multi-degree-of-freedom, and capable of repetitive, high-precision tasks. Typically, they consist of a mechanical body, a drive system, a sensing and detection unit, and a control system. They can complete a series of operations such as grasping, handling, assembly, welding, painting, sorting, and loading / unloading according to preset programs or autonomously planned paths. They can replace manual labor in repetitive, heavy, high-risk, or high-precision production environments, and are characterized by flexibility, fast response, and reliable operation. They are core equipment in modern intelligent manufacturing, automated production lines, and industrial digital upgrading, and are widely used in various industries such as automobile manufacturing, machinery processing, electronics, and warehousing and logistics.

[0003] Currently, traditional industrial robots generally suffer from significant deficiencies in their anti-tipping safety designs, resulting in limited overall protection. Most devices rely solely on passive methods such as increasing base weight and expanding fixed support areas to improve basic stability, lacking active stabilization measures for typical working conditions such as heavy-duty gripping, large-range extension of the robotic arm, eccentric loads, and high-speed movement and turning. This makes it difficult to dynamically counteract constantly changing tipping moments. While some robots are equipped with basic tilt angle detection devices, these suffer from insufficient monitoring accuracy, slow response, and limited adjustment methods, failing to make rapid and effective compensation adjustments based on real-time posture and stress states. Furthermore, in complex industrial scenarios such as uneven ground, sudden external collisions, and highly disturbed operations, existing protective structures are prone to failure. Lacking reliable emergency support structures and multiple safety redundancy designs, their overall anti-tipping capability is weak, and stability and safety cannot be effectively guaranteed, posing significant safety hazards such as equipment tipping, workpiece damage, and even personnel injury.

[0004] Therefore, we propose an anti-tipping industrial robot. Summary of the Invention

[0005] The purpose of this invention is to provide an anti-tipping industrial robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an anti-tipping industrial robot, comprising: a robot body, with support plates fixedly connected to the bottom ends of both sides of the robot body, and a connecting seat fixedly connected to the center of the top of the robot body.

[0007] Preferably, a drive rod is symmetrically and rotatably mounted between the two support plates, a roller is fixedly connected to the outer side of the center of the drive rod, and a conveyor belt is mounted between the outer sides of the two rollers.

[0008] This structure provides a stable and reliable driving foundation for the robot. The drive rod drives the rollers and conveyor belt to work together, enabling the robot to walk, turn and change positions smoothly on the workshop floor. It ensures that the robot body is stable and does not shake during the movement, avoiding the center of gravity shift caused by unstable drive. At the same time, the conveyor belt can increase the contact area with the ground, improve the grip and anti-slip performance during walking, and reduce the possibility of sideslip, bumps and tipping during the movement, providing a basic guarantee for the overall stable operation of the robot.

[0009] Preferably, a fixed disk is fixedly connected to the center of the inner wall of the robot body, a drive gear is rotatably mounted on the bottom of the fixed disk, a driven gear is mounted on one side of the drive gear and is rotatably connected to the fixed disk, the drive gear and the driven gear are meshed on the outside, a swing rod is fixedly connected to the center of the drive gear and the driven gear, a load-bearing block is fixedly connected to the other end of the swing rod, a rotating motor is installed inside the fixed disk and the output end of the rotating motor is fixedly connected to the drive gear.

[0010] This structure, serving as the core of the robot's dynamic center of gravity adjustment mechanism, can adjust the overall center of gravity in real time based on changes in the robot arm's extension direction, load position, and body posture. This is achieved by rotating a motor to drive the active and driven gears to rotate, causing the swing arm and load-bearing block to swing in the opposite direction of the overturning direction. This keeps the center of gravity within the safe support area, actively counteracting the overturning moment from the source of mechanics and effectively suppressing unstable trends such as forward tilting and lateral tilting. Compared to traditional fixed counterweight methods, this structure is more flexible and responds faster, significantly improving the robot's dynamic stability under complex working conditions such as off-center loading, extension, and turning.

[0011] Preferably, a fixed frame is fixedly connected to the bottom of the robot body, and hydraulic motors are symmetrically installed on the inner wall of the bottom of the robot body. A connecting plate is fixedly connected to the output end of the hydraulic motor, and extension rods are fixedly connected to the bottom of both ends of the connecting plate. The extension rods pass through the inside of the fixed frame, and a base plate is fixedly connected to the bottom of the two extension rods. A mounting plate is fixedly connected to the bottom of the base plate, and a rubber gasket is installed at the bottom of the mounting plate.

[0012] This structure provides strong downward support when the robot is stationary, under heavy load, or in an abnormal posture. It outputs stable thrust through a hydraulic motor to push the connecting plate, extension rod, and base plate downward to press them firmly against the ground. This ensures that the rubber pads are tightly attached to the ground, significantly improving support rigidity, ground contact area, and frictional resistance. It effectively prevents the robot from slipping, swaying, lifting, or tilting forward. At the same time, the rubber pads have cushioning, shock absorption, and anti-slip properties, which can absorb operational vibrations and adapt to slightly uneven ground, further enhancing support reliability and providing a stable bottom foundation for the robot.

[0013] Preferably, the fixed frame has symmetrically arranged movable grooves at both ends, and movable blocks are slidably installed inside the movable grooves. One end of the movable block is fixedly connected to the outer side of the connecting plate, and the other end of the movable block is fixedly connected to a rack. Drive gears are symmetrically and rotatably installed on the outer side of both ends of the fixed frame, and the outer side of the rack meshes with the outer side of the two drive gears. A first support rod is rotatably installed at the bottom front end of the drive gear. A telescopic rod is fixedly connected to the front end of the first support rod, and a second support rod is fixedly connected to the other end of the telescopic rod. A recycling groove is symmetrically arranged inside the bottom plate, and a pull plate is slidably installed inside the recycling groove. The outer side of the pull plate is rotatably connected to the second support rod, and a gravity block is fixedly connected to the front end of the pull plate.

[0014] This structure is a synchronously linked, expandable anti-tipping mechanism. While the base plate presses down to support it, the movable block and rack drive the drive gear to rotate, which in turn drives the first support rod, telescopic rod, and second support rod to extend the pull plate and gravity block smoothly outward from the recovery trough. This automatically widens the bottom support range, forming a multi-level, large-span stable support structure, significantly improving the robot's anti-tipping and anti-forward tilting capabilities. The entire expansion process is completed synchronously with the hydraulic support, requiring no additional drive or control. The structure is compact, reliable, and responsive, and can quickly provide emergency support in dangerous situations such as sudden tilting or external collisions, minimizing the risk of tipping over.

[0015] Preferably, the bottom outer side of the robot body is covered with a flexible wear-resistant protective pad layer, which is made of a high-damping elastic material and has uniformly distributed anti-slip textures on its surface.

[0016] Preferably, the support plate is made of a rigid plate with bending resistance, and has an overall stable support structure that extends outward. The edges of the support plate are provided with reinforced edges that have a rounded transition.

[0017] Compared with existing technologies, the beneficial effects of this invention are as follows: through the synergistic effect of dynamic adaptive adjustment of the center of gravity, hydraulic clamping support, gravity block extension support and lateral rigid limit, a closed-loop, highly reliable anti-tipping protection mechanism is formed. It can quickly respond, compensate at multiple levels and remain stable throughout the process under harsh working conditions such as eccentric load, large-scale movement of the robotic arm, uneven ground, sudden external force collision and high-speed turning, effectively avoiding the occurrence of tipping accidents, greatly improving the operational safety of industrial robots, the reliability of equipment operation and the adaptability to complex industrial scenarios, and meeting the stringent requirements of modern intelligent manufacturing for the stability and safety of automated equipment. Attached Figure Description

[0018] Figure 1 This is one of the overall structural schematic diagrams of the present invention; Figure 2 This is the second schematic diagram of the overall structure of the present invention; Figure 3 This is one of the structural schematic diagrams of the present invention; Figure 4 This is a second partial structural schematic diagram of the present invention.

[0019] In the diagram: 1. Robot body; 2. Support plate; 3. Connecting seat; 4. Drive rod; 5. Roller; 6. Conveyor belt; 7. Fixed plate; 8. Drive gear; 9. Driven gear; 10. Swing rod; 11. Load-bearing block; 12. Rotary motor; 13. Fixed frame; 14. Hydraulic motor; 15. Connecting plate; 16. Extension rod; 17. Base plate; 18. Mounting plate; 19. Rubber pad; 20. Movable groove; 21. Movable block; 22. Rack; 23. Drive gear; 24. First support rod; 25. Telescopic rod; 26. Second support rod; 27. Recycling trough; 28. Pull plate; 29. ​​Gravity block. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-4 An anti-tipping industrial robot includes: a robot body 1, with support plates 2 fixedly connected to the bottom ends of both sides of the robot body 1, and a connecting seat 3 fixedly connected to the center of the top of the robot body 1.

[0022] Please see Figures 1-4A drive rod 4 is symmetrically and rotatably mounted between the two support plates 2. A roller 5 is fixedly connected to the outer side of the center of the drive rod 4. A conveyor belt 6 is installed between the outer side of the two rollers 5.

[0023] Please see Figures 1-4 A fixed disk 7 is fixedly connected to the center of the inner wall of the robot body 1. An active gear 8 is rotatably mounted on the bottom of the fixed disk 7. A driven gear 9 is mounted on one side of the active gear 8 and is rotatably connected to the fixed disk 7. The active gear 8 and the driven gear 9 are meshed on the outside. A swing rod 10 is fixedly connected to the center of the active gear 8 and the driven gear 9. A load-bearing block 11 is fixedly connected to the other end of the swing rod 10. A rotating motor 12 is installed inside the fixed disk 7 and the output end of the rotating motor 12 is fixedly connected to the active gear 8. During normal operation, the internal rotating motor 12 continuously drives the active gear 8 to rotate stably. The active gear 8 and the driven gear 9 maintain precise meshing and transmission, driving the two sets of swing arms 10 and the end load-bearing blocks 11 to swing synchronously in opposite directions according to the robot's real-time posture, the position of the load center of gravity, and the extension direction of the robotic arm. By dynamically changing the distribution of the overall center of gravity, the center of gravity is always constrained within a safe and stable support area. From a mechanical principle perspective, this actively counteracts the overturning moment generated by off-center loading, extension, steering, and external disturbances, quickly suppressing the tendency of the robot to tilt forward, tilt to the side, or sway, thus achieving posture stability control at the source level.

[0024] Please see Figures 1-4 The robot body 1 has a fixed frame 13 fixedly connected to its bottom end. Hydraulic motors 14 are symmetrically installed on the inner wall of the bottom end of the robot body 1. A connecting plate 15 is fixedly connected to the output end of the hydraulic motor 14. Extension rods 16 are fixedly connected to the bottom ends of both ends of the connecting plate 15, and the extension rods 16 pass through the interior of the fixed frame 13. A base plate 17 is fixedly connected to the bottom ends of the two extension rods 16. A mounting plate 18 is fixedly connected to the bottom of the base plate 17, and a rubber pad 19 is installed at the bottom end of the mounting plate 18. The bottom hydraulic motor 14 immediately starts and outputs a stable thrust, pushing the connecting plate 15 downwards smoothly. The connecting plate 15 drives the extension rods 16, base plate 17, mounting plate 18, and rubber pad 19 to press downwards and tightly adhere to the ground, significantly improving the bottom support rigidity, ground contact area, and ground friction adhesion, preventing the robot body from slipping, bouncing, or tilting, while providing reliable foundation support for the entire machine.

[0025] Please see Figures 1-4The fixed frame 13 has symmetrical movable slots 20 at both ends. Movable blocks 21 are slidably installed inside the movable slots 20. One end of the movable block 21 is fixedly connected to the outside of the connecting plate 15, and the other end of the movable block 21 is fixedly connected to a rack 22. Drive gears 23 are symmetrically rotatably installed on the outside of both ends of the fixed frame 13. The outside of the rack 22 is meshed with the outside of the two drive gears 23. A first support rod 24 is rotatably installed at the bottom front end of the drive gear 23. A telescopic rod 25 is fixedly connected to the front end of the first support rod 24. A second support rod 26 is fixedly connected to the other end of the telescopic rod 25. The bottom plate 17 has symmetrically opened recycling slots 27 inside. A pull plate 28 is slidably installed inside the recycling slots 27. The outside of the pull plate 28 is rotatably connected to the second support rod 26. A gravity block 29 is fixedly connected to the front end of the pull plate 28. The movable blocks 21 on both sides of the connecting plate 15 move down and slide in a direction along the movable groove 20 inside the fixed frame 13, driving the rack 22 to move synchronously. The rack 22 and the drive gear 23 form a stable meshing transmission. The drive gear 23 rotates and pushes the first support rod 24, the telescopic rod 25 and the second support rod 26 in sequence to extend the pull plate 28 and the gravity block 29 inside the recycling tank 27 outward smoothly, greatly expanding the effective support range at the bottom and forming a multi-level extended support structure, further improving the robot's anti-tilt and anti-rollover capabilities.

[0026] Please see Figures 1-4 The robot body 1 has a flexible wear-resistant protective pad layer covering the bottom outer side. The protective pad layer is made of high-damping elastic material and has uniformly distributed anti-slip texture on the surface.

[0027] Please see Figures 1-4 The support plate 2 is made of rigid plate with bending resistance and has an overall stable support structure that extends outward. The support plate 2 has a reinforced edge with a rounded transition.

[0028] Working Principle: This anti-tipping industrial robot operates under various complex industrial conditions, including mobile transport, large-range extension of the robotic arm, eccentric load handling, fixed-point operation, and high-speed turning. Through the coordinated operation of a dynamic center of gravity adjustment mechanism, a hydraulic support and clamping mechanism, a lateral expansion support mechanism, and a rigid limiting mechanism, it forms a stable, multi-level anti-tipping system. During normal operation, the internal rotating motor 12 continuously drives the drive gear 8 to rotate stably. The drive gear 8 and the driven gear 9 maintain precise meshing and transmission, driving two sets of swing arms 10 and the end-mounted load-bearing blocks 11 to swing synchronously in opposite directions according to the robot's real-time posture, the load's center of gravity position, and the robotic arm's extension direction. By dynamically changing the overall center of gravity distribution, the center of gravity is always constrained within a safe and stable support area. From a mechanical perspective, this actively counteracts the overturning torque generated by eccentric loading, extension, turning, and external disturbances, quickly suppressing any tendency for the robot to tilt forward, sideways, or sway, achieving posture stability control at the source. When the robot enters a heavy-load gripping or stationary operation state, or when the built-in attitude monitoring component detects that the body tilt angle has reached a preset threshold, the bottom hydraulic motor 14 immediately starts and outputs a stable thrust, pushing the connecting plate 15 to move downward smoothly. The connecting plate 15 drives the extension rod 16, the base plate 17, the mounting plate 18, and the rubber pad 19 to press downward and fit tightly against the ground, significantly improving the bottom support rigidity, ground contact area, and ground friction adhesion, preventing the body from slipping, bouncing, or tilting, while providing reliable basic support for the whole machine. During this process, the movable blocks 21 on both sides of the connecting plate 15 move downwards and slide directionally along the movable groove 20 inside the fixed frame 13, driving the rack 22 to move synchronously. The rack 22 and the drive gear 23 form a stable meshing transmission. The drive gear 23 rotates and sequentially pushes the first support rod 24, the telescopic rod 25 and the second support rod 26 in a coordinated manner, smoothly extending the pull plate 28 and the gravity block 29 inside the recycling tank 27 outwards, greatly widening the effective support range at the bottom and forming a multi-level extended support structure, further improving the robot's anti-tilt and anti-rollover capabilities. The support plates 2 fixedly connected to both sides of the robot body 1 continuously provide lateral rigid support constraints, limiting excessive tilting, swaying or offset of the body during operation, and strengthening the overall structural stability. The entire system, through the combined effects of dynamic adaptive adjustment of the center of gravity, hydraulic clamping support, gravity block 29 extended support, and lateral rigid limit, forms a closed-loop, highly reliable anti-tipping protection mechanism. It can respond quickly, provide multi-level compensation, and maintain stability throughout the entire process under harsh working conditions such as eccentric loads, large movements of the robotic arm, uneven ground, sudden external force collisions, and high-speed turns, effectively preventing tipping accidents. It significantly improves the operational safety of industrial robots, the reliability of equipment operation, and the adaptability to complex industrial scenarios, meeting the stringent requirements of modern intelligent manufacturing for the stability and safety of automated equipment.

[0029] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0030] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A tip-proof industrial robot, characterized in that, include: The robot body (1) has a support plate (2) fixedly connected to the bottom of both sides of the robot body (1) and a connecting seat (3) fixedly connected to the center of the top of the robot body (1).

2. An anti-toppling industrial robot according to claim 1, characterized in that: A drive rod (4) is symmetrically mounted between the two support plates (2). A roller (5) is fixedly connected to the outer side of the center of the drive rod (4). A conveyor belt (6) is mounted between the two rollers (5).

3. An anti-toppling industrial robot according to claim 1, characterized in that: A fixed disk (7) is fixedly connected to the center of the inner wall of the robot body (1). An active gear (8) is rotatably installed on the bottom of the fixed disk (7). A driven gear (9) is installed on one side of the active gear (8), and the driven gear (9) is rotatably connected to the fixed disk (7). The active gear (8) and the driven gear (9) are meshed on the outside. A swing rod (10) is fixedly connected to the center of the active gear (8) and the driven gear (9). A load-bearing block (11) is fixedly connected to the other end of the swing rod (10). A rotating motor (12) is installed inside the fixed disk (7), and the output end of the rotating motor (12) is fixedly connected to the active gear (8).

4. An anti-toppling industrial robot according to claim 1, characterized in that: The robot body (1) is fixedly connected to a fixed frame (13) at the bottom. Hydraulic motors (14) are symmetrically installed on the inner wall of the bottom of the robot body (1). A connecting plate (15) is fixedly connected to the output end of the hydraulic motor (14). Extension rods (16) are fixedly connected to the bottom of both ends of the connecting plate (15), and the extension rods (16) pass through the inside of the fixed frame (13). A base plate (17) is fixedly connected to the bottom of the two extension rods (16). An installation plate (18) is fixedly connected to the bottom of the base plate (17). A rubber pad (19) is installed at the bottom of the installation plate (18).

5. An anti-toppling industrial robot according to claim 4, characterized in that: The fixed frame (13) has symmetrically opened movable slots (20) at both ends. Movable blocks (21) are slidably installed inside the movable slots (20). One end of the movable block (21) is fixedly connected to the outside of the connecting plate (15). The other end of the movable block (21) is fixedly connected to a rack (22). The fixed frame (13) has symmetrically rotated drive gears (23) at both ends. The outside of the rack (22) meshes with the outside of the two drive gears (23). The front end of the bottom of the drive gear (23) is rotatably installed with a first support rod (24). The front end of the first support rod (24) is fixedly connected to a telescopic rod (25). The other end of the telescopic rod (25) is fixedly connected to a second support rod (26). The bottom plate (17) has symmetrically opened recycling slots (27). Pull plates (28) are slidably installed inside the recycling slots (27). The outside of the pull plates (28) is rotatably connected to the second support rod (26). The front end of the pull plates (28) is fixedly connected to a gravity block (29).

6. An anti-toppling industrial robot according to claim 1, characterized in that: The robot body (1) is covered with a flexible wear-resistant protective pad on the bottom outer side. The protective pad is made of a high-damping elastic material and has uniformly distributed anti-slip textures on its surface.

7. An anti-toppling industrial robot according to claim 1, characterized in that: The support plate (2) is made of rigid plate with bending resistance and has an overall outward-extending stable support structure. The support plate (2) has a reinforced edge with a rounded transition.

Images