CN114683250A - Lifting anti-falling assembly and welding robot - Google Patents
Lifting anti-falling assembly and welding robot Download PDFInfo
- Publication number
- CN114683250A CN114683250A CN202210298121.3A CN202210298121A CN114683250A CN 114683250 A CN114683250 A CN 114683250A CN 202210298121 A CN202210298121 A CN 202210298121A CN 114683250 A CN114683250 A CN 114683250A
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- plate
- vertical beam
- limiting plate
- bottom plate
- electric telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a lifting anti-falling assembly and a welding robot, wherein the lifting anti-falling assembly comprises a mounting platform, a vertical beam and a safety device, wherein the vertical beam is suitable for sliding relative to the mounting platform along the length direction; the safety device comprises a bottom plate, a limiting plate and a power assembly; the bottom plate is connected with the mounting platform, and the limiting plate is connected to the bottom plate in a sliding manner; the power assembly is arranged on the bottom plate and is in driving connection with the limiting plate, and the power assembly is suitable for driving the limiting plate to move towards or away from the vertical beam so as to enable the limiting plate and the vertical beam to be abutted or separated. According to the invention, when the vertical beam falls, the power assembly drives the limiting plate to move towards the vertical beam so as to urge the limiting plate and the vertical beam to abut against each other, so that the vertical beam is limited to move relative to the mounting platform, and the vertical beam can be prevented from falling to cause equipment loss and even casualties.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a lifting anti-falling assembly and a welding robot.
Background
In the existing welding robot, a manipulator needs to be lifted through a lifting structure, a vertical beam (also called a Z axis) in the lifting structure is used for installing the manipulator, and a mode of driving by a motor and a gear rack mechanism is mostly adopted, so that the vertical beam is moved in the vertical direction. However, during the lifting process of the vertical beam, the vertical beam may have a risk of falling, for example, in the case of manual misoperation, if the motor band-type brake is opened, the vertical beam may lose the brake and fall under the action of gravity, so that equipment loss and even casualties are caused.
Disclosure of Invention
The invention solves the problem of how to prevent the vertical beam from falling to cause equipment loss and even casualties.
To solve the above problems, the present invention provides a fall protection assembly, comprising:
mounting a platform;
a vertical beam adapted to slide lengthwise relative to the mounting platform;
the safety device comprises a bottom plate, a limiting plate and a power assembly; the bottom plate is connected with the mounting platform, and the limiting plate is connected to the bottom plate in a sliding manner; the power assembly is arranged on the bottom plate and is in driving connection with the limiting plate, and the power assembly is suitable for driving the limiting plate to move towards or away from the vertical beam so as to enable the limiting plate and the vertical beam to be abutted or separated.
Optionally, the vertical beam is provided with a plurality of slot structures at intervals along the length direction, the limiting plate comprises an insertion block matched with the slot structures, and the insertion block is suitable for being inserted into the slot structures.
Optionally, the power assembly comprises an electric telescopic piece and a spring assembly, a fixed end of the electric telescopic piece is connected with the bottom plate, a telescopic end of the electric telescopic piece is connected with the limiting plate, and the spring assembly is arranged on the bottom plate;
when the electric telescopic piece is electrified, the electric telescopic piece drives the limiting plate to move away from the vertical beam so as to enable the limiting plate and the vertical beam to be separated and enable the spring assembly to generate elastic deformation; when the electric telescopic piece is powered off, the spring assembly is suitable for releasing elastic deformation force to drive the limiting plate to move towards the vertical beam so as to enable the limiting plate to be abutted against the vertical beam.
Optionally, the safety device further comprises a push plate, the push plate is connected with the limiting plate, and the telescopic end of the electric telescopic piece is connected with the push plate; the spring assembly comprises a spring, a guide rod and a mounting seat, the mounting seat is arranged on the bottom plate, one end of the guide rod is connected with the mounting seat, the other end of the guide rod faces towards the vertical beam, the push plate is connected with the guide rod in a sliding mode, and the spring sleeve is arranged on the guide rod between the push plate and the mounting seat.
Optionally, when the limit plate and the vertical beam abut, the spring still has an elastic deformation force.
Optionally, the limiting plate is equipped with the mouth of crossing that runs through along the thickness direction, the push pedal is suitable for wearing to establish the mouth of crossing, partly be located of push pedal the limiting plate deviates from one side of bottom plate and with the flexible end of electronic extensible member is connected, partly be located of push pedal the limiting plate orientation one side of bottom plate and with guide bar sliding connection.
Optionally, the push pedal includes first plate body and second plate body, first plate body with the second plate body is the angle setting, first plate body is suitable for to wear to establish the mouth, the second plate body with limiting plate connection.
Optionally, the safety device further comprises a linear guide, a slide rail of the linear guide is mounted on one of the bottom plate and the limiting plate, and a slider of the linear guide is mounted on one of the bottom plate and the limiting plate.
Optionally, the lifting fall-prevention assembly further comprises a speed detection device and a controller, wherein the speed detection device is used for detecting the speed of the vertical beam, and the controller is electrically connected with the speed detection device and the electric telescopic piece respectively.
The invention also provides a welding robot, which comprises the lifting anti-falling assembly.
Compared with the prior art, the invention has the beneficial effects that:
the mounting platform is connected with the bottom plate of the safety device, and the vertical beam can slide relative to the mounting platform along the length direction, so that the vertical beam can lift up and down relative to the mounting platform and the bottom plate; safety device's limiting plate sliding connection is in the bottom plate, and safety device's power component sets up on the bottom plate and is connected with the limiting plate drive, and power component can drive the limiting plate and move towards or keep away from perpendicular roof beam to impel the limiting plate and erect the roof beam and support and hold or separate. Therefore, when the vertical beam is lifted normally, the power assembly drives the limiting plate to move away from the vertical beam so as to separate the limiting plate from the vertical beam, and the limiting plate does not interfere with the normal work of the vertical beam; when the vertical beam falls, the power assembly drives the limiting plate to move towards the vertical beam so as to enable the limiting plate to abut against the vertical beam, so that the vertical beam is limited to move relative to the mounting platform, and the vertical beam can be prevented from falling to cause equipment loss or even casualties.
Drawings
FIG. 1 is a schematic diagram of one embodiment of a fall arrest assembly according to the present invention;
FIG. 2 is a schematic structural view of one embodiment of a vertical beam according to the present invention;
FIG. 3 is a schematic structural view of one embodiment of the safety device of the present invention;
FIG. 4 is a schematic view of the safety device of the present invention with the limiting plate removed;
FIG. 5 is a schematic view of the connection of the power assembly and the push plate of the present invention;
FIG. 6 is a schematic structural view of one embodiment of a push plate according to the present invention;
fig. 7 is a schematic structural diagram of an embodiment of a limiting plate in the invention.
Description of reference numerals:
1. mounting a platform; 2. erecting a beam; 21. a slot structure; 3. a safety device; 31. a base plate; 311. a connecting plate; 32. a limiting plate; 321. inserting a block; 322. passing through the opening; 33. a linear guide rail; 34. an electric telescopic member; 35. a spring assembly; 351. a spring; 352. a guide bar; 353. a mounting seat; 36. pushing the plate; 361. a first plate body; 362. a second plate body; 363. and a through hole.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
The Z-axis in the drawings indicates a vertical direction, i.e., an up-down position, and a forward direction of the Z-axis (i.e., an arrow direction of the Z-axis) indicates an upward direction and a reverse direction of the Z-axis indicates a downward direction; the X-axis in the drawing represents the horizontal direction and is designated as the left-right position, and the forward direction of the X-axis represents the right side and the reverse direction of the X-axis represents the left side; it should also be noted that the foregoing Z-axis and X-axis representations are merely intended to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must be oriented, constructed or operated in a particular manner and therefore should not be considered as limiting the invention.
As shown in fig. 1-3, the fall arrest assembly of an embodiment of the present invention comprises a mounting platform 1, a vertical beam 2 and a safety device 3, wherein the vertical beam 2 is adapted to slide in a longitudinal direction with respect to the mounting platform 1; the safety device 3 comprises a bottom plate 31, a limit plate 32 and a power assembly; the bottom plate 31 is connected with the mounting platform 1, and the limiting plate 32 is slidably connected with the bottom plate 31; the power assembly is arranged on the bottom plate 31 and is in driving connection with the limiting plate 32, and the power assembly is suitable for driving the limiting plate 32 to move towards or away from the vertical beam 2 so as to enable the limiting plate 32 and the vertical beam 2 to be abutted or separated.
In this embodiment, the shape of the mounting platform 1 is not limited, and it may be a mounting plate or a beam structure, and is selected according to actual requirements. As shown in fig. 1 and 2, the vertical beam 2 is a rectangular parallelepiped, and may be a solid structure or a hollow structure, and in view of cost and weight, the vertical beam 2 is preferably a hollow structure. The vertical beam 2 can be used for installing a mechanical arm, so that the mechanical arm can be lifted and lowered to adapt to different working conditions. The vertical beam 2 is adapted to slide relative to the mounting platform 1 along the length direction, and in one embodiment, a linear guide rail is arranged between the vertical beam 2 and the mounting platform 1, and the vertical beam 2 slides relative to the mounting platform 1 through the linear guide rail.
In this embodiment, as shown in fig. 1, the safety device 3 is disposed below the mounting platform 1, the bottom plate 31 of the safety device 3 is connected to the lower end of the mounting platform 1, and the two are connected by bolts or welding. Because safety device 3 all installs in mounting platform 1 with perpendicular roof beam 2, in mounting platform 1 motion process, safety device 3 can follow mounting platform 1 motion with perpendicular roof beam 2, avoids appearing safety device 3's limiting plate 32 and perpendicular roof beam 2 dislocation, leads to the limiting plate 32 can not support the appearance of holding perpendicular roof beam 2 condition.
After the lifting anti-falling assembly is adopted, the mounting platform 1 is connected with the bottom plate 31 of the safety device 3, and the vertical beam 2 can slide relative to the mounting platform 1 along the length direction, so that the vertical beam 2 can lift up and down relative to the mounting platform 1 and the bottom plate 31; limiting plate 32 sliding connection in bottom plate 31 of safety device 3, safety device 3's power component set up on bottom plate 31 and with limiting plate 32 drive connection, power component can drive limiting plate 32 and move towards or keep away from perpendicular roof beam 2 to impel limiting plate 32 and perpendicular roof beam 2 to support and hold or separate. Therefore, when the vertical beam 2 is lifted normally, the power assembly drives the limit plate 32 to move away from the vertical beam 2 so as to separate the limit plate 32 from the vertical beam 2, and the limit plate 32 does not hinder the normal work of the vertical beam 2; when vertical beam 2 falls, power component drive limiting plate 32 moves towards vertical beam 2 to impel limiting plate 32 and vertical beam 2 to support and hold, thereby restriction vertical beam 2 moves for mounting platform 1, and it can prevent vertical beam 2 from falling in order to cause equipment loss or even casualties.
Optionally, the vertical beam 2 is provided with a plurality of slot structures 21 at intervals along the length direction, the limiting plate 32 includes an insertion block 321 matched with the slot structures 21, and the insertion block 321 is adapted to be inserted into the slot structures 21.
Specifically, as shown in fig. 2 and 7, a plurality of slot structures 21 are arranged at intervals along the length direction on the end surface of the vertical beam 2 facing the mounting platform 1; the limiting plate 32 is provided with an inserting block 321 matched with the slot structure 21; the shapes of the two are not limited, and the two can be cuboids or cylinders and the like, and are determined according to actual requirements; for example, the slot structure 21 is a cuboid, and the insertion block 321 is a cuboid with the same size, so that in the process of falling of the vertical beam 2, after the insertion block 321 is inserted into the slot structure 21, the limiting plate 32 can be reliably abutted against the vertical beam 2, and the vertical beam 2 is prevented from falling.
Optionally, the power assembly comprises an electric telescopic piece 34 and a spring assembly 35, a fixed end of the electric telescopic piece 34 is connected with the bottom plate 31, a telescopic end of the electric telescopic piece 34 is connected with the limiting plate 32, and the spring assembly 35 is arranged on the bottom plate 31;
when the electric telescopic piece 34 is powered on, the electric telescopic piece 34 drives the limit plate 32 to move away from the vertical beam 2, so as to separate the limit plate 32 from the vertical beam 2 and cause the spring assembly 35 to generate elastic deformation; when the electric telescopic element 34 is de-energized, the spring assembly 35 is adapted to release the elastic deformation force to drive the limiting plate 32 to move towards the vertical beam 2, so as to urge the limiting plate 32 and the vertical beam 2 to abut against each other.
As shown in fig. 4 and 5, the electric telescopic part 34 is an electric push rod or an electric cylinder, and the electric push rod and the electric cylinder are in a power-off state, the telescopic rod can still move freely, i.e. the electric telescopic part 34 does not have a self-locking function. The fixed end of the electric telescopic part 34 is detachably connected with the bottom plate 31, specifically, a mounting plate is arranged on the bottom plate 31, the fixed end of the electric telescopic part 34 is detachably arranged on the mounting plate, and the fixed end of the electric telescopic part and the mounting plate can be connected by adopting a bolt; the telescopic end of the electric telescopic piece 34 is connected with the limit plate 32, and the electric telescopic piece and the limit plate are connected by bolts. The spring assembly 35 is disposed on the bottom plate 31 (described in detail later). The electric telescopic piece 34 has an energized state and a de-energized state, when the electric telescopic piece 34 is energized, the electric telescopic piece 34 drives the limiting plate 32 to move away from the vertical beam 2 so as to enable the limiting plate 32 to be separated from the vertical beam 2 and enable the spring assembly 35 to generate elastic deformation, namely, when the vertical beam 2 is lifted normally, the electric telescopic piece 34 provides power to enable the limiting plate 32 to be separated from the vertical beam 2 and compresses the spring assembly 35 to store energy for the limiting plate 32 to move towards the vertical beam 2; when the power failure of the electric telescopic piece 34, the spring assembly 35 releases the elastic deformation force to drive the limiting plate 32 to move towards the vertical beam 2, so as to enable the limiting plate 32 to abut against the vertical beam 2, that is, when the vertical beam 2 falls, the electric telescopic piece 34 no longer provides power, and the spring assembly 35 releases the elastic deformation force to drive the limiting plate 32 to move towards the vertical beam 2, so as to achieve the abutting of the spring assembly 35 and the vertical beam 2.
So arranged, when the vertical beam 2 falls. Spring unit 35 drives limiting plate 32 through release elastic deformation power and moves, and its reaction rate is fast, for the motion of electric extensible member 34 drive limiting plate 32 orientation vertical beam 2, its time that can shorten limiting plate 32 support and hold vertical beam 2 greatly.
Optionally, the device further comprises a push plate 36, the push plate 36 is connected with the limit plate 32, and the telescopic end of the electric telescopic piece 34 is connected with the push plate 36; the spring assembly 35 includes a spring 351, a guide rod 352 and a mounting seat 353, the mounting seat 353 is disposed on the bottom plate 31, one end of the guide rod 352 is connected to the mounting seat 353, the other end of the guide rod 352 is disposed toward the vertical beam 2, the push plate 36 is slidably connected to the guide rod 352, and the spring 351 is sleeved on the guide rod 352 between the push plate 36 and the mounting seat.
In this embodiment, the push plate 36 is detachably connected to the position-limiting plate 32, the telescopic end of the electric telescopic part 34 is detachably connected to the push plate 36, and when the telescopic end of the electric telescopic part 34 is shortened, the push plate 36 drives the position-limiting plate 32 to move away from the vertical beam 2.
In this embodiment, the spring assembly 35 includes a spring 351, a guide rod 352, and a mounting seat 353, the mounting seat 353 is disposed on the bottom plate 31, and specifically, the mounting seat 353 and the bottom plate 31 are connected by a bolt; the number of the mounting seats 353 is not limited, and may be one, two, or more, as shown in fig. 4 and 5, two mounting seats 353 are provided, one end of the guide rod 352 is connected to the mounting seat 353, and the other end of the guide rod 352 is disposed toward the vertical beam 2, and the axis of the guide rod 352 may be parallel to the sliding direction of the limiting plate 32, or may be offset from the sliding direction of the limiting plate 32 by a certain angle, for example, 5 degrees. The push plate 36 is slidably connected to the guide rod 352, the spring 351 is sleeved on the guide rod 352 between the push plate 36 and the mounting seat 353, when more than two mounting seats 353 are arranged, the spring 351 is arranged on the mounting seat 353 at one side of the push plate 36 and the push plate 36 far away from the vertical beam 2, therefore, when the vertical beam 2 is normally lifted, the electric telescopic piece 34 pulls the limiting plate 32 to move far away from the vertical beam 2 through the push plate 36, and at the moment, the push plate 36 slides relative to the guide rod 352 and compresses the spring 351; when vertical beam 2 falls, electronic extensible member 34 cuts off the power supply, no longer provides compression spring 351's effort, and spring 351 releases the elastic deformation power and moves towards vertical beam 2 with driving limiting plate 32 through push pedal 36 to realize limiting plate 32 and vertical beam 2 support.
Alternatively, the spring 351 still has an elastic deformation force when the stopper plate 32 abuts against the vertical beam 2.
In this embodiment, when the vertical beam 2 falls, the limiting plate 32 abuts against the vertical beam 2 to prevent the vertical beam 2 from falling, so that a certain abutting force is required to maintain the abutting relationship between the limiting plate 32 and the vertical beam 2, and therefore, when the limiting plate 32 abuts against the vertical beam 2, the spring 351 still has elastic deformation force, so that the limiting plate 32 is firmly abutted against the vertical beam 2, and meanwhile, after the insertion block 321 of the limiting plate 32 is inserted into the slot structure 21 of the vertical beam 2, the insertion block 321 can be firmly fixed in the slot structure 21.
Optionally, the limiting plate 32 is provided with a through hole 322 extending through the limiting plate 32 in the thickness direction, the push plate 36 is adapted to pass through the through hole 322, a portion of the push plate 36 is located on a side of the limiting plate 32 away from the bottom plate 31 and connected to the telescopic end of the electric telescopic member 34, and a portion of the push plate 36 is located on a side of the limiting plate 32 facing the bottom plate 31 and slidably connected to the guide rod 352.
In this embodiment, the limiting plate 32 is provided with a through hole 322 at the middle position along the thickness direction, and the size of the through hole 322 is slightly larger than that of the limiting plate 32, so that the push plate 36 can conveniently penetrate through the through hole 322. The partly one side that the limiting plate 32 deviates from bottom plate 31 that is located of push pedal 36 and is connected with the flexible end of electronic extensible member 34, the partly one side that the limiting plate 32 faces bottom plate 31 that is located of push pedal 36 and with guide bar 352 sliding connection, as shown in figure 4, 5, 6, the upper end of push pedal 36 is connected with the flexible end of electronic extensible member 34, the lower extreme sliding connection of push pedal 36 is in guide bar 352, so set up, electronic extensible member 34 is the one side drive limiting plate 32 of keeping away from bottom plate 31 at limiting plate 32, be convenient for overhaul and walk the line.
Optionally, the safety device 3 further includes a linear guide 33, a slide rail of the linear guide 33 is mounted on one of the bottom plate 31 and the limit plate 32, and a slider of the linear guide 33 is mounted on one of the bottom plate 31 and the limit plate 32.
As shown in fig. 4, the limiting plate 32 and the bottom plate 31 are connected by the linear guide 33, the number of the linear guide 33 is not limited, and may be one, two, etc., and since the limiting plate 32 is suspended on the bottom plate 31 by the linear guide 33, the linear guide 33 is formed in pairs and symmetrically disposed at both sides of the spring assembly 35.
In one embodiment, the slide rails of the linear guide 33 are mounted on the bottom plate 31, and the slide blocks of the linear guide 33 are mounted on the limiting plate 32. In another embodiment, the slide rail of the linear guide 33 is attached to the stopper plate 32, and the slider of the linear guide 33 is attached to the base plate 31. Thus, the stopper plate 32 slides relative to the base plate 31 via the linear guide 33 by the electric expansion/contraction member 34 or the spring 351.
So set up, linear guide 33 not only plays limiting plate 32 for the gliding effect of bottom plate 31, is convenient for hang limiting plate 32 on bottom plate 31 moreover.
Optionally, the push plate 36 includes a first plate body 361 and a second plate body 362, the first plate body 361 and the second plate body 362 are disposed at an angle, the first plate body 361 is suitable for penetrating the through opening 322 and slidably connecting to the guide rod 352, and the second plate body 362 is connected to the limiting plate 32.
As shown in fig. 6 and 7, the first plate 361 and the second plate 362 are vertically disposed and connected by bolts or welding. The first plate 361 penetrates through the opening 322 and is slidably connected to the guide rod 352, specifically, the first plate 361 is provided with a through hole 363, and the first plate 361 is sleeved on the guide rod 352 through the through hole 363 and can slide on the guide rod 352; the second plate body 362 is connected with the end face of the limiting plate 32 far away from the bottom plate 31, specifically, the second plate body 362 is provided with a first hole structure, the end face of the limiting plate 32 far away from the bottom plate 31 is provided with a second hole structure, and the bolt penetrates through the first hole structure and the second hole structure to connect the second plate body 362 and the limiting plate 32.
Optionally, the device further comprises a speed detection device and a controller, wherein the speed detection device is used for detecting the speed of the vertical beam 2, and the controller is electrically connected with the speed detection device and the electric telescopic piece 34 respectively.
It is understood that when the vertical beam 2 is normally lifted, the sliding speed of the vertical beam on the mounting platform 1 is kept in a certain speed range; when the vertical beam 2 falls, it has a large falling speed under the action of gravity, and this falling speed is taken as a preset speed, and when the speed of the vertical beam 2 is not less than the preset speed, the vertical beam 2 is determined to be in a falling state.
In this embodiment, the speed detection device is an encoder meter wheel or a speed sensor, and is selected according to actual requirements. In one embodiment, the speed detection device is an encoder meter wheel which is arranged on the vertical beam 2, moves along with the vertical beam 2 and is used for detecting the speed of the vertical beam 2 in real time; the controller is connected with encoder meter rice wheel and electronic extensible member 34 electricity respectively, the speed signal that the encoder meter rice wheel will detect sends the controller, the controller is according to this speed signal control electronic extensible member 34 and gets electric or loses the electricity, for example, when the controller discerns that the speed of erecting roof beam 2 is greater than when predetermineeing speed, the controller makes electronic extensible member 34 outage, safety device 3's limiting plate 32 stretches out fast under spring 351's effect, thereby support and hold perpendicular roof beam 2, if erect roof beam 2 and still can drop, when the slot structure 21 of erecting roof beam 2 is just in time in the baffle the place ahead, the inserted block 321 of limiting plate 32 inserts slot structure 21, the structure that both pegged graft can prevent to erect roof beam 2 and continue to fall.
The welding robot provided by the invention comprises the lifting anti-falling assembly.
In this embodiment, the welding robot includes a gantry, an X-axis linear guide rail, and a manipulator; the portal includes the crossbeam, X axle linear guide's slide rail sets up on the portal, the installation platform 1 and the slider of X axle linear guide of subassembly that falls are prevented in the lift are connected, the perpendicular roof beam 2 that falls the subassembly of preventing in the lift is connected with the manipulator, from this, under X axle linear guide's effect, can realize the lift and fall the subassembly and remove on the crossbeam along X axle direction, perpendicular roof beam 2 can remove on Z axle direction relative to the crossbeam, finally realize the removal of manipulator on X axle and Z axle.
In the description herein, references to the description of the term "an embodiment," "one embodiment," or the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or implementation is included in at least one embodiment or implementation of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or implementation. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A fall arrest assembly, comprising:
a mounting platform (1);
a vertical beam (2) adapted to slide in a length direction relative to the mounting platform (1);
the safety device (3) comprises a bottom plate (31), a limiting plate (32) and a power assembly; the bottom plate (31) is connected with the mounting platform (1), and the limiting plate (32) is connected to the bottom plate (31) in a sliding manner; the power assembly is arranged on the bottom plate (31) and is in driving connection with the limiting plate (32), and the power assembly is suitable for driving the limiting plate (32) to move towards or away from the vertical beam (2) so as to enable the limiting plate (32) and the vertical beam (2) to be abutted or separated.
2. A fall arrest assembly according to claim 1, characterized in that the vertical beam (2) is provided with a plurality of socket arrangements (21) spaced apart along its length, and the limiting plate (32) comprises an insert (321) matching the socket arrangements (21), the insert (321) being adapted to be inserted into the socket arrangements (21).
3. A fall arrest assembly according to claim 1 or 2, characterized in that the power assembly comprises an electric telescopic member (34) and a spring assembly (35), the fixed end of the electric telescopic member (34) is connected to the base plate (31), the telescopic end of the electric telescopic member (34) is connected to the limit plate (32), the spring assembly (35) is arranged on the base plate (31);
when the electric telescopic piece (34) is electrified, the electric telescopic piece (34) drives the limit plate (32) to move away from the vertical beam (2) so as to enable the limit plate (32) and the vertical beam (2) to be separated and enable the spring assembly (35) to generate elastic deformation; when the electric telescopic piece (34) is powered off, the spring assembly (35) is suitable for releasing elastic deformation force to drive the limit plate (32) to move towards the vertical beam (2) so as to urge the limit plate (32) to abut against the vertical beam (2).
4. A fall arrest assembly according to claim 3, characterized in that the safety device (3) further comprises a push plate (36), the push plate (36) being connected to the limit plate (32), the telescopic end of the motorized telescopic element (34) being connected to the push plate (36); the spring assembly (35) comprises a spring (351), a guide rod (352) and a mounting seat (353), the mounting seat (353) is arranged on the bottom plate (31), one end of the guide rod (352) is connected with the mounting seat (353), the other end of the guide rod (352) faces the vertical beam (2) and is arranged, the push plate (36) is connected with the guide rod (352) in a sliding mode, and the spring (351) is sleeved on the guide rod (352) between the push plate (36) and the mounting seat (353).
5. A fall arrest assembly according to claim 4, characterized in that the spring (351) still has a resilient deformation force when the limit plate (32) and the vertical beam (2) are abutted.
6. The assembly of claim 4, characterized in that the limiting plate (32) is provided with a through opening (322) extending through the thickness direction, the push plate (36) is adapted to pass through the through opening (322), a portion of the push plate (36) is located on a side of the limiting plate (32) facing away from the bottom plate (31) and connected to the telescopic end of the electric telescopic member (34), and a portion of the push plate (36) is located on a side of the limiting plate (32) facing the bottom plate (31) and slidably connected to the guide rod (352).
7. Lifting fall arrest assembly according to claim 6, characterized in that said push plate (36) comprises a first plate (361) and a second plate (362), said first plate (361) and said second plate (362) being angularly disposed, said first plate (361) being suitable to be inserted through said through opening (322), said second plate (362) being connected to said limit plate (32).
8. A fall arrest assembly according to claim 1, characterized in that the safety device (3) further comprises a linear guide (33), the slide of the linear guide (33) being mounted to one of the base plate (31) and the limit plate (32).
9. A fall arrest assembly according to claim 3, further comprising a speed detection device for detecting the speed of the vertical beam (2) and a controller electrically connected to the speed detection device and the motorized telescopic element (34), respectively.
10. A welding robot comprising a lifting fall arrest assembly according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210298121.3A CN114683250A (en) | 2022-03-25 | 2022-03-25 | Lifting anti-falling assembly and welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210298121.3A CN114683250A (en) | 2022-03-25 | 2022-03-25 | Lifting anti-falling assembly and welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114683250A true CN114683250A (en) | 2022-07-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210298121.3A Pending CN114683250A (en) | 2022-03-25 | 2022-03-25 | Lifting anti-falling assembly and welding robot |
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| Country | Link |
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| CN (1) | CN114683250A (en) |
Citations (7)
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| CN105947125A (en) * | 2016-06-23 | 2016-09-21 | 何程 | Water surface environment monitoring and navigation robot |
| CN106002944A (en) * | 2016-06-23 | 2016-10-12 | 何程 | Multi-degree-of-freedom manipulator for intelligent robot for over-water filming operation |
| CN107061975A (en) * | 2017-03-28 | 2017-08-18 | 儒拉玛特自动化技术（合肥）有限公司 | One kind die power-off when anti-falling mechanism |
| US20180354135A1 (en) * | 2017-06-09 | 2018-12-13 | Precise Automation, Inc. | Collaborative robot |
| CN208516702U (en) * | 2018-07-10 | 2019-02-19 | 博众精工科技股份有限公司 | Anti-falling mechanism and elevator |
| CN111136418A (en) * | 2020-02-25 | 2020-05-12 | 株洲中车特种装备科技有限公司 | High-precision welding positioner |
| CN212292681U (en) * | 2020-03-13 | 2021-01-05 | 沈阳艾立特自动化工程有限公司 | Overspeed anti-falling device of stacker |
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2022
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947125A (en) * | 2016-06-23 | 2016-09-21 | 何程 | Water surface environment monitoring and navigation robot |
| CN106002944A (en) * | 2016-06-23 | 2016-10-12 | 何程 | Multi-degree-of-freedom manipulator for intelligent robot for over-water filming operation |
| CN107061975A (en) * | 2017-03-28 | 2017-08-18 | 儒拉玛特自动化技术（合肥）有限公司 | One kind die power-off when anti-falling mechanism |
| US20180354135A1 (en) * | 2017-06-09 | 2018-12-13 | Precise Automation, Inc. | Collaborative robot |
| CN208516702U (en) * | 2018-07-10 | 2019-02-19 | 博众精工科技股份有限公司 | Anti-falling mechanism and elevator |
| CN111136418A (en) * | 2020-02-25 | 2020-05-12 | 株洲中车特种装备科技有限公司 | High-precision welding positioner |
| CN212292681U (en) * | 2020-03-13 | 2021-01-05 | 沈阳艾立特自动化工程有限公司 | Overspeed anti-falling device of stacker |
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