A robot work angle adjustable mechanical auxiliary support device

Abstract

The present application relates to the technical field of supporting equipment, and particularly relates to a robot operation angle-adjustable mechanical auxiliary supporting equipment, which comprises a base, a rotating groove is formed in the base; a connecting rod, a lower end of the connecting rod is hinged to a groove bottom of the rotating groove, so that the connecting rod can swing relative to the base; a supporting bracket, the supporting bracket is used for supporting an end of a robot cantilever, and the supporting bracket is rotationally connected to an upper end of the connecting rod; and a plurality of groups of supporting assemblies are circumferentially arranged around the connecting rod, each group of the supporting assemblies comprises a fitting plate, an arc-shaped fitting surface which is adapted to a shape of an outer circumferential surface of the connecting rod is formed on a side of the fitting plate which faces the connecting rod; and an elastic member, the elastic member is used for applying an elastic force to the fitting plate, so that the arc-shaped fitting surface is elastically abutted against the outer circumferential surface of the connecting rod; wherein the fitting plate is configured to allow the fitting plate to be self-adaptively deflected when the connecting rod swings, so as to keep surface contact with the connecting rod, and the present application has the effect of being capable of self-adaptively following spatial swinging of a robot cantilever and providing adjustable flexible support.

Description

Technical Field

[0001] This invention relates to the technical field of support equipment, and in particular to a mechanical auxiliary support equipment with adjustable robot operating angle. Background Technology

[0002] When industrial robots perform tasks such as grinding, welding, assembling, and drilling large components, their multi-jointed tandem cantilever structure undergoes significant elastic deformation under its own weight and end effector load. This causes the end effector's working angle to deviate from the preset value, severely affecting machining accuracy and surface quality. To suppress this deformation and ensure the stability of the working angle, auxiliary support devices are typically installed on the robot's wrist or end effector. Among these, mechanical auxiliary supports are widely used in heavy-duty, explosion-proof, and field conditions due to their simple structure, lack of external power requirements, high reliability, and low maintenance costs. With the increasing prevalence of flexible production involving multiple product types and small batches, these auxiliary support devices must not only provide effective support but also have an adjustable working angle to adapt to changes in workpiece and robot posture.

[0003] Existing mechanical auxiliary supports mostly employ fixed or single-degree-of-freedom adjustable support rods, with one end fixed to an external base and the other end supporting or pulling near the robot's wrist. After installation, the support direction and stiffness of these devices are usually fixed values ​​or can only be preset manually, unable to adaptively adjust to changes in the direction and amplitude of cantilever elastic deformation during operation. Therefore, when the robot performs continuous multi-pose movements, motion interference and over-constraint are easily generated between the support point and the end effector, making it difficult to effectively and dynamically compensate for angular deviations caused by cantilever deformation. Furthermore, the adjustment operation is cumbersome, and the ability to maintain stable end-effector angles is limited, making it difficult to meet the high-precision and rapid-adaptation process requirements of modern flexible manufacturing. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a mechanical auxiliary support device for robot operation with adjustable angle that can adaptively follow the spatial swing of the robot's cantilever and provide adjustable flexible support.

[0005] The above-mentioned objective of this invention is achieved through the following technical solutions: A mechanical auxiliary support device with adjustable robot working angle includes: The base has a rotating groove on it; A connecting rod, the lower end of which is hinged to the bottom of the rotating groove, so that the connecting rod can swing relative to the base; A support bracket is used to support the end of the robot arm, and the support bracket is rotatably connected to the upper end of the connecting rod; and multiple sets of support assemblies arranged circumferentially around the connecting rod, each set of support assemblies including: The bonding plate has an arc-shaped bonding surface on the side facing the connecting rod that is adapted to the shape of the outer peripheral surface of the connecting rod; An elastic element is used to apply an elastic force to the bonding plate so that the arc-shaped bonding surface elastically abuts against the outer peripheral surface of the connecting rod; The bonding plate is configured to allow it to adaptively deflect as the connecting rod swings, in order to maintain surface contact with the connecting rod.

[0006] As a specific embodiment of the adjustable mechanical auxiliary support device for robot operation disclosed in this invention, the support components consist of four groups, which are evenly arranged in an array with the central axis of the connecting rod as the reference.

[0007] As a specific embodiment of the robot operation angle adjustable mechanical auxiliary support device disclosed in this invention, the support component further includes a preload adjustment mechanism, which is connected to the elastic element for adjusting the preload applied by the elastic element to the bonding plate.

[0008] As a specific embodiment of the robot operation angle adjustable mechanical auxiliary support device disclosed in this invention, the preload adjustment mechanism includes: A rotating cylinder is rotatably connected to the base and has internal threads inside; The sliding column has an external thread section on its outer periphery that mates with the internal thread. The sliding column slides with a limiting groove on the base through a limiting block to restrict the rotation of the sliding column. The sliding column has a connecting groove at one end away from the rotating cylinder, and a set of sliding grooves are provided in the connecting groove, with a connecting plate slidably connected to the sliding grooves. The elastic element is a spring, and the spring is disposed between the bottom of the connecting groove and the connecting plate; The bonding plate is rotatably connected to the connecting plate via a rotating column.

[0009] As a specific embodiment of the adjustable mechanical auxiliary support device for robot operation disclosed in this invention, it also includes a connecting sleeve, which is sleeved on the outside of the rotating column, and the lower end of the connecting sleeve is rotatably connected to the bottom of the rotating groove. The bonding plate can slide relative to the connecting rod along the axial direction when the connecting rod swings, and contact the end face of the connecting sleeve when the preset swing angle is reached.

[0010] As a specific embodiment of the robot operation angle adjustable mechanical auxiliary support device disclosed in this invention, a drive disk is fixed at one end of the rotating cylinder facing the outside of the base, and a rotating handle is provided on the drive disk.

[0011] As a specific embodiment of the robot operation angle adjustable mechanical auxiliary support device disclosed in this invention, it further includes two sets of auxiliary adjustment components. The two sets of auxiliary adjustment components are symmetrically arranged on the upper end surface of the base with respect to the connecting rod. Each set of auxiliary adjustment components includes: A support plate is fixed to the base; Guide wheels, and mounting brackets mounted on the support plate; The sliding rail is slidably supported between the guide wheels; A transverse block is slidably mounted on the sliding rail; An auxiliary rotating shaft is mounted on the transverse block; An auxiliary connecting rod, one end of which is rotatably connected to the auxiliary rotating shaft; An auxiliary support rod is slidably disposed at the other end of the auxiliary connecting rod along the axial direction; An auxiliary rotating ball is located at the end of the auxiliary support rod; An auxiliary collar is fixedly sleeved on the outer periphery of the connecting rod, and the auxiliary rotating ball is movably fitted into the auxiliary collar to form a ball-joint connection.

[0012] As a specific embodiment of the robot operation angle adjustable mechanical auxiliary support device disclosed in this invention, the transverse block is also provided with a locking rod and a locking ring. By rotating the locking rod, the locking ring can be pressed or disengaged from the sliding rail, thereby locking or releasing the transverse block. The mounting bracket is also provided with a friction block, which abuts against the inner wall of the sliding rail, and the abutment pressure is adjusted by an adjusting rod that passes through the mounting bracket upward and an adjusting disc that is threadedly connected to the adjusting rod.

[0013] As a specific embodiment of the robot operation angle adjustable mechanical auxiliary support device disclosed in this invention, the support bracket includes: The rotating frame has a ball head receiving cavity at its lower end, and an upper rotating ball is provided at the upper end of the connecting rod. The ball head receiving cavity covers the upper rotating ball to form a ball hinge connection structure. The upper bracket has a tray for supporting the robot arm. An upper connecting column is provided on one side of the upper bracket, and an upper placement slot is opened at the upper end of the rotating frame. The upper connecting column and the upper placement slot are engaged and fastened with bolts. A connecting seat is provided on the other side of the upper bracket, and a side mounting seat is provided on the side of the rotating frame. The connecting seat and the side mounting seat are inserted and fastened with bolts, so that the upper bracket and the rotating frame are detachably connected.

[0014] As a specific embodiment of the robot operation angle adjustable mechanical auxiliary support device disclosed in this invention, it also includes a connecting sleeve fitted over the outer wall of the connecting rod, wherein the connecting rod can slide freely along the axial direction relative to the connecting sleeve.

[0015] In summary, the present invention has at least one of the following beneficial technical effects: 0. This invention provides a mechanical auxiliary support device for robot operation with adjustable working angle. It is fixed to a foundation structure via a base, and a rotating groove is formed within the base. A connecting rod is rotatably connected to the rotating groove, and the upper end of the connecting rod is rotatably connected to a support bracket. The support bracket directly supports the end effector of the robot arm. This integrated structure allows the device to reliably share the elastic deformation of the cantilever arm caused by its own weight and load, providing stable compensating support reaction force for the robot end effector, thereby effectively improving the positioning accuracy and operational stability of the robot end effector.

[0016] 0. The lower end of the connecting rod of the auxiliary support device provided by the present invention is rotatably connected to the bottom of the rotating groove, so that it can swing to a certain extent in any direction. Four sets of support components are evenly arrayed around the connecting rod with the central axis as the reference, and the included angle between adjacent components is about 90 degrees. When the connecting rod swings in space, the four sets of support components can apply a balanced elastic support force in each direction to form a centripetal restoring torque, so that the connecting rod remains near the center position when it is not subjected to external force, reducing the additional vibration or displacement of the cantilever end due to uneven support.

[0017] 0. The auxiliary support device provided by the present invention has two sets of auxiliary adjustment components symmetrically arranged on the upper surface of the base about the connecting rod. Each set includes a support plate, guide wheel, sliding rail, transverse block and a locking pressure rod that can be slidably locked. An auxiliary rotating shaft is mounted on the transverse block, and an auxiliary connecting rod is rotatably connected to the auxiliary rotating shaft. An auxiliary support rod is axially slidably arranged inside the auxiliary connecting rod. The auxiliary rotating ball at the end of the auxiliary support rod is movably fitted into the auxiliary collar on the connecting rod. This component applies push and pull forces to the connecting rod from two directions, further sharing the vertical and lateral loads of the cantilever. Moreover, the position of the transverse block is adjustable, which can flexibly change the lever arm and force transmission angle to optimize the auxiliary support effect.

[0018] 0. In the auxiliary adjustment component of the auxiliary support device provided by the present invention, the auxiliary support rod can freely extend and retract relative to the auxiliary connecting rod, the auxiliary connecting rod can swing around the auxiliary rotating axis, and the auxiliary rotating ball and the auxiliary collar form a ball joint. This multi-degree-of-freedom serial adaptive structure ensures that the auxiliary component does not impose any kinematic constraints on the movement of the connecting rod while transmitting the load. Even if the connecting rod undergoes complex spatial swinging, it can always maintain coordinated following, avoid motion interference and additional stress, and ensure smooth movement of the robot joints.

[0019] 0. The support bracket of the auxiliary support device provided by the present invention consists of a rotating frame and an upper bracket. The upper rotating ball at the upper end of the connecting rod is covered by the flared ball head receiving cavity of the rotating frame to form a universal ball joint. The rotating frame is provided with an upper mounting column and a side mounting seat. The upper connecting column of the upper bracket is embedded in the upper placement groove of the upper mounting column, and the side mounting seat is inserted into the upper boss and fastened by bolts. This double-sided bolted connection and ball joint structure allows the upper bracket to freely deflect with the end effector posture, and at the same time, the upper bracket with different shaped tray parts can be quickly disassembled and replaced to adapt to the joint size and shape of different robot models, greatly improving the multi-model adaptability and maintenance convenience of the equipment. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of an embodiment of a robot operation angle adjustable mechanical auxiliary support device disclosed in this invention; Figure 2 This is a cross-sectional view of one embodiment of a robot operation angle adjustable mechanical auxiliary support device disclosed in this invention; Figure 3 yes Figure 2 An enlarged schematic diagram of part A in the middle; Figure 4 yes Figure 2 Enlarged schematic diagram of part B in the middle; Figure 5 This is a schematic diagram of the support bracket of an embodiment of a robot operation angle adjustable mechanical auxiliary support device disclosed in this invention; Figure 6 This is a schematic diagram of the auxiliary adjustment component of an embodiment of a robot operation angle adjustable mechanical auxiliary support device disclosed in this invention.

[0021] Figure label: 1. Base; 11. Rotating groove; 2. Connecting rod; 21. Upper rotating ball; 22. Auxiliary collar; 23. Connecting sleeve; 24. Lower rotating ball; 3. Support bracket; 31. Rotating bracket; 311. Ball head receiving cavity; 312. Upper mounting post; 3121. Upper placement groove; 3122. Upper mounting hole; 313. Side mounting seat; 3131. Horizontal base; 3132. Upper boss; 3133. Side mounting hole; 32. Upper bracket; 321. Tray section; 322. Upper mounting seat; 323. Upper connecting post; 3231. Upper through hole; 324. Connecting seat; 3241. Clearance groove; 3242. Side through hole; 4. Support assembly; 41. Rotating cylinder; 411. Drive disc; 412. Rotating handle; 42. Sliding column; 421. Limiting block; 422. Limiting groove; 423. Connecting groove; 424. Sliding groove; 43. Connecting plate; 431. Sliding block; 44. Spring; 45. Rotating column; 451. Adhesive plate; 5. Auxiliary adjustment components; 51. Support plate; 52. Upper mounting bracket; 521. Guide wheel; 522. Friction block; 523. Adjusting rod; 524. Adjusting disc; 53. Lower mounting bracket; 54. Sliding rail; 55. Lateral block; 56. Auxiliary rotating shaft; 561. Auxiliary connecting rod; 562. Auxiliary support rod; 57. Locking pressure rod; 571. Locking pressure ring. Detailed Implementation

[0022] The present invention will be further described in detail below with reference to the accompanying drawings.

[0023] Please see Figures 1-6 This invention discloses an adjustable mechanical auxiliary support device for robot operation, comprising a base 1. The base 1 serves as the supporting component and installation reference for the entire device, and is fixed to a working platform or ground-based structure during use, thereby providing a stable reaction force foundation for the auxiliary support of the robot's cantilever end. A rotating groove 11 is formed on the base 1, extending along the length of the base 1 or according to actual layout requirements. A connecting rod 2 is rotatably connected within the rotating groove 11. The upper end of the connecting rod 2 extends upward beyond the rotating groove 11 and is rotatably connected to a support bracket 3. The support bracket 3 is used to compensate for the elastic deformation of the robot's multi-joint series cantilever end, sharing the burden caused by its own weight and load, thereby improving the positioning accuracy and operational stability of the robot's end effector.

[0024] The lower end face of the connecting rod 2 is rotatably connected to the bottom of the rotating groove 11, allowing the connecting rod 2 to swing in any direction within the rotating groove 11 to a certain extent. Simultaneously, four sets of support components 4 are evenly arrayed around the connecting rod 2 with its central axis as the reference. The included angle between two adjacent sets of support components 4 is approximately ninety degrees, thereby applying a balanced elastic support force to the connecting rod 2 in all circumferential directions.

[0025] Each set of support components 4 includes a rotating cylinder 41 rotatably connected inside the base 1. The axis of the rotating cylinder 41 is perpendicular to the initial axis of the connecting rod 2 when it is not wobbling. The rotating cylinder 41 has an internal thread, which is threaded to a sliding column 42. The outer circumferential surface of the sliding column 42 has an external thread section that mates with the internal thread. Limiting blocks 421 are integrally extended or fixedly connected to both sides of the sliding column 42. Limiting grooves 422 are formed on the base 1 at the positions corresponding to the sliding column 42. The limiting blocks 421 are embedded in the limiting grooves 422 and can slide along the extension direction of the limiting grooves 422. However, the groove wall of the limiting grooves 422 restricts the rotation of the limiting blocks 421 around the axis of the sliding column 42. This makes the sliding column 42 only slide linearly along its own axis when the rotating cylinder 41 rotates and cannot rotate with the rotating cylinder 41.

[0026] A connecting groove 423 is provided at the end of the sliding column 42 away from the rotating cylinder 41. The connecting groove 423 is formed by an inward indentation from the end face of the sliding column 42. Sliding grooves 424 are each provided on two opposite groove walls of the connecting groove 423, and the sliding grooves 424 are arranged along the depth direction of the connecting groove 423 or along the axial direction of the sliding column 42. Sliding blocks 431 extend from the sides of the connecting plate 43 toward the two sliding grooves 424, and the sliding blocks 431 slide in the corresponding sliding grooves 424, thereby allowing the connecting plate 43 to slide relative to the sliding column 42 along the trajectory of the sliding grooves 424. A spring 44 is provided between the connecting plate 43 and the bottom of the connecting groove 423. One end of the spring 44 abuts against the bottom surface of the connecting groove 423, and the other end abuts against the end face of the connecting plate 43, thereby continuously providing the connecting plate 43 with an elastic thrust away from the bottom of the connecting groove 423. A rotating column 45 is rotatably connected to the end of the connecting plate 43 away from the connecting groove 423. The rotating column 45 can rotate freely relative to the connecting plate 43. A fitting plate 451 is fixedly connected to the side of the rotating column 45 away from the connecting plate 43. The side of the fitting plate 451 facing the connecting rod 2 is an arc-shaped fitting surface adapted to the shape of the outer wall of the connecting rod 2. This fitting surface is in close contact with or has a very small gap from the outer circumference of the connecting rod 2. When the connecting rod 2 is swayed by external forces, the fitting plate 451 is tightly pressed against the outer wall of the connecting rod 2 under the thrust of the spring 44. As the connecting rod 2 tilts, the relative rotation between the rotating column 45 and the connecting plate 43 adapts the posture, ensuring that the fitting surface and the connecting rod 2 are always in surface contact or at least in reliable multi-line contact, thereby providing stable lateral support reaction force. It should be understood that the rotating cylinder 41 and the sliding column 42 constitute a preload adjustment mechanism to adjust the preload of the spring 44.

[0027] In some feasible methods, a connecting sleeve 23 is fitted onto the outer wall of the rotating column 45. The lower end face of the connecting sleeve 23 is also rotatably connected to the bottom of the rotating groove 11. In a preferred connection method, a lower rotating ball 24 can be provided on the lower end face of the connecting sleeve 23. The lower rotating ball 24 is movably fitted into a corresponding ball socket machined at the bottom of the rotating groove 11, allowing the connecting sleeve 23 to swing around the ball joint within a certain cone angle range. At the same time, when the connecting rod 2 sways and causes the connecting sleeve 23 to swing together, the bonding plate 451 can move relative to the connecting rod 2 along its axial direction and slide to fit against the end face or inner wall of the connecting sleeve 23 at a specific sway angle. This provides additional rigid restraint for the connecting rod 2 through the contact between the bonding plate 451 and the connecting sleeve 23, preventing the connecting rod 2 from exceeding the preset swing range due to sudden impact. Of course, under normal auxiliary support conditions, the bonding plate 451 mainly relies on the elastic force of the spring 44 to provide flexible support for the connecting rod 2.

[0028] It should be noted that the limiting post and limiting groove 422 structure on the base 1, which cooperate with the sliding post 42, can reliably constrain the rotational degree of freedom of the sliding post 42. In the specific structure, limiting posts extend on both sides of the sliding post 42, and the base 1 has a limiting groove 422 that slides with the limiting posts. The limiting posts are inserted into the limiting groove 422, so that the sliding post 42 can only slide along its own axis and cannot rotate circumferentially. By rotating the rotating cylinder 41, the threaded pair between the rotating cylinder 41 and the sliding post 42 drives the sliding post 42 to generate axial displacement, thereby changing the distance between the connecting plate 43 and the bottom of the connecting groove 423, compressing or releasing the spring 44, thereby adjusting the preload of the spring 44. When increased support stiffness is required, rotating the cylinder 41 can move the sliding column 42 towards the connecting rod 2, thereby increasing the compression of the spring 44 and causing the bonding plate 451 to adhere to the connecting rod 2 with greater initial pressure. Conversely, if the constraint force on the connecting rod 2 needs to be reduced, rotating the cylinder 41 in the opposite direction can reduce the preload of the spring 44. To facilitate on-site operation, a drive disc 411 is fixedly connected to one end of the cylinder 41 on the outside of the base 1. A rotating handle 412 is fixedly connected to the outer wall of the drive disc 411. The operator only needs to hold the rotating handle 412 to rotate the drive disc 411, which can easily drive the cylinder 41 to rotate, thus achieving stepless adjustment of the preload of the spring 44.

[0029] An auxiliary adjustment component 5 is also provided on the upper surface of the base 1. The auxiliary adjustment component 5 is set in two sets and symmetrically distributed about the connecting rod 2. It applies auxiliary pulling or supporting action to the connecting rod 2 from two directions to further optimize the stress state of the connecting rod 2.

[0030] Each set of auxiliary adjustment components 5 includes a support plate 51 fixedly connected to the upper surface of the base 1. The support plate 51 is vertically or inclined, and two L-shaped upper mounting brackets 52 and lower mounting brackets 53 are mounted on the support plate 51, facing each other vertically. Several guide wheels 521 are mounted on the horizontal plate of the lower mounting bracket 53, and several guide wheels 521 are also mounted on the horizontal plate of the upper mounting bracket 52. A sliding rail 54 is slidably connected between the grooves or rims of the two sets of guide wheels 521. The cross-section of the sliding rail 54 is shaped to match the guide wheels 521, such as rectangular or irregularly shaped with guide grooves, allowing the sliding rail 54 to move with low resistance along the straight or curved trajectory defined by the guide wheels 521. A transverse block 55 is mounted on the sliding rail 54, and the transverse block 55 can slide and adjust its position along the length of the sliding rail 54.

[0031] A friction block 522 is also installed on the upper mounting bracket 52. The upper end face of the friction block 522 abuts against the inner wall of the sliding rail 54. An adjusting rod 523 extends from the upper end face of the sliding block 431 and passes through the upper mounting bracket 52. An adjusting disc 524 is threadedly connected to the adjusting rod 523. By rotating the adjusting disc 524, the abutment pressure between the friction block 522 and the sliding rail 54 is adjusted.

[0032] The transverse block 55 has two mounting holes for mounting the auxiliary rotating shaft 56 and the locking rod 57, respectively. Both the auxiliary rotating shaft 56 and the locking rod 57 can be connected to their corresponding mounting holes via threaded connections. For example, the mounting holes may be threaded, and the corresponding parts of the auxiliary rotating shaft 56 and the locking rod 57 may have external threads. One end of the auxiliary rotating shaft 56 extends beyond the transverse block 55 and is rotatably connected to an auxiliary connecting rod 561. This rotatable connection allows the auxiliary connecting rod 561 to swing freely around the axis of the auxiliary rotating shaft 56. An auxiliary support rod 562 is slidably mounted along the axial direction of the end of the auxiliary connecting rod 561 away from the auxiliary rotating shaft 56. One end of the auxiliary support rod 562 can slide axially within the inner hole of the auxiliary connecting rod 561 to accommodate changes in the distance between the two when the connecting rod 2 swings. The auxiliary support rod 562 has a connecting structure at one end facing the connecting rod 2. Specifically, an auxiliary collar 22 is fixedly fitted on the outer wall of the connecting rod 2. An auxiliary rotating ball extends from one side of the auxiliary support rod 562 toward the auxiliary collar 22. The auxiliary rotating ball is movably fitted into the inner cavity of the auxiliary collar 22, thereby forming a ball joint. This allows the auxiliary support rod 562 to apply push and pull forces to the connecting rod 2 without restricting the swing freedom of the connecting rod 2.

[0033] A locking ring 571 is fitted onto the locking rod 57, and the locking ring 571 can move axially along the locking rod 57. When it is necessary to adjust the initial position of the transverse block 55, the locking rod 57 is first loosened, and the locking ring 571 is disengaged from the side wall of the sliding rail 54. At this time, the transverse block 55 can be pushed to slide along the sliding rail 54, thereby changing the spatial position of the auxiliary rotating shaft 56, thereby adjusting the relative angle and lever arm between the auxiliary connecting rod 561 and the auxiliary support rod 562 and the connecting rod 2. When adjusted to the appropriate position, i.e., when the axis of the auxiliary support rod 562 approximately passes through the expected force center of the connecting rod 2 and the auxiliary rotating ball moves freely within the auxiliary collar 22, tighten the locking rod 57. Under the action of the thread, the locking rod 57 moves axially relative to the transverse block 55, causing the locking ring 571 to gradually press against the side wall of the sliding rail 54. Relying on friction, the transverse block 55 is securely locked in the current position of the sliding rail 54. This adjustment method allows for flexible matching of the initial position of the connecting rod 2 under different robot models or different operating postures of the same robot.

[0034] The support bracket 3 is used to directly support the joint or rocker arm at the end of the robot cantilever, and specifically includes two parts: a rotating frame 31 and an upper bracket 32. The rotating frame 31 is open in a trumpet shape at the end facing the connecting rod 2, and forms a ball head receiving cavity 311 inside. An upper rotating ball 21 is integrally formed or fixedly connected to the upper end face of the connecting rod 2. The rotating frame 31 covers the upper rotating ball 21 through its trumpet-shaped inner cavity, forming a ball joint that can rotate in all directions, so that the rotating frame 31 together with the upper bracket 32 ​​can deflect relative to the connecting rod 2 in all directions. An upper mounting post 312 extends upward from the upper end face of the rotating frame 31. The top of the upper mounting post 312 is provided with an upper placement groove 3121, and the side wall of the upper mounting post 312 is also provided with a through upper mounting hole 3122. The side of the rotating frame 31 extends integrally with a side mounting base 313, which includes a horizontal base 3131 and an upper boss 3132 that protrudes upward from the base. The upper boss 3132 is cylindrical and has a side mounting hole 3133 on its circumferential surface or end face.

[0035] The upper support 32 includes a tray 321 for directly supporting the robot arm. The upper surface of the tray 321 can be designed as an arc support surface, a V-shaped support surface, or a contoured curved surface according to the shape of the robot joint. An upper mounting base 322 extends from one side of the tray 321. An upper connecting post 323 extends from the lower end face of the upper mounting base 322 and engages with the upper placement groove 3121. An upper through hole 3231 passes through the side wall of the upper connecting post 323, directly opposite the upper mounting hole 3122. During assembly, the upper connecting post 323 is inserted into the upper placement groove 3121, aligning the upper through hole 3231 with the upper mounting hole 3122. Then, bolts are passed through the upper mounting hole 3122 and the upper through hole 3231, and the nuts are tightened to securely connect the upper part of the upper support 32 to the rotating frame 31. On the other side of the tray section 321, a connecting seat 324 extends downward. This connecting seat 324 has a clearance groove 3241, the width and depth of which match the upper boss 3132 of the side mounting seat 313, allowing the upper boss 3132 to be inserted and positioned. The side mounting seat 324 has a side through hole 3242 directly opposite the side mounting hole 3133. Similarly, bolts are used to pass through the side through hole 3242 and the side mounting hole 3133 and tighten them, completing the connection between the lower part of the upper bracket 32 ​​and the rotating frame 31. This double-sided bolted connection not only ensures the reliability of the connection between the upper bracket 32 ​​and the rotating frame 31, but also effectively transmits the bending moment and lateral force generated during lifting. Furthermore, disassembly is convenient; simply loosening the bolts allows for quick replacement of the upper bracket 32 ​​with one suitable for another robot model, thus greatly improving the equipment's adaptability to multiple models.

[0036] When the auxiliary support device disclosed in this invention is in operation, it first selects a suitable upper bracket 32 ​​and installs it onto the rotating frame 31 according to the model of the industrial robot to be assisted, the structural dimensions of the cantilever end joint, and typical load conditions, ensuring that the tray part 321 fits well with the contact surface of the robot rocker arm. Then, the base 1 is installed at an appropriate position on the side or below the robot, so that the upper bracket 32 ​​is below or slightly below the end of the robot cantilever, and the supporting surface of the tray contacts the corresponding part of the robot cantilever. In the initial installation state, the robot itself already has a certain supporting stiffness for its cantilever end. This device only provides auxiliary correction, and the force it shares is relatively small compared to the driving force and structural bearing capacity of the robot joint, but it is sufficient to effectively suppress elastic deformation and end-effector jitter caused by the long cantilever and large load.

[0037] After completing the mechanical installation, initial adjustments are performed. First, adjust the auxiliary adjustment components 5: loosen the locking levers 57 of the two sets of auxiliary adjustment components 5, and move the transverse block 55 on the sliding rail 54 respectively. Observe the posture of the auxiliary connecting rod 561 and the auxiliary support rod 562, so that the auxiliary ball at the end of the auxiliary support rod 562 can rotate flexibly in the auxiliary collar 22 without jamming, and make the axis of the auxiliary support rod 562 roughly point to the middle area of ​​the line connecting the upper end ball joint center and the lower end ball joint center of the connecting rod 2 to obtain a better force transmission angle. After the position is adjusted, tighten the locking lever 57 to lock the transverse block 55. Next, adjust the preload of the springs 44 of the four sets of support components 4: hold the rotating handle 412 and rotate the drive disk 411 to drive the rotating cylinder 41 to rotate, so that the sliding column 42 moves axially, compressing the spring 44 through the connecting plate 43, so that the contact plate 451 is pressed against the outer circumference of the connecting rod 2 with an appropriate initial pressure. The preload of spring 44 can be adjusted based on the estimated load and acceleration range at the end of the robot arm. Generally, it is advisable to be able to slightly push the connecting rod 2 manually while feeling a noticeable elastic resistance. During adjustment, since the four sets of support components 4 are evenly distributed around the connecting rod 2, they can form a centripetal elastic support for the connecting rod 2, keeping the connecting rod 2 near the center of the rotating groove 11 when there is no external force.

[0038] When the robot arm performs its working action, its end effector moves in space, driving the upper support 32 to move. Since the rotating frame 31 forms a ball joint with the upper end of the connecting rod 2 via the upper rotating ball 21, and the lower end of the connecting rod 2 forms a ball joint with the bottom of the rotating groove 11 via the lower rotating ball 24, and the lower end of the connecting sleeve 23 is also connected by a ball joint, the connecting rod 2 can freely swing in space as the end effector's pose changes. During the swing, the connecting rod 2 compresses the springs 44 on one or more sides, causing the corresponding bonding plate 451 to retract. Meanwhile, the bonding plate 451 on the opposite side remains firmly attached to the connecting rod 2 under the force of the spring 44, thus forming an elastic restoring torque opposite to the swing direction. This prevents the connecting rod 2 from deviating excessively and provides auxiliary support reaction force for the robot's end effector. Meanwhile, the auxiliary support rod 562 in the auxiliary adjustment component 5 is connected to the auxiliary collar 22 by a ball joint through an auxiliary rotating ball. It adapts to the movement of the connecting rod 2 by extending, retracting and swinging. It also transmits part of the load to the transverse block 55 and the sliding rail 54 through the auxiliary connecting rod 561 and the auxiliary rotating shaft 56, and finally transmits it to the base 1 through the support plate 51. In this way, additional elastic or rigid auxiliary supports are formed in the other two positions of the connecting rod 2 to share the vertical and lateral loads of the robot arm.

[0039] It should be noted that, since the auxiliary support rod 562 can slide freely at the end of the auxiliary connecting rod 561, and the auxiliary connecting rod 561 can rotate around the auxiliary rotating shaft 56, coupled with the three-dimensional rotation capability of the auxiliary rotating ball, the auxiliary adjustment component 5 will not impose excessive constraints on the connecting rod 2 kinematically. Even if the motion trajectory of the connecting rod 2 is relatively complex, it can maintain coordinated movement without generating motion interference or additional stress. Similarly, the connecting plate 43 in the four sets of support components 4 can be displaced relative to the sliding column 42 through the cooperation of the sliding block 431 and the sliding groove 424, and the rotating column 45 can rotate relative to the connecting plate 43. The fitting plate 451 can also adaptively adjust the fitting angle with the connecting rod 2. The entire support chain is a flexible adaptive structure, which can effectively avoid jamming or hard transmission of impact loads, protecting the equipment itself and preventing accidental impacts on the robot joints.

[0040] When it is necessary to adapt to situations where the end of the robot arm has a large vertical displacement, the connecting rod 2 and the connecting sleeve 23 can be configured as an axially telescopic structure based on the present invention. Specifically, the inner hole of the connecting sleeve 23 is machined with a keyway or spline extending axially, and the corresponding part of the connecting rod 2 is provided with a sliding key or spline, so that the connecting rod 2 can slide freely relative to the connecting sleeve 23 axially but cannot rotate relative to it. In this way, when the end of the robot arm has a large displacement in the height direction, the connecting rod 2 can extend or retract within the connecting sleeve 23, keeping the fitting plate 451 in constant contact with the effective fitting section of the connecting rod 2. The auxiliary support rod 562 also moves under the drive of the auxiliary collar 22. At the same time, the ball joint connection points such as the upper rotating ball 21 and the lower rotating ball 24 can still swing freely, thereby increasing the vertical follow-up compensation capability while ensuring multi-degree-of-freedom spatial following, greatly expanding the applicability of the equipment.

[0041] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A mechanical auxiliary support device with adjustable robot working angle, characterized in that, include: The base (1) has a rotating groove (11) on it; The connecting rod (2) is hinged at its lower end to the bottom of the rotating groove (11) so that the connecting rod (2) can swing relative to the base (1); A support bracket (3) is used to support the end of the robot arm, and the support bracket (3) is rotatably connected to the upper end of the connecting rod (2); and multiple sets of support assemblies (4) arranged circumferentially around the connecting rod (2), each set of support assemblies (4) comprising: The bonding plate (451) has an arc-shaped bonding surface on the side facing the connecting rod (2) that is adapted to the shape of the outer peripheral surface of the connecting rod (2); An elastic element is used to apply an elastic force to the bonding plate (451) so that the arc-shaped bonding surface elastically abuts against the outer peripheral surface of the connecting rod (2); The bonding plate (451) is configured to allow the bonding plate (451) to adaptively deflect when the connecting rod (2) swings, so as to maintain surface contact with the connecting rod (2).

2. The robot working angle adjustable mechanical auxiliary support device according to claim 1, characterized in that: The support components (4) are in four groups and are arranged in a uniform array with the central axis of the connecting rod (2) as the reference.

3. The robot working angle adjustable mechanical auxiliary support device according to claim 2, characterized in that: The support assembly (4) further includes a preload adjustment mechanism, which is connected to the elastic element for adjusting the preload applied by the elastic element to the bonding plate (451).

4. The robot working angle adjustable mechanical auxiliary support device according to claim 3, characterized in that: The preload adjustment mechanism includes: Rotating cylinder (41) is rotatably connected to the base (1) and has internal threads inside; The sliding column (42) has an external thread section on its outer periphery that mates with the internal thread. The sliding column (42) slides with the limiting groove (422) on the base (1) through the limiting block (421) to restrict the rotation of the sliding column (42). The sliding column (42) has a connecting groove (423) at one end away from the rotating cylinder (41). A set of sliding grooves (424) are opened in the connecting groove (423), and a connecting plate (43) is slidably connected to the sliding grooves (424). The elastic element is a spring (44), which is disposed between the bottom of the connecting groove (423) and the connecting plate (43); The bonding plate (451) is rotatably connected to the connecting plate (43) via a rotating column (45).

5. The robot working angle adjustable mechanical auxiliary support device according to claim 4, characterized in that: It also includes a connecting sleeve (23), which is sleeved on the outside of the rotating column (45), and the lower end of the connecting sleeve (23) is rotatably connected to the bottom of the rotating groove (11). The bonding plate (451) can slide relative to the axial direction of the connecting rod (2) when it swings with the connecting rod (2), and contact the end face of the connecting sleeve (23) when it reaches the preset swing angle.

6. The robot working angle adjustable mechanical auxiliary support device according to claim 4, characterized in that: The rotating cylinder (41) has a drive disk (411) fixed at one end facing the outside of the base (1), and the drive disk (411) is provided with a rotating handle (412).

7. The robot working angle adjustable mechanical auxiliary support device according to claim 1, characterized in that: It also includes two sets of auxiliary adjustment components (5), which are symmetrically arranged on the upper surface of the base (1) with respect to the connecting rod (2). Each set of auxiliary adjustment components (5) includes: A support plate (51) is fixed to the base (1); Guide wheel (521), mounted on the support plate (51); The sliding rail (54) is slidably supported between the guide wheels (521); A transverse block (55) is slidably disposed on the sliding rail (54); An auxiliary rotating shaft (56) is mounted on the transverse block (55); An auxiliary connecting rod (561) is rotatably connected at one end to the auxiliary rotating shaft (56); An auxiliary support rod (562) is slidably disposed at the other end of the auxiliary connecting rod (561) along the axial direction; An auxiliary rotating ball is provided at the end of the auxiliary support rod (562); And an auxiliary collar (22) is fixedly sleeved on the outer periphery of the connecting rod (2), and the auxiliary rotating ball is movably fitted into the auxiliary collar (22) to form a ball joint connection.

8. The robot working angle adjustable mechanical auxiliary support device according to claim 7, characterized in that: The transverse block (55) is also provided with a locking rod (57) and a locking ring (571). By rotating the locking rod (57), the locking ring (571) can be pressed against or disengaged from the sliding rail (54), thereby locking or releasing the transverse block (55). The mounting bracket is also provided with a friction block (522), which abuts against the inner wall of the sliding rail (54), and the abutment pressure is adjusted by an adjusting rod (523) that passes through the mounting bracket upward and an adjusting disc (524) that is threadedly connected to the adjusting rod (523).

9. The robot working angle adjustable mechanical auxiliary support device according to claim 1, characterized in that: The support bracket (3) includes: The rotating frame (31) has a ball head receiving cavity (311) at its lower end, and the upper end of the connecting rod (2) is provided with an upper rotating ball (21). The ball head receiving cavity (311) covers the upper rotating ball (21) to form a ball hinge connection structure. The upper bracket (32) has a tray (321) for supporting the robot arm. An upper connecting column (323) is provided on one side of the upper bracket (32). An upper placement groove (3121) is opened at the upper end of the rotating frame (31). The upper connecting column (323) cooperates with the upper placement groove (3121) and is fastened by bolts. A connecting seat is provided on the other side of the upper bracket (32). A side mounting seat (313) is provided on the side of the rotating frame (31). The connecting seat is inserted into the side mounting seat (313) and fastened by bolts, so that the upper bracket (32) and the rotating frame (31) can be detachably connected.

10. The robot working angle adjustable mechanical auxiliary support device according to claim 1, characterized in that: It also includes a connecting sleeve (23) that covers the outer wall of the connecting rod (2), the connecting rod (2) being able to slide freely along the axial direction relative to the connecting sleeve (23).

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