CN210061202U

CN210061202U - Series-parallel hybrid robot protection device

Info

Publication number: CN210061202U
Application number: CN201920700668.5U
Authority: CN
Inventors: 严隽藩; 盛尹祥子; 吴晓东
Original assignee: Shanghai Proton And Heavy Iron Clinic Technology Research And Development Center; Shanghai Electric Group Corp
Current assignee: Shanghai Proton And Heavy Iron Clinic Technology Research And Development Center; Shanghai Electric Group Corp
Priority date: 2019-05-16
Filing date: 2019-05-16
Publication date: 2020-02-14
Anticipated expiration: 2029-05-16

Abstract

The utility model discloses a serial-parallel series-parallel robot protection device can solve the protection problem of serial-parallel series-parallel robot of big stroke beat motion. The series-parallel robot protection device comprises a rolling ring, a plurality of supporting devices and a covering object, wherein the rolling ring is sleeved on the periphery of the robot; the supporting device supports the rolling ring, and the rolling ring can rotate circumferentially relative to the supporting device; the covering is connected with the rolling ring and the moving platform of the robot. The utility model discloses to cluster and series-parallel connection robot, stop the potential safety hazard when not influencing original service function, improve cluster and series-parallel connection robot safety protection level, rational in infrastructure, protecting effect is good, and the reliability is high, simple structure simultaneously, the assembly degree of difficulty is low.

Description

Series-parallel hybrid robot protection device

Technical Field

The invention relates to a robot protection device, in particular to a safety protection device for a serial-parallel hybrid robot.

Background

The parallel robot, especially the six-freedom parallel robot can flexibly and efficiently realize all space positioning and attitude control actions, a 360-degree rotary table is connected in series at the base part of the parallel robot to expand the deflection angle stroke, and the formed serial-parallel robot can perform large-stroke deflection motion and can be applied to the medical field of precise radiotherapy and the like. Compared with a mechanical arm and the like, the series-parallel hybrid robot has natural advantages in the aspects of static precision, dynamic precision, rigidity, stroke limitation and the like.

Due to the structure of the serial-parallel hybrid robot, potential safety hazards such as falling, rolling and the like can exist if the serial-parallel hybrid robot is not effectively shielded, and the safety requirements of medical instruments can not be met. However, the protection mode of directly adding covering cloth to the traditional parallel robot can only be applied to small-stroke deflection motion, but cannot be applied to serial-parallel hybrid robots capable of large-stroke deflection motion.

Disclosure of Invention

In order to solve the technical problem that a traditional protective device in the prior art can only be suitable for small-stroke deflection motion, the invention provides a series-parallel robot protective device which can effectively shield a series-parallel robot with large-stroke deflection motion, does not influence the original use function and simultaneously avoids potential safety hazards.

The invention provides a series-parallel robot protection device which comprises a rolling ring, a plurality of supporting devices and a covering object, wherein the rolling ring is sleeved on the periphery of a robot; the supporting device supports the rolling ring, and the rolling ring can rotate circumferentially relative to the supporting device; the covering is connected with the rolling ring and the moving platform of the robot.

Further, the protection device further comprises a plurality of elastic pieces, and the elastic pieces are connected with the rolling ring and the robot moving platform. At least 2 elastic members of the plurality of elastic members are arranged in a deflection way relative to the axle center of the rolling ring, and the deflection directions of the at least 2 elastic members are opposite. The elastic piece can be a pre-tightening elastic piece, and specifically can be a tension spring, a rubber band or an elastic belt and the like, wherein hook-shaped parts are arranged at two ends of the tension spring.

Furthermore, the edge of the covering is provided with a covering mounting hole, and the covering mounting hole is reinforced through an air hole buckle.

Further, the robot moving platform periphery is equipped with a plurality of hangers, be equipped with first mounting hole on the hangers, the cover passes through first mounting hole with robot moving platform connects. The protective device is provided with the elastic piece, a second mounting hole is further formed in the hanging lug, the second mounting hole is located below the first mounting hole, and the elastic piece is connected with the second mounting hole.

Furthermore, a groove is formed in the outer side wall of the rolling ring along the circumferential direction, and the supporting device rolls relative to the rolling ring through the groove. The rolling rings comprise an upper layer rolling ring and a lower layer rolling ring, the upper layer rolling ring is connected with the covering and/or the elastic piece, and the lower layer rolling ring is contacted with the supporting device; the upper layer rolling ring and the lower layer rolling ring are formed by splicing at least two circular arc structures, and the splicing seams of the upper layer rolling ring and the lower layer rolling ring are arranged in a staggered mode.

Furthermore, the series-parallel robot protection device further comprises a hollow cover plate sleeved on the periphery of the robot, and the hollow cover plate is arranged above the supporting device and used for shielding the supporting device.

Through using the utility model provides a pair of cluster series-parallel connection robot protector when the robot is big stroke beat motion, rolls the ring gyration through covering or elastic component will stimulate, keeps effectively shielding cluster series-parallel connection robot.

The utility model discloses fundamentally solved the protection problem of the series-parallel robot of big stroke beat motion, stopped the potential safety hazard when not influencing original service function, the series-parallel robot who is particularly useful for medical field can get rid of its safety compliance obstacle that drops into clinical application. Simultaneously the utility model discloses rational in infrastructure, protecting effect is good, and the reliability is high, simple structure moreover, and the assembly degree of difficulty is low.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the device according to the invention and, together with the detailed description, serve to explain the advantages and principles of the device according to the invention. In the drawings:

fig. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic view of a cover according to an embodiment of the present invention;

FIG. 3 is a schematic view of a structure of a suspension loop in an embodiment of the present invention;

fig. 4 is a schematic diagram of a hollow cover plate structure in an embodiment of the present invention.

Description of reference numerals: 1. rolling a ring; 2. a support device; 3. a cover; 4. an elastic member; 5. a robot moving platform; 6. a cover mounting hole; 7. hanging a lug; 8. a first mounting hole; 9. a second mounting hole; 10. a groove; 11. rolling the upper layer of the ring; 12. a rolling ring lower layer; 13. a hollow cover plate.

Detailed Description

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described below. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other, and the technical idea of the present invention may be implemented in combination with other known techniques or other techniques identical to those known techniques.

The series-parallel robot protection device provided by the invention comprises rolling

rings

1, 4 supporting devices 2 and a covering object 3 which are symmetrically arranged, wherein the rolling rings 1 are sleeved on the periphery of a robot; the supporting device 2 supports the rolling ring 1, and the rolling ring 1 can rotate circumferentially relative to the supporting device 2; the cover 3 connects the rolling ring 1 and the moving platform 5 of the robot.

When the robot does large-stroke deflection motion, the rolling ring 1 can be pulled to rotate through the covering 3, so that the serial-parallel hybrid robot is effectively shielded, but certain requirements are imposed on the hardness of the covering under the condition.

Fig. 1 shows a preferred embodiment of the present invention, namely, a plurality of elastic members 4 are added in the protection device, and the elastic members 4 are connected with the rolling ring 1 and the robot moving platform 5 to reduce the hardness requirement of the covering cloth 3, and correspondingly reduce the dragging resistance and the resistance fluctuation of the protection device to the robot.

The plurality of elastic members 4 are arranged as shown in fig. 1, wherein at least 2 elastic members 4 are arranged with a deflection relative to the axial center of the rolling ring 1, the extension lines of the elastic members 4 do not intersect with the axial center line of the rolling ring 1, and the deflection directions of at least 2 elastic members 4 are opposite. In fig. 1, the elastic members 4 are arranged in a staggered manner, wherein at least 1 elastic member 401 is deflected leftward relative to the axis of the rolling ring, and at least 1 elastic member 402 is deflected rightward relative to the axis of the rolling ring 1. The elastic element 4 is a pre-tensioned elastic element. With this arrangement, the follow-up hysteresis of the rolling ring 1 with respect to the robot moving platform 5 can be reduced. The extension spring that both ends were equipped with the shape portion of colluding is used in this embodiment, also can select for use rubber band or elastic belt.

The periphery of the robot moving platform 5 is provided with a plurality of hangers 7, and the hangers 7 are structurally shown in fig. 3, and are provided with first mounting holes 8 and second mounting holes 9 located below the first mounting holes 8. The cover 3 is connected with the robot moving platform 5 through the first mounting hole 8, and the elastic member 4 is connected with the second mounting hole 9. In this embodiment, the hook is connected to the movable platform 5 by a tension spring with hook-shaped portions at two ends, or a rubber band or an elastic belt is fastened to the hanging loop of the movable platform 5. The detachable connection has the advantages of simple installation and convenient later maintenance and replacement.

The outer side wall of the rolling ring 1 is provided with a groove 10 along the circumferential direction, and the groove 10 is used for enabling the supporting device 2 to roll relative to the rolling ring 1. The rolling ring 1 comprises an upper layer rolling ring 11 and a lower layer rolling ring 12, the upper layer rolling ring 11 is connected with the cover 3 and the elastic piece 4, and the lower layer rolling ring 12 is in contact with the supporting device 2; the upper layer rolling ring 11 and the lower layer rolling ring 12 are formed by splicing at least two circular arc structures, and the splicing seams of the upper layer rolling ring 11 and the lower layer rolling ring 12 are arranged in a staggered mode. In this embodiment, two arcs are used for splicing.

Fig. 2 shows a schematic structural diagram of the cover 3, and the edge of the cover is provided with a cover mounting hole 6, and the cover mounting hole 6 is reinforced by an air hole buckle, so that the anti-pulling capability of the cover 6 is enhanced, the requirement on the overall strength of the cover 6 is reduced, and the service life of the cover 6 is prolonged.

Fig. 4 shows a schematic structural diagram of the hollow cover plate 13 sleeved on the periphery of the robot, which is disposed above the supporting device and used for shielding the supporting device, and a block splicing structure or an integrated structure is adopted in this embodiment. The hollow cover plate can be flush with the application field of the robot, and a user can stand conveniently on the hollow cover plate to walk without obstacles.

According to the series-parallel robot protection device provided by the embodiment, the robot moving platform 5 performs small-stroke deflection motion by depending on the characteristics of the parallel robots, and large-stroke deflection motion is realized by the 360-degree rotary table with the bases connected in series. In the process of deflection of the moving platform 5, the covering 3 fixed on the moving platform through the hanging lugs 7, the elastic piece 4 and the moving platform 5 jointly deflect or rotate in a large stroke, the rolling ring 1 is pulled down by the elasticity of the elastic piece 4 and rotates in the circumferential direction relative to the supporting device 2, the supporting device 2 is fixed in position, and the rolling ring 1 rolls in the groove 10 of the rolling ring 1 relative to the rolling ring 1.

Compared with the prior art, the utility model provides a series-parallel robot protector has following advantage:

firstly, when the robot does large-stroke deflection motion, the rolling ring 1 is pulled to rotate through the covering object 3 or the elastic part 4, so that the serial-parallel hybrid robot is effectively shielded, the original use function is not influenced, the potential safety hazard is avoided, and the safety protection level of the serial-parallel hybrid robot is improved;

secondly, by arranging the elastic part 4, the requirement on the hardness of the covering cloth 3 is reduced, and the dragging resistance and the resistance fluctuation of the robot by the protective device are correspondingly reduced;

thirdly, the elastic part 4 is arranged in a manner of inclining in the opposite direction, and the follow-up hysteresis of the rolling ring 1 relative to the robot moving platform 5 can be reduced by adopting a pre-tightening elastic part;

fourthly, the elastic piece 4 is detachably connected with the second mounting hole 9 of the hanging lug 7, so that the installation is simple, and the later maintenance and replacement are convenient;

fifthly, the rolling ring 1 is of a double-layer structure, the upper layer rolling ring 11 and the lower layer rolling ring 12 are formed by arc splicing, the assembly difficulty is low, and meanwhile, splicing seams of the upper layer rolling ring 11 and the lower layer rolling ring 12 are installed in a staggered mode, so that the overall structural strength of the rolling ring 1 is effectively improved;

sixth, whole protector simple structure is reasonable, and the protecting effect is good, and the reliability is high.

The terms "first" and "second" as used herein do not denote any order, quantity, or importance, but rather are used to distinguish one element from another, unless otherwise specified. Similarly, modifiers similar to "about", "approximately" or "approximately" that occur before a numerical term herein typically include the same number, and their specific meaning should be read in conjunction with the context. Similarly, unless a specific number of a claim recitation is intended to cover both the singular and the plural, and also that claim may include both the singular and the plural.

In the description of the specific embodiments above, the use of the directional terms "upper", "lower", "left", "right", "top", "bottom", "vertical", "transverse", and "lateral", etc., are for convenience of description only and should not be considered limiting. .

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims

1. A series-parallel robot protection device comprises a rolling ring, a plurality of supporting devices and a covering object, and is characterized in that the rolling ring is sleeved on the periphery of a robot; the supporting device supports the rolling ring, and the rolling ring can rotate circumferentially relative to the supporting device; the covering is connected with the rolling ring and the moving platform of the robot.

2. The series-parallel hybrid robot guard of claim 1, further comprising a plurality of elastic members connecting the rolling rings and the robot moving platform.

3. The series-parallel hybrid robot protector as claimed in claim 2, wherein at least 2 of the plurality of elastic members are disposed with a bias with respect to the axis of the rolling ring, and the bias directions of the at least 2 elastic members are opposite.

4. The series-parallel hybrid robot protective device according to claim 2, wherein the elastic member is a tension spring, and hook members are provided at both ends of the tension spring.

5. The series-parallel robot protection device according to claim 1, wherein the edge of the cover is provided with a cover mounting hole, and the cover mounting hole is reinforced by an air hole buckle.

6. The series-parallel robot protective device according to claim 1, wherein a plurality of hanging lugs are arranged on the periphery of the robot moving platform, first mounting holes are formed in the hanging lugs, and the covering is connected with the robot moving platform through the first mounting holes.

7. The series-parallel robot protective device according to claim 2, wherein a plurality of hanging lugs are arranged on the periphery of the robot moving platform, first mounting holes are formed in the hanging lugs, and the covering is connected with the robot moving platform through the first mounting holes; the hanger is further provided with a second mounting hole, the second mounting hole is located below the first mounting hole, and the elastic piece is connected with the second mounting hole.

8. The series-parallel hybrid robot protection device of claim 1, wherein the outer side wall of the rolling ring is provided with a groove along the circumferential direction, and the groove is used for the supporting device to roll relative to the rolling ring.

9. The series-parallel hybrid robot guard of claim 1, wherein the rolling rings comprise an upper layer rolling ring and a lower layer rolling ring, the upper layer rolling ring is connected with the cover, and the lower layer rolling ring is in contact with the supporting device; the upper layer rolling ring and the lower layer rolling ring are formed by splicing at least two circular arc structures, and the splicing seams of the upper layer rolling ring and the lower layer rolling ring are arranged in a staggered mode.

10. The series-parallel hybrid robot protection device according to claim 1, further comprising a hollow cover plate covering the periphery of the robot, wherein the hollow cover plate is arranged above the supporting device and used for shielding the supporting device.