WO2023155334A1 - 一种工业机器人接引配送防护设备 - Google Patents

一种工业机器人接引配送防护设备 Download PDF

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Publication number
WO2023155334A1
WO2023155334A1 PCT/CN2022/096864 CN2022096864W WO2023155334A1 WO 2023155334 A1 WO2023155334 A1 WO 2023155334A1 CN 2022096864 W CN2022096864 W CN 2022096864W WO 2023155334 A1 WO2023155334 A1 WO 2023155334A1
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WO
WIPO (PCT)
Prior art keywords
rod
plate
loading
base plate
robot
Prior art date
Application number
PCT/CN2022/096864
Other languages
English (en)
French (fr)
Inventor
刘正波
张成龙
Original Assignee
合肥洲创机械制造有限公司
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Publication of WO2023155334A1 publication Critical patent/WO2023155334A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B62B3/002—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor characterised by a rectangular shape, involving sidewalls or racks
    • B62B3/003—Non-transparent side walls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B62B3/002—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor characterised by a rectangular shape, involving sidewalls or racks
    • B62B3/005—Details of storage means, e.g. drawers, bins or racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B62B3/007—Coaster wagons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B62B3/02—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving parts being adjustable, collapsible, attachable, detachable or convertible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
    • B62B3/06—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment for simply clearing the load from the ground
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0006—Bumpers; Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2203/00—Grasping, holding, supporting the objects
    • B62B2203/70—Comprising means for facilitating loading or unloading

Definitions

  • the invention belongs to the technical field of robot distribution protection, in particular to an industrial robot connection and distribution protection equipment.
  • Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have certain automation and can rely on their own power sources and control capabilities to achieve various industrial processing and manufacturing functions;
  • industrial robots are generally divided into serial robots and parallel robots; the characteristic of serial robots is that the movement of one axis will change the coordinate origin of the other axis, while a parallel robot The movement of one axis will not change the coordinate origin of the other axis; the early industrial robots all adopt series mechanism;
  • the parallel mechanism is defined as the connection between the moving platform and the fixed platform through at least two independent kinematic chains, and the mechanism has two or two A closed-loop mechanism with the above degrees of freedom and driven in parallel;
  • the parallel mechanism has two components, namely the wrist and the arm; the arm activity area has a great influence on the activity space, and the wrist is the connecting part of the tool and the main body , but for the distribution and safety protection
  • the purpose of the present invention is to provide a protective equipment for connecting and delivering industrial robots to solve the problem that most of the protective systems on the market proposed in the above background technology cannot reduce the local gravity pressure of the robot’s own weight on the loading bottom plate, and it is easy to cause surface damage to the robot during the delivery process. Scratching, the integrity of the robot cannot be ensured, the robot cannot be protected, and the robot is not equipped with guide rails for moving and connecting. It is not convenient for the staff to load and unload the machine, and the problem of falling is prone to occur.
  • the present invention provides the following technical solutions:
  • An industrial robot connecting and delivering protective device comprising a loading base plate, a rubber backing plate is provided on the upper surface of the loading base plate, rear uprights are fixed at the rear corners of both sides of the upper end surface of the loading base plate, and the rear
  • the middle position of the front end surface of the upright column is fixed with a lateral cross bar near the lower part;
  • a rear side backboard is fixed on the side, and a vertical waist bar is fixed at the middle position of the lower end surface of the back side backboard, and a horizontal frame plate is arranged near the lower side of the middle position of the right end surface of the vertical waist bar.
  • the right end surface of the rear side backboard is provided with a top frame, and the four corners of the lower surface of the loading floor are all provided with steering roller structures.
  • the protective lumbar structure is formed.
  • the upper frame mechanism is arranged in parallel with the protective lumbar structure through the rear column, and the upper frame mechanism is fixedly installed on the loading floor through the cooperation of the rear column and the protective lumbar structure.
  • the upper surface of the loading floor is symmetrically provided with a movable hinge structure near the front edge, and the upper surface of the loading floor is installed with a movable frame structure near the front edge.
  • the four corners of the upper surface and the middle position are provided with elastic structures, and the front corners of the upper surface of the loading floor are fixed with a front column, and the middle position of the left end surface of the front column is provided with a movable rod groove near the upper part.
  • the uprights are vertically arranged with the loading floor, and the movable frame structure is connected with the movable hinge of the loading floor through a movable hinge structure.
  • a vertical connecting rod is arranged on the inner side of the movable rod groove, a latch rod is fixedly connected to the outer surface of the vertical connecting rod near the upper part, and the outer surface of the latch rod is sleeved near the rear side
  • a fixed ring the outer surface of the vertical connecting rod is fixedly connected with the bottom inserting rod near the lower end, the upper part of the elastic structure is provided with a top chuck, and the vertical connecting rod, the latch rod and the bottom inserting rod together form a movable latch Structure, it is movably installed with the front column through the cooperation of the movable rod groove and the fixed ring. set up.
  • the middle position of the lower end surface of the top chuck is fixed with a telescopic strut
  • the outer surface of the telescopic strut is covered with a spring
  • the lower end surface of the telescopic strut is fixed with a fixed connection plate
  • the outer surface of the steering roller structure is provided with a top mounting plate near the upper part
  • the middle position of the lower end surface of the top mounting plate is fixed with a lower connecting rod.
  • the telescopic support rod and the spring cooperate with the loading bottom plate to be elastically arranged, and the rubber backing plate is elastically installed with the loading bottom plate through the elastic structure.
  • the outer surface of the lower connecting rod is fixed with an inner snap ring near the lower end
  • the lower end of the inner snap ring is provided with a central waist post
  • the outer surface of the central waist post is near the middle position of the upper end
  • the outer surface of the central waist column is fixed with a lower foot bar near the lower end
  • the outer surface of the lower foot bar is provided with a connecting foot bar near the lower side
  • the central waist column is fixedly connected with the connecting foot bar through the lower foot bar
  • the top mounting plate is rotatably installed with the central waist column through the cooperation of the lower connecting rod, the inner snap ring and the docking groove, and the top mounting plate, the lower connecting rod and the central waist column together form the adjusting steering mechanism.
  • the two sides of the connecting foot rod are symmetrically fixed with side wall inner rings, and the two sides of the connecting foot rod are symmetrically installed with roller bodies through the side wall inner rings, and the outer surface of the roller body Close to the middle position of the front end, an open-loop groove is opened, and the inner side wall surface of the open-loop groove is provided with a ring inner groove.
  • the inside of the movable hinge structure is provided with a connecting middle rod, and the steering mechanism is adjusted by connecting the foot bar and the open-loop groove.
  • the connecting foot rod is fixed with the roller body through the cooperation of the inner ring of the side wall and the inner groove of the ring, and the roller body is arranged symmetrically with the lower foot rod through the cooperation of the connecting foot rod and the inner ring of the side wall.
  • balance rollers are arranged on both sides of the connecting middle rod, a bottom fixed rod is arranged on the outer surface of the connecting middle rod near the lower part, and a bottom fixed rod is arranged on the outer surface of the connecting middle rod near the front side.
  • a square body the outer surface of the square body is fixed with a thin neck near the front side, the outer surface of the thin neck is fixed with a neck ring near the front side, the balance roller rod is slidably installed with the connecting middle rod, and The square body is connected with the movable hinge of the bottom fixed rod through the middle rod, and the neck ring is fixedly connected with the square body through the thin neck rod.
  • the outer surface of the neck ring is provided with a bite ring plate near the front side
  • the outer surface of the bite ring plate is fixed with a bolt connecting rod near the middle position of the front side
  • the upper end surface of the rubber backing plate has four corners
  • Both are provided with circular grooves
  • a central circular groove is provided in the middle of the upper surface of the rubber backing plate
  • rod frame grooves are opened through both sides of the front surface of the rubber backing plate
  • the outer surface of the biting ring plate is close to the rear
  • the upper part of the movable frame structure is provided with a horizontal frame rod
  • the lower end of the horizontal frame rod is provided with a waist frame rod
  • the lower end surface of the horizontal frame rod is symmetrically provided with mullion rods on both sides
  • a first rod groove is opened in the middle of both ends of the horizontal frame rod
  • a second rod groove is provided in the middle of both sides of the waist frame rod
  • the elastic structure passes through the top chuck, the ring groove and the central ring.
  • the slot fits with the rubber pad and is fixedly installed.
  • the movable frame structure includes a horizontal frame rod, a waist frame rod and a mullion rod.
  • the second bar slot and the bottom inserting bar cooperate with the front column to limit the installation, wherein a slot is opened in the middle of the lower end surface of the mullion bar, and the spring structure is installed with the movable hinge bar structure bolt through the slot and the bolt connecting rod.
  • the side and back plates together constitute the upper frame mechanism, and the horizontal frame plate and the lateral cross bars together form the protective waist bar structure.
  • the movable frame structure is matched with the bolt connecting rod through the slot at the bottom of the mullion rod, so that the movable frame structure is installed with the movable hinge rod structure bolts, wherein the bolt connecting rod is connected with the movable hinge rod structure.
  • the slots correspond to each other.
  • the square body is driven by the relative rotation between the bolt connecting rod and the square body under the cooperation of the thin neck rod, the neck ring and the ring groove.
  • Bolt connection where the square body is connected with the movable hinge of the bottom fixed rod through the middle rod, so that the movable frame structure can be rotated and installed with the loading floor through the movable hinge rod structure.
  • the movable frame structure can be rotated and moved to the same position as The loading floor is in an inclined state, which can provide a connecting guide rail for the robot to move to the upper part of the loading floor, which is convenient for the staff to load and unload the machine, and can effectively save some physical strength.
  • the movable frame structure When the movable frame structure is rotated to be equal to the front column, it can pass through The fixed ring pushes the pin rod, and under the linkage of the vertical connecting rod, it drives the bottom pin rod to be inserted into the first rod groove and the inner side of the second rod groove, thereby realizing the movable installation of the movable frame structure and the front column, through which the robot Carry out surrounding delivery protection to avoid falls.
  • Fig. 1 is a schematic structural view of the present invention.
  • Fig. 2 is a schematic structural diagram of the present invention.
  • Fig. 3 is a schematic structural diagram of the present invention.
  • Fig. 4 is a schematic structural diagram of the present invention.
  • Fig. 5 is a schematic structural diagram of the present invention.
  • Fig. 6 is a schematic structural diagram of the present invention.
  • Fig. 7 is a schematic structural diagram of the present invention.
  • Fig. 8 is a schematic structural diagram of the present invention.
  • Fig. 9 is a schematic structural diagram of the present invention.
  • Square body 39. Thin neck rod; 40. Neck ring; 41. Bite ring disc; ;43, ring groove; 44, central ring groove; 45, rod frame groove; 46, horizontal frame rod; 47, waist frame rod; 48, mullion rod; 49, first rod groove; 50, second rod groove .
  • a protection device for connecting and delivering an industrial robot includes a loading base plate 1, a rubber backing plate 2 is provided on the upper surface of the loading base plate 1, and the rear corners on both sides of the upper end surface of the loading base plate 1 are fixed.
  • the middle position of the front end surface of the rear column 3 is fixed with a lateral crossbar 4 near the lower part, and the middle position of the front surface of the rear column 3 is fixed with a side top frame 5 near the upper side, and the rear column
  • the middle position of the right end surface of 3 is fixed with a rear side backboard 6 near the upper side, and the middle position of the lower end surface of the rear side backboard 6 is fixed with a vertical waist bar 7, and the middle position of the right end surface of the vertical waist bar 7 is close to the lower side.
  • a horizontal frame plate 8 is provided, an overhead frame 9 is provided on the right end surface of the rear side back plate 6, and steering roller structures 10 are arranged at four corners of the lower surface of the loading bottom plate 1, the top frame 9, the side top frame 5 and the rear side
  • the backboard 6 together constitutes the upper frame mechanism, the transverse frame plate 8 and the lateral crossbar 4 jointly form the protective waist bar structure, the upper frame mechanism is arranged in parallel with the protective waist bar structure through the rear column 3, and the upper frame mechanism passes through the rear column 3 and the protective waist bar structure are fixedly installed with the loading base plate 1.
  • the upper end surface of the loading base plate 1 is symmetrically provided with a movable hinge structure 11 near the front edge
  • the movable frame structure 12 is installed on the upper end surface of the loading base plate 1 near the front edge
  • the four corners and the middle position of the upper end surface of the loading base plate 1 are provided with
  • the elastic structure 13, the front corner of the upper surface of the loading base plate 1 is fixed with a front column 14, and the middle position of the left end surface of the front column 14 is provided with a movable rod groove 15 near the upper part, and the front column 14 and the loading base plate 1 Vertically arranged, the movable frame structure 12 is hingedly connected with the loading floor 1 through the movable hinge structure 11 .
  • the inboard of movable bar groove 15 is provided with vertical connecting rod 16, and the outer surface of vertical connecting rod 16 is affixed with latch rod 17 near the top, and the outer surface of latch rod 17 is provided with fixed ring 18 near rear side, vertically connected
  • the outer surface of the rod 16 is fixedly connected with the bottom inserting rod 19 near the lower end, and the top chuck 20 is arranged on the top of the elastic structure 13.
  • Movable bar groove 15 and fixed ring 18 cooperate with front column 14 to install movably, and wherein fixed ring 18 and front column 14 are fixedly arranged, and movable latch structure is telescopically set by latch rod 17 and fixed ring 18, and vertical connecting rod 16 and
  • the movable rod groove 15 is arranged in cooperation, and the rubber backing plate 2 is aligned with the upper part of the loading base plate 1, and the annular groove 43 and the central annular groove 44 provided in the lower part are closely fitted with the top chuck 20 respectively, effectively
  • the rubber backing plate 2 is elastically installed with the loading bottom plate 1 through the elastic structure 13, wherein the upper and lower ends of the elastic structure 13 are jointly supported by the telescopic support rod 21 and the spring 22, so that the objects resting on the upper part of the rubber backing plate 2 Part of the pressure of the industrial robot is weakened and offset through the interaction between the elastic structure 13 and the rubber pad 2 .
  • the middle position of the lower end surface of the top chuck 20 is fixed with a telescopic strut 21, the outer surface of the telescopic strut 21 is covered with a spring 22, and the lower end surface of the telescopic strut 21 is fixedly connected with a fixed connection plate 23, and the outer surface of the steering wheel structure 10
  • the surface is close to the upper part with a top mounting plate 24, the middle position of the lower surface of the top mounting plate 24 is fixed with a lower connecting rod 25, the elastic structure 13 is fixed and installed with the loading bottom plate 1 through the fixed connecting plate 23, and the top chuck 20 is fixed through the telescopic support rod 21 and the spring 22 cooperate with the loading base plate 1 to be elastically arranged, and the rubber backing plate 2 is elastically installed with the loading base plate 1 through the elastic structure 13 .
  • the outer surface of the lower extension rod 25 is fixed with an inner snap ring 26 near the lower end, and the lower end of the inner snap ring 26 is provided with a central waist post 27, and the outer surface of the central waist post 27 is provided with a docking groove 28 near the middle of the upper end.
  • the outer surface of 27 is fixedly provided with lower foot rod 29 near the lower end, and the outer surface of lower foot rod 29 is provided with connecting foot rod 30 near the lower side.
  • the lower connecting rod 25, the inner snap ring 26 and the docking groove 28 cooperate with the central waist column 27 to rotate and install, the top mounting plate 24, the lower connecting rod 25 and the central waist column 27 together form an adjustment steering mechanism, and the vertical waist rod 7 is a protective waist
  • the middle part of the rod structure provides a connection effect
  • the movable rod groove 15 provides a sliding space for the vertical connecting rod 16
  • the steering roller structure 10 fixes the lower connecting rod 25 with the loading bottom plate 1 through the top mounting plate 24, and the lower connecting rod 25 is connected from the inner
  • the snap ring 26 and the docking groove 28 cooperate with the central waist column 27 to be fastened and installed, so that the relative rotation between the central waist column 27 and the loading floor 1 can occur, and the roller body 32 passes through the open ring groove 33, the ring inner groove 34 and the side. Under the cooperation of the wall inner ring 31, it is rotated and installed with the lower foot bar 29 connecting the top of the foot bar 30 .
  • Both sides of the connecting foot bar 30 are symmetrically fixed with side wall inner rings 31, and both sides of the connecting foot bar 30 are symmetrically installed with roller bodies 32 through the side wall inner rings 31.
  • the ring groove 33 and the inner side wall surface of the ring groove 33 are provided with a ring inner groove 34, and the inside of the movable hinge rod structure 11 is provided with a connecting middle rod 35, and the steering mechanism is adjusted to cooperate with the roller body by connecting the foot rod 30 and the ring groove 33.
  • the connecting leg 30 is fixedly arranged with the roller body 32 through the inner ring 31 of the side wall and the ring inner groove 34, and the roller body 32 is arranged symmetrically with the lower leg 29 through the cooperation of the connecting leg 30 and the inner ring 31 of the side wall .
  • connecting middle rod 35 Both sides of connecting middle rod 35 are provided with balance roller bar 36, and the outer surface of connecting middle rod 35 is provided with bottom fixed rod 37 near the bottom, and the outer surface of connecting middle rod 35 is provided with square body 38 near the front side, square body
  • the outer surface of 38 is fixedly provided with thin neck rod 39 near the front side, and the outer surface of thin neck rod 39 is fixed with neck ring 40 near the front side, and balance roller bar 36 is slidably installed with connecting middle rod 35, and square body 38 passes through
  • the connecting middle rod 35 is connected with the movable hinge of the bottom fixed rod 37, the neck ring 40 is fixedly connected with the square body 38 through the thin neck rod 39, and the movable frame structure 12 is matched with the bolt connecting rod 42 via the slot at the bottom end of the mullion rod 48,
  • the movable frame structure 12 is integrally installed with the movable hinge rod structure 11 by bolts, wherein the bolt connecting rod 42 is corresponding to the slot, and by rotating the bite ring disc 41, the square body
  • the relative rotation between the bolt connecting rod 42 and the square body 38 drives the bolt connection between the square body 38 and the mullion rod 48, and the square body 38 moves through connecting the middle rod 35 and the bottom fixed rod 37 Hinged connection, thus the movable frame structure 12 is rotatably installed with the loading floor 1 via the movable hinge rod structure 11 .
  • the outer surface of the neck ring 40 is provided with a bite ring disc 41 near the front side, the outer surface of the bite ring disc 41 is fixed with a bolt connecting rod 42 near the middle position of the front side, and the four corners of the upper surface of the rubber backing plate 2 are provided with circular grooves. 43.
  • the middle position of the upper surface of the rubber backing plate 2 is provided with a central ring groove 44, the front end surface of the rubber backing plate 2 is provided with rod frame grooves 45 at the edge positions on both sides, and the outer surface of the bite ring disc 41 is opened near the middle position of the rear end.
  • the upper part of the movable frame structure 12 is provided with a horizontal frame rod 46, and the lower end of the horizontal frame rod 46 is provided with a waist frame rod 47, and the lower end surface of the horizontal frame rod 46 is symmetrically arranged with a mullion rod 48 on both sides, and the two ends of the horizontal frame rod 46
  • a first rod groove 49 is provided in the middle of the surface
  • a second rod groove 50 is provided in the middle of the surface of both sides of the waist frame rod 47.
  • the elastic structure 13 cooperates with the top chuck 20, the ring groove 43 and the central ring groove 44.
  • the rubber backing plate 2 is clamped and installed.
  • the movable frame structure 12 includes a horizontal frame rod 46, a waist frame rod 47 and a mullion rod 48.
  • the horizontal frame rod 46 cooperates with the front column 14 to limit the position through the first rod groove 49 and the latch rod 17.
  • the waist frame bar 47 cooperates with the front column 14 through the second bar groove 50 and the bottom insert bar 19 to limit the installation, wherein the middle position of the lower end surface of the mullion bar 48 is provided with a slot, and the elastic structure 13 passes through the slot and
  • the bolt connecting rod 42 cooperates with the movable hinge rod structure 11 for bolt installation, pushes the latch rod 17 through the fixed ring 18, and drives the bottom insert rod 19 to insert into the first rod groove 49 and the second rod groove 50 respectively under the linkage of the vertical connecting rod 16
  • the inner side realizes the sliding installation of the movable frame structure 12 and the front column 14, through which the robot is surrounded and protected to avoid falling.
  • the working principle of the protection system Firstly, by setting the rubber backing plate 2 and the elastic structure 13, several groups of elastic structures 13 are fixedly installed with the loading bottom plate 1 through the fixed connection plate 23, and the rubber backing plate 2 is aligned with the upper part of the loading bottom plate 1 , and the ring groove 43 and the central ring groove 44 in the lower part are tightly fitted with the top chuck 20 respectively, so that the rubber backing plate 2 is elastically installed with the loading bottom plate 1 through the elastic structure 13, wherein
  • the upper and lower ends of the elastic structure 13 are jointly supported by the telescopic support rod 21 and the spring 22, so that part of the pressure of the industrial robot resting on the upper part of the rubber backing plate 2 passes through the interaction between the elastic structure 13 and the rubber backing plate 2.
  • the upper frame mechanism is jointly formed by the top frame 9, the side top frame 5 and the rear side back plate 6, as well as the horizontal frame plate 8 and the lateral cross bar 4
  • the upper frame is connected by the cooperation of the rear column 3 and the front column 14
  • the mechanism and the protective waist bar structure are fixed side by side on the loading floor 1
  • the vertical waist bar 7 provides the connection effect for the middle part of the protective waist bar structure
  • the movable bar groove 15 provides sliding space for the vertical connecting rod 16
  • the steering roller structure 10 passes through the top
  • the loading plate 24 fixedly connects the lower connecting rod 25 with the loading base plate 1, and the lower connecting
  • the roller body 32 is rotatably installed with the lower foot rod 29 connecting the upper part of the foot rod 30 through the cooperation of the open ring groove 33, the ring inner groove 34 and the side wall inner ring 31.
  • the movable frame structure 12 is matched with the bolt connecting rod 42 via the slot at the bottom end of the mullion rod 48, so that the movable frame structure 12 is integrally installed with the movable hinge rod structure 11 with bolts, wherein the bolt connecting rod 42 corresponds to the slot , by rotating the bite ring disc 41, the square body 38 is matched with the thin neck rod 39, the neck ring 40 and the annular groove, and the relative rotation between the bolt connecting rod 42 and the square body 38 drives the square body 38 and
  • the latch rod 17 can be pushed through the fixed ring 18, and the bottom insert rod 19 is driven to be inserted into the first rod groove 49 and the second rod groove 50 respectively under the linkage of the vertical connecting rod 16.
  • the inner side realizes the sliding installation of the movable frame structure 12 and the front column 14, through which the robot is surrounded and protected to avoid falling.

Abstract

本发明公开一种工业机器人接引配送防护设备，包括装载底板，所述装载底板的上端表面设置有橡胶垫板，所述装载底板的上端表面两侧后部角落位置固设有后置立柱，所述后置立柱的前端表面中间位置靠近下部固设有侧向横杆，所述后置立柱的前端表面中间位置靠近上侧固设有边侧顶框；本发明能够经由弹动结构和橡胶垫板的相互作用下进行削弱和抵消，减轻机器人自重对装载底板的局部重力压迫，避免配送过程中对机器人的剐蹭，防止在运送和卸货过程中发生表面碰撞，确保机器人的完整性，对机器人起到保护作用，可为机器人搬移至装载底板的上部提供接引导轨，方便工作人员进行机器装卸，有效节省部分体力，对机器人进行包围式配送防护，避免发生跌落。

Description

一种工业机器人接引配送防护设备 技术领域
本发明属于机器人配送防护技术领域，具体的是一种工业机器人接引配送防护设备。
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；工业机器人被广泛应用于电子、物流、化工等各个工业领域之中，从机械结构来看，工业机器人总体上分为串联机器人和并联机器人；串联机器人的特点是一个轴的运动会改变另一个轴的坐标原点，而并联机器人一个轴运动则不会改变另一个轴的坐标原点；早期的工业机器人都是采用串联机构；并联机构定义为动平台和定平台通过至少两个独立的运动链相连接，机构具有两个或两个以上自由度，且以并联方式驱动的一种闭环机构；并联机构有两个构成部分，分别是手腕和手臂；手臂活动区域对活动空间有很大的影响，而手腕是工具和主体的连接部分，但是针对于工业机器人的配送与安全防护问题，需要相对应的框架机构与之配合使用，便于使用者对工业机器人的安全配送与运输。
市场上的防护系统大都不能减轻机器人自重对装载底板的局部重力压迫，配送过程中易对机器人造成表面剐蹭，无法确保机器人的完整性，不能对机器人起到保护作用，不具备机器人搬移接引导轨，不便于工作人员进行机器装卸，易发生跌落，为此，我们提出一种工业机器人接引配送防护设备。
发明内容
本发明的目的在于提供一种工业机器人接引配送防护设备，以解决上述背景技术中提出的市场上的防护系统大都不能减轻机器人自重对装载底板的局部重力压迫，配送过程中易对机器人造成表面剐蹭，无法确保机器人的完整性，不能对机器人起到保护作用，不具备机器人搬移接引导轨，不便于工作人员进行机器装卸，易发生跌落的问题。
为实现上述目的，本发明提供如下技术方案：
一种工业机器人接引配送防护设备，包括装载底板，所述装载底板的上端表面设置有橡胶垫板，所述装载底板的上端表面两侧后部角落位置固设有后置立柱，所述后置立柱的前端表面中间位置靠近下部固设有侧向横杆，所述后置立柱的前端表面中间位置靠近上侧固设有边侧顶框，所述后置立柱的右端表面中间位置靠近上侧固设有后侧背板，所述后侧背板的下端表面中间位置固设有竖直腰杆，所述竖直腰杆的右端表面中间位置靠近下侧设置有横向框板，所述后侧背板的右端表面设置有顶置边框，所述装载底板的下端表面四角均设置有转向滚轮结构，顶置边框、边侧顶框和后侧背板共同构成上框架机构，横向框板和侧向横杆共同构成防护腰杆结构，上框架机构通过后置立柱与防护腰杆结构平行设置，且上框架机构通过后置立柱和防护腰杆结构配合与装载底板固定安装。
作为本发明进一步的方案：所述装载底板的上端表面靠近前侧边缘位置对称设置有活动铰杆结构，所述装载底板的上端表面靠近前侧边缘位置安装有活动框架结构，所述装载底板的上端表面四角以及中间位置设置有弹动结构，所述装载底板的上端表面前侧边角位置固设有前置立柱，所述前置立柱的左端表面中间位置靠近上部开设有活动杆槽，前置立柱与装载底板垂直设置，活动框架结构通过活动铰杆结构与装载底板活动铰连接。
作为本发明进一步的方案：所述活动杆槽的内侧设置有竖向连杆，所述竖向连杆的外表面靠近上部固接有插销杆，所述插销杆的外表面靠近后侧套设有固定环，所述竖向连杆的外表面靠近下端固接有底部插杆，所述弹动结构的上部设置有顶部卡盘，竖向连杆、插销杆和底部插杆共同构成活动插销结构，其通过活动杆槽和固定环配合与前置立柱活动安装，其中固定环与前置立柱固定设置，活动插销结构通过插销杆与固定环伸缩设置，且竖向连杆与活动杆槽配合设置。
作为本发明进一步的方案：所述顶部卡盘的下端表面中间位置固设有伸缩支杆，所述伸缩支杆的外表面套设有弹簧，所述伸缩支杆的下端表面固接有固定接盘，所述转向滚轮结构的外表面靠近上部设置有顶装盘，所述顶装盘的下端表面中间位置固设有下接杆，弹动结构通过固定接盘与装载底板固定安装，顶部卡盘通过伸缩支杆和弹簧配合与装载底板弹动设置，且橡胶垫板通过弹动结构与装载底板弹动安装。
作为本发明进一步的方案：所述下接杆的外表面靠近下端固设有内卡环，所述内卡环的下端设置有中央腰柱，所述中央腰柱的外表面靠近上端中间位置开设有对接槽，所述中央腰柱的外表面靠近下端固设有下脚杆，所述下脚杆的外表面靠近下侧设置有连接脚杆，中央腰柱通过下脚杆与连接脚杆固定连接，顶装盘通过下接杆、内卡环和对接槽配合与中央腰柱旋转安装，顶装盘、下接杆和中央腰柱共同构成调节转向机构。
作为本发明进一步的方案：所述连接脚杆的两侧对称固设有侧壁内环，所述连接脚杆的两侧通过侧壁内环对称安装有滚轮体，所述滚轮体的外表面靠近前端中间位置开设有开环槽，所述开环槽的内侧壁表面开设有环内槽，所述活动铰杆结构的内部设置有连接中杆，调节转向机构通过连接脚杆和开环槽配合 与滚轮体滑动安装，其中连接脚杆通过侧壁内环和环内槽配合与滚轮体卡固设置，滚轮体通过连接脚杆和侧壁内环配合与下脚杆对称设置。
作为本发明进一步的方案：所述连接中杆的两侧设置有平衡辊杆，所述连接中杆的外表面靠近下部设置有底部定杆，所述连接中杆的外表面靠近前侧设置有方型体，所述方型体的外表面靠近前侧固设有细颈杆，所述细颈杆的外表面靠近前侧固设有颈环，平衡辊杆与连接中杆滑动安装，且方型体通过连接中杆与底部定杆活动铰连接，颈环通过细颈杆与方型体固定连接。
作为本发明进一步的方案：所述颈环的外表面靠近前侧设置有咬环盘，所述咬环盘的外表面靠近前侧中间位置固设有螺栓连杆，橡胶垫板的上端表面四角均开设有圆环槽，所述橡胶垫板的上端表面中间位置开设有中央环槽，所述橡胶垫板的前端表面两侧边缘位置贯穿开设有杆框槽，咬环盘的外表面靠近后端中间位置开设有环型槽，方型体通过细颈杆、颈环和环型槽配合与咬环盘卡固安装，且螺栓连杆通过细颈杆与咬环盘旋转设置。
作为本发明进一步的方案：所述活动框架结构的上部设置有横框杆，所述横框杆的下端设置有腰框杆，所述横框杆的下端表面两侧对称设置有竖框杆，所述横框杆的两端表面中间位置开设有第一杆槽，所述腰框杆的两侧表面中间位置开设有第二杆槽，弹动结构通过顶部卡盘、圆环槽和中央环槽配合与橡胶垫板卡固安装，活动框架结构包括横框杆、腰框杆和竖框杆，横框杆通过第一杆槽和插销杆配合与前置立柱限位安装，腰框杆通过第二杆槽和底部插杆配合与前置立柱限位安装，其中竖框杆的下端表面中间位置开设有插槽，弹动结构通过插槽和螺栓连杆配合与活动铰杆结构螺栓安装。
与现有技术相比，本发明的有益效果是：
1、通过设置有橡胶垫板和弹动结构，其中若干组弹动结构通过固定接盘与 装载底板固定安装，将橡胶垫板对准装载底板的上部，以及使其下部的开设的圆环槽、中央环槽，两者分别与顶部卡盘紧密嵌合，有效将橡胶垫板通过弹动结构与装载底板弹动安装，其中利用伸缩支杆和弹簧对弹动结构上下两端共同受力支撑下，使得搁置在橡胶垫板上部的工业机械人的部分压力，经由弹动结构和橡胶垫板的相互作用下进行削弱和抵消，减轻机器人自重对装载底板的局部重力压迫，利用橡胶垫板将机器人底部与装载底板有效隔开的同时，有效避免配送过程中对机器人的剐蹭，防止在运送和卸货过程中发生表面碰撞，确保机器人的完整性，其中再通过顶置边框、边侧顶框和后侧背板共同构成上框架机构，以及横向框板和侧向横杆共同构成防护腰杆结构，由两种结构共同对机器人形成半包围保护，然后经由绳索对机器人进行局部固定，对机器人起到保护作用。
2、通过设置有活动插销结构和活动框架结构，将活动框架结构经由竖框杆底端的插槽和螺栓连杆配合，使活动框架结构整体与活动铰杆结构螺栓安装，其中将螺栓连杆与插槽相对应，通过旋转咬环盘，方型体在细颈杆和颈环与环型槽配合下，由螺栓连杆与方型体之间的相对旋转，带动方型体与竖框杆螺栓连接，其中的方型体通过连接中杆与底部定杆活动铰连接，由此将活动框架结构经由活动铰杆结构与装载底板旋转安装，通过上述操作，可将活动框架结构旋转移动至与装载底板呈倾斜状态，可为机器人搬移至装载底板的上部提供接引导轨，方便工作人员进行机器装卸，且可有效节省部分体力，其中将活动框架结构旋转至与前置立柱持平时，可通过固定环推动插销杆，在竖向连杆连动下带动底部插杆分别插入第一杆槽和第二杆槽内侧，由此实现对活动框架结构与前置立柱的活动安装，经由其对机器人进行包围式配送防护，避免发生跌落。
附图说明
图1是本发明的结构示意图。
图2是本发明中的结构示意图。
图3是本发明中的结构示意图。
图4是本发明中的结构示意图。
图5是本发明中的结构示意图。
图6是本发明中的结构示意图。
图7是本发明中的结构示意图。
图8是本发明中的结构示意图。
图9是本发明中的结构示意图。
图中1、装载底板；2、橡胶垫板；3、后置立柱；4、侧向横杆；5、边侧顶框；6、后侧背板；7、竖直腰杆；8、横向框板；9、顶置边框；10、转向滚轮结构；11、活动铰杆结构；12、活动框架结构；13、弹动结构；14、前置立柱；15、活动杆槽；16、竖向连杆；17、插销杆；18、固定环；19、底部插杆；20、顶部卡盘；21、伸缩支杆；22、弹簧；23、固定接盘；24、顶装盘；25、下接杆；26、内卡环；27、中央腰柱；28、对接槽；29、下脚杆；30、连接脚杆；31、侧壁内环；32、滚轮体；33、开环槽；34、环内槽；35、连接中杆；36、平衡辊杆；37、底部定杆；38、方型体；39、细颈杆；40、颈环；41、咬环盘；42、螺栓连杆；43、圆环槽；44、中央环槽；45、杆框槽；46、横框杆；47、腰框杆；48、竖框杆；49、第一杆槽；50、第二杆槽。
具体实施方式
下面将结合本发明实施例，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前 提下所获得的所有其它实施例，都属于本发明保护的范围。
如图1-9所示，一种工业机器人接引配送防护设备，包括装载底板1，装载底板1的上端表面设置有橡胶垫板2，装载底板1的上端表面两侧后部角落位置固设有后置立柱3，后置立柱3的前端表面中间位置靠近下部固设有侧向横杆4，后置立柱3的前端表面中间位置靠近上侧固设有边侧顶框5，后置立柱3的右端表面中间位置靠近上侧固设有后侧背板6，后侧背板6的下端表面中间位置固设有竖直腰杆7，竖直腰杆7的右端表面中间位置靠近下侧设置有横向框板8，后侧背板6的右端表面设置有顶置边框9，装载底板1的下端表面四角均设置有转向滚轮结构10，顶置边框9、边侧顶框5和后侧背板6共同构成上框架机构，横向框板8和侧向横杆4共同构成防护腰杆结构，上框架机构通过后置立柱3与防护腰杆结构平行设置，且上框架机构通过后置立柱3和防护腰杆结构配合与装载底板1固定安装。
装载底板1的上端表面靠近前侧边缘位置对称设置有活动铰杆结构11，装载底板1的上端表面靠近前侧边缘位置安装有活动框架结构12，装载底板1的上端表面四角以及中间位置设置有弹动结构13，装载底板1的上端表面前侧边角位置固设有前置立柱14，前置立柱14的左端表面中间位置靠近上部开设有活动杆槽15，前置立柱14与装载底板1垂直设置，活动框架结构12通过活动铰杆结构11与装载底板1活动铰连接。
活动杆槽15的内侧设置有竖向连杆16，竖向连杆16的外表面靠近上部固接有插销杆17，插销杆17的外表面靠近后侧套设有固定环18，竖向连杆16的外表面靠近下端固接有底部插杆19，弹动结构13的上部设置有顶部卡盘20，竖向连杆16、插销杆17和底部插杆19共同构成活动插销结构，其通过活动杆槽15和固定环18配合与前置立柱14活动安装，其中固定环18与前置立柱14 固定设置，活动插销结构通过插销杆17与固定环18伸缩设置，且竖向连杆16与活动杆槽15配合设置，将橡胶垫板2对准装载底板1的上部，以及使其下部的开设的圆环槽43、中央环槽44，两者分别与顶部卡盘20紧密嵌合，有效将橡胶垫板2通过弹动结构13与装载底板1弹动安装，其中利用伸缩支杆21和弹簧22对弹动结构13上下两端共同受力支撑下，使得搁置在橡胶垫板2上部的工业机械人的部分压力，经由弹动结构13和橡胶垫板2的相互作用下进行削弱和抵消。
顶部卡盘20的下端表面中间位置固设有伸缩支杆21，伸缩支杆21的外表面套设有弹簧22，伸缩支杆21的下端表面固接有固定接盘23，转向滚轮结构10的外表面靠近上部设置有顶装盘24，顶装盘24的下端表面中间位置固设有下接杆25，弹动结构13通过固定接盘23与装载底板1固定安装，顶部卡盘20通过伸缩支杆21和弹簧22配合与装载底板1弹动设置，且橡胶垫板2通过弹动结构13与装载底板1弹动安装。
下接杆25的外表面靠近下端固设有内卡环26，内卡环26的下端设置有中央腰柱27，中央腰柱27的外表面靠近上端中间位置开设有对接槽28，中央腰柱27的外表面靠近下端固设有下脚杆29，下脚杆29的外表面靠近下侧设置有连接脚杆30，中央腰柱27通过下脚杆29与连接脚杆30固定连接，顶装盘24通过下接杆25、内卡环26和对接槽28配合与中央腰柱27旋转安装，顶装盘24、下接杆25和中央腰柱27共同构成调节转向机构，竖直腰杆7为防护腰杆结构中部提供连接效果，活动杆槽15为竖向连杆16提供滑动空间，转向滚轮结构10经由顶装盘24将下接杆25与装载底板1固定连接，而将下接杆25由内卡环26和对接槽28配合与中央腰柱27卡固安装，可使得中央腰柱27与装载底板1之间发生相对旋转，其中的滚轮体32经由开环槽33、环内槽34和侧 壁内环31配合下，将其与连接脚杆30上部的下脚杆29旋转安装。
连接脚杆30的两侧对称固设有侧壁内环31，连接脚杆30的两侧通过侧壁内环31对称安装有滚轮体32，滚轮体32的外表面靠近前端中间位置开设有开环槽33，开环槽33的内侧壁表面开设有环内槽34，活动铰杆结构11的内部设置有连接中杆35，调节转向机构通过连接脚杆30和开环槽33配合与滚轮体32滑动安装，其中连接脚杆30通过侧壁内环31和环内槽34配合与滚轮体32卡固设置，滚轮体32通过连接脚杆30和侧壁内环31配合与下脚杆29对称设置。
连接中杆35的两侧设置有平衡辊杆36，连接中杆35的外表面靠近下部设置有底部定杆37，连接中杆35的外表面靠近前侧设置有方型体38，方型体38的外表面靠近前侧固设有细颈杆39，细颈杆39的外表面靠近前侧固设有颈环40，平衡辊杆36与连接中杆35滑动安装，且方型体38通过连接中杆35与底部定杆37活动铰连接，颈环40通过细颈杆39与方型体38固定连接，将活动框架结构12经由竖框杆48底端的插槽和螺栓连杆42配合，使活动框架结构12整体与活动铰杆结构11螺栓安装，其中将螺栓连杆42与插槽相对应，通过旋转咬环盘41，方型体38在细颈杆39和颈环40与环型槽配合下，由螺栓连杆42与方型体38之间的相对旋转，带动方型体38与竖框杆48螺栓连接，其中的方型体38通过连接中杆35与底部定杆37活动铰连接，由此将活动框架结构12经由活动铰杆结构11与装载底板1旋转安装。
颈环40的外表面靠近前侧设置有咬环盘41，咬环盘41的外表面靠近前侧中间位置固设有螺栓连杆42，橡胶垫板2的上端表面四角均开设有圆环槽43，橡胶垫板2的上端表面中间位置开设有中央环槽44，橡胶垫板2的前端表面两侧边缘位置贯穿开设有杆框槽45，咬环盘41的外表面靠近后端中间位置开设有环型槽，方型体38通过细颈杆39、颈环40和环型槽配合与咬环盘41卡固安装， 且螺栓连杆42通过细颈杆39与咬环盘41旋转设置。
活动框架结构12的上部设置有横框杆46，横框杆46的下端设置有腰框杆47，横框杆46的下端表面两侧对称设置有竖框杆48，横框杆46的两端表面中间位置开设有第一杆槽49，腰框杆47的两侧表面中间位置开设有第二杆槽50，弹动结构13通过顶部卡盘20、圆环槽43和中央环槽44配合与橡胶垫板2卡固安装，活动框架结构12包括横框杆46、腰框杆47和竖框杆48，横框杆46通过第一杆槽49和插销杆17配合与前置立柱14限位安装，腰框杆47通过第二杆槽50和底部插杆19配合与前置立柱14限位安装，其中竖框杆48的下端表面中间位置开设有插槽，弹动结构13通过插槽和螺栓连杆42配合与活动铰杆结构11螺栓安装，通过固定环18推动插销杆17，在竖向连杆16连动下带动底部插杆19分别插入第一杆槽49和第二杆槽50内侧，由此实现对活动框架结构12与前置立柱14的滑动安装，经由其对机器人进行包围式配送防护，避免发生跌落。
防护系统的工作原理：首先通过设置有橡胶垫板2和弹动结构13，其中若干组弹动结构13通过固定接盘23与装载底板1固定安装，将橡胶垫板2对准装载底板1的上部，以及使其下部的开设的圆环槽43、中央环槽44，两者分别与顶部卡盘20紧密嵌合，有效将橡胶垫板2通过弹动结构13与装载底板1弹动安装，其中利用伸缩支杆21和弹簧22对弹动结构13上下两端共同受力支撑下，使得搁置在橡胶垫板2上部的工业机械人的部分压力，经由弹动结构13和橡胶垫板2的相互作用下进行削弱和抵消，减轻机器人自重对装载底板1的局部重力压迫，利用橡胶垫板2将机器人底部与装载底板1有效隔开的同时，有效避免配送过程中对机器人的剐蹭，防止在运送和卸货过程中发生表面碰撞，确保机器人的完整性，其中再通过顶置边框9、边侧顶框5和后侧背板6共同构 成上框架机构，以及横向框板8和侧向横杆4共同构成防护腰杆结构，由两种结构共同对机器人形成半包围保护，然后经由绳索对机器人进行局部固定，对机器人起到保护作用；其中经由后置立柱3和前置立柱14配合将上框架机构和防护腰杆结构并排固设在装载底板1上，竖直腰杆7为防护腰杆结构中部提供连接效果，活动杆槽15为竖向连杆16提供滑动空间，转向滚轮结构10经由顶装盘24将下接杆25与装载底板1固定连接，而将下接杆25由内卡环26和对接槽28配合与中央腰柱27卡固安装，可使得中央腰柱27与装载底板1之间发生相对旋转，其中的滚轮体32经由开环槽33、环内槽34和侧壁内环31配合下，将其与连接脚杆30上部的下脚杆29旋转安装，通过上述操作，可实现转向滚轮结构10绕下接杆25旋转与滚动，提高装载底板1下部的整体灵活性，平衡辊杆36为连接中杆35两端荷载提供平衡作用；最后通过设置有活动插销结构和活动框架结构12，将活动框架结构12经由竖框杆48底端的插槽和螺栓连杆42配合，使活动框架结构12整体与活动铰杆结构11螺栓安装，其中将螺栓连杆42与插槽相对应，通过旋转咬环盘41，方型体38在细颈杆39和颈环40与环型槽配合下，由螺栓连杆42与方型体38之间的相对旋转，带动方型体38与竖框杆48螺栓连接，其中的方型体38通过连接中杆35与底部定杆37活动铰连接，由此将活动框架结构12经由活动铰杆结构11与装载底板1旋转安装，通过上述操作，可将活动框架结构12旋转移动至与装载底板1呈倾斜状态，可为机器人搬移至装载底板1的上部提供接引导轨，方便工作人员进行机器装卸，且可有效节省部分体力，其中将活动框架结构12旋转至与前置立柱14持平时，可通过固定环18推动插销杆17，在竖向连杆16连动下带动底部插杆19分别插入第一杆槽49和第二杆槽50内侧，由此实现对活动框架结构12与前置立柱14的滑动安装，经由其对机器人进行包围式配送防护，避免发生跌落。
在本说明书的描述中，参考术语“一个实施例”、“示例”、“具体示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上内容仅仅是对本发明结构所作的举例和说明，所属本技术领域的技术人员对所描述的具体实施例做各种各样的修改或补充或采用类似的方式替代，只要不偏离发明的结构或者超越本权利要求书所定义的范围，均应属于本发明的保护范围。

Claims (10)

  1. 一种工业机器人接引配送防护设备，其特征在于，包括装载底板(1)，所述装载底板(1)的上端表面设置有橡胶垫板(2)；
    所述装载底板(1)的上端表面四角以及中间位置设置有弹动结构(13)；
    所述弹动结构(13)的上部设置有顶部卡盘(20)；
    所述顶部卡盘(20)的下端表面中间位置固设有伸缩支杆(21)。
  2. 根据权利要求1所述的一种工业机器人接引配送防护设备,其特征在于，
    所述装载底板(1)的下端表面四角均设置有转向滚轮结构(10)；
    所述装载底板(1)的顶置边框(9)、边侧顶框(5)和后侧背板(6)共同构成上框架机构；
    所述装载底板(1)的横向框板(8)和侧向横杆(4)共同构成防护腰杆结构。
  3. 根据权利要求1所述的一种工业机器人接引配送防护设备,其特征在于，所述装载底板(1)的上端表面靠近前侧边缘位置对称设置有活动铰杆结构(11)，所述装载底板(1)的上端表面靠近前侧边缘位置安装有活动框架结构(12)，活动框架结构(12)通过活动铰杆结构(11)与装载底板(1)活动铰连接。
  4. 根据权利要求1所述的一种工业机器人接引配送防护设备,其特征在于，所述伸缩支杆(21)的外表面套设有弹簧(22)，所述伸缩支杆(21)的下端表面固接有固定接盘(23)，所述转向滚轮结构(10)的外表面靠近上部设置有顶装盘(24)，所述顶装盘(24)的下端表面中间位置固设有下接杆(25)。
  5. 根据权利要求1所述的一种工业机器人接引配送防护设备,其特征在于，所述弹动结构(13)通过固定接盘(23)与装载底板(1)固定安装，顶部卡盘(20)通过伸缩支杆(21)和弹簧(22)配合与装载底板(1)弹动设置，且橡 胶垫板(2)通过弹动结构(13)与装载底板(1)弹动安装。
  6. 根据权利要求1所述的一种工业机器人接引配送防护设备,其特征在于，弹动结构(13)通过顶部卡盘(20)、圆环槽(43)和中央环槽(44)配合与橡胶垫板(2)卡固安装；弹动结构(13)通过插槽和螺栓连杆(42)配合与活动铰杆结构(11)螺栓安装。
  7. 根据权利要求1所述的一种工业机器人接引配送防护设备,其特征在于，若干组弹动结构通过固定接盘与装载底板固定安装，将橡胶垫板对准装载底板的上部，以及使其下部的开设的圆环槽、中央环槽，两者分别与顶部卡盘紧密嵌合，有效将橡胶垫板通过弹动结构与装载底板弹动安装。
  8. 根据权利要求1所述的一种工业机器人接引配送防护设备,其特征在于，利用伸缩支杆和弹簧对弹动结构上下两端共同受力支撑下，使得搁置在橡胶垫板上部的工业机械人的部分压力，经由弹动结构和橡胶垫板的相互作用下进行削弱和抵消，减轻机器人自重对装载底板1的局部重力压迫。
  9. 根据权利要求1所述的一种工业机器人接引配送防护设备,其特征在于，活动杆槽为竖向连杆提供滑动空间，转向滚轮结构经由顶装盘将下接杆与装载底板固定连接，而将下接杆由内卡环和对接槽配合与中央腰柱卡固安装，使得中央腰柱与装载底板之间发生相对旋转。
  10. 根据权利要求1所述的一种工业机器人接引配送防护设备,其特征在于，将活动框架结构经由活动铰杆结构与装载底板旋转安装，将活动框架结构旋转移动至与装载底板呈倾斜状态，可为机器人搬移至装载底板的上部提供接引导轨。
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