Industrial robot with power assisting device

Abstract

The invention relates to the technical field of industrial robots, in particular to an industrial robot with a power assisting device, the industrial robot comprises a base, a bearing block and a top plate, the base is provided with a rotating mechanism with a transverse sliding strip rotating function, the rotating mechanism comprises a motor and a fixing disc, and the rotating end of the motor is fixedly connected with the fixing disc. The transverse sliding strip and the transverse solid sliding strip are driven by the transverse multi-stage electric push rod to stretch out and draw back transversely, the longitudinal sliding strip and the longitudinal L-shaped solid sliding strip are driven by the longitudinal multi-stage electric push rod to stretch out and draw back longitudinally, and the vertical sliding strip and the vertical solid sliding strip are driven by the vertical multi-stage electric push rod to stretch out and draw back vertically. Therefore, the rectangular coordinate robot is telescopic in transverse, longitudinal and vertical height, the occupied area of the rectangular coordinate robot is reduced, the rectangular coordinate robot can flexibly adjust the size in each direction according to actual operation requirements to adapt to different working scenes and spatial layouts, and the universality and adaptability of the robot are greatly enhanced.

Description

Technical Field

[0001] This application relates to the technical field of industrial robots, and particularly relates to an industrial robot with an assisting device. Background Art

[0002] Industrial robots are automated devices for the industrial field, with the following characteristics: multi-joint or multi-degree-of-freedom mechanical structures, capable of achieving complex motion trajectories, being reprogrammable, performing tasks through preset programs or artificial intelligence technologies, and having automated control, which can complete operations without continuous manual intervention. The four common types of industrial robots are multi-joint robots, planar multi-joint robots, parallel robots, and Cartesian coordinate robots.

[0003] Through retrieval, Chinese Patent Publication No. CN210452722U discloses a high-precision multi-functional Cartesian coordinate robot. The device includes a chassis, a three-degree-of-freedom moving platform, and a working device. The chassis is a flat plate structure for carrying other components. The three-degree-of-freedom moving platform is fixed on the chassis, with three guide rails installed vertically, and realizes three-degree-of-freedom movement through a motion control algorithm. Compared with ordinary Cartesian coordinate robots, it has better positioning effect and higher precision, and can independently complete precise and complex tasks.

[0004] In view of the above related technologies, the inventor found the following defects:

[0005] This Cartesian coordinate robot adopts a modular design, with each module being an independent system that can be independently controlled, making processing, assembly, and maintenance more convenient, more suitable for use in various working conditions, and making the robot more stable. However, during the use of the Cartesian coordinate robot, due to its consistent horizontal, vertical, and vertical heights, its floor space is relatively large, and it is not convenient for flexible expansion and contraction.

[0006] Therefore, in view of the above problems, the applicant provides an industrial robot with an assisting device. Summary of the Invention

[0007] In order to solve the problems mentioned in the above background art, this application provides an industrial robot with an assisting device.

[0008] An industrial robot with an assisting device provided by this application adopts the following technical solutions:

[0009] An industrial robot with an assisting device includes a base, a bearing block, and a top plate. A rotating mechanism with a function of rotating a horizontal slide bar is arranged on the base. The rotating mechanism includes a motor and a fixed disk, and the rotating end of the motor is fixedly connected to the fixed disk.

[0010] A telescopic mechanism with the function of multi-stage electric push rod telescoping horizontally is arranged on the horizontal slide bar. The telescopic mechanism includes a longitudinal multi-stage electric push rod and a vertical multi-stage electric push rod. The output ends of the horizontal multi-stage electric push rod, the longitudinal multi-stage electric push rod and the vertical multi-stage electric push rod are respectively fixedly connected with a connecting plate, a longitudinal "L"-shaped solid slide bar and a fixing plate.

[0011] A boosting mechanism with the function of synchronous dual-axis motor boosting is arranged on the top plate. The boosting mechanism includes a winding wheel. The rotating ends at both ends of the synchronous dual-axis motor are fixedly connected with winding wheels respectively. Steel wire ropes are wound around the two winding wheels.

[0012] Optionally, the bottom end of the motor is fixedly connected to the top of the base, and the rotating end of the motor is fixedly connected with a fixed disk. The top surface of the fixed disk is fixedly connected to the bottom surface of the horizontal slide bar.

[0013] Optionally, the number of the horizontal slide bars is multiple. The multiple horizontal slide bars are sequentially divided into slide bar one, slide bar two and slide bar three from left to right. A chute is arranged inside the slide bar one. Chutes are arranged on the outer side and the inner side of the slide bar two and the slide bar three. The slide bar one is slidably connected to the chute on the outer side of the slide bar two. The inner chute of the slide bar two is slidably connected to the outer chute of the slide bar three. The inner chute of the slide bar three is slidably connected to a horizontal solid slide bar. The multiple horizontal slide bars are sequentially slidably connected, and a horizontal solid slide bar is slidably connected to one of the horizontal slide bars.

[0014] Optionally, a fixing block one is fixedly connected to the top surface of the horizontal slide bar. The fixing block one is fixedly connected to the circumferential outer wall of the input end of the horizontal multi-stage electric push rod. A connecting plate is fixedly connected to the top surface of the slide bar three.

[0015] Optionally, a longitudinal slide bar is horizontally and fixedly connected to the top surface of the bearing block. The longitudinal slide bar is slidably connected to a longitudinal "L"-shaped solid slide bar. A fixing block two is fixedly connected to the top surface of the longitudinal slide bar. The fixing block two is fixedly connected to the circumferential outer wall of the input end of the longitudinal multi-stage electric push rod.

[0016] Optionally, a vertical slide bar is fixedly connected to the longitudinal "L"-shaped solid slide bar. The vertical slide bar is slidably connected to a vertical solid slide bar. The vertical solid slide bar is fixedly connected to a fixing plate. A fixing block three is fixedly connected to the vertical slide bar. The fixing block three is fixedly connected to the top plate and the input end of the vertical multi-stage electric push rod.

[0017] Optionally, vacuum suckers are fixedly installed at the four corners of the bottom of the fixing plate. A bottom plate is fixedly connected to the top of the fixing plate. A steel wire rope is tied to the bottom plate. A pulley is fixedly connected to the top of the fixing block three.

[0018] In summary, the present application includes the following beneficial technical effects:

[0019] 1. In the present invention, the horizontal multi-stage electric push rod drives the horizontal slide bar and the horizontal solid slide bar to expand and contract horizontally, the vertical multi-stage electric push rod drives the vertical slide bar and the vertical "L"-shaped solid slide bar to expand and contract vertically, and the vertical multi-stage electric push rod drives the vertical slide bar and the vertical solid slide bar to move up and down, so that the right-angle coordinate robot can be expanded and contracted horizontally, vertically and vertically in height, reducing the floor area used. Moreover, the right-angle coordinate robot can flexibly adjust the dimensions in each direction according to actual operation requirements, adapt to different working scenarios and space layouts, greatly enhancing the versatility and adaptability of the robot.

[0020] 2. In the present invention, a synchronous biaxial motor is installed on the vertically lifting vertical slide bar to drive the winding wheel to wind and release the pulley. The powerful power provided by the synchronous biaxial motor assists the vertical solid slide bar to move up and down in the vertical slide bar, significantly reducing the burden on the external drive system and improving the efficiency and stability of vertical lifting.

[0021] 3. In the present invention, by driving the horizontal slide bar to rotate with the motor, the problem that the right-angle coordinate robot can usually only move in a fixed direction and lacks a rotation function, which limits its operation in complex environments, is solved. The robot can freely adjust the working direction on the horizontal plane and can perform multi-angle operations without moving the entire device, greatly expanding the working range and operation flexibility of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the unfolded structure of the right-angle coordinate robot in the embodiment of the present application;

[0023] Figure 2 is a schematic diagram of the contracted structure of the right-angle coordinate robot in the embodiment of the present application;

[0024] Figure 3 is a schematic diagram of the extended structure of the horizontal slide bar and the horizontal solid slide bar in the embodiment of the present application;

[0025] Figure 4 is a schematic diagram of the longitudinal splitting structure of the vertical slide bar and the vertical "L"-shaped solid slide bar in the embodiment of the present application;

[0026] Figure 5 is a schematic diagram of the split structure of the vertical multi-stage electric push rod and the boosting structure in the embodiment of the present application;

[0027] Figure 6 is a schematic diagram of the split structure of the boosting structure in the embodiment of the present application.

[0028] Reference numerals: 1, base; 2, motor; 3, fixed disk; 4, horizontal slide bar; 5, horizontal solid slide bar; 6, bearing block; 7, first fixed block; 8, horizontal multi-stage electric push rod; 9, connecting plate; 10, vertical slide bar; 11, vertical "L"-shaped solid slide bar; 12, second fixed block; 13, vertical multi-stage electric push rod; 14, vertical slide bar; 15, vertical solid slide bar; 16, fixed plate; 17, vacuum suction cup; 18, vertical multi-stage electric push rod; 19, third fixed block; 20, top plate; 21, synchronous double-shaft motor; 22, winding wheel; 23, steel wire rope; 24, pulley; 25, bottom plate. Detailed implementation manners

[0029] The following further describes the present application in detail with reference to Figures 1-6 the accompanying drawings.

[0030] An industrial robot with a boosting device is disclosed in an embodiment of the present application.

[0031] As Figures 1-6 shown, an industrial robot with a boosting device includes a base 1, a bearing block 6 and a top plate 20. A rotating mechanism with a rotating function of the horizontal slide bar 4 is provided on the base 1. The rotating mechanism includes a motor 2 and a fixed disk 3. The rotating end of the motor 2 is fixedly connected to the fixed disk 3.

[0032] An expansion mechanism with an expansion function of the horizontal multi-stage electric push rod 8 is provided on the horizontal slide bar 4. The expansion mechanism includes a vertical multi-stage electric push rod 13 and a vertical multi-stage electric push rod 18. The output ends of the horizontal multi-stage electric push rod 8, the vertical multi-stage electric push rod 13 and the vertical multi-stage electric push rod 18 are respectively fixedly connected to a connecting plate 9, a vertical "L"-shaped solid slide bar 11 and a fixed plate 16.

[0033] A boosting mechanism with a boosting function of the synchronous double-shaft motor 21 is provided on the top plate 20. The boosting mechanism includes a winding wheel 22. The rotating ends at both ends of the synchronous double-shaft motor 21 are fixedly connected to the winding wheel 22. Steel wire ropes 23 are wound around the two winding wheels 22.

[0034] Please refer to Figure 2 , the bottom end of the motor 2 is fixedly connected to the top of the base 1. The rotating end of the motor 2 is fixedly connected to the fixed disk 3. The top surface of the fixed disk 3 is fixedly connected to the bottom surface of the horizontal slide bar 4. The motor 2 drives the fixed disk 3 to rotate, and the fixed disk 3 drives the horizontal slide bar 4 and the device to rotate 360 degrees.

[0035] Please refer to Figure 3, the number of the horizontal sliding bars 4 is multiple. The multiple horizontal sliding bars 4 are successively divided into a first sliding bar, a second sliding bar and a third sliding bar from left to right. A chute is formed inside the first sliding bar, and chutes are formed on the outer and inner sides of the second sliding bar and the third sliding bar. The first sliding bar is slidably connected to the chute on the outer side of the second sliding bar. The chute on the inner side of the second sliding bar is slidably connected to the chute on the outer side of the third sliding bar. The chute on the inner side of the third sliding bar is slidably connected to a horizontal solid sliding bar 5. The multiple horizontal sliding bars 4 are successively slidably connected. A horizontal solid sliding bar 5 is slidably connected to one of the horizontal sliding bars 4. The horizontal solid sliding bar 5 can slide into the third sliding bar, the third sliding bar can slide into the second sliding bar, and the second sliding bar can slide into the first sliding bar, so as to realize the extension and contraction of the horizontal solid sliding bar 5 and the horizontal sliding bars 4.

[0036] Please refer to Figure 3 , a first fixing block 7 is fixedly connected to the top surface of the horizontal sliding bar 4. The first fixing block 7 is fixedly connected to the circumferential outer wall of the input end of a horizontal multi-stage electric push rod 8. A connecting plate 9 is fixedly connected to the top surface of the third sliding bar. The output end of the horizontal multi-stage electric push rod 8 extends from the input end and can drive the connecting plate 9 to move. The movement of the connecting plate 9 drives the first sliding bar, the second sliding bar, the third sliding bar and the horizontal solid sliding bar 5 to extend out in sequence to achieve the purpose of extension.

[0037] Please refer to Figure 1 , a vertical sliding bar 10 is horizontally and fixedly connected to the top surface of the bearing block 6. The vertical sliding bar 10 is slidably connected to a vertical "L"-shaped solid sliding bar 11. A second fixing block 12 is fixedly connected to the top surface of the vertical sliding bar 10. The second fixing block 12 is fixedly connected to the circumferential outer wall of the input end of a vertical multi-stage electric push rod 13. The vertical sliding bar 10 is also the same as the first sliding bar, the second sliding bar and the third sliding bar. The sliding principle of the first sliding bar, the second sliding bar and the third sliding bar is the same as the operating principle of the horizontal sliding bar 4 described above, and will not be elaborated here.

[0038] Please refer to Figure 4 , a vertical sliding bar 14 is fixedly connected to the vertical "L"-shaped solid sliding bar 11. The vertical sliding bar 14 is slidably connected to a vertical solid sliding bar 15. A fixing plate 16 is fixedly connected to the vertical solid sliding bar 15. A third fixing block 19 is fixedly connected to the vertical sliding bar 14. The third fixing block 19 is fixedly connected to a top plate 20. The third fixing block 19 is fixedly connected to the input end of a vertical multi-stage electric push rod 18. The vertical sliding bar 14 is also the same as the first sliding bar, the second sliding bar and the third sliding bar. The sliding principle of the first sliding bar, the second sliding bar and the third sliding bar is the same as the operating principle of the horizontal sliding bar 4 described above. The extension and contraction of the vertical sliding bar 14 and the vertical solid sliding bar 15 are controlled by the vertical multi-stage electric push rod 18.

[0039] Please refer to Figure 5, vacuum suction cups 17 are fixedly installed at the four corners of the bottom of the fixing plate 16. A bottom plate 25 is fixedly connected to the top of the fixing plate 16. A steel wire rope 23 is tied to the bottom plate 25. A pulley 24 is fixedly connected to the top of the third fixing block 19. In the patent application document, the electrical components are externally connected to a power supply. This device is a Cartesian robot, and the electrical components are all controlled by a controller, which is installed on one side of the base 1 of this device.

[0040] The implementation principle of an industrial robot with a boosting device in an embodiment of this application is as follows:

[0041] This device is shown in the accompanying drawings of the specification Figure 2 The state is unfolded as shown in the accompanying drawings of the specification Figure 1 The operations in the state shown are as follows:

[0042] The controller synchronously controls the output ends of the horizontal multi-stage electric push rod 8 and the vertical multi-stage electric push rod 13 to slide out from the input ends:

[0043] When the output end of the horizontal multi-stage electric push rod 8 slides out, it drives the connecting plate 9 to move. The connecting plate 9 drives the horizontal solid slide bar 5 and the bearing block 6 to move. At this time, the horizontal solid slide bar 5 extends out from the third slide bar. The third slide bar extends out from the second slide bar, and the second slide bar extends out from the first slide bar, so as to realize the horizontal movement extension of the horizontal multi-stage electric push rod 8;

[0044] The output end of the vertical multi-stage electric push rod 13 drives the vertical "L"-shaped solid slide bar 11 to slide into the second slide bar from the third slide bar, and the second slide bar can slide into the first slide bar, so as to realize the extension and contraction of the horizontal solid slide bar 5 and the horizontal slide bar 4, and thus realize the vertical movement extension of the vertical multi-stage electric push rod 13;

[0045] After the connecting plate 9 and the output of the vertical multi-stage electric push rod 13, the controller controls the vertical multi-stage electric push rod 18 and the synchronous double-shaft motor 21 to work:

[0046] The output end of the vertical multi-stage electric push rod 18 extends out from the input end, so that the vertical solid slide bar 15 extends downward in the third slide bar. The third slide bar extends downward in the second slide bar, and the second slide bar extends downward in the first slide bar. At the same time, the synchronous double-shaft motor 21 reverses to drive the winding wheel 22 to reverse and let the pulley 24 release;

[0047] After the vacuum suction cup 17 adsorbs the item to be lifted, the output end of the vertical multi-stage electric push rod 18 extends upward and retracts to a certain height from the input end. At the same time, the synchronous double-shaft motor 21 rotates forward to wind the pulley 24 around the winding wheel 22 for a certain number of turns;

[0048] The controller controls the rotation of the motor 2. The motor 2 drives the device to rotate 180 degrees and move to the position to be placed. After moving to the position to be placed, the output end of the vertical multi-stage electric push rod 18 extends downward. The synchronous biaxial motor 21 drives the winding wheel 22 to reverse, releasing the steel wire rope 23. At the same time, the item to be placed falls into the position to be placed. At the same time, the vacuum suction cup 17 is closed, causing the item to be placed to fall.

[0049] The above are all the preferred embodiments of this application, and the protection scope of this application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of this application shall be covered within the protection scope of this application.

Claims

1. An industrial robot with an assisting device, characterized in that: It includes a base (1), a bearing block (6) and a top plate (20). A rotating mechanism with the function of rotating a transverse slide bar (4) is arranged on the base (1). The rotating mechanism includes a motor (2) and a fixed disk (3), and the rotating end of the motor (2) is fixedly connected to the fixed disk (3). An expansion mechanism with the function of expanding and contracting a transverse multi-stage electric push rod (8) is arranged on the transverse slide bar (4). The expansion mechanism includes a longitudinal multi-stage electric push rod (13) and a vertical multi-stage electric push rod (18). The output ends of the transverse multi-stage electric push rod (8), the longitudinal multi-stage electric push rod (13) and the vertical multi-stage electric push rod (18) are respectively fixedly connected to a connecting plate (9), a longitudinal "L"-shaped solid slide bar (11) and a fixing plate (16). A boosting mechanism with the function of boosting a synchronous biaxial motor (21) is arranged on the top plate (20). The boosting mechanism includes a winding wheel (22), and the rotating ends at both ends of the synchronous biaxial motor (21) are fixedly connected to the winding wheel (22). Steel wires (23) are wound around both of the winding wheels (22).

2. The industrial robot with an assisting device according to claim 1, wherein: The bottom end of the motor (2) is fixedly connected to the top of the base (1), the rotating end of the motor (2) is fixedly connected to the fixed disk (3), and the top surface of the fixed disk (3) is fixedly connected to the bottom surface of the transverse slide bar (4).

3. The industrial robot with a boosting device according to claim 1, characterized in that: The number of the transverse slide bars (4) is multiple. The multiple transverse slide bars (4) are sequentially divided into a first slide bar, a second slide bar and a third slide bar from left to right. A chute is formed inside the first slide bar, and chutes are formed on the outer and inner sides of the second slide bar and the third slide bar. The first slide bar is slidably connected to the chute on the outer side of the second slide bar, the chute on the inner side of the second slide bar is slidably connected to the chute on the outer side of the third slide bar, and the chute on the inner side of the third slide bar is slidably connected to a transverse solid slide bar (5). The multiple transverse slide bars (4) are sequentially slidably connected, and a transverse solid slide bar (5) is slidably connected to one of the transverse slide bars (4).

4. The industrial robot with an assisting device according to claim 2, characterized in that: A first fixing block (7) is fixedly connected to the top surface of the transverse slide bar (4), and the first fixing block (7) is fixedly connected to the circumferential outer wall of the input end of the transverse multi-stage electric push rod (8). A connecting plate (9) is fixedly connected to the top surface of the third slide bar.

5. The industrial robot with an assisting device according to claim 1, wherein: A longitudinal slide bar (10) is horizontally and fixedly connected to the top surface of the bearing block (6). A longitudinal "L"-shaped solid slide bar (11) is slidably connected to the longitudinal slide bar (10). A second fixing block (12) is fixedly connected to the top surface of the longitudinal slide bar (10), and the second fixing block (12) is fixedly connected to the circumferential outer wall of the input end of the longitudinal multi-stage electric push rod (13).

6. The industrial robot with an assisting device according to claim 1, wherein: The longitudinal "L"-shaped solid slide bar (11) is fixedly connected to a vertical slide bar (14). A vertical solid slide bar (15) is slidably connected to the vertical slide bar (14). The vertical solid slide bar (15) is fixedly connected to a fixing plate (16). A third fixing block (19) is fixedly connected to the vertical slide bar (14). The third fixing block (19) is fixedly connected to the top plate (20), and the third fixing block (19) is fixedly connected to the input end of the vertical multi-stage electric push rod (18).

7. The industrial robot with an assisting device according to claim 6, characterized in that: Vacuum suction cups (17) are fixedly installed at the four corners of the bottom of the fixing plate (16). A bottom plate (25) is fixedly connected to the top of the fixing plate (16). A steel wire rope (23) is tied to the bottom plate (25). A pulley (24) is fixedly connected to the top of the third fixing block (19).

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