Novel small-sized robot

Abstract

The utility model provides a novel small work robot, which relates to the field of carrying and stacking and comprises a base, a stand column and a universal arm, the stand column is arranged on the base, a lifting mechanism used for lifting the universal arm is arranged in the stand column, a counterweight assembly is further arranged in the stand column, the counterweight assembly is connected with the lifting mechanism through a chain, and the universal arm is arranged on the stand column. A first fixed pulley and a second fixed pulley are rotationally arranged on the top of the stand column side by side, the chain winds around the first fixed pulley and the second fixed pulley, one end of the chain on one side of the first fixed pulley is perpendicularly connected with the lifting mechanism, and one end of the chain on one side of the second fixed pulley is perpendicularly connected with the counterweight assembly. According to the novel small-sized robot, the two ends of the chain are vertically hung through the first fixed pulley and the second fixed pulley, so that stress points are located at the center positions of the lifting mechanism and the counterweight assembly, friction between the lifting mechanism and the guide rail and friction between the counterweight assembly and the guide rail are small during lifting, lifting is smoother, and abrasion is small; and the service lives of the lifting mechanism and the counterweight assembly are greatly prolonged.

Description

Technical Field

[0001] This utility model relates to the field of handling and palletizing technology, specifically a novel small-scale robot. Background Technology

[0002] As one of the earliest industrial robots applied in production, material handling robots have always played a very important role in industrial automation. In actual production processes, to achieve material stacking, robots need to perform actions such as rotation, lifting, and translation. Among the many types of robotic palletizers, column-type robots are a preferred palletizer for many small and medium-sized enterprises. They are not only small in size and occupy little space, but their functions, quality, and price are also very suitable for the current situation of small and medium-sized enterprises with moderate output who urgently need to replace human labor with machines.

[0003] Currently, the lifting mechanism of column palletizing robots on the market is raised by gears and racks, and the chain is modified to serve as a counterweight when lifting goods. However, because the counterweight has a certain weight, and the fixed pulley is located in the middle of the lifting frame and the counterweight, the force points of the lifting frame and the counterweight are not perpendicular. This results in greater friction between the lifting frame and the counterweight and the lifting guide rail, which often causes abnormal noise, excessive wear, and affects the service life. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this utility model provides a novel small-scale robot that solves the problems mentioned in the background section.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, this utility model is implemented through the following technical solution: A novel small robot includes a base, a column, and a universal arm. The column is mounted on the base, and a lifting mechanism for lifting the universal arm is provided inside the column. A counterweight assembly is also provided inside the column. The counterweight assembly is connected to the lifting mechanism via a chain. Two fixed pulleys, a first fixed pulley and a second fixed pulley, are arranged side by side and rotate on the top of the column. The chain passes around the first fixed pulley and the second fixed pulley. One end of the chain on one side of the first fixed pulley is perpendicularly connected to the lifting mechanism, and one end of the chain on one side of the second fixed pulley is perpendicularly connected to the counterweight assembly.

[0008] Preferably, the counterweight assembly includes a counterweight box and several counterweight blocks. One side of the counterweight box is open, and the several counterweight blocks are stacked vertically inside the counterweight box. Limiting strips for restricting the counterweight blocks from sliding out are provided on both sides of the open part of the counterweight box. The top of the limiting strip and the top of the counterweight box form an entrance for the counterweight blocks to enter and exit.

[0009] Preferably, the top of the counterweight box is vertically threaded with limiting bolts corresponding to the upper and lower parts of the counterweight block.

[0010] Preferably, the lifting mechanism includes a lifting frame, a rack, a gear, and a motor. The universal arm is mounted on the lifting frame, the rack is vertically mounted inside the column, the gear is pivotally connected to the lifting frame and meshes with the rack, and the motor is mounted on the lifting frame and connected to the gear.

[0011] Preferably, the side of the column is provided with a U-shaped retractable cable groove, which is used to guide the wires on the universal arm into the inside of the column.

[0012] (III) Beneficial Effects

[0013] This utility model provides a novel small-scale robot. It has the following beneficial effects:

[0014] 1. In this new type of small robot, the two ends of the chain are vertically mounted through fixed pulley one and fixed pulley two, so that the force points are all located at the center of the lifting mechanism and the counterweight component. The friction between the lifting mechanism and the counterweight component and the guide rail is small during lifting, the lifting is smoother, and the wear is small, which greatly increases the service life of the lifting mechanism and the counterweight component.

[0015] 2. This new type of small robot can adjust the number of counterweights in the counterweight box according to the load of the goods being transported, and fix the stability of the counterweights by adjusting the height limit bolts. Attached Figure Description

[0016] Figure 1 This is an isometric view of the present invention;

[0017] Figure 2 This is a schematic diagram of the counterweight component of this utility model;

[0018] Figure 3 This is a schematic diagram of the lifting mechanism of this utility model.

[0019] In the diagram: 1. Base, 2. Column, 3. Universal arm, 4. Lifting frame, 5. Rack, 6. Gear, 7. Motor, 8. Chain, 9. Counterweight box, 10. Counterweight block, 11. Fixed pulley one, 12. Fixed pulley two, 13. Limiting strip, 14. Inlet, 15. Limiting bolt, 16. Cable trough. Detailed Implementation

[0020] This utility model embodiment provides a novel small-scale robot, such as... Figure 1-3 As shown, it includes a base 1, a column 2, and a universal arm 3, with the column 2 mounted on the base 1.

[0021] The universal arm 3 is an existing commercially available product. Its specific structure includes a main control motor box, a first movable arm, a second movable arm, and a mechanical gripper. The main control motor box is mounted on the lifting mechanism. The rear end of the first movable arm is connected to the main control motor box via a rotating shaft. Motor 1 is installed inside the main control motor box and is connected to the rotating shaft of the first movable arm. The front end of the second movable arm is connected to the first movable arm via a rotating shaft. Motor 2 is installed on the first movable arm and is used to drive the second movable arm to rotate.

[0022] The column 2 is equipped with a lifting mechanism for lifting the universal arm 3.

[0023] like Figure 3 As shown, the lifting mechanism includes a lifting frame 4, a rack 5, a gear 6, and a motor 7. The universal arm 3 is mounted on the lifting frame 4. A guide rail is vertically mounted on the column 2. A slider that is slidably adapted to the guide rail is mounted on the lifting frame 4. The rack 5 is vertically mounted inside the column 2. The gear 6 is pivotally connected to the lifting frame 4 and meshes with the rack 5. Multiple gears 6 can be provided. The motor 7 is mounted on the lifting frame 4 and connected to one of the gears 6.

[0024] like Figure 2 As shown, a counterweight assembly is also installed inside the column 2. The counterweight assembly is connected to the lifting mechanism via a chain 8. Two fixed pulleys, 11 and 12, are rotatably mounted side-by-side on the top of the column 2. One end of the chain 8 is connected to the middle of the lifting frame 4, and the other end passes over the fixed pulleys 11 and 12 before connecting to the counterweight assembly. One end of the chain 8 on the side of the fixed pulley 11 is vertically connected to the lifting mechanism, and one end of the chain 8 on the side of the fixed pulley 12 is vertically connected to the counterweight assembly. The two ends of the chain 8 are vertically mounted via the fixed pulleys 11 and 12, ensuring that the stress points are all located at the center of the lifting mechanism and the counterweight assembly. This reduces friction between the lifting mechanism and the counterweight assembly and the guide rail during lifting, resulting in smoother lifting, less wear, and significantly increased service life of the lifting mechanism and the counterweight assembly.

[0025] Specifically, such as Figure 2 As shown, the counterweight assembly includes a counterweight box 9 and several counterweight blocks 10, with a chain 8 vertically connected to the top center of the counterweight box 9. One side of the counterweight box 9 is open, and the counterweight blocks 10 are sheet-like, with a cross-section slightly smaller than the cross-section of the inner cavity of the counterweight box 9. Several counterweight blocks 10 are vertically stacked inside the counterweight box 9, and the number of counterweight blocks 10 can be adjusted according to the load of the goods being handled. Limiting strips 13 are provided on both sides of the open part of the counterweight box 9 to prevent the counterweight blocks 10 from sliding out. Between the top of the limiting strip 13 and the top of the counterweight box 9 is an entrance 14 for the counterweight blocks 10 to enter and exit. The height of the entrance 14 is slightly greater than the thickness of the counterweight blocks 10, and the counterweight blocks 10 enter and exit the counterweight box 14 through the entrance 14.

[0026] To prevent the counterweight 10 from loosening or shifting within the counterweight box 9, a vertically threaded limit bolt 15 corresponding to the upper and lower parts of the counterweight 10 is connected to the top of the counterweight box 9. The limit bolt 15 can be adjusted in height within the counterweight box 9 so that its bottom end rests against the counterweight 10, thereby improving the stability of the counterweight 10.

[0027] The exterior of column 2 is covered by a bellows cover. The bellows cover improves ventilation and heat dissipation inside column 2, while preventing external dust from entering column 2.

[0028] A U-shaped retractable cable tray 16 is provided on the side of the column 2. The cable tray 14 is a commercially available product. It can rise and fall according to the tension when the lifting frame 2 is raised and lowered. The cable tray 16 is used to guide the wires on the universal arm 3 into the interior of the column 2.

[0029] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A novel small-scale robot, comprising a base (1), a column (2), and a universal arm (3), wherein the column (2) is mounted on the base (1), and a lifting mechanism for lifting the universal arm (3) is provided inside the column (2), characterized in that: The column (2) is also equipped with a counterweight assembly. The counterweight assembly is connected to the lifting mechanism by a chain (8). The top of the column (2) is provided with a fixed pulley one (11) and a fixed pulley two (12) arranged side by side. The chain (8) passes over the fixed pulley one (11) and the fixed pulley two (12). One end of the chain (8) on the side of the fixed pulley one (11) is vertically connected to the lifting mechanism. One end of the chain (8) on the side of the fixed pulley two (12) is vertically connected to the counterweight assembly.

2. The novel small-scale robot according to claim 1, characterized in that: The counterweight assembly includes a counterweight box (9) and several counterweight blocks (10). One side of the counterweight box (9) is open, and several counterweight blocks (10) are stacked vertically inside the counterweight box (9). Limiting strips (13) are provided on both sides of the open part of the counterweight box (9) to restrict the counterweight blocks (10) from sliding out. The top of the limiting strip (13) and the top of the counterweight box (9) form an entrance (14) for the counterweight blocks (10) to enter and exit.

3. The novel small-scale robot according to claim 2, characterized in that: The top of the counterweight box (9) is vertically threaded with limiting bolts (15) corresponding to the upper and lower parts of the counterweight block (10).

4. The novel small-scale robot according to claim 1, characterized in that: The lifting mechanism includes a lifting frame (4), a rack (5), a gear (6), and a motor (7). The universal arm (3) is mounted on the lifting frame (4). The rack (5) is vertically mounted inside the column (2). The gear (6) is pivotally connected to the lifting frame (4) and meshes with the rack (5). The motor (7) is mounted on the lifting frame (4) and connected to the gear (6).

5. A novel small-scale robot according to claim 1, characterized in that: The side of the column (2) is provided with a U-shaped retractable wire groove (16), which is used to guide the wires on the universal arm (3) into the inside of the column (2).

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