A fall protection device

Abstract

The present invention relates to the field of robot grasping assistance, and specifically is a protective device for preventing falling, including a swing arm 1, a swing arm 2, a swing arm 3, and a swing arm 4 which are installed on a gripper and have the same structure. The structure includes two groups of symmetrically distributed swing arms, a transverse fixing structure arranged on the swing arm for lateral clamping, and a flipping structure arranged on the transverse fixing structure for flipping and clamping a workpiece. The present invention uses a steel wire rope and the cooperation of a cylinder and a swing arm to prevent the hidden danger of damaging other equipment when a workpiece falls during the process of transporting the workpiece by a truss manipulator when power outages, gas outages, or equipment failures occur.

Description

Technical Field

[0001] The invention relates to the field of robot grasping assistance, in particular to a protective device for preventing falling. Background Art

[0002] Fall protection, as the name suggests, is to protect high-altitude workers from the threat of falling from heights or to protect high-altitude workers from further harm after a fall occurs. However, in industrial production with increasingly advanced technology, machinery has long been used to replace manual labor. The widespread use of manipulators has improved production efficiency and reduced processing costs. However, due to the loose grip of manipulators during use, they may also fall on the equipment or operators below. Therefore, protective equipment is very important. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a protective device for preventing falling.

[0004] A protective device for preventing falling includes a first swing arm, a second swing arm, a third swing arm and a fourth swing arm which are installed on a gripper and have the same structure. The structure includes two groups of symmetrically distributed swing arms, a transverse fixing structure arranged on the swing arms for lateral clamping, and a flipping structure arranged on the transverse fixing structure for flipping and clamping a workpiece.

[0005] The transverse fixing structure includes a mounting plate, a bracket 1 arranged on the mounting plate, a mounting plate connected to the bracket 1, two groups of shafts arranged in the mounting plate, an axis cylinder arranged between the two groups of shafts, and inlaid bearings arranged on both groups of shafts. A connecting component connected to the rocker arm is arranged on the mounting plate near the rocker arm connection position.

[0006] The connecting assembly comprises a bracket 2 arranged on the mounting plate, a flanged inlaid bearing matched with the end of the shaft, a pin arranged in the flanged inlaid bearing, a connecting piece 1 arranged on the pin, and a gasket arranged on the shaft.

[0007] The shaft is provided with a steel wire rope matched with the swing rod.

[0008] The flip structure includes a flange angle seat connected to the second bracket, a joint arranged on the flange angle seat, a second connecting piece arranged on the joint, a middle flange arranged on the flange angle seat, and a cylinder arranged on the flange angle seat and matched with the middle flange.

[0009] The cylinder is provided with a swing arm for clamping the workpiece.

[0010] An elastic retaining ring for the shaft is arranged between the joint and the second connecting piece.

[0011] The beneficial effect of the present invention is that the present invention cooperates with the shaft cylinder and the wire rope, and with the cylinder and the swing arm, so that when the truss manipulator is transporting the workpiece and power outages, gas outages, equipment failures occur, the hidden danger of damaging other equipment when the workpiece falls can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0013] Figure 1 It is a schematic diagram of the top view of the assembly structure of the production line of the present invention;

[0014] Figure 2 It is a schematic diagram of the three main structural views of the swing rod of the present invention;

[0015] Figure 3 It is a schematic diagram of the three-section structure of the swing rod of the present invention;

[0016] Figure 4 It is a schematic diagram of the structure of the swing rod of the present invention from three side views;

[0017] Figure 5 For the present invention Figure 3 A-direction structural schematic diagram;

[0018] Figure 6 For the present invention Figure 3 Schematic diagram of the local enlarged structure of I. DETAILED DESCRIPTION

[0019] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below.

[0020] like Figures 1 to 6 As shown, a protective device for preventing falling includes a rocker arm 1, a rocker arm 2, a rocker arm 3, and a rocker arm 4 which are installed on a gripper and have the same structure. The structure includes two groups of symmetrically distributed rockers 31, a transverse fixing structure arranged on the rocker arm 31 for lateral clamping, and a flipping structure arranged on the transverse fixing structure for flipping and clamping a workpiece.

[0021] The invention is installed on the gripper of the truss manipulator.

[0022] The transverse fixing structure includes a mounting plate 38, a bracket 33 arranged on the mounting plate 38, a mounting plate 38 connected to the bracket 33, two sets of shafts 322 arranged in the mounting plate 38, an axis cylinder 3 arranged between the two sets of shafts 322, and inlaid bearings 19 arranged on both sets of shafts 322. The mounting plate 38 is provided with a connecting component connected to the rocker arm 31 near the connection position of the rocker arm 31.

[0023] The gripper uses a suction cup to grab the workpiece.

[0024] The present invention cooperates with the steel wire rope 318 and the shaft cylinder 39, and the cylinder 320 and the swing arm 317, so that when the truss manipulator is transporting the workpiece, when power outages, gas outages, or equipment failures occur, the workpiece will not damage other equipment when it falls.

[0025] The anti-fall device adopts a lifting mechanism and pneumatic control. It rises when grabbing and releasing materials to prevent accidental contact with other equipment. The truss manipulator rises after grabbing the workpiece and the anti-fall device opens.

[0026] The anti-fall device is driven by shaft cylinder 3 and cylinder 320, and two of them form a four-link mechanism to reduce the occurrence of accidents.

[0027] The connecting assembly includes a bracket 2 32 arranged on a mounting plate 38, a flanged inlaid bearing 14 matched with the end of the shaft 322, a pin 12 arranged in the flanged inlaid bearing 14, a connecting piece 1 34 arranged on the pin 12, and a gasket 36 arranged on the shaft 322.

[0028] The shaft 322 is provided with a steel wire rope 318 that cooperates with the swing rod 31 .

[0029] The flip structure includes a flange angle seat 316 connected to the second bracket 32, a joint 321 arranged on the flange angle seat 316, a second connecting piece 310 arranged on the joint 321, a middle flange 315 arranged on the flange angle seat 316, and a cylinder 320 arranged on the flange angle seat 316 and matched with the middle flange 315.

[0030] The cylinder 320 is provided with a swing arm 317 for clamping a workpiece.

[0031] The swing directions of the swing arms 317 of the swing rod 1, the swing rod 2, the swing rod 3, and the swing rod 4 are changed according to actual needs.

[0032] An elastic retaining ring 324 for the shaft is provided between the joint 321 and the second connecting member 310 .

[0033] Method of use of the present invention:

[0034] S1: When the truss robot descends and detects the product, the gripper sucks the workpiece;

[0035] S2: When the truss manipulator rises 300 mm, the anti-fall device descends through the drive shaft cylinder 3;

[0036] S3: After the anti-fall device is lowered by the wire rope 318, the cylinder 320 pushes the swing arm 317, and the swing arm 317 opens;

[0037] S4: The truss manipulator continues to rise to a safe height;

[0038] S5: The truss manipulator moves to the stacking welding station;

[0039] S6: The cylinder 320 of the anti-fall device pushes the swing arm 327 to close the clamped workpiece;

[0040] S7: Fall protection equipment raised;

[0041] S8: The truss manipulator places the workpiece on another workpiece;

[0042] S9: The truss manipulator rises and resets, and the above actions are repeated.

[0043] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A protective device for preventing falling, comprising a first swing rod (1), a second swing rod (2), a third swing rod and a fourth swing rod (4) which are installed on a gripper and have the same structure, characterized in that: The structure comprises two groups of symmetrically distributed swing rods (31), a transverse fixing structure arranged on the swing rods (31) for lateral clamping, and a flipping structure arranged on the transverse fixing structure for flipping and clamping a workpiece; the transverse fixing structure comprises a mounting plate (38), a bracket (33) arranged on the mounting plate (38), a mounting plate (38) connected to the bracket (33), two groups of shafts (322) arranged in the mounting plate (38), a shaft cylinder arranged between the two groups of shafts (322), and an inlaid bearing (1) arranged on each of the two groups of shafts (322). 9), a connection assembly connected to the rocker (31) is arranged on the mounting plate (38) near the connection position of the rocker (31); the connection assembly comprises a bracket 2 (32) arranged on the mounting plate (38), a flanged inlaid bearing (14) matched with the end of the shaft (322), a pin (12) arranged in the flanged inlaid bearing (14), a connection piece 1 (34) arranged on the pin (12), and a gasket (36) arranged on the shaft (322); a steel wire rope (318) matched with the rocker (31) is arranged on the shaft (322).

2. A fall protection device according to claim 1, characterized in that: The flip structure comprises a flange angle seat (316) connected to the second bracket (32), a joint (321) arranged on the flange angle seat (316), a second connecting piece (310) arranged on the joint (321), a middle flange (315) arranged on the flange angle seat (316), and a cylinder (320) arranged on the flange angle seat (316) and matched with the middle flange (315).

3. A fall protection device according to claim 2, characterized in that: The cylinder (320) is provided with a swing arm (317) for clamping a workpiece.

4. A protection device for preventing falling according to claim 2, characterized in that: An elastic retaining ring (324) for the shaft is arranged between the joint (321) and the second connecting member (310).

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