CN112060095A - Rotating shaft safety limiting mechanism, robot shaft assembly and robot - Google Patents
Rotating shaft safety limiting mechanism, robot shaft assembly and robot Download PDFInfo
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- CN112060095A CN112060095A CN202010978870.1A CN202010978870A CN112060095A CN 112060095 A CN112060095 A CN 112060095A CN 202010978870 A CN202010978870 A CN 202010978870A CN 112060095 A CN112060095 A CN 112060095A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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Abstract
The invention discloses a rotating shaft safety limiting mechanism, a robot shaft assembly and a robot, which comprise: the trigger assembly is connected with the rotating shaft, and the whole trigger assembly and the rotating shaft rotate synchronously; the stop block is connected with the rotating shaft/trigger assembly and synchronously rotates with the rotating shaft/trigger assembly; the limit device comprises a travel switch assembly and a limit assembly, wherein the limit assembly is electrically connected with the travel switch assembly. The invention has simple structure and reliable use, can limit the rotating areas of the rotating shafts such as a shaft of the robot and the like, and avoids the risk of the rotation of the robot deviating from the safe area due to the failure of software control.
Description
Technical Field
The invention relates to the field of machine manufacturing, in particular to a rotating shaft safety limiting mechanism, a robot shaft assembly and a robot.
Background
With the rise of intelligent manufacturing, robots are gradually used by many factories instead of manual work. However, in the use and debugging process of the robot, rotation control and rotation debugging are mostly performed through a PLC control system and the like at present, and the modes belong to software control, but when the software system fails and makes mistakes, the robot can be caused to rotate and move out of control, so that the rotating area of the robot deviates from a safe area. At present, no related device is provided for avoiding the risk of the robot rotating and deviating from a safe area due to software control failure, so that potential safety hazards exist.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a rotating shaft safety limiting mechanism, a first shaft assembly of a robot and the robot, which have simple structure and reliable use, can limit rotating areas of a first shaft and other rotating shafts of the robot, and avoid the risk of the rotation of the robot deviating from the safety area due to the failure of software control.
In order to achieve the purpose, the invention provides the following technical scheme:
on the one hand, a pivot safety stop gear is provided, and it includes:
the trigger assembly is connected with the rotating shaft, and the whole trigger assembly and the rotating shaft rotate synchronously;
the stop block is connected with the rotating shaft/trigger assembly and synchronously rotates with the rotating shaft/trigger assembly;
the limit component is electrically connected with the travel switch component;
when the trigger component rotates in one/a plurality of rotating intervals, a certain part of the trigger component contacts the travel switch component to generate a control signal, and the limit component which is closest to the stop block in the rotating direction acts under the control of the control signal to leave the rotating path of the stop block, so that the trigger component and the rotating shaft continue to rotate along the original rotating direction without being hindered by the limit component to enter the next/next rotating intervals;
when the trigger component rotates in the next/next several rotating intervals, the other part of the trigger component contacts the travel switch component to generate another control signal, the limit component which is separated from the rotating path of the stop block acts under the control of the control signal to be positioned on the rotating path of the stop block, and the trigger component and the rotating shaft are prevented from rotating along the direction opposite to the original rotating direction through the contact with the stop block.
Preferably, after the position-limiting assembly that has left the rotation path of the stop block is located on the rotation path of the stop block, the trigger assembly continues to rotate in the original rotation direction in the next/next several rotation intervals, and another part of the trigger assembly contacts the travel switch assembly again to generate another control signal.
Preferably, the limiting assembly comprises: the cylinder is provided with a telescopic end and is electrically connected with the travel switch assembly; the pin shaft is arranged on the connecting support in a penetrating way; the cylinder rotating shaft is connected with the telescopic end of the cylinder; one end of the pressure arm is hinged with the air cylinder rotating shaft and can rotate by taking the air cylinder rotating shaft as a shaft; the plane of rotation of the pressure arm intersects the plane of rotation of the trigger assembly.
Preferably, the limiting assembly further comprises: the cylinder travel switch is arranged on the side part of the pressure arm; the collision plate is connected with the side part of the pressure arm and corresponds to the position of the cylinder travel switch; when the pressure arm moves, the collision plate triggers the air cylinder travel switch to generate a feedback signal so as to detect whether the pressure arm runs in place;
and/or, a magnetic switch connected with the cylinder; and a magnetic ring disposed inside the cylinder; when the pressure arm moves, whether the pressure arm moves in place or not is detected through an induction signal between the magnetic switch and the magnetic ring.
Preferably, when the trigger assembly rotates in the first rotation direction within the first rotation interval θ 1, a certain part of the trigger assembly contacts the travel switch assembly, a generated control signal is transmitted to the cylinder of the limit assembly, and the telescopic end of the cylinder drives the pressure arm to rotate towards the rotation path of the trigger assembly under the control of the control signal until the pressure arm is located on the rotation path of the stop block, so that the trigger assembly and the rotating shaft are prevented from rotating through contact with the stop block;
when the trigger assembly rotates in the first rotation interval theta 1 along the second rotation direction, the other part of the trigger assembly contacts the travel switch assembly, a generated control signal is transmitted to the air cylinder of the limiting assembly, the telescopic end of the air cylinder drives the pressure arm to rotate away from the rotation path of the trigger assembly under the control of the control signal until the pressure arm leaves the rotation path of the stop block, so that the trigger assembly and the rotating shaft are not hindered by the pressure arm and continue to rotate along the second rotation direction to enter a second rotation interval theta 2;
after the stop block completely enters the second rotation interval theta 2, the trigger assembly and the rotating shaft continue to rotate in the second rotation interval theta 2 along the second rotation direction, another part of the trigger assembly contacts the travel switch assembly again to generate another control signal, the telescopic end of the air cylinder drives the pressure arm to rotate towards the rotation path of the trigger assembly under the control of the control signal until the telescopic end is located on the rotation path of the stop block, and the trigger assembly and the rotating shaft are prevented from rotating along the first rotation direction through the contact with the stop block.
Preferably, the trigger assembly comprises: a plurality of arcs that set gradually on the direction of height, longitudinal connection between two adjacent annular plates, and each arc all has 1 at least trigger end.
Preferably, the travel switch assembly includes: a travel switch support; the travel switches are connected with the travel switch supports through corresponding travel switch supports, and the positions of the travel switches are different; in the rotating process, different control signals are formed by the contact/separation of different arc-shaped plates and different travel switches so as to control the limiting assembly to complete corresponding actions.
Preferably, the plurality of arc-shaped plates comprise a first arc-shaped plate, a second arc-shaped plate, a third arc-shaped plate and a fourth arc-shaped plate which are sequentially arranged in the height direction from top to bottom, the first arc-shaped plate is provided with a first triggering end and a second triggering end, the second arc-shaped plate is provided with a third triggering end, the third arc-shaped plate is provided with a fourth triggering end, and the fourth arc-shaped plate is provided with a fifth triggering end; the first trigger end, the third trigger end and the fifth trigger end point to the same direction, and the second trigger end and the fourth trigger end point to the same direction, and the directions of the first trigger end, the third trigger end and the fifth trigger end are opposite;
the travel switches comprise a first travel switch, a second travel switch, a third travel switch and a fourth travel switch; the rotation section includes a first rotation section θ 1, a second rotation section θ 2, a third rotation section θ 3, a fourth rotation section θ 4, and a fifth rotation section θ 5.
Preferably, when the trigger assembly rotates in a first rotation direction within a first rotation interval θ 1, the first arc-shaped plate, the second arc-shaped plate and the fourth arc-shaped plate respectively and correspondingly contact the first travel switch, the second travel switch and the fourth travel switch, a generated control signal is transmitted to the cylinder close to one of the two adjacent limiting assemblies, and the telescopic end of the cylinder drives the pressing arm of the cylinder to rotate towards the rotation path of the trigger assembly under the control of the control signal until the cylinder is located on the rotation path of the stop block, so that the trigger assembly and the rotating shaft are prevented from rotating through the contact with the stop block;
when the trigger assembly rotates in the first rotation interval theta 1 along the second rotation direction, the first trigger end of the first arc plate rotates through the first travel switch, so that the first arc plate is completely separated from the first travel switch, at the moment, only the second arc plate and the fourth arc plate are still in corresponding contact with the second travel switch and the fourth travel switch, a generated control signal is transmitted to the air cylinder close to one of the two adjacent limiting assemblies, and the telescopic end of the air cylinder drives the pressure arm of the air cylinder to rotate away from the rotation path of the trigger assembly under the control of the control signal until the pressure arm leaves the rotation path of the stop block, so that the trigger assembly and the rotating shaft rotate without being blocked by the pressure arm;
when the trigger assembly rotates in the second rotation interval theta 2 along the second rotation direction, the second trigger end of the first arc plate contacts with the first travel switch, meanwhile, the fourth arc plate still contacts with the fourth travel switch, and the third trigger end of the second arc plate rotates through the second travel switch, so that the second arc plate is completely separated from the second travel switch, the generated control signal is transmitted to the cylinder close to one of the two adjacent limiting assemblies, and the telescopic end of the cylinder drives the pressure arm of the cylinder to rotate towards the rotation path of the trigger assembly under the control of the control signal until the cylinder is located on the rotation path of the stop block again, so that the trigger assembly and the rotating shaft are prevented from rotating in the first rotation direction through the contact with the stop block.
Preferably, when the pressing arm of one of the two adjacent limiting assemblies, which is close to the travel switch assembly, is located on the rotation path of the stop block again, and the trigger assembly continues to rotate along the second rotation direction, the first arc-shaped plate is in contact with the first travel switch, meanwhile, the third travel switch is in contact with the fourth trigger end of the third arc-shaped plate, and the fourth travel switch is in contact with the fourth arc-shaped plate, the generated control signal is transmitted to the cylinder of one of the two adjacent limiting assemblies, which is far away from the travel switch assembly, and the telescopic end of the cylinder drives the pressing arm of the cylinder to rotate away from the rotation path of the trigger assembly under the control of the control signal until the pressing arm of the cylinder leaves the rotation path of the stop block, so that the trigger assembly and the rotating shaft rotate without being hindered by the pressing arm;
when the trigger assembly rotates in the second rotation direction within a fourth rotation interval theta 4, the first arc-shaped plate still contacts with the first travel switch, the third travel switch contacts with the third arc-shaped plate, and the fifth trigger end of the fourth arc-shaped plate rotates past the fourth travel switch, so that the fourth arc-shaped plate is completely separated from the fourth travel switch, the generated control signal is transmitted to the cylinder far away from one of the two adjacent limiting assemblies, and the telescopic end of the cylinder drives the pressure arm of the cylinder to rotate towards the rotation path of the trigger assembly under the control of the control signal until the cylinder is located on the rotation path of the stop block, so that the trigger assembly and the rotating shaft are prevented from rotating in the first rotation direction through the contact with the stop block.
Preferably, the angle range of theta 1 between 10 degrees and the first rotating interval is less than or equal to 110 degrees, the angle range of theta 2 between 20 degrees and the second rotating interval is less than or equal to 10 degrees, the angle range of theta 3 between 40 degrees and the third rotating interval is less than or equal to-20 degrees, the angle range of theta 4 between 65 degrees and the fourth rotating interval is less than or equal to-40 degrees, and the angle range of theta 5 between 90 degrees and the fifth rotating interval is less than or equal to-65 degrees by taking the 0 degree position of the rotating shaft as a starting point.
On the other hand, a robot shaft assembly comprising the rotating shaft safety limiting mechanism is further provided.
In another aspect, a robot comprising the robot-axis assembly is also provided.
Compared with the prior art, the invention has the following beneficial effects:
the invention has simple structure and reliable use, can obtain different signal combinations through the contact of different arc plates and different travel switches so as to judge the rotation angle of the robot rotating shaft, further control the movement of the stop block to enable the stop block to be positioned on/away from the rotation path of the robot rotating shaft, limit the rotating area of a shaft of the robot and other rotating shafts, and avoid the risk of the robot rotating to deviate from a safe area due to the failure of software control.
Drawings
FIG. 1 is a schematic view of an overall structure of a robot shaft assembly according to the present invention;
FIG. 2 is a schematic view of a partial structure of a shaft assembly of the robot according to the present invention;
FIG. 3 is a schematic view of the overall structure of the spacing assembly of the present invention;
FIG. 4 is a cross-sectional view of a stop assembly of the present invention;
FIG. 5 is a schematic diagram of the overall structure of the trigger assembly of the present invention;
FIG. 6 is an exploded view of the trigger assembly of the present invention;
FIG. 7 is a schematic view of the overall structure of the travel switch assembly of the present invention;
FIG. 8 is a top view of the rotating shaft, the stop block and the trigger assembly rotating synchronously in accordance with the present invention;
fig. 9 is a schematic structural diagram of two limit assemblies, a trigger assembly and a travel switch assembly of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
as shown in fig. 1-2, the safety limit mechanism for the rotating shaft in this embodiment includes:
a trigger assembly 200 connected to a rotating shaft (e.g., a first shaft of a robot), wherein the trigger assembly 200 rotates integrally and synchronously with the rotating shaft;
a stopper 300 connected to the rotation shaft/trigger assembly 200 and rotating synchronously with the rotation shaft/trigger assembly 200;
the travel switch assembly 400 and the limit assembly are electrically connected with the travel switch assembly 400;
wherein, the rotating shaft, the stop block 300 and the trigger assembly 200 have a plurality of rotating sections which rotate synchronously, and the boundaries of each rotating section are connected in sequence and are not overlapped with each other;
when the trigger assembly 200 rotates in one/several rotation intervals, a certain part of the trigger assembly 200 contacts the travel switch assembly 400 to generate a control signal, and the limit assembly closest to the stop block 300 (i.e. the limit assembly which is to meet the stop block 300 first in the rotation direction) in the rotation direction acts under the control of the control signal to leave the rotation path of the stop block 300, so that the trigger assembly 200 and the rotating shaft continue to rotate along the original rotation direction without being hindered by the limit assembly (i.e. the limit assembly closest to the stop block 300 in the rotation direction) to enter the next/several rotation intervals;
when the trigger assembly 200 rotates in the next/next several rotation intervals, another part of the trigger assembly 200 contacts the travel switch assembly 400 to generate another control signal, the limit assembly which has left the rotation path of the stopper 300 acts under the control of the control signal to be positioned on the rotation path of the stopper 300, and the trigger assembly 200 and the rotating shaft are prevented from rotating in the direction opposite to the original rotation direction by the contact with the stopper 300.
The contacting comprises: physical contact, such as direct touch, etc., or remote sensing by a photosensor, etc., to generate a photo-electric sensing signal, etc.
Further, as shown in fig. 3-4, the limiting assembly comprises: a connecting support 102, which is connected with other components (such as a robot base, etc., as long as the structure can support the weight of the whole limiting assembly); a cylinder 109 having a telescopic end 1091, connected to the connecting support 102 and electrically connected to the travel switch assembly 400; the pin shaft 103 is arranged on the connecting support 102 in a penetrating manner; the cylinder rotating shaft 104 is connected with the telescopic end 1091 of the cylinder 109 through a cylinder rotating shaft connecting seat 105; the pressing arm 101 is hinged to the air cylinder rotating shaft 104 at one end and can rotate around the air cylinder rotating shaft 104, and meanwhile, the rotating plane of the pressing arm 101 is intersected (preferably vertical) with the rotating plane of the trigger assembly 200;
as shown in fig. 1-2 and 8, the operation process of the stop assembly 100 is illustrated by only having 1 stop assembly 100 and setting the stop assembly 100 at the 10 ° position:
when the trigger assembly 200 rotates in a first rotation direction (e.g., counterclockwise) within a first rotation interval θ 1, a certain portion of the trigger assembly 200 contacts the travel switch assembly 400, a generated control signal is transmitted to the cylinder 109 of the limit assembly 100 through a control system such as a PLC, and the telescopic end 1091 of the cylinder 109 moves upward under the control of the control signal to drive the pressing arm 101 to rotate toward the rotation path of the trigger assembly 200 until the pressing arm is located on the rotation path of the stop block 300, so as to prevent the trigger assembly 200 and the rotating shaft from rotating through contact with the stop block 300;
when the trigger assembly 200 rotates to a connection point (i.e. 10 ° position) between the first rotation interval θ 1 and the second rotation interval θ 2 in a second rotation direction (the second rotation direction is opposite to the first rotation direction, e.g. clockwise) within the first rotation interval θ 1, another part of the trigger assembly 200 contacts the travel switch assembly 400, the generated control signal is also transmitted to the cylinder 109 of the position limiting assembly 100 through a control system such as a PLC, and the telescopic end 1091 of the cylinder 109 moves downward under the control of the control signal to drive the pressure arm 101 to rotate away from the rotation path of the trigger assembly 200 and lift upward until leaving the rotation path of the stopper 300, so that the trigger assembly 200 and the rotation shaft continue to rotate in the second rotation direction without being hindered by the pressure arm 101 to enter the second rotation interval θ 2;
after the stopper 300 completely enters the second rotation interval θ 2, the trigger assembly 200 and the rotating shaft continue to rotate in the second rotation interval θ 2 along the second rotation direction, and another part (the part is different from the part in the above two times of contact) of the trigger assembly 200 contacts the travel switch assembly 400 again to generate another control signal, the telescopic end 1091 of the air cylinder 109 moves upward under the control of the control signal to drive the pressing arm 101 to rotate toward the rotation path of the trigger assembly 200 until the pressing arm is located on the rotation path of the stopper 300, and the trigger assembly 200 and the rotating shaft are prevented from rotating in the first rotation direction by contacting the stopper 300.
In this embodiment, the first rotation interval θ 1 and the second rotation interval θ 2 are connected with each other and do not overlap, and the respective angle ranges thereof may be determined according to actual production needs, for example, the angle range between 10 ° < the first rotation interval θ 1 is less than or equal to 110 °, -20 ° < the second rotation interval θ 2 is less than or equal to 10 °, and the connection point between the first rotation interval θ 1 and the second rotation interval θ 2 is the 10 ° position, taking the 0 ° position of the rotating shaft as the starting point.
Therefore, the limiting mechanism in the embodiment mainly comprises mechanical parts, is simple in structure and reliable in use, different control signals can be obtained by contacting the travel switch assembly 400, so that the rotation angle of the rotating shaft can be judged, and further the pressure arm 101 is controlled to move by a control system such as a PLC (programmable logic controller) and the like so as to be positioned on/away from the rotation path of the rotating shaft, so that the rotating area of the rotating shaft such as a shaft of the robot is limited.
Example 2:
the difference between the present embodiment and embodiment 1 is only that, as shown in fig. 3, the position limiting assembly 100 in the present embodiment further includes: a cylinder stroke switch 108 provided on a side of the pressure arm 101; and a striking plate 107 connected to a side portion of the pressure arm 101 and corresponding to the position of the cylinder stroke switch 108;
when the pressure arm 101 moves, a collision plate 107 triggers a cylinder travel switch 108 to generate a feedback signal so as to detect whether the pressure arm 101 runs in place; the number of the cylinder travel switches 108 is two, and the two cylinder travel switches are respectively arranged on two sides of the cylinder travel switches 108 through the travel switch supports 106, and correspondingly, the number of the striking plates 107 is also two, and the two striking plates are respectively connected with two sides of the pressure arm 101.
And/or, the position limiting assembly 100 in this embodiment further includes: a magnetic switch 110 connected to the cylinder 109; and a magnetic ring (not shown) disposed inside the cylinder 109;
when the pressure arm 101 moves, whether the pressure arm 101 runs in place is detected through an induction signal between the magnetic switch 110 and the magnetic ring.
Therefore, whether the stroke of the air cylinder 109 is in place can be detected through the two stroke detection modes of the striking plate 107, the air cylinder stroke switch 108, the magnetic switch 110 and the magnetic ring, so that double insurance for detecting the motion of the air cylinder 109 is realized.
Example 3:
the present embodiment differs from embodiment 1 or 2 only in that, as shown in fig. 5, the trigger assembly 200 in the present embodiment includes: the arc-shaped plates 201, 202, 203 and 204 are sequentially arranged in the height direction and are parallel to each other, two adjacent annular plates are longitudinally connected through parts such as longitudinally arranged spacer bushes 205 and/or partition bolts 206, and each arc-shaped plate is provided with at least 1 trigger end; in this embodiment, the plurality of arc plates include a first arc plate 201, a second arc plate 202, a third arc plate 203, and a fourth arc plate 204 that are arranged in sequence from top to bottom and are parallel to each other in the height direction, and the first arc plate 201 has a first trigger end 2011 and a second trigger end 2012, the second arc plate 202 has a third trigger end 2021, the third arc plate 203 has a fourth trigger end 2031, the fourth arc plate 204 has a fifth trigger end 2041, and one or more of the trigger ends are designed as a chamfer; meanwhile, the first trigger end 2011, the third trigger end 2021 and the fifth trigger end 2041 point to the same direction (e.g., both directions are counterclockwise), the second trigger end 2012 and the fourth trigger end 2031 point to the same direction, and point to the opposite direction (e.g., both directions are clockwise) from the first trigger end 2011, the third trigger end 2021 and the fifth trigger end 2041;
meanwhile, as shown in fig. 6, the travel switch assembly 400 includes: a travel switch support 401 connected to other components (e.g., a robot base, etc., as long as it can support the weight of the entire travel switch assembly 400); a plurality of travel switches which are connected with the travel switch support 401 through corresponding travel switch supports 406 and have different positions (such as different heights); in this embodiment, the travel switches include a first travel switch 402, a second travel switch 403, a third travel switch 404, and a fourth travel switch 405, which are sequentially arranged from top to bottom in the height direction;
and in the rotating process, different control signals are formed by the contact/separation of different arc-shaped plates and different travel switches so as to control the limiting assembly to complete corresponding actions. It should be noted that the number of the arc-shaped plates and the position of each trigger end are preset according to actual working conditions, and different arc-shaped plates can trigger different travel switches according to a preset program.
Further, as shown in fig. 1-2 and 9, at least two limiting assemblies in this embodiment are sequentially disposed around the periphery of the rotating shaft along the direction of synchronous rotation of the rotating shaft, the triggering assembly 200, and the stopper 300;
when the trigger assembly 200 rotates in one/several rotation intervals, a certain part of the trigger assembly 200 contacts the travel switch assembly 400 to generate a control signal, and the limit assembly closest to the stop block 300 (i.e. the limit assembly which is to meet the stop block 300 first in the rotation direction) in the rotation direction acts under the control of the control signal to leave the rotation path of the stop block 300, so that the trigger assembly 200 and the rotating shaft continue to rotate in the original rotation direction without being hindered by the limit assembly (i.e. the limit assembly closest to the stop block 300 in the rotation direction) to enter the next/several rotation intervals;
when the trigger assembly 200 rotates in the original rotation direction in the next/next several rotation intervals, another part of the trigger assembly 200 contacts the travel switch assembly 400 to generate another control signal, the limit assembly which has left the rotation path of the stopper 300 acts under the control of the control signal to be positioned on the rotation path of the stopper 300, and the trigger assembly 200 and the rotating shaft are prevented from rotating in the direction opposite to the original rotation direction by the contact with the stopper 300;
meanwhile, after the position limiting assembly which is separated from the rotation path of the stopper 300 is positioned on the rotation path of the stopper 300, the trigger assembly 200 continues to rotate in the original direction of rotation during the next/next several intervals of rotation, the travel switch assembly 400 is again contacted by another portion of the trigger assembly 200, which is different from the above-described two-contact portion, to generate another control signal, the position-limiting component closest to the stop block 300 in the rotation direction (i.e. the original rotation direction) (i.e. the position-limiting component which will meet the stop block 300 first in the original rotation direction when continuing to follow the original rotation direction) acts under the control of the control signal, so as to leave the rotation path of the stopper 300, so that the trigger assembly 200 and the rotating shaft are not hindered by the stopping assembly (i.e., the stopping assembly which is to meet the stopper 300 first in the original rotation direction when continuing to the original rotation direction).
In this embodiment, as shown in fig. 1-2 and 8-9, 2 adjacent limiting assemblies: the first limiting assembly 100 and the second limiting assembly 100 'are taken as examples, and have the same structure, wherein the first limiting assembly 100 is close to the travel switch assembly 400, the second limiting assembly 100' is far away from the travel switch assembly 400, the rotation intervals comprise a first rotation interval theta 1, a second rotation interval theta 2, a third rotation interval theta 3, a fourth rotation interval theta 4 and a fifth rotation interval theta 5, and the rotation intervals are sequentially connected and do not overlap with each other; the first limiting assembly 100 is arranged in the second rotation interval theta 2, the second limiting assembly 100 'is arranged in the fourth rotation interval theta 4, and the pressure arm 101 of the second limiting assembly 100' is in an initial state, namely, is positioned on the rotation path of the stop block 300;
the angle range theta 1 between 10 degrees and a first rotating interval is less than or equal to 110 degrees, the angle range theta 2 between 20 degrees and a second rotating interval is less than or equal to 10 degrees, the angle range theta 3 between 40 degrees and a third rotating interval is less than or equal to-20 degrees, the angle range theta 4 between 65 degrees and a fourth rotating interval is less than or equal to-40 degrees, and the angle range theta 5 between 90 degrees and a fifth rotating interval is less than or equal to-65 degrees by taking the 0-degree position of the rotating shaft as a starting point;
when the trigger assembly 200 rotates in a first rotation interval θ 1 along a first rotation direction (e.g., counterclockwise), the first arc-shaped plate 201, the second arc-shaped plate 202, and the fourth arc-shaped plate 204 respectively and correspondingly contact the first travel switch 402, the second travel switch 403, and the fourth travel switch 405, the generated control signal is transmitted to the cylinder 109 of the first limiting assembly 100 through a control system such as a PLC, and the telescopic end 1091 of the cylinder 109 moves upward under the control of the control signal to drive the pressing arm 101 of the cylinder 109 to rotate toward the rotation path of the trigger assembly 200 until being located on the rotation path of the stopper 300, so as to prevent the trigger assembly 200 and the rotation shaft from rotating through contact with the stopper 300; at this time, the rotating shaft, the stopper 300 and the trigger assembly 200 can synchronously rotate within the first rotation interval θ 1;
when the trigger assembly 200 rotates to the connection (i.e. 10 °) between the first rotation interval θ 1 and the second rotation interval θ 2 in the second rotation direction (the second rotation direction is opposite to the first rotation direction, e.g. clockwise) within the first rotation interval θ 1, the first trigger end 2011 of the first arc-shaped plate 201 rotates past the first stroke switch 402, so that the first arc-shaped plate 201 is completely separated from the first stroke switch 402, at this time, only the second arc-shaped plate 202 and the fourth arc-shaped plate 204 still contact the second stroke switch 403 and the fourth stroke switch 405 correspondingly, the generated control signal is also transmitted to the cylinder 109 of the first limiting assembly 100 through a control system such as a PLC, so as to drive the telescopic end 1091 of the cylinder 109 to move downward under the control of the control signal, the pressure arm 101 of the cylinder 109 rotates away from the rotation path of the trigger assembly 200, and lifts upward until leaving the rotation path of the stopper 300, the trigger assembly 200 and the rotating shaft are not hindered by the pressure arm 101 to rotate, and then enter and rotate along a second rotating direction in a second rotating interval theta 2 and a third rotating interval theta 3;
when the triggering assembly 200 rotates in the second rotation interval θ 2 to the connection point (i.e., -20 °) between the second rotation interval θ 2 and the third rotation interval θ 3 in the second rotation direction, the second triggering end 2012 of the first arc-shaped plate 201 contacts the first travel switch 402, the fourth arc-shaped plate 204 still contacts the fourth travel switch 405, and the third triggering end 2021 of the second arc-shaped plate 202 rotates past the second travel switch 403, so that the second arc-shaped plate 202 is completely separated from the second travel switch 403, and the generated control signal is transmitted to the cylinder 109 of the position limiting assembly 100 through the control system such as the PLC, the telescopic end 1091 of the cylinder 109 moves upward under the control of the control signal, and drives the pressing arm 101 of the cylinder 109 to rotate toward the rotation path of the triggering assembly 200 until the pressing arm is located on the rotation path of the stopper 300 again, so as to prevent the triggering assembly 200, the pressing arm 101, the triggering assembly 200, the pressing arm, and the stopper 300 from contacting the stopper 300, The rotating shaft rotates along a first rotating direction;
when the pressing arm 101 of the position limiting assembly 100 is located on the rotation path of the stop 200 again, and the triggering assembly 200 continues to rotate to the connection point (i.e., -40 ° position) between the third rotation interval θ 3 and the fourth rotation interval θ 4 along the second rotation direction, the first arc-shaped plate 201 contacts with the first travel switch 402, the third travel switch 404 contacts with the fourth trigger end 2031 of the third arc-shaped plate 203, and the fourth travel switch 405 contacts with the fourth arc-shaped plate 204, at this time, the generated control signal is also transmitted to the cylinder 109 of the position limiting assembly 100' through a control system such as a PLC, etc., the telescopic end 1091 of the cylinder 109 moves downward under the control of the control signal, so as to drive the pressing arm 101 of the cylinder to rotate away from the rotation path of the triggering assembly 200, and lift upward until leaving the rotation path of the stop 300, so that the triggering assembly 200 and the rotation shaft are not obstructed by the pressing arm 101, then the materials enter and rotate in a fourth rotation interval theta 4 and a fifth rotation interval theta 5;
when the trigger assembly 200 rotates in the fourth rotation interval θ 4 along the second rotation direction to the connection point (i.e. the-65 ° position) between the fourth rotation interval θ 4 and the fifth rotation interval θ 5, the first arc-shaped plate 201 still contacts with the first stroke switch 402, the third stroke switch 404 contacts with the third arc-shaped plate 203, and the fifth trigger end 2041 of the fourth arc-shaped plate 204 rotates past the fourth stroke switch 405, so that the fourth arc-shaped plate 204 is completely separated from the fourth stroke switch 405, the control signal generated thereby is also transmitted to the cylinder 109 of the position limiting assembly 100' through a control system such as a PLC, and the telescopic end 1091 of the cylinder 109 moves upward under the control of the control signal to drive the pressing arm 101 of the cylinder to rotate toward the rotation path of the trigger assembly 200 until the pressing arm is located on the rotation path of the stop block 300, so as to stop the trigger assembly 200 through contact with the stop block 300, The rotating shaft rotates in a first rotating direction.
The above process is rotated from the first rotation section θ 1 to the fifth rotation section θ 5, and similarly, if the rotation is started from the fifth rotation section θ 5, the process is reversed to rotate to the first rotation section θ 1. The contact means that one or more of the peripheral surface, the upper surface and the lower surface of the arc-shaped plate is directly touched with the travel switch, or the arc-shaped plate is not directly touched with the travel switch but can generate an induction signal such as a photoelectric induction signal when the arc-shaped plate is separated by a preset distance, and the contact has the same meaning as the contact; the separation means that one or more of the peripheral surface, the upper surface and the lower surface of the arc-shaped plate is not directly touched with any position of the travel switch, or the distance between the arc-shaped plate and the travel switch exceeds the sensing distance, so that the sensing signal cannot be generated.
Therefore, different control signal combinations can be formed by the contact/separation of different arc-shaped plates and different travel switches in the rotating process, so that the rotating angle of the rotating shaft of the robot is judged, the movement of the pressing arm of the limiting assembly is further controlled to be positioned on/away from the rotating path of the rotating shaft of the robot, and the rotating areas of the rotating shaft such as a shaft of the robot are limited/enlarged; simultaneously, above-mentioned signal combination can guarantee that the pivot rotates in order in different, continuous rotation interval, if from first rotation interval theta 1 rotate to fifth rotation interval theta 5 in order to because the arc structural feature of arc, above-mentioned rotation order can also be reversed, can rotate to first rotation interval theta 1 in order from fifth rotation interval theta 5, with this user demand who satisfies multiple operating mode.
Example 4:
the embodiment provides a robot shaft assembly comprising the rotating shaft safety limiting mechanism and a robot comprising the robot shaft assembly.
In conclusion, the invention has simple structure and reliable use, different control signal combinations can be formed by the contact/separation of different arc-shaped plates and different travel switches, so as to judge the rotation angle of the robot rotating shaft, and further control the stop block to move so as to be positioned on/away from the rotation path of the robot rotating shaft, thereby limiting the rotating areas of the rotating shafts such as a shaft of the robot and the like, and avoiding the risk of the rotation of the robot deviating from a safe area due to the failure of software control.
It should be noted that the technical features in the above embodiments 1 to 3 can be combined arbitrarily, and the combined technical solutions all belong to the scope of the present invention. And in this document, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (13)
1. The utility model provides a pivot safety stop gear which characterized in that includes:
the trigger assembly is connected with the rotating shaft, and the whole trigger assembly and the rotating shaft rotate synchronously;
the stop block is connected with the rotating shaft/trigger assembly and synchronously rotates with the rotating shaft/trigger assembly;
the limit component is electrically connected with the travel switch component;
when the trigger component rotates in one/a plurality of rotating intervals, a certain part of the trigger component contacts the travel switch component to generate a control signal, and the limit component which is closest to the stop block in the rotating direction acts under the control of the control signal to leave the rotating path of the stop block, so that the trigger component and the rotating shaft continue to rotate along the original rotating direction without being hindered by the limit component to enter the next/next rotating intervals;
when the trigger component rotates in the next/next several rotating intervals, the other part of the trigger component contacts the travel switch component to generate another control signal, the limit component which is separated from the rotating path of the stop block acts under the control of the control signal to be positioned on the rotating path of the stop block, and the trigger component and the rotating shaft are prevented from rotating along the direction opposite to the original rotating direction through the contact with the stop block.
2. The safety limit mechanism for rotating shaft according to claim 1, wherein after the limit component which has left the rotation path of the stop is located on the rotation path of the stop, the trigger component continues to rotate in the original rotation direction in the next/next several rotation intervals, and the limit component closest to the stop in the rotation direction is operated under the control of the control signal to leave the rotation path of the stop by contacting the travel switch component again through another part of the trigger component to generate another control signal, so that the trigger component and the rotating shaft rotate without being blocked by the limit component.
3. The spindle safety stop mechanism according to claim 1 or 2, wherein the stop assembly comprises: the cylinder is provided with a telescopic end and is electrically connected with the travel switch assembly; the pin shaft is arranged on the connecting support in a penetrating way; the cylinder rotating shaft is connected with the telescopic end of the cylinder; one end of the pressure arm is hinged with the air cylinder rotating shaft and can rotate by taking the air cylinder rotating shaft as a shaft; the plane of rotation of the pressure arm intersects the plane of rotation of the trigger assembly.
4. The rotary shaft safety limiting mechanism as claimed in claim 3, wherein the limiting assembly further comprises: the cylinder travel switch is arranged on the side part of the pressure arm; the collision plate is connected with the side part of the pressure arm and corresponds to the position of the cylinder travel switch; when the pressure arm moves, the collision plate triggers the air cylinder travel switch to generate a feedback signal so as to detect whether the pressure arm runs in place;
and/or, a magnetic switch connected with the cylinder; and a magnetic ring disposed inside the cylinder; when the pressure arm moves, whether the pressure arm moves in place or not is detected through an induction signal between the magnetic switch and the magnetic ring.
5. The safety limit mechanism for the rotating shaft according to claim 3, wherein when the trigger assembly rotates in the first rotation direction within the first rotation interval θ 1, a control signal generated by a certain portion of the trigger assembly contacting the travel switch assembly is transmitted to the cylinder of the limit assembly, and the telescopic end of the cylinder drives the pressure arm to rotate towards the rotation path of the trigger assembly until the pressure arm is located on the rotation path of the stop block under the control of the control signal, so as to prevent the trigger assembly and the rotating shaft from rotating through contact with the stop block;
when the trigger assembly rotates in the first rotation interval theta 1 along the second rotation direction, the other part of the trigger assembly contacts the travel switch assembly, a generated control signal is transmitted to the air cylinder of the limiting assembly, and the telescopic end of the air cylinder drives the pressure arm to rotate away from the rotation path of the trigger assembly under the control of the control signal. Until the trigger assembly and the rotating shaft leave the rotating path of the stop block, the trigger assembly and the rotating shaft are not blocked by the pressure arm and continue to rotate along the second rotating direction so as to enter a second rotating interval theta 2;
after the stop block completely enters the second rotation interval theta 2, the trigger assembly and the rotating shaft continue to rotate in the second rotation interval theta 2 along the second rotation direction, another part of the trigger assembly contacts the travel switch assembly again to generate another control signal, the telescopic end of the air cylinder drives the pressure arm to rotate towards the rotation path of the trigger assembly under the control of the control signal until the telescopic end is located on the rotation path of the stop block, and the trigger assembly and the rotating shaft are prevented from rotating along the first rotation direction through the contact with the stop block.
6. The rotary shaft safety limiting mechanism of claim 3, wherein the trigger assembly comprises: a plurality of arcs that set gradually on the direction of height, longitudinal connection between two adjacent annular plates, and each arc all has 1 at least trigger end.
7. The rotary shaft safety limit mechanism as claimed in claim 6, wherein the travel switch assembly comprises: a travel switch support; the travel switches are connected with the travel switch supports through corresponding travel switch supports, and the positions of the travel switches are different; in the rotating process, different control signals are formed by the contact/separation of different arc-shaped plates and different travel switches so as to control the limiting assembly to complete corresponding actions.
8. The safety limiting mechanism for rotating shafts according to claim 7, wherein the plurality of arc-shaped plates comprise a first arc-shaped plate, a second arc-shaped plate, a third arc-shaped plate and a fourth arc-shaped plate which are arranged in sequence from top to bottom in the height direction, the first arc-shaped plate is provided with a first triggering end and a second triggering end, the second arc-shaped plate is provided with a third triggering end, the third arc-shaped plate is provided with a fourth triggering end, and the fourth arc-shaped plate is provided with a fifth triggering end; the first trigger end, the third trigger end and the fifth trigger end point to the same direction, and the second trigger end and the fourth trigger end point to the same direction, and the directions of the first trigger end, the third trigger end and the fifth trigger end are opposite;
the travel switches comprise a first travel switch, a second travel switch, a third travel switch and a fourth travel switch;
the rotation section includes a first rotation section θ 1, a second rotation section θ 2, a third rotation section θ 3, a fourth rotation section θ 4, and a fifth rotation section θ 5.
9. The safety limiting mechanism for the rotating shaft according to claim 8, wherein when the trigger assembly rotates in the first rotation direction within the first rotation interval θ 1, the first arc-shaped plate, the second arc-shaped plate and the fourth arc-shaped plate respectively contact the first stroke switch, the second stroke switch and the fourth stroke switch, the generated control signal is transmitted to the cylinder close to one of the two adjacent limiting assemblies, and the telescopic end of the cylinder drives the pressing arm of the cylinder to rotate towards the rotation path of the trigger assembly until the cylinder is located on the rotation path of the stop block, so as to prevent the trigger assembly and the rotating shaft from rotating by contacting with the stop block;
when the trigger assembly rotates in the first rotation interval theta 1 along the second rotation direction, the first trigger end of the first arc plate rotates through the first travel switch, so that the first arc plate is completely separated from the first travel switch, at the moment, only the second arc plate and the fourth arc plate are still in corresponding contact with the second travel switch and the fourth travel switch, a generated control signal is transmitted to the air cylinder close to one of the two adjacent limiting assemblies, and the telescopic end of the air cylinder drives the pressure arm of the air cylinder to rotate away from the rotation path of the trigger assembly under the control of the control signal until the pressure arm leaves the rotation path of the stop block, so that the trigger assembly and the rotating shaft rotate without being blocked by the pressure arm;
when the trigger assembly rotates in the second rotation interval theta 2 along the second rotation direction, the second trigger end of the first arc plate contacts with the first travel switch, meanwhile, the fourth arc plate still contacts with the fourth travel switch, and the third trigger end of the second arc plate rotates through the second travel switch, so that the second arc plate is completely separated from the second travel switch, the generated control signal is transmitted to the cylinder close to one of the two adjacent limiting assemblies, and the telescopic end of the cylinder drives the pressure arm of the cylinder to rotate towards the rotation path of the trigger assembly under the control of the control signal until the cylinder is located on the rotation path of the stop block again, so that the trigger assembly and the rotating shaft are prevented from rotating in the first rotation direction through the contact with the stop block.
10. The safety limiting mechanism for rotating shaft according to claim 9, wherein when the pressing arm of one of the two adjacent limiting assemblies close to the travel switch assembly is located on the rotation path of the stop again and the trigger assembly continues to rotate along the second rotation direction, the first arc-shaped plate contacts with the first travel switch, the third travel switch contacts with the fourth trigger end of the third arc-shaped plate and the fourth travel switch contacts with the fourth arc-shaped plate, the generated control signal is transmitted to the cylinder of one of the two adjacent limiting assemblies far from the travel switch assembly, and the telescopic end of the cylinder drives the pressing arm of the cylinder to rotate far from the rotation path of the trigger assembly under the control of the control signal until the telescopic end of the cylinder leaves the rotation path of the stop, so that the trigger assembly and the rotating shaft rotate without being hindered by the pressing arm;
when the trigger assembly rotates in the second rotation direction within a fourth rotation interval theta 4, the first arc-shaped plate still contacts with the first travel switch, the third travel switch contacts with the third arc-shaped plate, and the fifth trigger end of the fourth arc-shaped plate rotates past the fourth travel switch, so that the fourth arc-shaped plate is completely separated from the fourth travel switch, the generated control signal is transmitted to the cylinder far away from one of the two adjacent limiting assemblies, and the telescopic end of the cylinder drives the pressure arm of the cylinder to rotate towards the rotation path of the trigger assembly under the control of the control signal until the cylinder is located on the rotation path of the stop block, so that the trigger assembly and the rotating shaft are prevented from rotating in the first rotation direction through the contact with the stop block.
11. The rotary shaft safety limiting mechanism as claimed in claim 10, wherein the angle range of θ 1 of 10 ° < the first rotation interval θ 1 is not more than 110 °, -20 ° < the second rotation interval θ 2 is not more than 10 °, -40 ° < the third rotation interval θ 3 is not more than-20 °, -65 ° < the fourth rotation interval θ 4 is not more than-40 °, -90 ° < the fifth rotation interval θ 5 is not more than-65 ° with the 0 ° position of the rotary shaft as the starting point.
12. A robot-axle assembly comprising the rotating shaft safety limiting mechanism of any one of claims 1-11.
13. A robot comprising a robot-axle assembly of claim 12.
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| CN202010663988 | 2020-07-10 | ||
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| WO2000046000A2 (en) * | 1999-02-05 | 2000-08-10 | Pedro Gregorio | Hand controller |
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