Adjustable upside-down hanging robot

Abstract

The utility model discloses an adjustable upside-down hanging robot which comprises a base, a rotary table is rotationally arranged on the base, a stand column is vertically fixed to the rotary table, a second motor is installed on the top of the stand column, a vertical threaded column connected to the second motor is rotationally arranged in the stand column, and a horizontal cantilever is in threaded connection to the threaded column. The cantilever slides relative to the inner wall of the stand column, one end of the cantilever is provided with a first motor, the cantilever is rotationally provided with a second threaded rod connected to the first motor, the second threaded rod is in threaded connection with a moving block sliding relative to the inner wall of the cantilever, a mounting base is fixed to the bottom of the moving block, and a robot body is mounted on the mounting base; a balancing weight capable of moving synchronously is arranged at the end, away from the first motor, of the cantilever, and a linkage mechanism is arranged between the balancing weight and the second threaded rod and used for driving the balancing weight to move synchronously. The utility model belongs to the technical field of upside-down hanging robots, and particularly relates to an adjustable upside-down hanging robot.

Description

Technical Field

[0001] This utility model belongs to the field of inverted robot technology, specifically referring to an adjustable inverted robot. Background Technology

[0002] In the field of industrial automation, adjustable inverted robots play an important role in some special operation scenarios due to their unique working method, which can effectively utilize space.

[0003] Currently, the publicly authorized patent CN202323520111.9 proposes an adjustable inverted robot, which uses a movable plate as a cantilever on one side of a column, with a movable robot mounted on the plate. However, this structure has significant drawbacks. When the robot adjusts its position on the movable plate, the change in the center of gravity causes considerable tensile force on the mechanical parts near the column. Under long-term and frequent use, these mechanical parts are prone to wear, deformation, and even breakage, which not only reduces the reliability and stability of the equipment but also significantly increases maintenance costs. Frequent repairs also lead to prolonged downtime, severely impacting production efficiency.

[0004] Furthermore, due to the structure's inadequacy in center of gravity balance, the robot is prone to swaying during movement, affecting operational accuracy and limiting its application in scenarios with high precision requirements. Utility Model Content

[0005] In order to overcome the shortcomings of the prior art, this utility model provides an adjustable inverted robot, which effectively solves the problem of poor center of gravity balance performance.

[0006] To achieve the above functions, the technical solution adopted by this utility model is as follows: An adjustable inverted robot includes a base, a turntable rotatably mounted on the base, a column vertically fixed on the turntable, a second motor mounted on the top of the column, a threaded column rotatably mounted inside the column and connected to the second motor, a horizontal cantilever threadedly connected to the threaded column, the cantilever sliding relative to the inner wall of the column, a first motor mounted on one end of the cantilever, a threaded rod second rotatably mounted on the cantilever and connected to the first motor, a moving block threadedly connected to the threaded rod second and sliding relative to the inner wall of the cantilever, a mounting base fixed at the bottom of the moving block, a robot body mounted on the mounting base, a counterweight block that can move synchronously at the end of the cantilever away from the first motor, a linkage mechanism between the counterweight block and the threaded rod second for driving the synchronous movement of the counterweight block.

[0007] Preferably, the linkage mechanism includes a mounting block, which is fixed on the top surface of the cantilever. A threaded rod is horizontally rotatably mounted on the mounting block. A gear is fixed to one end of the threaded rod, and a gear meshing with the gear is fixed to one end of the threaded rod. A movable frame that is fixedly connected to the counterweight is threaded onto the threaded rod.

[0008] Preferably, the top of the cantilever is provided with a slot, the width of which is greater than the diameter of gear one and gear two, and the bottom of gear one passes through the slot to mesh with gear two.

[0009] Preferably, gear one and gear two have the same module, the same number of teeth, and a transmission ratio of 1:1.

[0010] Preferably, both motor one and motor two are servo motors.

[0011] Preferably, a limiting groove is embedded at the top of one end of the cantilever located on the counterweight block, and the end of the movable frame is slidably disposed within the limiting groove.

[0012] The beneficial effects of the above-mentioned structure of this utility model are as follows: A counterweight is set at the end of the cantilever away from the robot, and a unique transmission structure is used to make the counterweight and the robot move closer or further away synchronously. When the robot moves and adjusts its position on the cantilever, the counterweight moves synchronously, so that the center of gravity of the entire system always remains relatively stable. This design effectively reduces the center of gravity shift caused by changes in the robot's position, avoids excessive pulling on the mechanical parts on the side close to the column, greatly reduces the risk of damage to the mechanical parts, and extends the service life of the equipment. The stability of the center of gravity makes the robot move more smoothly and reduces swaying and vibration. This not only improves the stability of the equipment operation, but also significantly improves the robot's operating accuracy, enabling it to meet the needs of more high-precision operation scenarios. Attached Figure Description

[0013] Figure 1 This invention provides a schematic diagram of the overall structure of an adjustable inverted robot. Figure 1 ;

[0014] Figure 2 This invention provides a schematic diagram of the overall structure of an adjustable inverted robot. Figure 2 ;

[0015] Figure 3 This invention provides a schematic diagram of the overall structure of an adjustable inverted robot. Figure 3 ;

[0016] Figure 4 for Figure 3 A magnified view of a section at point A in the middle;

[0017] Figure 5This is a bottom side view of an adjustable inverted robot proposed in this utility model.

[0018] The components are as follows: 1. Base, 2. Turntable, 3. Column, 4. Motor II, 5. Threaded column, 6. Cantilever, 7. Motor I, 8. Threaded rod II, 9. Moving block, 10. Mounting seat, 11. Robot body, 12. Counterweight, 13. Linkage mechanism, 14. Mounting block, 15. Threaded rod I, 16. Gear I, 17. Gear II, 18. Moving frame, 19. Slot, 20. Limiting slot. Detailed Implementation

[0019] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0020] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The utility model will be further described in detail below with reference to the accompanying drawings.

[0021] like Figure 1-5 As shown, the present invention proposes an adjustable inverted robot, comprising a base 1, a turntable 2 rotatably mounted on the base 1, a column 3 vertically fixed on the turntable 2, a motor 4 mounted on the top of the column 3, a threaded post 5 rotatably mounted inside the column 3 and connected to the vertical threaded post 4, a horizontal cantilever 6 threadedly connected to the threaded post 5, the cantilever 6 sliding relative to the inner wall of the column 3, a motor 7 mounted at one end of the cantilever 6, both motor 7 and motor 4 being servo motors connected to a control system to control the rotation direction and speed of the motors, a threaded rod 8 rotatably mounted on the cantilever 6 and connected to the motor 7, a sliding block 9 threadedly connected to the threaded rod 8 and sliding relative to the inner wall of the cantilever 6, a mounting base 10 fixed at the bottom of the sliding block 9, a robot body 11 mounted on the mounting base 10, a counterweight 12 rotatably movable at the end of the cantilever 6 away from the motor 7, a linkage mechanism 13 between the counterweight 12 and the threaded rod 8 for driving the synchronous movement of the counterweight 12.

[0022] like Figure 2 ,3 As shown in Figure 4, the linkage mechanism 13 includes a mounting block 14, which is fixed on the top surface of the cantilever 6. A threaded rod 15 is horizontally rotatable on the mounting block 14. A gear 16 is fixed to one end of the threaded rod 15, and a gear 17 that meshes with the gear 16 is fixed to one end of the threaded rod 18. A movable frame 18 that is fixedly connected to the counterweight block 12 is threaded onto the threaded rod 15. The motor 7 drives the threaded rod 15 to rotate, which in turn drives the movable block 9 to move, thereby driving the robot body 11 to move. At the same time as the threaded rod 15 rotates, it drives the gear 17 to rotate. The gear 17 drives the gear 16 to rotate, which in turn drives the threaded rod 15 to rotate. The threaded rod 15 drives the movable frame 18 and the counterweight block 12 to move synchronously in the opposite direction to the robot body 11, so that the center of gravity of the cantilever 6 always remains relatively stable. The gear 16 and the gear 17 have the same module and the same number of teeth, and the transmission ratio is 1:1.

[0023] like Figure 2 , 4 As shown, the top of the cantilever 6 is provided with a slot 19, the width of which is greater than the diameter of gear 16 and gear 2 17. The bottom of gear 16 passes through the slot 19 and meshes with gear 2 17. A limiting groove 20 is embedded at the top of one end of the cantilever 6 located on the counterweight block 12, and the end of the moving frame 18 is slidably disposed in the limiting groove 20.

[0024] In practical use, motor 4 is started, which drives the threaded column 5 to rotate. The threaded column 5 drives the cantilever 6 to move up and down. At the same time, motor 7 drives the threaded rod 15 to rotate, which in turn drives the moving block 9 to move, thereby driving the robot body 11 to move. As the threaded rod 15 rotates, it drives the gear 17 to rotate. The gear 17 meshes with the gear 16, which drives the gear 16 and the threaded rod 15 to rotate. When the threaded rod 15 rotates, the moving frame 18, which is threadedly connected to the threaded rod 15, drives the counterweight 12 to move, so that the counterweight 12 and the robot body 11 will move closer or further away in sync, always maintaining the balance of the center of gravity.

[0025] Once the robot moves to the target location, it performs corresponding operations according to the task requirements, such as grasping, transporting, and processing. If the robot's position needs to be adjusted during the operation, the above-mentioned movement and counterweight adjustment steps are repeated to ensure that the center of gravity is balanced in any position, thus guaranteeing the stability and accuracy of the operation.

[0026] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. An adjustable inverted robot, characterized in that: The system includes a base (1), a turntable (2) rotatably mounted on the base (1), a column (3) vertically fixed on the turntable (2), a motor (4) mounted on the top of the column (3), a vertical threaded column (5) rotatably mounted inside the column (3) and connected to the motor (4), a horizontal cantilever (6) threadedly connected to the threaded column (5), the cantilever (6) sliding relative to the inner wall of the column (3), a motor (7) mounted on one end of the cantilever (6), a threaded rod (8) rotatably mounted on the cantilever (6) and connected to the motor (7), a moving block (9) threadedly connected to the threaded rod (8) and sliding relative to the inner wall of the cantilever (6), a mounting base (10) fixed at the bottom of the moving block (9), and a robot body (11) mounted on the mounting base (10). The end of the cantilever (6) away from the motor (7) is provided with a counterweight (12) that can move synchronously. A linkage mechanism (13) is provided between the counterweight (12) and the threaded rod (8) to drive the synchronous movement of the counterweight (12).

2. The adjustable inverted robot according to claim 1, characterized in that: The linkage mechanism (13) includes a mounting block (14), which is fixed on the top surface of the cantilever (6). A threaded rod (15) is horizontally rotatable on the mounting block (14). A gear (16) is fixed at one end of the threaded rod (15), and a gear (17) meshing with the gear (16) is fixed at one end of the threaded rod (8). A movable frame (18) that is fixedly connected to the counterweight block (12) is threaded onto the threaded rod (15).

3. An adjustable inverted robot according to claim 2, characterized in that: The top of the cantilever (6) is provided with a slot (19), the width of the slot (19) is greater than the diameter of gear one (16) and gear two (17), and the bottom of gear one (16) passes through the slot (19) and meshes with gear two (17).

4. An adjustable inverted robot according to claim 3, characterized in that: The first gear (16) and the second gear (17) have the same module and the same number of teeth, and the transmission ratio is 1:

1.

5. An adjustable inverted robot according to claim 1, characterized in that: Both motor one (7) and motor two (4) are servo motors.

6. An adjustable inverted robot according to claim 2, characterized in that: The cantilever (6) is provided with a limiting groove (20) at the top of one end of the counterweight (12), and the end of the movable frame (18) is slidably disposed in the limiting groove (20).

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