High-stability industrial robot

Abstract

The invention discloses a high-stability industrial robot, and relates to the technical field of industrial robots. Comprising a guide rail, a base is installed on the guide rail, and a multi-axis robot is fixed to the top of the base; the device further comprises a stabilizing disc, the stabilizing disc is installed at the bottom of the base through a rotating assembly, supporting bases are transversely and slidably installed in cavities in the two sides of the bottom of the stabilizing disc in a limiting mode, metal bases are slidably installed in the cavities in the bottoms of the supporting bases in an attached mode, and electromagnets are fixed to the inner walls of the cavities in the bottoms of the supporting bases. And the bottom of the metal base is connected with an abutting head through a strong spring and a telescopic rod, the abutting head is located on the bottom face of the inner cavity of the guide rail, and a first transverse rack is fixed between the two supporting bases. According to the high-stability industrial robot, when a heavy object is grabbed, a counter-acting force can be provided in the same direction to guarantee balance and stability, and meanwhile the position of the bottom counter-acting force is adjusted according to the grabbing position.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and specifically relates to a high-stability industrial robot. Background Art

[0002] Industrial robots are used in industrial manufacturing to replace traditional manual operations with robots and cooperate with automation technology to achieve high-precision operations, which helps to improve work efficiency and reduce the harm to personnel in some work types. However, the existing industrial robots have the following problems when in use: Most industrial robots are applied to the transfer of workpieces. With the characteristics of guide rails and multiple axes, they transfer the positions of workpieces. During this process, the existing industrial robots are not convenient for balanced support according to the weight of the workpieces. When grasping workpieces outside the guide rail, under the state of unbalanced gravity, deviations are likely to occur. In the long run, it will cause damage to the base and itself, resulting in low stability. At the same time, when transferring, there are also changes in the grasping direction and grasping position. The existing industrial robots are not convenient for adjusting the balancing process according to the position changes, which is also an important factor affecting their stability.

[0003] In view of the above problems, there is an urgent need for innovative design on the basis of the original industrial robots. Summary of the Invention

[0004] The purpose of the present invention is to provide a high-stability industrial robot to solve the problems proposed in the above background art that the existing industrial robots are not convenient for balanced support according to the weight of the workpieces and are not convenient for adjusting the balancing process according to the position changes. The technical solution of the present invention provides a solution significantly different from the prior art for the technical problem that the prior art solutions are too single.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A high-stability industrial robot includes a guide rail, on which a base is installed, and a multi-axis robot is fixed on the top of the base; It further includes a stabilizing disk, which is installed at the bottom of the base through a rotating assembly. At both sides of the bottom cavity of the stabilizing disk, support seats are horizontally and limit-slidingly installed. Inside the bottom cavity of the support seat, a metal seat is fittingly and slidingly installed. An electromagnet is fixed on the inner wall of the bottom cavity of the support seat. The bottom of the metal seat is connected with a contact head through a strong spring and a telescopic rod. The contact head is located on the bottom surface of the inner cavity of the guide rail. A first horizontal rack is fixed between the two support seats; A balancing assembly, which is arranged between the inside of the stabilizing disk and the top of the support seat, and is used to adjust the reaction force of the strong springs at the two support seats; A driving component, which is arranged inside the stabilizing disc and is used to drive the first horizontal rack and the balancing component to operate respectively; A switching component, which is arranged inside the stabilizing disc and is used to switch the driving component.

[0006] Preferably, the rotating component includes a toothed disc and a toothed roller. The toothed disc is sleeved on the rotating shaft at the top of the stabilizing disc, and the outside of the toothed disc is meshed with the toothed roller. The toothed roller is installed at the bottom of the base through a motor.

[0007] Preferably, after the electromagnet is energized, it magnetically adsorbs the metal seat, and the electromagnets are symmetrically arranged inside the metal seat.

[0008] Preferably, the balancing component includes a second horizontal rack, which is embedded and horizontally slidably arranged inside the stabilizing disc. Connecting rods are embedded and fitted and slidably arranged in the cavities at both ends of the second horizontal rack. The outer ends of the connecting rods are fixed with first piston rods, and the first piston rods are arranged inside the oil tank. The oil tank is fixed on the top of the support seat. The lower half of the oil tank is provided with a second piston rod, and the bottom end of the second piston rod is fixed on the top of the metal seat.

[0009] Preferably, the oil tank is designed in an "L" - shaped structure, and the moving directions of the first piston rod and the second piston rod inside the oil tank are opposite.

[0010] Preferably, the driving component includes a driving column, which is vertically slidably installed inside the stabilizing disc. Upper gears and lower gears are respectively sleeved on the upper and lower sides of the driving column. The upper gears and lower gears are respectively meshed with the second horizontal rack and the first horizontal rack. The top of the driving column is limited and nested with a driving shaft, and the driving shaft is installed inside the stabilizing disc through a motor.

[0011] Preferably, the upper gears and lower gears are alternately meshed with the second horizontal rack and the first horizontal rack, and the bottom cross - section of the driving shaft is in a rectangular structure and is limited and slidable in the cavity at the top of the driving column.

[0012] Preferably, the switching component includes a cross - plate connected and installed inside the stabilizing disc by an electric push rod. The cross - plate is fixed on both sides of the driving column. A first vertical rack is installed at the top of the middle part of the cross - plate. The outside of the first vertical rack is connected with a second vertical rack through a transmission gear. The first vertical rack, the transmission gear and the second vertical rack are all limited and installed in the cavity at the protruding position at the bottom of the second horizontal rack. A contact bar is installed at the top of the outer end of the cross - plate, and the top of the contact bar penetrates through the oil tank and is located at the bottom of the rod area of the first piston rod.

[0013] Preferably, the bottoms of the first vertical rack and the interference bar both slide horizontally within the cavity at the top of the transverse plate, the interference bar and the second vertical rack move in opposite directions, and the top of the second vertical rack passes through the second transverse rack and interferes with the bottom of the connecting rod.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention, when grabbing a workpiece, according to the weight of the workpiece, the motor drives the driving shaft and the upper gear to rotate, and then drives the second horizontal rack to move, so that the left and right first piston rods follow the movement, and cooperate with the oil tank to make the left and right second piston rods move under force, that is, the first piston rod on one side of the workpiece moves downward to squeeze the strong spring, and the first piston rod away from the side of the workpiece moves upward to release the strong spring, so that the strong spring on one side of the workpiece can provide a stronger reaction force, and when the workpiece is clamped, a balanced support force is provided from the bottom to improve the stability of the industrial robot; 2. According to the present invention, when the workpiece is grasped and transferred, on the one hand, the stabilizing plate is driven to rotate together with the industrial robot through the rotating assembly, and on the other hand, the horizontal plate is first driven to move up through the electric push rod to switch the meshing state of the upper gear and the lower gear, and then the state of the second vertical rack and the interference bar is switched, so that when the motor drives the driving column to rotate through the driving shaft, the two support seats can be driven to move, and the oil tank follows the movement without affecting the state of the second piston rod in the oil tank. The positions of the two support seats are adjusted based on the center point of the stabilizing plate, that is, when the distance between the workpiece and the base becomes closer and closer as the position of the workpiece is transferred, the two support seats at the bottom need to be balanced to prevent the reaction force of the strong spring on one side of the workpiece from being too large, thereby ensuring stability during its transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the front cross-section structure of the guide rail of the present invention; Figure 3 This is a schematic diagram of the front cross-section structure of the stabilizing disk of the present invention; Figure 4 For the present invention Figure 3 The enlarged structural diagram at A in the middle; Figure 5 For the present invention Figure 3 The enlarged structural diagram at B in the middle; Figure 6 It is a schematic diagram of the top cross-sectional structure of the drive shaft of the present invention.

[0016] In the figure: 1, guide rail; 2, base; 3, multi-axis robot; 4, stabilizing disc; 51, toothed disc; 52, toothed roller; 6, support seat; 7, metal seat; 8, electromagnet; 9, strong spring; 10, abutting head; 11, telescopic rod; 12, first horizontal rack; 131, second horizontal rack; 132, connecting rod; 133, first piston rod; 134, oil tank; 135, second piston rod; 141, driving column; 142, upper gear; 143, lower gear; 144, driving shaft; 151, electric push rod; 152, cross plate; 153, first vertical rack; 154, transmission gear; 155, second vertical rack; 156, abutting strip. Specific implementation manner

[0017] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0018] Please refer to Figures 1-6 , the present invention provides a technical solution: a high-stability industrial robot, a base 2 is installed on a guide rail 1, and a multi-axis robot 3 is fixed on the top of the base 2; a stabilizing disc 4 is installed at the bottom of the base 2 through a rotating assembly, and support seats 6 are horizontally and limit-slidingly installed at both sides of the bottom cavity of the stabilizing disc 4. A metal seat 7 is fittingly and slidingly installed in the bottom cavity of the support seat 6. An electromagnet 8 is fixed on the inner wall of the bottom cavity of the support seat 6. The bottom of the metal seat 7 is connected to an abutting head 10 through a strong spring 9 and a telescopic rod 11. The abutting head 10 is located on the bottom surface of the inner cavity of the guide rail 1. A first horizontal rack 12 is fixed between the two support seats 6; a balancing assembly is arranged between the inside of the stabilizing disc 4 and the top of the support seat 6, and the balancing assembly is used to adjust the reaction force of the strong spring 9 at the two support seats 6; the balancing assembly includes a second horizontal rack 131, and the second horizontal rack 131 is embedded and horizontally slidably arranged in the stabilizing disc 4. Connecting rods 132 are embedded and fittingly slid in the cavities at both ends of the second horizontal rack 131. The outer ends of the connecting rods 132 are fixed with first piston rods 133. The first piston rods 133 are arranged in an oil tank 134. The oil tank 134 is fixed on the top of the support seat 6. The lower half of the oil tank 134 is provided with a second piston rod 135. The bottom end of the second piston rod 135 is fixed on the top of the metal seat 7; the oil tank 134 is designed in an "L" shape, and the moving directions of the first piston rod 133 and the second piston rod 135 in the oil tank 134 are opposite; after the electromagnet 8 is powered on, it magnetically adsorbs the metal seat 7, and the electromagnets 8 are symmetrically arranged in the metal seat 7; As an implementation manner of the present invention, the rotating assembly includes a toothed disc 51 and a toothed roller 52. The toothed disc 51 is sleeved on the rotating shaft at the top of the stabilizing disc 4, and a toothed roller 52 is meshed with the outside of the toothed disc 51. The toothed roller 52 is installed at the bottom of the base 2 through a motor. When the bottom of the multi-axis robot 3 rotates for position adjustment, the toothed roller 52 and the toothed disc 51 can be driven by the motor to drive the stabilizing disc 4 to rotate, so that the bottom balance structure is synchronized with the multi-axis robot 3. As an implementation manner of the present invention, the driving assembly is arranged in the stabilizing disc 4 and is used to drive the first horizontal rack 12 and the balance assembly respectively. The driving assembly includes a driving column 141, which is vertically slidably installed in the stabilizing disc 4. Upper gears 142 and lower gears 143 are sleeved on the upper and lower sides of the driving column 141 respectively. The upper gears 142 and the lower gears 143 are meshed with the second horizontal rack 131 and the first horizontal rack 12 respectively. A driving shaft 144 is installed at the top of the driving column 141 in a limited nested manner. The driving shaft 144 is installed in the stabilizing disc 4 through a motor. The upper gears 142 and the lower gears 143 are alternately meshed with the second horizontal rack 131 and the first horizontal rack 12. The bottom cross-section of the driving shaft 144 is in a rectangular structure and is limitedly slid in the cavity at the top of the driving column 141. The driving shaft 144 is driven to rotate by the motor, and the driving shaft 144 drives the driving column 141 to rotate. At this time, the upper gear 142 on the driving column 141 is meshed with the second horizontal rack 131. According to the direction and weight of the workpiece, the second horizontal rack 131 is driven to move a certain distance in the direction of the workpiece. At this time, when the second vertical rack 155 abuts against the connecting rod 132, the second horizontal rack 131 can drive the two first piston rods 133 to move in the oil tank 134 through the connecting rod 132, so that the second piston rods 135 in the two oil tanks 134 move accordingly, and the magnetic adsorption fixation of the electromagnet 8 on the metal seat 7 is released. Furthermore, the metal seat 7 is driven to move in the support seat 6, so that the metal seat 7 facing the workpiece direction squeezes the strong spring 9 at its bottom, and the metal seat 7 away from the workpiece direction releases the strong spring 9 at its bottom, adjusts the reaction forces of the two strong springs 9, and fixes the metal seat 7 by energizing the electromagnet 8.

[0019] As an implementation manner of the present invention, the switching component is arranged in the stabilizing disk 4, and the switching component is used for switching the driving component; the switching component includes a cross plate 152 connected and installed in the stabilizing disk 4 by an electric push rod 151. The cross plate 152 is fixed on both sides of the driving column 141. At the top of the middle of the cross plate 152, a first vertical rack 153 is installed. On the outer side of the first vertical rack 153, a second vertical rack 155 is connected through a transmission gear 154. The first vertical rack 153, the transmission gear 154 and the second vertical rack 155 are all limited and installed in the cavity at the protruding position of the bottom of the second cross rack 131. At the top of the outer end of the cross plate 152, a contact bar 156 is installed. The top of the contact bar 156 penetrates through the oil tank 134 and is located at the bottom of the rod area of the first piston rod 133; the bottoms of the first vertical rack 153 and the contact bar 156 are both limited and slide horizontally in the top cavity of the cross plate 152. The moving directions of the contact bar 156 and the second vertical rack 155 are opposite. The top of the second vertical rack 155 penetrates through the second cross rack 131 and abuts against the bottom of the connecting rod 132; The electric push rod 151 is used to push the cross plate 152 upward, so that the driving column 141 moves upward, the upper gear 142 is separated from the second cross rack 131, and the lower gear 143 meshes with the first cross rack 12. At the same time, the cross plate 152 pushes the first vertical rack 153 upward, drives the second vertical rack 155 to move downward through the transmission gear 154, so that the second vertical rack 155 is separated from the connecting rod 132. At the same time, the cross plate 152 drives the contact bar 156 to move upward to abut against the first piston rod 133, so that the first piston rod 133 and the oil tank 134 are in a relatively fixed state. Then, the motor is used to drive the drive shaft 144 and the driving column 141 to rotate again. The first cross rack 12 is driven to move through the lower gear 143, and then the two support seats 6 are driven to move synchronously. By adjusting the positions of the support seats 6, according to the positions of the multi-axis robot 3 and the workpiece, the bottom balance is adjusted.

[0020] Working principle: When using this highly stable industrial robot, first, the guide rail 1 drives the base 2 and the multi-axis robot 3 to move, and the multi-axis robot 3 itself cooperates to grasp and transfer the workpiece. During this process, according to the weight of the workpiece, the motor drives the drive shaft 144 to rotate, and the drive shaft 144 drives the drive column 141 to rotate. At this time, the upper gear 142 on the drive column 141 meshes with the second horizontal rack 131. According to the direction and weight of the workpiece, the second horizontal rack 131 is driven to move a certain distance in the direction of the workpiece. At this time, under the condition that the second vertical rack 155 abuts against the connecting rod 132, the second horizontal rack 131 can drive the two first piston rods 133 to move in the oil tank 134 through the connecting rod 132, so that the second piston rods 135 in the two oil tanks 134 move accordingly, and the electromagnetic adsorption fixation of the electromagnet 8 on the metal seat 7 is released. Furthermore, the metal seat 7 is driven to move in the support seat 6, so that the metal seat 7 facing the workpiece direction squeezes the strong spring 9 at its bottom, and the metal seat 7 away from the workpiece direction releases the strong spring 9 at its bottom, adjusts the reaction forces of the two strong springs 9, and fixes the metal seat 7 by energizing the electromagnet 8. When the multi-axis robot 3 grasps the workpiece, a reaction force can be provided by the strong spring 9 to help the multi-axis robot 3 grasp stably; When the multi-axis robot 3 finishes grasping and starts to transfer, it will adjust its own position and the position of the workpiece. At this time, it is necessary to adjust the positions of the two support seats 6 to improve the balance state of the multi-axis robot 3. The electric push rod 151 is used to push the cross plate 152 upward, so that the drive column 141 moves upward, the upper gear 142 is separated from the second horizontal rack 131, and the lower gear 143 meshes with the first horizontal rack 12. At the same time, the cross plate 152 pushes the first vertical rack 153 upward, drives the second vertical rack 155 to move downward through the transmission gear 154, so that the second vertical rack 155 is separated from the connecting rod 132. At the same time, the cross plate 152 drives the abutting strip 156 upward to abut against the first piston rod 133, so that the first piston rod 133 and the oil tank 134 are in a relatively fixed state. Then, the motor drives the drive shaft 144 and the drive column 141 to rotate again. The first horizontal rack 12 is driven to move by the lower gear 143, and then the two support seats 6 are driven to move synchronously. By adjusting the positions of the support seats 6, according to the positions of the multi-axis robot 3 and the workpiece, the bottom balance is adjusted. At the same time, when the bottom of the multi-axis robot 3 rotates to adjust the position, the motor can drive the gear roller 52 and the gear disk 51 to drive the stable disk 4 to rotate, so that the bottom balance structure is synchronized with the multi-axis robot 3.

[0021] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art. In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A high-stability industrial robot, comprising a guide rail (1), a base (2) being mounted on the guide rail (1), and a multi-axis robot (3) being fixed on the top of the base (2); Features: It also includes a stabilizing disk (4), the stabilizing disk (4) being mounted on the bottom of the base (2) via a rotating assembly, support seats (6) being mounted in a transversely limited sliding manner at the cavities on both sides of the bottom of the stabilizing disk (4), a metal seat (7) being mounted in a sliding manner in the cavity at the bottom of the support seat (6), an electromagnet (8) being fixed to the inner wall of the cavity at the bottom of the support seat (6), a contact head (10) being connected to the bottom of the metal seat (7) via a strong spring (9) and a telescopic rod (11), the contact head (10) being located on the bottom surface of the inner cavity of the guide rail (1), and a first transverse rack (12) being fixed between the two support seats (6); A balancing component, the balancing component being arranged between the interior of the stabilizing disk (4) and the top of the supporting seat (6), the balancing component being used to adjust the reaction force of the strong springs (9) at the two supporting seats (6); A drive assembly, the drive assembly being arranged in the stabilizing disk (4), and the drive assembly being used to respectively drive the first transverse rack (12) and the balancing assembly to operate; A switching component is arranged in the stabilizing disk (4), and is used to switch the driving component.

2. A high stability industrial robot according to claim 1, characterized in that: The rotating assembly comprises a toothed disc (51) and a toothed roller (52); the toothed disc (51) is sleeved on a rotating shaft at the top of the stabilizing disc (4); the toothed roller (52) is meshed on the outer side of the toothed disc (51); and the toothed roller (52) is mounted on the bottom of the base (2) via a motor.

3. A high stability industrial robot according to claim 2, characterized in that: The electromagnet (8) magnetically adsorbs the metal seat (7) when energized, and the electromagnet (8) is symmetrically arranged inside the metal seat (7).

4. A high stability industrial robot according to claim 3, characterized in that: The balancing assembly comprises a second transverse rack (131), the second transverse rack (131) being embedded and laterally slidably arranged in the stabilizing plate (4), connecting rods (132) being embedded and slidably arranged in cavities at both ends of the second transverse rack (131), a first piston rod (133) being fixed to the outer end of the connecting rod (132), the first piston rod (133) being arranged in an oil tank (134), the oil tank (134) being fixed to the top of the supporting seat (6), a second piston rod (135) being arranged in the lower half of the oil tank (134), the bottom end of the second piston rod (135) being fixed to the top of the metal seat (7).

5. A high stability industrial robot according to claim 4, characterized in that: The oil tank (134) is designed as an "L"-shaped structure, and the movement directions of the first piston rod (133) and the second piston rod (135) in the oil tank (134) are opposite.

6. A high stability industrial robot according to claim 5, characterized in that: The driving assembly comprises a driving column (141), the driving column (141) being vertically slidably mounted in the stabilizing disk (4), an upper gear (142) and a lower gear (143) being sleeved on the upper and lower sides of the driving column (141), respectively, the upper gear (142) and the lower gear (143) being meshed with the second transverse rack (131) and the first transverse rack (12) respectively, a driving shaft (144) being nested and mounted in a limiting manner on the top of the driving column (141), and the driving shaft (144) being mounted in the stabilizing disk (4) via a motor.

7. The high stability industrial robot according to claim 6, characterized in that: The upper gear (142) and the lower gear (143) are alternately meshed with the second transverse rack (131) and the first transverse rack (12); the bottom cross-section of the driving shaft (144) is a rectangular structure and slides in a limited position in the top cavity of the driving column (141).

8. The high-stability industrial robot according to claim 7, characterized in that: The switching assembly comprises a transverse plate (152) connected to and installed in the stabilizing plate (4) by an electric push rod (151); the transverse plate (152) is fixed to both sides of the driving column (141); a first vertical rack (153) is installed at the top of the middle part of the transverse plate (152); the outer side of the first vertical rack (153) is connected to a second vertical rack (155) via a transmission gear (154); the first vertical rack (153), the transmission gear (154) and the second vertical rack (155) are all limitedly installed in a cavity at a protruding position at the bottom of the second transverse rack (131); a resistance bar (156) is installed at the top of the outer end of the transverse plate (152); the top of the resistance bar (156) passes through the oil tank (134) and is located at the bottom of the rod area of ​​the first piston rod (133).

9. The high-stability industrial robot according to claim 8, characterized in that: The bottoms of the first vertical rack (153) and the abutment bar (156) are both limited in position and slide transversely in the top cavity of the transverse plate (152); the abutment bar (156) and the second vertical rack (155) move in opposite directions; the top of the second vertical rack (155) passes through the second transverse rack (131) and abuts against the bottom of the connecting rod (132).

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