CN113734616A - Safety protection device for industrial robot operation and protection method thereof - Google Patents

Abstract

The invention relates to a safety protection device for industrial robot operation and a protection method thereof, relating to the field of industrial robots. Through setting up protective housing, main buffering protective part, supplementary partial pressure part and the protection inner shell of laminating on the arm outer wall, can receive directional or non-directional external force when strikeing in the arm outside, carry out step buffering partial pressure to directional or non-directional external force, reduce the arm outer wall, the impacter takes place to damage and the workman causes the probability of damage, set up simultaneously with buffering power consumption part and with main buffer part articulated removal adjustment part, can go on further step buffering partial pressure to directional or non-directional external force, thereby avoid the arm outer wall, the impacter takes place to damage and the workman causes the damage, protect industrial robot's normal operating, reduce the potential safety hazard.

Description

Safety protection device for industrial robot operation and protection method thereof

Technical Field

The invention relates to the field of industrial robots, in particular to a safety protection device for industrial robot operation and a protection method thereof.

Background

Industrial robots are multi-joint manipulators widely used in the industrial field or multi-degree-of-freedom machine devices, have a certain degree of automation, can realize various industrial processing and manufacturing functions depending on their own power energy and control capability, and can be classified into semi-mobile robots (robots are integrally fixed at a certain position and only part of the robots can move, such as manipulators) and mobile robots according to their mobility, which are widely used in stacking, welding, assembling, detecting, cleaning, and the like.

At present, the movable part of an industrial robot is mainly composed of mechanical arms, which generally move according to a predetermined track, but the mechanical arms usually lack a safety protection device, once other equipment or foreign matters are placed around the mechanical arms due to negligence, the mechanical arms and the equipment or the foreign matters can generate non-directional collision, so that the damage of the mechanical arms is caused, and the normal operation of the industrial robot is influenced; meanwhile, when workers exist in the operation range of the mechanical arm, the safety of the workers can be influenced, and certain potential safety hazards exist.

Disclosure of Invention

The purpose of the invention is as follows: the safety protection device for the industrial robot operation and the protection method thereof are provided, and the buffer energy consumption component, the movable adjusting component and the main buffer protection component hinged with the movable adjusting component are arranged to cooperate with the protective outer shell, the protective inner shell, the auxiliary buffer protection component and the auxiliary pressure division component to buffer and divide pressure on external force, so that the problems in the prior art are solved.

The technical scheme is as follows: a safety protection device for industrial robot operation comprises a plurality of protection inner shells attached to the outer wall of a mechanical arm and a protection outer shell arranged on the outer side of the protection inner shells, wherein a plurality of moving grooves are formed in one surfaces, close to the protection outer shell, of the protection inner shells, and moving adjusting parts are arranged in the moving grooves;

the main buffering protection component is connected between the protection shell and the movable adjusting component and comprises a pair of main elastic buffering outer columns for active buffering, a main elastic buffering inner column is arranged between the pair of main elastic buffering outer columns in a sliding mode, and a main buffering spring is arranged on the outer side of the main elastic buffering inner column;

and the two groups of buffering energy consumption components are symmetrically arranged on two sides of the main buffering protection component and are used for matching with the movable adjusting component to perform buffering energy consumption.

In further embodiment, remove adjusting part including sliding the buffering slider of locating the shifting chute in, it is a pair of the one end that main elastic buffering outer prop kept away from each other is articulated with buffering slider and protective housing respectively, and a pair of main elastic buffering outer prop is fixed mutually through main elastic buffering inner prop, and a pair of main elastic buffering outer prop is all through articulated setting for protective housing can drive main elastic buffering inner prop and a pair of main elastic buffering outer prop and rotate when receiving non-directional exogenic action, cooperates the elasticity setting of main elastic buffering inner prop and a pair of main elastic buffering outer prop simultaneously, can cushion the partial pressure to the uncertain exogenic force in the equidirectional not.

In a further embodiment, all be connected with first partial pressure spring between buffering slider both ends and the shifting chute inner wall, first partial pressure spring inboard is equipped with the elasticity traveller, it has the slide opening with elasticity traveller looks adaptation to open on the buffering slider, the buffering slider passes through slide opening and elasticity traveller sliding connection, buffering slider and shifting chute looks adaptation, and elasticity traveller both ends all are with shifting chute inner wall fixed connection, and the diameter of elasticity traveller slightly is greater than the directness of slide opening, can form certain hindrance when the buffering slider slides to cushion partial pressure to impact external force in the energy storage power consumption's in-process.

In a further embodiment, the energy-dissipating buffer member comprises an energy-dissipating guide post, a plurality of energy-dissipating lugs are connected to an outer wall of the energy-dissipating guide post, two first energy dissipation grooves matched with the energy dissipation guide columns are symmetrically arranged on the buffer sliding block, a plurality of second energy consumption grooves matched with the energy consumption convex blocks are drilled on the inner wall of the first energy consumption groove, a pair of elastic shifting plates are connected on the inner wall of the first energy consumption groove, the distance between the pair of elastic shifting plates is smaller than the diameter of the energy consumption guide post, the pair of elastic shifting plates can be arranged to elastically clamp and fix the upper part of the energy consumption guide post after the energy consumption guide post is clamped into the first energy consumption groove, thereby increasing the friction moving difficulty to consume energy when the buffer slide block moves by matching with the second energy consumption groove and the energy consumption lug, thereby cooperate the main buffering protective part to cushion partial pressure to external force, avoid external force to cause the damage to the arm.

In further embodiment, power consumption guide post both ends symmetric connection has two elastic buffer piece, two be equipped with the fixing clip strip on the elastic buffer piece, protective housing goes up to dig the draw-in groove that has a pair of and fixing clip strip looks adaptation, the fixing clip strip slides and locates in the draw-in groove, fixing clip strip and two all be connected with supplementary buffering protective part between the elastic buffer piece, when first partial pressure spring compresses the predetermined value, can make buffering slider and elastic buffer piece bump, the elasticity setting of elastic buffer piece can avoid elastic buffer piece to bump many times and cause the damage on the one hand, protects the normal use of relevant parts such as elastic buffer piece, and on the other hand can cooperate and remove adjusting part and main buffering protective part and cushion partial pressure to external force.

In a further embodiment, the auxiliary buffering protection component comprises a pair of auxiliary elastic buffering outer columns, one end of each pair of auxiliary elastic buffering outer columns, which is far away from each other, is hinged to the elastic buffering block and the fixing clamping strip respectively, an auxiliary elastic buffering inner column is arranged between the pair of auxiliary elastic buffering outer columns in a sliding manner, an auxiliary buffering spring is arranged on the outer side of each auxiliary elastic buffering inner column, when the pair of main elastic buffering outer columns drive the main elastic buffering inner column to move and deform the main buffering spring due to directional vertical external force, the pair of auxiliary elastic buffering outer columns can be driven to drive the auxiliary elastic buffering inner column to move and deform the auxiliary buffering spring, so as to cooperate with each other to buffer and divide pressure to external force, when the pair of main elastic buffering outer columns rotate due to non-directional external force, the pair of auxiliary elastic buffering outer columns can rotate along with the main elastic buffering outer columns, the post slides and supplementary buffer spring takes place deformation between a pair of supplementary elastic buffering outer post in the cooperation, can cooperate main elastic buffering outer post, main elastic buffering inner post and main buffer spring to the indefinite partial pressure that cushions to the external force.

In a further embodiment, a locking plate is arranged on the outer side of the protective shell, the locking plate is connected with the buffering energy-consuming component, a handle is connected to the outer wall of the locking plate, a buffering anti-skid pad is fixedly connected to the handle, a plurality of locking holes are correspondingly formed in the locking plate and the protective shell, locking nails are connected to the locking holes in a threaded manner, the friction coefficient between the energy-consuming lug and the buffering sliding block is within a preset range, when the surface damping of the energy-consuming guide column is reduced due to multiple friction between the energy-consuming lug and the buffering sliding block, the buffering energy-consuming component and the auxiliary buffering protective component can be pulled out from the position between the protective inner shell and the protective shell through the handle, a user can replace the relevant components such as the energy-consuming guide column, the locking plate is fixedly connected with a pair of fixing clamping strips, and the buffering energy-consuming component and the auxiliary buffering protective component can be fixed between the protective inner shell and the protective shell through the locking plate, the locking holes and the locking nails, therefore, the buffer pressure is buffered and divided by the movable adjusting component, the main buffer protection component, the auxiliary buffer protection component and other related components.

In a further embodiment, be connected with the supplementary partial pressure part of multiunit between protection inner shell and the protective housing, supplementary partial pressure part includes one end and protection inner shell outer wall fixed connection's second partial pressure spring, fixedly connected with elasticity divides the clamp plate on the second partial pressure spring, second partial pressure spring inboard is equipped with the elasticity and divides the compression leg, can cooperate and remove relevant parts such as adjusting part, main buffering protective part, buffering power consumption part and supplementary buffering protective part to cushion the partial pressure to external force, when the protective housing receives non-directional external force to make a pair of main elasticity buffering outer prop and a pair of supplementary elasticity buffering outer prop take place to rotate simultaneously, can avoid main elasticity buffering outer prop and supplementary elasticity buffering outer prop turned angle to cause the damage excessively, the buffering protection to the arm is influenced.

In further embodiment, protection inner shell both ends are all pegged graft and are had inner shell joint piece, inner shell joint piece both ends all open the chisel have with the slot of protection inner shell looks adaptation, it is a plurality of the protection inner shell is fixed mutually through a plurality of inner shell joint pieces, all connect through an inner shell joint piece between every two adjacent protection inner shells, can make a plurality of protection inner shells laminate on the arm outer wall, convenient to use person dismantles a plurality of protection inner shells simultaneously, can be convenient for protect inner shell and arm and dismantle the change to relevant part.

A protection method of a safety protection device for industrial robot operation comprises the following steps:

s1, when the protective shell is impacted by external force which is vertical to the direction, the external force acts on the protective shell to drive the main elastic buffering inner columns to slide in the pair of main elastic buffering outer columns, so that the main buffering spring deforms;

s2, simultaneously, the auxiliary elastic buffer inner columns slide in the pair of auxiliary elastic buffer outer columns to enable the auxiliary buffer springs to deform, and then the elastic pressure dividing plates drive the second pressure dividing springs to deform;

s3, when the protective shell is impacted by a non-directional external force, the external force acts on the protective shell to drive the pair of main elastic buffer outer columns to rotate, and the buffer sliding block is pushed to slide on the elastic sliding columns;

s4, driving the main elastic buffer inner column to move in the pair of main elastic buffer outer columns, so that the main elastic buffer inner column and the first pressure dividing spring deform;

s5, rotating the pair of auxiliary elastic buffer outer columns to drive the auxiliary elastic buffer inner columns to move in the pair of auxiliary elastic buffer outer columns, so that the auxiliary buffer springs deform;

and S6, when the buffer slide block moves on the elastic slide column, the side wall of the first energy consumption groove and the energy consumption lug move relatively, so that the external force is buffered and divided.

Has the advantages that: the invention relates to a safety protection device for industrial robot operation and a protection method thereof, which can perform step buffer partial pressure on directional or non-directional external force when the external side of a mechanical arm is impacted by the directional or non-directional external force by arranging a protection outer shell, a main buffer protection part, an auxiliary partial pressure part and a protection inner shell attached to the external wall of the mechanical arm, so as to reduce the probability of damage to the external wall of the mechanical arm and an impact object and damage to workers, and can perform further step buffer partial pressure on the directional or non-directional external force by arranging a buffer energy consumption part and a movable adjusting part hinged with the main buffer part, thereby avoiding the damage to the external wall of the mechanical arm and the impact object and the damage to the workers, protecting the normal operation of the industrial robot, and reducing potential safety hazards.

Drawings

Fig. 1 is a top view of the overall structure of the present invention.

Fig. 2 is a partially enlarged view of a portion a in fig. 1.

Fig. 3 is a partially enlarged view of B in fig. 1.

Fig. 4 is a perspective view of a part of the structure of the present invention.

Fig. 5 is an exploded view of a part of the structure of the present invention.

Fig. 6 is a partially enlarged view of C in fig. 5.

Fig. 7 is a perspective view of the cushion slide of the present invention.

The figures are numbered: 1. inner shell clamping block, 2 protective inner shell, 3 protective outer shell, 4 mobile adjusting component, 401 buffer slide block, 402 first partial pressure spring, 403 elastic slide column, 404 slide hole, 405 first energy consumption groove, 406 second energy consumption groove, 407 elastic shifting plate, 5 main buffer protective component, 501 main elastic buffer outer column, 502 main elastic buffer inner column, 503 main buffer spring, 6 buffer energy consumption component, 601. the energy-consumption guide column comprises an energy-consumption guide column 602, an energy-consumption bump 603, an elastic buffer block 604, a fixing clamping strip 7, an auxiliary buffer protection component 701, an auxiliary elastic buffer outer column 702, an auxiliary elastic buffer inner column 703, an auxiliary buffer spring 8, a locking plate 801, a locking hole 9, a locking nail 10, a handle 11, an auxiliary pressure-dividing component 1101, a second pressure-dividing spring 1102, an elastic pressure-dividing plate 1103 and an elastic pressure-dividing column.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

The invention discloses a safety protection device for industrial robot operation and a protection method thereof, as shown in figures 1-7. Wherein, a safety device for industrial robot operation includes a plurality of protection inner shells 2, protecting sheathing 3, removal adjusting part 4, main buffering protective part 5 and the energy dissipation of buffering part 6 of laminating mutually with the arm outer wall.

Wherein, the two ends of the protective inner shell 2 are inserted with the inner shell clamping blocks 1, the two ends of the inner shell clamping blocks 1 are both provided with slots matched with the protective inner shell 2, a plurality of protective inner shells 2 are fixed by a plurality of inner shell clamping blocks 1, each two adjacent protective inner shells 2 are connected by one inner shell clamping block 1, so that a plurality of protective inner shells 2 can be attached on the outer wall of the mechanical arm, meanwhile, the user can conveniently disassemble the plurality of protective inner shells 2, the protective inner shells 2 and the mechanical arm can be conveniently disassembled, and the relevant parts can be conveniently disassembled and replaced, preferably, four protective inner shells 2 are arranged and respectively correspond to four outer walls of the mechanical arm, the protective outer shell 3 is arranged corresponding to the protective inner shells 2, the protective outer shell 3 is arranged at the outer sides of the protective inner shells 2, when external force is applied to the outer side of the mechanical arm, the external force acts on the protective outer shell 3 firstly, and can cooperate with the protective inner shell 2 to form primary protection for the inner shell clamping block 1.

As shown in fig. 4, a plurality of moving grooves are formed in one surface of the protective inner shell 2, which is close to the protective outer shell 3, a moving adjusting part 4 is arranged in the moving grooves, a main buffering protecting part 5 is hinged between the protective outer shell 3 and the moving adjusting part 4, the main buffering protecting part 5 comprises a pair of main elastic buffering outer columns 501 used for active buffering, a main elastic buffering inner column 502 is arranged between the pair of main elastic buffering outer columns 501 in a sliding manner, and a main buffering spring 503 is arranged outside the main elastic buffering inner column 502.

Wherein, the movable adjusting part 4 comprises a buffer slide block 401 arranged in the movable groove in a sliding way, one end of a pair of main elastic buffer outer columns 501 far away from each other is respectively hinged with the buffer slide block 401 and the protective casing 3, the pair of main elastic buffer outer columns 501 are fixed through the main elastic buffer inner columns 502, the pair of main elastic buffer outer columns 501 are arranged through hinging, so that the protective casing 3 can drive the main elastic buffer inner columns 502 and the pair of main elastic buffer outer columns 501 to rotate when being acted by non-directional external force, and simultaneously the main elastic buffer inner columns 502 and the pair of main elastic buffer outer columns 501 are matched with the elastic arrangement to buffer and divide pressure of the non-directional external force in different directions, when the protective casing 3 is impacted by the non-directional external force, the external force acts on the protective casing 3 to drive the pair of main elastic buffer outer columns 501 to rotate between the protective casing 3 and the movable adjusting part 4, and the buffer sliding block 401 is pushed to slide on the elastic sliding column 403, and then the main elastic buffer inner column 502 is driven to move in the pair of main elastic buffer outer columns 501, so that the main elastic buffer inner column 502 and the first partial pressure spring 402 are deformed, buffer partial pressure is performed on the uncertain external force, and damage to the mechanical arm caused by the uncertain external force is avoided.

As shown in fig. 5-6, a first partial pressure spring 402 is connected between both ends of the buffer slider 401 and the inner wall of the moving slot, an elastic sliding pillar 403 is disposed inside the first partial pressure spring 402, a sliding hole 404 matched with the elastic sliding pillar 403 is drilled on the buffer slider 401, the buffer slider 401 is slidably connected with the elastic sliding pillar 403 through the sliding hole 404, the buffer slider 401 is matched with the moving slot, both ends of the elastic sliding pillar 403 are fixedly connected with the inner wall of the moving slot, and the diameter of the elastic sliding pillar 403 is slightly larger than the diameter of the sliding hole 404, so that a certain obstruction can be formed when the buffer slider 401 slides, thereby buffering and partial pressure of impact external force during energy storage and consumption.

Wherein, two first partial pressure springs 402 are extension spring and compression spring respectively, the elastic coefficient homogeneous phase of main buffer spring 503 and two first partial pressure springs 402 is different simultaneously, it makes main buffer spring 503 take place deformation to drive main elastic buffer inner prop 502 removal when a pair of main elastic buffer outer prop 501, or when a pair of main elastic buffer outer prop 501 promoted buffering slider 401 and slided on elasticity traveller 403, can drive two first partial pressure springs 402 respectively and take place deformation, because the elastic coefficient of main buffer spring 503 and two first partial pressure springs 402 is different, can form the step shock attenuation, can carry out step buffering partial pressure to external force, avoid the arm to cause the damage.

As shown in fig. 6-7, two sets of energy-consuming buffer components 6 are symmetrically disposed on two sides of the main energy-consuming buffer component 5, and are used for performing energy-consuming buffer in cooperation with the movable adjusting component 4.

The buffering energy consumption component 6 comprises an energy consumption guide column 601, a plurality of energy consumption lugs 602 are connected to the outer wall of the energy consumption guide column 601, two first energy consumption grooves 405 matched with the energy consumption guide column 601 are symmetrically drilled on the buffering sliding block 401, and a plurality of second energy consumption grooves 406 matched with the energy consumption lugs 602 are drilled on the inner wall of the first energy consumption grooves 405.

In addition, the inner wall of the first energy consumption groove 405 is connected with a pair of elastic shifting plates 407, the distance between the pair of elastic shifting plates 407 is smaller than the diameter of the energy consumption guide post 601, the pair of elastic shifting plates 407 can be arranged to clamp and fix the upper part of the energy consumption guide post 601 after the energy consumption guide post 601 is clamped into the first energy consumption groove 405, so that the friction movement difficulty is increased to consume energy when the second energy consumption groove 406 and the energy consumption bump 602 are matched to move the buffer sliding block 401, the main buffer protection component 5 is matched to buffer and divide external force, and the mechanical arm is prevented from being damaged by the external force.

As shown in fig. 4-5, two ends of the energy dissipation guide column 601 are symmetrically connected with two elastic buffer blocks 603, two elastic buffer blocks 603 are provided with a fixing clip strip 604, the protective housing 3 is provided with a pair of slots adapted to the fixing clip strip 604, the fixing clip strip 604 is slidably disposed in the slots, an auxiliary buffer protection component 7 is connected between the fixing clip strip 604 and the two elastic buffer blocks 603, when the first pressure dividing spring 402 is compressed to a predetermined value, the buffer slider 401 and the elastic buffer blocks 603 collide with each other, the elastic buffer blocks 603 are elastically disposed, on one hand, damage caused by multiple collisions of the elastic buffer blocks 603 can be avoided, normal use of relevant components such as the elastic buffer blocks 603 is protected, and on the other hand, external force can be buffered and divided by matching with the movable adjustment component 4 and the main buffer protection component 5.

Wherein, the auxiliary buffering protection component 7 includes a pair of auxiliary elastic buffering outer columns 701, one end of the pair of auxiliary elastic buffering outer columns 701 away from each other is hinged with the elastic buffering block 603 and the fixing clip strip 604 respectively, an auxiliary elastic buffering inner column 702 is slidably disposed between the pair of auxiliary elastic buffering outer columns 701, an auxiliary buffering spring 703 is disposed outside the auxiliary elastic buffering inner column 702, when the pair of main elastic buffering outer columns 501 drives the main elastic buffering inner column 502 to move and deform the main buffering spring 503 due to a directional vertical external force, the pair of auxiliary elastic buffering outer columns 701 can be driven to drive the auxiliary elastic buffering inner column 702 to move and deform the auxiliary buffering spring 703, so as to cooperate with each other to buffer and divide the external force, when the pair of main elastic buffering outer columns 501 rotates due to a non-directional external force, the pair of auxiliary elastic buffering outer columns 701 can rotate along with the main elastic buffering inner column 502, the auxiliary elastic buffer inner column 702 slides between the pair of auxiliary elastic buffer outer columns 701 and the auxiliary buffer spring 703 deforms, so that the main elastic buffer outer column 501, the main elastic buffer inner column 502 and the main buffer spring 503 can be matched to buffer and divide pressure for non-directional external force.

As shown in fig. 1-5, a locking plate 8 is arranged on the outer side of the protective shell 3, the locking plate 8 is connected with the buffering energy consumption component 6, a handle 10 is connected to the outer wall of the locking plate 8, a buffering anti-slip pad is fixedly connected to the handle 10, the buffering anti-slip pad can be conveniently pulled out of the locking plate 8 by the handle 10, the comfort and the anti-slip degree are improved, meanwhile, the handle 10 can be protected when an external force is applied to the handle 10, damage to the handle 10 is avoided, an impact object and an impacted object are protected at the same time, a plurality of locking holes 801 are correspondingly formed in the locking plate 8 and the protective shell 3, and locking nails 9 are connected to the locking holes 801 in a threaded manner.

Wherein, the friction coefficient between the energy consumption lug 602 and the buffer sliding block 401 is in a predetermined range, when the energy consumption lug 602 and the buffer sliding block 401 rub for a plurality of times to reduce the surface damping of the energy consumption guide column 601, the energy-consuming buffer component 6 and the auxiliary energy-consuming buffer protection component 7 can be pulled out from between the inner protective shell 2 and the outer protective shell 3 through the handle 10, so that a user can replace related components such as the energy-consuming guide column 601, the locking plate 8 is fixedly connected with the pair of fixing clamping strips 604, the buffering energy consumption component 6 and the auxiliary buffering protection component 7 can be fixed between the protection inner shell 2 and the protection outer shell 3 through the locking plate 8, the locking hole 801 and the locking nail 9, meanwhile, the energy consumption guide post 601 is tightly attached to the first energy consumption groove 405, the difficulty of the buffer sliding block 401 in sliding is improved, thereby improving the buffering partial pressure to the external force by matching with the relevant components such as the movable adjusting component 4, the main buffering protective component 5, the auxiliary buffering protective component 7 and the like.

As shown in fig. 1-2, a plurality of groups of auxiliary pressure dividing components 11 are connected between the inner protective shell 2 and the outer protective shell 3, the plurality of groups of auxiliary pressure dividing components 11 are irregularly arranged between the inner protective shell 2 and the outer protective shell 3, and when the outer protective shell 3 is impacted to be close to the inner protective shell 2, the outer protective shell 3 is buffered and supported by the second pressure dividing spring 1101, the elastic pressure dividing column 1103 and the elastic pressure dividing plate 1102, so that the inner protective shell 2 and the outer protective shell 3 are prevented from being impacted or dislocated.

The auxiliary pressure dividing component 11 comprises a second pressure dividing spring 1101 with one end fixedly connected with the outer wall of the protective inner shell 2, an elastic pressure dividing plate 1102 is fixedly connected on the second pressure dividing spring 1101, an elastic pressure dividing column 1103 is arranged on the inner side of the second pressure dividing spring 1101, and can cooperate with the movable adjusting component 4, the main buffering protecting component 5, the buffering energy consumption component 6, the auxiliary buffering protecting component 7 and other related components to buffer and divide pressure to external force, meanwhile, when the protective outer shell 3 is subjected to the uncertain external force to enable the pair of main elastic buffering outer columns 501 and the pair of auxiliary elastic buffering outer columns 701 to rotate, the damage caused by the overlarge rotation angle of the main elastic buffering outer columns 501 and the auxiliary elastic buffering outer columns 701 can be avoided, the buffering protection to the mechanical arm is affected, in addition, the elastic coefficients of the second pressure dividing spring 1101, the auxiliary buffering spring 703, the main buffering spring 503 and the first pressure dividing spring 402 are all different, and can be mutually matched to form an elastic damping array in the buffering process, simultaneously to the different positions that protective housing 3 received when the impact to each position carry out shock attenuation protection respectively, avoid the arm to take place to damage.

Wherein, when protective housing 3 receives directional vertically external force to assault, the exogenic action drives main elastic buffer inner column 502 and slides in a pair of main elastic buffer outer column 501 on protective housing 3, make main buffer spring 503 take place deformation, and simultaneously, supplementary elastic buffer inner column 702 slides in a pair of supplementary elastic buffer outer column 701, make supplementary buffer spring 703 take place deformation, then drive second partial pressure spring 1101 through elasticity partial pressure board 1102 and take place deformation, when second partial pressure spring 1101 warp to the certain extent, elasticity partial pressure board 1102 and elasticity partial pressure post 1103 contact extrusion, later second partial pressure spring 1101, main buffer spring 503 and supplementary buffer spring 703 do and resume deformation motion, so reciprocal buffering partial pressure to directional vertical external force.

When the protective housing 3 is impacted by a non-directional external force, the external force acts on the protective housing 3 to drive the pair of main elastic buffering outer columns 501 to rotate, push the buffering slide block 401 to slide on the elastic slide columns 403, then drive the main elastic buffering inner columns 502 to move in the pair of main elastic buffering outer columns 501, so that the main elastic buffering inner columns 502 and the first voltage dividing spring 402 are deformed, then drive the auxiliary elastic buffering inner columns 702 to move in the pair of auxiliary elastic buffering outer columns 701, so that the auxiliary buffering springs 703 are deformed, when the buffering slide block 401 moves on the elastic slide columns 403, the side walls of the first energy consumption groove 405 and the energy consumption bumps 602 move relatively, then drive the second voltage dividing springs 1101 to deform through the elastic voltage dividing plates 1102, and when the auxiliary elastic buffering outer columns 701 and the main elastic buffering outer columns 501 rotate to a certain angle, the elastic pressure dividing plate 1102 is in contact with the elastic pressure dividing column 1103 to be extruded, and then the second pressure dividing spring 1101, the main buffer spring 503, the auxiliary buffer spring 703 and the first pressure dividing spring 402 do recovery deformation movement, so that the buffer pressure division is performed on the uncertain external force in a reciprocating mode, and the buffer pressure division of the external force is achieved.

In a further embodiment, as shown in fig. 1 to 5, a first hinge plate is connected to the buffer sliding block 401, a second hinge plate corresponding to the first hinge plate is connected to the lower end of the protective housing 3, a surface of the first hinge plate, which is close to the second hinge plate, is connected to a lower angle control plate and an upper angle control plate, which form a predetermined angle with the first hinge plate and the second hinge plate, respectively, for controlling a rotation angle of the pair of main elastic buffer outer columns 501, and preventing the protective inner shell 2 from colliding with or dislocating from the protective housing 3 due to an excessively large rotation angle of the pair of main elastic buffer outer columns 501.

Meanwhile, a pair of main elastic buffer outer columns 501 are divided into an upper buffer outer column and a lower buffer outer column, a first slip ring and a second slip ring are arranged on the upper buffer outer column in a sliding manner, the first slip ring is positioned on the upper side of the second slip ring, the surfaces, far away from each other, of the first slip ring and the second slip ring are respectively connected with a first connection plate and a second connection plate, a first step damping spring and a second step damping spring are respectively connected between the first connection plate, the second connection plate and the first hinge plate, when the upper buffer outer column moves, the main damping spring 503 is driven to deform, meanwhile, the upper buffer outer column, the first slip ring and the second slip ring can respectively move relatively, when the first slip ring is abutted with an upper angle control plate, the first step damping spring can be driven to deform, when the second slip ring is abutted with the first slip ring and the first slip ring is abutted with the upper angle control plate, the second step damping spring can be driven to deform, at this time, the auxiliary buffer spring 703 deforms accordingly, and meanwhile, the elastic coefficients of the first step damping spring, the second step damping spring, the auxiliary buffer spring 703 and the main buffer spring 503 are different, so that when the protective housing 3 is impacted by external force, the first step damping spring, the second step damping spring, the auxiliary buffer spring 703 and the main buffer spring 503 can be driven to perform step damping buffering, and therefore, the mechanical arm is prevented from being damaged by the external force.

Based on the technical scheme, the specific working process of the invention is as follows: when the protective housing 3 is impacted by an external force with a vertical orientation, the external force acts on the protective housing 3 to drive the main elastic buffering inner column 502 to slide in the pair of main elastic buffering outer columns 501, so that the main buffering spring 503 is deformed, meanwhile, the auxiliary elastic buffering inner column 702 slides in the pair of auxiliary elastic buffering outer columns 701, so that the auxiliary buffering spring 703 is deformed, then the elastic pressure dividing plate 1102 drives the second pressure dividing spring 1101 to be deformed, when the second pressure dividing spring 1101 is deformed to a certain degree, the elastic pressure dividing plate 1102 is in contact with the elastic pressure dividing column 1103 to be extruded, then the second pressure dividing spring 1101, the main buffering spring 503 and the auxiliary buffering spring 703 do a deformation recovery motion, so as to repeatedly buffer and divide the external force with the vertical orientation, when the protective housing 3 is impacted by an external force with an undirected orientation, the external force acts on the protective housing 3 to drive the pair of main elastic buffering outer columns 501 to rotate, the buffer slide block 401 is pushed to slide on the elastic slide column 403, then the main elastic buffer inner column 502 is driven to move in the pair of main elastic buffer outer columns 501, so that the main elastic buffer inner column 502 and the first partial pressure spring 402 are deformed, then the pair of auxiliary elastic buffer outer columns 701 rotate to drive the auxiliary elastic buffer inner column 702 to move in the pair of auxiliary elastic buffer outer columns 701, so that the auxiliary buffer spring 703 is deformed, when the buffer slide block 401 moves on the elastic slide column 403, the side wall of the first energy consumption groove 405 and the energy consumption lug 602 move relatively, then the elastic partial pressure plate 1102 drives the second partial pressure spring 1101 to deform, when the auxiliary elastic buffer outer column 701 and the main elastic buffer outer column 501 rotate to a certain angle, the elastic partial pressure plate 1102 is in contact extrusion with the elastic partial pressure column, and then the second partial pressure spring 1101, the main buffer spring 503, the auxiliary buffer spring 703 and the first partial pressure spring 402 do the deformation recovery motion, the buffering and partial pressure of the external force is repeatedly performed in such a way, the buffering and partial pressure of the external force is realized, when the locking screw 9 is detached, the locking screw 9 is screwed out of the locking hole 801, then the energy consumption guide column 601 in the buffering energy consumption part 6 is pulled out of the first energy consumption groove 405 by using the handle 10, after the energy consumption guide column 601, the energy consumption lug 602 and other related parts are replaced, the energy consumption guide column 601 is clamped into the first energy consumption groove 405 and tightly attached to the elastic shifting plate 407, and then the locking screw 9 is screwed into the locking hole 801 corresponding to the locking plate 8 and the protective shell 3 to be fixed.

As above, while the invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. The utility model provides a safety device for industrial robot operation sets up on the arm outer wall, its characterized in that includes:

the mechanical arm comprises a plurality of protective inner shells attached to the outer wall of the mechanical arm and a protective outer shell arranged on the outer side of the protective inner shells, wherein a plurality of moving grooves are formed in one surfaces, close to the protective outer shell, of the protective inner shells, and moving adjusting parts are arranged in the moving grooves;

the main buffering protection component is connected between the protection shell and the movable adjusting component and comprises a pair of main elastic buffering outer columns for active buffering, a main elastic buffering inner column is arranged between the pair of main elastic buffering outer columns in a sliding mode, and a main buffering spring is arranged on the outer side of the main elastic buffering inner column;

and the two groups of buffering energy consumption components are symmetrically arranged on two sides of the main buffering protection component and are used for matching with the movable adjusting component to perform buffering energy consumption.

2. A safety shield for industrial robot operation according to claim 1, characterized in that: the movable adjusting part comprises a buffer sliding block which is arranged in the movable groove in a sliding mode, and one end, far away from the main elastic buffer outer column, of the main elastic buffer outer column is hinged to the buffer sliding block and the protective shell respectively.

3. A safety shield for industrial robot operation according to claim 2, characterized in that: all be connected with first partial pressure spring between buffering slider both ends and the shifting chute inner wall, first partial pressure spring inboard is equipped with the elasticity traveller, it has the slide opening with elasticity traveller looks adaptation to open the chisel on the buffering slider, the buffering slider passes through slide opening and elasticity traveller sliding connection.

4. A safety shield for industrial robot operation according to claim 1, characterized in that: the buffering energy consumption component comprises an energy consumption guide post, the outer wall of the energy consumption guide post is connected with a plurality of energy consumption lugs, two first energy consumption grooves matched with the energy consumption guide post are symmetrically formed in the buffering sliding block, and a plurality of second energy consumption grooves matched with the energy consumption lugs are formed in the inner wall of each first energy consumption groove.

5. A safety guard for industrial robot operation according to claim 4, characterized in that: energy consumption guide post both ends symmetric connection has two elastic buffer piece, two be equipped with the fixing clip strip on the elastic buffer piece, protective housing goes up to cut a pair of draw-in groove with fixing clip strip looks adaptation, the fixing clip strip slides and locates in the draw-in groove, fixing clip strip and two all be connected with supplementary buffering protective part between the elastic buffer piece.

6. A safety guard for industrial robot operation according to claim 5, characterized in that: supplementary buffering protective part includes a pair of supplementary elastic buffering outer prop, and is a pair of the one end that supplementary elastic buffering outer prop kept away from each other is articulated with elastic buffer piece and fixing clip strip respectively, and is a pair of it is equipped with supplementary elastic buffering inner prop to slide between the supplementary elastic buffering outer prop, the supplementary elastic buffering inner prop outside is equipped with supplementary buffer spring.

7. A safety shield for industrial robot operation according to claim 1, characterized in that: the protective housing outside is equipped with the locking board, the locking board is connected with buffering power consumption parts, be connected with the handle on the locking board outer wall, fixedly connected with buffering slipmat on the handle, it has a plurality of locking holes to correspond to chisel on locking board and the protective housing, locking hole female connection has the check pin.

8. A safety shield for industrial robot operation according to claim 1, characterized in that: be connected with the supplementary partial pressure part of multiunit between protection inner shell and the protective housing, supplementary partial pressure part includes one end and protection inner shell outer wall fixed connection's second partial pressure spring, fixedly connected with elasticity divides the clamp plate on the second partial pressure spring, second partial pressure spring inboard is equipped with elasticity and divides the pressure column.

9. A safety shield for industrial robot operation according to claim 1, characterized in that: the protection inner shell both ends all are pegged graft and are had inner shell joint piece, inner shell joint piece both ends all open chisel have with the slot of protection inner shell looks adaptation, it is a plurality of the protection inner shell is fixed mutually through a plurality of inner shell joint pieces.

10. A protection method of a safety protection device for industrial robot operation is characterized by comprising the following steps:

s1, when the protective shell is impacted by external force which is vertical to the direction, the external force acts on the protective shell to drive the main elastic buffering inner columns to slide in the pair of main elastic buffering outer columns, so that the main buffering spring deforms;

s2, simultaneously, the auxiliary elastic buffer inner columns slide in the pair of auxiliary elastic buffer outer columns to enable the auxiliary buffer springs to deform, and then the elastic pressure dividing plates drive the second pressure dividing springs to deform;

s3, when the protective shell is impacted by a non-directional external force, the external force acts on the protective shell to drive the pair of main elastic buffer outer columns to rotate, and the buffer sliding block is pushed to slide on the elastic sliding columns;

s4, driving the main elastic buffer inner column to move in the pair of main elastic buffer outer columns, so that the main elastic buffer inner column and the first pressure dividing spring deform;

s5, rotating the pair of auxiliary elastic buffer outer columns to drive the auxiliary elastic buffer inner columns to move in the pair of auxiliary elastic buffer outer columns, so that the auxiliary buffer springs deform;

and S6, when the buffer slide block moves on the elastic slide column, the energy consumption lug can move on the side wall of the first energy consumption groove, so that the external force is buffered and divided.

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