A high-stability industrial robot

Abstract

The present invention discloses a high-stability industrial robot, which relates to the technical field of industrial robots. It includes a guide rail, on which a base is installed, and a multi-axis robot is fixed on the top of the base; it also includes a stabilizing disk, which is installed at the bottom of the base through a rotating assembly, and support seats are installed in the cavities on both sides of the bottom of the stabilizing disk for transverse limiting sliding. A metal seat is installed in the cavity at the bottom of the support seat for sliding fit, and an electromagnet is fixed to the inner wall of the cavity at the bottom of the support seat. The bottom of the metal seat is connected to a contact head through a strong spring and a telescopic rod, and the contact head is located on the bottom surface of the guide rail inner cavity. A first transverse rack is fixed between the two support seats. This high-stability industrial robot can provide a reaction force in the same direction to ensure balance and stability when grasping heavy objects, and adjust the position of the bottom reaction force according to the grasping position.

Description

Technical Field

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

[0002] Industrial robots are used in industrial manufacturing to replace traditional manual operations. Together with automation technology, they can achieve high-precision operations, helping to improve work efficiency and reduce injuries to personnel in some types of work. However, existing industrial robots have the following problems when in use:

[0003] Most industrial robots are used in the transportation of workpieces. With the characteristics of guide rails and multiple axes, the workpieces are transferred. During this process, existing industrial robots are not convenient for balancing and supporting according to the weight of the workpiece. When grasping the workpiece outside the guide rail, it is easy to deviate due to the imbalance of gravity. In the long run, it will cause damage to the base and the robot itself, resulting in low stability. At the same time, during transportation, there are changes in the grasping direction and grasping position. Existing industrial robots are not convenient for adjusting the balance process according to the change of position, which is also an important factor affecting their stability.

[0004] In response to the above problems, there is an urgent need to carry out innovative designs based on the original industrial robots. Summary of the Invention

[0005] The purpose of the present invention is to provide a high-stability industrial robot to solve the problem proposed in the above background technology that the existing industrial robots are not convenient for balancing and supporting according to the weight of the workpiece, and are not convenient for adjusting the balancing process according to changes in position. The technical solution of the present invention addresses the technical problem that the existing technical solutions are too single, and provides a solution that is significantly different from the existing technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a high-stability industrial robot, comprising a guide rail, a base mounted on the guide rail, a multi-axis robot fixed on top of the base;

[0007] It also includes a stabilizing disk, which is mounted on the bottom of the base through a rotating assembly, and support seats are installed in a transverse limited sliding manner at the cavities on both sides of the bottom of the stabilizing disk, a metal seat is fitted and slidably installed in the cavity at the bottom of the support seat, an electromagnet is fixed to the inner wall of the cavity at the bottom of the support seat, and a contact head is connected to the bottom of the metal seat through a strong spring and a telescopic rod, and the contact head is located on the bottom surface of the inner cavity of the guide rail, and a first horizontal rack is fixed between the two support seats;

[0008] A balancing assembly is provided between the interior of the stabilizing plate and the top of the support seat, and is used to adjust the reaction force of the strong springs at the two support seats;

[0009] A driving assembly, the driving assembly being disposed in the stabilizing disk and configured to respectively drive the first transverse rack and the balancing assembly to operate;

[0010] A switching component is provided in the stabilizing disk and is used to switch the driving component.

[0011] Preferably, the rotating assembly includes a gear disc and a gear roller, the gear disc is sleeved on the rotating shaft at the top of the stabilizing disc, the outer side of the gear disc is engaged with a gear roller, and the gear roller is installed at the bottom of the base through a motor.

[0012] Preferably, the electromagnet performs magnetic adsorption on the metal seat after being energized, and the electromagnet is symmetrically arranged in the metal seat.

[0013] Preferably, the balancing assembly includes a second transverse rack, which is embedded and slidably arranged in the stabilizing plate, and connecting rods are embedded and slidably arranged in the cavities at both ends of the second transverse rack. The outer end of the connecting rod is fixed with a first piston rod, and the first piston rod is arranged in an oil tank, and the oil tank is fixed to 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 to the top of the metal seat.

[0014] Preferably, the oil tank is designed as an "L"-shaped structure, and the movement directions of the first piston rod and the second piston rod in the oil tank are opposite.

[0015] Preferably, the driving assembly includes a driving column, which is installed in a vertical sliding manner in the stabilizing disk. An upper gear and a lower gear are respectively provided on the upper and lower sides of the driving column. The upper gear and the lower gear are respectively engaged with the second transverse rack and the first transverse rack. A driving shaft is nested and installed in the top limit of the driving column, and the driving shaft is installed in the stabilizing disk through a motor.

[0016] Preferably, the upper gear and the lower gear are alternately meshed with the second transverse rack and the first transverse rack, and the bottom cross-section of the drive shaft is a rectangular structure that slides within the cavity at the top of the drive column.

[0017] Preferably, the switching assembly includes a horizontal plate installed in a stabilizing plate via an electric push rod, the horizontal plate is fixed on both sides of the driving column, a first vertical rack is installed on the top of the middle part of the horizontal plate, the outer side of the first vertical rack is connected to the second vertical rack via a transmission gear, the first vertical rack, the transmission gear and the second vertical rack are all limitedly installed in a cavity at a protruding position at the bottom of the second horizontal rack, a resistance bar is installed on the top of the outer end of the horizontal plate, the top of the resistance bar passes through the oil tank and is located at the bottom of the first piston rod area.

[0018] Preferably, the bottoms of the first vertical rack and the interference bar are both limited in horizontal sliding in the cavity at the top of the horizontal 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 horizontal rack and interferes with the bottom of the connecting rod.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. When grasping a workpiece, the present invention drives the drive shaft and the upper gear to rotate according to the weight of the workpiece, thereby driving the second horizontal rack to move, causing the two left and right first piston rods to move accordingly. In conjunction with the oil tank, the two left and right second piston rods are forced to move. That is, the first piston rod on one side of the workpiece moves downward, squeezing the strong spring, and the first piston rod on the side away from the workpiece moves upward, releasing the strong spring. This allows the strong spring on the workpiece side to provide a stronger reaction force, providing a balanced support force from the bottom when clamping the workpiece, thereby improving the stability of the industrial robot.

[0021] 2. The present invention, after grabbing the workpiece and transferring its position, on the one hand, drives the stabilizing plate to rotate together with the industrial robot through the rotating assembly, and on the other hand, first drives the horizontal plate to move up through the electric push rod, switches the meshing state of the upper gear and the lower gear, and then switches the state of the second vertical rack and the interference bar, so that when the motor drives the driving column to rotate through the driving shaft, it can drive the two support seats 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 shifts, the two support seats at the bottom need to be balanced to avoid too much reaction force of the strong spring on one side of the workpiece, thereby ensuring stability during its transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the front cross-section structure of the guide rail of the present invention;

[0024] Figure 3 This is a schematic diagram of the front cross-section structure of the stabilizing disk of the present invention;

[0025] Figure 4 For the present invention Figure 3 A in the middle is an enlarged structural diagram;

[0026] Figure 5 For the present invention Figure 3 The enlarged structural diagram at B in the middle;

[0027] Figure 6 It is a schematic diagram of the top cross-sectional structure of the drive shaft of the present invention.

[0028] In the figure: 1. Guide rail; 2. Base; 3. Multi-axis robot; 4. Stabilizing disk; 51. Toothed disk; 52. Toothed roller; 6. Support seat; 7. Metal seat; 8. Electromagnet; 9. Strong spring; 10. Contact 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. Drive column; 142. Upper gear; 143. Lower gear; 144. Drive shaft; 151. Electric push rod; 152. Horizontal plate; 153. First vertical rack; 154. Transmission gear; 155. Second vertical rack; 156. Contact bar. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] See also Figures 1-6 The present invention provides a technical solution: a high-stability industrial robot, wherein 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 disk 4 is installed at the bottom of the base 2 through a rotating assembly, and support seats 6 are installed with transverse limiting sliding at the cavities on both sides of the bottom of the stabilizing disk 4, and a metal seat 7 is fitted and slidably installed in the cavity at the bottom of the support seat 6, and an electromagnet 8 is fixed on the inner wall of the cavity at the bottom of the support seat 6, and a contact head 10 is connected to the bottom of the metal seat 7 through a strong spring 9 and a telescopic rod 11. The contact head 10 is located on the bottom surface of the inner cavity of the guide rail 1, and a first horizontal rack 12 is fixed between the two support seats 6; a balancing assembly is arranged between the inside of the stabilizing disk 4 and the top of the support seat 6, and the balancing assembly is used to adjust the reaction force of the strong springs 9 at the two support seats 6; the balancing assembly The balance assembly includes a second transverse rack 131, which is embedded and slidably arranged in the stabilizing plate 4. Connecting rods 132 are embedded and slidably arranged in the cavities at both ends of the second transverse rack 131. The outer end of the connecting rod 132 is fixed with a first piston rod 133, and the first piston rod 133 is arranged in an oil tank 134. The oil tank 134 is fixed to the top of the support seat 6. The lower half of the oil tank 134 is provided with a second piston rod 135, and the bottom end of the second piston rod 135 is fixed to the top of the metal seat 7; the oil tank 134 is designed as an "L"-shaped structure, 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 energized, it magnetically adsorbs the metal seat 7, and the electromagnet 8 is symmetrically arranged in the metal seat 7;

[0031] As an embodiment of the present invention, the rotating assembly includes a gear disc 51 and a gear roller 52. The gear disc 51 is sleeved on the rotating shaft at the top of the stabilizing disc 4. The gear roller 52 is engaged with the outer side of the gear disc 51. The gear roller 52 is installed at the bottom of the base 2 through the motor.

[0032] When the bottom of the multi-axis robot 3 rotates to adjust its position, the gear roller 52 and the gear disc 51 can be driven by the motor to drive the stabilizing disc 4 to rotate, so that the bottom balancing structure and the multi-axis robot 3 remain synchronized;

[0033] As an embodiment of the present invention, a driving assembly is arranged in the stabilizing disk 4, and the driving assembly is used to drive the first transverse rack 12 and the balancing assembly to operate respectively; the driving assembly includes a driving column 141, and the driving column 141 is vertically slidably installed in the stabilizing disk 4, and an upper gear 142 and a lower gear 143 are respectively provided on the upper and lower sides of the driving column 141, and the upper gear 142 and the lower gear 143 are respectively meshed with the second transverse rack 131 and the first transverse rack 12, and a driving shaft 144 is nested and installed at the top limit of the driving column 141, and the driving shaft 144 is installed in the stabilizing disk 4 through a motor; the upper gear 142 and the lower gear 143 are alternately meshed with the second transverse rack 131 and the first transverse rack 12, and the bottom cross-section of the driving shaft 144 is a rectangular structure that slides within the cavity at the top of the driving column 141;

[0034] The motor drives the driving shaft 144 to rotate, and the driving shaft 144 drives the driving column 141 to rotate. At this time, the upper gear 142 on the driving column 141 engages with the second transverse rack 131, and according to the direction and weight of the workpiece, drives the second transverse rack 131 to move a distance toward the workpiece. At this time, when the second vertical rack 155 resists the connecting rod 132, the second transverse 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 follow the movement and release the magnetic adsorption and fixation of the metal seat 7 by the electromagnet 8, thereby driving the metal seat 7 to move in the support seat 6, so that the metal seat 7 toward 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 force of the two strong springs 9, and fixes the metal seat 7 by energizing the electromagnet 8.

[0035] As an embodiment of the present invention, a switching component is arranged in the stable disk 4, and the switching component is used to switch the drive component; the switching component includes a horizontal plate 152 connected to the stable disk 4 by an electric push rod 151, and the horizontal plate 152 is fixed on both sides of the drive column 141. A first vertical rack 153 is installed on the top of the middle part of the horizontal plate 152, and the outer side of the first vertical rack 153 is connected to the second vertical rack 155 through a transmission gear 154. The first vertical rack 153, the transmission gear 154 and the second vertical rack 155 are all The limiter is installed in the cavity at the protruding position of the bottom of the second horizontal rack 131. The top of the outer end of the horizontal plate 152 is installed with an interference bar 156. The top of the interference bar 156 passes 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 interference bar 156 both slide horizontally within the cavity at the top of the horizontal plate 152. The interference bar 156 and the second vertical rack 155 move in opposite directions. The top of the second vertical rack 155 passes through the second horizontal rack 131 and interferes with the bottom of the connecting rod 132.

[0036] The electric push rod 151 pushes the cross plate 152 up, causing the driving column 141 to move upward, the upper gear 142 is separated from the second cross rack 131, and the lower gear 143 is meshed with the first cross rack 12. At the same time, the cross plate 152 pushes the first vertical rack 153 up, and drives the second vertical rack 155 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 interference bar 156 to move up, and interferes with the first piston rod 133, so that the first piston rod 133 and the oil tank 134 are in a relatively fixed state, and then the driving shaft 144 and the driving column 141 are rotated again by the motor, and the first cross rack 12 is driven to move through the lower gear 143, thereby driving the two support seats 6 to move synchronously. By adjusting the position of the support seat 6, the bottom balance is adjusted according to the position of the multi-axis robot 3 and the workpiece.

[0037] Working principle: When using this high-stability 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 is used to grab and transport 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 is engaged with the second transverse rack 131, and according to the direction and weight of the workpiece, the second transverse rack 131 is driven to move a distance toward the workpiece. At this time, when the second vertical rack 155 contacts the connecting rod 132, the second transverse rack 131 can drive the two connecting rods 132 to move. The first piston rod 133 moves in the oil tank 134, causing the second piston rods 135 in the two oil tanks 134 to move accordingly, and releasing the magnetic attraction and fixation of the metal seat 7 by the electromagnet 8, thereby driving the metal seat 7 to move in the support seat 6, so that the metal seat 7 facing the workpiece squeezes the strong spring 9 at its bottom, and the metal seat 7 away from the workpiece releases the strong spring 9 at its bottom, adjusting the reaction force of the two strong springs 9, and fixing 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 to grasp stably;

[0038] When the multi-axis robot 3 finishes grasping and transporting, 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 of the multi-axis robot 3. The electric push rod 151 pushes the horizontal plate 152 upward, so that the driving column 141 moves upward, the upper gear 142 is separated from the second horizontal rack 131, and the lower gear 143 is engaged with the first horizontal rack 12. At the same time, the horizontal plate 152 pushes the first vertical rack 153 upward, and drives the second vertical rack 155 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 horizontal plate 152 drives the contact bar 156 upward. The first piston rod 133 is moved to resist the first piston rod 133, so that the first piston rod 133 and the oil tank 134 are in a relatively fixed state, and then the driving shaft 144 and the driving column 141 are rotated by the motor again, and the first cross rack 12 is driven to move by the lower gear 143, thereby driving the two support seats 6 to move synchronously. By adjusting the position of the support seat 6, the bottom balance is adjusted according to the position of the multi-axis robot 3 and the workpiece. At the same time, when the bottom of the multi-axis robot 3 rotates for position adjustment, the gear roller 52 and the gear disk 51 can be driven by the motor to drive the stabilizing disk 4 to rotate, so that the bottom balancing structure is synchronized with the multi-axis robot 3.

[0039] Any content not described in detail in this specification is prior art known to those skilled in the art. In the description of the present invention, unless otherwise specified, "plurality" means two or more. Terms such as "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," and "tail" indicate positions or relationships based on those shown in the accompanying drawings and are intended solely for ease of description and simplification. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation and are therefore not to be construed as limiting the present invention. Furthermore, terms such as "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, unless otherwise specified or limited, the terms "connected" and "connected" are to be understood broadly, meaning, for example, fixedly connected, detachably connected, or integrally connected; mechanically connected, electrically connected; directly connected, or indirectly connected through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention on a case-by-case basis.

[0040] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A high-stability industrial robot, comprising a guide rail (1), a base (2) mounted on the guide rail (1), and a multi-axis robot (3) fixed on top of the base (2); Its characteristics are: It also includes a stabilizing disk (4), the stabilizing disk (4) is mounted on the bottom of the base (2) through a rotating assembly, support seats (6) are mounted on the cavities on both sides of the bottom of the stabilizing disk (4) in a transverse limited sliding manner, a metal seat (7) is mounted in the cavity at the bottom of the support seat (6) in a sliding manner, an electromagnet (8) is fixed to the inner wall of the cavity at the bottom of the support seat (6), the bottom of the metal seat (7) is connected to a contact head (10) through a strong spring (9) and a telescopic rod (11), the contact head (10) is located on the bottom surface of the inner cavity of the guide rail (1), and a first transverse rack (12) is fixed between the two support seats (6); A balancing component is provided between the interior of the stabilizing disk (4) and the top of the supporting seat (6), and is used to adjust the reaction force of the strong springs (9) at the two supporting seats (6). The balancing component includes a second transverse rack (131), the second transverse rack (131) is embedded and laterally slidably provided in the stabilizing disk (4), and connecting rods (132) are embedded and slidably provided in the cavities at both ends of the second transverse rack (131), and the outer end of the connecting rod (132) is fixed with a first piston rod (133), and the first piston rod (133) is provided in an oil tank (134), and the oil tank (134) is fixed on the top of the supporting seat (6). The lower half of the oil tank (134) is provided with a second piston rod (135), and 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 as an "L"-shaped structure; A driving assembly, wherein the driving assembly is arranged in the stabilizing disk (4), and the driving assembly is used to respectively drive the first transverse rack (12) and the balancing assembly to operate, and the driving assembly includes a driving column (141), the driving column (141) is vertically slidably installed in the stabilizing disk (4), and the upper and lower sides of the driving column (141) are respectively provided with an upper gear (142) and a lower gear (143), and the upper gear (142) and the lower gear (143) are respectively engaged with the second transverse rack (131) and the first transverse rack (12), and the top limit of the driving column (141) is nested with a driving shaft (144), and the driving shaft (144) is installed in the stabilizing disk (4) through a motor, and the upper gear (142) and the lower gear (143) are alternately engaged with the second transverse rack (131) and the first transverse rack (12); A switching component is provided 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), wherein the toothed disc (51) is sleeved on the rotating shaft at the top of the stabilizing disc (4), and the toothed roller (52) is engaged with 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. The high-stability industrial robot according to claim 1, characterized in that: The electromagnet (8) magnetically adsorbs the metal seat (7) after being energized, and the electromagnet (8) is symmetrically arranged inside the metal seat (7).

4. The high-stability industrial robot according to claim 1, characterized in that: The bottom cross-section of the driving shaft (144) is a rectangular structure and slides within the top cavity of the driving column (141).

5. The high-stability industrial robot according to claim 1, characterized in that: The switching assembly includes 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 on both sides of the driving column (141), a first vertical rack (153) is installed on the top of the middle part of the transverse plate (152), the outer side of the first vertical rack (153) is connected to the second vertical rack (155) through the transmission gear (154), the first vertical rack (153), the transmission gear (154) and the second vertical rack (155) are all limitedly installed in the cavity at the protruding position of the bottom of the second transverse rack (131), and a contact bar (156) is installed on the top of the outer end of the transverse plate (152), and the top of the contact bar (156) passes through the oil tank (134) and is located at the bottom of the rod area of ​​the first piston rod (133).

6. The high-stability industrial robot according to claim 5, characterized in that: The bottoms of the first vertical rack (153) and the abutment bar (156) are both limited in horizontal sliding in the cavity at the top of the horizontal 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 horizontal rack (131) and abuts against the bottom of the connecting rod (132).

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