An industrial robot with load capacity

Abstract

The present invention belongs to the field of robot technology, and specifically is an industrial robot with load-bearing capacity, comprising a robot; the robot comprises a base; a rotating arm is rotatably mounted on the base; a large arm is rotatably mounted on a driving mechanism in the rotating arm; a small arm is rotatably mounted on the driving mechanism at the top of the large arm; a manipulator is mounted on the small arm; a reinforcing plate is mounted on the side of the large arm away from the manipulator; a mounting plate is fixedly mounted on the side of the reinforcing plate away from the large arm; a circular groove is provided on one end surface of one side of the mounting plate; a rotating disk is rotatably connected to the circular groove via a rotating shaft; a rotating rod is rotatably connected to the edge of the rotating disk; a small arm balancing mechanism is provided on the mounting plate and the small arm; a large arm balancing mechanism is provided on the rotating arm and the large arm; the present invention can balance the load of the large arm and the small arm when grabbing heavy objects by arranging the large arm balancing mechanism and the small arm balancing mechanism, thereby reducing the load on the large arm and the small arm when working.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, in particular to an industrial robot with load-bearing capacity. Background Art

[0002] With the continuous development of my country's robotics industry, the technology and research fields have reached a certain level, and the technical level of industrial robots has also developed rapidly. Traditional industrial robots generally include a base, a rotating arm, a large arm, and a small arm. At present, in the field of industrial automation and intelligent manufacturing, the requirements for the load capacity and precision of robots are getting higher and higher. Due to the limitations of their structure, traditional industrial robots have limitations in load capacity and workspace.

[0003] In order to reduce the driving torque of industrial robots and increase the robot's motion balance, a balancing device needs to be installed on the robot's upper and lower arms. The balancing device is very important for improving the overall performance of the robot and is also an important measure to simplify programming and control. There are four main common robot arm balancing technologies: mass balancing method, spring balancing method, pneumatic or hydraulic balancing method, and balanced torque motor method.

[0004] Among them, the spring balancing method refers to: balancing the robot arm by stretching or compressing the spring; the spring balancing cylinder is a balancing structure derived from the spring balancing method; the main components of the spring balancing cylinder are the spring cylinder, the spring, and the guide rod. One end of the guide rod is connected to the robot arm, and the other end is connected to the piston. The other end of the spring cylinder is fixed to the robot base. When the robot arm rotates, the robot arm will lengthen the spring, thereby reducing the motor load on the robot arm and improving the working stability of the robot.

[0005] However, when the robotic arm grabs a heavy object, the load on the robotic arm will increase. Therefore, when the robotic arm rotates, it will bear the load brought by the heavy object, which will increase the load on the robotic arm during operation, resulting in reduced stability of the robot during operation. Summary of the invention

[0006] In order to make up for the shortcomings of the prior art and solve the above technical problems, the present invention proposes an industrial robot with load capacity, which can balance the load of the upper arm and the lower arm when grabbing heavy objects by setting a large arm balancing mechanism and a small arm balancing mechanism, thereby reducing the load on the upper arm and the lower arm when working. The specific structure is as follows:

[0007] An industrial robot with load capacity comprises a robot, and the robot is controlled by a control system; the robot comprises a base; a rotating arm is rotatably mounted on the base; a large arm is rotatably mounted on a driving mechanism in the rotating arm;

[0008] A small arm is rotatably mounted on the driving mechanism at the top of the large arm; a manipulator is mounted on the small arm for grabbing goods;

[0009] A reinforcing plate is installed on the side of the upper arm away from the manipulator; a mounting plate is fixedly installed on the side of the reinforcing plate away from the upper arm, and the two corners at the top of the mounting plate are both rounded;

[0010] A circular groove is formed on one end surface of the mounting plate; a rotating disk is rotatably connected to the circular groove via a rotating shaft; a servo motor is fixedly mounted on the other end surface of the mounting plate;

[0011] The driving shaft on the servo motor is connected to the rotating shaft on the turntable through a coupling; a rotating rod is rotatably connected to the edge of the turntable, and the rotating rod is located directly below the rotating shaft on the turntable in the initial state;

[0012] The mounting plate and the forearm are provided with a forearm balancing mechanism; the rotating arm and the upper arm are provided with an upper arm balancing mechanism, and the number of the upper arm balancing mechanisms is two, and they are respectively located at the positions on both sides of the upper arm; the forearm balancing mechanism and the upper arm balancing mechanism have the same structure;

[0013] The small arm balancing mechanism and the large arm balancing mechanism both include a cylindrical cylinder, and the top and bottom of the cylindrical cylinder are both closed;

[0014] Two piston discs are slidably connected in the cylindrical cylinder, namely an upper piston disc and a lower piston disc; a compression spring is fixedly connected between the two piston discs.

[0015] Preferably, through holes are provided at the top and bottom of the cylindrical cylinder, and sealing rings are provided in the through holes; a connecting rod is fixedly connected to the top of the upper plug plate; and the connecting rod passes through the through hole at the top of the cylindrical cylinder;

[0016] The connecting rod in the forearm balancing mechanism extends to the end of the forearm and is rotatably mounted at the end of the forearm;

[0017] The connecting rod in the upper arm balancing mechanism extends to the joint point where the upper arm and the lower arm rotate with each other, and the connecting rod rotates on the upper arm through the rotating shaft;

[0018] A hydraulic cylinder is fixedly installed at the bottom of the lower plug plate, and the cylinder barrel of the hydraulic cylinder passes through the through hole at the bottom of the cylindrical cylinder and extends to the bottom of the cylindrical cylinder;

[0019] The piston rod of the hydraulic cylinder in the forearm balancing mechanism extends to one side of the rotating rod and is rotatably connected to the rotating rod; the piston rod of the hydraulic cylinder in the boom balancing mechanism extends to the joint point where the boom and the rotating arm rotate with each other, and the piston rod rotates on the rotating arm through a rotating shaft, and the rotating shaft on the piston rod is concentrically arranged with the joint point where the boom and the rotating arm rotate with each other;

[0020] The compression spring in the forearm balancing mechanism pulls the forearm through the connecting rod, and in the initial state, the forearm is in a balanced state under the pull of the compression spring;

[0021] The compression spring in the upper arm balancing mechanism pulls the upper arm through the connecting rod. In the initial state, the upper arm is in a balanced state under the pull of the compression spring.

[0022] Preferably, the outer ring surface of the turntable is provided with evenly arranged notches;

[0023] The end surface of one side of the mounting plate away from the reinforcing plate is fixedly connected to the electric telescopic rod, and the extension rod of the electric telescopic rod extends into one of the notches in the initial state.

[0024] Preferably, a weighing sensor is installed on the manipulator, and the weighing sensor feeds back the acquired information to the control system.

[0025] Preferably, the bottom of the mounting plate is fixedly connected to a horizontal plate; arc-shaped grooves are provided at both ends of the horizontal plate;

[0026] The lower part of the horizontal plate is fixedly connected to two arc-shaped plates on the base, and the arc-shaped plates pass through the two arc-shaped grooves respectively and are slidably connected to the arc-shaped grooves;

[0027] The center of the arc plate is arranged concentrically with the joint point of the upper arm and the rotating arm.

[0028] Preferably, the outer ring surface of the rotating arm is fixedly connected with gear teeth that are evenly arranged;

[0029] The outer ring of the rotating arm is provided with an annular plate, and the inner ring surface of the annular plate is provided with evenly arranged tooth grooves, and the tooth grooves are meshed with the gear teeth; the arc plate is fixedly connected to the annular plate;

[0030] An annular groove is provided on the base below the annular plate, and the cross section of the annular groove is convex; the bottom of the annular plate is fixedly connected to convex blocks that are evenly arranged, and the convex blocks slide in the annular groove.

[0031] Preferably, the cylindrical cylinder is filled with lubricating oil, and the lubricating oil fills the cylindrical cylinder.

[0032] Preferably, a through groove is provided on the lower plug plate.

[0033] The beneficial effects of the present invention are as follows:

[0034] 1. An industrial robot with load capacity described in the present invention has a large arm and a small arm that are in a balanced state in the initial state under the action of the large arm balancing mechanism and the small arm balancing mechanism. Therefore, the large arm and the small arm can balance their own loads in the process of rotating to prepare for grabbing heavy objects. When the manipulator grabs the heavy object, the hydraulic cylinder is controlled to lengthen the compression spring, thereby increasing the pulling force of the connecting rod pulling the large arm and the small arm, thereby gradually balancing the load of the large arm and the small arm when grabbing the heavy object, thereby reducing the load on the large arm and the small arm when working, avoiding excessive load on the large arm and the small arm, which leads to reduced stability of the industrial robot.

[0035] 2. The industrial robot with load capacity described in the present invention has a weighing sensor installed on the manipulator. When the manipulator grabs a heavy object, the weighing sensor will feed back the weight information of the heavy object to the control system. At this time, the control system will control the hydraulic cylinder to shrink a corresponding distance according to the weight information of the heavy object, so that the tension generated by the compression spring can be controlled according to the shrinkage distance of the hydraulic cylinder. In this process, the tension generated by the compression spring can be controlled according to the weight of the goods, so as to ensure that the tension generated by the compression spring and the gravity of the heavy object are in a relatively balanced state, avoiding a large difference between the tension generated by the compression spring and the gravity of the heavy object, resulting in the upper arm and the forearm still being in an unbalanced state.

[0036] 3. The industrial robot with load capacity described in the present invention, when the hydraulic cylinder contracts and pulls the compression spring, the hydraulic cylinder will also apply an upward pulling force to the turntable and the mounting plate. Since the cross plate fixedly connected to the bottom of the mounting plate slides on the arc plate, and since the direction of the pulling force applied by the hydraulic cylinder to the turntable and the mounting plate is different from the direction in which the cross plate slides along the arc plate, the arc plate will hinder the cross plate, thereby alleviating the pulling force on the turntable and the mounting plate, and at the same time, the pulling force on the upper arm exerted by the mounting plate can be alleviated. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below in conjunction with the accompanying drawings.

[0038] Figure 1 It is a three-dimensional structural diagram of the robot of the present invention;

[0039] Figure 2 is a three-dimensional structural diagram of the robot of the present invention from another perspective;

[0040] Figure 3 It is a separation structure diagram of the robot of the present invention;

[0041] Figure 4 is a top view of the structure of the robot of the present invention;

[0042] Figure 5 The present invention Figure 4 Sectional structural diagram at AA in the middle;

[0043] Figure 6 The present invention Figure 5 A partial enlarged view of point B in the middle;

[0044] Figure 7 The present invention Figure 5 A partial enlarged view of point C in the middle;

[0045] Figure 8 The present invention Figure 5 A partial enlarged view of point D in the middle.

[0046] In the figure: 1. base; 11. rotating arm; 12. upper arm; 13. lower arm; 14. gear teeth; 15. annular plate; 16. annular groove; 17. convex block; 2. reinforcing plate; 21. mounting plate; 22. circular groove; 23. turntable; 24. servo motor; 25. rotating rod; 26. missing groove; 27. electric telescopic rod; 3. upper arm balancing mechanism; 31. lower arm balancing mechanism; 32. cylindrical cylinder; 33. upper plug plate; 34. lower plug plate; 35. compression spring; 36. connecting rod; 37. hydraulic cylinder; 38. through groove; 4. horizontal plate; 41. arc groove; 42. arc plate. DETAILED DESCRIPTION

[0047] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0048] Embodiment 1: Figures 1 to 8 As shown, the industrial robot with load capacity described in the present invention is specifically as follows:

[0049] The robot comprises a robot, and the robot is controlled by a control system; the robot comprises a base 1; a rotating arm 11 is rotatably mounted on the base 1; a large arm 12 is rotatably mounted on a driving mechanism in the rotating arm 11;

[0050] A small arm 13 is rotatably mounted on the driving mechanism at the top of the large arm 12; a manipulator is mounted on the small arm 13 for grabbing goods;

[0051] A reinforcing plate 2 is installed on the side of the upper arm 12 away from the manipulator; a mounting plate 21 is fixedly installed on the side of the reinforcing plate 2 away from the upper arm 12, and the two corners at the top of the mounting plate 21 are both rounded;

[0052] A circular groove 22 is formed on one end surface of the mounting plate 21; a rotating disk 23 is rotatably connected to the circular groove 22 via a rotating shaft; a servo motor 24 is fixedly mounted on the other end surface of the mounting plate 21;

[0053] The driving shaft on the servo motor 24 is connected to the rotating shaft on the turntable 23 through a coupling; the edge of the turntable 23 is rotatably connected to a rotating rod 25, and the rotating rod 25 is initially located directly below the rotating shaft on the turntable 23;

[0054] The mounting plate 21 and the forearm 13 are provided with a forearm balancing mechanism 31; the swing arm 11 and the upper arm 12 are provided with an upper arm balancing mechanism 3, and the number of the upper arm balancing mechanisms 3 is two, and they are respectively located at the two sides of the upper arm 12; the forearm balancing mechanism 31 has the same structure as the upper arm balancing mechanism 3;

[0055] The forearm balancing mechanism 31 and the upper arm balancing mechanism 3 both include a cylindrical cylinder 32, and the top and bottom of the cylindrical cylinder 32 are both closed;

[0056] Two piston discs are slidably connected in the cylindrical cylinder 32, namely an upper piston disc 33 and a lower piston disc 34; a compression spring 35 is fixedly connected between the two piston discs;

[0057] In this embodiment, through holes are provided at the top and bottom of the cylindrical cylinder 32, and sealing rings are provided in the through holes; a connecting rod 36 is fixedly connected to the top of the upper plug plate 33; the connecting rod 36 passes through the through hole at the top of the cylindrical cylinder 32;

[0058] The connecting rod 36 in the forearm balancing mechanism 31 extends to the end of the forearm 13 and is rotatably mounted at the end of the forearm 13;

[0059] The connecting rod 36 in the upper arm balancing mechanism 3 extends to the joint point where the upper arm 12 and the lower arm 13 rotate with each other, and the connecting rod 36 rotates on the upper arm 12 through the rotating shaft;

[0060] A hydraulic cylinder 37 is fixedly mounted on the bottom of the lower plug disc 34, and the cylinder barrel of the hydraulic cylinder 37 passes through the through hole at the bottom of the cylindrical cylinder 32 and extends to the bottom of the cylindrical cylinder 32;

[0061] The piston rod of the hydraulic cylinder 37 in the small arm balancing mechanism 31 extends to one side of the rotating rod 25 and is rotatably connected to the rotating rod 25; the piston rod of the hydraulic cylinder 37 in the large arm balancing mechanism 3 extends to the joint point where the large arm 12 and the rotating arm 11 rotate with each other, and the piston rod rotates on the rotating arm 11 through a rotating shaft, and the rotating shaft on the piston rod is concentrically arranged with the joint point where the large arm 12 and the rotating arm 11 rotate with each other;

[0062] The compression spring 35 in the forearm balancing mechanism 31 pulls the forearm 13 through the connecting rod 36. In the initial state, the forearm 13 is in a balanced state under the pull of the compression spring 35.

[0063] The compression spring 35 in the upper arm balancing mechanism 3 pulls the upper arm 12 through the connecting rod 36. In the initial state, the upper arm 12 is in a balanced state under the pull of the compression spring 35.

[0064] Specifically, when the industrial robot carries a heavy object, it first controls the rotation of the rotating arm 11, the upper arm 12 and the lower arm 13 according to the position of the heavy object. During the rotation of the rotating arm 11, it will rotate above the base 1, and the upper arm 12 and the lower arm 13 will rotate with the rotating arm 11. When the upper arm 12 is controlled to rotate, the upper arm 12 will rotate on the rotating arm 11. During the rotation of the upper arm 12, the lower arm 13 will be driven to rotate. Since the upper arm 12 is initially in a balanced state under the pull of the compression spring 35, during the rotation of the upper arm 12, the upper arm balancing mechanism 3 will be driven to rotate. Since the rotating shaft of the piston rod on the balancing structure of the upper arm 12 is concentric with the joint point where the upper arm 12 and the rotating arm 11 rotate with each other, during the rotation of the upper arm 12, the compression spring 35 in the upper arm balancing mechanism 3 always pulls the upper arm 12 through the connecting rod 36, so that the load of the upper arm 12 itself can be balanced.

[0065] When the manipulator grabs the heavy object, the hydraulic cylinder 37 in the arm balancing mechanism 3 is controlled to work, and the piston rod on the hydraulic cylinder 37 will gradually retract into the cylinder. In the process of the piston rod gradually retracting into the cylinder, the overall length of the hydraulic cylinder 37 becomes shorter, thereby pulling the lower plug plate 34 in the arm balancing mechanism 3 to slide downward. In the process of the lower plug plate 34 sliding downward, the lower plug plate 34 will pull the compression spring 35 to extend. At this time, the pulling force of the connecting rod 36 to pull the arm 12 will gradually increase. In this process, the load of the arm 12 when grabbing the heavy object can be gradually balanced, thereby reducing the load on the arm 12 when working, and avoiding excessive load on the arm 12, which leads to reduced stability of the industrial robot.

[0066] More specifically, when the forearm 13 is controlled to rotate, the forearm 13 will rotate on the basis of the rotation of the upper arm 12. When the forearm 13 rotates, the servo motor 24 is also controlled to rotate, and the servo motor 24 will drive the turntable 23 to rotate counterclockwise at a uniform speed. During the rotation of the forearm 13, the forearm balancing mechanism 31 will be gradually pulled to move upward. At the same time, during the counterclockwise rotation of the turntable 23, the forearm balancing mechanism 31 will also be driven to move upward through the rotating rod 25, so that the distance between the forearm 13 and the rotating rod 25 is always equal to the overall length of the forearm balancing mechanism 31 during the rotation of the forearm 13 and the rotating rod 25, so that the length of the forearm balancing mechanism 31 itself will not change, and it is equivalent to the working principle of the crank-connecting rod mechanism.

[0067] When the arm 13 rotates to the limit position, the rotating rod 25 rotates to the position just above the rotating shaft on the rotating disk 23. Since the arm 13 is initially in a balanced state under the pull of the compression spring 35, the compression spring 35 in the arm balance mechanism 31 always pulls the arm 13 through the connecting rod 36 during the rotation of the arm 13, so that the load of the arm 13 itself can be balanced.

[0068] Furthermore, when the manipulator grabs the heavy object, the hydraulic cylinder 37 in the forearm balancing mechanism 31 is controlled to work, and the piston rod on the hydraulic cylinder 37 will gradually retract into the cylinder barrel, thereby shortening the overall length of the hydraulic cylinder 37, thereby pulling the lower plug plate 34 downward, and at the same time the lower plug plate 34 will lengthen the compression spring 35, at this time the tension of the connecting rod 36 pulling the forearm 13 will gradually increase, thereby gradually balancing the load of the forearm 13 when grabbing the heavy object, thereby reducing the load on the forearm 13 when working, when the forearm 13 is in the process of restoring the initial state, the servo motor 24 also controls the turntable 23 to rotate clockwise to restore the initial state, thereby ensuring that the forearm 13 can also balance the load of the forearm 13 when grabbing the heavy object by lengthening the compression spring 35 during the rotation process of grabbing the heavy object;

[0069] Furthermore, by setting up the upper arm balancing mechanism 3 and the lower arm balancing mechanism 31, since the upper arm 12 and the lower arm 13 are in a balanced state in the initial state under the action of the upper arm balancing mechanism 3 and the lower arm balancing mechanism 31, the upper arm 12 and the lower arm 13 can balance the load of the upper arm 12 and the lower arm 13 themselves during the process of rotating to prepare to grab the heavy object. When the manipulator grabs the heavy object, the hydraulic cylinder 37 is controlled to lengthen the compression spring 35, so that the pulling force of the connecting rod 36 pulling the upper arm 12 and the lower arm 13 can be increased, so that the load of the upper arm 12 and the lower arm 13 when grabbing the heavy object can be gradually balanced, thereby reducing the load on the upper arm 12 and the lower arm 13 when working, and avoiding excessive load on the upper arm 12 and the lower arm 13, which leads to reduced stability of the industrial robot.

[0070] Embodiment 2: The outer surface of the turntable 23 is provided with evenly arranged notches 26; the end surface of the mounting plate 21 away from the reinforcing plate 2 is fixedly connected to the electric telescopic rod 27, and the extension rod of the electric telescopic rod 27 is initially extended into one of the notches 26;

[0071] The manipulator is equipped with a weighing sensor, and the weighing sensor feeds back the acquired information to the control system;

[0072] Specifically, since the outer surface of the turntable 23 is provided with evenly arranged notches 26, when the arm 13 is in a stationary state, the control system controls the electric telescopic rod 27 to extend, and the extension rod of the electric telescopic rod 27 is inserted into one of the notches 26. In this process, the turntable 23 can be limited and fixed, thereby reducing the load on the servo motor 24 when controlling the turntable 23 to be stationary;

[0073] More specifically, since a weighing sensor is installed on the manipulator, when the manipulator grabs a heavy object, the weighing sensor will feed back the weight information of the heavy object to the control system. At this time, the control system will control the hydraulic cylinder 37 to shrink a corresponding distance according to the weight information of the heavy object, so that the tension generated by the compression spring 35 can be controlled according to the shrinkage distance of the hydraulic cylinder 37. In this process, the tension generated by the compression spring 35 can be controlled according to the weight of the cargo, thereby ensuring that the tension generated by the compression spring 35 and the gravity of the heavy object are in a relatively balanced state, avoiding a large difference between the tension generated by the compression spring 35 and the gravity of the heavy object, resulting in the upper arm 12 and the lower arm 13 still being in an unbalanced state.

[0074] Embodiment 3: The bottom of the mounting plate 21 is fixedly connected to the transverse plate 4; arc grooves 41 are provided at both ends of the transverse plate 4; two arc plates 42 are fixedly connected to the base 1 below the transverse plate 4, and the arc plates 42 pass through the two arc grooves 41 respectively and are slidably connected to the arc grooves 41; the center of the arc plate 42 is concentrically arranged with the joint point of the upper arm 12 and the rotating arm 11; the outer ring surface of the rotating arm 11 is fixedly connected to the uniformly arranged gear teeth 14; the outer ring of the rotating arm 11 is provided with an annular plate 15, and the inner ring surface of the annular plate 15 is provided with uniformly arranged tooth grooves, and the tooth grooves are meshed with the gear teeth 14; the arc plate 42 is fixedly connected to the annular plate 15;

[0075] An annular groove 16 is provided on the base 1 below the annular plate 15, and the cross section of the annular groove 16 is convex; the bottom of the annular plate 15 is fixedly connected to convex blocks 17 that are evenly arranged, and the convex blocks 17 slide in the annular groove 16;

[0076] Specifically, when the upper arm 12 rotates, it will drive the small arm balancing mechanism 31 to rotate, and the horizontal plate 4 on the small arm balancing mechanism 31 will rotate along the arc plate 42. Therefore, the position of the arc plate 42 can limit the rotating small arm balancing mechanism 31, thereby indirectly limiting the rotating upper arm 12, thereby preventing the upper arm 12 from sliding when rotating. At the same time, since the arc plate 42 is fixedly connected to the annular plate 15, when the rotating arm 11 drives the upper arm 12 to rotate, the rotating arm 11 will drive the annular plate 15 to rotate through the gear teeth 14 and the tooth grooves, and the annular plate 15 will drive the arc plate 42 to rotate, so that the arc plate 42 can always follow the rotation of the horizontal plate 4. At the same time, the rotating annular plate 15 will drive the convex block 17 to rotate in the annular groove 16, and the annular groove 16 can also limit the annular plate 15 through the convex block 17.

[0077] More specifically, when the hydraulic cylinder 37 contracts and pulls the compression spring 35, the hydraulic cylinder 37 will also apply an upward pulling force to the turntable 23 and the mounting plate 21. Since the cross plate 4 fixedly connected to the bottom of the mounting plate 21 slides on the arc plate 42, and since the direction of the pulling force applied by the hydraulic cylinder 37 to the turntable 23 and the mounting plate 21 is different from the direction in which the cross plate 4 slides along the arc plate 42, the arc plate 42 will hinder the cross plate 4, thereby alleviating the pulling force on the turntable 23 and the mounting plate 21, and at the same time, it can also alleviate the pulling force on the mounting plate 21 on the upper arm 12.

[0078] Embodiment 4: The cylindrical cylinder 32 is filled with lubricating oil, and the lubricating oil fills the cylindrical cylinder 32; the lower plug plate 34 is provided with a through groove 38;

[0079] Specifically, since the cylindrical cylinder 32 is filled with lubricating oil, the lubricating oil can lubricate the compression spring 35, thereby preventing the compression spring 35 from being aggravated in the process of long-term extension and contraction, thereby affecting the service life of the compression spring 35. At the same time, the compression spring 35 can be cooled to prevent the compression spring 35 from overheating and losing its elasticity.

[0080] More specifically, when the lower plug plate 34 slides downward, the lubricating oil below the lower plug plate 34 will be squeezed into the upper part of the lower plug plate 34 through the through groove 38. When the lower plug plate 34 moves upward, the lubricating oil above the lower plug plate 34 can be squeezed into the lower part of the lower plug plate 34 through the through groove 38. In this process, when the lower plug plate 34 moves downward or upward, it can be ensured that the lubricating oil above the lower plug plate 34 always fills the space between the lower plug plate 34 and the upper plug plate 33, thereby avoiding the lubricating oil from failing to fill the space between the lower plug plate 34 and the upper plug plate 33, resulting in a part of the compression spring 35 being unable to contact the lubricating oil, thereby reducing the lubrication and heat dissipation effects of the compression spring 35.

[0081] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An industrial robot with load-bearing capacity, comprising a robot, and the robot is controlled by a control system; the robot comprises a base (1); a rotating arm (11) is rotatably mounted on the base (1); a large arm (12) is rotatably mounted on a driving mechanism in the rotating arm (11); A small arm (13) is rotatably mounted on the driving mechanism at the top of the large arm (12); a manipulator is mounted on the small arm (13) for grabbing goods; Features: A reinforcing plate (2) is installed on the side of the upper arm (12) away from the manipulator; a mounting plate (21) is fixedly installed on the side of the reinforcing plate (2) away from the upper arm (12), and the two corners at the top of the mounting plate (21) are both rounded; a circular groove (22) is opened on one end surface of the mounting plate (21); a rotating disk (23) is rotatably connected in the circular groove (22) via a rotating shaft; a servo motor (24) is fixedly installed on the other end surface of the mounting plate (21); The driving shaft on the servo motor (24) is connected to the rotating shaft on the turntable (23) through a coupling; a rotating rod (25) is rotatably connected to the edge of the turntable (23), and the rotating rod (25) is located directly below the rotating shaft on the turntable (23) in an initial state; The mounting plate (21) and the forearm (13) are provided with a forearm balancing mechanism (31); the rotating arm (11) and the upper arm (12) are provided with an upper arm balancing mechanism (3), and the number of the upper arm balancing mechanisms (3) is two and they are respectively located at two sides of the upper arm (12); the forearm balancing mechanism (31) and the upper arm balancing mechanism (3) have the same structure; The small arm balancing mechanism (31) and the large arm balancing mechanism (3) both include a cylindrical cylinder (32), and the top and bottom of the cylindrical cylinder (32) are both closed; Two piston discs are slidably connected in the cylindrical cylinder (32), namely an upper piston disc (33) and a lower piston disc (34); a compression spring (35) is fixedly connected between the two piston discs; The top and bottom of the cylindrical cylinder (32) are both provided with through holes, and sealing rings are provided in the through holes; the top of the upper plug plate (33) is fixedly connected to a connecting rod (36); the connecting rod (36) passes through the through hole at the top of the cylindrical cylinder (32); The connecting rod (36) in the forearm balancing mechanism (31) extends to the end of the forearm (13) and is rotatably mounted at the end of the forearm (13); The connecting rod (36) in the upper arm balancing mechanism (3) extends to the joint point where the upper arm (12) and the lower arm (13) rotate relative to each other, and the connecting rod (36) rotates on the upper arm (12) via a rotating shaft; A hydraulic cylinder (37) is fixedly mounted on the bottom of the lower plug plate (34), and the cylinder barrel of the hydraulic cylinder (37) passes through the through hole at the bottom of the cylindrical cylinder (32) and extends to the bottom of the cylindrical cylinder (32); The piston rod of the hydraulic cylinder (37) in the small arm balancing mechanism (31) extends to one side of the rotating rod (25) and is rotatably connected to the rotating rod (25); the piston rod of the hydraulic cylinder (37) in the large arm balancing mechanism (3) extends to the joint point where the large arm (12) and the rotating arm (11) rotate with each other, and the piston rod rotates on the rotating arm (11) through a rotating shaft, and the rotating shaft on the piston rod is concentrically arranged with the joint point where the large arm (12) and the rotating arm (11) rotate with each other; The compression spring (35) in the forearm balancing mechanism (31) pulls the forearm (13) through the connecting rod (36), and in the initial state, the forearm (13) is in a balanced state under the pull of the compression spring (35); The compression spring (35) in the upper arm balancing mechanism (3) pulls the upper arm (12) through the connecting rod (36), and in the initial state, the upper arm (12) is in a balanced state under the pull of the compression spring (35); The outer ring surface of the rotating disk (23) is provided with evenly arranged notches (26); the end surface of the mounting plate (21) on one side away from the reinforcing plate (2) is fixedly connected to an electric telescopic rod (27), and the extension rod of the electric telescopic rod (27) extends into one of the notches (26) in an initial state.

2. An industrial robot with load capacity according to claim 1, characterized in that: The manipulator is equipped with a weighing sensor, and the weighing sensor feeds back the acquired information to the control system.

3. An industrial robot with load capacity according to claim 2, characterized in that: The bottom of the mounting plate (21) is fixedly connected to the transverse plate (4); both ends of the transverse plate (4) are provided with arc-shaped grooves (41); Two arc-shaped plates (42) are fixedly connected to the base (1) below the transverse plate (4), and the arc-shaped plates (42) respectively pass through the two arc-shaped grooves (41) and are slidably connected to the arc-shaped grooves (41); The center of the arc plate (42) is arranged concentrically with the joint point of the upper arm (12) and the rotating arm (11).

4. An industrial robot with load capacity according to claim 3, characterized in that: The outer circumferential surface of the rotating arm (11) is fixedly connected to gear teeth (14) which are evenly arranged; The outer ring of the rotating arm (11) is provided with an annular plate (15), and the inner ring surface of the annular plate (15) is provided with evenly arranged tooth grooves, and the tooth grooves are meshed with the gear teeth (14); the arc plate (42) is fixedly connected to the annular plate (15); An annular groove (16) is provided on the base (1) below the annular plate (15), and the cross section of the annular groove (16) is convex; the bottom of the annular plate (15) is fixedly connected to convex blocks (17) that are evenly arranged, and the convex blocks (17) slide in the annular groove (16).

5. An industrial robot with load capacity according to claim 4, characterized in that: The cylindrical cylinder (32) is filled with lubricating oil, and the lubricating oil fills the cylindrical cylinder (32).

6. An industrial robot with load capacity according to claim 5, characterized in that: The lower plug plate (34) is provided with a through slot (38).

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