WO2022267146A1 - 一种工业机器人作业用安全防护装置及其防护方法 - Google Patents

一种工业机器人作业用安全防护装置及其防护方法 Download PDF

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Publication number
WO2022267146A1
WO2022267146A1 PCT/CN2021/107863 CN2021107863W WO2022267146A1 WO 2022267146 A1 WO2022267146 A1 WO 2022267146A1 CN 2021107863 W CN2021107863 W CN 2021107863W WO 2022267146 A1 WO2022267146 A1 WO 2022267146A1
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WO
WIPO (PCT)
Prior art keywords
buffer
elastic
auxiliary
protective
elastic buffer
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PCT/CN2021/107863
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English (en)
French (fr)
Inventor
李振
孔坚斌
王超
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南京昱晟机器人科技有限公司
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Publication of WO2022267146A1 publication Critical patent/WO2022267146A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D61/00—External frames or supports adapted to be assembled around, or applied to, articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D81/00—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents
    • B65D81/02—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents specially adapted to protect contents from mechanical damage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D85/00—Containers, packaging elements or packages, specially adapted for particular articles or materials
    • B65D85/68—Containers, packaging elements or packages, specially adapted for particular articles or materials for machines, engines or vehicles in assembled or dismantled form
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2585/00—Containers, packaging elements or packages specially adapted for particular articles or materials
    • B65D2585/68—Containers, packaging elements or packages specially adapted for particular articles or materials for machines, engines, or vehicles in assembled or dismantled form
    • B65D2585/6802—Containers, packaging elements or packages specially adapted for particular articles or materials for machines, engines, or vehicles in assembled or dismantled form specific machines, engines or vehicles
    • B65D2585/6875—Containers, packaging elements or packages specially adapted for particular articles or materials for machines, engines, or vehicles in assembled or dismantled form specific machines, engines or vehicles engines, motors, machines and vehicle parts

Definitions

  • the invention relates to the field of industrial robots, in particular to a safety protection device for industrial robot operation and a protection method thereof.
  • Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power sources and control capabilities to achieve various industrial processing and manufacturing functions. According to their mobility, they can be divided into semi- Mobile robots (the robot is fixed in a certain position as a whole, only part of it can move, such as manipulators) and mobile robots, etc., have many applications in palletizing, welding, assembly, inspection and cleaning.
  • the active parts of industrial robots are mainly composed of mechanical arms, which generally move according to predetermined trajectories, but these mechanical arms usually lack safety protection devices. Once other equipment or foreign objects are placed around the mechanical arms due to negligence, it may cause The mechanical arm collides with these devices or foreign objects without direction, which will cause damage to the mechanical arm and affect the normal operation of the industrial robot; at the same time, when there are workers within the operating range of the mechanical arm, it may also affect the safety of the workers, and there are certain safety hazards .
  • a safety protection device for industrial robot operation and a protection method thereof are provided.
  • buffer energy-consuming parts moving adjustment parts, and a main buffer protection part hinged with the movement adjustment parts, a protective outer shell, a protective inner shell, auxiliary buffer protective parts and
  • the auxiliary pressure dividing component buffers and divides the pressure of the external force, thereby solving the above-mentioned problems in the prior art.
  • a safety protection device for industrial robot operation comprising a plurality of protective inner shells attached to the outer wall of the mechanical arm, and a protective outer shell arranged outside the protective inner shell, and a plurality of a moving slot, the moving adjusting part is arranged in the moving slot;
  • the main buffer protection part is connected between the protective shell and the movement adjustment part, and includes a pair of main elastic buffer outer columns for active buffering, and a main elastic buffer inner column is slid between the pair of said main elastic buffer outer columns, A main buffer spring is provided outside the main elastic buffer inner column;
  • Two groups of buffer energy-dissipating parts are arranged symmetrically on both sides of the main buffering protection part, and are used for buffering and dissipating energy in cooperation with the moving adjustment parts.
  • the movement regulating part includes a buffer slider slidingly arranged in the moving groove, and the ends of the pair of main elastic buffer outer columns that are far away from each other are respectively hinged with the buffer slider and the protective shell, and the pair of main elastic buffer outer columns
  • the outer column of the elastic buffer is fixed by the inner column of the main elastic buffer, and the pair of outer columns of the main elastic buffer are hinged so that when the protective shell is subjected to an undirectional external force, the inner column of the main elastic buffer and the pair of main elastic buffer can be driven
  • the outer column rotates, and at the same time cooperates with the elastic setting of the main elastic buffer inner column and a pair of main elastic buffer outer columns, so that non-directional external forces in different directions can be buffered and divided.
  • a first partial pressure spring is connected between both ends of the buffer slider and the inner wall of the moving groove, and an elastic sliding column is arranged on the inner side of the first partial pressure spring, and the buffer slider is excavated
  • the buffer slider is slidably connected with the elastic sliding column through the sliding hole
  • the buffer sliding block is adapted to the moving groove
  • both ends of the elastic sliding column are fixedly connected to the inner wall of the moving groove
  • the diameter of the elastic sliding column is slightly larger than that of the sliding hole, which can form a certain obstacle when the sliding block is buffered, so as to buffer and divide the impact external force during the process of energy storage.
  • the buffer energy-dissipating component includes an energy-dissipating guide column, and a plurality of energy-dissipating protrusions are connected to the outer wall of the energy-dissipating guide column, and two symmetrically excavated on the buffer sliding block are A first energy-dissipating groove that is compatible with the energy-dissipating guide column, and the inner wall of the first energy-dissipating groove is dug with a plurality of second energy-dissipating grooves that are compatible with the energy-dissipating bump, and the inner wall of the first energy-dissipating groove A pair of elastic paddles are connected to the top, and the distance between the pair of elastic paddles is smaller than the diameter of the energy-dissipating guide column.
  • the arrangement of the pair of elastic paddles can dissipate the energy after the energy-dissipating guide column is snapped into the first energy-dissipating slot.
  • the upper part of the guide column is elastically clamped and fixed, so as to cooperate with the second energy-dissipating groove and the energy-dissipating bump to increase the difficulty of frictional movement when the buffer slider moves to dissipate energy, so as to cooperate with the main buffering and protecting parts to buffer and divide the external force to avoid External force causes damage to the robotic arm.
  • two elastic buffer blocks are symmetrically connected to both ends of the energy-dissipating guide column, two elastic buffer blocks are provided with fixing clips, and a pair of fixing clips are dug into the protective shell.
  • Matching card slot the fixed card bar is slidably arranged in the card slot, and auxiliary buffer protection parts are connected between the fixed card bar and the two elastic buffer blocks, and when the first partial pressure spring is compressed to When the predetermined value is set, the buffer slider will collide with the elastic buffer block.
  • the elastic setting of the elastic buffer block can avoid damage caused by multiple collisions of the elastic buffer block on the one hand, and protect the normal use of the elastic buffer block and other related components.
  • the external force can be buffered and divided in cooperation with the mobile adjustment part and the main buffer protection part.
  • the auxiliary buffer protection part includes a pair of auxiliary elastic buffer outer columns, and the ends of the pair of auxiliary elastic buffer outer columns that are far away from each other are respectively hinged with the elastic buffer block and the fixing clip.
  • An auxiliary elastic buffer inner column is provided for sliding between the auxiliary elastic buffer outer columns, and an auxiliary elastic buffer spring is provided on the outside of the auxiliary elastic buffer inner column.
  • a locking plate is provided on the outer side of the protective shell, the locking plate is connected to the buffer energy-dissipating component, a handle is connected to the outer wall of the locking plate, and a buffer
  • the anti-slip pad, the locking plate and the protective shell are correspondingly drilled with a plurality of locking holes, the inner threads of the locking holes are connected with locking nails, and the friction coefficient between the energy dissipation bump and the buffer slider is within a predetermined range
  • the locking plate is fixedly connected with a pair of fixing clips.
  • the energy-dissipating components and auxiliary buffering protection components can be fixed in the protection through the locking plate, locking holes and locking nails.
  • the moving adjustment part, the main buffer protection part and the auxiliary buffer protection part and other related parts are used to buffer and divide the external force.
  • auxiliary pressure dividing components are connected between the protective inner shell and the protective outer shell, and the auxiliary pressure dividing components include a second pressure dividing spring whose one end is fixedly connected to the outer wall of the protective inner shell.
  • An elastic pressure dividing plate is fixedly connected to the second pressure dividing spring, and the inner side of the second pressure dividing spring is provided with an elastic pressure dividing column, which can cooperate with the moving adjustment part, the main buffer protection part, the buffer energy consumption part and the auxiliary buffer protection part, etc.
  • the component buffers and divides the pressure of the external force, and at the same time, when the protective shell is subjected to an undirectional external force to make the pair of main elastic buffer outer columns and a pair of auxiliary elastic buffer outer columns rotate, the rotation of the main elastic buffer outer column and the auxiliary elastic buffer outer column can be avoided If the angle is too large, it will cause damage and affect the buffer protection of the robot arm.
  • both ends of the protective inner shell are plugged with inner shell clamping blocks, and both ends of the inner shell clamping block are dug with slots suitable for the protective inner shell.
  • the above-mentioned protective inner shells are fixed by a plurality of inner shell clamping blocks, and each adjacent two protective inner shells are connected by an inner shell clamping block, so that multiple protective inner shells can be attached to the mechanical arm On the outer wall, it is convenient for the user to disassemble multiple protective inner shells, which can facilitate the disassembly of the protective inner shell and the mechanical arm and the disassembly and replacement of related components.
  • a protection method for a safety protection device for an industrial robot operation comprising the following steps:
  • the invention relates to a safety protection device for industrial robot operation and a protection method thereof.
  • a protective shell, a main buffer protection part, an auxiliary buffer protection part, an auxiliary pressure dividing part and a protective inner shell attached to the outer wall of a mechanical arm it can When the outer side of the mechanical arm is impacted by directional or non-directional external force, the directional or non-directional external force will be buffered and divided in steps to reduce the probability of damage to the outer wall of the mechanical arm, the impact object and the injury caused by the worker.
  • the movable adjustment part hinged by the main buffer part can carry out further cascade buffer partial pressure for directional or non-directional external force, so as to avoid damage to the outer wall of the mechanical arm and impact objects and damage to workers, protect the normal operation of industrial robots, and reduce safety hazards .
  • Figure 1 is a top view of the overall structure of the present invention.
  • FIG. 2 is a partial enlarged view of A in FIG. 1 .
  • Fig. 3 is a partially enlarged view of the place B in Fig. 1 .
  • Fig. 4 is a perspective view of a part of the structure of the present invention.
  • Fig. 5 is an exploded view of a part of the structure of the present invention.
  • FIG. 6 is a partially enlarged view at point C in FIG. 5 .
  • Fig. 7 is a perspective view of the buffer slider in the present invention.
  • the reference numerals in the figure are: 1. Inner shell clamping block, 2. Protective inner shell, 3. Protective shell, 4. Moving adjustment parts, 401. Buffer slider, 402. First partial pressure spring, 403. Elastic Sliding column, 404. Sliding hole, 405. First energy dissipation groove, 406. Second energy dissipation groove, 407. Elastic dial, 5. Main buffer protection part, 501. Main elastic buffer outer column, 502. Main elastic buffer Inner column, 503. Main buffer spring, 6. Buffer energy-dissipating parts, 601. Energy-dissipating guide column, 602. Energy-dissipating bump, 603. Elastic buffer block, 604. Fixing clip, 7.
  • Auxiliary buffering protection parts 701 .Auxiliary elastic buffer outer column, 702. Auxiliary elastic buffer inner column, 703. Auxiliary buffer spring, 8. Locking plate, 801. Locking hole, 9. Locking nail, 10. Handle, 11. Auxiliary pressure part, 1101. Second pressure dividing spring, 1102. Elastic pressure dividing plate, 1103. Elastic pressure dividing column.
  • a safety protection device for industrial robot operation includes a plurality of protective inner shells 2 , protective outer shells 3 , movement adjustment parts 4 , main buffer protection parts 5 and buffer energy-consuming parts 6 attached to the outer wall of the robot arm.
  • both ends of the protective inner shell 2 are plugged with inner shell clamping blocks 1, and both ends of the inner shell clamping block 1 are dug with slots suitable for the protective inner shell 2, and multiple protective inner shells 2 pass through multiple Two inner shell clamping blocks 1 are fixed, and each adjacent two protective inner shells 2 are connected by an inner shell clamping block 1, so that multiple protective inner shells 2 can be attached to the outer wall of the mechanical arm.
  • four protective inner shells 2 are provided, corresponding to the mechanical arms respectively.
  • the four outer walls, the protective outer shell 3 and the protective inner shell 2 are set correspondingly, and the protective outer shell 3 is arranged outside the protective inner shell 2.
  • the external force first acts on the protective outer shell 3, which can cooperate with the protective inner shell 2.
  • a primary protection is formed by the clamping block 1 of the inner shell.
  • the side of the protective inner shell 2 close to the protective shell 3 has a plurality of moving grooves, and the moving adjustment parts 4 are arranged in the moving grooves, and the main buffer protection part 5 is hinged between the protective shell 3 and the moving adjusting parts 4 , the main buffer protection part 5 includes a pair of main elastic buffer outer columns 501 for active buffering, a main elastic buffer inner column 502 is slid between the pair of main elastic buffer outer columns 501, and a main elastic buffer inner column 502 is provided outside the main elastic buffer inner column 502.
  • the movement adjustment part 4 comprises the buffer slide block 401 that is slidably arranged in the moving groove, and one end of a pair of main elastic buffer outer columns 501 away from each other is hinged with the buffer slide block 401 and the protective shell 3 respectively, and a pair of main elastic buffer outer columns 501 is fixed by the main elastic buffer inner column 502, and a pair of main elastic buffer outer columns 501 are hinged so that when the protective shell 3 is subjected to an undirectional external force, it can drive the main elastic buffer inner column 502 and a pair of main elastic buffer.
  • the outer cushioning column 501 rotates, and at the same time cooperates with the elastic setting of the main elastic buffering inner column 502 and a pair of main elastic buffering outer columns 501, which can buffer and divide the non-directional external force in different directions.
  • the external force acts on the protective shell 3 to drive a pair of main elastic buffer outer columns 501 to rotate between the protective shell 3 and the mobile adjustment part 4, and pushes the buffer slider 401 to slide on the elastic sliding column 403, and then drives
  • the main elastic buffer inner column 502 moves in a pair of main elastic buffer outer columns 501, so that the main elastic buffer inner column 502 and the first partial pressure spring 402 are deformed, thereby buffering and dividing the non-directional external force, and avoiding the non-directional external force. Damage caused by the robotic arm.
  • a first partial pressure spring 402 is connected between both ends of the buffer slider 401 and the inner wall of the moving groove, and an elastic sliding column 403 is arranged inside the first partial pressure spring 402.
  • a sliding hole 404 matching the elastic sliding column 403 is excavated.
  • the buffer sliding block 401 is slidably connected with the elastic sliding column 403 through the sliding hole 404.
  • the buffer sliding block 401 is adapted to the moving groove. Both ends of the elastic sliding column 403 are connected to The inner wall of the moving groove is fixedly connected, and the diameter of the elastic sliding column 403 is slightly larger than that of the sliding hole 404, which can form a certain obstacle when the buffer slider 401 slides, so as to buffer and divide the impact external force in the process of energy storage. .
  • the two first partial pressure springs 402 are tension springs and compression springs respectively, and the elastic coefficients of the main buffer spring 503 and the two first partial pressure springs 402 are different at the same time, when a pair of main elastic buffer outer columns 501 drive the main
  • the movement of the elastic buffer inner column 502 causes the main buffer spring 503 to deform, or when a pair of main elastic buffer outer columns 501 push the buffer slider 401 to slide on the elastic sliding column 403, the two first partial pressure springs 402 are respectively deformed. Because the elastic coefficients of the main buffer spring 503 and the two first partial pressure springs 402 are different, a stepped shock absorption can be formed, and the external force can be buffered and divided in steps to avoid damage to the mechanical arm.
  • two groups of buffer energy-dissipating components 6 are arranged symmetrically on both sides of the main buffering and protecting component 5 , and are used for buffering and dissipating energy in cooperation with the moving adjustment component 4 .
  • the buffer energy-dissipating component 6 includes an energy-dissipating guide post 601, and a plurality of energy-dissipating bumps 602 are connected to the outer wall of the energy-dissipating guide post 601.
  • the inner wall of the first energy dissipation groove 405 is drilled with a plurality of second energy dissipation grooves 406 matching the energy dissipation bumps 602 .
  • a pair of elastic dials 407 are connected to the inner wall of the first energy dissipation groove 405.
  • the distance between the pair of elastic dials 407 is smaller than the diameter of the energy dissipation guide column 601.
  • two elastic buffer blocks 603 are symmetrically connected to both ends of the energy-dissipating guide column 601, and the two elastic buffer blocks 603 are provided with fixed clips 604, and a pair of fixed clips are cut on the protective shell 3.
  • the draw-in groove that bar 604 is matched, fixed draw-in bar 604 slides and is arranged in the draw-in groove, is all connected with auxiliary buffering protection part 7 between fixed draw-in bar 604 and two elastic buffer blocks 603, compresses in first partial pressure spring 402 When the predetermined value is reached, the buffer slider 401 will collide with the elastic buffer block 603.
  • the elastic setting of the elastic buffer block 603 can prevent the elastic buffer block 603 from being damaged due to multiple collisions and protect the elastic buffer block 603 and other related components. In normal use, on the other hand, it can cooperate with the mobile adjustment part 4 and the main buffer protection part 5 to buffer and divide the external force.
  • the auxiliary buffer protection part 7 includes a pair of auxiliary elastic buffer outer columns 701, and the ends of the pair of auxiliary elastic buffer outer columns 701 are respectively hinged with the elastic buffer block 603 and the fixed clip 604, and the pair of auxiliary elastic buffer outer columns 701
  • An auxiliary elastic buffer inner column 702 is provided for sliding between them, and an auxiliary elastic buffer spring 703 is arranged on the outside of the auxiliary elastic buffer inner column 702.
  • the pair of auxiliary elastic buffer outer columns 701 can rotate accordingly, and cooperate with the auxiliary elastic buffer inner column 702 to slide between the pair of auxiliary elastic buffer outer columns 701 and the auxiliary buffer spring 703 is deformed, and can cooperate with the main elastic buffer outer column 501, the main elastic buffer inner column 502 and the main buffer spring 503 to buffer and divide the non-directional external force.
  • a locking plate 8 is provided on the outer side of the protective shell 3, and the locking plate 8 is connected to the buffer energy-dissipating component 6, and a handle 10 is connected to the outer wall of the locking plate 8, and the handle 10 is fixedly connected with Buffer anti-slip mat, buffer anti-slip mat can facilitate the user to use the handle 10 to pull out the locking plate 8, improve comfort and anti-slip, and can also protect the handle 10 when the external force acts on the handle 10 to avoid the handle 10.
  • the locking plate 8 and the protective shell 3 are correspondingly dug with a plurality of locking holes 801, and the locking holes 801 are internally threaded with locking nails 9.
  • the coefficient of friction between the energy dissipation bump 602 and the buffer slider 401 is within a predetermined range, when the energy dissipation bump 602 rubs against the buffer slider 401 for many times so that the surface damping of the energy dissipation guide column 601 is reduced, the handle 10 can Pull out the buffer energy-dissipating part 6 and the auxiliary buffer-protecting part 7 from between the protective inner shell 2 and the protective outer shell 3, so that the user can easily replace the energy-dissipating guide post 601 and other related components.
  • the locking plate 8 and a pair of fixing clips 604 is fixedly connected, through the locking plate 8, locking hole 801 and locking nail 9, the buffer energy dissipation component 6 and the auxiliary buffer protection component 7 can be fixed between the protective inner shell 2 and the protective outer shell 3, and at the same time, the energy dissipation guide
  • the column 601 fits closely with the first energy-dissipating groove 405, which increases the difficulty of the sliding of the buffer slider 401, thereby improving the buffering of the external force by cooperating with related components such as the mobile adjustment part 4, the main buffer protection part 5, and the auxiliary buffer protection part 7. pressure.
  • auxiliary pressure dividing components 11 are connected between the protective inner shell 2 and the protective outer shell 3, and multiple sets of auxiliary pressure dividing components 11 are irregularly arranged between the protective inner shell 2 and the protective outer shell 3 , when the protective shell 3 is impacted and close to the protective inner shell 2, the second pressure dividing spring 1101, the elastic pressure dividing column 1103 and the elastic pressure dividing plate 1102 can be used to cushion and support the protective shell 3, so as to prevent the protective inner shell 2 from colliding with the protective shell 3. Hitting or misalignment occurs.
  • the auxiliary pressure dividing part 11 includes a second pressure dividing spring 1101 whose one end is fixedly connected to the outer wall of the protective inner shell 2.
  • An elastic pressure dividing plate 1102 is fixedly connected to the second pressure dividing spring 1101.
  • An elastic pressure dividing spring 1101 is provided inside the second pressure dividing spring 1101.
  • the column 1103 can cooperate with the mobile adjustment part 4, the main buffer protection part 5, the buffer energy consumption part 6 and the auxiliary buffer protection part 7 and other related parts to buffer and divide the external force.
  • the elastic coefficients of the two partial pressure springs 1101, the auxiliary buffer spring 703, the main buffer spring 503 and the first partial pressure spring 402 are all different, and can cooperate with each other to form an elastic shock absorbing array during the buffering process, and at the same time aim at the different positions of the protective shell 3. When the impact occurs, the points at each position are separately protected from shock absorption to avoid damage to the mechanical arm.
  • the protective shell 3 when the protective shell 3 is impacted by an external force directed vertically, the external force acts on the protective shell 3 to drive the main elastic buffer inner column 502 to slide in the pair of main elastic buffer outer columns 501, so that the main buffer spring 503 is deformed, and at the same time, The auxiliary elastic buffer inner column 702 slides in the pair of auxiliary elastic buffer outer columns 701, so that the auxiliary buffer spring 703 is deformed, and then the second pressure dividing spring 1101 is deformed through the elastic pressure dividing plate 1102.
  • the elastic pressure divider plate 1102 contacts and squeezes the elastic pressure divider column 1103, and then the second pressure divider spring 1101, the main buffer spring 503 and the auxiliary buffer spring 703 perform recovery deformation movement, so that the directional vertical external force is reciprocated and buffered. pressure.
  • the external force acts on the protective shell 3 to drive a pair of main elastic buffer outer columns 501 to rotate, push the buffer slider 401 to slide on the elastic sliding column 403, and then drive the main elastic buffer inner
  • the column 502 moves in the pair of main elastic buffer outer columns 501, so that the main elastic buffer inner column 502 and the first partial pressure spring 402 are deformed, and then the pair of auxiliary elastic buffer outer columns 701 rotate to drive the auxiliary elastic buffer inner column 702 moves in a pair of auxiliary elastic buffer outer columns 701, so that the auxiliary buffer spring 703 is deformed, and when the buffer slider 401 moves on the elastic sliding column 403, the side wall of the first energy-dissipating groove 405 and the energy-dissipating protrusion 602 Relative movement occurs, and then the elastic pressure dividing plate 1102 drives the second pressure dividing spring 1101 to deform.
  • the elastic pressure dividing plate 1102 and the elastic pressure dividing column 1103 After contact extrusion, the second pressure-dividing spring 1101, main buffer spring 503, auxiliary buffer spring 703 and first pressure-dividing spring 402 perform recovery deformation movement, so as to buffer and divide the non-directional external force to realize the buffering and dividing of the external force. pressure.
  • the buffer slider 401 is connected with a first hinged plate, and the lower end of the protective shell 3 is connected with a corresponding second hinged plate, and the first hinged plate and the second hinged plate
  • the sides of the plates close to each other are respectively connected with a lower angle control plate and an upper angle control plate, and the lower angle control plate and the upper angle control plate form a predetermined angle with the first hinge plate and the second hinge plate respectively, and are used to control a pair of main elastic Buffering the rotation angle of the outer column 501 prevents the collision or dislocation between the protective inner shell 2 and the protective outer shell 3 due to the excessive rotation angle of the pair of main elastic buffering outer columns 501 .
  • a pair of main elastic buffer outer columns 501 are divided into an upper buffer outer column and a lower buffer outer column.
  • the upper buffer outer column slides with a first slip ring and a second slip ring, and the first slip ring is located on the second slip ring.
  • the sides of the first slip ring and the second slip ring that are far away from each other are respectively connected with the first connecting plate and the second connecting plate, and the first step is respectively connected between the first connecting plate, the second connecting plate and the first hinge plate.
  • the first slip ring When the first slip ring abuts against the upper angle control plate, it can drive the first step damping spring to deform; when the second slip ring abuts against the first slip ring, and the first slip ring abuts against the upper angle control plate , can drive the second step damping spring to deform, and at this time, the auxiliary buffer spring 703 deforms accordingly, and at the same time, the elastic coefficients of the first step damping spring, the second step damping spring, the auxiliary buffer spring 703 and the main buffer spring 503 Different, when the protective shell 3 is impacted by an external force, it can drive the first step shock absorbing spring, the second step shock absorbing spring, the auxiliary buffer spring 703, and the main buffer spring 503 to perform step shock absorbing and buffering, thereby avoiding damage to the mechanical arm caused by external force .
  • the specific working process of the present invention is as follows: when the protective shell 3 is impacted by a directional and vertical external force, the external force acts on the protective shell 3 to drive the main elastic buffer inner column 502 to slide in a pair of main elastic buffer outer columns 501 , so that the main buffer spring 503 is deformed, and at the same time, the auxiliary elastic buffer inner column 702 slides in the pair of auxiliary elastic buffer outer columns 701, so that the auxiliary buffer spring 703 is deformed, and then the second pressure dividing spring 1101 is driven by the elastic pressure dividing plate 1102 Deformation occurs, when the second pressure divider spring 1101 is deformed to a certain extent, the elastic pressure divider plate 1102 contacts and squeezes with the elastic pressure divider column 1103, and then the second pressure divider spring 1101, the main buffer spring 503 and the auxiliary buffer spring 703 undergo recovery deformation In this way, the directional vertical external force is reciprocated to buffer and divide the pressure.
  • the external force acts on the protective shell 3 to drive a pair of main elastic buffer outer columns 501 to rotate, pushing the buffer slider 401 in The elastic sliding column 403 slides, and then drives the main elastic buffer inner column 502 to move in the pair of main elastic buffer outer columns 501, so that the main elastic buffer inner column 502 and the first partial pressure spring 402 are deformed, and then the pair of auxiliary elastic buffer
  • the outer buffer column 701 rotates, driving the auxiliary elastic buffer inner column 702 to move in the pair of auxiliary elastic buffer outer columns 701, so that the auxiliary buffer spring 703 is deformed, and when the buffer slider 401 moves on the elastic sliding column 403, the first The side wall of an energy-dissipating groove 405 moves relative to the energy-dissipating bump 602, and then the second pressure-dividing spring 1101 is driven to deform by the elastic pressure dividing plate 1102.
  • the elastic pressure divider plate 1102 contacts and squeezes the elastic pressure divider column 1103, and then the second pressure divider spring 1101, the main buffer spring 503, the auxiliary buffer spring 703 and the first pressure divider spring 402 perform recovery deformation movement, so reciprocating Orient the external force to buffer and divide the pressure to realize the buffering and partial pressure of the external force.
  • the locking nail 9 is screwed out from the locking hole 801, and then the energy-dissipating guide column 601 in the buffering energy-dissipating component 6 is pulled out of the Just pull it out from the first energy dissipation slot 405.
  • energy dissipation bump 602 After replacing the energy dissipation guide post 601, energy dissipation bump 602 and other related components, snap the energy dissipation guide post 601 into the first energy dissipation slot 405 and connect it with the elastic dial. 407 close to each other, and then screw the locking nail 9 into the locking hole 801 corresponding to the locking plate 8 and the protective shell 3 to fix it.

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  • Mechanical Engineering (AREA)
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Abstract

本发明涉及一种工业机器人作业用安全防护装置及其防护方法，涉及工业机器人领域，包括与机械臂外壁相贴合的多个防护内壳，以及设置于防护内壳外侧的防护外壳。通过设置防护外壳、主缓冲防护部件、辅助缓冲防护部件、辅助分压部件以及贴合在机械臂外壁上的防护内壳，可以在机械臂外侧受到定向或不定向外力冲击时，对定向或不定向外力进行梯级缓冲分压，降低机械臂外壁、冲击物发生损坏以及工人造成损伤的几率，同时设置与缓冲耗能部件以及与主缓冲部件铰接的移动调节部件，可以对定向或不定向外力进行进一步的梯级缓冲分压，从而避免机械臂外壁、冲击物发生损坏以及工人造成损伤，保护工业机器人的正常运行，减小安全隐患。

Description

一种工业机器人作业用安全防护装置及其防护方法 技术领域
本发明涉及工业机器人领域，具体涉及一种工业机器人作业用安全防护装置及其防护方法。
 背景技术
工业机器人是广泛用于工业领域的多关节机械手或多自由度的机器装置，具有一定的自动性，可依靠自身的动力能源和控制能力实现各种工业加工制造功能，按照移动性可分为半移动式机器人（机器人整体固定在某个位置，只有部分可以运动，例如机械手）和移动机器人等，它们在码垛、焊接、装配、检测以及清洁等方面多有应用。
目前，工业机器人的活动部分主要由机械臂构成，它们一般会按照预定的轨迹进行活动，但这些机械臂通常缺乏安全防护装置，一旦因为疏忽在机械臂周围放置其它设备或异物时，可能会导致机械臂与这些设备或异物产生不定向的碰撞，从而造成机械臂的损坏，影响工业机器人的正常运作；同时在机械臂运行范围内有工人时，还可能影响工人的安全，存在一定的安全隐患。
 技术问题
提供一种工业机器人作业用安全防护装置及其防护方法，通过设置缓冲耗能部件、移动调节部件以及与移动调节部件铰接的主缓冲防护部件，配合防护外壳、防护内壳、辅助缓冲防护部件和辅助分压部件对外力进行缓冲分压，从而解决了现有技术存在的上述问题。
 技术解决方案
一种工业机器人作业用安全防护装置，包括与机械臂外壁相贴合的多个防护内壳，以及设置于防护内壳外侧的防护外壳，所述防护内壳靠近防护外壳的一面开凿有多个移动槽，所述移动槽内设有移动调节部件；
主缓冲防护部件，连接于防护外壳与移动调节部件之间，包括一对用于主动缓冲的主弹性缓冲外柱，一对所述主弹性缓冲外柱之间滑动设有主弹性缓冲内柱，所述主弹性缓冲内柱外侧设有主缓冲弹簧；
两组缓冲耗能部件，对称设置于主缓冲防护部件两侧，用于配合移动调节部件进行缓冲耗能。
在进一步的实施例中，所述移动调节部件包括滑动设于移动槽内的缓冲滑块，一对所述主弹性缓冲外柱相互远离的一端分别与缓冲滑块和防护外壳铰接，一对主弹性缓冲外柱通过主弹性缓冲内柱相固定，一对主弹性缓冲外柱均通过铰接设置，使得防护外壳在受到不定向的外力作用时，可以带动主弹性缓冲内柱和一对主弹性缓冲外柱进行转动，同时配合主弹性缓冲内柱和一对主弹性缓冲外柱的弹性设置，可以对不同方向上的不定向外力进行缓冲分压。
在进一步的实施例中，所述缓冲滑块两端与移动槽内壁之间均连接有第一分压弹簧，所述第一分压弹簧内侧设有弹性滑柱，所述缓冲滑块上开凿有与弹性滑柱相适配的滑孔，所述缓冲滑块通过滑孔与弹性滑柱滑动连接，缓冲滑块与移动槽相适配，弹性滑柱两端均与移动槽内壁固定连接，且弹性滑柱的直径略大于滑孔的直接，可以在缓冲滑块滑动时形成一定的阻碍，从而在蓄能耗能的过程中对冲击外力进行缓冲分压。
在进一步的实施例中，所述缓冲耗能部件包括耗能导向柱，所述耗能导向柱外壁上连接有多个耗能凸块，所述缓冲滑块上对称开凿有两个与所述耗能导向柱相适配的第一耗能槽，所述第一耗能槽内壁上开凿有多个与所述耗能凸块相适配的第二耗能槽，第一耗能槽内壁上连接有一对弹性拨板，一对弹性拨板之间的距离小于耗能导向柱的直径，一对弹性拨板的设置可以在耗能导向柱卡入第一耗能槽后，将耗能导向柱上方进行弹性卡紧固定，从而配合第二耗能槽和耗能凸块在缓冲滑块移动时增大摩擦移动难度进行耗能，从而配合主缓冲防护部件对外力进行缓冲分压，避免外力对机械臂造成损坏。
在进一步的实施例中，所述耗能导向柱两端对称连接有两个弹性缓冲块，两个所述弹性缓冲块上设有固定卡条，所述防护外壳上开凿有一对与固定卡条相适配的卡槽，所述固定卡条滑动设于卡槽内，所述固定卡条与两个所述弹性缓冲块之间均连接有辅助缓冲防护部件，在第一分压弹簧压缩到预定值时，会使缓冲滑块与弹性缓冲块发生碰撞，弹性缓冲块的弹性设置，一方面可以避免弹性缓冲块多次发生碰撞造成损坏，保护弹性缓冲块等相关部件的正常使用，另一方面，可以配合移动调节部件和主缓冲防护部件对外力进行缓冲分压。
在进一步的实施例中，所述辅助缓冲防护部件包括一对辅助弹性缓冲外柱，一对所述辅助弹性缓冲外柱相互远离的一端分别与弹性缓冲块和固定卡条铰接，一对所述辅助弹性缓冲外柱之间滑动设有辅助弹性缓冲内柱，所述辅助弹性缓冲内柱外侧设有辅助缓冲弹簧，当一对主弹性缓冲外柱因为定向垂直外力带动主弹性缓冲内柱进行移动并使得主缓冲弹簧发生形变时，可以带动一对辅助弹性缓冲外柱带动辅助弹性缓冲内柱进行移动并使辅助缓冲弹簧发生形变，从而相互配合对外力进行缓冲分压，当一对主弹性缓冲外柱因为不定向外力发生转动时，一对辅助弹性缓冲外柱可以随之发生转动，配合辅助弹性缓冲内柱在一对辅助弹性缓冲外柱之间滑动以及辅助缓冲弹簧发生形变，可以配合主弹性缓冲外柱、主弹性缓冲内柱和主缓冲弹簧对不定向外力进行缓冲分压。
在进一步的实施例中，所述防护外壳外侧设有锁紧板，所述锁紧板与缓冲耗能部件相连接，所述锁紧板外壁上连接有拉手，所述拉手上固定连接有缓冲防滑垫，所述锁紧板与防护外壳上对应开凿有多个锁紧孔，所述锁紧孔内螺纹连接有锁紧钉，耗能凸块与缓冲滑块的摩擦系数在预定范围内，当耗能凸块与缓冲滑块多次摩擦使得耗能导向柱表面阻尼降低时，可以通过拉手可以将缓冲耗能部件与辅助缓冲防护部件从防护内壳和防护外壳之间抽出，便于使用者对耗能导向柱等相关部件进行更换，锁紧板与一对固定卡条固定连接，通过锁紧板、锁紧孔和锁紧钉可以将缓冲耗能部件与辅助缓冲防护部件固定在防护内壳与防护外壳之间，从而配合移动调节部件、主缓冲防护部件和辅助缓冲防护部件等相关部件对外力进行缓冲分压。
在进一步的实施例中，所述防护内壳与防护外壳之间连接有多组辅助分压部件，所述辅助分压部件包括一端与防护内壳外壁固定连接的第二分压弹簧，所述第二分压弹簧上固定连接有弹性分压板，所述第二分压弹簧内侧设有弹性分压柱，可以配合移动调节部件、主缓冲防护部件、缓冲耗能部件和辅助缓冲防护部件等相关部件对外力进行缓冲分压，同时在防护外壳受到不定向外力使得一对主弹性缓冲外柱和一对辅助弹性缓冲外柱发生转动时，可以避免主弹性缓冲外柱和辅助弹性缓冲外柱转动角度过大造成损坏，影响对机械臂的缓冲防护。
在进一步的实施例中，所述防护内壳两端均插接有内壳卡接块，所述内壳卡接块两端均开凿有与防护内壳相适配的插槽，多个所述防护内壳通过多个内壳卡接块相固定，每个相邻的两个防护内壳之间均通过一个内壳卡接块进行连接，可以使多个防护内壳贴合在机械臂外壁上，同时便于使用者对多个防护内壳进行拆卸，可以便于防护内壳与机械臂和拆卸以及对相关部件进行拆卸更换。
一种工业机器人作业用安全防护装置的防护方法，包括以下步骤：
S1、当防护外壳受到定向垂直的外力冲击时，外力作用在防护外壳上带动主弹性缓冲内柱在一对主弹性缓冲外柱内滑动，使得主缓冲弹簧发生形变；
S2、同时，辅助弹性缓冲内柱在一对辅助弹性缓冲外柱内滑动，使得辅助缓冲弹簧发生形变，然后通过弹性分压板带动第二分压弹簧发生形变；
S3、当防护外壳受到不定向的外力冲击时，外力作用在防护外壳上带动一对主弹性缓冲外柱发生转动，推动缓冲滑块在弹性滑柱上滑动；
S4、然后带动主弹性缓冲内柱在一对主弹性缓冲外柱内移动，使得主弹性缓冲内柱和第一分压弹簧发生形变；
S5、之后，一对辅助弹性缓冲外柱发生转动，带动辅助弹性缓冲内柱在一对辅助弹性缓冲外柱内移动，使得辅助缓冲弹簧发生形变；
S6、当缓冲滑块在弹性滑柱上移动时会使第一耗能槽侧壁与耗能凸块发生相对运动，从而对外力进行缓冲分压。
 有益效果
本发明涉及一种工业机器人作业用安全防护装置及其防护方法，通过设置防护外壳、主缓冲防护部件、辅助缓冲防护部件、辅助分压部件以及贴合在机械臂外壁上的防护内壳，可以在机械臂外侧受到定向或不定向外力冲击时，对定向或不定向外力进行梯级缓冲分压，降低机械臂外壁、冲击物发生损坏以及工人造成损伤的几率，同时设置与缓冲耗能部件以及与主缓冲部件铰接的移动调节部件，可以对定向或不定向外力进行进一步的梯级缓冲分压，从而避免机械臂外壁、冲击物发生损坏以及工人造成损伤，保护工业机器人的正常运行，减小安全隐患。
 附图说明
图1为本发明的整体结构俯视图。
图2为图1中A处的局部放大图。
图3为图1中B处的局部放大图。
图4为本发明中部分结构的立体图。
图5为本发明中部分结构的爆炸图。
图6为图5中C处的局部放大图。
图7为本发明中缓冲滑块的立体图。
图中各附图标记为：1.内壳卡接块、2.防护内壳、3.防护外壳、4.移动调节部件、401.缓冲滑块、402.第一分压弹簧、403.弹性滑柱、404.滑孔、405.第一耗能槽、406.第二耗能槽、407.弹性拨板、5.主缓冲防护部件、501.主弹性缓冲外柱、502.主弹性缓冲内柱、503.主缓冲弹簧、6.缓冲耗能部件、601.耗能导向柱、602.耗能凸块、603.弹性缓冲块、604.固定卡条、7.辅助缓冲防护部件、701.辅助弹性缓冲外柱、702.辅助弹性缓冲内柱、703.辅助缓冲弹簧、8.锁紧板、801.锁紧孔、9.锁紧钉、10.拉手、11.辅助分压部件、1101.第二分压弹簧、1102.弹性分压板、1103.弹性分压柱。
 本发明的实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
如图1-图7所示，本发明公开了一种工业机器人作业用安全防护装置及其防护方法。其中，一种工业机器人作业用安全防护装置包括与机械臂外壁相贴合的多个防护内壳2、防护外壳3、移动调节部件4、主缓冲防护部件5和缓冲耗能部件6。
其中，防护内壳2两端均插接有内壳卡接块1，内壳卡接块1两端均开凿有与防护内壳2相适配的插槽，多个防护内壳2通过多个内壳卡接块1相固定，每个相邻的两个防护内壳2之间均通过一个内壳卡接块1进行连接，可以使多个防护内壳2贴合在机械臂外壁上，同时便于使用者对多个防护内壳2进行拆卸，可以便于防护内壳2与机械臂和拆卸以及对相关部件进行拆卸更换，优选的，防护内壳2设有四个，分别对应机械臂的四个外壁，防护外壳3与防护内壳2对应设置，且防护外壳3设于防护内壳2外侧，当机械臂外侧受到外力时，外力首先作用在防护外壳3上，可以配合防护内壳2对内壳卡接块1形成初级防护。
如图4所示，防护内壳2靠近防护外壳3的一面开凿有多个移动槽，移动槽内设有移动调节部件4，防护外壳3与移动调节部件4之间铰接有主缓冲防护部件5，主缓冲防护部件5包括一对用于主动缓冲的主弹性缓冲外柱501，一对主弹性缓冲外柱501之间滑动设有主弹性缓冲内柱502，主弹性缓冲内柱502外侧设有主缓冲弹簧503。
其中，移动调节部件4包括滑动设于移动槽内的缓冲滑块401，一对主弹性缓冲外柱501相互远离的一端分别与缓冲滑块401和防护外壳3铰接，一对主弹性缓冲外柱501通过主弹性缓冲内柱502相固定，一对主弹性缓冲外柱501均通过铰接设置，使得防护外壳3在受到不定向的外力作用时，可以带动主弹性缓冲内柱502和一对主弹性缓冲外柱501进行转动，同时配合主弹性缓冲内柱502和一对主弹性缓冲外柱501的弹性设置，可以对不同方向上的不定向外力进行缓冲分压，当防护外壳3受到不定向的外力冲击时，外力作用在防护外壳3上带动一对主弹性缓冲外柱501在防护外壳3与移动调节部件4之间发生转动，并推动缓冲滑块401在弹性滑柱403上滑动，然后带动主弹性缓冲内柱502在一对主弹性缓冲外柱501内移动，使得主弹性缓冲内柱502和第一分压弹簧402发生形变，从而对不定向外力进行缓冲分压，避免不定向外力对机械臂造成的损坏。
如图5-图6所示，缓冲滑块401两端与移动槽内壁之间均连接有第一分压弹簧402，第一分压弹簧402内侧设有弹性滑柱403，缓冲滑块401上开凿有与弹性滑柱403相适配的滑孔404，缓冲滑块401通过滑孔404与弹性滑柱403滑动连接，缓冲滑块401与移动槽相适配，弹性滑柱403两端均与移动槽内壁固定连接，且弹性滑柱403的直径略大于滑孔404的直接，可以在缓冲滑块401滑动时形成一定的阻碍，从而在蓄能耗能的过程中对冲击外力进行缓冲分压。
其中，两个第一分压弹簧402分别为拉伸弹簧和压缩弹簧，同时主缓冲弹簧503和两个第一分压弹簧402的弹性系数均不同，当一对主弹性缓冲外柱501带动主弹性缓冲内柱502移动使得主缓冲弹簧503发生形变，或一对主弹性缓冲外柱501推动缓冲滑块401在弹性滑柱403上滑动时，会分别带动两个第一分压弹簧402发生形变，由于主缓冲弹簧503和两个第一分压弹簧402的弹性系数不同，可以形成梯级减震，可以对外力进行梯级缓冲分压，避免机械臂造成损坏。
如图6-图7所示，两组缓冲耗能部件6对称设置于主缓冲防护部件5两侧，用于配合移动调节部件4进行缓冲耗能。
其中，缓冲耗能部件6包括耗能导向柱601，耗能导向柱601外壁上连接有多个耗能凸块602，缓冲滑块401上对称开凿有两个与耗能导向柱601相适配的第一耗能槽405，第一耗能槽405内壁上开凿有多个与耗能凸块602相适配的第二耗能槽406。
另外，第一耗能槽405内壁上连接有一对弹性拨板407，一对弹性拨板407之间的距离小于耗能导向柱601的直径，一对弹性拨板407的设置可以在耗能导向柱601卡入第一耗能槽405后，将耗能导向柱601上方进行弹性卡紧固定，从而配合第二耗能槽406和耗能凸块602在缓冲滑块401移动时增大摩擦移动难度进行耗能，从而配合主缓冲防护部件5对外力进行缓冲分压，避免外力对机械臂造成损坏。
如图4-图5所示，耗能导向柱601两端对称连接有两个弹性缓冲块603，两个弹性缓冲块603上设有固定卡条604，防护外壳3上开凿有一对与固定卡条604相适配的卡槽，固定卡条604滑动设于卡槽内，固定卡条604与两个弹性缓冲块603之间均连接有辅助缓冲防护部件7，在第一分压弹簧402压缩到预定值时，会使缓冲滑块401与弹性缓冲块603发生碰撞，弹性缓冲块603的弹性设置，一方面可以避免弹性缓冲块603多次发生碰撞造成损坏，保护弹性缓冲块603等相关部件的正常使用，另一方面，可以配合移动调节部件4和主缓冲防护部件5对外力进行缓冲分压。
其中，辅助缓冲防护部件7包括一对辅助弹性缓冲外柱701，一对辅助弹性缓冲外柱701相互远离的一端分别与弹性缓冲块603和固定卡条604铰接，一对辅助弹性缓冲外柱701之间滑动设有辅助弹性缓冲内柱702，辅助弹性缓冲内柱702外侧设有辅助缓冲弹簧703，当一对主弹性缓冲外柱501因为定向垂直外力带动主弹性缓冲内柱502进行移动并使得主缓冲弹簧503发生形变时，可以带动一对辅助弹性缓冲外柱701带动辅助弹性缓冲内柱702进行移动并使辅助缓冲弹簧703发生形变，从而相互配合对外力进行缓冲分压，当一对主弹性缓冲外柱501因为不定向外力发生转动时，一对辅助弹性缓冲外柱701可以随之发生转动，配合辅助弹性缓冲内柱702在一对辅助弹性缓冲外柱701之间滑动以及辅助缓冲弹簧703发生形变，可以配合主弹性缓冲外柱501、主弹性缓冲内柱502和主缓冲弹簧503对不定向外力进行缓冲分压。
如图1-图5所示，防护外壳3外侧设有锁紧板8，锁紧板8与缓冲耗能部件6相连接，锁紧板8外壁上连接有拉手10，拉手10上固定连接有缓冲防滑垫，缓冲防滑垫可以便于使用者利用拉手10将锁紧板8拉出，提高舒适度和防滑度，同时也可以在外力作用在拉手10上时，对拉手10进行防护，避免拉手10造成损坏，同时保护撞击物和被撞击物，锁紧板8与防护外壳3上对应开凿有多个锁紧孔801，锁紧孔801内螺纹连接有锁紧钉9。
其中，耗能凸块602与缓冲滑块401的摩擦系数在预定范围内，当耗能凸块602与缓冲滑块401多次摩擦使得耗能导向柱601表面阻尼降低时，可以通过拉手10可以将缓冲耗能部件6与辅助缓冲防护部件7从防护内壳2和防护外壳3之间抽出，便于使用者对耗能导向柱601等相关部件进行更换，锁紧板8与一对固定卡条604固定连接，通过锁紧板8、锁紧孔801和锁紧钉9可以将缓冲耗能部件6与辅助缓冲防护部件7固定在防护内壳2与防护外壳3之间，同时使耗能导向柱601与第一耗能槽405紧密贴合，提高缓冲滑块401滑动时的难度，从而配合移动调节部件4、主缓冲防护部件5和辅助缓冲防护部件7等相关部件提高对外力的缓冲分压。
如图1-图2所示，防护内壳2与防护外壳3之间连接有多组辅助分压部件11，多组辅助分压部件11在防护内壳2与防护外壳3之间不规则设置，可以在防护外壳3受到冲击靠近防护内壳2时，利用第二分压弹簧1101、弹性分压柱1103和弹性分压板1102对防护外壳3进行缓冲支撑，避免防护内壳2与防护外壳3发生撞击或错位。
辅助分压部件11包括一端与防护内壳2外壁固定连接的第二分压弹簧1101，第二分压弹簧1101上固定连接有弹性分压板1102，第二分压弹簧1101内侧设有弹性分压柱1103，可以配合移动调节部件4、主缓冲防护部件5、缓冲耗能部件6和辅助缓冲防护部件7等相关部件对外力进行缓冲分压，同时在防护外壳3受到不定向外力使得一对主弹性缓冲外柱501和一对辅助弹性缓冲外柱701发生转动时，可以避免主弹性缓冲外柱501和辅助弹性缓冲外柱701转动角度过大造成损坏，影响对机械臂的缓冲防护，另外第二分压弹簧1101、辅助缓冲弹簧703、主缓冲弹簧503和第一分压弹簧402的弹性系数均不同，可以在缓冲过程中相互配合形成弹性减震阵列，同时针对防护外壳3受到的不同位置的冲击时对各个位置的点进行分别减震防护，避免机械臂发生损坏。
其中，当防护外壳3受到定向垂直的外力冲击时，外力作用在防护外壳3上带动主弹性缓冲内柱502在一对主弹性缓冲外柱501内滑动，使得主缓冲弹簧503发生形变，同时，辅助弹性缓冲内柱702在一对辅助弹性缓冲外柱701内滑动，使得辅助缓冲弹簧703发生形变，然后通过弹性分压板1102带动第二分压弹簧1101发生形变，当第二分压弹簧1101形变到一定程度时，弹性分压板1102与弹性分压柱1103接触挤压，之后第二分压弹簧1101、主缓冲弹簧503和辅助缓冲弹簧703做恢复形变运动，如此往复对定向垂直外力进行缓冲分压。
当防护外壳3受到不定向的外力冲击时，外力作用在防护外壳3上带动一对主弹性缓冲外柱501发生转动，推动缓冲滑块401在弹性滑柱403上滑动，然后带动主弹性缓冲内柱502在一对主弹性缓冲外柱501内移动，使得主弹性缓冲内柱502和第一分压弹簧402发生形变，之后，一对辅助弹性缓冲外柱701发生转动，带动辅助弹性缓冲内柱702在一对辅助弹性缓冲外柱701内移动，使得辅助缓冲弹簧703发生形变，当缓冲滑块401在弹性滑柱403上移动时会使第一耗能槽405侧壁与耗能凸块602发生相对运动，然后通过弹性分压板1102带动第二分压弹簧1101发生形变，当辅助弹性缓冲外柱701和主弹性缓冲外柱501转动到一定角度时，弹性分压板1102与弹性分压柱1103接触挤压，之后第二分压弹簧1101、主缓冲弹簧503、辅助缓冲弹簧703和第一分压弹簧402做恢复形变运动，如此往复对不定向外力进行缓冲分压，实现对外力的缓冲分压。
在进一步的实施例中，如图1-图5所示，缓冲滑块401上连接有第一铰接板，防护外壳3下端连接有相对应的第二铰接板，第一铰接板和第二铰接板相互靠近的一面分别连接有下角度控制板和上角度控制板，下角度控制板和上角度控制板与第一铰接板和第二铰接板分别形成有预定角度，用于控制一对主弹性缓冲外柱501的转动角度，防止一对主弹性缓冲外柱501的转动角度的转动角度过大造成防护内壳2与防护外壳3发生碰撞或错位。
同时，一对主弹性缓冲外柱501分为上缓冲外柱和下缓冲外柱，上缓冲外柱上滑动设有第一滑环和第二滑环，第一滑环位于第二滑环上侧，第一滑环和第二滑环相互远离的一面分别连接有第一衔接板和第二衔接板，第一衔接板和第二衔接板与第一铰接板之间分别连接有第一梯级减震弹簧和第二梯级减震弹簧，当上缓冲外柱运动时，带动主缓冲弹簧503发生形变，同时可以使得上缓冲外柱与第一滑环和第二滑环分别发生相对运动，当第一滑环与上角度控制板抵接时，可以带动第一梯级减震弹簧发生形变，当第二滑环与第一滑环抵接，并且第一滑环与上角度控制板抵接时，可以带动第二梯级减震弹簧发生形变，此时辅助缓冲弹簧703随之发生形变，同时第一梯级减震弹簧、第二梯级减震弹簧、辅助缓冲弹簧703、主缓冲弹簧503的弹性系数不同，当防护外壳3受到外力冲击时，可以带动第一梯级减震弹簧、第二梯级减震弹簧、辅助缓冲弹簧703、主缓冲弹簧503进行梯级减震缓冲，从而避免外力对机械臂造成损坏。
基于上述技术方案，本发明具体的工作过程如下：当防护外壳3受到定向垂直的外力冲击时，外力作用在防护外壳3上带动主弹性缓冲内柱502在一对主弹性缓冲外柱501内滑动，使得主缓冲弹簧503发生形变，同时，辅助弹性缓冲内柱702在一对辅助弹性缓冲外柱701内滑动，使得辅助缓冲弹簧703发生形变，然后通过弹性分压板1102带动第二分压弹簧1101发生形变，当第二分压弹簧1101形变到一定程度时，弹性分压板1102与弹性分压柱1103接触挤压，之后第二分压弹簧1101、主缓冲弹簧503和辅助缓冲弹簧703做恢复形变运动，如此往复对定向垂直外力进行缓冲分压，当防护外壳3受到不定向的外力冲击时，外力作用在防护外壳3上带动一对主弹性缓冲外柱501发生转动，推动缓冲滑块401在弹性滑柱403上滑动，然后带动主弹性缓冲内柱502在一对主弹性缓冲外柱501内移动，使得主弹性缓冲内柱502和第一分压弹簧402发生形变，之后，一对辅助弹性缓冲外柱701发生转动，带动辅助弹性缓冲内柱702在一对辅助弹性缓冲外柱701内移动，使得辅助缓冲弹簧703发生形变，当缓冲滑块401在弹性滑柱403上移动时会使第一耗能槽405侧壁与耗能凸块602发生相对运动，然后通过弹性分压板1102带动第二分压弹簧1101发生形变，当辅助弹性缓冲外柱701和主弹性缓冲外柱501转动到一定角度时，弹性分压板1102与弹性分压柱1103接触挤压，之后第二分压弹簧1101、主缓冲弹簧503、辅助缓冲弹簧703和第一分压弹簧402做恢复形变运动，如此往复对不定向外力进行缓冲分压，实现对外力的缓冲分压，拆卸时，将锁紧钉9从锁紧孔801内旋出，然后利用拉手10将缓冲耗能部件6内的耗能导向柱601从第一耗能槽405内拔出即可，更换好耗能导向柱601、耗能凸块602等相关部件之后，再将耗能导向柱601卡入第一耗能槽405并与弹性拨板407贴紧，然后将锁紧钉9旋入锁紧板8和防护外壳3对应的锁紧孔801内固定即可。
如上，尽管参照特定的优选实施例已经表示和表述了本发明，但其不得解释为对本发明自身的限制。在不脱离所附权利要求定义的本发明的精神和范围前提下，可对其在形式上和细节上做出各种变化。

Claims (10)

  1. 一种工业机器人作业用安全防护装置，设置在机械臂外壁上，其特征在于，包括：
    与机械臂外壁相贴合的多个防护内壳，以及设置于防护内壳外侧的防护外壳，所述防护内壳靠近防护外壳的一面开凿有多个移动槽，所述移动槽内设有移动调节部件；
    主缓冲防护部件，连接于防护外壳与移动调节部件之间，包括一对用于主动缓冲的主弹性缓冲外柱，一对所述主弹性缓冲外柱之间滑动设有主弹性缓冲内柱，所述主弹性缓冲内柱外侧设有主缓冲弹簧；
    两组缓冲耗能部件，对称设置于主缓冲防护部件两侧，用于配合移动调节部件进行缓冲耗能。
  2. 根据权利要求1所述的一种工业机器人作业用安全防护装置，其特征在于：所述移动调节部件包括滑动设于移动槽内的缓冲滑块，一对所述主弹性缓冲外柱相互远离的一端分别与缓冲滑块和防护外壳铰接。
  3. 根据权利要求2所述的一种工业机器人作业用安全防护装置，其特征在于：所述缓冲滑块两端与移动槽内壁之间均连接有第一分压弹簧，所述第一分压弹簧内侧设有弹性滑柱，所述缓冲滑块上开凿有与弹性滑柱相适配的滑孔，所述缓冲滑块通过滑孔与弹性滑柱滑动连接。
  4. 根据权利要求1所述的一种工业机器人作业用安全防护装置，其特征在于：所述缓冲耗能部件包括耗能导向柱，所述耗能导向柱外壁上连接有多个耗能凸块，所述缓冲滑块上对称开凿有两个与所述耗能导向柱相适配的第一耗能槽，所述第一耗能槽内壁上开凿有多个与所述耗能凸块相适配的第二耗能槽。
  5. 根据权利要求4所述的一种工业机器人作业用安全防护装置，其特征在于：所述耗能导向柱两端对称连接有两个弹性缓冲块，两个所述弹性缓冲块上设有固定卡条，所述防护外壳上开凿有一对与固定卡条相适配的卡槽，所述固定卡条滑动设于卡槽内，所述固定卡条与两个所述弹性缓冲块之间均连接有辅助缓冲防护部件。
  6. 根据权利要求5所述的一种工业机器人作业用安全防护装置，其特征在于：所述辅助缓冲防护部件包括一对辅助弹性缓冲外柱，一对所述辅助弹性缓冲外柱相互远离的一端分别与弹性缓冲块和固定卡条铰接，一对所述辅助弹性缓冲外柱之间滑动设有辅助弹性缓冲内柱，所述辅助弹性缓冲内柱外侧设有辅助缓冲弹簧。
  7. 根据权利要求1所述的一种工业机器人作业用安全防护装置，其特征在于：所述防护外壳外侧设有锁紧板，所述锁紧板与缓冲耗能部件相连接，所述锁紧板外壁上连接有拉手，所述拉手上固定连接有缓冲防滑垫，所述锁紧板与防护外壳上对应开凿有多个锁紧孔，所述锁紧孔内螺纹连接有锁紧钉。
  8. 根据权利要求1所述的一种工业机器人作业用安全防护装置，其特征在于：所述防护内壳与防护外壳之间连接有多组辅助分压部件，所述辅助分压部件包括一端与防护内壳外壁固定连接的第二分压弹簧，所述第二分压弹簧上固定连接有弹性分压板，所述第二分压弹簧内侧设有弹性分压柱。
  9. 根据权利要求1所述的一种工业机器人作业用安全防护装置，其特征在于：所述防护内壳两端均插接有内壳卡接块，所述内壳卡接块两端均开凿有与防护内壳相适配的插槽，多个所述防护内壳通过多个内壳卡接块相固定。
  10. 一种工业机器人作业用安全防护装置的防护方法，其特征在于包括以下步骤：
    S1、当防护外壳受到定向垂直的外力冲击时，外力作用在防护外壳上带动主弹性缓冲内柱在一对主弹性缓冲外柱内滑动，使得主缓冲弹簧发生形变；
    S2、同时，辅助弹性缓冲内柱在一对辅助弹性缓冲外柱内滑动，使得辅助缓冲弹簧发生形变，然后通过弹性分压板带动第二分压弹簧发生形变；
    S3、当防护外壳受到不定向的外力冲击时，外力作用在防护外壳上带动一对主弹性缓冲外柱发生转动，推动缓冲滑块在弹性滑柱上滑动；
    S4、然后带动主弹性缓冲内柱在一对主弹性缓冲外柱内移动，使得主弹性缓冲内柱和第一分压弹簧发生形变；
    S5、之后，一对辅助弹性缓冲外柱发生转动，带动辅助弹性缓冲内柱在一对辅助弹性缓冲外柱内移动，使得辅助缓冲弹簧发生形变；
    S6、当缓冲滑块在弹性滑柱上移动时会使耗能凸块在第一耗能槽侧壁上产生运动，从而对外力进行缓冲分压。
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