Industrial robot convenient to disassemble

Abstract

The invention relates to the technical field of industrial robots, in particular to an industrial robot convenient to disassemble, which comprises a mounting seat for mounting an industrial robot main body, a fixed disc is fixedly mounted on the industrial robot main body, and a limiting plate is fixedly connected to the bottom end of the fixed disc. And a limiting opening corresponding to the limiting plate is formed in the mounting seat. When a carrying industrial robot passes through a narrow space, an abutting plate can contract when being pressed, and when the abutting plate is pressed, a moving plate can be driven to horizontally move through a connecting rod, so that the moving area of a limiting plate is increased, and then the stability of the industrial robot during moving is guaranteed; when the industrial robot carries out carrying operation in a narrow space, the abutting plate can achieve dynamic space adaptation through elastic deformation, meanwhile, the abutting plate converts pressure into horizontal linear displacement of the moving plate through the connecting rod, and the industrial robot still has good stability when moving in the narrow space.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and particularly relates to an industrial robot that is convenient to disassemble. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power sources and control capabilities to achieve various industrial processing and manufacturing functions.

[0003] The currently widely used fixed-base installation mode of industrial robots exposes significant safety hazards and engineering bottlenecks in equipment disassembly operations. The self-weight of industrial robot bodies generally reaches several hundred kilograms to several tons. After the disassembly process of the base connection structure is completed, the equipment faces the risk of dynamic instability due to the loss of rigid support. To ensure operation safety, operators need to implement manual posture stability intervention throughout the process. The operators need to maintain a static load-bearing posture continuously after the equipment is decoupled. The single-operation duration generally exceeds the ergonomic safety limit, resulting in an exponential increase in the risk index of cumulative damage to the lumbar and back muscle groups. At the same time, under the continuous physical load, the physical fatigue of the operators significantly increases the probability of the equipment slipping out of the hand. The impact load caused by the equipment falling is likely to cause irreversible damage such as deformation of the harmonic generator of the high-precision reducer and axial offset of the servo drive system. Although traditional shifting schemes use heavy equipment such as forklifts and cranes, in actual operations, due to the limitations of workshop space and equipment scheduling efficiency, most disassembly scenarios are forced to return to the manual handling mode. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems in the prior art that the disassembly and assembly work intensity of industrial robots is large and there are safety hazards, and to propose an industrial robot that is convenient to disassemble.

[0005] To achieve the above purpose, the present invention adopts the following technical scheme: An industrial robot that is convenient to disassemble, including a mounting base for mounting the industrial robot body. A fixed disk is fixedly installed on the industrial robot body, and a limiting plate is fixedly connected to the bottom end of the fixed disk; A limiting opening corresponding to the limiting plate is formed on the mounting base, and one end of the limiting opening is open; Sliding grooves are formed on both sides of the bottom end of the limiting plate. A resisting plate is slidably installed in the sliding grooves. A first moving wheel is arranged at the bottom end of the resisting plate. A resisting groove corresponding to the resisting plate is formed on the mounting base. A spring groove is formed on the resisting plate. A first spring is fixedly connected between the spring groove and the sliding groove. A limiting portion triggered by the resisting plate is arranged on the limiting plate and the mounting base.

[0006] Preferably, at least four bolt fixing seats for connecting the workbench surface are provided on the mounting base.

[0007] Preferably, the fixed disk is a circular disk-like structure, the limiting plate is a rectangular plate-like structure, the limiting opening is a rectangular hole structure, and the cross-sections of the abutting plate and the abutting groove are trapezoidal structures.

[0008] Preferably, a mounting cavity is formed in the mounting base, a moving plate is slidably mounted in the mounting cavity, a connecting rod is pin-connected between the mounting cavity and the moving plate, and a second moving wheel is arranged at the bottom end of the moving plate.

[0009] Preferably, the cross-sections of the moving plate and the mounting cavity are both T-shaped structures.

[0010] Preferably, the limiting part includes: a mounting groove formed in the abutting plate; a second spring fixedly connected to the bottom end of the mounting groove; a wedge-shaped block slidably mounted in the mounting groove; a fixing groove formed in the mounting base; a driving rod slidably sleeved in the fixing groove; two sliding blocks respectively slidably mounted on both sides of the upper surface of the mounting base; a traction rod pin-connected between the sliding block and the driving rod at both ends; a driving frame fixedly connected to the two sliding blocks; a clamping hole formed in the industrial robot main body; a clamping block horizontally corresponding to the clamping hole, fixedly connected to the driving frame.

[0011] Preferably, the top end of the wedge-shaped block is a triangular prism structure, two limiting blocks corresponding to the geometric structure of the top end of the wedge-shaped block are integrally connected to the inner wall of the fixing groove, both of the two limiting blocks are triangular prism structures, and a gap is left between the two limiting blocks.

[0012] Preferably, a pressing rod that movably abuts against the top end of the wedge-shaped block is fixedly connected to the bottom end of the driving rod, and a third spring is fixedly connected between the bottom end of the driving rod and the top end of the limiting block.

[0013] Preferably, a guiding groove for slidably mounting the sliding block is formed at the top end of the mounting base, and the driving frame is a gantry-type structure.

[0014] Preferably, the cross-sections of the clamping block and the clamping hole are circular structures.

[0015] Compared with the prior art, the present invention has the following advantages: 1. The present invention is configured with a double mobile wheel system, and through the coordinated action of the first driving wheel and the second driven wheel, the autonomous movement function of the industrial robot body after modular disassembly is realized, which effectively reduces the physical consumption of the operator in the equipment transportation link and greatly improves the efficiency of disassembly and assembly operations.

[0016] 2. The present invention realizes high-stability installation of the industrial robot body through an interlocking fixing design: first, the contact plate is accurately introduced into the contact groove, and the dynamic wedge-tight fit formed by the wedge block and the limit block is used to achieve preliminary positioning, and the traction mechanism is driven by the axial displacement of the driving rod to complete the rotational movement of a predetermined angle, so that the clamping block and the positioning hole form a precise mechanical interlock, thereby constructing a multi-dimensional constraint system, thereby significantly improving the vibration resistance and load-bearing stability of the installation base.

[0017] 3. When the industrial robot is transported through a relatively narrow space, the contact plate of the present invention will shrink when it is compressed. When the contact plate is compressed, the movable plate will be driven to move horizontally through the connecting rod, thereby increasing the moving area of the limit plate, thereby ensuring the stability of the industrial robot when moving. When the industrial robot performs narrow space transportation operations, the contact plate can achieve dynamic space adaptation through elastic deformation. At the same time, the contact plate converts the pressure into horizontal linear displacement of the movable plate through the connecting rod. This force-displacement conversion system can effectively expand the adjustable range of the limit plate to 1.5 times that of the traditional structure, so that the industrial robot still has good stability when moving in a relatively narrow space. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure proposed by the present invention; Figure 2 For the present invention Figure 1 Decomposition diagram in Figure 1 ; Figure 3 It is a schematic diagram of the connection structure of the industrial robot body, the fixing plate, the limiting plate and the contact plate in the present invention.

[0019] Figure 4 For the present invention Figure 3 A cross-sectional view of Figure 5 The present invention proposes Figure 4 A local enlarged structural schematic diagram; Figure 6 is a cross-sectional view of the mounting seat of the present invention; Figure 7 The present invention proposes Figure 6 B is a schematic diagram of the local enlarged structure.

[0020] In the figure: 1. Industrial robot main body; 2. Mounting seat; 3. Fixed disk; 4. Limiting plate; 5. Limiting opening; 6. Sliding groove; 7. Contact plate; 8. First moving wheel; 9. Contact groove; 10. Spring groove; 11. First spring; 12. Installation cavity; 13. Moving plate; 14. Link; 15. Second moving wheel; 16. Installation groove; 17. Second spring; 18. Wedge block; 19. Fixed groove; 20. Driving rod; 21. Sliding block; 22. Traction rod; 23. Driving frame; 24. Card hole; 25. Card block; 26. Limiting block; 27. Pressing rod; 28. Third spring. Specific implementation manner

[0021] 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.

[0022] Refer to Figures 1-7 , a detachable industrial robot, including a mounting seat 2 for mounting the industrial robot main body 1. At least four bolt fixing seats for connecting the workbench surface are provided on the mounting seat 2 to ensure the stability of the mounting seat 2. A fixed disk 3 is fixedly installed on the industrial robot main body 1. The fixed disk 3 is a circular disk structure, and a limiting plate 4 is fixedly connected to the bottom end of the fixed disk 3; A limiting opening 5 corresponding to the limiting plate 4 is opened on the mounting seat 2. One end of the limiting opening 5 is open, and the limiting opening 5 is used to receive the limiting plate 4; Sliding grooves 6 are opened on both sides of the bottom end of the limiting plate 4. A contact plate 7 is slidably installed in the sliding grooves 6. The sliding grooves 6 are used to guide and limit the contact plate 7, which helps to limit the movement track of the contact plate 7, so as to ensure the stability of the contact plate 7 during movement. A first moving wheel 8 is provided at the bottom end of the contact plate 7, so that the industrial robot main body 1 can be directly pushed by the staff, thereby avoiding the staff from being over-fatigued due to carrying or disassembling the industrial robot and causing the industrial robot to fall and be damaged.

[0023] The mounting base 2 is provided with a contact groove 9 corresponding to the contact plate 7. The cross-sections of the contact plate 7 and the contact groove 9 are trapezoidal structures. A spring groove 10 is provided on the contact plate 7. A first spring 11 is fixedly connected between the spring groove 10 and the sliding groove 6. Based on the elastic reset function of the first spring 11, when the external load is removed, the contact plate 7 can automatically return axially under the drive of the elastic force, enabling the contact plate 7 to have stable reciprocating motion characteristics. An installation cavity 12 is provided on the mounting base 2. A moving plate 13 is slidably installed in the installation cavity 12. A connecting rod 14 is pin-connected between the installation cavity 12 and the moving plate 13. A second moving wheel 15 is arranged at the bottom end of the moving plate 13. When the contact plate 7 is pressed, it will drive the connecting rod 14 to deflect, and the connecting rod 14 drives the moving plate 13 to move horizontally, thereby increasing the contact area between the industrial robot and the ground during movement, and further ensuring the stability of the industrial robot during movement. When the contact plate 7 is affected by the reduction of the moving space, it will move towards the non-opening end of the sliding groove 6, and the pressure is converted into the horizontal displacement vector of the moving plate 13 through the connecting rod 14, so as to realize the dynamic adjustment of the contact area with the change of the space size, effectively improving the dynamic balance performance of the industrial robot in a narrow space.

[0024] A limiting part triggered by the contact plate 7 is provided on the limiting plate 4 and the mounting base 2. The limiting part includes an installation groove 16, a second spring 17, a wedge-shaped block 18, a fixing groove 19, a driving rod 20, two sliding blocks 21, a traction rod 22, a driving frame 23, a card hole 24, a card block 25, two limiting blocks 26, a pressing rod 27 and a third spring 28. The settings of each component are as follows: The installation groove 16 is opened on the contact plate 7. The second spring 17 is fixedly connected to the bottom end of the installation groove 16. The wedge-shaped block 18 is slidably installed in the installation groove 16. The top end of the wedge-shaped block 18 is a triangular structure. The fixing groove 19 is opened on the mounting base 2. Two limiting blocks 26 corresponding to the geometric structure of the top end of the wedge-shaped block 18 are integrally connected to the inner wall of the fixing groove 19. The movement stroke of the wedge-shaped block 18 is limited by the limiting blocks 26. Both of the two limiting blocks 26 are triangular structures, and there is a gap between the two limiting blocks 26. The driving rod 20 is slidably sleeved in the fixing groove 19. The bottom end of the driving rod 20 is fixedly connected with a pressing rod 27 that movably abuts against the top end of the wedge-shaped block 18. The pressing rod 27 can enter the gap left between the two limiting blocks 26. A third spring 28 is fixedly connected between the bottom end of the driving rod 20 and the top end of the limiting block 26. Due to the elastic force of the third spring 28, the driving rod 20 tends to move to the initial state and reset when not being extruded by external force. It should be noted that: since the stiffness coefficient of the second spring 17 is higher than that of the third spring 28, when the wedge-shaped block 18 comes into contact with the pressing rod 27, under the action of the elastic potential energy difference, the second spring 17 drives the wedge-shaped block 18 to apply an upward thrust to the pressing rod 27, thereby causing the axial displacement of the pressing rod 27.

[0025] Two sliding blocks 21 are respectively slidably mounted on both sides of the upper surface of the mounting seat 2. A guiding groove for slidably mounting the sliding block 21 is provided at the top end of the mounting seat 2. The movement track of the sliding block 21 is limited by the guiding groove, so as to ensure the unidirectionality of the sliding block 21 during movement. Both ends of the traction rod 22 are pin-connected between the sliding block 21 and the driving rod 20. The driving frame 23 is fixedly connected to the two sliding blocks 21. The driving frame 23 is of a gantry structure. A clamping hole 24 is opened on the main body 1 of the industrial robot. The clamping block 25 is horizontally corresponding to the clamping hole 24. The clamping block 25 is fixedly connected to the driving frame 23. The cross-section of the clamping block 25 and the clamping hole 24 is of a circular structure. The symmetry of the circle enables the clamping block 25 to be inserted into the clamping hole 24 without strict direction adjustment and can be freely rotated to any angle to complete the preliminary positioning, reducing the assembly difficulty. The circle has no sharp corners or edges, which can avoid deformation or cracking caused by excessive local stress and help extend the service life of the parts, further improving the stability of the industrial robot after installation. It should be noted that: the clamping block 25 is made of ferromagnetic metal, and a magnet is provided at the non-opening end of the clamping hole 24.

[0026] When the industrial robot needs to be installed, the following steps are taken for operation: The mounting seat 2 is bolt-fixed through the bolt fixing seat, so that the mounting seat 2 is fixedly installed on the workbench surface. The main body 1 of the industrial robot is pushed towards the mounting seat 2, so that the limiting plate 4 enters the limiting port 5. Since the space where the abutting plate 7 moves suddenly shrinks, the abutting plate 7 is restricted by the limiting port 5 and horizontally displaces towards the non-opening end of the sliding groove 6. After the abutting plate 7 enters the abutting groove 9, since the space where the abutting plate 7 moves becomes larger at this time, under the elastic force of the first spring 11, the abutting plate 7 tends to move to the initial state until the abutting plate 7 is completely attached to the abutting groove 9. At the same time, the wedge block 18 is pushed down by the abutting groove 9. When the abutting plate 7 is completely attached to the abutting groove 9, the wedge block 18 enters the fixing groove 19. The wedge block 18 tends to move to the initial state under the elastic force of the third spring 28, so that the wedge block 18 is movably abutted against the limiting block 26. At this time, the wedge block 18 drives the pressing rod 27 to move upward, the pressing rod 27 drives the driving rod 20 to move vertically upward, the driving rod 20 drives the traction rod 22 to deflect, the traction rod 22 drives the sliding block 21 to move horizontally, the sliding block 21 drives the driving frame 23 to move horizontally, and the driving frame 23 drives the clamping block 25 to enter the clamping hole 24; When the industrial robot needs to be disassembled, press the drive rod 20. The drive rod 20 drives the pressure rod 27 to move downward. At this time, the third spring 28 first returns to its initial state and then continues to contract structurally. The pressure rod 27 drives the wedge block 18 to move vertically downward. The wedge block 18 enters the installation groove 16, causing the second spring 17 to contract structurally. When the drive rod 20 is affected by the traction rod 22 and cannot continue to move downward, the wedge block 18 completely enters the installation groove 16. At this time, the bottom end of the pressure rod 27 is horizontally aligned with the top end of the contact plate 7. The second spring 17 contracts structurally under the influence of the extrusion of the wedge block 18. At this time, the staff pushes the main body 1 of the industrial robot, causing the limit plate 4 to move towards the open end of the limit port 5. Since the space where the contact plate 7 moves suddenly shrinks, the contact plate 7 is restricted by the limit port 5 and moves horizontally towards the non-open end of the sliding groove 6. When the limit plate 4 completely disengages from the limit port 5, the space where the contact plate 7 moves will become larger. At this time, the contact plate 7 moves towards its initial state under the elastic force of the first spring 11, thereby increasing the contact area between the industrial robot and the ground; When the industrial robot needs to pass through a narrow space, the contact plate 7 contracts due to the influence of the space change. At this time, the contact area between the industrial robot and the ground decreases. At the same time, the contact plate 7 drives the connecting rod 14 to deflect. Under the drive of the connecting rod 14, the moving plate 13 moves outward, increasing the contact area between the industrial robot and the ground again, thereby ensuring the stability of the industrial robot when passing through a narrow space.

[0027] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An industrial robot that is easy to disassemble, including a mounting base for mounting the industrial robot main body, characterized in that, A fixed plate is fixedly mounted on the main body of the industrial robot, and a limit plate is fixedly connected to the bottom end of the fixed plate; The mounting seat is provided with a limiting opening corresponding to the limiting plate, and one end of the limiting opening is open; Sliding grooves are provided on both sides of the bottom end of the limiting plate, a contact plate is slidably installed in the sliding groove, a first moving wheel is provided at the bottom end of the contact plate, a contact groove corresponding to the contact plate is provided on the mounting seat, a spring groove is provided on the contact plate, a first spring is fixedly connected between the spring groove and the sliding groove, and a limiting part triggered by the contact plate is provided on the limiting plate and the mounting seat.

2. The industrial robot that is easy to disassemble according to claim 1, wherein The mounting seat is provided with at least four bolt fixing seats for connecting with the work surface.

3. The industrial robot according to claim 1, wherein The fixing plate is a circular plate-shaped structure, the limiting plate is a rectangular plate-shaped structure, the limiting opening is a rectangular hole structure, and the cross-sections of the abutment plate and the abutment groove are trapezoidal structures.

4. The industrial robot according to claim 1, characterized in that, The mounting seat is provided with a mounting cavity, a movable plate is slidably mounted in the mounting cavity, a connecting rod is pin-connected between the mounting cavity and the movable plate, and a second movable wheel is arranged at the bottom end of the movable plate.

5. The industrial robot according to claim 4, characterized in that, The cross sections of the movable plate and the installation cavity are both T-shaped structures.

6. The industrial robot that is easy to disassemble according to claim 5, wherein, The limiting part comprises: A mounting groove, the mounting groove being arranged on the abutment plate; A second spring, the second spring being fixedly connected to the bottom end of the mounting groove; A wedge block, the wedge block being slidably mounted in the mounting groove; A fixing groove, the fixing groove is arranged on the mounting seat; A driving rod, wherein the driving rod is slidably sleeved in the fixing groove; Two sliding blocks, the two sliding blocks are slidably mounted on two sides of the upper surface of the mounting seat respectively; A traction rod, both ends of which are pin-connected between the sliding block and the driving rod; A driving frame, the driving frame is fixedly connected to the two sliding blocks; A clamping hole, wherein the clamping hole is provided on the main body of the industrial robot; A clamping block horizontally corresponding to the clamping hole, wherein the clamping block is fixedly connected to the driving frame.

7. An industrial robot that is easy to disassemble according to claim 6, characterized in that, The top of the wedge block is a triangular structure, and the inner wall of the fixing groove is integrally connected with two limit blocks corresponding to the geometric structure of the top of the wedge block. Both of the two limit blocks are triangular structures, and a gap is left between the two limit blocks.

8. The industrial robot according to claim 7, wherein The bottom end of the driving rod is fixedly connected with a pressure rod that movably contacts with the top end of the wedge block, and a third spring is fixedly connected between the bottom end of the driving rod and the top end of the limit block.

9. An industrial robot that is easy to disassemble according to claim 6, characterized in that, A guide groove for slidingly installing the sliding block is provided on the top of the mounting seat, and the driving frame is a gantry-type structure.

10. An industrial robot that is easy to disassemble according to claim 6, wherein, The cross sections of the clamping block and the clamping hole are circular structures.

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