CN112123377B - Device and method for quickly switching safety fence of robot workstation - Google Patents

Abstract

The invention discloses a device and a method for quickly switching safety fences of a robot workstation, and relates to the field of robot welding automation, wherein the safety fences comprise fixed fences and folding fences; the folding fence can be unfolded or folded; and a proximity switch signal is also arranged on the folding fence, and the robot control system detects the proximity switch signal of the folding fence and controls the connection state of the safety circuit of the robot. By implementing the invention, the requirements of the tool fixtures with different sizes on space can be met by changing the state of the folding fence arranged at the feeding port, the flexibility of the system is improved, and the safety of the system is ensured.

Description

Device and method for quickly switching safety fence of robot workstation

Technical Field

The invention relates to the technical field of robot welding automation, in particular to a device and a method for quickly switching safety fences of a robot workstation.

Background

The robot industry has been vigorously developed and applied in recent years with national promotion and support. With the accelerated industrial modernization process, robotics has also been developed and applied at a rapid pace. The desire to change the mouth number of the robot for the worker is also called, and the method has very important significance for improving the safety guarantee usability level of the robot and improving the utilization rate of the robot in a working area. As the degree of freedom of the robot is much larger than that of other common machines, the working parts of the robot can move in a large space area, the robot has high-speed moving arms and a complex working environment, a robot working system is required to be equipped with corresponding safety auxiliary equipment, and a safety fence is one of safety auxiliary facilities.

Prior art security fences are typically sized and fixedly mounted to the ground. When the size or the structure of the tool clamp is changed, the original size of the fence cannot meet the requirements of a new safety area, so that potential safety hazards are caused. The fence can only be replaced again, so that economic loss is caused, and meanwhile, the production efficiency is also reduced.

Therefore, those skilled in the art are dedicated to develop a device and a method for rapidly switching safety fences of a robotic workstation, which can improve the safety of the system and the flexibility of the system.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the technical problems to be solved by the present invention are: how to realize that the rail size meets the requirement of a new safety area after the size or the structure of the tool clamp is changed.

In order to achieve the purpose, the invention provides a rapid switching device for a safety fence of a robot workstation.

Furthermore, the folding fence is arranged at a feeding port of the workstation and symmetrically arranged.

Further, the opening width of the feeding port is determined according to the size of the clamp.

Further, the folding pen may be unfolded or folded.

Further, the folding rails are connected by hinges.

Further, the folding fences are arranged in multiple stages, and the multiple stages of the folding fences are connected in series through hinges.

Further, the multiple stages of the folding fences can be unfolded or folded independently of each other.

Further, a proximity switch is installed at a hinge of the folding fence, and when the folding fence is in a folded state, the proximity switch is detected to be turned on; the proximity switch detects "off" when the foldable enclosure is in the deployed state.

Furthermore, a safety loop is further arranged and is in communication connection with the proximity switch.

Further, the invention also provides a method for quickly switching and installing the safety fence of the robot workstation, which comprises the following steps:

firstly, a robot is positioned at an operation origin;

step two, installing the clamp in place, adjusting the folding fence to be in an unfolded or folded state, and setting a corresponding proximity switch signal according to the size of the clamp;

step three, the robot control system detects a proximity switch signal of the folding fence, compares whether the input proximity switch signal is consistent with the detected proximity switch signal, if so, the folding fence is in a correct position, the robot safety loop is switched on, and the step four is carried out; if the positions of the folded fences are inconsistent, the position of the folded fence is wrong, the robot safety loop is disconnected, an alarm prompt is sent out, and the step two is returned;

and step four, the robot carries out a work task on the clamp, and the operation is finished and the operation origin is returned.

Compared with the prior art, the invention at least has the following beneficial technical effects:

according to the device and the method for quickly switching the safety fence of the robot workstation, when the tool clamp is replaced, the state of the folding fence arranged at the feeding port is changed, so that the tool clamps with different sizes are met. The size of the feeding port is expandable, the feeding port is compatible with clamps with various sizes, and the flexibility of the system is improved; and the safety loop signal of the robot workstation is connected together through a proximity switch signal arranged on the folding fence, so that the system safety is guaranteed.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

Drawings

FIG. 1 is a top plan view of a robotic workstation of the present invention;

FIG. 2 is a schematic view of the present invention using a large size jig;

FIG. 3 is a schematic view of the present invention using a small size jig;

wherein: 1-a robotic workstation; 2-fixing the fence; 3, clamping; 4-feeding port; 5-folding the fence; 6-a hinge; 7-proximity switch.

Detailed Description

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings for clarity and understanding of technical contents. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.

In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.

Example 1

As shown in fig. 1, in the present embodiment, the safety fence of the robot workstation 1 is composed of a fixed fence 2 and a folding fence 5. Wherein the folding rail 5 is arranged at the feeding opening 4 of the workstation and is symmetrically arranged. The opening width of the feeding port 4 is determined according to the size of the jig 3, and is the maximum size of the jig 3 +200 mm.

The folding rail 5 is connected by a hinge 6 and can be folded. According to the size of anchor clamps 3 of robot workstation 1, through expanding or folding rail 5 to change the opening width of material loading mouth 4, satisfy not unidimensional anchor clamps 3, realize the fast switch-over of anchor clamps 3. When the size of the clamp 3 is reduced, the folding fence 5 is unfolded; when the size of the clip 3 is increased, the folding rail 5 is folded. The two symmetrical folding fences 5 can be unfolded or folded independently of each other.

The hinges 6 of the folding fences 5 can be connected in series at multiple stages, so that the series connection of a plurality of folding fences 5 is realized.

A proximity switch 7 is mounted at the hinge 6 of each folding rail 5. When the folding fence 5 is in the folded state, the proximity switch 7 is detected as "on"; when the folding fence 5 is in the unfolded state, the proximity switch 7 is detected as off;

the proximity switch 7 signal is connected with the safety loop signal.

When the clip 3 is small in size, the corresponding folding rail 5 should be in an unfolded state. The controller of the robotic workstation 1 reads the signal corresponding to the proximity switch 7 of the folding fence 5 according to the set number of the clamps 3. When the signal of the proximity switch 7 is read to be 'on', the corresponding folding fence 5 is not unfolded, the safety loop of the robot workstation 1 cannot be connected, and the robot workstation 1 cannot work, so that the safety of the system is guaranteed.

Example 2

As shown in fig. 2 to 3, the present embodiment provides a method for fast installing and uninstalling a security fence; in one form of the robotic workstation 1, a loading port 4 is provided. The clamp 3 on the feeding port 4 can be switched into two specifications according to requirements.

The using process is as follows:

as shown in fig. 2, the charging port uses a large-sized jig 3;

firstly, a robot is positioned at an operation origin (safety position);

step two, the clamp 3 is installed in place, the folding fence 5 is in a folding state, and the corresponding proximity switch signal is 'on';

step three, the control system of the robot workstation 1 detects a signal of a proximity switch 7 of the folding fence 5, when the signal is 'on', the position of the folding fence 5 is correct, the robot safety loop is switched on, the system is started, and the robot can normally act; when the signal is 'off', the position of the folding fence 5 is wrong, the safety circuit of the robot is disconnected, the robot sends out an alarm prompt, the safety circuit of the robot is connected and the alarm is reset until the position of the folding fence is set correctly, and the system returns to normal;

and step four, the robot carries out a work task on the clamp 3, and the operation is finished and the operation origin is returned.

As shown in fig. 3, the loading port uses a small-sized jig 3;

firstly, a robot is positioned at an operation origin (safety position);

step two, the clamp 3 is installed in place, the folding fence 5 is in an unfolded state, and the corresponding proximity switch signal 7 is off;

step three, the control system of the robot workstation 1 detects a signal of a proximity switch 7 of the folding fence 5, when the signal is off, the position of the folding fence 5 is correct, a robot safety loop is switched on, the system is started, and the robot can normally act; when the signal is 'on', the position of the folding fence 5 is wrong, the safety circuit of the robot is disconnected, the robot sends out an alarm prompt, the safety circuit of the robot is connected and the alarm is reset until the position of the folding fence 5 is set correctly, and the system returns to normal;

and step four, the robot carries out a work task on the clamp 3.

Compared with the prior art, the invention provides the device and the method for quickly switching the safety fence of the robot workstation, the tool fixtures with different sizes are met by changing the state of the folding fence arranged at the feeding hole, and the device and the method are connected with the safety loop signal of the robot workstation by detecting the proximity switch signal, so that the system safety is ensured, and the working efficiency is high.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (6)

1. A robot workstation security fence fast switching device is characterized in that the security fence consists of a fixed fence and a folding fence;

the folding fence can be unfolded or folded;

the folding fences are connected through hinges;

a proximity switch is installed at a hinge of the folding fence, and when the folding fence is in a folding state, the proximity switch is detected to be turned on; when the foldable enclosure is in the unfolded state, the proximity switch detects "off";

and a safety loop is also arranged and is in communication connection with the proximity switch.

2. The apparatus of claim 1, wherein the folding rails are mounted at a loading port of the workstation, the folding rails being symmetrically mounted.

3. The apparatus of claim 2, wherein the opening width of the loading port is determined according to the size of the jig.

4. The apparatus of claim 1, wherein said folding pens are arranged in multiple stages, said stages being connected in series by hinges.

5. The apparatus of claim 4, wherein said plurality of stages of said foldable enclosure are independently deployable or foldable.

6. A method for rapid switching of a robotic workstation security fence rapid switching apparatus as claimed in any of claims 1 to 5 comprising the steps of:

firstly, a robot is positioned at an operation origin;

step two, installing the clamp in place, adjusting the folding fence to be in an unfolded or folded state, and setting the corresponding proximity switch signal according to the size of the clamp;

step three, the robot control system detects the proximity switch signal of the folding fence, compares whether the input proximity switch signal is consistent with the detected proximity switch signal, if so, the folding fence is in a correct position, the safety circuit of the robot is switched on, and the step four is carried out; if the positions of the folding fences are inconsistent, the position of the folding fence is wrong, the safety circuit of the robot is disconnected, an alarm prompt is sent out, and the step two is returned;

and step four, the robot carries out a work task on the clamp, and the operation is finished and the operation origin is returned.

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