CN216883963U

CN216883963U - Column type industrial robot with heavy-load balance structure

Info

Publication number: CN216883963U
Application number: CN202122978494.9U
Authority: CN
Inventors: 赵欣; 龙永祥
Original assignee: Ganzhou Zhongke Toyoda Intelligent Equipment Technology Co Ltd
Current assignee: Ganzhou Zhongke Toyoda Intelligent Equipment Technology Co Ltd
Priority date: 2021-11-30
Filing date: 2021-11-30
Publication date: 2022-07-05
Anticipated expiration: 2031-11-30

Abstract

The utility model discloses a heavy-load balance structure column type industrial robot, which aims to solve the technical problems that the load capacity is poor, the generated noise is high, and the stacking treatment cannot be accurately carried out according to the requirement in the prior art. The column type industrial robot with the heavy-load balance structure comprises a base; the upper end of base is provided with waist reciprocating mechanism, waist reciprocating mechanism's the outside is provided with big arm actuating mechanism, big arm actuating mechanism's the outside is provided with forearm actuating mechanism, forearm actuating mechanism's inside is including the linking arm, the linking arm set up in big arm actuating mechanism's the outside. This heavy load balanced structure column industrial robot only needs to fall the lift processing of making an uproar to the material through setting up of waist reciprocating motion, has improved the load nature of equipment simultaneously, has improved the stability of snatching of equipment through setting up of electronic tongs mechanism, has improved the accurate nature of pile up neatly.

Description

Column type industrial robot with heavy-load balance structure

Technical Field

The utility model belongs to the technical field of industrial robots, and particularly relates to a vertical column type industrial robot with a heavy-load balance structure.

Background

Nowadays, for the convenience put great goods, mostly use pile up neatly machine people, pile up neatly machine people handles through multiple mechanical structure to the goods, along with production is intelligent, proposes new requirement to pile up neatly machine people, requires the pile up neatly height.

At present, the operation radius of current pile up neatly machine people is big, and the load capacity is relatively poor, and in the use, the noise of production is great, and when the pile up neatly, current hacking machine is accurate inadequately, can not handle according to the accurate pile up neatly of carrying on of demand.

Therefore, the problems of small load, large noise and inaccuracy of the daily heavy-load balance structure column type industrial robot in use need to be solved urgently to improve the practicability of the device.

SUMMERY OF THE UTILITY MODEL

(1) Technical problem to be solved

Aiming at the defects of the prior art, the utility model aims to provide a heavy-load balance structure column type industrial robot, which aims to solve the technical problems that the load capacity is poor, the generated noise is large, and the stacking treatment cannot be accurately carried out according to the requirement in the prior art.

(2) Technical scheme

In order to solve the technical problem, the utility model provides a heavy-load balancing structure column type industrial robot, which comprises a base; the upper end of base is provided with waist reciprocating mechanism, waist reciprocating mechanism's the outside is provided with big arm actuating mechanism, big arm actuating mechanism's the outside is provided with forearm actuating mechanism, forearm actuating mechanism's inside is including the linking arm, the linking arm set up in big arm actuating mechanism's the outside, the linking arm with big arm actuating mechanism rotates to be connected, the outside of linking arm is provided with driving motor, driving motor's bottom is provided with electronic tongs mechanism, the bottom fixed mounting of base has the connecting plate.

When the heavy-load balance structure column type industrial robot adopting the technical scheme is used, the lifting treatment of noise reduction is carried out on the material through the arrangement of the waist up-and-down moving mechanism, the load performance of the equipment is improved, the grabbing stability of the equipment is improved through the arrangement of the electric gripper mechanism, and the accuracy of stacking is improved.

Preferably, waist reciprocating mechanism's inside is constructed including the stand steel, the stand steel construct set up in the upper end of base, the inboard that the stand steel constructs is provided with balanced chain, the outside fixed mounting that the stand steel constructs has the slip track, the outside that the stand steel constructs is provided with first rack, the orbital outside of slip is provided with the carriage apron, the slip track with carriage apron sliding connection, the outside fixed mounting of carriage apron has motor reducer gear, motor reducer gear with first rack toothing is connected, and motor reducer gear fixes on the carriage apron and with first rack toothing, and first rack constructs fixedly with the stand steel, and the carriage apron is fixed on the slip track, and the slip track constructs fixed connection with the stand steel.

Further, waist reciprocating unit's inside is including sprocket support group, sprocket support group sets up in the inboard that the stand steel structure is constructed, balanced chain with sprocket support group rotates to be connected, the inboard that the stand steel structure is constructed is provided with first guide pulley group, the one end fixed mounting of balanced chain has balanced subassembly, balanced subassembly is located the inside that the stand steel structure is constructed, sprocket support group fixes on the stand steel structure top, and balanced chain one end fixed connection walks around sprocket support group's meshing, and other end fixed connection is in balanced subassembly, and when motor reducer gear rotates and meshes in first rack, other parts that big arm actuating mechanism connects slide from top to bottom with the carriage apron, and balanced subassembly has realized the gravity balance of other parts that big arm actuating mechanism connects through balanced chain.

Still further, the balance assembly comprises an upper plate, the upper plate is arranged inside the upright steel structure, a middle plate is fixedly arranged at the bottom end of the upper plate, a bottom plate is fixedly arranged at the bottom end of the middle plate, a side plate is arranged on the outer side of the middle plate, an upper guide wheel set is arranged at the upper end of the upper plate, a lower guide wheel set is arranged at the bottom end of the bottom plate, a first transition piece is arranged at the upper end of the upper plate, a chain adjusting piece is arranged at the upper end of the first transition piece, a fixing screw rod is arranged at the upper end of the upper plate, four upper guide wheel sets are arranged on the upper plate, the chain adjusting piece is in bolted connection with the first transition piece, the first transition piece is arranged on the upper plate, the bottom plate and the side plate are connected through screws to form a frame, a plurality of middle plates are placed in the frame, the movement is limited by the fixing screw rod being fixedly connected with the bottom plate, and the four lower guide wheel sets are arranged below the bottom plate, the upper guide wheel and the lower guide wheel are in rolling contact with the items in the structure, so that a silencing effect is achieved.

Preferably, electric grab handle mechanism's inside is including electric telescopic handle, electric telescopic handle set up in driving motor's bottom, electric telescopic handle's bottom fixed mounting has the skeleton, the bottom of skeleton is provided with the support slide bar, and electric grab handle mechanism sets up at forearm actuating mechanism end, and the electric telescopic handle stiff end is fixed on the skeleton, and four support slide bars are fixed in the skeleton below.

Further, the inside of electric gripper mechanism is including the second transition piece, the second transition piece set up in support the bottom of slide bar, electric telescopic handle's one end is provided with the push rod, electric telescopic handle's bottom is provided with sharp sliding sleeve, the bottom of second transition piece is provided with the installation backplate, the bottom of second transition piece is provided with the second rack, electric telescopic handle's bottom is provided with C type fixing base, and each sharp sliding sleeve sliding connection is on supporting the slide bar, and wherein two sharp sliding sleeves and second transition piece fixed connection, the push rod is installed to the second transition piece, and the push rod is connected with electric telescopic handle's the end that stretches out.

Still further, a second guide wheel set is arranged below the electric telescopic rod, an intermediate gear is arranged at the bottom end of the electric telescopic rod and is meshed with the second rack, a fixing sleeve is arranged at the bottom end of the intermediate gear, a bearing is arranged outside the fixing sleeve, a gear shaft is arranged outside the bearing, a rack fixing seat is arranged at the bottom end of the electric telescopic rod and is arranged below the center of the framework, the gear shaft penetrates through the bearing in the fixing sleeve and is fixedly connected to the intermediate gear, two rack fixing seats at two sides are respectively fixed with respective second transition pieces, the second racks are respectively fixed on the rack fixing seats at two sides and are meshed with the intermediate gear, the back surface of the electric telescopic rod is in rolling contact with the second guide wheel set, when the electric telescopic rod extends out, the electric telescopic rod acts on the push rod, and the second racks on the second transition pieces act on the support slide rod to slide, the second rack acts to drive the intermediate gear, the intermediate gear drives the other second rack, and finally the opposite movement effect is generated at the other end.

(3) Advantageous effects

Compared with the prior art, the utility model has the beneficial effects that: the utility model relates to a vertical column type industrial robot with a heavy-load balance structure, which is fixed on a slide carriage by a motor reducer gear and meshed with a first rack, the first rack is fixed with a vertical column steel structure, the slide carriage is fixed on a sliding track, the sliding track is fixedly connected with the vertical column steel structure, a chain wheel support group is fixed on the top of the vertical column steel structure, one end of a balance chain is fixedly connected with the slide carriage and meshed with a chain wheel support group, the other end of the balance chain is fixedly connected with a balance assembly, when the motor reducer gear is rotationally meshed with the first rack, the other part connected with a large arm driving mechanism slides up and down with the slide carriage, the balance assembly realizes the gravity balance of the other part connected with the large arm driving mechanism through the balance chain, four upper guide wheel groups are arranged on an upper plate, a chain adjusting piece is connected with a first transition piece through a bolt, the first transition piece is arranged on the upper plate, and the upper plate, a bottom plate and side plates are connected by bolts to form a framework, a plurality of middle plates are placed in the frame, the movement is limited by the fixed screw and the bottom plate, four lower guide wheel sets are arranged below the bottom plate, the upper and lower guide wheels are adopted to be in rolling contact with items in the structure, the silencing effect is achieved, the heavy load balance is realized, the electric gripper mechanism is arranged at the tail end of the small arm driving mechanism, the fixed end of the electric telescopic rod is fixed on the framework, four supporting slide bars are fixed below the framework, each linear slide bar is connected on the supporting slide bar in a sliding manner, two linear slide bars are fixedly connected with a second transition piece, the second transition piece is provided with a push rod, the push rod is connected with the extending end of the electric telescopic rod, a fixing sleeve is arranged below the center of the framework, a gear shaft penetrates through a bearing in the fixing sleeve and is fixedly connected with a middle gear, one rack fixing seat at each of two sides is fixed with the respective second transition piece, and the second racks are respectively fixed on the rack fixing seats at two sides, the second rack is meshed with the intermediate gear, the back surface of the second rack is in rolling contact with the second guide wheel group, when the electric telescopic rod extends out, the second rack acts on the push rod, the push rod and the second rack on the second transition piece slide on the supporting slide rod, the second rack acts to drive the intermediate gear, the intermediate gear drives the other second rack, finally, the opposite movement effect of the other end is achieved, and the clamping function of opening and tightening is achieved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, it is obvious that the drawings in the following description are only one embodiment of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic perspective view of an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a cross-section of one embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a balancing assembly according to an embodiment of the present invention;

fig. 4 is a schematic structural view of an electric gripper mechanism 5 according to an embodiment of the present invention;

fig. 5 is a bottom view of the electric gripper mechanism 5 according to an embodiment of the present invention.

The labels in the figures are: 1. a base; 2. a waist up-and-down moving mechanism; 3. a boom drive mechanism; 4. a small arm driving mechanism; 41. a drive motor; 42. a connecting arm; 5. an electric gripper mechanism; 6. a connecting plate; 21. A balancing chain; 22. a sliding track; 23. a first rack; 24. a slide carriage; 25. a motor reducer gear; 26. a sprocket support group; 27. a first guide wheel set; 28. a balancing component; 29. the upright post is made of steel; 281. an upper guide wheel set; 282. a lower guide wheel set; 283. a chain adjuster; 284. a first transition piece; 285. fixing the screw rod; 286. an upper plate; 287. a middle plate; 288. a base plate; 289. a side plate; 51. an electric telescopic rod; 52. A framework; 53. supporting the sliding rod; 54. a second transition piece; 55. a push rod; 56. a linear sliding sleeve; 57. mounting a guard plate; 58. a second rack; 59. a C-shaped fixed seat; 510. a second guide wheel set; 511. an intermediate gear; 512. Fixing a sleeve; 513. a gear shaft; 514. a bearing; 515. the rack fixing seat.

Detailed Description

In order to make the technical means, the original characteristics, the achieved purposes and the effects of the utility model easily understood and obvious, the technical solutions in the embodiments of the present invention are clearly and completely described below to further illustrate the utility model, and obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments.

Example 1

The embodiment is used for a heavy-load balancing structure column type industrial robot, the schematic perspective structure of which is shown in fig. 1, the schematic sectional structure of which is shown in fig. 2, and the schematic structural diagram of a balancing component of which is shown in fig. 3, and the heavy-load balancing structure column type industrial robot comprises a base 1; the upper end of base 1 is provided with waist vertical moving mechanism 2, the outside of waist vertical moving mechanism 2 is provided with big arm actuating mechanism 3, the outside of big arm actuating mechanism 3 is provided with forearm actuating mechanism 4, the inside of forearm actuating mechanism 4 is including linking arm 42, linking arm 42 sets up in the outside of big arm actuating mechanism 3, linking arm 42 rotates with big arm actuating mechanism 3 to be connected, the outside of linking arm 42 is provided with driving motor 41, driving motor 41's bottom is provided with electronic tongs mechanism 5, base 1's bottom fixed mounting has connecting plate 6.

For the present embodiment, the shape and structure of the base 1 are set according to practical application, for example, the base 1 may have a rectangular structure, a circular structure, a polygonal structure, and the like.

Wherein, the inside of the waist up-down moving mechanism 2 comprises an upright post steel structure 29, the upright post steel structure 29 is arranged at the upper end of the base 1, the inner side of the upright post steel structure 29 is provided with a balance chain 21, the outer side of the upright post steel structure 29 is fixedly provided with a sliding rail 22, the outer side of the upright post steel structure 29 is provided with a first rack 23, the outer side of the sliding rail 22 is provided with a slide carriage 24, the sliding rail 22 is in sliding connection with the slide carriage 24, the outer side of the slide carriage 24 is fixedly provided with a motor reducer gear 25, the motor reducer gear 25 is in meshing connection with the first rack 23, the motor reducer gear 25 is fixed on the slide carriage 24 and is meshed with the first rack 23, the first rack 23 is fixed with the upright post steel structure 29, the slide carriage 24 is fixed on the sliding rail 22, the sliding rail 22 is fixedly connected with the upright post steel structure 29, the inside of the waist up-down moving mechanism 2 comprises a chain wheel supporting group 26, the chain wheel supporting group 26 is arranged at the inner side of the upright post steel structure 29, balance chain 21 rotates with sprocket support group 26 to be connected, the stand steel constructs the inboard of 29 and is provided with first guide pulley group 27, balance chain 21's one end fixed mounting has balanced subassembly 28, balanced subassembly 28 is located the inside that the stand steel constructs 29, sprocket support group 26 is fixed at the stand steel constructs 29 overhead, balance chain 21 one end fixed connection in carriage apron 24, walk around sprocket support group 26 meshing, other end fixed connection in balanced subassembly 28, motor reducer gear 25 rotates when meshing in first rack 23, other parts that big arm actuating mechanism 3 connects slide from top to bottom with carriage apron 24, balance subassembly 28 has realized the gravity balance of other parts that big arm actuating mechanism 3 connects through balance chain 21.

The embodiment is a column type industrial robot for heavy load balancing structure, the structural schematic diagram of the electric gripper mechanism is shown in fig. 4, the structural schematic diagram of the electric gripper mechanism is shown in fig. 5, the interior of the balancing assembly 28 comprises an upper plate 286, the upper plate 286 is arranged in the column steel structure 29, the bottom end of the upper plate 286 is fixedly provided with a middle plate 287, the bottom end of the middle plate 287 is fixedly provided with a bottom plate 288, the outer side of the middle plate 287 is provided with a side plate 289, the upper end of the upper plate 286 is provided with an upper guide wheel set 281, the bottom end of the bottom plate 288 is provided with a lower guide wheel set 282, the upper end of the upper plate 286 is provided with a first transition piece 284, the upper end of the first transition piece 284 is provided with a chain adjusting piece 283, the upper end of the upper plate 286 is provided with a fixing screw 285, the four upper guide wheel sets 281 are arranged on the upper plate 286, the chain adjusting piece 283 is bolted with the first transition piece 284, the first transition piece 284 is arranged on the upper plate 286, the upper plate 286, the bottom plate 288 and the side plate 289 are connected through screws to form a frame, the plurality of middle plates 287 are placed in the frame and are fixedly connected with the bottom plate 288 through the fixing screw 285 to limit the movement, the four lower guide wheel sets 282 are arranged below the bottom plate 288, the upper guide wheels and the lower guide wheels are in rolling contact with items in the structure, and the mute effect is achieved.

Meanwhile, the electric gripper mechanism 5 comprises an electric telescopic rod 51 inside, the electric telescopic rod 51 is arranged at the bottom end of the driving motor 41, a framework 52 is fixedly arranged at the bottom end of the electric telescopic rod 51, a supporting slide rod 53 is arranged at the bottom end of the framework 52, the electric gripper mechanism 5 is arranged at the tail end of the forearm driving mechanism 4, the fixed end of the electric telescopic rod 51 is fixed on the framework 52, four supporting slide rods 53 are fixed below the framework 52, a second transition piece 54 is arranged inside the electric gripper mechanism 5, the second transition piece 54 is arranged at the bottom end of the supporting slide rod 53, a push rod 55 is arranged at one end of the electric telescopic rod 51, a linear sliding sleeve 56 is arranged at the bottom end of the electric telescopic rod 51, an installation protection plate 57 is arranged at the bottom end of the second transition piece 54, a second rack 58 is arranged at the bottom end of the second transition piece 54, a C-shaped fixing seat 59 is arranged at the bottom end of the electric telescopic rod 51, and each linear sliding sleeve 56 is slidably connected to the supporting slide rod 53, wherein the two linear sliding sleeves 56 are fixedly connected with the second transition piece 54, the second transition piece 54 is provided with a push rod 55, the push rod 55 is connected with the extending end of the electric telescopic rod 51, the second guide wheel group 510 is arranged below the electric telescopic rod 51, the bottom end of the electric telescopic rod 51 is provided with a middle gear 511, the middle gear 511 is meshed with the second rack 58, the bottom end of the middle gear 511 is provided with a fixed sleeve 512, the outer side of the fixed sleeve 512 is provided with a bearing 514, the outer side of the bearing 514 is provided with a gear shaft 513, the bottom end of the electric telescopic rod 51 is provided with a rack fixed seat 515, the fixed sleeve 512 is arranged below the center of the framework 52, the gear shaft 513 is fixedly connected to the middle gear 511 by penetrating through the bearing 514 in the fixed sleeve 512, one rack fixed seat 515 at each side is fixed with the respective second transition piece 54, the second racks 58 are respectively fixed on the rack fixed seats 515 at both sides, and the second racks 58 are meshed with the middle gear 511, the back surface of the electric telescopic rod 51 is in rolling contact with the second guide wheel group 510, when the electric telescopic rod 51 extends, the push rod 55 acts on the push rod 55, the push rod 55 and the second rack 58 on the second transition piece 54 act on the support slide rod 53 to slide, the second rack 58 acts to drive the intermediate gear 511, the intermediate gear 511 drives the other second rack 58, and finally the opposite movement effect is generated at the other end.

When the heavy-load balance structure column type industrial robot of the technical scheme is used, the motor reducer gear 25 is fixed on the slide carriage 24 and meshed with the first rack 23, the first rack 23 is fixed with the column steel structure 29, the slide carriage 24 is fixed on the sliding rail 22, the sliding rail 22 is fixedly connected with the column steel structure 29, the chain wheel support group 26 is fixed on the top of the column steel structure 29, one end of the balance chain 21 is fixedly connected with the slide carriage 24 and meshed with the chain wheel support group 26, the other end of the balance chain is fixedly connected with the balance assembly 28, when the motor reducer gear 25 is rotatably meshed with the first rack 23, the other part connected with the large arm driving mechanism 3 and the slide carriage 24 slide up and down, the balance assembly 28 realizes the gravity balance of the other part connected with the large arm driving mechanism 3 through the balance chain 21, the four upper guide wheel sets 281 are arranged on the upper plate 286, the chain adjusting member 283 is in bolted connection with the first transition member 284, the first transition piece 284 is arranged on the upper plate 286, the bottom plate 288 and the side plate 289 are connected by screws to form a frame, a plurality of middle plates 287 are arranged in the frame and are fixedly connected with the bottom plate 288 by a fixing screw 285 to limit the movement, four lower guide wheel sets 282 are arranged below the bottom plate 288 and are in rolling contact with items inside the structure by adopting upper and lower guide wheels to achieve the silencing effect and realize heavy-load balance, the electric gripper mechanism 5 is arranged at the tail end of the small arm driving mechanism 4, the fixed end of the electric telescopic rod 51 is fixed on the framework 52, four supporting slide rods 53 are fixed below the framework 52, each linear sliding sleeve 56 is connected on the supporting slide rod 53 in a sliding way, wherein two linear sliding sleeves 56 are fixedly connected with the second transition piece 54, the push rod 55 is arranged on the second transition piece 54, the push rod 55 is connected with the extending end of the electric telescopic rod 51, the fixing sleeve 512 is arranged below the center of the framework 52, the gear shaft 513 penetrates through the bearing 514 in the fixing sleeve 512 and is fixedly connected to the middle gear 511, the rack fixing seats 515 on both sides are respectively fixed to the second transition pieces 54, the second racks 58 are respectively fixed to the rack fixing seats 515 on both sides, the second racks 58 are meshed with the middle gear 511, the back surfaces of the rack fixing seats are in rolling contact with the second guide wheel sets 510, when the electric telescopic rod 51 extends out, the push rod 55 is acted, the push rod 55 and the second racks 58 on the second transition pieces 54 are acted on the supporting slide rod 53 to slide, the second racks 58 act to drive the middle gear 511, the middle gear 511 drives the other second rack 58, and finally the opposite movement effect of the other end is achieved, so that the clamping function of opening and tightening is achieved.

Having thus described the principal technical features and basic principles of the utility model, and the advantages associated therewith, it will be apparent to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present description is described in terms of various embodiments, not every embodiment includes only a single embodiment, and such descriptions are provided for clarity only, and those skilled in the art will recognize that the embodiments described herein can be combined as a whole to form other embodiments as would be understood by those skilled in the art.

Claims

1. A heavy-load balance structure column type industrial robot comprises a base; its characterized in that, the upper end of base is provided with waist reciprocating mechanism, waist reciprocating mechanism's the outside is provided with big arm actuating mechanism, big arm actuating mechanism's the outside is provided with forearm actuating mechanism, forearm actuating mechanism's inside is including the linking arm, the linking arm set up in big arm actuating mechanism's the outside, the linking arm with big arm actuating mechanism rotates to be connected, the outside of linking arm is provided with driving motor, driving motor's bottom is provided with electronic tongs mechanism, the bottom fixed mounting of base has the connecting plate.

2. The vertical column type industrial robot with the heavy-load balance structure according to claim 1, wherein the inside of the waist vertical moving mechanism comprises a vertical column steel structure, the vertical column steel structure is arranged at the upper end of the base, a balance chain is arranged inside the vertical column steel structure, a sliding rail is fixedly arranged on the outer side of the vertical column steel structure, a first rack is arranged on the outer side of the vertical column steel structure, a slide carriage is arranged on the outer side of the sliding rail, the sliding rail is slidably connected with the slide carriage, a motor reducer gear is fixedly arranged on the outer side of the slide carriage, and the motor reducer gear is connected with the first rack in a meshed manner.

3. The vertical column type industrial robot with the heavy-load balance structure according to claim 2, wherein the inside of the waist vertical moving mechanism comprises a chain wheel support group, the chain wheel support group is arranged on the inner side of the vertical column steel structure, the balance chain is rotatably connected with the chain wheel support group, the first guide wheel group is arranged on the inner side of the vertical column steel structure, and a balance assembly is fixedly arranged at one end of the balance chain and is positioned in the vertical column steel structure.

4. The vertical column type industrial robot with the heavy-load balancing structure according to claim 3, wherein the balancing component comprises an upper plate inside the vertical column steel structure, an intermediate plate is fixedly mounted at the bottom end of the upper plate, a bottom plate is fixedly mounted at the bottom end of the intermediate plate, a side plate is arranged outside the intermediate plate, an upper guide wheel set is arranged at the upper end of the upper plate, a lower guide wheel set is arranged at the bottom end of the bottom plate, a first transition piece is arranged at the upper end of the upper plate, a chain adjusting piece is arranged at the upper end of the first transition piece, and a fixing screw rod is arranged at the upper end of the upper plate.

5. The vertical industrial robot with a heavy-load balancing structure as claimed in claim 1, wherein the electric gripper mechanism includes an electric telescopic rod inside, the electric telescopic rod is disposed at a bottom end of the driving motor, a frame is fixedly mounted at the bottom end of the electric telescopic rod, and a supporting slide rod is disposed at the bottom end of the frame.

6. The vertical column type industrial robot with the heavy-load balance structure according to claim 5, wherein a second transition piece is included inside the electric gripper mechanism, the second transition piece is arranged at the bottom end of the support sliding rod, a push rod is arranged at one end of the electric telescopic rod, a linear sliding sleeve is arranged at the bottom end of the electric telescopic rod, a mounting protection plate is arranged at the bottom end of the second transition piece, a second rack is arranged at the bottom end of the second transition piece, and a C-shaped fixing seat is arranged at the bottom end of the electric telescopic rod.

7. The vertical industrial robot with heavy load balance structure as claimed in claim 6, wherein a second guide wheel set is disposed below the electric telescopic rod, an intermediate gear is disposed at the bottom end of the electric telescopic rod and meshed with the second rack, a fixed sleeve is disposed at the bottom end of the intermediate gear, a bearing is disposed at the outer side of the fixed sleeve, a gear shaft is disposed at the outer side of the bearing, and a rack fixed seat is disposed at the bottom end of the electric telescopic rod.