CN210998827U

CN210998827U - Safety mechanism of cooperative robot

Info

Publication number: CN210998827U
Application number: CN201921868105.3U
Authority: CN
Inventors: 王金涛; 崔健; 郭海冰; 未德展; 朱维金; 关盛楠; 刘长斌; 王硕; 王化明; 王尚东; 吕忠伟; 程虎丰; 李蕊; 屈冠彤
Original assignee: Tianjin Xinsong Robot Automation Co ltd
Current assignee: Tianjin Xinsong Robot Automation Co ltd
Priority date: 2019-11-01
Filing date: 2019-11-01
Publication date: 2020-07-14
Anticipated expiration: 2029-11-01

Abstract

The utility model belongs to the technical field of the robot, in particular to safety mechanism of cooperation robot. The robot comprises a robot body, safety mechanism and platform, wherein the bottom of robot body is equipped with a plurality of body supporting components of being connected with the platform location, each body supporting component corresponds a safety mechanism who sets up on the platform respectively, safety mechanism is used for carrying out the flexible compression to body supporting component, thereby it is fixed to make the relative platform of robot body, a body supporting component passes through six-dimensional sensor and is connected with the robot body, six-dimensional sensor is used for detecting the size of the external force that the robot body receives, and give robot control system with data, robot control system is through comparing external force and the rated force size that receives, judge whether safety mechanism moves. The utility model discloses combine the speed of motion of robot and motion gesture characteristic, adopt the mode that increases multiunit safety control and determine module in the robot bottom, ensure the safety of human and robot in the collaborative work in-process together.

Description

Safety mechanism of cooperative robot

Technical Field

The utility model belongs to the technical field of the robot, in particular to safety mechanism of cooperation robot.

Background

The realization of industry 4.0 and the development of intellectualization promote more and more operators to engineers to manage more robots so as to create more capacity. Therefore, it is critical to ensure the safety of people in the man-machine cooperation process. The main safety technical implementation schemes of the existing robot are as follows: (1) the physical fence is changed into a virtual fence, and the system automatically stops when people are detected to approach the virtual fence; (2) active security detection means, such as 3D vision, multi-line lidar, etc., are used instead of passive sensors; (3) the method based on the robot joint external moment observer realizes the observation of the moment of the external collision force acting on the joint. And solving the joint friction moment model through the observed value of the robot in normal operation, so that the observed value is only influenced by the collision force. When the observed value exceeds a preset threshold value, the robot is considered to collide, the robot stops running immediately, and the human body is prevented from being injured in the human-computer cooperation process. (4) A vision-based cooperative robot safety control method. The method combines visual three-dimensional reconstruction and track planning technologies, carries out real-time three-dimensional reconstruction on a human-computer cooperation scene in a simulation environment, and combines a robot model to carry out obstacle avoidance track planning.

In the above existing collaborative robot safety technology implementation scheme, the safety function is still relatively primary, and still not even a complete collaborative safety technology, the safety of the human and the robot in the collaborative work process can not be fundamentally guaranteed.

SUMMERY OF THE UTILITY MODEL

To the problem, an object of the utility model is to provide a safety mechanism of cooperation robot to avoid the functional defect of present cooperation robot safety technical scheme, avoid incomplete cooperation safety technology, fundamentally ensures the safety of human and robot in the collaborative work process together.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a safety mechanism of cooperation robot, includes robot body, safety mechanism and platform, wherein the bottom of robot body is equipped with a plurality of body supporting components of being connected with the platform location, each body supporting component correspond respectively one set up in safety mechanism on the platform, safety mechanism is used for carrying out the flexibility to body supporting component and compresses tightly to make the relative platform of robot body fixed, one of them body supporting component through six dimension sensor with this body coupling of robot, six dimension sensor is used for the external force size that real-time detection robot body receives to pass the robot control system with data in real time, the robot control system is through comparing external force and the rated force size that receives, come real-time judgement whether safety mechanism moves.

The safety mechanism comprises a pressing block, an elastic component, a thrust assembly and a thrust cylinder, wherein the thrust cylinder is arranged on the platform, the output end of the thrust cylinder is connected with the thrust assembly, the pressing block is connected with the platform through the elastic component, one end of the pressing block is rotatably connected with the thrust assembly through a hinge shaft, and the thrust cylinder pushes the pressing block to stretch out and compress the body supporting assembly.

The thrust assembly comprises a connecting flange, a hinge seat and a positioning boss, wherein the hinge seat and the positioning boss are arranged on the same side of the connecting flange, the hinge seat is located above the positioning boss, the hinge seat is connected with the hinge shaft, and the positioning boss is in planar contact with the pressing block located above the hinge seat.

The elastic component comprises two springs, and two sides of the pressing block are connected with the platform through the two springs respectively.

The both sides of briquetting are equipped with fixed pin on the spring, be equipped with two fixed pins under the spring on the platform, the both ends of spring are connected with fixed pin and the fixed pin under the spring on the spring respectively.

And the bottom of the pressing block is provided with a limiting bulge.

The lower end of the body supporting component is matched and positioned with the platform through an arc surface.

The body supporting assembly comprises a cylindrical supporting body and a hemisphere arranged at the lower end of the cylindrical supporting body, the diameter of the hemisphere is larger than that of the cylindrical supporting body, an annular compression table top is formed, and a groove used for being matched with the hemisphere is formed in the platform.

The body supporting assemblies are four groups and are respectively connected to four corners of the bottom of the robot body.

And the execution tail end of the robot body is provided with a clamping hand jig.

The utility model has the advantages and beneficial effects that:

1. the utility model discloses combine the speed of motion of robot and motion gesture characteristic, adopt the mode that increases multiunit safety control and determine module in the bottom of the robot to ensure the safety of people and robot in the collaborative work process together.

2. The utility model discloses a briquetting and platform elastic connection's mode realize compressing tightly the flexibility of robot body, can make six-dimensional sensor can accurately detect the external force atress condition.

3. The utility model discloses a robot and platform cambered surface contact mode make the robot receive when being greater than the external force of rated power, empty easily, guarantee the safety of personnel or equipment.

Drawings

Fig. 1 is a front view of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a cross-sectional view B-B of FIG. 2;

FIG. 4 is an enlarged view taken at I in FIG. 3;

fig. 5 is an isometric view of the present invention;

FIG. 6 is an enlarged view taken at II in FIG. 5;

fig. 7 is a schematic structural view of the thrust assembly of the present invention;

FIG. 8 is a schematic structural view of a pressing block of the present invention;

fig. 9 is a schematic structural view of the middle body supporting component of the present invention.

In the figure: 1 is the tong tool, 2 is the robot body, 3 is body supporting component, 301 is the cylinder support body, 302 is the hemisphere, 4 is safety mechanism, 401 is the briquetting, 4011 is articulated ear, 4012 is spacing arch, 402 is the spring, 403 is the hinge pin, 404 is thrust subassembly, 4041 is flange, 4042 is articulated seat, 4043 is the location boss, 405 is thrust cylinder, 406 is the fixed pin on the spring, 407 is the fixed pin under the spring, 5 is six-dimensional sensor, 6 is the platform.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-2, the utility model provides a pair of safety mechanism of cooperation robot, including robot 2, safety mechanism 4 and platform 6, wherein robot 2's execution end is equipped with tong tool 1, and robot 2's bottom is equipped with a plurality of body supporting component 3 of being connected with platform 6 location, and each body supporting component 3 corresponds one respectively and sets up safety mechanism 4 on platform 6, and safety mechanism 4 is used for carrying out the flexibility to body supporting component 3 and compresses tightly to it is fixed to make robot 2 relative platform 6. One of them body supporting component 3 is connected with robot 2 through six-dimensional sensor 5, and six-dimensional sensor 5 is used for real-time detection's the size of the external force that robot 2 receives to reach the robot control system with data real-time transmission, the robot control system is through comparing external force and the rated force size that receives, judges in real time whether safety mechanism 4 moves.

As shown in fig. 3-4, the safety mechanism 4 includes a pressing block 401, an elastic component, a thrust assembly 404 and a thrust cylinder 405, wherein the thrust cylinder 405 is disposed on the platform 6, and an output end of the thrust cylinder is connected to the thrust assembly 404, the pressing block 401 is connected to the platform 6 through the elastic component, and one end of the pressing block is rotatably connected to the thrust assembly 404 through a hinge shaft 403, and the thrust cylinder 405 pushes the pressing block 401 to extend out and press the body supporting assembly 3.

As shown in fig. 5-6, the elastic member includes two springs 402, and both sides of the pressing piece 401 are connected to the platform 6 through the two springs 402, respectively.

Furthermore, two sides of the pressing block 401 are provided with spring upper fixing pins 406, the platform 6 is provided with two spring lower fixing pins 407, and two ends of the spring 402 are respectively connected with the spring upper fixing pins 406 and the spring lower fixing pins 407.

Further, the lower end of the body supporting component 3 is matched and positioned with the platform 6 through an arc surface.

As shown in fig. 7, the thrust assembly 404 includes a connecting flange 4041, and a hinge base 4042 and a positioning boss 4043 disposed on the same side of the connecting flange 4041, wherein the hinge base 4042 is located above the positioning boss 4043, the hinge base 4042 is connected to the hinge shaft 403, and the positioning boss 4043 is in planar contact with the pressing block 401 located above.

As shown in fig. 8, one end of the pressing block 401 is stacked above the pushing assembly 404, and the end of the pressing block is provided with a hinge lug 4011, and the hinge lug 4011 is rotatably connected with the hinge shaft 403. The bottom of briquetting 401 is equipped with spacing arch 4013, and spacing arch 4013 prevents briquetting 401 from rotating downwards.

As shown in fig. 9, the body supporting assembly 3 includes a cylindrical supporting body 301 and a hemisphere 302 disposed at the lower end of the cylindrical supporting body 301, and the platform 6 is provided with a spherical recess for being engaged with the hemisphere 302. The diameter of the hemisphere 302 is larger than that of the cylindrical support 301, an annular table surface is formed along the circumferential direction, and the pressing block 401 of the safety mechanism 4 is tightly pressed on the annular table surface at the upper end of the hemisphere 302.

The embodiment of the utility model provides an in, body supporting component 3 is four groups, connects respectively in the bottom four corners of robot body 2. The robot body 2 is arranged on the platform 6 through four groups of body supporting components 3, and the clamping hand jig 1 is arranged at the tail end of the robot body 2 so as to realize the functions of robot carrying, stacking, assembling and the like.

Under the normal operating condition of the robot, namely when the external force applied to the robot body 2 detected by the six-dimensional sensor 5 does not exceed the set rated force, the thrust cylinders 405 in the four groups of safety mechanism assemblies 4 are in the extending state. The thrust generated by the thrust cylinder 405 acts on the pressing block 401 through the thrust assembly 404 and the hinge rotating shaft 403, the robot body 2 is fixed on the platform 6 through the external force acting on the pressing block 401, and the robot normally completes various actions and functions.

Under the abnormal working state of the robot, namely when the external force borne by the robot body 2 detected by the six-dimensional sensor 5 in real time exceeds the set rated force, the robot control system controls the thrust cylinders 405 in the four groups of safety mechanism assemblies 4 to retract. The acting force acting on the pressing block 401 through the thrust assembly 404 and the hinge rotating shaft 403 disappears, and the robot topples over under the action of exceeding the rated force, so that the damage to personnel or equipment caused by the rigidity of the robot is avoided, and the personal safety is ensured.

In summary, the safety mechanism 4 is used for flexibly pressing the body support assembly 3, and under the normal cooperative operation of the robot, the normal fixation of the support of the robot body 2 can be completed, and because of the flexibility, the six-dimensional sensor 5 can sense the strain condition of the system, and further the six-dimensional sensor 5 can obtain the support reaction force output of the normal cooperative operation and the installation condition of the robot under the operation condition. The flexible compression working principle is characterized in that under the condition of ensuring the use positioning precision, the displacement and the posture are relatively controlled, the strain and the stress can be normally conducted, certain rigidity is contained, certain damping is achieved, and the beneficial effect of shock absorption can be achieved. The six-dimensional sensor 5 comprises a wireless transmission data module, can remotely monitor data through a server across regions through a network, is convenient for multi-robot cooperation and data management, is convenient for a deep learning control system to learn and judge, and is convenient for the deep learning control system to predict faults and manage reliability. The safety mechanism 4 is used for flexibly pressing the body supporting component 3, can reduce system damage and the safe self-destruction protection principle like a safety pin under the condition of an abnormal cooperative working mode of the robot, and reduces the damage of a precise speed reducer due to the fact that overload load is broken by self, and further performs higher-level safety protection on a robot transmission system because the cost of the pin and the cost of the speed reducer are not on one quantity level.

The utility model discloses combine the speed of motion of robot and motion gesture characteristic, adopt the mode that increases multiunit safety control and determine module in the bottom of the robot to ensure the safety of people and robot in the collaborative work process together.

The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. A safety mechanism of a cooperative robot is characterized by comprising a robot body (2), a safety mechanism (4) and a platform (6), wherein the bottom of the robot body (2) is provided with a plurality of body supporting components (3) which are connected with the platform (6) in a positioning way, each body supporting component (3) respectively corresponds to one safety mechanism (4) arranged on the platform (6), the safety mechanism (4) is used for flexibly pressing the body supporting components (3) so as to fix the robot body (2) relative to the platform (6), one body supporting component (3) is connected with the robot body (2) through a six-dimensional sensor (5), the six-dimensional sensor (5) is used for detecting the magnitude of external force applied to the robot body (2) in real time and transmitting data to a robot control system in real time, and the robot control system compares the magnitude of the external force applied to the robot body with a rated force, to judge whether the safety mechanism (4) is operated in real time.

2. The safety mechanism of a cooperative robot according to claim 1, wherein the safety mechanism (4) comprises a pressing block (401), an elastic component, a thrust assembly (404) and a thrust cylinder (405), wherein the thrust cylinder (405) is arranged on the platform (6) and has an output end connected with the thrust assembly (404), the pressing block (401) is connected with the platform (6) through the elastic component and has one end rotatably connected with the thrust assembly (404) through a hinge shaft (403), and the thrust cylinder (405) pushes the pressing block (401) to extend out and press the body supporting assembly (3).

3. The safety mechanism of a cooperative robot according to claim 2, wherein the thrust assembly (404) comprises a connecting flange (4041) and a hinge base (4042) and a positioning boss (4043) disposed on the same side of the connecting flange (4041), wherein the hinge base (4042) is located above the positioning boss (4043), the hinge base (4042) is connected to the hinge shaft (403), and the positioning boss (4043) is in planar contact with the pressing block (401) located above.

4. Safety mechanism of a cooperative robot according to claim 2, characterized in that the elastic means comprises two springs (402), and both sides of the pressing piece (401) are connected with the platform (6) by two springs (402), respectively.

5. Safety mechanism of a cooperative robot according to claim 4, characterized in that the pressing block (401) is provided with spring-up fixing pins (406) on both sides and the platform (6) is provided with two spring-down fixing pins (407), and the spring (402) is connected with the spring-up fixing pins (406) and the spring-down fixing pins (407) at both ends.

6. Safety mechanism of a cooperative robot according to claim 2, characterized in that the bottom of the press block (401) is provided with a limit protrusion (4012).

7. Safety mechanism of a cooperative robot according to claim 1, characterized in that the lower end of the body support assembly (3) is positioned with the platform (6) by means of a cambered surface fit.

8. The safety mechanism of a collaboration robot as claimed in claim 7, wherein the body support assembly (3) comprises a cylindrical support (301) and a hemisphere (302) arranged at the lower end of the cylindrical support (301), the hemisphere (302) has a diameter larger than that of the cylindrical support (301) to form an annular compression table, and the platform (6) is provided with a groove for matching with the hemisphere (302).

9. Safety mechanism of a cooperative robot according to claim 1, characterized in that the body support assemblies (3) are four groups, respectively attached at the bottom four corners of the robot body (2).

10. Safety mechanism of a cooperative robot according to claim 1, characterized in that the execution end of the robot body (2) is provided with a gripper fixture (1).