Robot with anti-toppling reinforced base

Abstract

The invention discloses a robot with an anti-toppling reinforcing base, and relates to the technical field of robots. The robot with the anti-toppling reinforcing base comprises a rack, a grabbing mechanism and a driving mechanism, the grabbing mechanism comprises a sliding workbench and a mechanical arm, a rotating device is installed at the end of the mechanical arm, a triangular block is fixedly connected to the output end of the rotating device, and a first supporting cylinder is fixedly connected to the bottom of the inclined face of the outer side of the triangular block; a second supporting cylinder is fixedly connected to the top of the outer side inclined face of the three-edged block, first calipers are installed on the surface of the first supporting cylinder, second calipers are installed on the surface of the second supporting cylinder, the driving mechanism comprises a rack and a servo motor, a gear is fixedly installed at the output end of the servo motor, and an oil receiving hopper is fixedly connected to the top of the gear; the lubricating purpose is achieved, toppling can be prevented, lubricating is convenient, abrasion is reduced, the material placing state is changed, and safety and reliability are achieved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot with an anti-tipping reinforced base. Background Technology

[0002] A robot is an electromechanical device that integrates multiple disciplines such as mechanics, electronics, computers, sensors, and artificial intelligence. It can perform tasks autonomously or semi-autonomously, and its core is a closed-loop system of perception, decision-making, and execution. With the rapid development of technology and the continuous progress of society, the application of robots is increasing. Robots have numerous applications in industrial manufacturing, agricultural production, logistics, and other fields. In industrial production processes, cylindrical materials are frequently used, requiring the gripping of these materials; therefore, cylindrical material gripping robots are employed.

[0003] For example, an industrial robot, as described in Chinese Patent Publication No. CN106113075A, includes a support base, a control panel, a slide rail, a hydraulic power unit, a data cable, a sliding block, a fixed block, a telescopic shaft, a first gripper, a second gripper, a rubber pad, a toothed block, a sensor, a stepper motor, a support rod, a rotating shaft, a suction cup, and a jetting device. The support base has a control panel mounted on it, with a slide rail mounted on its upper end. A hydraulic power unit is mounted on the upper end of the slide rail, and a sliding block is connected to its lower end. A fixed block is connected to the lower end of the sliding block, and a data cable connects the fixed block to the hydraulic power unit. A telescopic shaft is provided at the lower end of the fixed block, and a first gripping claw is installed at the lower end of the telescopic shaft. A second gripping claw is provided at the right end of the first gripping claw, and a sensor is installed inside it. A rubber pad is placed on the inner wall of the first gripping claw, and a toothed block is installed on its outer surface. A support rod is provided at the lower end of the stepper motor, and a rotating shaft is installed at the lower end of the support rod, with a suction cup connected to its lower end. A toothed block made of rubber is provided on the inner side of the gripping claw, which not only prevents slipping but also ensures the stability of the gripped object without damaging it. The addition of the suction cup allows for the suction of objects that are difficult to grip.

[0004] In existing technical references, a slider can move on a slide rail and the material can be gripped by the combined action of a first gripper, a second gripper, and a suction cup. However, with such a design, the material wears out severely during long-term operation while it is sliding, which affects the service life of the structure. At the same time, the placement state of the material cannot be changed when unloading. Summary of the Invention

[0005] To solve the above technical problems, the present invention is implemented through the following technical solution: A robot with an anti-tipping reinforced base includes: A frame, and a guide rail fixedly installed on the top side of the frame, wherein a connecting seat is fixedly installed on the side of the frame surface; A gripping mechanism includes a sliding worktable and a robotic arm. The sliding worktable is mounted on top of a guide rail via rollers. The robotic arm is mounted on top of the sliding worktable, and a rotator is mounted at the end of the robotic arm. A triangular block is fixedly connected to the output end of the rotator. A first support cylinder is fixedly connected to the bottom of the outer inclined surface of the triangular block, and a second support cylinder is fixedly connected to the top of the outer inclined surface of the triangular block. A first clamp is mounted on the surface of the first support cylinder, and a second clamp is mounted on the surface of the second support cylinder. Initially, the first support cylinder is vertical, while the second... When the support cylinder is in a horizontal state, the second support cylinder can support the second clamp. The second clamp can grip the cylindrical material in a horizontal state and rotate counterclockwise using the output end of the rotator, which can drive the triangular block to rotate counterclockwise by 180 degrees. When the second support cylinder is in a vertical state, the direction of the cylindrical material gripped by the second clamp can be changed, and the cylindrical material is vertically discharged, changing the placement state of the material. At the same time, the first support cylinder is in a horizontal state, which helps the first clamp on the first support cylinder to prepare for gripping the material again. By repeating this forward and reverse cycle, gripping and discharging can be performed. The drive mechanism includes a rack and a servo motor. The rack is fixedly mounted on the top of the surface of the robotic arm. The servo motor is fixedly mounted on the side of the top of the sliding worktable via a right-angle bracket. A gear is fixedly mounted on the output end of the servo motor. An oil receiving hopper is fixedly connected to the top of the gear. An oil outlet is connected to the surface of the oil receiving hopper near the gear. A sealing ball is installed at the oil outlet of the oil outlet. An oil guiding assembly is installed on the right-angle bracket outside the servo motor. The rotation of the output end of the servo motor can drive the gear to rotate. Through the meshing installation between the gear and the rack, the rotating base can move linearly as a whole. With the support of the robotic arm, the cylindrical material being grasped can be moved linearly, making it easy to place the cylindrical material in other places. After the material is unloaded, the output of the servo motor drives the gear to rotate in the opposite direction, causing the rotating base to move in the opposite direction. With the support of the robotic arm, the first support cylinder and the second support cylinder move in opposite directions, which helps to continuously grip and unload the material through the first and second clamps. The frame is installed in the designated position by the connecting bracket, which makes the two symmetrical guide rails more stable. The guide rails support the sliding worktable, and with the symmetrical servo motors and gears on both sides, the overall structure is not easy to tip over, thus preventing tipping.

[0006] Anti-slip strips are installed on both the jaws of the first and second calipers to increase friction and prevent cylindrical materials from slipping off.

[0007] An oil supply mechanism is installed on the top of the frame and on the surface of the guide rail, near the rack.

[0008] Furthermore, the guide rails are installed horizontally, and there are two guide rails installed symmetrically along the central axis of the frame. The first support cylinder is installed vertically, and the second support cylinder is installed horizontally.

[0009] Furthermore, the robotic arm includes a rotating base, which is fixedly installed at the center of the top of the sliding worktable. A supporting large arm is installed at the rotating end of the top of the rotating base, and a supporting small arm is installed at the top of the supporting large arm. A rotator is installed at the end of the supporting small arm away from the supporting large arm. The rotating base drives the supporting large arm to rotate in a circumferential direction, adjusting the circumferential angle of the supporting large arm. The supporting small arm is also driven by the supporting large arm to move and rotate to adjust its angle. Through the linkage between the rotating base, the supporting large arm, and the supporting small arm, and with the connection of the rotator and the triangular block, the positions of the first and second supporting cylinders can be adjusted, facilitating the gripping of cylindrical materials by the first and second clamps.

[0010] Furthermore, the rack is installed horizontally, the gear is meshed with the rack, there are two gears, and the two gears are installed symmetrically along the central axis of the frame.

[0011] Furthermore, the oil outlets are evenly distributed on the surface of the oil receiving hopper, the inner diameter of the oil receiving hopper gradually decreases from top to bottom, and the output end of the servo motor passes through the center of the oil receiving hopper.

[0012] Furthermore, the oil guiding assembly includes a connecting plate and a diversion channel. The connecting plate is fixedly installed on the right-angled frame outside the servo motor by screws. The diversion channel is fixedly installed on the surface of the connecting plate and on the side close to the servo motor. A rectangular oil drain is provided at the bottom of the inner cavity of the diversion channel. The rectangular oil drain is located directly above the top opening of the oil receiving hopper. The oil receiving hopper rotates with the gear. The oil outlets evenly distributed on the surface of the oil receiving hopper rotate in a circular motion. The sealing ball contacts the trapezoidal teeth of the rack, so that the sealing ball is pushed by the trapezoidal teeth on the surface of the rack. The sealing ball slides into the inside of the oil outlet and separates from the oil outlet of the oil outlet. The blockage of the oil outlet of the oil outlet is released, and the lubricating oil in the oil receiving hopper flows from the oil outlet of the oil outlet to the joint of the gear and the rack, thereby lubricating the gear and the rack and reducing wear. As the oil receiving hopper drives the oil outlet to rotate continuously, the sealing ball separates from the trapezoidal teeth of the rack. The pushing force of the trapezoidal teeth of the rack on the sealing ball disappears, and under the pressure of the lubricating oil fluid in the oil receiving hopper, the sealing ball away from the trapezoidal teeth of the rack moves along the direction of fluid flow to block the oil outlet. Only the oil outlets near the trapezoidal teeth of the rack are opened to drain oil, reducing the amount of oil output and helping to lubricate the entire rack evenly.

[0013] Furthermore, there are two drainage channels, and the two drainage channels are symmetrically installed along the sliding worktable, with both ends of the outer side of the drainage channels curving upwards.

[0014] Furthermore, the oil supply mechanism includes an oil storage tank and an oil receiving shell. The oil storage tank is fixedly installed on the side of the top of the frame, and the oil receiving shell is fixedly installed on the surface of the guide rail near the rack. A refueling pipe is installed on the side of the surface of the oil storage tank. A bent pipe connects the surface of the oil storage tank and the end of the oil receiving shell. A pressure-bearing member is slidably installed on the surface of the oil storage tank away from the refueling pipe. The end of the pressure-bearing member penetrates the oil storage tank and extends into its interior. A clamp is installed between the end of the pressure-bearing member extending into the oil storage tank and the inner wall of the oil storage tank. An elastic oil bladder is provided, with an oil suction pipe connected to the side of its bottom. An oil inlet check valve is installed on the surface of the oil suction pipe. A three-way oil outlet pipe is installed on the top of the oil storage tank, with an oil outlet check valve installed at the oil inlet end of the three-way oil outlet pipe. An oil collection shell is installed directly below the rack. Lubricating oil from both the rack and gear surfaces drips into the oil collection shell, thus collecting the lubricating oil and reducing waste. The lubricating oil collected in the oil collection shell flows back to the oil storage tank through a bend in the pipe, thereby recycling and reusing the lubricating oil.

[0015] Furthermore, the oil collection housing is installed horizontally, and there are two oil collection housings, which are symmetrically installed along the central axis of the frame, and the oil collection housing is installed directly below the rack.

[0016] Initially, no pressure is applied to the pressure-bearing component, and the elastic oil bladder is in an inflated state. With the oil suction pipe connected and the oil inlet check valve controlling the direction of the oil path, lubricating oil is drawn into the elastic oil bladder. As the sliding worktable moves linearly, it contacts the end of the pressure-bearing component, causing the component to be pushed by the sliding worktable. The sliding worktable slides into the oil storage tank, and the elastic oil bladder is compressed by the pressure of the pressure-bearing component, reducing its volume. Under the control of the oil outlet check valve, the lubricating oil inside the elastic oil bladder is discharged into the three-way oil outlet pipe and discharged into the drainage trough from the oil outlet at the top of the three-way oil outlet pipe. Under the guidance of the drainage trough, the lubricating oil flows into the oil receiving hopper from the rectangular oil drain, thus supplying oil to the oil receiving hopper.

[0017] Furthermore, the pressure-bearing component and the sliding worktable are installed at the same height, and the oil inlet at the bottom of the three-way oil outlet pipe is connected to the oil outlet at the top of the elastic oil bladder.

[0018] The beneficial effects of the technical solution provided by this invention include: 1. The rotating base drives the support arm to rotate in a circular direction, adjusting the angle of the support arm in a circular direction. The support arm is also moved and rotated by the support arm to adjust its angle. Through the linkage between the rotating base, the support arm and the support arm, and the connection of the rotator and the triangular block, the positions of the first support cylinder and the second support cylinder can be adjusted, making it easier to grip cylindrical materials by using the first clamp and the second clamp.

[0019] Second, by supporting the second clamp with the second support cylinder, the second clamp can grip the cylindrical material in a horizontal state. By rotating the output end of the rotator counterclockwise, the triangular block can be rotated 180 degrees counterclockwise, and the second support cylinder is in a vertical state. This changes the direction of the cylindrical material gripped by the second clamp, and the cylindrical material is released vertically, changing the placement state of the material. At the same time, the first support cylinder is in a horizontal state, which helps the first clamp on the first support cylinder to prepare for gripping the material again. By repeating this forward and reverse cycle, gripping and releasing can be performed.

[0020] Third, by utilizing the rotation of the servo motor output, the gear can be driven to rotate. Through the meshing installation between the gear and the rack, the rotating base moves linearly as a whole. With the support of the robotic arm, the cylindrical material being gripped can be moved linearly, making it easy to place the cylindrical material to other places. After the material is discharged, the servo motor output drives the gear to rotate in the opposite direction, causing the rotating base to move in the opposite direction. With the support of the robotic arm, the first support cylinder and the second support cylinder move in opposite directions, which helps to continuously grip and discharge the material through the first clamp and the second clamp.

[0021] Fourth, by utilizing the contact between the sealing ball and the trapezoidal teeth of the rack, the sealing ball is pushed by the trapezoidal teeth on the rack surface, causing the sealing ball to slide into the inside of the oil outlet. The sealing ball separates from the oil outlet of the oil outlet, and the blockage at the oil outlet of the oil outlet is released. The lubricating oil in the oil receiving hopper flows from the oil outlet of the oil outlet to the joint between the gear and the rack, thereby lubricating the gear and rack and reducing wear.

[0022] 5. By installing the oil collection shell directly below the rack, the lubricating oil on the rack surface and the gear surface drips into the oil collection shell, which can collect the lubricating oil, reduce lubricating oil waste, and the lubricating oil collected in the oil collection shell flows back to the oil storage tank through the bend pipe, thereby recycling and reusing the lubricating oil.

[0023] 6. When the elastic oil bladder is pressed by the pressure of the pressure component, the elastic oil bladder is compressed and its volume decreases. Under the control of the oil circuit by the oil outlet check valve, the lubricating oil inside the elastic oil bladder is discharged into the three-way oil outlet pipe, and then discharged into the drainage groove from the oil outlet at the top of the three-way oil outlet pipe. Under the guidance of the drainage groove, the lubricating oil flows into the oil receiving hopper from the rectangular oil drain, and can then supply oil to the oil receiving hopper. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of a robot with an anti-tipping reinforced base provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a robot structure with an anti-tipping reinforced base, shown from below, according to an embodiment of the present invention. Figure 3 This is a schematic diagram of the connection structure between the gripping mechanism and the guide rail provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the overall structure of the gripping mechanism provided in an embodiment of the present invention; Figure 5 A schematic diagram of the connection structure between the drive mechanism, guide rail, and sliding worktable provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the overall structure of the oil guiding assembly provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the connection structure between the oil supply mechanism and the frame and guide rail provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the internal structure of the oil storage tank cross-section provided in an embodiment of the present invention.

[0025] In the diagram: 1. Frame; 2. Guide rail; 3. Connecting seat; 4. Gripping mechanism; 5. Drive mechanism; 6. Oil supply mechanism; 41. Sliding worktable; 42. Robotic arm; 43. Rotator; 44. Triangular block; 45. First support cylinder; 46. Second support cylinder; 47. First caliper; 48. Second caliper; 421. Rotating base; 422. Support arm; 423. Support arm; 51. Rack; 52. Servo motor 53. Gear; 54. Oil receiving hopper; 55. Oil outlet; 56. Sealing ball; 57. Oil guiding assembly; 571. Connecting plate; 572. Drainage trough; 573. Rectangular oil outlet; 61. Oil storage tank; 62. Oil receiving shell; 63. Oil filling pipe; 64. Bent pipe; 65. Pressure-bearing component; 66. Elastic oil bladder; 67. Oil suction pipe; 68. Oil inlet check valve; 69. Three-way oil outlet pipe; 610. Oil outlet check valve. Detailed Implementation

[0026] Example 1, see Figures 1-4 A technical solution is provided: A robot with an anti-tipping reinforced base includes: The frame 1, and the guide rail 2 fixedly installed on the top side of the frame 1, and the connecting seat 3 fixedly installed on the side of the surface of the frame 1; The gripping mechanism 4 includes a sliding worktable 41 and a robotic arm 42. The sliding worktable 41 is mounted on top of the guide rail 2 via rollers. The robotic arm 42 is mounted on top of the sliding worktable 41. A rotator 43 is mounted at the end of the robotic arm 42. A triangular block 44 is fixedly connected to the output end of the rotator 43. A first support cylinder 45 is fixedly connected to the bottom of the outer inclined surface of the triangular block 44, and a second support cylinder 46 is fixedly connected to the top of the outer inclined surface of the triangular block 44. A first clamp 47 is mounted on the surface of the first support cylinder 45, and a second clamp 48 is mounted on the surface of the second support cylinder 46. In the initial state, the first support cylinder 45 is vertical, while the second support cylinder 46 is horizontal. In a horizontal state, the second support cylinder 46 supports the second clamp 48, which can grip the cylindrical material in a horizontal state. The rotator 43 is activated and rotated counterclockwise by the output end of the rotator 43, which can rotate the triangular block 44 counterclockwise by 180 degrees. When the second support cylinder 46 is in a vertical state, the direction of the cylindrical material gripped by the second clamp 48 can be changed, and the cylindrical material is released vertically, changing the placement state of the material. At the same time, the first support cylinder 45 is in a horizontal state, which helps the first clamp 47 on the first support cylinder 45 to prepare for gripping the material again. By repeating this forward and reverse cycle, the gripping and releasing of materials can be performed. The guide rail 2 is installed horizontally. There are two guide rails 2, and the two guide rails 2 are installed symmetrically along the central axis of the frame 1. The first support cylinder 45 is installed vertically, and the second support cylinder 46 is installed horizontally.

[0027] The robotic arm 42 includes a rotating base 421, which is fixedly installed at the middle of the top of the sliding worktable 41. A supporting arm 422 is installed at the rotating end of the top of the rotating base 421, and a supporting arm 423 is installed at the top of the supporting arm 422. A rotator 43 is installed at the end of the supporting arm 423 away from the supporting arm 422. With the support of the sliding worktable 41, the rotating base 421 drives the supporting arm 422 to rotate in a circumferential direction, thereby adjusting the circumferential angle of the supporting arm 422. The supporting arm 423 is also moved and rotated by the supporting arm 422 to adjust its angle. Through the linkage between the rotating base 421, the supporting arm 422, and the supporting arm 423, and with the connection of the rotator 43 and the triangular block 44, the positions of the first supporting cylinder 45 and the second supporting cylinder 46 can be adjusted, facilitating the gripping of cylindrical materials by the first clamp 47 and the second clamp 48.

[0028] Anti-slip strips are installed on the jaws of the first caliper 47 and the jaws of the second caliper 48.

[0029] Example 2, based on Example 1, see [link / reference] Figures 1 to 6 A technical solution is provided: The drive mechanism 5 includes a rack 51 and a servo motor 52. The rack 51 is fixedly installed on the top of the surface of the robotic arm 42. The servo motor 52 is fixedly installed on the side of the top of the sliding worktable 41 via a right-angle bracket. A gear 53 is fixedly installed at the output end of the servo motor 52. An oil receiving hopper 54 is fixedly connected to the top of the gear 53. An oil outlet 55 is connected to the surface of the oil receiving hopper 54 near the gear 53. A sealing ball 56 is installed at the oil outlet of the oil outlet 55. An oil guiding component 57 is installed at the right-angle bracket outside the servo motor 52. When the servo motor 52 is turned on, the rotation of the output end of the servo motor 52 drives the gear 53 to rotate. Through the meshing installation between the gear 53 and the rack 51, the rotating base 421 moves linearly as a whole. With the support of the robotic arm 42, the cylindrical material being grasped can be moved linearly, making it easy to place the cylindrical material in other places. After the material is unloaded, the output of the servo motor 52 drives the gear 53 to rotate in the opposite direction, causing the rotating base 421 to move in the opposite direction. With the support of the robotic arm 42, the first support cylinder 45 and the first support cylinder 45 move in opposite directions, which helps to continuously grip and unload the material through the first clamp 47 and the second clamp 48.

[0030] The rack 51 is installed horizontally, and the gear 53 is meshed with the rack 51. There are two gears 53, and the two gears 53 are installed symmetrically along the central axis of the frame 1.

[0031] Oil nozzles 55 are evenly distributed on the surface of oil receiving hopper 54. The inner diameter of oil receiving hopper 54 gradually decreases from top to bottom. The output end of servo motor 52 passes through the center of oil receiving hopper 54.

[0032] The oil guiding assembly 57 includes a connecting plate 571 and a diversion channel 572. The connecting plate 571 is fixedly mounted on the right-angled bracket outside the servo motor 52 by screws. The diversion channel 572 is fixedly mounted on the surface of the connecting plate 571 and on the side close to the servo motor 52. A rectangular oil drain port 573 is opened at the bottom of the inner cavity of the diversion channel 572. The rectangular oil drain port 573 is located directly above the top opening of the oil receiving hopper 54. When the gear 53 is driven to rotate by the output end of the servo motor 52, the oil receiving hopper 54 will rotate with the gear 53. The oil outlets 55, which are evenly distributed on the surface of the oil receiving hopper 54, rotate in a circular motion. The sealing ball 56 contacts the trapezoidal teeth of the rack 51, so that the sealing ball 56 is pushed by the trapezoidal teeth on the surface of the rack 51. The sealing ball 56 slides into the interior of the oil outlet 55, sealing the oil outlet. When ball 56 separates from the oil outlet of nozzle 55, the blockage at the oil outlet of nozzle 55 is released. The lubricating oil in the oil receiving hopper 54 flows from the oil outlet of nozzle 55 to the joint between gear 53 and rack 51, thereby lubricating gear 53 and rack 51 and reducing wear. As the oil receiving hopper 54 drives nozzle 55 to rotate continuously, the blocking ball 56 separates from the trapezoidal teeth of rack 51. The pushing force of the trapezoidal teeth of rack 51 on blocking ball 56 disappears. Under the pressure of the lubricating oil fluid in the oil receiving hopper 54, blocking ball 56, which is away from trapezoidal teeth of rack 51, moves along the direction of fluid flow to block nozzle 55. Only the nozzle 55 near the trapezoidal teeth of rack 51 is opened to drain oil, reducing the amount of oil output and helping to lubricate rack 51 evenly.

[0033] There are two drainage channels 572, and the two drainage channels 572 are symmetrically installed along the sliding worktable 41. Both ends of the outer side of the drainage channel 572 are curved upward.

[0034] Example 3, based on Examples 1 and 2, see below. Figures 1 to 8 A technical solution is provided: An oil supply mechanism 6 is installed on the top of the frame 1, on the surface of the guide rail 2, and near the rack 51.

[0035] The oil supply mechanism 6 includes an oil storage tank 61 and an oil receiving shell 62. The oil storage tank 61 is fixedly installed on the side of the top of the frame 1. The oil receiving shell 62 is fixedly installed on the surface of the guide rail 2 near the rack 51. An oil filling pipe 63 is installed on the side of the surface of the oil storage tank 61. A bent pipe 64 connects the surface of the oil storage tank 61 and the end of the oil receiving shell 62. A pressure-bearing member 65 is slidably installed on the surface of the oil storage tank 61 away from the oil filling pipe 63. The end of the pressure-bearing member 65 penetrates the oil storage tank 61 and extends into its interior. An elastic oil bladder 6 is installed between the end of the pressure-bearing member 65 extending into the oil storage tank 61 and the inner wall of the oil storage tank 61. 6. An oil suction pipe 67 is connected to the side of the bottom of the elastic oil bladder 66. An oil inlet check valve 68 is installed on the surface of the oil suction pipe 67. A three-way oil outlet pipe 69 is installed on the top of the oil storage tank 61. An oil outlet check valve 610 is installed at the oil inlet end of the three-way oil outlet pipe 69. The oil collection shell 62 is installed directly below the rack 51. The lubricating oil on the surface of the rack 51 and the lubricating oil on the surface of the gear 53 drips into the oil collection shell 62, which can collect the lubricating oil and reduce the waste of lubricating oil. The lubricating oil collected in the oil collection shell 62 flows back to the oil storage tank 61 through the bend pipe 64, thereby recycling and reusing the lubricating oil.

[0036] The oil collection housing 62 is horizontally installed. There are two oil collection housings 62, and they are symmetrically installed along the central axis of the frame 1. The oil collection housing 62 is installed directly below the rack 51. In the initial state, no pressure is applied to the pressure-bearing component 65, and the elastic oil bladder 66 is in an inflated state. With the connection of the oil suction pipe 67 and the control of the oil passage direction by the oil inlet check valve 68, lubricating oil is drawn into the elastic oil bladder 66. As the sliding worktable 41 moves linearly, the sliding worktable 41 contacts the end of the pressure-bearing component 65, so that the pressure-bearing component 65 is subjected to the pressure of the sliding worktable 41. Driven by the force of 1, the sliding worktable 41 slides into the oil storage tank 61. The elastic oil bladder 66 is compressed by the pressure of the pressure member 65, and its volume decreases. Under the control of the oil circuit by the oil outlet check valve 610, the lubricating oil inside the elastic oil bladder 66 is discharged into the three-way oil outlet pipe 69, and discharged from the oil outlet at the top of the three-way oil outlet pipe 69 into the diversion tank 572. Under the diversion of the diversion tank 572, the lubricating oil flows from the rectangular oil drain 573 into the oil receiving hopper 54, and can then supply oil to the oil receiving hopper 54.

[0037] The pressure-bearing component 65 and the sliding worktable 41 are installed at the same height, and the oil inlet at the bottom of the three-way oil outlet pipe 69 is connected to the oil outlet at the top of the elastic oil bladder 66.

[0038] In use, the frame 1 is first installed in the designated position through the connecting seat 3, so that the two symmetrical guide rails 2 are more stable, and the guide rails 2 support the sliding worktable 41. With the connection of the symmetrical servo motors 52 and gears 53 on both sides, the overall structure is not easy to tip over. Open the cap at the top of the refueling pipe 63, and add an appropriate amount of lubricating oil into the oil storage tank 61 from the refueling pipe 63, and then install the cap at the top of the refueling pipe 63. Supported by the sliding worktable 41, the rotating base 421 drives the support arm 422 to rotate in a circular direction, adjusting the circumferential angle of the support arm 422. The support arm 423 is also moved and rotated by the support arm 422 to adjust its angle. Through the linkage between the rotating base 421, the support arm 422 and the support arm 423, and with the connection of the rotator 43 and the triangular block 44, the positions of the first support cylinder 45 and the second support cylinder 46 can be adjusted. Initially, the first support cylinder 45 is vertical, while the second support cylinder 46 is horizontal. The second support cylinder 46 supports the second clamp 48, which can grip the cylindrical material in the horizontal position. The rotator 43 is activated and rotated counterclockwise by the output end of the rotator 43, which can rotate the triangular block 44 counterclockwise by 180 degrees. The second support cylinder 46 is vertical, which can change the direction of the cylindrical material gripped by the second clamp 48. The cylindrical material is then vertically discharged, changing the placement of the material. At the same time, the first support cylinder 45 is horizontal, which helps the first clamp 47 on the first support cylinder 45 to prepare for gripping the material again in the future. The staff can start the servo motor 52 to work. The rotation of the output end of the servo motor 52 can drive the gear 53 to rotate. Through the meshing installation between the gear 53 and the rack 51, the rotating base 421 can move linearly as a whole. With the support of the robotic arm 42, the cylindrical material being grabbed can be moved linearly, making it easy to place the cylindrical material in other places. After the material is unloaded, the output of the servo motor 52 drives the gear 53 to rotate in the opposite direction, causing the rotating base 421 to move in the opposite direction. With the support of the robotic arm 42, the first support cylinder 45 and the first support cylinder 45 move in opposite directions, which helps to continuously grip and unload the material through the first clamp 47 and the second clamp 48. Simultaneously, when gear 53 is driven to rotate by the output of servo motor 52, oil receiving hopper 54 rotates along with gear 53. Oil outlets 55, evenly distributed on the surface of oil receiving hopper 54, rotate in a circular motion. The sealing ball 56 contacts the trapezoidal teeth of rack 51, causing the sealing ball 56 to slide inwards from the trapezoidal teeth of rack 51. The sealing ball 56 separates from the oil outlet of oil outlet 55, releasing the blockage. Lubricating oil in oil receiving hopper 54 flows from the oil outlet of oil outlet 55 to the junction of gear 53 and rack 51. The oil flows, thus lubricating the gear 53 and rack 51 and reducing wear. As the oil receiving hopper 54 drives the oil outlet 55 to rotate continuously, the sealing ball 56 separates from the trapezoidal teeth of the rack 51. The pushing force of the trapezoidal teeth of the rack 51 on the sealing ball 56 disappears. Under the pressure of the lubricating oil fluid in the oil receiving hopper 54, the sealing ball 56, which is away from the trapezoidal teeth of the rack 51, moves along the direction of fluid flow to block the oil outlet 55. Only the oil outlet 55 near the trapezoidal teeth of the rack 51 is opened to drain oil, reducing the amount of oil output and helping to lubricate the entire rack 51 evenly. Furthermore, by using the oil collection housing 62 installed directly below the rack 51, the lubricating oil on the surface of the rack 51 and the lubricating oil on the surface of the gear 53 drips into the oil collection housing 62, which can collect the lubricating oil, reduce lubricating oil waste, and the lubricating oil collected in the oil collection housing 62 flows back to the oil storage tank 61 through the bent pipe 64, thereby recycling and reusing the lubricating oil. In the initial state, with no pressure applied to the pressure-bearing component 65, the elastic oil bladder 66 is in an inflated state. With the oil suction pipe 67 connected and the oil inlet check valve 68 controlling the oil path direction, lubricating oil is drawn into the elastic oil bladder 66. As the sliding worktable 41 moves linearly, contact between the sliding worktable 41 and the end of the pressure-bearing component 65 causes the pressure-bearing component 65 to be pushed by the sliding worktable 41. The sliding worktable 41 slides into the oil reservoir 61, and the elastic oil bladder 66... 6. Under the pressure of the pressure-bearing component 65, the elastic oil bladder 66 is compressed and its volume decreases. Under the control of the oil circuit by the oil outlet check valve 610, the lubricating oil inside the elastic oil bladder 66 is discharged into the three-way oil outlet pipe 69, and discharged from the oil outlet at the top of the three-way oil outlet pipe 69 into the drainage trough 572. Under the guidance of the drainage trough 572, the lubricating oil flows from the rectangular oil drain 573 into the interior of the oil receiving hopper 54, thus supplying oil to the oil receiving hopper 54.

[0039] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A robot with an anti-tipping reinforced base, characterized in that, include: A frame (1) and a guide rail (2) fixedly installed on the top side of the frame (1), and a connecting seat (3) fixedly installed on the side of the surface of the frame (1). The gripping mechanism (4) includes a sliding worktable (41) and a robotic arm (42). The sliding worktable (41) is mounted on the top of the guide rail (2) by rollers. The robotic arm (42) is mounted on the top of the sliding worktable (41). A rotator (43) is mounted at the end of the robotic arm (42). A triangular block (44) is fixedly connected to the output end of the rotator (43). A first support cylinder (45) is fixedly connected to the bottom of the outer inclined surface of the triangular block (44). A second support cylinder (46) is fixedly connected to the top of the outer inclined surface of the triangular block (44). A first caliper (47) is mounted on the surface of the first support cylinder (45). A second caliper (48) is mounted on the surface of the second support cylinder (46). The drive mechanism (5) includes a rack (51) and a servo motor (52). The rack (51) is fixedly installed on the top of the surface of the robotic arm (42). The servo motor (52) is fixedly installed on the side of the top of the sliding worktable (41) by a right-angle bracket. A gear (53) is fixedly installed at the output end of the servo motor (52). An oil receiving hopper (54) is fixedly connected to the top of the gear (53). An oil outlet (55) is connected to the surface of the oil receiving hopper (54) and near the gear (53). A sealing ball (56) is installed at the oil outlet of the oil outlet (55). An oil guiding assembly (57) is installed at the right-angle bracket outside the servo motor (52). An oil supply mechanism (6) is installed on the top of the frame (1) and on the surface of the guide rail (2) near the rack (51).

2. The robot with an anti-tipping reinforced base according to claim 1, characterized in that: The guide rail (2) is installed horizontally. There are two guide rails (2), and the two guide rails (2) are installed symmetrically along the central axis of the frame (1). The first support cylinder (45) is installed vertically, and the second support cylinder (46) is installed horizontally.

3. A robot with an anti-tipping reinforced base according to claim 1, characterized in that: The robotic arm (42) includes a rotating base (421) which is fixedly installed at the middle of the top of the sliding worktable (41). A supporting upper arm (422) is installed at the rotating end of the top of the rotating base (421). A supporting lower arm (423) is installed at the top of the supporting upper arm (422). A rotator (43) is installed at the end of the supporting lower arm (423) away from the supporting upper arm (422).

4. A robot with an anti-tipping reinforced base according to claim 1, characterized in that: The rack (51) is installed horizontally, and the gear (53) is meshed with the rack (51). There are two gears (53), and the two gears (53) are installed symmetrically along the central axis of the frame (1).

5. A robot with an anti-tipping reinforced base according to claim 1, characterized in that: The oil outlets (55) are evenly distributed on the surface of the oil receiving hopper (54), the inner diameter of the oil receiving hopper (54) gradually decreases from top to bottom, and the output end of the servo motor (52) passes through the center of the oil receiving hopper (54).

6. A robot with an anti-tipping reinforced base according to claim 1, characterized in that: The oil guiding assembly (57) includes a connecting plate (571) and a diversion channel (572). The connecting plate (571) is fixedly installed on the right-angle bracket outside the servo motor (52) by screws. The diversion channel (572) is fixedly installed on the surface of the connecting plate (571) and on the side close to the servo motor (52). A rectangular oil drain port (573) is provided at the bottom of the inner cavity of the diversion channel (572). The rectangular oil drain port (573) is located directly above the top opening of the oil receiving hopper (54).

7. A robot with an anti-tipping reinforced base according to claim 6, characterized in that: There are two drainage channels (572), and the two drainage channels (572) are symmetrically installed along the sliding worktable (41). Both ends of the outer side of the drainage channels (572) are raised upwards.

8. A robot with an anti-tipping reinforced base according to claim 1, characterized in that: The oil supply mechanism (6) includes an oil storage tank (61) and an oil receiving shell (62). The oil storage tank (61) is fixedly installed on the side of the top of the frame (1). The oil receiving shell (62) is fixedly installed on the surface of the guide rail (2) and near the rack (51). An oil filling pipe (63) is installed on the side of the surface of the oil storage tank (61). A bent pipe (64) connects the surface of the oil storage tank (61) and the end of the oil receiving shell (62). A pressure-bearing component (65) is slidably installed on the surface of the oil storage tank (61) away from the oil filling pipe (63). The end of the pressure-bearing component (65) penetrates the oil storage tank (61) and extends into the interior. An elastic oil bladder (66) is installed between the end of the pressure-bearing component (65) extending into the oil storage tank (61) and the inner wall of the oil storage tank (61). An oil suction pipe (67) is connected to the side of the bottom of the elastic oil bladder (66). An oil inlet check valve (68) is installed on the surface of the oil suction pipe (67). A three-way oil outlet pipe (69) is installed on the top of the oil storage tank (61). An oil outlet check valve (610) is installed at the oil inlet end of the three-way oil outlet pipe (69).

9. A robot with an anti-tipping reinforced base according to claim 8, characterized in that: The oil collection housing (62) is installed horizontally. There are two oil collection housings (62), and the two oil collection housings (62) are installed symmetrically along the central axis of the frame (1). The oil collection housings (62) are installed directly below the rack (51).

10. A robot with an anti-tipping reinforced base according to claim 8, characterized in that: The pressure-bearing component (65) and the sliding worktable (41) are installed at the same height, and the oil inlet at the bottom of the three-way oil outlet pipe (69) is connected to the oil outlet at the top of the elastic oil bladder (66).

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