CN220094651U - Balancing device for robot trolley - Google Patents
Balancing device for robot trolley Download PDFInfo
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- CN220094651U CN220094651U CN202321196976.1U CN202321196976U CN220094651U CN 220094651 U CN220094651 U CN 220094651U CN 202321196976 U CN202321196976 U CN 202321196976U CN 220094651 U CN220094651 U CN 220094651U
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- 230000005484 gravity Effects 0.000 abstract description 25
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- 230000008569 process Effects 0.000 abstract description 5
- 230000009194 climbing Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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Abstract
The utility model discloses a balancing device for a robot trolley, which relates to the technical field of robots and comprises a jacking mechanism arranged on the opposite side of an execution area of a mechanical arm of the robot, wherein a balancing weight is arranged at the top of the jacking mechanism, a jacking driving device is connected to the jacking mechanism in a transmission manner, the jacking mechanism is arranged above the robot in a sliding manner, a sliding rail is arranged above the robot in a sliding manner, a sliding block is arranged on the sliding rail in a sliding manner, the sliding block is fixed on the jacking mechanism, a motor is connected to the sliding block in a transmission manner, and the motor drives the sliding block to slide. The gravity center can be adjusted to change vertically by arranging the jacking balancing weight; through the motor, the change of the gravity center in the transverse direction can be adjusted, so that the gravity center is adjusted integrally, the balance of the robot is kept, and the robot is prevented from turning over in the manual work process.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a balancing device for a robot trolley.
Background
In the detection or maintenance process of the engineering field, the detection or maintenance is often limited by the environment or space, and is not suitable for manually detecting or maintaining equipment or areas, so that the detection or maintenance is performed through a robot. When the robot detects or maintains, a mechanical arm is often required to be equipped on the robot to execute tasks, when the mechanical arm of the robot extends forwards, the whole gravity center of the robot shifts forwards, and when an object is clamped from below, the gravity center moves forwards and downwards, so that the robot is very easy to tilt forwards; when the mechanical arm rotates left and right, the gravity center is correspondingly changed, and if the gravity center of the robot is not adjusted, the robot is extremely easy to turn over.
Disclosure of Invention
The utility model aims to provide a balancing device for a robot trolley, which can offset gravity center change caused by corresponding movement of a mechanical arm by adjusting the gravity center of the robot so as to keep the balance of the robot.
In order to achieve the above object, the technical scheme of the present utility model is as follows:
a balancing unit for robot dolly, including installing the climbing mechanism at the robot arm execution region opposite side, the balancing weight is installed at climbing mechanism top, climbing mechanism goes up the transmission and is connected with jacking drive arrangement, climbing mechanism side-to-side slidable mounting is in the robot top, the robot top is provided with the slide rail, slidable mounting has the slider on the slide rail, the slider is fixed climbing mechanism is last, the transmission is connected with the motor on the slider, the motor drive the slider slides.
The robot is provided with a motor, a gear is fixed on an output shaft of the motor, and the gear is meshed with the rack.
The screw is rotatably arranged on the robot, a screw nut is arranged on the screw, the screw nut is fixed on the side part of the jacking mechanism, and the screw is connected with the motor in a transmission manner.
The jacking mechanism comprises a fixed plate fixed on the sliding block, a jacking driving device is fixed at the bottom of the fixed plate, the upper end of an output shaft of the jacking driving device is fixed at the bottom of the jacking plate, and the balancing weight is fixed above the jacking plate.
And two telescopic shafts are arranged between the fixed plate and the jacking plate and are respectively positioned at two sides of the jacking plate.
Wherein, be provided with the equipment box above the robot, jacking drive arrangement with the motor is located in the equipment box.
After the technical scheme is adopted, the utility model has the beneficial effects that:
the utility model relates to a balancing device for a robot trolley, which comprises a jacking mechanism arranged on the opposite side of an execution area of a mechanical arm of a robot, wherein a balancing weight is arranged at the top of the jacking mechanism, the jacking mechanism is in transmission connection with a jacking driving device, the jacking mechanism is arranged above the robot in a left-right sliding manner, a sliding rail is arranged above the robot, a sliding block is arranged on the sliding rail in a sliding manner, the sliding block is fixed on the jacking mechanism, a motor is connected on the sliding block in a transmission manner, and the motor drives the sliding block to slide. The gravity center can be adjusted to change vertically by arranging the jacking balancing weight; through the motor, the change of the gravity center in the transverse direction can be adjusted, so that the gravity center is adjusted integrally, the balance of the robot is kept, and the robot is prevented from turning over in the manual work process.
The motor comprises a rack fixed on the sliding block, the robot is provided with a motor, a gear is fixed on an output shaft of the motor, the gear is meshed with the rack, the lifting mechanism is controlled to slide left and right through the gear and the rack, and the lifting mechanism is simple in structure and low in cost.
The screw rod installed on the robot is rotated through the motor, the screw rod nut is arranged on the screw rod and fixed on the side part of the jacking mechanism, the motor is arranged on the robot, and the screw rod is connected through motor transmission, so that the operation is stable and accurate.
Through setting up the telescopic shaft, lead the lift of balancing weight.
Through setting up the equipment box to effectively protect jacking drive arrangement and motor.
In summary, the balancing device for the robot trolley solves the technical problem that rollover easily occurs when a robot executes a task in the prior art, and the gravity center can be adjusted to change vertically by arranging the jacking balancing weight; through the motor, the change of the gravity center in the transverse direction can be adjusted, the gravity center is integrally adjusted, the balance of the robot is kept, and the robot is prevented from turning on one's side in the manual work process.
Drawings
FIG. 1 is a schematic structural view of a balancing apparatus for a robot cart according to the present utility model;
FIG. 2 is a top view of the first embodiment;
fig. 3 is a front cross-sectional view of the robot in the first embodiment;
fig. 4 is a top cross-sectional view of the robot in the second embodiment;
FIG. 5 is a schematic view of the construction of the jack-up drive;
in the figure: 1. the lifting device comprises a lifting mechanism, 11, a fixed plate, 110, a telescopic sleeve, 12, a lifting plate, 13, a lifting driving device, 14, a telescopic shaft, 2, a balancing weight, 3, a sliding rail, 31, a sliding block, 33, a rack, 34, a motor, 35, a gear, 36, a lead screw, 361, a lead screw nut, 4 and a device box.
Detailed Description
The utility model is further illustrated in the following, in conjunction with the accompanying drawings and examples.
The orientations referred to in the present specification are all relative positional relationships, and do not represent absolute positional relationships, and are shown in the drawings.
Embodiment one:
as shown in fig. 1, 2, 3 and 5, a balancing apparatus for a robot car is installed at the opposite side of an execution area of a robot arm, which is installed in front of a robot in this embodiment, and the execution area is located at the front end area of the robot, so the balancing apparatus is installed at the rear of the robot. A device box 4 is arranged at the rear of the robot for installing a balancing device.
A balancing device for a robot trolley comprises a lifting mechanism 1. The top of the jacking mechanism 1 is provided with a balancing weight 2, the jacking mechanism 1 is connected with a jacking driving device in a transmission way, and the jacking driving device drives the jacking mechanism 1 to jack up or put down the balancing weight 2. The jacking mechanism 1 includes a fixed plate 11 and a jacking plate 12. The bottom of the fixing plate 11 is fixed with a jacking driving device 13, the fixing plate 11 is provided with a jacking hole, an output shaft of the jacking driving device 13 passes through the jacking hole and is fixed at the bottom of the jacking plate 12, in this embodiment, the jacking driving device 13 is an electric cylinder, and in practical application, an electric push rod or other jacking devices can be adopted, so long as the jacking plate 12 can be jacked, and the embodiment is not limited. In order to balance the stress of the jacking plate 12, two telescopic shafts 14 are further arranged between the fixed plate 11 and the jacking plate 12, and the two telescopic shafts 14 are respectively positioned at two sides of the jacking plate 12. The fixed plate 11 is provided with a telescopic sleeve 110, and the telescopic shaft 14 is inserted into the telescopic sleeve 110 downward. The raising and lowering of the lift plate 12 is guided by the telescopic shaft 14.
The jacking mechanism 1 is arranged above the robot in a left-right sliding mode, a sliding rail 3 is arranged above the robot, the sliding rail 3 is a sliding groove formed in an equipment box 4 at the top of the robot, a sliding block 31 is arranged on the sliding rail 3 in a sliding mode, and the sliding block 31 is of an I-shaped structure and is clamped on the sliding groove and slides left and right along the sliding groove. The slide block 31 is fixed on the lifting mechanism 1, in this embodiment, the slide block 31 is fixed at the bottom of the fixing plate 11, and the fixing plate 11 is located above the equipment box 4. The slide block 31 is connected with a motor 34 in a transmission way, and the motor 34 drives the slide block 31 to slide. The two sliding blocks 31 are arranged, and the two sliding blocks 31 are respectively positioned at two sides of the fixed plate 11, so that the fixed plate 11 is more stable in translation. The reasonable design of width of spout guarantees that jacking drive arrangement 13 and telescopic shaft 14 pass in the spout, and jacking drive arrangement 13 and telescopic shaft 14 play the interference effect to the spout when preventing to side.
In this embodiment, a rack 33 is fixed on the slide 31, and two ends of the rack 33 are fixed on the slide 31 at two sides through bolts. The robot is provided with a motor 34, a gear 35 is fixed on an output shaft of the motor 34, and the gear 35 is meshed with the rack 33. In this embodiment, the gear 35 is fixed on the central axis of the robot, and in the initial state, the meshing position of the gear 35 and the rack 33 is the middle of the rack 33, so that the gear 35 can drive the rack 33 to move to the two sides by the same distance.
Embodiment two:
as shown in fig. 4, this embodiment is substantially the same as the first embodiment, except that: in this embodiment, the screw rod 36 is rotatably mounted on the robot, the screw rod 36 is provided with a screw rod nut 361, the screw rod nut 361 is fixed on the side of the slide block 31, and in order to make the operation smoother, the screw rod nut 361 is provided with two screw rod nuts 361 which are respectively fixed on the side of the slide block 31 on both sides. The robot is provided with a motor 34, the motor 34 is connected with a screw rod 36 in a transmission way, and the screw rod 36 drives the sliding block 31 to slide.
As shown collectively in fig. 1, 2, 3, 4 and 5, a balancing apparatus workflow for a robotic cart:
in an initial state, the robot arm stays above the robot, and at the moment, the balancing weight 2 is positioned at the upper middle position of the sliding rail 3 according to the gravity center adjustment of the robot; when the mechanical arm of the robot moves, the mechanical arm extends forwards and downwards, at the moment, the gravity center of the robot deflects forwards and downwards, the jacking mechanism 1 controls the balancing weight 2 to move downwards, so that the gravity center of the robot moves backwards and downwards, and the gravity center deflection of the mechanical arm extending forwards and downwards is balanced; when the balancing weight 2 falls to the lowest position, a limit value is adjusted for the gravity center in the vertical direction; when the mechanical arm is shifted leftwards or rightwards, the gravity center of the robot is shifted towards the corresponding direction, so that the motor 34 controls the balancing weight 2 to shift towards the opposite direction of the movement of the mechanical arm, and the influence of the movement of the mechanical arm on the gravity center of the robot is balanced.
The balancing device for the robot trolley solves the technical problem that in the prior art, rollover is easy to occur when a robot executes a task, and the gravity center can be adjusted to change vertically by arranging the jacking balancing weight; through the motor, the change of the gravity center in the transverse direction can be adjusted, the gravity center is integrally adjusted, the balance of the robot is kept, and the robot is prevented from turning on one's side in the manual work process.
The present utility model is not limited to the above-described specific embodiments, and various modifications may be made by those skilled in the art without inventive effort from the above-described concepts, and are within the scope of the present utility model.
Claims (6)
1. A balancing unit for robot dolly, its characterized in that: the lifting mechanism is arranged on the opposite side of the execution area of the mechanical arm of the robot, the top of the lifting mechanism is provided with a balancing weight, the lifting mechanism is connected with a lifting driving device in a transmission manner, the lifting mechanism is arranged above the robot in a left-right sliding manner, a sliding rail is arranged above the robot, a sliding block is arranged on the sliding rail in a sliding manner, the sliding block is fixed on the lifting mechanism, a motor is connected to the sliding block in a transmission manner, and the motor drives the sliding block to slide.
2. A balancing device for a robotic dolly as claimed in claim 1, wherein: the sliding block is provided with a rack, the robot is provided with a motor, a gear is fixed on an output shaft of the motor, and the gear is meshed with the rack.
3. A balancing device for a robotic dolly as claimed in claim 1, wherein: the screw is rotatably arranged on the robot, a screw nut is arranged on the screw, the screw nut is fixed on the side part of the jacking mechanism, and the screw is connected with the motor in a transmission manner.
4. A balancing device for a robotic dolly as claimed in claim 1, wherein: the jacking mechanism comprises a fixed plate fixed on the sliding block, a jacking driving device is fixed at the bottom of the fixed plate, the upper end of an output shaft of the jacking driving device is fixed at the bottom of the jacking plate, and the balancing weight is fixed above the jacking plate.
5. A balancing device for a robotic dolly as recited in claim 4, wherein: and two telescopic shafts are arranged between the fixed plate and the jacking plate and are respectively positioned at two sides of the jacking plate.
6. A balancing device for a robotic dolly as claimed in claim 1, wherein: and an equipment box is arranged above the robot, and the jacking driving device and the motor are positioned in the equipment box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321196976.1U CN220094651U (en) | 2023-05-17 | 2023-05-17 | Balancing device for robot trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321196976.1U CN220094651U (en) | 2023-05-17 | 2023-05-17 | Balancing device for robot trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220094651U true CN220094651U (en) | 2023-11-28 |
Family
ID=88873037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321196976.1U Active CN220094651U (en) | 2023-05-17 | 2023-05-17 | Balancing device for robot trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220094651U (en) |
-
2023
- 2023-05-17 CN CN202321196976.1U patent/CN220094651U/en active Active
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