CN210819631U - Industrial robot balance plate - Google Patents
Industrial robot balance plate Download PDFInfo
- Publication number
- CN210819631U CN210819631U CN201921766682.1U CN201921766682U CN210819631U CN 210819631 U CN210819631 U CN 210819631U CN 201921766682 U CN201921766682 U CN 201921766682U CN 210819631 U CN210819631 U CN 210819631U
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Abstract
The utility model provides an industrial robot balance plate comprises fixed horizontal plate and the balanced base with horizontal plate complex placed subaerial, and balanced base is placed subaerial, and the robot passes the horizontal plate and places on balanced base, when the robot takes place to incline, in the balancing recess of balancing piece on the balanced base can corresponding stretching out and withdrawal on the balance plate, play the balanced effect to the robot, simultaneously, fix that the safety block of subaerial safety housing inside has dual fail-safe, makes the robot can not take place to incline, the utility model discloses set up ingeniously, simple structure can be used for in-service use.
Description
Technical Field
The utility model relates to a balance plate device, especially an industrial robot balance plate.
Background
The weight base is added to the industrial robot in the use process, so that the weight of the bottom of the industrial robot is increased, the phenomenon that the robot is overturned in the operation or working process is avoided, the gravity center of an arm of the robot can be continuously changed along with the development of working actions when the robot works, and the change of the gravity center is not beneficial to the control of a joint driving device on a joint.
At present, the change of the moment is generally counteracted by adopting a mode of a counterweight or a spring, but the gravity balance device or the spring device has the problems of volume and weight, and further influences the operation action of the robot.
In order to make the robot work better, the balance plate mounted on the robot should not affect its work, but prevent it from tilting when it is mishandled or the load of work exceeds the load, and with an emergency brake device, the robot should not topple.
SUMMERY OF THE UTILITY MODEL
In order to solve the defects of the prior art, the utility model provides an industrial robot balance plate has effectively solved among the prior art robot and has made its heavy burden load increase because the maloperation, can't support the condition of robot dead weight and the problem of the slope that takes place, when utilizing balance plate to make the robot take place the slope, gives a gravity balance of robot, prevents to take place the slope.
The solution is that the robot comprises a circular horizontal plate fixedly placed on the ground, a circular balance base which is placed on the ground and matched with the horizontal plate is arranged below the horizontal plate, the robot is fixedly connected to the balance base, the robot is characterized in that six balance grooves which point to the center of a circle and protrude upwards are arranged on the circumference of the balance base, balance blocks are arranged in the balance grooves in a sliding manner, balance through holes which are connected with the balance grooves in a circular manner are respectively arranged on the balance base at the upper ends of the balance grooves, balance columns are connected in the balance through holes in a sliding manner, the upper ends of the balance columns are hinged with the horizontal plate in a spherical manner, the balance blocks are in a cuboid shape, two balance connecting plates which are arranged in parallel relatively and point to the axis of the balance base are arranged at the upper ends of the balance blocks, and two opposite rectangular connecting plates which are respectively provided with, the lower end of the circumferential surface of the balance column is provided with two joint plate cylinders which are oppositely arranged and the axis of each joint plate cylinder is perpendicular to the axis of the balance column, the joint plate cylinders are arranged in the joint plate through holes in a sliding fit mode, the outer side of the circumferential surface of the balance base is provided with a safety shell which is fixed on the ground, the safety shell is rectangular in shape, the middle of the safety shell is provided with a rectangular through hole, the rectangular through hole is opposite to the balance groove, and a safety block which can be fixed and moved through a linkage device is arranged in the safety shell at.
Preferably, the horizontal plate is provided with six fan-shaped safety shell grooves opposite to the safety shells, the lower end of the horizontal plate is provided with six horizontal columns fixedly placed on the bottom surface, and the horizontal columns and the safety shell grooves are staggered.
Preferably, the horizontal plate is provided with a machine through hole in the middle for placing the robot and not enabling the horizontal plate to contact with the robot.
Preferably, the upper ends of two vertical side walls of the rectangular through hole are respectively provided with a square supporting groove, a supporting block is arranged in the supporting groove in a sliding manner, a circular button groove is arranged on the side wall of the rectangular through hole below the supporting groove, a cylindrical safety button is arranged in the button groove in a sliding manner, a circular connecting rod through hole connected with the button groove is arranged on the lower end face of the supporting groove, a supporting connecting rod is arranged in the connecting rod through hole in a sliding manner, the lower end of the supporting connecting rod is hinged to a button connecting rod, the lower end of the button connecting rod is hinged to the safety button, one end, close to the side wall of the supporting groove, of the supporting block is connected in the supporting groove through a supporting spring, and one end, close to.
Preferably, the lower end of the support connecting rod is provided with a square first connecting rod groove, the first connecting rod groove is fixedly provided with a connecting rod column parallel to the side wall of the rectangular through hole, the safety button is provided with a second connecting rod groove, the second connecting rod groove is fixedly provided with a second connecting rod column parallel to the side wall of the rectangular through hole, two ends of the button connecting rod are respectively provided with a circular connecting rod column through hole, and the first connecting rod column and the second connecting rod column are respectively rotatably connected in the connecting rod column through holes.
Preferably, the safety block is placed at the upper ends of the two supporting blocks.
Preferably, a square balancing block bottom groove is formed in the middle of the balancing block, the bottom wall of the balancing bottom groove is lower than that of the through hole of the connecting plate, and the balancing bottom groove can enable the balancing column to be placed in the balancing bottom groove in a sliding mode when moving up and down.
Preferably, the upper end of the balance column is a spherical balance ball, the lower end of the horizontal plate is provided with six spherical balance ball grooves, and the balance ball is rotatably connected in the balance ball grooves.
Preferably, the size of the balance block is matched with the balance groove, and one end of the balance block can extend out of the balance base.
The utility model has the advantages as follows:
(1) the self weight of the base is balanced, so that the robot cannot topple when normally working at ordinary times;
(2) the opposite balance blocks interact, one extends outwards and the other extends inwards when the robot tilts, and the balance of the robot is achieved under the combined action;
(3) the safety block has a safety function when the robot topples, and presses the balance seat to force the robot to be horizontal;
(4) the invention ensures that the robot placed on the balance seat can not incline or even topple over when in improper operation, thereby well protecting the robot.
Drawings
Fig. 1 is an overall view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a view of the fitting portion of the balance groove of the present invention.
Fig. 4 is a view of the matching portion of the balance weight of the present invention.
Fig. 5 is a view of the horizontal plate of the present invention.
Fig. 6 is a view of the balance base of the present invention.
Fig. 7 is a matching view of the safety shell part of the present invention.
Fig. 8 is a sectional view of the safety housing of the present invention.
Fig. 9 is a partial fitting view of the safety button of the present invention.
Fig. 10 is a partial assembled view of the balance post of the present invention.
Fig. 11 is a view of the balance post of the present invention.
Fig. 12 is an overall oblique view of the present invention.
Detailed Description
The following description will further explain embodiments of the present invention with reference to the drawings.
The device is characterized in that the middle of six directional circle centers of the balance base (2) is provided with a balance groove (3) which is raised upwards, the groove is in a boss shape, the middle of the balance groove is raised upwards, six groove uniform distributions are arranged on the circumferential surface of the balance base (2), balance blocks (4) are placed in the balance groove (3) in a sliding manner, the balance through holes (5) which are connected with the balance groove (3) are respectively arranged on the balance base (2) at the upper end of the balance groove (3), balance columns (6) are connected with the horizontal plate (1) in a ball hinge manner, the upper ends of the balance columns (6) are connected with the horizontal plate (1) in a ball hinge manner, the balance blocks (4) are connected with the lower end of the horizontal plate (1), the balance blocks (4) slide in the balance groove (3), when the balance base (2) is inclined towards one end, one end of the balance base can be tilted to extrude the horizontal, and the other end of the balance post (6) is opposite to the downward pull balance post (6), and the balance post (6) and the horizontal plate (1) are in spherical hinge joint, so that the rotation of the balance post (6) cannot be influenced and the balance post (6) cannot be damaged no matter the balance post (6) is inclined in any direction.
Balancing piece (4) are the cuboid form, and balancing piece (4) are placed in balanced recess (3), balancing piece (4) upper end has two relative parallel places and balancing fishplate bar (7) of the directional balanced base (2) axis in middle space, and balancing fishplate bar (7) are placed in the bellied groove of balanced recess (3), and balancing piece (4) are placed in the groove of the bellied lower extreme of balanced recess (3), and two balancing fishplate bars (7) are placed in balancing piece (4) up end positive centre to balancing fishplate bar (7) are the wiring, and balancing piece (4) one end is whole to be placed in balancing recess (3), and the other end has partly to stretch out outside balancing recess (3), just stretch out outside balanced base (2), two each has a relative rectangular fishplate bar through-hole (8) on balancing fishplate bar (7), balancing post (6) periphery lower extreme has two to place relatively and axis and balancing post (6) axis vertically cylinder fishplate bar (9) The butt plate cylinder (9) is placed in the butt plate through hole (8) in a sliding fit mode, the angle of one end of the butt plate through hole (8) and a vertical plane is arranged, the direction is inclined upwards from outside to inside, when the butt plate cylinder (9) is matched in the butt plate through hole (8), when the balance column (6) moves up and down relative to the balance block (4), the balance block (4) can move horizontally relative to the balance column (6), the direction of horizontal movement is the opposite direction of the gap between the two balance butt plate cylinders (7), because the gap between the balance butt plate cylinders (7) and the balance groove (3) point to the axis direction of the balance base (2) as same as each other, the balance block (4) can move in the balance groove (3), when one end of the balance base (2) inclines, the tilting end of the tilting can press the balance column (6), and the balance column (6) can incline, but because the balance post (6) is placed in balance post (6) through-hole, balance post (6) can be relative with balance weight (4) vertical movement and be close to balance weight (4), this moment because the reason of fishplate bar cylinder (9), can make balance weight (4) stretch out to balance recess (3) outward, the opposite side that does not turn up like the same can be for pulling balance post (6), and balance weight (4) can retract to balance recess (3) in, balance recess (3) have six and equipartition, balance post (6), balance through-hole (5), balance weight (4) all have six, and balance post (6) and horizontal plate (1) ball hinge, no matter balance base (2) incline to that direction, all can have balance weight (4) to stretch out or retract in balance recess (3), and two liang cooperations and can not make balance post (6) take place to damage.
The outer side of the circumferential surface of the balance base (2) is placed with a safety shell (10) fixed on the ground, the safety shell (10) is rectangular and provided with a rectangular through hole (11) in the middle, the rectangular through hole (11) is opposite to the balance groove (3), the balance block (4) is placed in the rectangular through hole (11), the side wall of the balance block (4) is connected with the side wall of the rectangular through hole (11), when the balance base (2) is inclined, one end of the balance block (4) can also be tilted, the balance block (4) can slide on the side wall of the rectangular through hole (11), a safety block (12) which can be fixed and moved through a linkage device is placed in the safety shell (10) at the upper end of the rectangular through hole (11) in a sliding mode, when the inclination angle of the balance base (2) is too large, the linkage device can be triggered to release the safety block (12) in, the safety block (12) falls down to press the balance block (4), and the balance block (4) is placed in the balance groove (3) and connected with the balance base (2), so that the balance base (2) is prevented from falling.
One end, close to the side wall of the supporting groove (16), of the supporting block (17) is connected into the supporting groove (16) through a supporting spring (23), one end, close to the button groove (18), of the safety button (19) is connected into the button groove (18) through a button spring (24), the button spring (24) is in a loose state in an initial state, one part of the button connecting rod (22) extends out of the supporting groove (16) and abuts against the supporting block (17), one part of the supporting block (17) extends out of the supporting groove (16), and at the moment, one part of the safety button (19) extends out of the button groove (18).
Specifically, when the safety button (19) moves, the button connecting rod (22) is pulled, the button connecting rod (22) can move along with the safety button (19), meanwhile, the second connecting rod column (28) can rotate by taking the axis as the center of a circle, and when the button connecting rod rotates, the supporting connecting rod (21) can be pulled or pushed to move in the supporting groove (16).
Specifically, in the initial state, one end of the supporting block (17) partially extends out of the supporting groove (16), the other end of the supporting block is resisted by the supporting connecting rod (21) extending out of the supporting groove (16), meanwhile, the supporting spring (23) is in a tensioned state, and when the supporting connecting rod (21) retracts into the supporting groove (16), the supporting block (17) is pulled by the spring to retract into the supporting groove (16), and the safety block (12) falls.
The specific operation is as follows: when the robot is installed, the robot is installed on a balance base (2), the balance base (2) is placed on the horizontal ground, then a horizontal plate (1) is sleeved on the robot base, the circumferential side wall of a machine through hole (15) is not contacted with the robot, meanwhile, a horizontal column (14) on the horizontal plate (1) is fixed on the ground, the horizontal plane of the horizontal plate (1) is parallel to the balance base (2), one part of a balance block (4) extends out of a balance groove (3), when the working load of the robot exceeds the rated load, or the robot is operated by mistake, the robot inclines, one end of the balance block (6) is pressed by the raised end, the balance column (6) is inclined, but because the balance column (6) is placed in the through hole of the balance column (6), the balance column (6) can move vertically relative to the balance block (4) and is close to the balance block (4), the balance weight (4) can extend out of the balance groove (3), similarly, one side opposite to the tilting can draw the balance column (6), the balance column (6) can move vertically relative to the balance weight (4) and is far away from the balance weight (4), the balance weight (4) at the end can retract into the balance groove (3), six balance weights (4) interact, the robot is balanced by utilizing the lever to be far away, the robot cannot fall down, when the load is too large, the balance weight (4) cannot keep the balance of the robot, and the robot has the tendency of side turning, the tilting angle of the balance base (2) can be increased, the safety button (19) can be triggered to be pressed, the safety button (19) is pressed back into the button groove (18), the safety button (19) can draw the support connecting rod (21) to move downwards, the part of the upper end of the support connecting rod (21) extending out of the support groove (16) can retract into the connecting rod through hole (20), supporting spring (23) effect is directly drawing supporting shoe (17) and is retracting in supporting recess (16), and safety block (12) of placing in supporting shoe (17) upper end can fall, is pressing balancing piece (4), forces to make balanced base (2) be in the horizontal plane, does not let the robot topple over, and operating personnel can discover this moment, makes the robot stop work to overhaul.
Claims (9)
1. The utility model provides an industrial robot balance board, includes fixed placing in subaerial circular shape horizontal plate (1), horizontal plate (1) below is for placing subaerial and horizontal plate (1) complex circular shape balance base (2), fixed connection robot on balance base (2), its characterized in that, have six bellied balanced recess (3) upwards in the middle of pointing the centre of a circle on balance base (2) periphery, sliding placement has balancing piece (4) in balance recess (3), respectively have a circular shape balance through-hole (5) of connecting balance recess (3) on balance base (2) of balance recess (3) upper end, sliding connection has balance post (6) in balance through-hole (5), balance post (6) upper end and horizontal plate (1) ball hinge joint, balancing piece (4) are the cuboid form, the upper end of the balance block (4) is provided with two balance connecting plates (7) which are oppositely arranged in parallel and the middle gap of which points to the axis of the balance base (2), the two balance connecting plates (7) are respectively provided with a rectangular connecting plate through hole (8) which is opposite and obliquely upwards from outside to inside, the lower end of the circumferential surface of the balance column (6) is provided with two plate connecting columns (9) which are oppositely arranged and the axis of which is vertical to the axis of the balance column (6), the fishplate bar cylinder (9) is arranged in the fishplate bar through hole (8) in a sliding fit manner, the outer side of the circumferential surface of the balance base (2) is provided with a safety shell (10) fixed on the ground, the shape of the safety shell (10) is rectangular, a rectangular through hole (11) is arranged in the middle of the safety shell, the rectangular through hole (11) is opposite to the balance groove (3), and a safety block (12) which can be fixed and moved through a linkage device is placed in the safety shell (10) at the upper end of the rectangular through hole (11) in a sliding mode.
2. An industrial robot balance board according to claim 1, characterized in that the horizontal board (1) is provided with six fan-shaped safety housing recesses (13) opposite to the safety housing (10), the lower end of the horizontal board (1) is provided with six horizontal posts (14) fixedly arranged on the bottom surface, and the horizontal posts (14) and the safety housing recesses (13) are staggered.
3. An industrial robot balance board according to claim 2, characterized in that the horizontal board (1) has a robot through hole (15) in the middle for placing the robot without the horizontal board (1) contacting the robot.
4. An industrial robot balance board according to claim 1, characterized in that the rectangular through hole (11) has a square support groove (16) at each of the upper ends of the two vertical side walls, a support block (17) is slidably disposed in the support groove (16), a circular button groove (18) is disposed on the side wall of the rectangular through hole (11) below the support groove (16), a cylindrical safety button (19) is slidably disposed in the button groove (18), a circular link through hole (20) connected to the button groove (18) is disposed on the lower end surface of the support groove (16), a support link (21) is slidably disposed in the link through hole (20), the support link (21) is hinged to a button link (22) at the lower end thereof, the lower end of the button link (22) is hinged to the safety button (19), and one end of the support block (17) near the side wall of the support groove (16) is connected to the support groove (16) through a support spring (23) ) And one end of the safety button (19) close to the button groove (18) is connected in the button groove (18) through a button spring (24).
5. An industrial robot balance board according to claim 4, characterized in that the lower end of the support link (21) is provided with a square first link recess (25), the first link recess (25) is fixed with a link post parallel to the side wall of the rectangular through hole (11), the safety button (19) is provided with a second link recess (27), the second link recess (27) is fixed with a second link post (28) parallel to the side wall of the rectangular through hole (11), the two ends of the button link (22) are respectively provided with a circular link post through hole (29), and the first link post (26) and the second link post (28) are respectively rotatably connected in the link post through hole (29).
6. An industrial robot balance board according to claim 1, characterized in that the safety block (12) is placed on the upper end of two support blocks (17).
7. An industrial robot balance board according to claim 1, characterized in that the balance weight (4) has a square balance weight bottom groove (30) in the middle, the bottom wall of the balance weight bottom groove is lower than the bottom wall of the through hole (8) of the connecting plate, the balance bottom groove can make the balance post (6) slide and place in the balance bottom groove when moving up and down.
8. An industrial robot balance board according to claim 1, characterized in that the upper end of the balance post (6) is a spherical balance ball (32), the lower end of the horizontal board (1) is provided with six spherical balance ball grooves (31), and the balance ball (32) is rotatably connected in the balance ball grooves (31).
9. An industrial robot balancing plate according to claim 1, characterized in that the balancing mass (4) is dimensioned to fit into the balancing recess (3), and that one end of the balancing mass (4) can protrude outside the balancing base (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921766682.1U CN210819631U (en) | 2019-10-21 | 2019-10-21 | Industrial robot balance plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921766682.1U CN210819631U (en) | 2019-10-21 | 2019-10-21 | Industrial robot balance plate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210819631U true CN210819631U (en) | 2020-06-23 |
Family
ID=71275366
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921766682.1U Expired - Fee Related CN210819631U (en) | 2019-10-21 | 2019-10-21 | Industrial robot balance plate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210819631U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111878043A (en) * | 2020-09-02 | 2020-11-03 | 中国石油化工股份有限公司 | Rotary and flow type balance block of beam-pumping unit and adjusting method |
| CN112294179A (en) * | 2020-10-13 | 2021-02-02 | 盐城骏拔汽车零部件有限公司 | Self-balancing movable base for industrial dust collector and balancing method thereof |
-
2019
- 2019-10-21 CN CN201921766682.1U patent/CN210819631U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111878043A (en) * | 2020-09-02 | 2020-11-03 | 中国石油化工股份有限公司 | Rotary and flow type balance block of beam-pumping unit and adjusting method |
| CN111878043B (en) * | 2020-09-02 | 2022-05-03 | 中国石油化工股份有限公司 | Rotary and flow type balance block of beam-pumping unit and adjusting method |
| CN112294179A (en) * | 2020-10-13 | 2021-02-02 | 盐城骏拔汽车零部件有限公司 | Self-balancing movable base for industrial dust collector and balancing method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200623 Termination date: 20211021 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |