Industrial robot limiting auxiliary device

Abstract

The invention discloses an industrial robot limiting auxiliary device, and relates to the technical field of robot auxiliary equipment.The industrial robot limiting auxiliary device comprises a base, a base plate is fixedly connected to the base, a limiting protection mechanism is arranged outside the base plate, the limiting protection mechanism comprises a driving motor arranged outside the base plate, and a driving rod is arranged at the output end of the driving motor; the side, away from the driving motor, of the driving rod is fixedly connected with a first bevel gear, the side edge of the first bevel gear is in meshed connection with a second bevel gear, the side edge of the second bevel gear is fixedly connected with a first threaded rod, the side, away from the second bevel gear, of the first threaded rod is in threaded connection with a threaded cylinder, and the side edge of the threaded cylinder is fixedly connected with a connecting plate. The initial compression degree of the spring is changed, the buffering effect during limiting is further adjusted, impact force of different degrees is effectively counteracted, abrasion, deformation and even damage caused by direct collision of robot joints, transmission parts and the like are avoided, the service life of a robot is remarkably prolonged, and the movement precision of the robot is guaranteed.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of robot-assisted devices, and in particular to an industrial robot limiting auxiliary device. BACKGROUND

[0002] With the transformation and upgrading of global manufacturing industry and the rise of labor costs, the market demand for industrial robots continues to grow. Industrial robots are widely used in welding, assembly, transportation, feeding and discharging and other fields, and have become an important tool for improving production efficiency and reducing labor intensity. However, when industrial robots run in complex working environments, they are prone to exceed the safe motion range due to program errors, sensor failures or operation errors, causing collisions, damaging equipment or endangering personnel safety. The industrial robot limiting auxiliary device limits the motion range of the robot through mechanical, electrical or software means to ensure that the robot works within the safe area.

[0003] In the prior art, when the robot moves to the limit position and collides with the mechanical stop block, a large impact force is generated, which may cause wear, deformation or even damage to the robot joints, transmission components and other parts after long-term use, affecting the service life and motion accuracy of the robot, and the vibration generated by the collision may affect the operation of the industrial robot. Therefore, an industrial robot limiting auxiliary device is proposed. SUMMARY

[0004] The purpose of the present application is to solve the problems in the prior art that when the robot moves to the limit position and collides with the mechanical stop block, a large impact force is generated, which may cause wear, deformation or even damage to the robot joints, transmission components and other parts after long-term use, affecting the service life and motion accuracy of the robot, and the vibration generated by the collision may affect the operation of the industrial robot. Therefore, an industrial robot limiting auxiliary device is proposed.

[0005] In order to achieve the above-mentioned purpose, the application adopts the following technical solutions: The utility model provides an industrial robot limiting auxiliary device, including base, fixedly connected with base plate on base plate outside is provided with limiting protection mechanism, limiting protection mechanism includes the drive motor that sets up outside base plate, the output of drive motor is provided with drive rod, one side fixedly connected with first bevel gear away from drive motor of drive rod, first bevel gear side edge is engagedly connected with second bevel gear, first screw rod is fixedly connected with second bevel gear side edge, one side screw connection of first screw rod away from second bevel gear is provided with threaded cylinder, connecting plate is fixedly connected with threaded cylinder side edge, spring is fixedly connected with the one side of connecting plate away from threaded cylinder, spring is fixedly connected with limiting plate away from the one side of connecting plate, drive motor starts through drive rod and drives first bevel gear to rotate, first bevel gear drives first screw rod to rotate through second bevel gear, first screw rod drives connecting plate to move through threaded cylinder, the movement of connecting plate will make spring compress towards limiting plate direction and gradually produce increasing elastic potential, spring is provided with multiple groups and multiple groups of spring through the change of elastic potential to reduce the impact of different degrees.

[0006] The above technical solution further comprises: The base plate is fixedly connected with the drive motor, the first screw rod is rotatably connected with the base plate, the threaded cylinder is slidably connected with the base plate, a control base is provided above the base, and a robot main body assembly is provided on the output end of the control base.

[0007] A telescopic rod is fixedly connected to the side of the connecting plate close to the spring, and the telescopic rod is fixedly connected with the limiting plate.

[0008] A square groove is formed on the side of the base close to the limiting plate, and the square groove is slidably connected with the limiting plate.

[0009] A second screw rod is rotatably connected to the side of the square groove close to the limiting plate, the limiting plate is threadedly connected with the second screw rod, and the second screw rod is fixedly connected with a torsion disc on the side away from the base.

[0010] The square groove, the second screw rod, the limiting plate, the second screw rod, and the torsion disc are provided with another symmetrical group, and the limiting position can be adjusted on both sides respectively.

[0011] A sliding groove is formed on the side of the base plate close to the connecting plate.

[0012] A sliding block is slidably connected to the side of the sliding groove, the sliding block is fixedly connected with a connecting support rod, and the connecting support rod is fixedly connected with the connecting plate.

[0013] The first bevel gear is meshed with a third bevel gear on the side away from the second bevel gear. The third bevel gear is correspondingly connected to another set of first threaded rods, threaded cylinders, connecting plates, springs, and limiting plates.

[0014] A mounting flange is provided below the base, and the mounting flange has mounting holes inside, with multiple sets of mounting holes arranged in a circular pattern.

[0015] A fixing plate is provided on the side of the base near the control base, and the fixing plate is fixedly connected to the control base.

[0016] The present invention has the following beneficial effects: 1. In this invention, when the robot moves to its limit position and contacts the limiting plate, the elastic potential energy of the spring is used to absorb and buffer the impact force. The drive motor drives the connecting plate to move through the bevel gear and threaded rod transmission mechanism, changing the initial compression degree of the spring and further adjusting the buffering effect at the limit position. This allows the device to adapt to the needs of different work tasks and production scenarios. When the side plate of the robot's main component hits the limiting plate, it effectively offsets the impact force of different degrees, avoiding wear, deformation or even damage to the robot's joints, transmission components, etc. due to direct collision. This significantly extends the robot's service life and ensures its motion accuracy.

[0017] 2. In this invention, there is an adjustable limiting position mechanism. By rotating the torsion disc, the second threaded rod is driven to rotate, which in turn causes the limiting plate to slide within the square groove. This allows for easy adjustment of the limiting plate's position, thereby changing the robot's limiting range.

[0018] 3. In this invention, the first bevel gear meshes with the second and third bevel gears simultaneously, driving two identical sets of first threaded rods, threaded cylinders, connecting plates, springs, and limiting plates to work synchronously. This dual-sided synchronous limiting design ensures that when the robot moves to its limit position, both sides are simultaneously buffered and limited, further improving the limiting effect and safety, and avoiding problems such as robot loss of control or damage caused by unstable unilateral limiting. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of an industrial robot positioning auxiliary device proposed in this invention; Figure 2 This is a schematic diagram of the external structure in this invention; Figure 3 This is a schematic diagram of the internal three-dimensional structure of the present invention; Figure 4 for Figure 1 Enlarged schematic diagram of the structure at point A in the middle; Figure 5 for Figure 3 Enlarged schematic diagram of the structure at point B; Figure 6 For Figure 3 The structure is enlarged at C.

[0020] In the figure: 1, base; 2, base plate; 3, drive motor; 4, drive rod; 5, first bevel gear; 6, second bevel gear; 7, first threaded rod; 8, threaded cylinder; 9, connecting plate; 10, spring; 11, telescopic rod; 12, limiting plate; 13, control base; 14, side plate; 15, robot main body assembly; 16, square groove; 17, second threaded rod; 18, torsion disc; 19, sliding groove; 20, sliding block; 21, connecting support rod; 22, third bevel gear; 23, mounting flange; 24, mounting hole; 25, fixed plate. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0022] Please refer to Figures 1-6 As shown in the figure, the present application is an industrial robot limiting auxiliary device, which comprises a base 1, the base 1 is fixedly connected with a base plate 2, a limiting protection mechanism is arranged outside the base plate 2, the limiting protection mechanism comprises a drive motor 3 arranged outside the base plate 2, the output end of the drive motor 3 is provided with a drive rod 4, the side of the drive rod 4 away from the drive motor 3 is fixedly connected with a first bevel gear 5, the side of the first bevel gear 5 is engagedly connected with a second bevel gear 6, the side of the second bevel gear 6 is fixedly connected with a first threaded rod 7, the side of the first threaded rod 7 away from the second bevel gear 6 is threadedly connected with a threaded cylinder 8, the side of the threaded cylinder 8 is fixedly connected with a connecting plate 9, the side of the connecting plate 9 away from the threaded cylinder 8 is fixedly connected with a spring 10, the side of the spring 10 away from the connecting plate 9 is fixedly connected with a limiting plate 12, the drive motor 3 drives the first bevel gear 5 to rotate through the drive rod 4 after starting, the first bevel gear 5 drives the first threaded rod 7 to rotate through the second bevel gear 6, the first threaded rod 7 drives the connecting plate 9 to move through the threaded cylinder 8, the movement of the connecting plate 9 will cause the spring 10 to be compressed towards the limiting plate 12 and gradually generate increasing elastic potential energy, the spring 10 is provided with multiple groups and the multiple groups of springs 10 change the elastic potential energy to reduce impact forces of different degrees.

[0023] The base plate 2 is fixedly connected between the driving motor 3 and the base 1, the first threaded rod 7 is rotatably connected between the base plate 2 and the base 1, the threaded barrel 8 is slidably connected between the base plate 2 and the base 1, the control base 13 is arranged above the base 1, the output end of the control base 13 is provided with the robot main body assembly 15, and the side plate 14 is fixedly connected to the side of the robot main body assembly 15 close to the control base 13.

[0024] In the embodiment, the base plate 2 is fixedly connected above the base 1, the limiting protection mechanism arranged outside the base plate 2 is started, the driving motor 3 fixedly installed on the inner wall of the base plate 2 starts to operate, the driving rod 4 arranged at the output end of the driving motor 3 starts to rotate under the control of the driving motor 3, the first bevel gear 5 fixedly connected to the other side of the driving rod 4 starts to rotate under the driving of the driving rod 4, the second bevel gear 6 meshingly connected to the side of the first bevel gear 5 starts to rotate under the driving of the first bevel gear 5, the first threaded rod 7 fixedly connected to the side of the second bevel gear 6 starts to rotate under the driving of the second bevel gear 6, so that the first threaded rod 7 can rotate through the inside of the threaded barrel 8, the threaded barrel 8 is threadedly connected between the first threaded rod 7 and the base plate 2 and slidably connected between the base plate 2 and the base 1, so that the threaded barrel 8 slides on the inner wall of the base plate 2 under the driving of the first threaded rod 7, the connecting plate 9 fixedly connected to the side of the threaded barrel 8 starts to move under the driving of the threaded barrel 8, the spring 10 fixedly connected to the side of the connecting plate 9 starts to move under the driving of the connecting plate 9, the spring 10 is gradually compressed to the position of the limiting plate 12 under the driving of the connecting plate 9, and the elastic potential energy is continuously increased, the control base 13 is arranged above the base 1, the control base 13 can control the rotation of the robot main body assembly 15, the side plate 14 fixedly connected below the robot main body assembly 15 starts to rotate under the driving of the robot main body assembly 15, the side plate 14 impacts the limiting plate 12 to form a limiting function when the side plate 14 rotates to a certain amplitude, the elastic potential energy generated by the spring 10 is attached to the limiting plate 12 at this time to offset the impact force brought by the side plate 14, and the size of the elastic potential energy can be changed through the limiting protection mechanism according to the impact force of the side plate 14, so that the device can always be stably and safely limited and protected.

[0025] In one embodiment, the connecting plate 9 is fixedly connected with the telescopic rod 11 on the side close to the spring 10, and the telescopic rod 11 is fixedly connected between the connecting plate 9 and the limiting plate 12.

[0026] In the embodiment, when the spring 10 starts to stretch and contract, the telescopic rod 11 fixedly connected between the connecting plate 9 and the limiting plate 12 also stretches and contracts, so that the elastic potential energy of the spring 10 is prevented from being too large or too small, and the structural stability is improved.

[0027] In one embodiment, for the base 1, a square groove 16 is provided on the side of the base 1 near the limiting plate 12, and the square groove 16 is slidably connected to the limiting plate 12.

[0028] A second threaded rod 17 is rotatably connected to the side of the square groove 16 near the limiting plate 12. The limiting plate 12 and the second threaded rod 17 are threaded together. A torsion plate 18 is fixedly connected to the side of the second threaded rod 17 away from the base 1.

[0029] In this embodiment, a square groove 16 is provided on the side of the base 1 near the limiting plate 12. By rotating the torsion disc 18, the second threaded rod 17 fixedly connected to the side of the torsion disc 18 can be driven to rotate inside the base 1. Since the second threaded rod 17 is slidably connected to the inner wall of the square groove 16 and threadedly connected to the limiting plate 12, the rotation of the second threaded rod 17 will drive the limiting plate 12 to move, thereby changing the limiting position. This allows the device to perform limiting protection of different amplitudes and can cooperate with the limiting protection mechanism to achieve efficient limiting protection at different positions.

[0030] In one embodiment, for the substrate 2, a groove 19 is provided on the side of the substrate 2 near the connecting plate 9.

[0031] A slider 20 is slidably connected to the side of the slide groove 19, and a connecting support rod 21 is fixedly connected to the side of the slider 20. The connecting support rod 21 is fixedly connected to the connecting plate 9.

[0032] In this embodiment, when the connecting plate 9 moves, the connecting plate 9 will drive the connecting support rod 21, which is fixedly connected to its other side, to move. When the connecting support rod 21 moves, it will drive the slider 20, which is fixedly connected to its other side, to move. The slider 20 will slide on the inner wall of the groove 19 opened inside the substrate 2, thereby ensuring the stability of the connecting plate 9 when it moves.

[0033] In one embodiment, for the first bevel gear 5, a third bevel gear 22 is meshed on the side of the first bevel gear 5 away from the second bevel gear 6, and the third bevel gear 22 is correspondingly connected to another set of first threaded rod 7, threaded cylinder 8, connecting plate 9, spring 10 and limiting plate 12.

[0034] In this embodiment, the rotation of the first bevel gear 5 will simultaneously drive the third bevel gear 22, which is meshed with it on the other side, to rotate. The third bevel gear 22 changes its elastic potential energy in the same way by setting the same first threaded rod 7, threaded cylinder 8, connecting plate 9, spring 10 and limiting plate 12 on its side, and limits it from both sides of the device at the same time.

[0035] In one embodiment, for the base 1, a mounting flange 23 is provided below the base 1, and mounting holes 24 are provided inside the mounting flange 23. Multiple sets of mounting holes 24 are provided in a circular pattern.

[0036] A fixing plate 25 is provided on the side of the base 1 near the control base 13, and the fixing plate 25 is fixedly connected to the control base 13.

[0037] In this embodiment, a mounting flange 23 is provided below the base 1. The device can be fixedly installed at the position where it needs to be operated by multiple sets of mounting holes 24 opened on the side of the mounting flange 23. The fixing plate 25 fixedly connected to the bottom of the control base 13 can install the robot main body component 15 on the top of the base 1.

[0038] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An industrial robot limiting aid device comprising a base (1), characterized in that, The base (1) is fixedly connected with a base plate (2), a limiting protection mechanism is arranged outside the base plate (2), the limiting protection mechanism comprises a driving motor (3) arranged outside the base plate (2), a driving rod (4) is arranged at the output end of the driving motor (3), a first bevel gear (5) is fixedly connected to the side, away from the driving motor (3), of the driving rod (4), a second bevel gear (6) is meshingly connected to the side of the first bevel gear (5), a first threaded rod (7) is fixedly connected to the side of the second bevel gear (6), a threaded cylinder (8) is threadedly connected to the side, away from the second bevel gear (6), of the first threaded rod (7), a connecting plate (9) is fixedly connected to the side of the threaded cylinder (8), a spring (10) is fixedly connected to the side, away from the connecting plate (9), of the connecting plate (9), a limiting plate (12) is fixedly connected to the side, away from the connecting plate (9), of the spring (10), the driving motor (3) drives the first bevel gear (5) to rotate through the driving rod (4) after being started, the first bevel gear (5) drives the first threaded rod (7) to rotate through the second bevel gear (6), the connecting plate (9) is driven to move by the first threaded rod (7) through the threaded cylinder (8), the movement of the connecting plate (9) causes the spring (10) to be compressed towards the limiting plate (12) and gradually generate increasing elastic potential energy, the spring (10) is provided in multiple groups, and the multiple groups of springs (10) change the elastic potential energy to reduce impact forces of different degrees.

2. The industrial robot position limiting aid of claim 1, wherein, The base plate (2) is fixedly connected with the driving motor (3), the first threaded rod (7) is rotatably connected with the base plate (2), the threaded cylinder (8) is slidably connected with the base plate (2), a control base (13) is arranged above the base (1), a robot main body assembly (15) is arranged at the output end of the control base (13), and a side plate (14) is fixedly connected to the side, close to the control base (13), of the robot main body assembly (15).

3. The industrial robot position limiting aid of claim 1, wherein, The connecting plate (9) is fixedly connected with an extension rod (11) on the side, close to the spring (10), of the connecting plate (9), and the extension rod (11) is fixedly connected between the limiting plate (12).

4. The industrial robot position limiting aid of claim 1, wherein, A square groove (16) is arranged on the side, close to the limiting plate (12), of the base (1), and the square groove (16) is slidably connected with the limiting plate (12).

5. An industrial robot limiting aid according to claim 4, characterized in that, A second threaded rod (17) is rotatably connected to the side, close to the limiting plate (12), of the square groove (16), the limiting plate (12) is threadedly connected with the second threaded rod (17), and a torsion disc (18) is fixedly connected to the side, away from the base (1), of the second threaded rod (17).

6. The industrial robot position limiting aid of claim 1, wherein, A sliding groove (19) is arranged on the side, close to the connecting plate (9), of the base plate (2).

7. An industrial robot limiting aid according to claim 6, characterized in that, A sliding block (20) is slidably connected to the side of the sliding groove (19), the sliding block (20) is fixedly connected with a connecting support rod (21), and the connecting support rod (21) is fixedly connected with the connecting plate (9).

8. The industrial robot position limiting aid of claim 1, wherein, The first bevel gear (5) is meshed and connected with a third bevel gear (22) on the side away from the second bevel gear (6), and the third bevel gear (22) is correspondingly connected with another set of first threaded rods (7), threaded barrels (8), connecting plates (9), springs (10) and limit plates (12).

9. The industrial robot position limiting assist device of claim 1, wherein, The bottom base (1) is provided below with a mounting flange plate (23), and a plurality of groups of mounting holes (24) are circumferentially formed in the mounting flange plate (23).

10. The industrial robot position limiting aid of claim 2, wherein, The bottom base (1) is provided on the side close to the control base (13) with a fixed plate (25), and the fixed plate (25) is fixedly connected with the control base (13).

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