CN113977635A - Anti-tilting device of industrial robot - Google Patents
Anti-tilting device of industrial robot Download PDFInfo
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- CN113977635A CN113977635A CN202111325585.0A CN202111325585A CN113977635A CN 113977635 A CN113977635 A CN 113977635A CN 202111325585 A CN202111325585 A CN 202111325585A CN 113977635 A CN113977635 A CN 113977635A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 101
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 230000000670 limiting effect Effects 0.000 claims description 67
- 230000005484 gravity Effects 0.000 claims description 15
- 230000002265 prevention Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 9
- 238000003754 machining Methods 0.000 abstract 1
- 230000003068 static effect Effects 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses an anti-tilting device of an industrial robot, which relates to the technical field of industrial robots, and adopts the technical scheme that: a positioning box body is arranged at the bottom of the industrial robot; two sides of the positioning box body are provided with U-shaped grooves, and lifting devices are arranged in the U-shaped grooves; the bottom of the lifting device is provided with a transmission device; the transmission device is positioned in the bottom plate, and the top of the transmission device is fixedly connected with the inner side of the top of the bottom plate; the bottom of the positioning box body is provided with a horizontal judgment device; a cavity is arranged in the positioning box body, and a horizontal detection device is arranged on the side wall of the cavity; the transmission device comprises a servo motor, a bevel gear IV, a supporting device, a forward transmission device and a reverse transmission device; the servo motor is fixedly connected with the top of the inner side of the bottom plate. This industrial robot anti-tilt device can accurate judgement industrial robot's gradient, makes industrial robot can reach accurate horizontal position to reach the effect that improves industrial robot machining accuracy.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an anti-tilting device of an industrial robot.
Background
The industrial robot is a multi-joint manipulator or multi-freedom-degree machine device oriented to the industrial field, can automatically execute work, is a machine which realizes various functions by self power and control capacity, can receive human commands, can run according to a pre-programmed program, and can also perform a compendium action according to a principle formulated by an artificial intelligence technology.
When an industrial robot is installed, the robot needs to be installed in a specific area through a base, and when the base is installed, the supporting surface below the base can be deformed and inclined during installation, the base can be inclined after being installed, and the robot is very unfavorable for the operation of the robot above the base.
The existing anti-tilting device for the industrial robot is characterized in that a sliding block is connected with a spring, and whether the industrial robot tilts or not is judged through the pressure of the sliding block and the spring, so that the industrial robot is adjusted to be in a horizontal position; however, the technical problem of this method is that the sliding block has friction when sliding, when the inclination angle is smaller, the static friction exists, the spring will not generate elasticity, and the adjusting precision of the anti-inclination device is lower.
Disclosure of Invention
The invention aims to provide an industrial robot inclination prevention device which can accurately judge the inclination of an industrial robot, so that the industrial robot can reach an accurate horizontal position, and the high precision of the industrial robot processing is conveniently ensured.
The technical purpose of the invention is realized by the following technical scheme: an anti-tilting device of an industrial robot comprises the industrial robot and a bottom plate, wherein a positioning box body is arranged at the bottom of the industrial robot; two sides of the positioning box body are respectively provided with a U-shaped groove, and a lifting device is arranged in each U-shaped groove; the bottom of the lifting device is provided with a transmission device; the transmission device is positioned in the bottom plate, and the top of the transmission device is fixedly connected with the inner side of the top of the bottom plate; the bottom of the positioning box body is provided with a horizontal judgment device; a cavity is arranged in the positioning box body, and a horizontal detection device is arranged on the side wall of the cavity;
the transmission device comprises a servo motor, a bevel gear IV, a supporting device, a forward transmission device and a reverse transmission device; the servo motor is fixedly connected with the top of the inner side of the bottom plate, the output end of the servo motor is fixedly connected with the central shaft of the bevel gear IV, and the forward transmission device and the reverse transmission device are both connected with the bevel gear IV;
the horizontal detection device comprises a first magnetic strip, a second magnetic strip, two springs, a magnetic block and two pressure sensors; the two ends of the first magnetic strip and the second magnetic strip are respectively and fixedly connected with the two opposite side walls of the cavity, the magnetic block is positioned between the first magnetic strip and the second magnetic strip, the two ends of the magnetic block are respectively and fixedly connected with the end parts of the two springs, the other ends of the two springs are respectively and fixedly connected with the two pressure sensors, and the two pressure sensors are respectively embedded on the two opposite side walls of the cavity;
the supporting device comprises a first limiting block, a second limiting block, a third limiting block and a fourth limiting block; the two limiting blocks are respectively sleeved on the outer side walls of the two lifting devices, and the two limiting blocks are fixedly connected with the inner side of the top of the bottom plate; the second limiting block, the third limiting block and the fourth limiting block are fixedly connected with the inner side of the bottom plate, and the second limiting block, the third limiting block and the fourth limiting block are sleeved on the forward transmission device; the third limiting block and the fourth limiting block are both sleeved on the reverse transmission device;
the bottom of the bottom plate is provided with a control processor, and the outer side wall of the bottom plate is provided with a power line plug.
By adopting the technical scheme, the magnetic blocks are arranged on the first magnetic strip and the second magnetic strip, the magnetic blocks, the first magnetic strip and the second magnetic strip are all the same pole, and the magnetic force of the second magnetic strip is greater than that of the first magnetic strip, so that the magnetic blocks are in a suspended state, the sliding friction force of the magnetic blocks is eliminated, the phenomenon that the small-angle inclined magnetic blocks are subjected to static friction to cause the springs to have no elasticity is avoided, and the effect of accurately controlling the inclination to return to the positive state is improved; the lifting devices are arranged in the U-shaped groove, and the two lifting devices are connected with the transmission device, so that when the industrial robot inclines, the lifting devices can be driven by the transmission device to enable the industrial robot to return to the right; by arranging the horizontal detection device, the phenomenon that the horizontal detection device is inaccurate in detection can be prevented; the limiting blocks are sleeved on the forward transmission device, and the limiting blocks III and the limiting blocks IV are sleeved on the reverse transmission device, so that the effect of supporting the whole transmission device is achieved.
The invention is further configured to: the lifting device comprises a lifting sleeve, a fixed rotating shaft, a threaded rod and a first conical gear; the lifting sleeve is sleeved on the fixed rotating shaft, and two ends of the fixed rotating shaft are respectively fixedly connected with two opposite side walls of the U-shaped groove; the lifting sleeve is sleeved on the threaded rod and is positioned in the U-shaped groove; the end part of the threaded rod penetrates through the top of the bottom plate and the rotating shaft of the first limiting block and the first conical gear to be fixedly connected.
Through adopting above-mentioned technical scheme, lifting sleeve and threaded rod threaded connection, and lifting sleeve cup joints in fixed rotating shaft, when industrial robot is in the tilt state, can realize returning to industrial robot just.
The invention is further configured to: the horizontal judgment device comprises a rotary sleeve, an L-shaped fixed shaft, a gravity block, an infrared transmitter, a fixed block and an infrared receiver; the rotating sleeve is sleeved on the fixed shaft, one end of the L-shaped fixed shaft is fixedly connected with the bottom of the positioning box body, the rotating sleeve is sleeved on the L-shaped fixed shaft, the gravity block and the infrared emitter are both fixedly connected with the outer side wall of the rotating sleeve, and the gravity block is positioned right below the rotating sleeve; the top of fixed block and the bottom fixed connection of location box, infrared receiver and the fixed block are close to the lateral wall fixed connection of L shape fixed axle.
By adopting the technical scheme, the gravity block is fixed under the rotary sleeve, so that the infrared emitter can always emit towards the horizontal direction; through set up infrared receiver at the lateral wall of fixed block, can judge whether industrial robot is in the horizontality through the infrared beam that receives infrared emitter transmission.
The invention is further configured to: the forward transmission device comprises a conical gear II, a transmission rod I and a conical gear III; one end of the first transmission rod is fixedly connected with a rotating shaft of the second conical gear, and the other end of the first transmission rod penetrates through the second limiting block to be fixedly connected with a rotating shaft of the third conical gear; the rotating surface of the second conical gear is connected with a lifting device; the third conical gear is connected with the fourth conical gear.
Through adopting above-mentioned technical scheme, be connected bevel gear three with bevel gear four, and bevel gear two is connected with elevating gear, can drive elevating gear like this and carry out height adjustment to the realization is in time just effect back to the industrial robot of tilt state.
The invention is further configured to: the reverse transmission device comprises a fifth conical gear, a second transmission rod, a first straight gear, a second straight gear, a third transmission rod and a sixth conical gear; one end of the second transmission rod is fixedly connected with a rotating shaft of the fifth bevel gear, and the other end of the second transmission rod penetrates through the third limiting block to be fixedly connected with the rotating shaft of the first straight gear; the bevel gear V is connected with the bevel gear IV; one end of the third transmission rod is fixedly connected with a rotating shaft of the second straight gear, the other end of the third transmission rod penetrates through a limiting block IV to be fixedly connected with a rotating shaft of the sixth conical gear, and the sixth conical gear is connected with a lifting device.
By adopting the technical scheme, the first straight gear is connected with the second straight gear, so that the height adjusting directions of the two lifting devices are opposite, and the effect of improving the aligning efficiency of the anti-tilting device is achieved.
In conclusion, the invention has the following beneficial effects:
1. the magnetic blocks are arranged on the first magnetic strip and the second magnetic strip, the magnetic blocks, the first magnetic strip and the second magnetic strip are all the same pole, and the magnetic force of the second magnetic strip is greater than that of the first magnetic strip, so that the magnetic blocks are in a suspended state, the sliding friction force of the magnetic blocks is eliminated, the phenomenon that the small-angle inclined magnetic blocks are subjected to static friction to cause the springs to have no elasticity is avoided, and the effect of accurately controlling inclination and correction is improved;
2. the lifting devices are arranged in the U-shaped groove, and the two lifting devices are connected with the transmission device, so that when the industrial robot inclines, the lifting devices can be driven by the transmission device to enable the industrial robot to return to the right;
3. by arranging the horizontal detection device, the phenomenon that the horizontal detection device is inaccurate in detection can be prevented;
4. the limiting blocks are sleeved on the forward transmission device, and the limiting blocks III and the limiting blocks IV are sleeved on the reverse transmission device, so that the effect of supporting the whole transmission device is achieved.
Drawings
Fig. 1 is a side sectional view of an industrial robot anti-tilting device in an embodiment of the present invention;
fig. 2 is a cross-sectional view at a-a in fig. 1.
In the figure: 1. an industrial robot; 2. positioning the box body; 3. fixing the rotating shaft; 4. a lifting sleeve; 5. rotating the sleeve; 6. an L-shaped fixed shaft; 7. a gravity block; 8. a threaded rod; 9. a first transmission rod; 10. a first limiting block; 11. a base plate; 12. a control processor; 13. a first conical gear; 14. a second bevel gear; 15. a second limiting block; 16. a third bevel gear; 17. a bevel gear four; 18. a fifth bevel gear; 19. a third limiting block; 20. a servo motor; 21. a second straight gear; 22. a first straight gear; 23. a limiting block IV; 24. a power cord plug; 25. a bevel gear six; 26. a third transmission rod; 27. a second transmission rod; 28. a fixed block; 29. an infrared receiver; 30. a second magnetic stripe; 31. a pressure sensor; 32. a first magnetic stripe; 33. a spring; 34. a chamber; 35. a magnetic block; 36. a U-shaped groove; 37. an infrared emitter.
Detailed Description
The present invention is described in further detail below with reference to fig. 1 and 2.
Example (b): an anti-tilting device of an industrial robot 1 is shown in figures 1 and 2 and comprises the industrial robot 1 and a bottom plate 11, wherein a positioning box body 2 is fixedly arranged at the bottom of the industrial robot 1; two sides of the positioning box body 2 are both provided with a U-shaped groove 36, and a lifting device is arranged in the U-shaped groove 36; the bottom of the lifting device is provided with a transmission device; the transmission device is positioned in the bottom plate 11, and the top of the transmission device is fixedly connected with the inner side of the top of the bottom plate 11; a horizontal judgment device is fixedly arranged at the bottom of the positioning box body 2; a cavity 34 is arranged in the positioning box body 2, and a horizontal detection device is fixedly arranged on the side wall of the cavity 34;
the transmission device comprises a servo motor 20, a bevel gear four 17, a supporting device, a forward transmission device and a reverse transmission device; the servo motor 20 is fixedly connected with the top of the inner side of the bottom plate 11, the output end of the servo motor 20 is fixedly connected with the central shaft of the bevel gear IV 17, and the forward transmission device and the reverse transmission device are both meshed with the bevel gear IV 17;
the level detection device comprises a first magnetic strip 32, a second magnetic strip 30, two springs 33, a magnetic block 35 and two pressure sensors 31; two ends of the first magnetic strip 32 and the second magnetic strip 30 are respectively fixedly connected with two opposite side walls of the cavity 34, the magnetic block 35 is positioned between the first magnetic strip 32 and the second magnetic strip 30, two ends of the magnetic block 35 are respectively fixedly connected with end portions of the two springs 33, the other ends of the two springs 33 are respectively fixedly connected with the two pressure sensors 31, and the two pressure sensors 31 are respectively embedded on the two opposite side walls of the cavity 34;
the supporting device comprises two first limiting blocks 10, two second limiting blocks 15, a third limiting block 19 and a fourth limiting block 23; the two first limiting blocks 10 are respectively sleeved on the outer side walls of the two lifting devices, and the two first limiting blocks 10 are both fixedly connected with the inner side of the top of the bottom plate 11; the second limiting block 15, the third limiting block 19 and the fourth limiting block 23 are fixedly connected with the inner side of the bottom plate 11, the second limiting block 15 is sleeved on the forward transmission device, and the second limiting block 15 is movably connected with the forward transmission device; the third limiting block 19 and the fourth limiting block 23 are both sleeved on the reverse transmission device, and the third limiting block 19 and the fourth limiting block 23 are movably connected with the reverse transmission device;
the inner side of the bottom plate 11 is provided with a control processor 12, and the outer side wall of the bottom plate 11 is provided with a power line plug 24.
In this embodiment, the magnetic block 35, the first magnetic stripe 32 and the second magnetic stripe 30 are all magnets with the same polarity, but the magnetic force of the second magnetic stripe 30 is equal to the gravity of the magnetic block 35 plus the magnetic force of the first magnetic stripe 32, so that the magnetic block 35 is always located between the first magnetic stripe 32 and the second magnetic stripe 30 and is in a suspended state, and the magnets are not affected by any friction force; when the industrial robot 1 is in an inclined state, the magnetic block 35 generates a component force in a horizontal direction, the magnetic block 35 generates acting forces on the two springs 33, the compressed springs 33 extrude the pressure sensor 31, the pressure sensor 31 senses the pressure of the springs 33 and transmits information to the control processor 12, the control processor 12 adjusts the transmission device according to the inclined direction, and the transmission device drives the two lifting devices to adjust the heights of the two ends of the positioning box body 2, so that the horizontal return adjustment of the positioning box body 2 is realized; the fourth bevel gear 17 is simultaneously meshed with the forward transmission device and the reverse transmission device, and the first straight gear 22 is meshed with the second straight gear 21, so that the servo motor 20 can rotate to enable the two lifting devices to move reversely, and the industrial robot 1 can be quickly righted.
The lifting device comprises a lifting sleeve 4, a fixed rotating shaft 3, a threaded rod 8 and a first bevel gear 13; the lifting sleeve 4 is sleeved on the fixed rotating shaft 3, the lifting sleeve 4 is movably connected with the fixed rotating shaft 3, and two ends of the fixed rotating shaft 3 are respectively fixedly connected with two opposite side walls of the U-shaped groove 36; the lifting sleeve 4 is sleeved on the threaded rod 8, the lifting sleeve 4 is in threaded connection with the threaded rod 8, and the lifting sleeve 4 is located in the U-shaped groove 36; the end part of the threaded rod 8 penetrates through the top of the bottom plate 11 and the limiting block I10 to be fixedly connected with a rotating shaft of the bevel gear I13.
In this embodiment, the specific implementation manner of adjusting the height of the positioning box 2 by the two lifting devices mentioned above is that the first bevel gear 13 is rotated by the transmission device, the first bevel gear 13 drives the threaded rod 8 to rotate, because the lifting sleeve 4 is sleeved on the threaded rod 8 and the lifting sleeve 4 is limited by the U-shaped groove 36, the lifting sleeve 4 can move up and down along the threaded rod 8, and the lifting sleeve 4 drives the two ends of the positioning box 2 to move up and down by the fixed rotating shaft 3; because the lifting sleeve 4 is sleeved on the fixed rotating shaft 3, and the lifting sleeve 4 is movably connected with the fixed rotating shaft 3, when the positioning box body 2 is in an inclined state, the lifting sleeve 4 cannot generate a limiting effect with the positioning box body 2, so that the heights of two ends of the positioning box body 2 can be freely adjusted.
The level judging device comprises a rotary sleeve 5, an L-shaped fixed shaft 6, a gravity block 7, an infrared transmitter 37, a fixed block 28 and an infrared receiver 29; the rotating sleeve 5 is sleeved on the fixed shaft, one end of the L-shaped fixed shaft 6 is fixedly connected with the bottom of the positioning box body 2, the rotating sleeve 5 is sleeved on the L-shaped fixed shaft 6, the gravity block 7 and the infrared emitter 37 are both fixedly connected with the outer side wall of the rotating sleeve 5, and the gravity block 7 is located right below the rotating sleeve 5; the top of the fixed block 28 is fixedly connected with the bottom of the positioning box body 2, the infrared receiver 29 is fixedly connected with the side wall of the fixed block 28 close to the L-shaped fixed shaft 6, and the infrared emitter 37 and the infrared receiver 29 are both positioned on the same horizontal plane.
In this embodiment, when the positioning box 2 is in an inclined state, the rotating sleeve 5 is acted by the gravity block 7, so that the gravity block 7 is always located right below the rotating sleeve 5, and an angle between a straight line from the infrared emitter 37 to the center of the rotating sleeve 5 and a straight line between the gravity block 7 and the rotating sleeve 5 is 90 °, so that the direction of an infrared beam emitted by the infrared emitter 37 is always in a horizontal direction, and when the infrared receiver 29 receives an infrared beam emitted by the infrared emitter 37, a console (not labeled in the figure) can display that the industrial robot 1 is in a horizontal state; by adopting the mode, the phenomenon that the industrial robot 1 cannot be normally adjusted to be horizontally aligned under the fault condition of the pressure sensor 31 is mainly prevented.
The forward transmission device comprises a second bevel gear 14, a first transmission rod 9 and a third bevel gear 16; one end of the first transmission rod 9 is fixedly connected with a rotating shaft of the second conical gear 14, and the other end of the first transmission rod 9 penetrates through the second limiting block 15 to be fixedly connected with a rotating shaft of the third conical gear 16; the rotating surface of the second bevel gear 14 is meshed with the lifting device; bevel gear three 16 meshes with bevel gear four 17.
In the present embodiment, the specific implementation manner of adjusting the lifting device mentioned above is that the servo motor 20 drives the bevel gear four 17 to rotate, the bevel gear four 17 drives the bevel gear three 16 to rotate, the bevel gear three 16 drives the transmission rod one 9 to rotate, the transmission rod one 9 drives the bevel gear two 14 to rotate, and the bevel gear two 14 drives the bevel gear one 13 to rotate, so as to achieve the adjustment of the height of the end portion of the positioning box 2.
The reverse transmission device comprises a conical gear five 18, a transmission rod two 27, a straight gear one 22, a straight gear two 21, a transmission rod three 26 and a conical gear six 25; one end of the second transmission rod 27 is fixedly connected with the rotating shaft of the fifth bevel gear 18, and the other end of the second transmission rod 27 penetrates through the third limiting block 19 to be fixedly connected with the rotating shaft of the first straight gear 22; the fifth bevel gear 18 is meshed with the fourth bevel gear 17; one end of a third transmission rod 26 is fixedly connected with the rotating shaft of the second straight gear 21, the other end of the third transmission rod 26 penetrates through a fourth limiting block 23 to be fixedly connected with the rotating shaft of a sixth conical gear 25, and the sixth conical gear 25 is meshed with the lifting device.
In the present embodiment, the specific implementation manner of adjusting the lifting device mentioned above is that the servo motor 20 drives the bevel gear four 17 to rotate, the bevel gear four 17 drives the transmission rod two 27 to rotate, the transmission rod two 27 drives the spur gear one 22 to rotate, the spur gear one 22 drives the spur gear two 21 to rotate, the spur gear two 21 drives the transmission rod three 26 to rotate, the transmission rod three 26 drives the bevel gear six 25 to rotate, and the bevel gear six 25 drives the bevel gear one 13 to rotate, so that the height of the end portion of the positioning box 2 is adjusted.
The working principle is as follows: the magnetic block 35 is arranged on the first magnetic strip 32 and the second magnetic strip 30, the magnetic block 35, the first magnetic strip 32 and the second magnetic strip 30 are all the same pole, and the magnetic force of the second magnetic strip 30 is greater than that of the first magnetic strip 32, so that the magnetic block 35 is in a suspended state, the sliding friction force of the magnetic block 35 is eliminated, the phenomenon that the spring 33 has no elasticity due to the fact that the inclined magnetic block 35 with a small angle is subjected to static friction is avoided, and the effect of accurately controlling inclination and correction is improved; by installing the lifting devices in the U-shaped groove 36, and connecting the two lifting devices with the transmission device, when the industrial robot 1 inclines, the lifting devices can be driven by the transmission device to enable the industrial robot 1 to return to the right; by arranging the horizontal detection device, the phenomenon that the horizontal detection device is inaccurate in detection can be prevented; the second limiting block 15 is sleeved on the forward transmission device, the third limiting block 19 and the fourth limiting block 23 are sleeved on the reverse transmission device, and the effect of supporting the whole transmission device is achieved.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (5)
1. The utility model provides an industrial robot anti-tilt device, includes industrial robot and bottom plate, characterized by: a positioning box body (2) is arranged at the bottom of the industrial robot (1); two sides of the positioning box body (2) are respectively provided with a U-shaped groove (36), and a lifting device is arranged in each U-shaped groove (36); the bottom of the lifting device is provided with a transmission device; the transmission device is positioned in the bottom plate (11), and the top of the transmission device is fixedly connected with the inner side of the top of the bottom plate (11); the bottom of the positioning box body (2) is provided with a horizontal judgment device; a cavity (34) is arranged in the positioning box body (2), and a horizontal detection device is arranged on the side wall of the cavity (34);
the transmission device comprises a servo motor (20), a bevel gear four (17), a supporting device, a forward transmission device and a reverse transmission device; the servo motor (20) is fixedly connected with the top of the inner side of the bottom plate (11), the output end of the servo motor (20) is fixedly connected with the central shaft of the bevel gear IV (17), and the forward transmission device and the reverse transmission device are both connected with the bevel gear IV (17);
the level detection device comprises a first magnetic strip (32), a second magnetic strip (30), two springs (33), a magnetic block (35) and two pressure sensors (31); the two ends of the first magnetic strip (32) and the second magnetic strip (30) are fixedly connected with two opposite side walls of the cavity (34) respectively, the magnetic block (35) is located between the first magnetic strip (32) and the second magnetic strip (30), the two ends of the magnetic block (35) are fixedly connected with the end portions of the two springs (33) respectively, the other ends of the two springs (33) are fixedly connected with the two pressure sensors (31) respectively, and the two pressure sensors (31) are embedded on the two opposite side walls of the cavity (34) respectively;
the supporting device comprises two first limiting blocks (10), a second limiting block (15), a third limiting block (19) and a fourth limiting block (23); the two first limiting blocks (10) are respectively sleeved on the outer side walls of the two lifting devices, and the two first limiting blocks (10) are fixedly connected with the inner side of the top of the bottom plate (11); the second limiting block (15), the third limiting block (19) and the fourth limiting block (23) are fixedly connected with the inner side of the bottom plate (11), and the second limiting block (15) is sleeved on the forward transmission device; the third limiting block (19) and the fourth limiting block (23) are both sleeved on the reverse transmission device;
the control processor (12) is arranged on the inner side of the bottom plate (11), and a power line plug (24) is arranged on the outer side wall of the bottom plate (11).
2. An industrial robot (1) tilt prevention device according to claim 1, characterized in that: the lifting device comprises a lifting sleeve (4), a fixed rotating shaft (3), a threaded rod (8) and a first conical gear (13); the lifting sleeve (4) is sleeved on the fixed rotating shaft (3), and two ends of the fixed rotating shaft (3) are respectively fixedly connected with two opposite side walls of the U-shaped groove (36); the lifting sleeve (4) is sleeved on the threaded rod (8), and the lifting sleeve (4) is positioned in the U-shaped groove (36); the end part of the threaded rod (8) penetrates through the top of the bottom plate (11) and the rotating shaft of the first limiting block (10) and the first conical gear (13) to be fixedly connected.
3. An industrial robot (1) tilt prevention device according to claim 1, characterized in that: the level judging device comprises a rotary sleeve (5), an L-shaped fixed shaft (6), a gravity block (7), an infrared emitter (37), a fixed block (28) and an infrared receiver (29); the rotating sleeve (5) is sleeved on the fixed shaft, one end of the L-shaped fixed shaft (6) is fixedly connected with the bottom of the positioning box body (2), the rotating sleeve (5) is sleeved on the L-shaped fixed shaft (6), the gravity block (7) and the infrared emitter (37) are both fixedly connected with the outer side wall of the rotating sleeve (5), and the gravity block (7) is located right below the rotating sleeve (5); the top of fixed block (28) and the bottom fixed connection of location box (2), infrared receiver (29) and fixed block (28) are close to the lateral wall fixed connection of L shape fixed axle (6).
4. An industrial robot (1) tilt prevention device according to claim 1, characterized in that: the forward transmission device comprises a second bevel gear (14), a first transmission rod (9) and a third bevel gear (16); one end of the first transmission rod (9) is fixedly connected with a rotating shaft of the second conical gear (14), and the other end of the first transmission rod (9) penetrates through the second limiting block (15) to be fixedly connected with a rotating shaft of the third conical gear (16); the rotating surface of the second conical gear (14) is connected with a lifting device; the third conical gear (16) is connected with the fourth conical gear (17).
5. An industrial robot (1) tilt prevention device according to claim 1, characterized in that: the reverse transmission device comprises a fifth bevel gear (18), a second transmission rod (27), a first straight gear (22), a second straight gear (21), a third transmission rod (26) and a sixth bevel gear (25); one end of the second transmission rod (27) is fixedly connected with a rotating shaft of the fifth bevel gear (18), and the other end of the second transmission rod (27) penetrates through the third limiting block (19) to be fixedly connected with the rotating shaft of the first straight gear (22); the bevel gear five (18) is connected with the bevel gear four (17); one end of the third transmission rod (26) is fixedly connected with a rotating shaft of the second straight gear (21), the other end of the third transmission rod (26) penetrates through the limiting block IV (23) to be fixedly connected with a rotating shaft of the sixth conical gear (25), and the sixth conical gear (25) is connected with the lifting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111325585.0A CN113977635A (en) | 2021-11-10 | 2021-11-10 | Anti-tilting device of industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111325585.0A CN113977635A (en) | 2021-11-10 | 2021-11-10 | Anti-tilting device of industrial robot |
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| CN113977635A true CN113977635A (en) | 2022-01-28 |
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| CN202111325585.0A Pending CN113977635A (en) | 2021-11-10 | 2021-11-10 | Anti-tilting device of industrial robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116834066A (en) * | 2022-08-02 | 2023-10-03 | 刘付善 | Balance testing device for robot assembly gripping apparatus |
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| US6439524B1 (en) * | 1999-01-25 | 2002-08-27 | Andreas Ettemeyer | Measuring head holder |
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