WO2022077743A1 - 一种便于调整角度的工业机器人底座 - Google Patents

一种便于调整角度的工业机器人底座 Download PDF

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Publication number
WO2022077743A1
WO2022077743A1 PCT/CN2020/134425 CN2020134425W WO2022077743A1 WO 2022077743 A1 WO2022077743 A1 WO 2022077743A1 CN 2020134425 W CN2020134425 W CN 2020134425W WO 2022077743 A1 WO2022077743 A1 WO 2022077743A1
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WO
WIPO (PCT)
Prior art keywords
base
robot base
gear
plate
motor
Prior art date
Application number
PCT/CN2020/134425
Other languages
English (en)
French (fr)
Inventor
任雯雯
Original Assignee
苏州龙骐自动化科技有限公司
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Application filed by 苏州龙骐自动化科技有限公司 filed Critical 苏州龙骐自动化科技有限公司
Publication of WO2022077743A1 publication Critical patent/WO2022077743A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears

Definitions

  • the invention relates to the technical field of industrial robots, in particular to an industrial robot base which is convenient for angle adjustment.
  • a robot is a common name for an automatically controlled machine.
  • Automatically controlled machines include all machines that simulate human behavior or thoughts and simulate other creatures (such as robot dogs, robot cats, etc.). There are still many classifications and disputes about the definition of robots in the narrow sense, and some computer programs are even called robots.
  • a robot refers to a man-made mechanical device that can perform tasks automatically to replace or assist human work.
  • the ideal high-simulation robot is the product of advanced integrated cybernetics, mechatronics, computer and artificial intelligence, materials science and bionics, and the scientific community is currently researching and developing in this direction.
  • the robot In order to make the operation of the robot more convenient, the robot needs to be installed on the robot base during installation.
  • the existing robot base is inconvenient to adjust the inclination angle of the robot and the height adjustment. Therefore, in view of the above situation, it is urgent to develop a The inclination angle of the robot is easy to adjust and the height of the industrial robot base is easy to adjust to overcome the deficiencies in current practical applications and meet the current needs.
  • the purpose of the present invention is to provide an industrial robot base that is easy to adjust the angle, so as to solve the problems raised in the above background art.
  • the present invention provides the following technical solutions:
  • An industrial robot base that is easy to adjust the angle, including a base, a support plate is installed above the base, the support plate is rotatably connected to the base through a rotating mechanism, a lift plate is installed above the support plate, and the lift plate passes through the base.
  • the lifting mechanism is connected with a support plate, a robot base is installed above the lifting plate, a plurality of springs are connected between the robot base and the lifting plate, and an inclination angle adjustment connected to the robot base is installed on the lifting plate mechanism.
  • the rotating mechanism includes: a first motor, a first gear, a second gear and a transmission shaft, the first motor is connected to the base, and the output shaft of the first motor is mounted with a first motor Gear, the left side of the first gear is mounted with a second gear that is rotatably matched with it, the second gear is mounted on the transmission shaft, the bottom of the transmission shaft is rotatably connected to the base through a bearing, and the The top is fixedly connected to the support plate.
  • the lifting mechanism includes: a second motor, a driving wheel, a driven wheel, a transmission belt, a transmission rod, a mounting shell, a third gear, a rack and a limit cam, and the second motor is mounted on a support
  • a driving wheel is installed on the output shaft of the second motor
  • a driven wheel is installed above the driving wheel
  • the driving wheel and the driven wheel are rotatably connected by a transmission belt
  • the driven wheel is installed on the transmission rod
  • the left and right ends of the transmission rod are respectively extended into a mounting shell
  • the mounting shell is connected with the support plate
  • the left and right ends of the transmission rod are respectively installed with a third gear
  • one side of the third gear is mounted
  • the inclination adjustment mechanism includes: a third motor, a ball screw, a slider, a push-pull plate, an outer casing, a connecting rod, a second roller, a ball and a trapezoidal block, the third motor is connected to the lifter
  • the output shaft of the third motor is connected to the ball screw through a coupling
  • the ball screw is rotatably connected to the lifting plate through a bearing and a bearing seat
  • two sliders are installed on the ball screw
  • the two sliding blocks are respectively connected with a push-pull plate
  • a plurality of outer casings are respectively installed on the two push-pull plates
  • a connecting rod extending to the outside of each outer casing is installed inside the outer casing.
  • the top of the connecting rod is rollingly connected to the robot base through the second roller, and the bottom of the connecting rod is rollingly connected to the trapezoidal block through the second roller, and the trapezoidal block is fixedly connected to the lifting plate.
  • the angle between the upper surface of the trapezoidal block and the horizontal direction is 5°.
  • a boss is installed on both sides of the robot base, a rotating shaft is connected between the two bosses, two support seats are installed on the lifting plate, and the rotating The shaft is rotatably connected with the support seat through the bearing.
  • a plurality of auxiliary legs are installed at the bottom of the support plate, a first roller is installed at the bottom of the auxiliary legs, and an annular chute for the first roller to roll is opened on the base.
  • the beneficial effect of the present invention is that: the industrial robot base that is easy to adjust the angle, when in use, the robot is installed on the robot base, the first gear is driven to rotate by the first motor, and the first gear is rotated through the first gear.
  • the rotation drives the second gear to rotate, the second gear drives the transmission shaft to rotate, the transmission shaft rotates to drive the support plate and the lift plate to rotate, and the lift plate rotates to drive the robot base to rotate, which is conducive to adjusting the orientation;
  • the second motor drives the active The wheel rotates, the driven wheel is driven by the rotation of the driving wheel, the transmission rod is driven by the rotation of the driven wheel, the third gear is driven by the rotation of the transmission rod, the rack is driven by the rotation of the third gear, and the lifting plate is driven up and down by the movement of the rack Moving, the robot moves up and down through the up and down movement of the lifting plate, which is beneficial to improve the working range of the robot;
  • the third motor drives the ball screw to rotate, the ball screw rotates to drive the slider to move, and the slider moves to drive the push-pull plate and the outer casing
  • the movement of the outer casing drives the connecting rod to move, and the movement of the connecting rod on the trapezoidal block drives the robot base to swing, which is conducive to fine-
  • FIG. 1 is a schematic structural diagram of the present invention.
  • FIG. 2 is a view in the direction of A-A in the schematic structural diagram of the present invention.
  • FIG. 3 is a partial view at B in the schematic structural diagram of the present invention.
  • FIG. 4 is a C-C view in the schematic structural diagram of the present invention.
  • FIG. 5 is a schematic diagram of the inclined state of the present invention.
  • FIG. 6 is a schematic three-dimensional structure diagram of the middle base of the present invention.
  • an industrial robot base that is easy to adjust the angle includes a base 1 , a support plate 3 is installed above the base 1 , and the support plate 3 is connected to the base 1 through a rotating mechanism 2 .
  • the rotating mechanism 2 includes: a first motor 201, a first gear 202, a second gear 203 and a transmission shaft 204, the first motor 201 is connected to the base 1, and the output shaft of the first motor 201 is on the A first gear 202 is installed, the left side of the first gear 202 is installed with a second gear 203 rotatably matched with it, the second gear 203 is installed on the transmission shaft 204, and the bottom of the transmission shaft 204 passes through the bearing It is rotatably connected with the base 1, the top of the transmission shaft 204 is fixedly connected with the support plate 3, the bottom of the support plate 3 is installed with a plurality of auxiliary legs 4, and the bottom of the auxiliary legs 4 is installed with a first roller 401 , the base 1 is provided with an annular chute 101 for rolling the first roller 401, a lift plate 6 is installed above the support plate 3, and the lift plate 6 is connected to the support plate 3 through the lift mechanism 5, and the support plate 3 is connected to the support plate 3.
  • the lifting mechanism 5 includes: a second motor 501, a driving wheel 502, a driven wheel 503, a transmission belt 504, a transmission rod 505, a mounting shell 506, a third gear 507, a rack 508 and a limit cam 509, the second motor 501 is installed On the support plate 3, a driving wheel 502 is installed on the output shaft of the second motor 501, and a driven wheel 503 is installed above the driving wheel 502.
  • the driven wheel 503 is mounted on the transmission rod 505, the left and right ends of the transmission rod 505 extend into a mounting shell 506, the mounting shell 506 is connected to the support plate 3, and the left and right ends of the transmission rod 505
  • a third gear 507 is respectively installed, one side of the third gear 507 is installed with a rack 508 rotatably matched with it, and one side of the rack 508 is mounted on the inner wall of the mounting shell 506 with a plurality of limit positions Cam 509, the top of the rack 508 is connected to the lift plate 6, the robot base 7 is installed above the lift plate 6, and a boss 701 is installed on both sides of the robot base 7, and the two A rotating shaft 702 is connected between the bosses 701, two support bases 8 are installed on the lifting plate 6, the rotating shaft 702 is rotatably connected to the support base 8 through bearings, and the robot base 7 and the lifting plate 6 are rotatably connected.
  • the inclination adjustment mechanism 9 includes: a third motor 901 , a ball screw 902 , and a slider 903 , push-pull plate 904, outer casing 905, connecting rod 906, second roller 907, ball 908 and trapezoidal block 909, the third motor 901 is connected to the lifting plate 6, and the output shaft of the third motor 901 passes through the coupling It is connected with the ball screw 902, and the ball screw 902 is rotatably connected with the lifting plate 6 through the bearing and the bearing seat.
  • two sliding blocks 903 are installed on the ball screw 902, the two sliding blocks 903 are respectively connected with a push-pull plate 904, and a plurality of outer casings 905 are respectively installed on the two push-pull plates 904.
  • a connecting rod 906 extending to the outside is installed inside each of the outer casings 905.
  • the top of the connecting rod 906 is connected to the robot base 7 in a rolling manner through the second roller 907.
  • the bottom of the robot base 7 is provided with a A groove for the second roller 907 to roll
  • the bottom of the connecting rod 906 is connected to the trapezoid block 909 through the second roller 907 for rolling
  • the trapezoid block 909 is provided with a groove for the second roller 907 to roll.
  • the robot When in use, the robot is installed on the robot base 7, the first gear 202 is driven to rotate by the first motor 201, the second gear 203 is driven to rotate by the rotation of the first gear 202, and the transmission shaft 204 is driven to rotate by the rotation of the second gear 203.
  • the support plate 3 and the lifting plate 6 are driven to rotate, and the rotation of the lifting plate 6 drives the robot base 7 to rotate, which is conducive to adjusting the orientation;
  • the second motor 501 drives the driving wheel 502 to rotate, and the driving wheel 502 rotates to drive the rotation
  • the driven wheel 503 rotates, the driven wheel 503 rotates to drive the transmission rod 505 to rotate, the transmission rod 505 rotates to drive the third gear 507 to rotate, the third gear 507 rotates to drive the rack 508 to move, and the rack 508 moves to drive the lift plate 6 up and down Moving, the up and down movement of the lifting plate 6 drives the robot to move up and down, which is beneficial to improve the working range of the robot;
  • the third motor 901 drives the ball screw 902 to rotate, the ball screw 902 rotates to drive the slider 903 to move, and the slider 903 moves
  • the push-pull plate 904 and the outer casing 905 are driven to move, and the movement of the outer casing 905 drives the connecting rod 90
  • the angle between the upper surface of the trapezoidal block 909 and the horizontal direction is 5°.
  • the industrial robot base that is easy to adjust the angle, when in use, the robot is installed on the robot base 7, the first gear 202 is driven to rotate by the first motor 201, the second gear 203 is driven to rotate by the rotation of the first gear 202, and the rotation of the first gear 202 is driven by the first motor 201.
  • the rotation of the second gear 203 drives the transmission shaft 204 to rotate, the rotation of the transmission shaft 204 drives the support plate 3 and the lifting plate 6 to rotate, and the rotation of the lifting plate 6 drives the robot base 7 to rotate, which is conducive to adjusting the orientation;
  • the driving wheel is driven by the second motor 501 502 rotates, the driven wheel 503 is rotated by the rotation of the driving wheel 502, the transmission rod 505 is rotated by the rotation of the driven wheel 503, the third gear 507 is rotated by the rotation of the transmission rod 505, and the rack 508 is driven by the rotation of the third gear 507.
  • the movement of the rack 508 drives the lift plate 6 to move up and down, and the up and down movement of the lift plate 6 drives the robot to move up and down, which is beneficial to improve the working range of the robot;
  • the third motor 901 drives the ball screw 902 to rotate, and the ball screw 902 drives the slide.
  • the block 903 moves, the sliding block 903 moves the push-pull plate 904 and the outer casing 905 to move, the outer casing 905 moves to drive the connecting rod 906 to move, and the movement of the connecting rod 906 on the trapezoidal block 909 drives the robot base 7 to swing, which is beneficial to
  • the inclination angle of the robot base 7 is fine-tuned, which makes the operation more convenient.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

本发明公开了一种便于调整角度的工业机器人底座，包括底座，底座上方安装有支撑板，支撑板通过旋转机构与底座转动连接，支撑板的上方安装有升降板，升降板通过升降机构与支撑板相连，升降板的上方安装有机器人基座，机器人基座和升降板之间连接有多个弹簧，升降板上安装有与机器人基座相连的倾角调节机构。本发明对机器人的倾角调节方便，高度调整方便，朝向调整方便。

Description

一种便于调整角度的工业机器人底座 技术领域
本发明涉及工业机器人技术领域，具体是一种便于调整角度的工业机器人底座。
 背景技术
机器人是自动控制机器的俗称，自动控制机器包括一切模拟人类行为或思想与模拟其他生物的机械（如机器狗，机器猫等）。狭义上对机器人的定义还有很多分类法及争议，有些电脑程序甚至也被称为机器人。在当代工业中，机器人指能自动执行任务的人造机器装置，用以取代或协助人类工作。理想中的高仿真机器人是高级整合控制论、机械电子、计算机与人工智能、材料学和仿生学的产物，目前科学界正在向此方向研究开发。
为了使机器人的作业更加方便，机器人在安装时需要将其安装在机器人底座上，现有的机器人底座对机器人的倾角调节不便，且高度调整不便，因此，针对以上现状，迫切需要开发一种对机器人的倾角调节方便，高度调整方便的工业机器人底座，以克服当前实际应用中的不足，满足当前的需求。
 技术解决方案
本发明的目的在于提供一种便于调整角度的工业机器人底座，以解决上述背景技术中提出的问题。
为实现上述目的，本发明提供如下技术方案：
一种便于调整角度的工业机器人底座，包括底座，所述底座上方安装有支撑板，所述支撑板通过旋转机构与底座转动连接，所述支撑板的上方安装有升降板，所述升降板通过升降机构与支撑板相连，所述升降板的上方安装有机器人基座，所述机器人基座和升降板之间连接有多个弹簧，所述升降板上安装有与机器人基座相连的倾角调节机构。
作为本发明进一步的方案：所述旋转机构包括：第一电机、第一齿轮、第二齿轮和传动轴，所述第一电机与底座相连，所述第一电机的输出轴上安装有第一齿轮，所述第一齿轮的左侧安装有与之转动配合的第二齿轮，所述第二齿轮安装于传动轴上，所述传动轴的底部通过轴承与底座转动连接，所述传动轴的顶部与支撑板固定连接。
作为本发明进一步的方案：所述升降机构包括：第二电机、主动轮、从动轮、传动带、传动杆、安装壳、第三齿轮、齿条和限位凸轮，所述第二电机安装于支撑板上，所述第二电机的输出轴上安装有主动轮，所述主动轮的上方安装有从动轮，所述主动轮和从动轮通过传动带转动连接，所述从动轮安装于传动杆上，所述传动杆的左右两端分别延伸至一个安装壳内，所述安装壳与支撑板相连，所述传动杆的左右两端分别安装有一个第三齿轮，所述第三齿轮的一侧安装有与之转动配合的齿条，所述齿条的一侧于安装壳的内壁上安装有多个限位凸轮，所述齿条的顶部与升降板相连。
作为本发明进一步的方案：所述倾角调节机构包括：第三电机、滚珠丝杠、滑块、推拉板、外壳体、连杆、第二滚轮、滚珠和梯形块，所述第三电机与升降板相连，所述第三电机的输出轴通过联轴器与滚珠丝杠相连，所述滚珠丝杠通过轴承和轴承座与升降板转动连接，所述滚珠丝杠上安装有两个滑块，两个所述滑块分别与一个推拉板相连，两个所述推拉板上分别安装有多个外壳体，每个所述外壳体的内部均安装有一个延伸至其外部的连杆，所述连杆的顶部通过第二滚轮与机器人基座滚动连接，所述连杆的底部通过第二滚轮与梯形块滚动连接，所述梯形块与升降板固定连接。
作为本发明进一步的方案：所述梯形块的上表面与水平方向的夹角为5°。
作为本发明进一步的方案：所述机器人基座的两侧分别安装有一个凸台，两个所述凸台之间连接有旋转轴，所述升降板上安装有两个支撑座，所述旋转轴通过轴承与支撑座转动连接。
作为本发明进一步的方案：所述支撑板的底部安装有多个辅助支腿，所述辅助支腿的底部安装有第一滚轮，所述底座上开设有用于第一滚轮滚动的环形滑槽。
 有益效果
与现有技术相比，本发明的有益效果是：该便于调整角度的工业机器人底座，使用时，将机器人安装有到机器人基座上，通过第一电机带动第一齿轮转动，通过第一齿轮转动带动第二齿轮转动，通过第二齿轮转动带动传动轴转动，通过传动轴转动带动支撑板和升降板转动，通过升降板转动带动机器人基座转动，有利于调整朝向；通过第二电机带动主动轮转动，通过主动轮转动带动从动轮转动，通过从动轮转动带动传动杆转动，通过带动传动杆转动带动第三齿轮转动，通过第三齿轮转动带动齿条移动，通过齿条移动带动升降板上下移动，通过升降板上下移动带动机器人上下移动，有利于提高机器人的作业范围；通过第三电机带动滚珠丝杠转动，通过滚珠丝杠转动带动滑块移动，通过滑块移动带动推拉板和外壳体移动，通过外壳体移动带动连杆移动，通过连杆在梯形块上的移动带动机器人基座摆动，有利于对机器人基座的倾角进行微调，使得作业时更加方便。综上所述，本发明对机器人的倾角调节方便，高度调整方便，朝向调整方便。
 附图说明
图1为本发明的结构示意图。
图2为本发明结构示意图中A-A向视图。
图3为本发明结构示意图中B处的局部视图。
图4为本发明结构示意图中C-C向视图。
图5为本发明的倾斜状态示意图。
图6为本发明的中底座处的立体结构示意图。
图中：1-底座，101-环形滑槽，2-旋转机构，201-第一电机，202-第一齿轮，203-第二齿轮，204-传动轴，3-支撑板，4-辅助支腿，401-第一滚轮，5-升降机构，501-第二电机，502-主动轮，503-从动轮，504-传动带，505-传动杆，506-安装壳，507-第三齿轮，508-齿条，509-限位凸轮，6-升降板，7-机器人基座，701-凸台，702-旋转轴，8-支撑座，9-倾角调节机构，901-第三电机，902-滚珠丝杠，903-滑块，904-推拉板，905-外壳体，906-连杆，907-第二滚轮，908-滚珠，，909-梯形块，10-弹簧。
 本发明的实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例1
请参阅图1～6，本发明实施例中，一种便于调整角度的工业机器人底座，包括底座1，所述底座1上方安装有支撑板3，所述支撑板3通过旋转机构2与底座1转动连接，所述旋转机构2包括：第一电机201、第一齿轮202、第二齿轮203和传动轴204，所述第一电机201与底座1相连，所述第一电机201的输出轴上安装有第一齿轮202，所述第一齿轮202的左侧安装有与之转动配合的第二齿轮203，所述第二齿轮203安装于传动轴204上，所述传动轴204的底部通过轴承与底座1转动连接，所述传动轴204的顶部与支撑板3固定连接，所述支撑板3的底部安装有多个辅助支腿4，所述辅助支腿4的底部安装有第一滚轮401，所述底座1上开设有用于第一滚轮401滚动的环形滑槽101，所述支撑板3的上方安装有升降板6，所述升降板6通过升降机构5与支撑板3相连，所述升降机构5包括：第二电机501、主动轮502、从动轮503、传动带504、传动杆505、安装壳506、第三齿轮507、齿条508和限位凸轮509，所述第二电机501安装于支撑板3上，所述第二电机501的输出轴上安装有主动轮502，所述主动轮502的上方安装有从动轮503，所述主动轮502和从动轮503通过传动带504转动连接，所述从动轮503安装于传动杆505上，所述传动杆505的左右两端分别延伸至一个安装壳506内，所述安装壳506与支撑板3相连，所述传动杆505的左右两端分别安装有一个第三齿轮507，所述第三齿轮507的一侧安装有与之转动配合的齿条508，所述齿条508的一侧于安装壳506的内壁上安装有多个限位凸轮509，所述齿条508的顶部与升降板6相连，所述升降板6的上方安装有机器人基座7，所述机器人基座7的两侧分别安装有一个凸台701，两个所述凸台701之间连接有旋转轴702，所述升降板6上安装有两个支撑座8，所述旋转轴702通过轴承与支撑座8转动连接，所述机器人基座7和升降板6之间连接有多个弹簧10，所述升降板6上安装有与机器人基座7相连的倾角调节机构9，所述倾角调节机构9包括：第三电机901、滚珠丝杠902、滑块903、推拉板904、外壳体905、连杆906、第二滚轮907、滚珠908和梯形块909，所述第三电机901与升降板6相连，所述第三电机901的输出轴通过联轴器与滚珠丝杠902相连，所述滚珠丝杠902通过轴承和轴承座与升降板6转动连接，所述滚珠丝杠902上安装有两个滑块903，两个所述滑块903分别与一个推拉板904相连，两个所述推拉板904上分别安装有多个外壳体905，每个所述外壳体905的内部均安装有一个延伸至其外部的连杆906，所述连杆906的顶部通过第二滚轮907与机器人基座7滚动连接，该机器人基座7的底部设置有供第二滚轮907滚动的凹槽，所述连杆906的底部通过第二滚轮907与梯形块909滚动连接，该梯形块909上开设有供第二滚轮907滚动的凹槽，所述梯形块909与升降板6固定连接。使用时，将机器人安装有到机器人基座7上，通过第一电机201带动第一齿轮202转动，通过第一齿轮202转动带动第二齿轮203转动，通过第二齿轮203转动带动传动轴204转动，通过传动轴204转动带动支撑板3和升降板6转动，通过升降板6转动带动机器人基座7转动，有利于调整朝向；通过第二电机501带动主动轮502转动，通过主动轮502转动带动从动轮503转动，通过从动轮503转动带动传动杆505转动，通过传动杆505转动带动第三齿轮507转动，通过第三齿轮507转动带动齿条508移动，通过齿条508移动带动升降板6上下移动，通过升降板6上下移动带动机器人上下移动，有利于提高机器人的作业范围；通过第三电机901带动滚珠丝杠902转动，通过滚珠丝杠902转动带动滑块903移动，通过滑块903移动带动推拉板904和外壳体905移动，通过外壳体905移动带动连杆906移动，通过连杆906在梯形块909上的移动带动机器人基座7摆动，有利于对机器人基座7的倾角进行微调，使得作业时更加方便。
实施例2
请参阅图1，本发明实施例中，所述梯形块909的上表面与水平方向的夹角为5°。
该便于调整角度的工业机器人底座，使用时，将机器人安装有到机器人基座7上，通过第一电机201带动第一齿轮202转动，通过第一齿轮202转动带动第二齿轮203转动，通过第二齿轮203转动带动传动轴204转动，通过传动轴204转动带动支撑板3和升降板6转动，通过升降板6转动带动机器人基座7转动，有利于调整朝向；通过第二电机501带动主动轮502转动，通过主动轮502转动带动从动轮503转动，通过从动轮503转动带动传动杆505转动，通过传动杆505转动带动第三齿轮507转动，通过第三齿轮507转动带动齿条508移动，通过齿条508移动带动升降板6上下移动，通过升降板6上下移动带动机器人上下移动，有利于提高机器人的作业范围；通过第三电机901带动滚珠丝杠902转动，通过滚珠丝杠902转动带动滑块903移动，通过滑块903移动带动推拉板904和外壳体905移动，通过外壳体905移动带动连杆906移动，通过连杆906在梯形块909上的移动带动机器人基座7摆动，有利于对机器人基座7的倾角进行微调，使得作业时更加方便。
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。

Claims (7)

  1. 一种便于调整角度的工业机器人底座，包括底座（1），其特征在于，所述底座（1）上方安装有支撑板（3），所述支撑板（3）通过旋转机构（2）与底座（1）转动连接，所述支撑板（3）的上方安装有升降板（6），所述升降板（6）通过升降机构（5）与支撑板（3）相连，所述升降板（6）的上方安装有机器人基座（7），所述机器人基座（7）和升降板（6）之间连接有多个弹簧（10），所述升降板（6）上安装有与机器人基座（7）相连的倾角调节机构（9）。
  2. 根据权利要求1所述的便于调整角度的工业机器人底座，其特征在于，所述旋转机构（2）包括：第一电机（201）、第一齿轮（202）、第二齿轮（203）和传动轴（204），所述第一电机（201）与底座（1）相连，所述第一电机（201）的输出轴上安装有第一齿轮（202），所述第一齿轮（202）的左侧安装有与之转动配合的第二齿轮（203），所述第二齿轮（203）安装于传动轴（204）上，所述传动轴（204）的底部通过轴承与底座（1）转动连接，所述传动轴（204）的顶部与支撑板（3）固定连接。
  3. 根据权利要求1所述的便于调整角度的工业机器人底座，其特征在于，所述升降机构（5）包括：第二电机（501）、主动轮（502）、从动轮（503）、传动带（504）、传动杆（505）、安装壳（506）、第三齿轮（507）、齿条（508）和限位凸轮（509），所述第二电机（501）安装于支撑板（3）上，所述第二电机（501）的输出轴上安装有主动轮（502），所述主动轮（502）的上方安装有从动轮（503），所述主动轮（502）和从动轮（503）通过传动带（504）转动连接，所述从动轮（503）安装于传动杆（505）上，所述传动杆（505）的左右两端分别延伸至一个安装壳（506）内，所述安装壳（506）与支撑板（3）相连，所述传动杆（505）的左右两端分别安装有一个第三齿轮（507），所述第三齿轮（507）的一侧安装有与之转动配合的齿条（508），所述齿条（508）的一侧于安装壳（506）的内壁上安装有多个限位凸轮（509），所述齿条（508）的顶部与升降板（6）相连。
  4. 根据权利要求1所述的便于调整角度的工业机器人底座，其特征在于，所述倾角调节机构（9）包括：第三电机（901）、滚珠丝杠（902）、滑块（903）、推拉板（904）、外壳体（905）、连杆（906）、第二滚轮（907）、滚珠（908）和梯形块（909），所述第三电机（901）与升降板（6）相连，所述第三电机（901）的输出轴通过联轴器与滚珠丝杠（902）相连，所述滚珠丝杠（902）通过轴承和轴承座与升降板（6）转动连接，所述滚珠丝杠（902）上安装有两个滑块（903），两个所述滑块（903）分别与一个推拉板（904）相连，两个所述推拉板（904）上分别安装有多个外壳体（905），每个所述外壳体（905）的内部均安装有一个延伸至其外部的连杆（906），所述连杆（906）的顶部通过第二滚轮（907）与机器人基座（7）滚动连接，所述连杆（906）的底部通过第二滚轮（907）与梯形块（909）滚动连接，所述梯形块（909）与升降板（6）固定连接。
  5. 根据权利要求4所述的便于调整角度的工业机器人底座，其特征在于，所述梯形块（909）的上表面与水平方向的夹角为5°。
  6. 根据权利要求1所述的便于调整角度的工业机器人底座，其特征在于，所述机器人基座（7）的两侧分别安装有一个凸台（701），两个所述凸台（701）之间连接有旋转轴（702），所述升降板（6）上安装有两个支撑座（8），所述旋转轴（702）通过轴承与支撑座（8）转动连接。
  7. 根据权利要求1-4任一项所述的便于调整角度的工业机器人底座，其特征在于，所述支撑板（3）的底部安装有多个辅助支腿（4），所述辅助支腿（4）的底部安装有第一滚轮（401），所述底座（1）上开设有用于第一滚轮（401）滚动的环形滑槽（101）。
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