Mechanical arm counterweight device with anti-falling mechanism

Abstract

The application relates to a mechanical arm counterweight device with a falling prevention mechanism and relates to the technical field of mechanical arms, which comprises a rack, a sliding seat is installed on the rack, a mechanical arm is installed on the sliding seat, a counterweight block is arranged on one side of the rack relative to the sliding seat, a connecting assembly is arranged between the sliding seat and the counterweight block, and the connecting assembly is used for connecting the counterweight block on the mechanical arm; a falling prevention assembly is arranged on the counterweight block and is used for reducing the risk of falling of the counterweight block. The application reduces the load of the mechanical arm in the moving process through the counterweight block. When the connecting assembly is damaged, the falling prevention assembly on the counterweight block reduces the risk of falling of the counterweight block, protects the mechanical arm and the surrounding expensive equipment, and reduces the threat to the life safety of the on-site personnel.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and in particular to a counterweight device for a robotic arm with a fall protection mechanism. Background Technology

[0002] Currently, a robotic arm is a highly biomimetic and programmable mechanical device that mimics the structure and function of a human arm to perform various complex operations. Its core components typically include a base, multiple joints, links, and an end effector (commonly known as a "gripper" or "end-effector"). The robotic arm is powered by servo motors, pneumatic or hydraulic drive systems, and receives commands, senses its environment, and performs precise movements and tasks through built-in sensors and a computer control system.

[0003] In related technologies, during the movement of a robotic arm, the motor needs to output a huge torque to resist the torque generated by the weight of the robotic arm, which can lead to motor overheating and a significant increase in energy consumption. Secondly, gravity can exacerbate backlash errors in transmission components, resulting in a decrease in motion accuracy and repeatability.

[0004] In existing technologies, to reduce the load on the motor, a large counterweight is installed in the opposite direction on the rear side of the robotic arm base or the upper arm. The counterweight generates a reverse torque through the lever principle to offset part or most of the load caused by the weight of the arm itself, thereby reducing the output torque requirement of the motor.

[0005] However, traditional counterweight systems have a long-overlooked safety hazard: the risk of the counterweight falling. The counterweight is usually large and heavy, which is key to its balancing efficiency, but precisely because of this, if it falls, the consequences could be disastrous.

[0006] Under the long-term, high-frequency start-stop and vibration conditions of the robotic arm, these connecting parts may fail due to fatigue stress, loosening, or corrosion. Once the heavy counterweight falls from a height, it will not only directly damage the robotic arm and surrounding expensive equipment, but also pose a serious threat to the lives of personnel on site. At the same time, it will cause the production line to be shut down for a long time, resulting in huge economic losses.

[0007] Therefore, there is an urgent need for a method that can reduce the risk of falling and improve the safety of manual operation while retaining the advantages of counterweight balance. Utility Model Content

[0008] The technical problem to be solved by this utility model is to provide a counterweight device for a robotic arm with an anti-fall mechanism, which solves the technical problem that the counterweight is prone to falling during use.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] A counterweight device for a robotic arm with a fall protection mechanism includes a frame, a sliding seat mounted on the frame, a robotic arm mounted on the sliding seat, a counterweight block disposed on one side of the frame opposite to the sliding seat, a connecting assembly disposed between the sliding seat and the counterweight block, the connecting assembly being used to connect the counterweight block to the robotic arm; and a fall protection component disposed on the counterweight block, the fall protection component being used to reduce the risk of the counterweight block falling.

[0011] Furthermore, the connecting assembly includes a conveyor chain, one end of which is connected to the sliding seat, and the other end of which crosses the frame and is connected to the counterweight.

[0012] Furthermore, the fall arrestor includes a hook, and the frame has an installation groove on the side near the counterweight. A hanging rod is provided in the installation groove, and several hanging rods are spaced apart in the installation groove.

[0013] Furthermore, a tension spring is provided between the hook and the counterweight, with one end of the tension spring connected to the hook and the other end connected to the counterweight.

[0014] Furthermore, the frame is provided with guide wheels, and two sets of guide wheels are spaced apart on the frame. A connecting rope is provided between the sliding seat and the counterweight. One end of the connecting rope is connected to the hook, and the other end passes around the guide wheels and is connected to the sliding seat.

[0015] Furthermore, a slider is slidably installed between the two sets of guide wheels, a support wheel is rotatably installed on the slider, the connecting rope passes through the underside of the support wheel, and a support spring is provided between the slider and the frame, the support spring abutting against the frame and the slider.

[0016] Furthermore, a transmission gear is provided on the frame, the transmission gear is rotatably mounted on the frame, the transmission chain passes around one side of the transmission gear, and the transmission chain meshes with the transmission gear.

[0017] In summary, this application includes at least one of the following beneficial technical effects of a robotic arm counterweight device with a fall protection mechanism:

[0018] 1. The robotic arm is slidably mounted on the frame via a sliding base. The counterweight is connected to the sliding base via a connecting assembly. The counterweight reduces the load on the robotic arm during movement. When the connecting assembly is damaged, the anti-fall component on the counterweight reduces the risk of the counterweight falling, protecting the robotic arm and surrounding expensive equipment, and reducing the threat to the lives of on-site personnel.

[0019] 2. By setting up the hook, the hanging rod, and the tension spring, as well as the tension spring and the connecting rope, the hook can be attached to the hanging rod even if the connecting rope breaks;

[0020] 3. By setting up the slider and support wheel, and supporting the slider with the support spring, and at the same time, the tension spring is connected between the hook and the counterweight, so that the connecting rope is subjected to tension when the counterweight is in normal use, reducing the damage to the connecting rope when the counterweight has not fallen, and ensuring that the hook can be hung on the hanging rod in time when it falls. Attached Figure Description

[0021] Figure 1 This application mainly provides a schematic diagram of the overall structure of a robotic arm counterweight device with a fall protection mechanism;

[0022] Figure 2 This is a schematic diagram of the exploded structure of the main drive gear and rack provided in this application;

[0023] Figure 3 This is an exploded view of the slider and support wheel structure mainly provided in this application;

[0024] Figure 4 This is a schematic diagram of the hook structure that is the main feature of this application.

[0025] Reference numerals: 1. Frame; 11. Sliding seat; 12. Robotic arm; 13. Counterweight; 14. Guide rail; 15. Drive motor; 16. Drive gear; 17. Rack; 2. Connecting assembly; 21. Conveyor chain; 22. Transmission gear; 3. Fall protection assembly; 31. Hook; 32. Mounting slot; 33. Hanging rod; 34. Tension spring; 35. Connecting rope; 36. Guide wheel; 37. Slider; 371. Support wheel; 372. Support spring. Detailed Implementation

[0026] In order to make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0027] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0028] This application discloses a counterweight device for a robotic arm with a fall protection mechanism.

[0029] Reference Figure 1A counterweight device for a robotic arm with a fall protection mechanism includes a frame 1, a sliding seat 11 mounted on the frame 1, and a robotic arm 12 mounted on the sliding seat 11. The robotic arm 12 slides on the frame 1 via the sliding seat 11. A counterweight block 13 is provided on one side of the frame 1 opposite to the sliding seat 11. A connecting component 2 is provided between the counterweight block 13 and the sliding seat 11, and a fall protection component 3 is provided on the counterweight block 13 to reduce the risk of the counterweight block 13 falling.

[0030] The frame 1 is vertically arranged, and guide rails 14 are provided on both sides of the frame 1 in the vertical direction. There are two sets of guide rails 14 on each side of the frame 1. The sliding seat 11 and the counterweight 13 are slidably installed on the guide rails 14 of the frame 1.

[0031] Reference Figure 2 A drive motor 15 is mounted on the sliding base 11, and a drive gear 16 is installed on the output shaft of the drive motor 15. A rack 17 is installed on the frame 1, and the rack 17 is vertically arranged on the frame 1. In use, the drive gear 16 meshes with the rack 17. After the robotic arm 12 clamps the material, the drive motor 15 drives the drive gear 16 to rotate. Since the drive gear 16 meshes with the rack 17, the sliding base 11 slides on the guide rail 14.

[0032] Reference Figures 2-3 To reduce the load on the drive motor 15 and the wear between the drive gear 16 and the rack 17, the connecting assembly 2 includes a conveyor chain 21. One end of the conveyor chain 21 is connected to the counterweight 13, and the other end crosses the frame 1 and connects to the sliding seat 11. Furthermore, a transmission gear 22 is rotatably mounted on the frame 1. Two sets of transmission gears 22 are spaced apart on the frame 1, and these two sets mesh with the conveyor chain 21. In use, the transmission gears 22 guide the conveyor chain 21, thereby improving its stability on the frame 1. When the sliding seat 11 is raised under the drive of the drive motor 15, the counterweight 13 descends on the other side of the frame 1. Guided by the conveyor chain 21 and the transmission gears 22, the force of the descending counterweight 13, guided by the conveyor chain 21, lifts the sliding seat 11, reducing the load on the drive motor 15.

[0033] Reference Figures 3-4 The fall arrestor 3 has two sets of components spaced apart on the counterweight 13. The two sets of fall arrestor 3 have the same structure and function. Only one set will be described below.

[0034] The fall arrestor 3 includes a hook 31, one end of which is rotatably mounted on the counterweight 13. A mounting groove 32 is provided on the frame 1, the groove having a rectangular cross-section, and its length is parallel to the vertical direction of the frame 1. A hanging rod 33 is installed within the mounting groove 32 of the frame 1, with several hanging rods 33 evenly spaced along the length of the groove 32. When the counterweight 13 falls, the hook 31 is hooked onto the hanging rod 33, thereby reducing the damage to surrounding equipment caused by the falling counterweight 13.

[0035] Reference Figure 4 To improve the ease of hanging the hook 33 and the accuracy of identifying the fall of the counterweight 13, a tension spring 34 is provided between the hook 31 and the counterweight 13. One end of the tension spring 34 is connected to the hook 31, and the other end is connected to the side of the counterweight 13 near the hook 33. In use, the tension spring 34 pulls the hook 31 towards the side closer to the hook 33. In addition, a connecting rope 35 is provided between the counterweight 13 and the sliding seat 11. One end of the connecting rope 35 is connected to the hook 31, and the other end crosses the frame 1 and connects to the sliding seat 11. The connecting rope 35 is made of multi-strand cotton thread. When the conveyor chain 21 breaks, the connecting rope 35 breaks under the weight of the counterweight 13. After the connecting rope 35 breaks, the tension spring 34 pulls the hook 31 towards the side closer to the hook 33, so that the hook 31 can be hung on the hook 33.

[0036] In addition, guide wheels 36 are provided on the frame 1. Two sets of guide wheels 36 are spaced apart on the frame 1. The two sets of guide wheels 36 are rotatably mounted on the frame 1. The connecting rope 35 passes around the guide wheels 36 and is guided by the guide wheels 36, which improves the stability of the connecting rope 35 moving on the frame 1.

[0037] To reduce wear on the connecting rope 35 during use, the length of the connecting rope 35 only needs to be greater than the length of the conveyor chain 21. Preferably, the length of the connecting rope 35 is 20 centimeters greater than the length of the conveyor chain 21, so that the weight of the sliding seat 11 and the counterweight 13 is all applied to the conveyor chain 21.

[0038] A slider 37 is positioned between two sets of guide wheels 36. The slider 37 slides vertically in the frame 1. A support wheel 371 is rotatably mounted on the slider 37, and the connecting rope 35 passes under the support wheel 371. A support spring 372 is positioned between the side of the slider 37 opposite to the side through which the connecting rope 35 passes and the frame 1. The support spring 372 abuts against the slider 37 and the frame 1. The support spring 372 ensures that the connecting rope 35 is kept taut. When force is applied to the connecting rope 35, the support spring 372 compresses, improving the stability of the connecting rope 35 on the frame 1 and reducing wear on the connecting rope 35 during use.

[0039] The implementation principle of the counterweight device for a robotic arm with an anti-fall mechanism in this application embodiment is as follows: When the drive motor 15 drives the sliding seat 11 and the robotic arm 12 to rise and fall along the guide rail 14 through the meshing of the drive gear 16 and the rack 17, the counterweight block 13 moves in the opposite direction through the linkage of the transmission chain 21 and the transmission gear 22 to balance the load and reduce the energy consumption of the motor; if the transmission chain 21 breaks unexpectedly, the counterweight block 13 will fall and cause the cotton connecting rope 35 to break. The tension spring 34 will then pull the hook 31 to rotate quickly and hook onto the hanging rod 33, thereby achieving anti-fall protection through mechanical self-locking. At the same time, the support spring 372 and the guide wheel 36 work together to maintain the tension of the connecting rope 35, reduce wear and ensure the reliability of the response.

[0040] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A counterweight device for a robotic arm with a fall protection mechanism, comprising a frame (1), a sliding seat (11) mounted on the frame (1), and a robotic arm (12) mounted on the sliding seat (11), characterized in that: The frame (1) has a counterweight (13) on one side relative to the sliding seat (11). A connecting component (2) is provided between the sliding seat (11) and the counterweight (13). The connecting component (2) is used to connect the counterweight (13) to the robotic arm (12). A fall protection component (3) is provided on the counterweight (13). The fall protection component (3) is used to reduce the risk of the counterweight (13) falling.

2. The counterweight device for a robotic arm with a fall protection mechanism according to claim 1, characterized in that: The connecting component (2) includes a conveyor chain (21), one end of which is connected to the sliding seat (11), and the other end of which crosses the frame (1) and is connected to the counterweight (13).

3. The counterweight device for a robotic arm with a fall protection mechanism according to claim 1, characterized in that: The fall arrestor (3) includes a hook (31). The frame (1) has an installation groove (32) on the side near the counterweight (13). A hanging rod (33) is provided in the installation groove (32). Several hanging rods (33) are provided at intervals in the installation groove (32).

4. The counterweight device for a robotic arm with a fall protection mechanism according to claim 3, characterized in that: A tension spring (34) is provided between the hook (31) and the counterweight (13). One end of the tension spring (34) is connected to the hook (31), and the other end is connected to the counterweight (13).

5. A counterweight device for a robotic arm with a fall protection mechanism according to claim 4, characterized in that: The frame (1) is provided with guide wheels (36), and two sets of guide wheels (36) are spaced apart on the frame (1). A connecting rope (35) is provided between the sliding seat (11) and the counterweight (13). One end of the connecting rope (35) is connected to the hook (31), and the other end passes around the guide wheels (36) and is connected to the sliding seat (11).

6. A counterweight device for a robotic arm with a fall protection mechanism according to claim 5, characterized in that: A slider (37) is slidably mounted between the two sets of guide wheels (36). A support wheel (371) is rotatably mounted on the slider (37). The connecting rope (35) passes through the underside of the support wheel (371). A support spring (372) is provided between the slider (37) and the frame (1). The support spring (372) abuts against the frame (1) and the slider (37).

7. A counterweight device for a robotic arm with a fall protection mechanism according to claim 2, characterized in that: A transmission gear (22) is provided on the frame (1). The transmission gear (22) is rotatably mounted on the frame (1). The transmission chain (21) passes around one side of the transmission gear (22) and meshes with the transmission gear (22).

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