CN215618192U - Anti-collision protection device for industrial robot - Google Patents
Anti-collision protection device for industrial robot Download PDFInfo
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- CN215618192U CN215618192U CN202121977345.4U CN202121977345U CN215618192U CN 215618192 U CN215618192 U CN 215618192U CN 202121977345 U CN202121977345 U CN 202121977345U CN 215618192 U CN215618192 U CN 215618192U
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- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 230000001681 protective effect Effects 0.000 claims description 15
- 230000000694 effects Effects 0.000 claims description 9
- 230000001012 protector Effects 0.000 claims 6
- 238000000034 method Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 210000003781 tooth socket Anatomy 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 230000001771 impaired effect Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses an industrial robot anti-collision protection device, which relates to the technical field of industrial robots and comprises a fixed box, wherein a buffer mechanism is arranged inside the fixed box, a sensor is arranged on the upper surface of the fixed box, the surface of the fixed box is connected with a motor through a flange plate, an output shaft of the motor movably penetrates through the fixed box and extends to the inside of the fixed box, a driving gear is sleeved on the surface of the output shaft of the motor, the driving gear is connected with a transmission gear through chain transmission, the transmission gear is movably connected with the inner wall of the fixed box through a short shaft, the chain is connected with a movable seat through teeth, and an industrial robot body is arranged on the upper surface of the movable seat. The utility model solves the problems that the operation can be stopped only after the collision with other objects, the braking is difficult before the collision, the equipment can be damaged, and the personnel can be injured by arranging the motor, the chain and the clamping block.
Description
Technical Field
The utility model relates to the technical field of industrial robots, in particular to an industrial robot anti-collision protection device.
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 by means of self power energy and control capability, and are widely applied to various industrial fields such as electronics, logistics, chemical industry and the like.
The degree of freedom of present common industrial robot is more, though has certain protection system, can only stop working after hitting other objects, is difficult to brake before the collision, can lead to equipment impaired, causes personnel injured's problem.
SUMMERY OF THE UTILITY MODEL
The utility model provides an industrial robot anti-collision protection device which has the advantages of simple structure, capability of braking in advance, collision prevention and protection of personnel and equipment, and solves the problems that the operation can be stopped only after other objects are collided, the braking is difficult before the collision, the equipment is possibly damaged, and the personnel are injured.
In order to realize the purposes of simple structure, early braking, collision prevention and personnel and equipment protection, the utility model provides the following technical scheme: an industrial robot anti-collision protection device comprises a fixed box, wherein a buffer mechanism is arranged inside the fixed box, a sensor is arranged on the upper surface of the fixed box, the surface of the fixed box is connected with a motor through a flange plate, the output shaft of the motor movably penetrates through the fixed box and extends into the fixed box, a driving gear is sleeved on the surface of the output shaft of the motor and is connected with a transmission gear through chain transmission, the transmission gear is movably connected with the inner wall of the fixed box through a short shaft, the chain is connected with a movable seat through teeth, an industrial robot body is arranged on the upper surface of the movable seat, a protective shell is sleeved on the surface of the industrial robot body, the lower surface of the protective shell is fixedly connected with the upper surface of the movable seat, an electromagnet is arranged inside the protective shell, and the surface of the electromagnet is fixedly connected with one end of a first spring, the other end of the first spring is connected with the surface of the clamping block, a tooth socket is formed in the surface of the industrial robot body, and a limiting mechanism is arranged on the surface of the fixing box.
As a preferable technical scheme, the buffer mechanism comprises a guide rod, a second spring and a buffer plate, one end of the guide rod is fixedly connected with the left side of the inner wall of the fixed box, the other end of the guide rod movably penetrates through the movable seat and is fixedly connected with the right side of the inner wall of the fixed box, the buffer plate is movably sleeved on the surface of the guide rod, one end of the second spring is fixedly connected with the left side of the inner wall of the fixed box, and the other end of the second spring is fixedly connected with the surface of the buffer plate.
As a preferable technical solution of the present invention, the limiting mechanism includes a T-shaped rod and a third spring, one end of the T-shaped rod close to the fixed box movably penetrates the fixed box and extends into the fixed box, one end of the third spring is fixedly connected to a surface of the fixed box, and the other end of the third spring is fixedly connected to a surface of the T-shaped rod.
As a preferable technical scheme of the utility model, the upper surface of the movable seat is connected with a roller, the bottom of the inner wall of the fixed box is connected with a guide rail, and the surface of the guide rail is movably connected with the surface of the roller.
As a preferable technical scheme of the utility model, the inner wall of the fixed box is connected with a rubber pad, and the surface of the rubber pad is connected with the surface of the movable seat.
As a preferable technical scheme of the utility model, a T-shaped groove is formed in the surface of the clamping block, a T-shaped plate is connected to the bottom of the inner wall of the protective shell, and the surface of the T-shaped plate is movably connected with the inner wall of the T-shaped groove.
As a preferred technical solution of the present invention, the inner wall of the protective shell is connected to a surface of a bearing, and the inner wall of the bearing is connected to a surface of the industrial robot body.
Compared with the prior art, the utility model provides an industrial robot anti-collision protection device, which has the following beneficial effects:
1. this industrial robot protection device that guards against collision, through setting up the electro-magnet, including a motor, an end cap, a controller, and a cover plate, driving gear (5) and sliding seat, the sensor gives control system with signal transmission, control system makes the electro-magnet outage, connecting block and tooth's socket contact, with industrial robot body locking, the motor makes the sliding seat motion through driving gear and chain simultaneously, make industrial robot body inference workspace, the very first time that non-safety personnel are close to the danger area has been reached and the motion of joint piece restriction industrial robot body is passed through, simultaneously through chain and sliding seat with industrial robot body area from the workspace, prevent striking personnel's effect, only can bring out of service after striking other objects has been solved, it is difficult to brake before the collision, can lead to equipment impaired, cause personnel injured's problem.
2. The anti-collision protection device for the industrial robot is characterized in that the buffer plate, the second spring and the T-shaped rod are arranged, after the movable seat is contacted with the buffer plate, the buffer plate is extruded to move towards the direction far away from the T-shaped rod, the second spring is compressed, after the surface of the movable seat is separated from the surface of the T-shaped rod, the motor is powered off, under the reset action of the second spring, the buffer plate extrudes the movable seat, the T-shaped rod limits the movable seat, the buffer plate and the second spring can play a role in buffering when the movable seat moves towards the direction close to the buffer plate, the movable seat is prevented from generating rigid collision with the surface of the fixed box, after the motor is powered off, the buffer plate is matched with the T-shaped rod to limit the movable seat under the action of the second spring to prevent the movable seat from generating displacement, the problem that after the movable seat leaves a working area, the motor cannot limit after being powered off, and the industrial robot body moves is solved, may injure a person.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of the structure of FIG. 1 at A according to the present invention;
FIG. 3 is a left side view of the present invention;
FIG. 4 is a right sectional view of the T-bar of the present invention;
FIG. 5 is a schematic view of the structure of the fixing box according to the present invention;
FIG. 6 is a schematic view of a structure of a clamping block according to the present invention;
FIG. 7 is a schematic view of a T-bar configuration of the present invention;
FIG. 8 is a schematic view of the roller structure according to the present invention.
In the figure: 1. a fixed box; 2. a buffer mechanism; 201. a guide bar; 202. a second spring; 203. a buffer plate; 3. a sensor; 4. a motor; 5. a driving gear; 6. a chain; 7. a transmission gear; 8. teeth; 9. a movable seat; 10. an industrial robot body; 11. a protective shell; 12. an electromagnet; 13. a first spring; 14. a clamping block; 15. a tooth socket; 16. a limiting mechanism; 1601. a T-shaped rod; 1602. a third spring; 17. a roller; 18. a guide rail; 19. a rubber pad; 20. a T-shaped slot; 21. a T-shaped plate; 22. and a bearing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, the utility model discloses an industrial robot anti-collision protection device, which comprises a fixed box 1, wherein a buffer mechanism 2 is arranged inside the fixed box 1, a sensor 3 is arranged on the upper surface of the fixed box 1, the surface of the fixed box 1 is connected with a motor 4 through a flange, an output shaft of the motor 4 movably penetrates through the fixed box 1 and extends into the fixed box 1, a driving gear 5 is sleeved on the surface of the output shaft of the motor 4, the driving gear 5 is connected with a transmission gear 7 through a chain 6 in a transmission manner, the transmission gear 7 is movably connected with the inner wall of the fixed box 1 through a short shaft, the chain 6 is connected with a movable seat 9 through a tooth 8, an industrial robot body 10 is arranged on the upper surface of the movable seat 9, a protective shell 11 is sleeved on the surface of the industrial robot body 10, the lower surface of the protective shell 11 is fixedly connected with the upper surface of the movable seat 9, the inside of protecting crust 11 is provided with electro-magnet 12, the surface of electro-magnet 12 and the one end fixed connection of first spring 13, the other end and the surface connection of joint piece 14 of first spring 13, tooth's socket 15 has been seted up on the surface of industrial robot body 10, the surface of fixed case 1 is provided with stop gear 16.
Specifically, buffer gear 2 includes guide bar 201, second spring 202 and buffer board 203, the one end of guide bar 201 and the left side fixed connection of fixed case 1 inner wall, the other end activity of guide bar 201 runs through movable seat 9 and in the right side fixed connection of fixed case 1 inner wall, buffer board 203 activity cup joints the surface at guide bar 201, the one end of second spring 202 and the left side fixed connection of fixed case 1 inner wall, the other end of second spring 202 and the fixed surface of buffer board 203 are connected.
In this embodiment, after the movable seat 9 contacts with the buffer board 203, the buffer board 203 is extruded and is moved towards the direction far away from the T-shaped rod 1601, the second spring 202 compresses, after the surface of the movable seat 9 breaks away from the surface of the T-shaped rod 1601, the motor 4 is powered off, under the reset action of the second spring 202, the buffer board 203 extrudes the movable seat 9, the T-shaped rod 1601 is spacing to the movable seat 9, the buffer board 203 and the second spring 202 can play a role in buffering when the movable seat 9 moves towards the direction close to the buffer board 203, hard collision is prevented from occurring on the surface of the movable seat 9 and the fixed box 1, after the motor 4 is powered off, the second spring 202 and the T-shaped rod 1601 are spacing to the movable seat 9, and the movable seat 9 is prevented from driving the industrial robot body 10 to move.
Specifically, the limiting mechanism 16 includes a T-shaped rod 1601 and a third spring 1602, one end of the T-shaped rod 1601 close to the fixed box 1 movably penetrates through the fixed box 1 and extends to the inside of the fixed box 1, one end of the third spring 1602 is fixedly connected with the surface of the fixed box 1, and the other end of the third spring 1602 is fixedly connected with the surface of the T-shaped rod 1601.
In this embodiment, when the sliding seat 9 strikes the T-shaped rod 1601, because one side of the T-shaped rod 1601 is the inclined plane, the motion of the sliding seat 9 can be guaranteed not to be obstructed, the T-shaped rod 1601 is extruded to move towards the direction far away from the fixed box 1, the third spring 1602 compresses, after the sliding seat 9 breaks away from the T-shaped rod 1601, the T-shaped rod 1601 resets rapidly under the effect of the third spring 1602, and after the power failure of the motor 4, the T-shaped rod 1601 can limit the sliding seat 9, and the displacement is prevented.
Specifically, the upper surface of sliding seat 9 is connected with gyro wheel 17, the bottom of fixed case 1 inner wall is connected with guide rail 18, the surface of guide rail 18 and gyro wheel 17's surface swing joint.
In this embodiment, guide bar 201 can play the effect of direction to sliding seat 9, and gyro wheel 17 and guide rail 18 also can play direction and spacing effect to sliding seat 9 simultaneously, and gyro wheel 17 and the contact of guide rail 18, give fixed case 1 with the gravity transmission of industrial robot body 10, give ground through fixed case 1 transmission, use gyro wheel 17 and guide rail 18 can play the effect of support to industrial robot body 10, prevent that gravity from bending the deformation with guide bar 201.
Specifically, the inner wall of the fixed box 1 is connected with a rubber pad 19, and the surface of the rubber pad 19 is connected with the surface of the movable seat 9.
In this embodiment, when the industrial robot body 10 is reset, in order to prevent the movable seat 9 from hard collision with the inner wall of the fixed box 1, the rubber pad 19 is connected to the inner wall of the fixed box 1, and a certain buffering effect is achieved.
Specifically, a T-shaped groove 20 is formed in the surface of the clamping block 14, a T-shaped plate 21 is connected to the bottom of the inner wall of the protective shell 11, and the surface of the T-shaped plate 21 is movably connected with the inner wall of the T-shaped groove 20.
In this embodiment, the shape of the T-shaped plate 21 is matched with the shape of the T-shaped groove 20, so that the clamping block 14 can be guided and limited, and the clamping block 14 is prevented from deviating during movement.
Specifically, the inner wall of the protective shell 11 is connected with the surface of the bearing 22, and the inner wall of the bearing 22 is connected with the surface of the industrial robot body 10.
In the present embodiment, the protective shell 11 is connected to the surface of the industrial robot body 10 through the bearing 22, so that the chips can be prevented from entering the protective shell 11 through the gap between the protective shell 11 and the industrial robot body 10.
The working principle and the using process of the utility model are as follows: when the sensor 3 is used, a sensing range can be set by the sensor 3, when it is judged that an unsafe person is close to the sensing range, the sensor 3 transmits a signal to the control system, the control system enables the electromagnet 12 to be powered off, the electromagnet 12 loses magnetic force, the clamping block 14 moves towards the direction close to the tooth socket 15 under the action of the first spring 13, the clamping block 14 is clamped with the tooth socket 15 to rapidly lock the industrial robot body 10 and stop rotating, an operating hand of the industrial robot body 10 does not move any more, meanwhile, the motor 4 is started, an output shaft of the motor 4 drives the driving gear 5 to rotate, the driving gear 5 drives the transmission gear 7 to rotate through the chain 6, the transmission gear 7 drives the movable seat 9 to rotate towards the direction close to the buffer plate 203 through the tooth 8, the movable seat 9 impacts the T-shaped rod 1601 to enable the T-shaped rod 1601 to move towards the direction far away from the fixed box 1, and the third spring 1602 stretches, after the movable seat 9 is separated from the surface of the T-shaped rod 1601, the T-shaped rod 1601 is reset under the action of the third spring 1602 to limit the movable seat 9, at this time, the buffer plate 203 moves in a direction away from the T-shaped rod 1601 under the action of the movable seat 9, the second spring 202 is compressed, meanwhile, the motor 4 is turned off, the third spring 1602 and the buffer plate 203 prevent the movable seat 9 from rigidly colliding with the inner wall of the fixed box 1, when the motor 4 is turned off, the sensor 3 is powered off, after the unsafe person leaves, the T-shaped rod 1601 is pulled by the safe person to separate the surface of the T-shaped rod 1601 from the surface of the movable seat 9, and the motor 4 is simultaneously started, the motor 4 moves the movable seat 9 in a direction close to the rubber pad 19 through the driving gear 5, the chain 6 and the transmission gear 7, after the industrial robot body 10 moves to the working position, the safe person leaves, the sensor 3 is started through the control device, meanwhile, the electromagnet 12 is electrified, the clamping block 14 is separated from the tooth groove 15, the motor 4 is turned off, and the industrial robot body 10 is recovered to be in a working state.
To sum up, this industrial robot anti-collision people protection device through setting up motor 4, driving gear 5, chain 6 and joint piece 14, has solved only can the bring to rest after strikeing into other objects, is difficult to brake before the collision, can lead to equipment impaired, causes personnel injured's problem.
It should be noted that, in this document, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides an industrial robot protection device that collides people, includes fixed case (1), its characterized in that: the inner part of the fixed box (1) is provided with a buffer mechanism (2), the upper surface of the fixed box (1) is provided with a sensor (3), the surface of the fixed box (1) is connected with a motor (4) through a flange plate, the output shaft of the motor (4) movably penetrates through the fixed box (1) and extends to the inner part of the fixed box (1), the surface of the output shaft of the motor (4) is sleeved with a driving gear (5), the driving gear (5) is connected with a transmission gear (7) through a chain (6) in a transmission way, the transmission gear (7) is movably connected with the inner wall of the fixed box (1) through a short shaft, the chain (6) is connected with a movable seat (9) through a tooth (8), the upper surface of the movable seat (9) is provided with an industrial robot body (10), and the surface of the industrial robot body (10) is sleeved with a protective shell (11), the lower surface of protecting crust (11) is connected with the last fixed surface of sliding seat (9), the inside of protecting crust (11) is provided with electro-magnet (12), the surface of electro-magnet (12) and the one end fixed connection of first spring (13), the other end of first spring (13) and the surface connection of joint piece (14), tooth's socket (15) have been seted up on the surface of industrial robot body (10), the surface of fixed case (1) is provided with stop gear (16).
2. The industrial robot protector against collision of people of claim 1, characterized in that: buffer gear (2) include guide bar (201), second spring (202) and buffer board (203), the one end of guide bar (201) and the left side fixed connection of fixed case (1) inner wall, the other end activity of guide bar (201) runs through sliding seat (9) and in the right side fixed connection of fixed case (1) inner wall, the surface at guide bar (201) is cup jointed in buffer board (203) activity, the one end of second spring (202) and the left side fixed connection of fixed case (1) inner wall, the other end of second spring (202) and the fixed surface of buffer board (203) are connected.
3. The industrial robot protector against collision of people of claim 1, characterized in that: the limiting mechanism (16) comprises a T-shaped rod (1601) and a third spring (1602), one end of the T-shaped rod (1601), which is close to the fixed box (1), movably penetrates through the fixed box (1) and extends into the fixed box (1), one end of the third spring (1602) is fixedly connected with the surface of the fixed box (1), and the other end of the third spring (1602) is fixedly connected with the surface of the T-shaped rod (1601).
4. The industrial robot protector against collision of people of claim 1, characterized in that: the upper surface of sliding seat (9) is connected with gyro wheel (17), the bottom of fixed case (1) inner wall is connected with guide rail (18), the surface swing joint of the surface of guide rail (18) and gyro wheel (17).
5. The industrial robot protector against collision of people of claim 1, characterized in that: the inner wall of the fixed box (1) is connected with a rubber pad (19), and the surface of the rubber pad (19) is connected with the surface of the movable seat (9).
6. The industrial robot protector against collision of people of claim 1, characterized in that: t-shaped groove (20) have been seted up on the surface of joint piece (14), the bottom of protecting crust (11) inner wall is connected with T shaped plate (21), the surface of T shaped plate (21) and the inner wall swing joint in T-shaped groove (20).
7. The industrial robot protector against collision of people of claim 1, characterized in that: the inner wall of the protective shell (11) is connected with the surface of the bearing (22), and the inner wall of the bearing (22) is connected with the surface of the industrial robot body (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121977345.4U CN215618192U (en) | 2021-08-20 | 2021-08-20 | Anti-collision protection device for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121977345.4U CN215618192U (en) | 2021-08-20 | 2021-08-20 | Anti-collision protection device for industrial robot |
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| Publication Number | Publication Date |
|---|---|
| CN215618192U true CN215618192U (en) | 2022-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121977345.4U Expired - Fee Related CN215618192U (en) | 2021-08-20 | 2021-08-20 | Anti-collision protection device for industrial robot |
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| Country | Link |
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| CN (1) | CN215618192U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115854217A (en) * | 2022-12-27 | 2023-03-28 | 重庆大学 | Six-degree-of-freedom motion platform applying electromagnetic spherical hinge |
-
2021
- 2021-08-20 CN CN202121977345.4U patent/CN215618192U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115854217A (en) * | 2022-12-27 | 2023-03-28 | 重庆大学 | Six-degree-of-freedom motion platform applying electromagnetic spherical hinge |
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Granted publication date: 20220125 |