Anti-toppling robot with balance weight

Abstract

The utility model relates to the technical field of robots, and particularly discloses an anti-toppling robot with a counter weight, which comprises a base, an electric control device and a manipulator, the base is provided with a balance weight part and an extension arm used in cooperation with the balance weight part, the balance weight part is used for increasing the contact area between the base and an external bearing face so that the base can be stably limited to the external bearing face, and the electric control device is used for controlling the mechanical arm to move external materials in a reciprocating mode. The extension arm is telescopically arranged on the base towards the mechanical arm so as to lower the gravity center of the mechanical arm in the material transferring process and prevent the robot from toppling over. The counterweight part and the extension arm are arranged on the base of the robot, the counterweight part increases the contact area between the base and the ground and the weight of the base, the gravity center of the robot can be lowered through the arrangement of the extension arm, the stability of the robot in the working process is improved, and the phenomenon that the robot topples over in the material transferring process is prevented.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular discloses a robot with a counterweight to prevent tipping. Background Art

[0002] With the development of science and technology in modern society, industrial robots have been widely used in modern industrial transportation. However, existing industrial robots do not have an anti-dumping function when in use. When the industrial robots work for a long time or carry heavy objects, they are prone to dumping, causing damage to the industrial robots, thereby shortening the service life of the industrial robots and reducing the working stability of the industrial robots. Utility Model Content

[0003] In order to overcome the shortcomings and deficiencies in the prior art, the utility model aims to provide a robot with a counterweight anti-dumping function which is simple in structure and suitable for widespread production.

[0004] To achieve the above-mentioned purpose, the utility model provides a robot with a counterweight to prevent tipping, comprising a base, an electric control device arranged above the base and a manipulator; the base is provided with a counterweight part and an extension arm used in conjunction with the counterweight part, the counterweight part is used to increase the contact area between the base and the external load-bearing surface so as to stably limit the base on the external load-bearing surface, the electric control device is used to control the manipulator to move back and forth to transfer external materials, and the extension arm is telescopically arranged on the base toward the machine to lower the center of gravity of the manipulator when transferring materials to prevent the robot from tipping over.

[0005] Furthermore, the counterweight part and / or the base is provided with a receiving cavity for accommodating the extension arm, and the extension arm is telescopically arranged in the receiving cavity.

[0006] Furthermore, one end of the extension arm is connected to the base via a detachable fastener.

[0007] Furthermore, the length of the extension arm protruding from the base is greater than a single moving distance of the manipulator and / or a radius of a moving path of the manipulator.

[0008] Furthermore, a multifunctional sensor is provided at one end of the extension arm away from the base, and the electric control device has a control system. The multifunctional sensor is electrically connected to the control system. The control system is used to receive the inclination signal of the extension arm detected by the multifunctional sensor and control the manipulator to move in the opposite direction to its moving direction or stop moving.

[0009] Furthermore, the first picking member is a vacuum blister tray.

[0010] Furthermore, the counterweight portion and the extension arm are respectively arranged on opposite sides of the base.

[0011] Furthermore, a mounting seat is provided on the electric control device, and the manipulator has a mechanical arm and a first picking piece arranged on the mechanical arm. One end of the mechanical arm away from the first picking piece is connected to the electric control device via the mounting seat, and the electric control device drives the first picking piece to pick up and place external materials via the mechanical arm.

[0012] Furthermore, the robotic arm includes a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, a seventh joint, a first arm body and a second arm body; the first joint is rotatably set on a mounting seat, the second joint is rotatably connected to the first joint, the rotation axis of the first joint is cross-set with the rotation axis of the second joint, the first arm body is connected between the second joint and the third joint, the third joint is coaxially rotatably connected to the fourth joint, the second arm body is connected between the fourth joint and the fifth joint, the fifth joint is rotatably connected to the sixth joint, the rotation axis of the fourth joint and the rotation axis of the sixth joint are cross-set with the central axis of the second arm body, the sixth joint is rotatably connected to the seventh joint, the rotation axis of the sixth joint is cross-set with the rotation axis of the seventh joint, and the rotation axes of the second joint, the third joint and the fifth joint are parallel to each other.

[0013] Furthermore, the first joint, the second joint, the third joint, the fifth joint and the seventh joint all include a shell, a drive motor, a transmission assembly and a reducer arranged in the shell; the transmission assembly includes a driving wheel connected to the output shaft of the drive motor, and a driven wheel connected to the driving wheel via a belt, the driven wheel is connected to the input end of the reducer, the drive motor is electrically connected to the electronic control device, and the electronic control device drives the manipulator to move back and forth via the drive motor to pick up and place external materials.

[0014] Beneficial effects of the utility model:

[0015] (1) The utility model increases the contact area between the base and the ground and the weight of the base by arranging a counterweight on the base of the robot, thereby making the center of gravity of the robot more stable and preventing the robot from tipping over during the process of transferring materials.

[0016] (2) By adding a retractable extension arm to the base, the length of the extension arm protruding from the base is greater than the single moving distance of the robot's manipulator and / or the radius of the manipulator's moving path, the working center of gravity of the robot when transferring materials is lowered, thereby preventing the robot from tipping over when transferring materials.

[0017] (3) A multifunctional sensor is installed at one end of the extension arm away from the base. The multifunctional sensor is electrically connected to the control system in the electronic control device. When the multifunctional sensor detects that the extension arm has an inclination angle with the ground, it will control the manipulator to adjust its transfer action, thereby further preventing the robot from tipping over during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the robot base of the utility model;

[0020] Figure 3 for Figure 2 A schematic diagram of the enlarged structure of part A;

[0021] Figure 4 It is a structural schematic diagram of the manipulator of the utility model;

[0022] Figure 5 It is a structural schematic diagram of the first joint of the utility model.

[0023] Reference numerals include:

[0024] 1. Base; 2. Electric control device; 3-manipulator; 11-counterweight; 12-extension arm; 4-accommodation chamber; 5-multi-function sensor; 21-mounting seat; 31-manipulator arm; 32-first picking member; 310-first joint; 311-second joint; 312-first arm body; 313-third joint; 314-fourth joint; 315-second arm body; 316-fifth joint; 317-sixth joint; 318-seventh joint; 6-housing; 61-driving motor; 62-transmission assembly; 63-reducer; 621-driving wheel; 622-driven wheel; 121-support foot; 7-first positioning hole; 8-auxiliary part. DETAILED DESCRIPTION

[0025] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0026] See also Figures 1 to 5 As shown, the utility model is a robot with a counterweight to prevent tipping, comprising a base 1, an electric control device 2 arranged above the base 1 and a manipulator 3; the base 1 is provided with a counterweight portion 11 and an extension arm 12 used in conjunction with the counterweight portion 11, the counterweight portion 11 is used to increase the contact area between the base 1 and the external bearing surface so as to stably limit the base 1 on the external bearing surface, the electric control device 2 is used to control the manipulator 3 to move back and forth to transfer external materials, and the extension arm 12 is telescopically arranged on the base 1 toward the machine to lower the center of gravity of the manipulator 3 when transferring materials to prevent the robot from tipping over.

[0027] In actual use, the counterweight 11 and the extension arm 12 are respectively installed on both sides of the base 1. When the robot is performing a transfer action, it usually moves in the direction of the extension arm 12. The setting of the counterweight 11 can increase the overall weight of the robot base 1, thereby lowering the center of gravity of the robot, and thus significantly improving the stability of the robot when performing a transfer action, especially when handling heavier objects or larger objects. The counterweight 11 can also help balance the additional torque that may be introduced by the extension arm 12, further reducing the risk of tipping. In addition, the extension arm 12 can also significantly increase the working radius of the robot, allowing it to cover a larger working area.

[0028] Specifically, the counterweight part 11 and / or the base 1 are provided with a receiving chamber 4 for accommodating the extension arm 12, and the extension arm 12 is telescopically arranged in the receiving chamber 4. The receiving chamber 4 in this embodiment is arranged at one end of the base 1 away from the counterweight part 11, and is arranged opposite to the counterweight part 11, which helps to maintain the symmetry of the robot. In actual use, the extension arm 12 can also be arranged on the counterweight part 11 and the base 1 at the same time. For example, when the robot is carrying materials around it, it needs to rotate around itself as the axis. At this time, the extension arm 12 is arranged on the base 1 and the counterweight part 11, which can more evenly distribute the weight and force of the robot to transfer the object, and maintain the stability of the robot. The telescopic extension arm 12 can be appropriately adjusted for materials of different weights and sizes. The telescopic setting here can be a slide rail type, a spiral type or a stretching type, etc.

[0029] Specifically, one end of the extension arm 12 is connected to the base 1 by a detachable fastener. The detachable extension arm 12 can be adjusted according to different working environments of the robot. For example, in situations where space is limited, you can choose not to install the extension arm 12 or install a shorter extension arm 12; if the extension arm 12 fails or is damaged, it can be quickly disassembled for repair, which reduces the downtime of the robot and ensures that the production efficiency is not affected on the basis of preventing the robot from tipping over. In addition, in certain working environments, the detachable extension arm 12 can be removed when not needed to reduce potential safety issues caused by the length of the arm. The fasteners in this embodiment are screws and nuts, and other fastening methods such as latch connection, snap connection, etc. can be used in actual production.

[0030] In this embodiment, a plurality of first positioning holes 7 are provided on the extension arm 12 and the positioning seat, and the detachable connection of the extension arm 12 is achieved by means of the first positioning holes 7 and the tightening of bolts and nuts. The plurality of first positioning holes 7 can facilitate the extension arm 12 to adjust the extension length according to the operation conditions of the robot. The extension arm 12 is provided with a support foot 121 for supporting the free end of the extension arm 12. An auxiliary part is detachably mounted on the base 1, and a connecting part is provided on the auxiliary part, so that the auxiliary part can be fixed to an external object through the connecting part to increase the stability of the base 1, or can be detachably connected to the base 1 through the connecting part; the accommodating chamber 4 is provided on the auxiliary part, and the extension arm 12 is telescopically arranged in the accommodating chamber 4, and there is no need to separately provide the accommodating chamber 4 on the base 1, thereby increasing the applicability of the extension arm 12.

[0031] Specifically, the length of the extension arm 12 protruding from the base 1 is greater than the single movement distance of the manipulator 3 or / and the radius of the movement path of the manipulator 3. The extension arm 12 with a length greater than the operating radius can enable the robot to cover a wider operating area. This means that the robot can reach farther goods without moving the base 1, thereby improving operating efficiency. This design gives the robot greater flexibility in handling goods of different sizes and shapes, especially in environments with limited space or complex layouts. The design of the extension arm 12 can provide a greater safety distance when humans and machines share the working environment, reducing the potential risks of robot operation to personnel. This design is particularly important for workplaces that achieve high levels of automation and human-machine collaboration.

[0032] Specifically, a multifunctional sensor 5 is further provided at one end of the extension arm 12 away from the base 1, and the electric control device 2 has a control system, and the multifunctional sensor 5 is electrically connected to the control system, and the control system is used to receive the tilt signal of the extension arm 12 detected by the multifunctional sensor 5 and control the manipulator 3 to move in the opposite direction of its transfer direction or stop moving. In this solution, the multifunctional sensor 5 can also detect the presence of personnel or other objects. When the staff enters the area covered by the extension arm 12, the control system receives the signal and can adjust the robot's action or stop moving to avoid potential safety hazards, which greatly improves the safety of the workplace, especially in the scene of human-machine collaboration, protecting personnel and equipment from harm.

[0033] The data collected by the multifunctional sensor 5 can be used to analyze and optimize the robot's work process, such as adjusting the motion path to reduce the time required to complete the task. This optimization not only improves production efficiency, but also helps reduce energy consumption and operating costs.

[0034] Specifically, the number of the extension arms 12 is at least two. In this embodiment, the number of the extension arms 12 is two, and the ends of the two extension arms 12 are provided with support feet 121. The two extension arms 12 are telescopically arranged in the accommodating cavity 4 on the base 1, and can be telescopic along one end of each other, reducing the risk of failure of a single fulcrum when the robot is working. The two relatively arranged extension arms 12 can make the base 1 parallel to each other, share the weight and pressure of the robot base 1, reduce the tilt and shaking of the base 1, and improve the overall stability and safety. The support feet 121 are in close contact with the ground and can also prevent the robot from vibrating and swinging during movement, ensuring that the robot maintains a stable posture when working. In actual production, multiple extension arms 12 can be set on opposite sides of the base 1.

[0035] Specifically, the counterweight 11 and the extension arm 12 are respectively arranged on opposite sides of the base 1. The counterweight 11 and the extension arm are installed oppositely on both sides of the base 1 to maintain the symmetry of the robot, and while stably positioning the base 1, it is helpful to evenly distribute the weight of the material transferred by the robot and the force acting on the base 1, thereby improving the stability under various operating conditions.

[0036] Specifically, the electric control device 2 is provided with a mounting seat 21, the manipulator 3 has a mechanical arm 31 and a first pick-up member 32 provided on the mechanical arm 31, and one end of the mechanical arm 31 away from the first pick-up member 32 is connected to the electric control device 2 via the mounting seat 21, and the electric control device 2 drives the first pick-up member 32 to pick up and place external materials via the mechanical arm 31. In this embodiment, the first pick-up member 32 is a vacuum suction cup, and a lifting mechanism is provided at the bottom of the mounting seat 21. In actual use, the electric control device 2 can control the lifting mechanism to drive the mounting seat 21 to move up and down, thereby driving the manipulator 3 to move up and down for stacking higher goods.

[0037] Specifically, the robotic arm 31 includes a first joint 310, a second joint 311, a third joint 313, a fourth joint 314, a fifth joint 316, a sixth joint 317, a seventh joint 318, a first arm body 312 and a second arm body 315; the first joint 310 is rotatably arranged on the mounting seat 21, the second joint 311 is rotatably connected to the first joint 310, the rotation axis of the first joint 310 is cross-arranged with the rotation axis of the second joint 311, the first arm body 312 is connected between the second joint 311 and the third joint 313, and the third joint 314 is connected to the first arm body 312. 13 is coaxially rotatably connected with the fourth joint 314, the second arm body 315 is connected between the fourth joint 314 and the fifth joint 316, the fifth joint 316 is rotatably connected with the sixth joint 317, the rotation axis of the fourth joint 314 and the rotation axis of the sixth joint are cross-arranged with the central axis of the second arm body 315, the sixth joint 317 is rotatably connected with the seventh joint 318, the rotation axis of the sixth joint 317 is cross-arranged with the rotation axis of the seventh joint 318, and the rotation axes of the second joint 311, the third joint 313, and the fifth joint 316 are parallel to each other.

[0038] In actual use, the first joint 310 can rotate 360 ​​degrees relative to the mounting base 21 and drive all joints and the arm of the manipulator 3 to rotate synchronously. The second joint 311 can rotate 360 ​​degrees relative to the first joint 310 and drive the joints and the arm except the first joint 310 to rotate along an axis perpendicular to the rotation axis of the first joint 310. The third joint 313 is connected to the fourth joint 314 in transmission and drives the fourth joint 314 to drive the second manipulator 31, the fifth joint 316, the sixth joint 317, the seventh joint 318 and the first picking member 32 arranged at the end of the seventh joint 318 to rotate along the axis of the third joint 313. The sixth joint 317 is connected in transmission and drives the sixth joint 317 to drive the seventh joint 318 and the first picking member 32 to rotate around the axis of the fifth joint 316. The seventh joint 318 is connected in transmission to the sixth joint 317 and drives the first picking member 32 and the seventh joint 318 body to rotate around the axis of the sixth joint 317. When picking and placing materials, the first joint 310, the second joint 311, the first arm body 312, the third joint 313, the fourth joint 314, the second arm body 315, the fifth joint 316, the sixth joint 317, the seventh joint 318 and the first picking member 32 work in coordination under the program control of the electronic control device 2 to complete the actions of picking and placing materials.

[0039] Specifically, the first joint 310, the second joint 311, the third joint 313, the fifth joint 316 and the seventh joint 318 all include a shell 6, a drive motor 61, a transmission assembly 62 and a reducer 63 arranged in the shell 6; the transmission assembly 62 includes a driving wheel 621 connected to the output shaft of the drive motor 61, and a driven wheel 622 connected to the driving wheel 621 via a belt, the driven wheel 622 is connected to the input end of the reducer 63, the drive motor 61 is electrically connected to the electronic control device 2, and the electronic control device 2 drives the manipulator 3 to move back and forth to pick up and place external materials via the drive motor 61.

[0040] In actual application, the output shaft of the driving motor 61 drives the driving wheel 621 to rotate, and the driving wheel 621 transmits power to the driven wheel 622 through a belt (not shown in the figure), and the rotating driven wheel 622 drives the input end of the reducer 63 to rotate, so that the output end of the reducer 63 drives the next joint to rotate. The driving motor 61, the transmission assembly 62 and the reducer 63 are all arranged in the housing 6, so that the overall structure of the joint is relatively compact, the appearance is beautiful, and it can protect the driving motor 61 and the transmission assembly 62. The joint structure in this solution is simple and compact, the action is sensitive and can rotate at any angle, while improving the working efficiency of the robot, optimizing the production cost, and having good transmission stability and low noise during operation.

[0041] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. A robot with a counterweight and an anti-dumping function, comprising a base (1), an electric control device (2) arranged on the base (1), and a manipulator (3); characterized in that: The base (1) is provided with a counterweight portion (11) and an extension arm (12) used in conjunction with the counterweight portion (11); the counterweight portion (11) is used to stably limit the base (1) to an external bearing surface; the electric control device (2) is connected to the manipulator (3) and is used to control the manipulator (3) to reciprocate and transfer external materials; the extension arm (12) is telescopically arranged on the base (1) toward the machine to lower the center of gravity of the manipulator (3) when transferring materials to prevent the robot from tipping over.

2. The anti-dumping robot with a counterweight according to claim 1, characterized in that: The base (1) is provided with a receiving cavity (4) for receiving the extension arm (12); the extension arm (12) is telescopically arranged in the receiving cavity (4) relative to the base (1).

3. The robot with a counterweight and anti-dumping function according to claim 1, characterized in that: One end of the extension arm (12) is connected to the base (1) via a detachable fastener.

4. The robot with a counterweight and anti-dumping function according to claim 1, characterized in that: The length of the extension arm (12) protruding from the base (1) is greater than the single movement distance of the robot (3) and / or the radius of the movement path of the robot (3).

5. The robot with a counterweight and anti-dumping function according to claim 1, characterized in that: The number of the extension arms (12) is at least two, and the two extension arms (12) respectively protrude from two sides of the base (1) that are away from each other.

6. The robot with a counterweight and anti-dumping function according to claim 1, characterized in that: The counterweight portion (11) and the extension arm (12) are respectively arranged on two sides of the base (1) that are away from each other.

7. The anti-dumping robot with a counterweight according to claim 1, characterized in that: A multifunctional sensor (5) is also provided at one end of the extension arm (12) away from the base (1); the electric control device (2) has a control system; the multifunctional sensor (5) is electrically connected to the control system; the control system is used to receive a tilt signal of the extension arm (12) detected by the multifunctional sensor (5) and control the manipulator (3) to move in the opposite direction of its transfer direction or to stop moving.

8. The robot with a counterweight and anti-dumping function according to claim 1, characterized in that: The electric control device (2) is provided with a mounting seat (21), the manipulator (3) comprises a mechanical arm (31) and a first picking member (32) arranged on the mechanical arm (31), one end of the mechanical arm (31) away from the first picking member (32) is connected to the electric control device (2) via the mounting seat (21), and the electric control device (2) drives the first picking member (32) to pick up and place external materials via the mechanical arm (31).

9. The robot with a counterweight and anti-dumping function according to claim 8, characterized in that: The mechanical arm (31) comprises a first joint (310), a second joint (311), a third joint (313), a fourth joint (314), a fifth joint (316), a sixth joint (317), a seventh joint (318), a first arm body (312) and a second arm body (315); the first joint (310) is rotatably arranged on the mounting seat (21), the second joint (311) is rotatably connected to the first joint (310), the rotation axis of the first joint (310) is cross-arranged with the rotation axis of the second joint (311), the first arm body (312) is connected between the second joint (311) and the third joint (313), and the third joint (311) is connected to the first arm body (312). The second arm (315) is connected to the fourth joint (314) and the fifth joint (316) for coaxial rotation. The fifth joint (316) is connected to the sixth joint (317) for rotation. The rotation axis of the fourth joint (314) and the rotation axis of the sixth joint are cross-arranged with the central axis of the second arm (315). The sixth joint (317) is connected to the seventh joint (318) for rotation. The rotation axis of the sixth joint (317) and the rotation axis of the seventh joint (318) are cross-arranged. The rotation axes of the second joint (311), the third joint (313) and the fifth joint (316) are arranged parallel to each other.

10. The robot with a counterweight and anti-dumping function according to claim 9, characterized in that: The first joint (310), the second joint (311), the third joint (313), the fifth joint (316) and the seventh joint (318) all include a housing (6), a driving motor (61), a transmission assembly (62) and a reducer (63) arranged in the housing (6); the transmission assembly (62) includes a driving wheel (621) connected to the output shaft of the driving motor (61), and a driven wheel (622) connected to the driving wheel (621) via a belt, the driven wheel (622) is connected to the input end of the reducer (63), the driving motor (61) is electrically connected to the electric control device (2), and the electric control device (2) drives the manipulator (3) to move back and forth to pick up and place external materials via the driving motor (61).

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