CN213226277U - Industrial robot balancing unit - Google Patents
Industrial robot balancing unit Download PDFInfo
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- CN213226277U CN213226277U CN202021993555.8U CN202021993555U CN213226277U CN 213226277 U CN213226277 U CN 213226277U CN 202021993555 U CN202021993555 U CN 202021993555U CN 213226277 U CN213226277 U CN 213226277U
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Abstract
The utility model discloses an industrial robot balancing unit, comprising a base plate, the laminating of the top left side of bottom plate has the rectangular piece, the top rigid coupling of rectangular piece has the robot, the top of bottom plate is equipped with balancing unit. This industrial robot balancing unit, through the bottom plate, the robot, the short piece, long piece and balancing unit's cooperation, make the device when using, can be through with spheroid downstream, make the spheroid get into the inboard of two bent plates, the second spring drives the riser inboard, the riser drives the bent plate inboard, and then make the bent plate clip the spheroid, the robot drives spheroid upstream, and then make drum upstream, the pneumatic cylinder drives the riser and move left, and then make the closely chucking of riser and straight board, the robot rotates, and then make the universal wheel slide left and right in the top ring channel of bottom plate, and then realize carrying out omnidirectional balance processing to the robot, avoid balancing unit to receive the limitation to the effect of robot, application scope is wide, and the practicality is high.
Description
Technical Field
The utility model relates to an industrial robot technical field specifically is an industrial robot balancing unit.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, chemical industry and the like, and the gravity center of an arm of an industrial robot changes along with the change of the position, the speed and the acceleration of the movement of the arm, so that a gravity moment which changes in a nonlinear manner relative to a joint is generated, and the gravity moment which changes in a nonlinear manner is not beneficial to the control of a joint driving device on the joint.
Industrial robot balancing unit among the prior art can't carry out omnidirectional balance to the robot and handle, and then leads to it to use and receive the limitation, and application scope is little, and the practicality is not high, and the industrial robot balancing unit among the prior art, and the staff of being not convenient for separates balancing unit and robot, and then is not convenient for maintain robot and balancing unit.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an industrial robot balancing unit to solve the industrial robot balancing unit among the prior art that provides among the above-mentioned background art, can't carry out the omnidirectional balance to the robot and handle, and then lead to its use to receive the limitation, application scope is little, the not high problem of practicality.
In order to achieve the above object, the utility model provides a following technical scheme: a balancing device of an industrial robot comprises a bottom plate, wherein a long block is attached to the left side of the top of the bottom plate, a robot is fixedly connected to the top of the long block, a short block is fixedly connected to the right side of the bottom of the robot, and the balancing device is arranged above the bottom plate;
the balancing device comprises a transverse plate, universal wheels, a sliding block, a first spring, a hydraulic cylinder, a vertical plate, a straight plate, a transverse rod, a vertical rod, a long rod, a cylinder, a short plate, a groove plate, a curved plate, a ball body, a second spring and a vertical block;
the bottom of the universal wheel is attached to the inner wall of a top right side ring groove of the bottom plate, the top of the universal wheel is fixedly connected with the left side of the bottom of the transverse plate, a sliding block is connected to the inner wall of a top right side groove of the transverse plate in a sliding and clamping manner, a first spring is fixedly connected to the right end of the sliding block, the right end of the first spring is fixedly connected with the right end of the inner side groove of the top of the transverse plate, a vertical plate is fixedly connected to the top of the sliding block, the lower side of the right side of the vertical plate is attached to a telescopic rod of a hydraulic cylinder, a base preset below the hydraulic cylinder is fixedly connected with the right end of the transverse plate, a long rod is fixedly connected to the left side of the top of the transverse plate, a cylinder is in clearance fit above the outer wall of the long rod, a short plate is fixedly connected to the top of the cylinder, a cross, the top rigid coupling of quarter butt has the montant, the top rigid coupling of montant has the frid, the equal slip joint of both sides recess has the riser about the top of frid, the equal rigid coupling in outer end below of riser has the second spring, the outer end of second spring and the top left and right sides recess inner wall outer end fixed connection of frid, the equal rigid coupling in top of riser has the bent plate, the inner wall of bent plate is laminated with spheroidal outer wall below left and right sides respectively mutually, spheroidal preceding terminal surface top is rotated through the preceding terminal surface of round pin axle with the quarter butt and is connected.
Preferably, the sliding block and the transverse plate form a sliding structure.
Preferably, the outer wall of the inner side of the curved plate is fixedly connected with a rubber pad.
Preferably, a fixing device is arranged above the bottom plate;
the fixing device comprises a round rod, a square block, a square plate, a threaded rod and a short rod;
the bottom of square board and the top left end fixed connection of bottom plate, the inside threaded connection of square board has the threaded rod, the outer wall left side threaded connection of threaded rod has the square, the right side ring channel inner wall sliding clamping of square has the round bar, the right-hand member of round bar and the left side top fixed connection of square board, the right-hand member of threaded rod passes through the bearing and is connected with the left end rotation of quarter butt, the outer wall of quarter butt leads to groove inner wall clearance fit with the left side of long piece.
Preferably, the short rods are axially symmetrically distributed by taking the long block as an axis.
Preferably, the outer wall of the square block is processed with grinding lines.
Compared with the prior art, the beneficial effects of the utility model are that: the industrial robot balancing device is characterized in that through the matching of the bottom plate, the robot, the short block, the long block and the balancing device, when the device is used, the ball body can enter the inner sides of the two curved plates by moving the ball body downwards, the second spring drives the vertical block to move inwards, the vertical block drives the curved plates to move inwards, so that the curved plate clamps the ball, the robot drives the ball to move upwards, the cylinder further moves upwards, the cylinder drives the cross rod to move upwards, the cross rod drives the straight plate to move upwards, thereby clamping the straight plate and the vertical plate, driving the vertical plate to move leftwards by the hydraulic cylinder, further tightly clamping the vertical plate and the straight plate, rotating the robot, and then make the universal wheel horizontal slip in the top ring channel of bottom plate, and then realize carrying out omnidirectional balanced processing to the robot, avoid balancing unit to receive the limitation to the effect of robot, application scope is wide, and the practicality is high.
Through bottom plate, robot, short piece, long piece and fixing device's cooperation for the device can make the square drive the threaded rod and outwards remove through rotating the square when using, and the threaded rod drives the short bar and outwards removes, and then realizes the dismantlement to robot and balancing unit, and the staff of being convenient for maintains robot and balancing unit.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the curved plate, the spherical body and the vertical block of FIG. 1;
FIG. 3 is a schematic structural view of the cross plate, the slider and the first spring of FIG. 1;
fig. 4 is a schematic view of the square plate, the threaded rod and the short rod of fig. 1.
In the figure: 1. the device comprises a base plate, 2, a balancing device, 201, a transverse plate, 202, universal wheels, 203, a sliding block, 204, a first spring, 205, a hydraulic cylinder, 206, a vertical plate, 207, a straight plate, 208, a transverse rod, 209, a vertical rod, 210, a long rod, 211, a cylinder, 212, a short plate, 213, a groove plate, 214, a curved plate, 215, a sphere, 216, a second spring, 217, a vertical block, 3, a fixing device, 301, a round rod, 302, a square block, 303, a square plate, 304, a threaded rod, 305, a short rod, 4, a robot, 5, a short block, 6 and a long block.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a balancing device of an industrial robot comprises a bottom plate 1, a long block 6 is attached to the left side of the top of the bottom plate 1, a robot 4 is fixedly connected to the top of the long block 6, a short block 5 is fixedly connected to the right side of the bottom of the robot 4, a balancing device 2 is arranged above the bottom plate 1, the balancing device 2 comprises a transverse plate 201, a universal wheel 202, a sliding block 203, a first spring 204, a hydraulic cylinder 205, a vertical plate 206, a straight plate 207, a transverse rod 208, a vertical rod 209, a long rod 210, a cylinder 211, a short plate 212, a groove plate 213, a curved plate 214, a sphere 215, a second spring 216 and a vertical block 217, the bottom of the universal wheel 202 is attached to the inner wall of a right annular groove of the top of the bottom plate 1, the top of the universal wheel 202 is fixedly connected with the left side of the bottom of the transverse plate 201, the sliding block 203 is slidably clamped to the inner wall of a right groove of the top of the transverse plate 201, the right end of the sliding block 203 is fixedly connected with a first spring 204, the first spring 204 gives a leftward force to the sliding block, the right end of the first spring 204 is fixedly connected with the right end in a groove at the right side of the top of the transverse plate 201, the top of the sliding block 203 is fixedly connected with a vertical plate 206, the right side lower part of the vertical plate 206 is attached to a telescopic rod of a hydraulic cylinder 205, the model of the hydraulic cylinder 205 is MOB, a base preset below the hydraulic cylinder 205 is fixedly connected with the right end of the transverse plate 201, the left side of the top of the transverse plate 201 is fixedly connected with a long rod 210, a cylinder 211 is in clearance fit above the outer wall of the long rod 210, the top of the cylinder 211 is fixedly connected with a short plate 212, the right end of the cylinder 211 is fixedly connected with a cross rod 208, the right end of the cross rod 208 is fixedly connected with a straight plate 207, right side teeth of the straight plate 207 are clamped with left side teeth of the vertical plate 206, the top of the short, the equal rigid coupling in outer end below of perpendicular piece 217 has second spring 216, second spring 216 gives perpendicular piece 217 inward power, the outer end of second spring 216 and the top left and right sides recess inner wall outer end fixed connection of frid 213, the equal rigid coupling in top of perpendicular piece 217 has bent plate 214, the equal rigid coupling in inboard outer wall of bent plate 214 has the rubber pad, the rubber pad can reduce the wearing and tearing of bent plate 214 and spheroid 215, the inner wall of bent plate 214 is laminated with the outer wall below left and right sides of spheroid 215 respectively, preceding terminal surface top of spheroid 215 is connected with the preceding terminal surface rotation of short block 5 through the round pin axle, the round pin axle can rotate at the preceding terminal surface of short block 5 when making spheroid 215 atress.
The fixing device 3 is arranged above the bottom plate 1, the fixing device 3 comprises a round rod 301, a square plate 302, a square plate 303, a threaded rod 304 and a short rod 305, the bottom of the square plate 303 is fixedly connected with the left end of the top of the bottom plate 1, the threaded rod 304 is connected with the internal thread of the square plate 303, the square plate 302 is connected with the external wall left side thread of the threaded rod 304, the external wall of the square plate 302 is processed with grinding lines which can increase the friction force between the hand and the square plate 302, so that a worker can rotate the square plate 302 conveniently, the round rod 301 is slidably clamped on the inner wall of the right annular groove of the square plate 302, the round rod 301 plays a limiting role when rotating the square plate 302 under stress, the right end of the round rod 301 is fixedly connected with the upper left side of the square plate 303, the right end of the threaded rod 304 is rotatably connected with the left end of the short rod 305 through a bearing, the bearing can rotate the inner end of the, the design can carry out more stable fixed to rectangular piece 6 and bottom plate 1 like this, and the outer wall of short pole 305 leads to groove inner wall clearance fit with the left side of rectangular piece 6.
In this embodiment, when using the balancing device of the industrial robot, firstly the robot 4 drives the ball 215 to move downwards, so that the ball 215 enters the inner sides of the two curved plates, the second spring 216 drives the vertical block 217 to move inwards, the vertical block 217 drives the curved plate 214 to move inwards, so that the curved plate 214 clamps the ball 215, the robot 4 drives the ball 215 to move upwards, the ball 215 drives the curved plate 214 to move upwards, so that the short plate 212 drives the cylinder 211 to move upwards, the cylinder 211 drives the cross bar 208 to move upwards, the cross bar 208 drives the straight plate 207 to move upwards, so that the straight plate 207 and the vertical plate 206 are clamped, the external control module is controlled, so that the hydraulic cylinder 205 drives the vertical plate 217 to move leftwards, so that the vertical plate 217 and the straight plate 207 are tightly clamped, the robot 4 rotates, so that the universal wheel 202 slides in the top annular groove of the bottom plate 1, so as to realize the omnibearing balancing process for the robot 4, avoid balancing unit to receive the limitation to robot 4's effect, when needs maintain robot 4 or balancing unit 2, can rotate square 302, make square 302 drive threaded rod 304 and outwards remove, threaded rod 304 drives short pole 305 and outwards removes, and then realizes the dismantlement to robot 4 and balancing unit 2, and the staff of being convenient for maintains robot 4 and balancing unit 2.
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "disposed," "connected," "fixed," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. An industrial robot balancing device, comprising a base plate (1), characterized in that: a long block (6) is attached to the left side of the top of the bottom plate (1), a robot (4) is fixedly connected to the top of the long block (6), a short block (5) is fixedly connected to the right side of the bottom of the robot (4), and a balancing device (2) is arranged above the bottom plate (1);
the balance device (2) comprises a transverse plate (201), a universal wheel (202), a sliding block (203), a first spring (204), a hydraulic cylinder (205), a vertical plate (206), a straight plate (207), a transverse rod (208), a vertical rod (209), a long rod (210), a cylinder (211), a short plate (212), a slotted plate (213), a curved plate (214), a sphere (215), a second spring (216) and a vertical block (217);
the bottom of universal wheel (202) is laminated with the inner wall of the top right side annular groove of bottom plate (1), the top of universal wheel (202) is fixedly connected with the bottom left side of transverse plate (201), the inner wall of the top right side groove of transverse plate (201) is connected with a sliding block (203) in a sliding and clamping manner, the right end of sliding block (203) is fixedly connected with a first spring (204), the right end of first spring (204) is fixedly connected with the inner right end of the top right side groove of transverse plate (201), the top of sliding block (203) is fixedly connected with a vertical plate (206), the right side lower part of vertical plate (206) is laminated with the telescopic rod of hydraulic cylinder (205), the base preset below hydraulic cylinder (205) is fixedly connected with the right end of transverse plate (201), the top left side of transverse plate (201) is fixedly connected with a long rod (210), and a cylinder (211) is in clearance fit with the upper part of the outer wall, the top rigid coupling of drum (211) has short board (212), the right-hand member rigid coupling of drum (211) has horizontal pole (208), the right-hand member rigid coupling of horizontal pole (208) has straight board (207), the right side tooth of straight board (207) and the left side tooth looks joint of riser (206), the top rigid coupling of short board (212) has montant (209), the top rigid coupling of montant (209) has frid (213), the equal slip joint in both sides recess has riser block (217) about the top of frid (213), the equal rigid coupling in outer end below of riser block (217) has second spring (216), the outer end of second spring (216) and the top of frid (213) left and right sides recess inner wall outer end fixed connection, the equal rigid coupling in top of riser block (217) has bent board (214), the inner wall of bent board (214) is laminated with the outer wall below left and right sides of spheroid (215) respectively, the upper part of the front end face of the sphere (215) is rotatably connected with the front end face of the short block (5) through a pin shaft.
2. An industrial robot balancing device according to claim 1, characterized in that: the sliding block (203) and the transverse plate (201) form a sliding structure.
3. An industrial robot balancing device according to claim 1, characterized in that: and rubber pads are fixedly connected to the outer walls of the inner sides of the curved plates (214).
4. An industrial robot balancing device according to claim 1, characterized in that: a fixing device (3) is arranged above the bottom plate (1);
the fixing device (3) comprises a round rod (301), a square block (302), a square plate (303), a threaded rod (304) and a short rod (305);
the bottom of square plate (303) and the top left end fixed connection of bottom plate (1), the internal thread of square plate (303) is connected with threaded rod (304), the outer wall left side threaded connection of threaded rod (304) has square (302), the right side ring channel inner wall sliding clamping of square (302) has round bar (301), the right-hand member of round bar (301) and the left side top fixed connection of square plate (303), the right-hand member of threaded rod (304) passes through the bearing and is connected with the left end rotation of quarter butt (305), the outer wall of quarter butt (305) and the logical inslot wall clearance fit in left side of long piece (6).
5. An industrial robot balancing device according to claim 4, characterized in that: the short rods (305) are axially symmetrically distributed by taking the long block (6) as an axis.
6. An industrial robot balancing device according to claim 4, characterized in that: the outer wall of the square block (302) is processed with grinding grains.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021993555.8U CN213226277U (en) | 2020-09-14 | 2020-09-14 | Industrial robot balancing unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021993555.8U CN213226277U (en) | 2020-09-14 | 2020-09-14 | Industrial robot balancing unit |
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| Publication Number | Publication Date |
|---|---|
| CN213226277U true CN213226277U (en) | 2021-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021993555.8U Expired - Fee Related CN213226277U (en) | 2020-09-14 | 2020-09-14 | Industrial robot balancing unit |
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| CN (1) | CN213226277U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305774A (en) * | 2021-05-26 | 2021-08-27 | 刘志宝 | Industrial high-power solid-state relay automatic assembling machine |
-
2020
- 2020-09-14 CN CN202021993555.8U patent/CN213226277U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305774A (en) * | 2021-05-26 | 2021-08-27 | 刘志宝 | Industrial high-power solid-state relay automatic assembling machine |
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Granted publication date: 20210518 |