CN218138168U - Intelligent protection device of industrial robot - Google Patents

Abstract

The utility model relates to a protector of robot especially relates to an industrial robot's intelligent protector. The intelligent protection device of the industrial robot can lock all parts simultaneously and unlock all parts simultaneously after recovery. An intelligent protection device of an industrial robot comprises a bottom plate, a baffle plate, a base and the like; the upper surface of the right part of the bottom plate is welded with a baffle, and the left part of the bottom plate is provided with a base in a bolt mode. The permanent magnet rapidly falls downwards through the loss of magnetism of the first electromagnet in power-off mode, the clamping rod is driven to be separated from the clamping groove, the piston rod rapidly pushes hydraulic oil to enter the three hydraulic cavities under the action of the compression spring, the piston clamping block moves upwards to clamp the half-tooth rotating arm, and therefore emergency braking of the mechanical arm is achieved.

Description

Intelligent protection device of industrial robot

Technical Field

The utility model relates to a protector of robot especially relates to an industrial robot's intelligent protector.

Background

The industrial robot is advanced equipment in modern industrial production, and particularly for some working environments which cannot be related or are dangerous for people, the birth of the industrial robot undoubtedly brings great help to the industrial production. In the process of automatic operation of the industrial robot, in order to avoid personal injury to nearby workers under emergency conditions such as power failure, various protection devices are arranged on the industrial robot, the devices play an important role in the operation process, the protection devices on the industrial robot are complete, and the protection devices are clearly divided into different industries, so that the good state of the industrial robot is fully guaranteed.

After the current industrial robot is locked in an emergency, before the robot is recovered, if the industrial robot needs to be unlocked, an operator needs to unlock each part step by step, so that the operation is more complicated, and the consumed time is longer.

Therefore, it is necessary to design an intelligent protection device for an industrial robot, which can lock and unlock each part of the industrial robot simultaneously and manually.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects that after an industrial robot breaks out, all parts cannot be locked at the same time, unlocking after locking is complex, operation is complex, and time consumption is long. The technical problem to be solved is as follows: the intelligent protection device of the industrial robot can lock all parts simultaneously and unlock all parts simultaneously after recovery.

The technical scheme of the utility model is that: an intelligent protection device of an industrial robot comprises a bottom plate, a baffle, a base, a driving device, a mechanical arm braking device, a liquid guide hose, a connecting arm, an installation shell, a mechanical clamping jaw, a clamping jaw braking device and a propelling device, wherein the baffle is welded on the upper surface of the right part of the bottom plate, the base is installed on the left part of the bottom plate in a bolt mode, the driving device for providing power is installed in the middle of the bottom plate, a group of mechanical arm braking devices for braking a mechanical arm under emergency are installed at two ends of the connecting arm, the bottom of the mechanical arm braking device at the lower end of the connecting arm is connected with the upper surface of the base, a third group of mechanical arm braking devices are installed on the mechanical arm braking device at the upper end of the connecting arm, drive arrangement communicates with each group mechanical arm arresting gear through leading the liquid hose, be full of hydraulic oil in the drain hose, the welding of third group mechanical arm arresting gear lower extreme has the installation casing, two sets of mechanical clamping jaw are installed to bilateral symmetry rotary type in the installation casing, two sets of mechanical clamping jaw are in the inside part of installation casing and inwards extend, the inside bottom of installation casing is installed and is used for braking mechanical clamping jaw's clamping jaw arresting gear under emergency, and clamping jaw arresting gear wholly all is located mechanical clamping jaw below, the bottom plate right part is installed and is used for the propulsive advancing device of overdrive, advancing device is located between baffle and the drive arrangement.

Further, drive arrangement is including the pneumatic cylinder, the piston rod, compression spring, the round platform pipe, first electro-magnet, permanent magnet and kelly, the pneumatic cylinder is installed to bottom plate middle part bolted type, the piston rod is installed to the slidingtype about in the pneumatic cylinder, be full of hydraulic oil between pneumatic cylinder and the piston rod, the pole portion of piston rod is opened there is the draw-in groove, be connected with compression spring between the tip of piston rod and the baffle, compression spring is in compression state, bottom plate right part top surface welding has the round platform pipe, round platform socle portion electricity is connected with first electro-magnet, the permanent magnet is installed to round platform pipe upper portion slidingtype, the permanent magnet is through repelling the suspension at round platform nose portion with first electro-magnet homopolarity, cup jointed the kelly that is used for restricting the piston rod and removes left on the permanent magnet, kelly upper portion is located the draw-in groove.

Further, arm arresting gear is including the connecting seat, the feed liquor pipe, piston fixture block and half tooth rotor arm, the welding of base upper surface has the connecting seat, it has hydraulic pressure chamber to open in the connecting seat, hydraulic pressure chamber passes through feed liquor pipe and leads the liquid hose intercommunication, there is the piston fixture block that is used for braking the arm through hydraulic oil suspension in the hydraulic pressure chamber, the hydraulic pressure intracavity of piston fixture block below is full of hydraulic oil, half tooth rotor arm is installed to connecting seat upper portion rotary type, half tooth rotor arm half tooth portion just does not contact with piston fixture block upper portion.

Furthermore, clamping jaw arresting gear is including the second electro-magnet, the star iron plate, antimagnetic spring and braking plate, two second electro-magnets that are front and back symmetric distribution are installed to the internal bottom surface of installation casing, the braking plate is installed to upper and lower slidingtype in the installation casing, two star iron plates have been welded to the symmetric form around the braking plate lower surface, the second electro-magnet passes through two star iron plates of magnetic force absorption, two antimagnetic springs that are front and back symmetric distribution are installed to the internal bottom surface of installation casing, two antimagnetic springs are located between two second electro-magnets, and two antimagnetic springs are in the compression state.

Further, advancing device has the wedge and extrudees the frame including support frame, direction slide rail, wedge and welding, and the welding of bottom plate right part has the support frame, and support frame upper surface welding has the direction slide rail, and the kelly passes direction slide rail joint in the draw-in groove, and the wedge is installed to the slidingtype about on the direction slide rail, and the piston rod passes the wedge and is connected with compression spring, and permanent magnet surface joint has the extrusion frame, extrudees the frame upper end and the cooperation of wedge.

Furthermore, the device also comprises a first pulley, and the end part of the clamping rod is rotatably provided with the first pulley for reducing the friction force.

Furthermore, the device also comprises a second pulley, and the second pulley used for pushing the wedge-shaped block is rotatably arranged at the upper end of the extrusion frame.

The beneficial effects are that:

1. the permanent magnet rapidly falls downwards through the loss of magnetism of the first electromagnet in power-off mode, the clamping rod is driven to be separated from the clamping groove, the piston rod rapidly pushes hydraulic oil to enter the three hydraulic cavities under the action of the compression spring, the piston clamping block moves upwards to clamp the half-tooth rotating arm, and therefore emergency braking of the mechanical arm is achieved.

2. Through the frictional force between reduction draw-in groove that first pulley can be fine and the kelly to can prevent that the kelly from inclining or bending in the draw-in groove, because the existence of first pulley makes the piston rod can not arrive the kelly slope or bend in the draw-in groove because of frictional force at the rapid in-process that promotes left under the effect that compression spring resumes deformation, thereby make whole arm arresting gear lose effect.

3. Through the second pulley, the friction force between the wedge block and the extrusion frame can be effectively reduced, so that the right propelling speed of the wedge block cannot be influenced by the friction force when the extrusion frame is in contact with the wedge block.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic sectional view of the present invention.

Fig. 3 is a schematic view of a first partial body structure according to the present invention.

Fig. 4 is a schematic perspective view of the jaw brake of the present invention.

Fig. 5 is a schematic view of the three-dimensional structure of the mechanical arm braking device of the present invention.

Fig. 6 is an enlarged schematic view of part a of the present invention.

Fig. 7 is a schematic view of a second partial body structure according to the present invention.

Fig. 8 is a schematic perspective view of the propulsion device of the present invention.

Fig. 9 is a schematic view of a partial three-dimensional structure of the propulsion device of the present invention.

Fig. 10 is a schematic three-dimensional structure diagram of the squeezing frame and the second pulley of the present invention.

In the reference symbols: 1-bottom plate, 2-baffle plate, 3-base, 4-driving device, 41-hydraulic cylinder, 42-piston rod, 43-clamping groove, 44-compression spring, 45-circular truncated cone pipe, 46-first electromagnet, 47-permanent magnet, 48-clamping rod, 5-mechanical arm braking device, 51-connecting seat, 52-hydraulic cavity, 53-liquid inlet pipe, 54-piston clamping block, 55-half-tooth rotating arm, 6-liquid guide hose, 7-connecting arm, 8-mounting shell, 9-mechanical clamping jaw, 10-clamping jaw braking device, 101-second electromagnet, 102-star-shaped iron block, 103-antimagnetic spring, 104-braking plate, 11-propelling device, 111-supporting frame, 112-guide sliding rail, 113-wedge-shaped block, 114-extrusion frame, 12-first pulley, 13-second pulley.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Example 1

An intelligent protection device of an industrial robot is disclosed, as shown in fig. 1-2, and comprises a bottom plate 1, a baffle 2, a base 3, a driving device 4, a mechanical arm braking device 5, a liquid guide hose 6, a connecting arm 7, an installation shell 8, mechanical clamping jaws 9, a clamping jaw braking device 10 and a propelling device 11, wherein the baffle 2 is welded on the upper surface of the right portion of the bottom plate 1, the base 3 is installed on the left portion of the bottom plate 1 in a bolt manner, the driving device 4 used for providing power is installed in the middle of the bottom plate 1, a set of mechanical arm braking devices 5 used for braking mechanical arms under emergency are installed at two ends of the connecting arm 7, the bottom of the mechanical arm braking device 5 at the lower end of the connecting arm 7 is connected with the upper surface of the base 3, a third set of mechanical arm braking devices 5 is installed on the mechanical arm braking device 5 at the upper end of the connecting arm 7, the driving device 4 is communicated with the sets of the mechanical arm braking devices 5 through the liquid guide hose 6, hydraulic oil is filled in the liquid guide hose 6, the third set of mechanical arm braking devices 5, the installation shell 8 is welded at the lower end of the mechanical arm braking devices 5, the installation shell 8, the mechanical clamping jaws 9 are symmetrically and rotatably installed in the installation shell 8, the left and right, the mechanical clamping jaw braking devices 9 are located between the mechanical clamping jaw acceleration braking device and the clamping jaw braking device 11, the clamping jaw driving device 2 and the clamping jaw driving device 11, the clamping jaw driving device 2.

As shown in fig. 2 to 7, the driving device 4 includes a hydraulic cylinder 41, a piston rod 42, a compression spring 44, a circular truncated cone tube 45, a first electromagnet 46, a permanent magnet 47 and a clamping rod 48, the hydraulic cylinder 41 is installed in the middle of the bottom plate 1 in a bolt manner, the piston rod 42 is installed in the hydraulic cylinder 41 in a left-right sliding manner, hydraulic oil is filled between the hydraulic cylinder 41 and the piston rod 42, the rod part of the piston rod 42 is provided with a clamping groove 43, the compression spring 44 is connected between the end part of the piston rod 42 and the baffle 2, the compression spring 44 is in a compression state, the circular truncated cone tube 45 is welded on the upper surface of the right part of the bottom plate 1, the bottom of the circular truncated cone tube 45 is electrically connected with the first electromagnet 46, the permanent magnet 47 is installed on the upper part of the circular truncated cone tube 45 in a sliding manner, the permanent magnet 47 is suspended on the top of the circular truncated cone tube 45 by being in a same pole as the first electromagnet 46, the clamping rod 48 for limiting the piston rod 42 from moving leftwards is sleeved on the permanent magnet 47, and the upper part of the clamping groove 43.

As shown in fig. 5, the mechanical arm braking device 5 includes a connecting seat 51, a liquid inlet pipe 53, a piston fixture block 54 and a half-tooth rotating arm 55, the connecting seat 51 is welded on the upper surface of the base 3, a hydraulic cavity 52 is formed in the connecting seat 51, the hydraulic cavity 52 is communicated with the liquid guide hose 6 through the liquid inlet pipe 53, the piston fixture block 54 for braking the mechanical arm is suspended in the hydraulic cavity 52 through hydraulic oil, the hydraulic cavity 52 below the piston fixture block 54 is filled with hydraulic oil, the half-tooth rotating arm 55 is rotatably mounted on the upper portion of the connecting seat 51, and the half-tooth portion of the half-tooth rotating arm 55 is just not in contact with the upper portion of the piston fixture block 54.

As shown in fig. 3-4, the clamping jaw brake device 10 includes a second electromagnet 101, star-shaped iron blocks 102, antimagnetic springs 103, and a brake plate 104, two second electromagnets 101 are installed on the bottom surface of the installation housing 8 and symmetrically distributed front and back, the brake plate 104 is installed in the installation housing 8 in a vertically sliding manner, two star-shaped iron blocks 102 are welded on the bottom surface of the brake plate 104 in a front and back symmetric manner, the second electromagnet 101 adsorbs the two star-shaped iron blocks 102 by magnetic force, two antimagnetic springs 103 are installed on the bottom surface of the installation housing 8 and symmetrically distributed front and back, the two antimagnetic springs 103 are located between the two second electromagnets 101, and the two antimagnetic springs 103 are in a compressed state.

As shown in fig. 8-10, the propelling device 11 includes a support frame 111, a guide rail 112, a wedge block 113 and an extrusion frame 114, the support frame 111 is welded at the right portion of the bottom plate 1, the guide rail 112 is welded on the upper surface of the support frame 111, the clamping rod 48 penetrates through the guide rail 112 and is clamped in the clamping groove 43, the wedge block 113 is installed on the guide rail 112 in a left-right sliding manner, the piston rod 42 penetrates through the wedge block 113 and is connected with the compression spring 44, the extrusion frame 114 is clamped on the outer surface of the permanent magnet 47, and the upper end of the extrusion frame 114 is matched with the wedge block 113.

For convenience of description, the intelligent protection device of an industrial robot is hereinafter referred to as a device for short, when the industrial robot encounters an emergency, the first electromagnet 46 loses magnetism when power is off, the permanent magnet 47 rapidly falls under the dual action of magnetic force and gravity, the clamping rod 48 is driven to separate from the clamping groove 43, the piston rod 42 is rapidly pushed leftward under the action of the deformation recovery of the compression spring 44, the hydraulic oil is simultaneously pushed into the three liquid guide hoses 6, the permanent magnet 47 falls downward and drives the extrusion frame 114 to fall downward, when the piston rod 42 separates from the clamping groove 43, the extrusion frame 114 just contacts the wedge block 113, the extrusion frame 114 pushes the wedge block 113 to slide leftward along the guide slide rail 112, the wedge block 113 pushes the piston rod 42 to move leftward, so that the speed of the piston rod 42 pushing the hydraulic oil in the hydraulic cylinder 41 to enter the liquid guide hoses 6 is increased, and then the liquid guide hoses 6 enter the hydraulic cavity 52 through the liquid guide hoses 53, hydraulic oil in the hydraulic cavity 52 rises to drive the piston clamping block 54 to move upwards, the end part of the piston clamping block 54 is clamped with the half-tooth part of the half-tooth rotating arm 55, then emergency braking of the mechanical arm is realized, when the first electromagnet 46 loses magnetism after power failure, the second electromagnet 101 loses magnetism due to power failure, the second electromagnet 101 no longer adsorbs the star-shaped iron block 102, the braking plate 104 can be rapidly pushed upwards under the action of the deformation recovery of the anti-magnetic spring 103, the braking plate 104 is in contact with the inner end of the mechanical clamping jaw 9 installed in the installation shell 8, then the inner end of the mechanical clamping jaw 9 installed in the installation shell 8 is rapidly driven to rotate upwards, the outer end of the mechanical clamping jaw 9 outside the installation shell 8 is forced to fold inwards, and therefore objects grabbed by the mechanical clamping jaw 9 cannot fall off from the mechanical clamping jaw 9 to injure people or smash objects due to sudden situations. After solving emergency, first electro-magnet 46 circular telegram resumes magnetism for permanent magnet 47 receives homopolar repulsion's power to drive kelly 48 rebound after first electro-magnet 46 resumes magnetism, thereby let kelly 48 push into in the draw-in groove 43, by the manual piston rod 42 right-hand of workman, make kelly 48 slide to in the draw-in groove 43, thereby it is spacing with piston rod 42, meanwhile the circular telegram of second electro-magnet 101 resumes magnetism, thereby adsorb star iron plate 102 through magnetic force and drive braking plate 104 and slide downwards, force antimagnetic spring 103 to compress, make mechanical clamping jaw 9 resume initial condition.

Example 2

As shown in fig. 6 to 10, in addition to embodiment 1, a first pulley 12 is further included, and the first pulley 12 for reducing friction is rotatably mounted at the end of the jamming rod 48.

As shown in fig. 10, a second pulley 13 is further included, and the upper end of the extrusion frame 114 is rotatably mounted with the second pulley 13 for pushing the wedge block 113.

It should be noted that the first pulley 12 can reduce the friction force between the engaging groove 43 and the engaging rod 48, and can prevent the engaging rod 48 from tilting or bending in the engaging groove 43, and the piston rod 42 will not tilt or bend in the engaging groove 43 due to the friction force in the process of being pushed to the left rapidly under the action of the compression spring 44 restoring deformation due to the existence of the first pulley 12, so that the entire mechanical arm braking device 5 is disabled.

The second pulley 13 can effectively reduce the friction force between the wedge block 113 and the extrusion frame 114, so that the friction force does not influence the rightward advancing speed of the wedge block 113 when the extrusion frame 114 is in contact with the wedge block 113.

It should be understood that the above description is for illustrative purposes only and is not meant to limit the present invention. Those skilled in the art will appreciate that variations of the present invention are intended to be included within the scope of the claims herein.

Claims (7)

1. The utility model provides an industrial robot's intelligent protector, including bottom plate (1), baffle (2) and base (3), bottom plate (1) one end upper surface rigid coupling has baffle (2), and base (3), its characterized in that are installed to bottom plate (1) other end: the mechanical arm braking device comprises a base plate (1), a mounting shell (8), mechanical clamping jaws (9), a clamping jaw braking device (10), a propelling device (11), a driving device (4) used for providing power is installed in the middle of the base plate (1), a group of mechanical arm braking devices (5) used for braking mechanical arms under emergency are installed at two ends of the connecting arm (7), the bottom of each mechanical arm braking device (5) at the lower end of the connecting arm (7) is connected with the upper surface of the base (3), a third group of mechanical arm braking devices (5) are installed on the mechanical arm braking devices (5) at the upper end of the connecting arm (7), the driving device (4) is communicated with the mechanical arm braking devices (5) through the hydraulic hoses (6), the hydraulic oil liquid is filled in the hydraulic hoses (6), the mounting shell (8) is fixedly connected to the lower ends of the third group of mechanical arm braking devices (5), the mechanical clamping jaws (9) are installed in the mounting shell (8), the two groups of mechanical clamping jaws (9) extend inwards, the parts of the mechanical clamping jaws (9) in the mounting shell (8) are installed at the bottom of the bottom, and the mechanical clamping jaw braking devices (10) are located under the emergency, and the clamping jaws (10) and the clamping jaws (9) integrally located under the emergency, the right part of the bottom plate (1) is provided with a propelling device (11) for accelerating the propelling of the driving device (4), and the propelling device (11) is positioned between the baffle (2) and the driving device (4).

2. An intelligent protective device for an industrial robot according to claim 1, characterized in that: drive arrangement (4) are including pneumatic cylinder (41), piston rod (42), compression spring (44), round platform pipe (45), first electro-magnet (46), permanent magnet (47) and kelly (48), pneumatic cylinder (41) are installed to bottom plate (1), install piston rod (42) in pneumatic cylinder (41), be full of liquid between pneumatic cylinder (41) and piston rod (42), pole portion division of piston rod (42) has draw-in groove (43), be connected with compression spring (44) between the tip of piston rod (42) and baffle (2), compression spring (44) are in the compression state, bottom plate (1) one end upper surface rigid coupling has round platform pipe (45), round platform pipe (45) bottom is connected with first electro-magnet (46), permanent magnet (47) are installed on round platform pipe (45) upper portion, permanent magnet (47) through with first electro-magnet (46) homopolar repulsion suspension at round platform pipe (45) top, kelly (48) that are used for restricting piston rod (42) and move has been cup jointed on permanent magnet (47), kelly (48) upper portion is located draw-in groove (43).

3. An intelligent protective device for an industrial robot according to claim 2, characterized in that: mechanical arm arresting gear (5) are including connecting seat (51), feed liquor pipe (53), piston fixture block (54) and half tooth rotor arm (55), base (3) upper surface rigid coupling has connecting seat (51), hydraulic pressure chamber (52) have been seted up in connecting seat (51), hydraulic pressure chamber (52) are through feed liquor pipe (53) and drain hose (6) intercommunication, piston fixture block (54) that are used for braking the mechanical arm have been placed in hydraulic pressure chamber (52), hydraulic pressure chamber (52) of piston fixture block (54) below are filled with liquid, half tooth rotor arm (55) are installed on connecting seat (51) upper portion, half tooth rotor arm (55) half tooth portion just does not contact with piston fixture block (54) upper portion.

4. An intelligent protective device for an industrial robot according to claim 3, characterized in that: clamping jaw arresting gear (10) is including second electro-magnet (101), star iron plate (102), antimagnetic spring (103) and brake plate (104), install two second electro-magnet (101) that are front and back symmetric distribution in installation casing (8) bottom surface, install brake plate (104) in installation casing (8), brake plate (104) lower surface rigid coupling has two star iron plates (102), second electro-magnet (101) adsorb two star iron plates (102) through magnetic force, install two antimagnetic spring (103) that are front and back symmetric distribution in installation casing (8) bottom surface, two antimagnetic spring (103) are located between two second electro-magnet (101), and two antimagnetic spring (103) are in the compression state.

5. An intelligent protective device for an industrial robot according to claim 4, characterized in that: advancing device (11) is including support frame (111), direction slide rail (112), wedge (113) and extrusion frame (114), bottom plate (1) right part rigid coupling has support frame (111), support frame (111) upper surface rigid coupling has direction slide rail (112), and kelly (48) pass direction slide rail (112) joint in draw-in groove (43), install wedge (113) on direction slide rail (112), piston rod (42) pass wedge (113) and are connected with compression spring (44), permanent magnet (47) surface joint has extrusion frame (114), extrusion frame (114) upper end and wedge (113) cooperation.

6. An intelligent protective device for an industrial robot according to claim 5, characterized in that: the device also comprises a first pulley (12), and the end part of the clamping rod (48) is provided with the first pulley (12) for reducing friction force.

7. An intelligent protective device for an industrial robot according to claim 6, characterized in that: the device also comprises a second pulley (13), and the upper end of the extrusion frame (114) is provided with the second pulley (13) used for pushing the wedge-shaped block (113).

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