A protection mechanism and a manipulator

Abstract

This application relates to a protection mechanism and a manipulator, and belongs to the technical field of manipulators. On the one hand, this application provides a protection mechanism, which includes a protective cover arranged around the manipulator; the protective cover can be in a closed or open state to achieve the enclosure and opening of the parts on the manipulator. On the other hand, this application also provides a manipulator including the above protection mechanism. The protection mechanism and the manipulator provided by the embodiments of this application reduce the possibility of parts on the manipulator falling, reduce the risk of workers being injured by the blank when fixing the blank on the manipulator, or reduce the risk of damage to the blank, thereby improving the accuracy of part processing.

Description

Technical Field

[0001] This application relates to the technical field of manipulators, and particularly relates to a protection mechanism and a manipulator. Background Art

[0002] A manipulator refers to an automatic operating device that can imitate some action functions of human hands and arms, and is used to grasp, transport objects or operate tools according to a fixed program. It can replace heavy human labor to achieve mechanization and automation of production, and can operate in a harmful environment to protect personal safety, so it is widely used in departments such as machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] The application of manipulators in the field of machinery manufacturing is extremely extensive. In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related technologies:

[0004] When workers process mechanical parts, they need to first fix the blank at the processing position. Especially for some heavy blanks, it is very difficult for workers to carry and fix the blank. There is a situation where workers are easily injured by the blank during the fixing process of the blank, or the blank is damaged, resulting in inaccurate processing dimensions and scrapping of the blank. Summary of the Invention

[0005] To have a basic understanding of some aspects of the disclosed embodiments, a simple summary is given below. This summary part is not a general review, nor is it intended to identify key / important constituent elements or delineate the protection scope of these embodiments. Its sole purpose is to present some concepts in a simple form as a prelude to the subsequent detailed description.

[0006] The embodiments of the present disclosure provide a protection mechanism, which includes a protective cover arranged around the manipulator;

[0007] The protective cover can be in a closed or open state, and is used to enclose or open the parts on the manipulator.

[0008] The embodiments of the present disclosure provide a manipulator, on which the protection mechanism described in any one of the above optional embodiments is arranged.

[0009] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0010] The embodiments of this application provide a protection mechanism and a manipulator, which reduce the possibility of parts on the manipulator falling, reduce the risk of workers being injured by the blank when fixing the blank on the manipulator, or reduce the risk of damage to the blank, thereby improving the accuracy of part processing.

[0011] It should be understood that the above general description and the subsequent detailed description are only exemplary and explanatory, and cannot limit this application. Brief Description of the Drawings

[0012] One or more embodiments are exemplarily illustrated by corresponding drawings. These exemplary illustrations and the drawings do not limit the embodiments. Components with the same reference numerals in the drawings are shown as similar components. The drawings do not constitute a scale limitation, and among them:

[0013] Figure 1 is a schematic diagram of a protection mechanism provided by an embodiment of the present disclosure assembled on a manipulator;

[0014] Figure 2 is a schematic diagram when a protection mechanism provided by an embodiment of the present disclosure protects a workpiece on a manipulator Figure 1 ;

[0015] Figure 3 is a schematic diagram when a protection mechanism provided by an embodiment of the present disclosure disassembles and assembles a workpiece on a manipulator Figure 1 ;

[0016] Figure 4 is a schematic diagram when a protection mechanism provided by an embodiment of the present disclosure protects a workpiece on a manipulator Figure 2 ;

[0017] Figure 5 is a schematic diagram when a protection mechanism provided by an embodiment of the present disclosure disassembles and assembles a workpiece on a manipulator Figure 2 ;

[0018] Figure 6 is a schematic diagram when a protection mechanism provided by an embodiment of the present disclosure installs a workpiece on a manipulator Figure 1 ;

[0019] Figure 7 is a schematic diagram when a protection mechanism provided by an embodiment of the present disclosure disassembles and assembles a workpiece on a manipulator Figure 3 ;

[0020] Figure 8 is Figure 7 an enlarged view of part A in;

[0021] Figure 9 is a schematic diagram when a protection mechanism provided by an embodiment of the present disclosure protects a workpiece on a manipulator Figure 3 ;

[0022] Figure 10 is a schematic diagram of a folding part of a folding assembly of a protection mechanism provided by an embodiment of the present disclosure;

[0023] Figure 11 is an assembly schematic diagram of a first folding part and a second folding part of a protection mechanism provided by an embodiment of the present disclosure;

[0024] Figure 12 It is a schematic diagram when the protection mechanism provided by the embodiment of the present disclosure installs the workpiece on the manipulator. Figure 2 ;

[0025] Figure 13 It is a schematic diagram when the protection mechanism provided by the embodiment of the present disclosure disassembles and installs the workpiece on the manipulator. Figure 4 ;

[0026] Figure 14 It is a schematic diagram when the protection mechanism provided by the embodiment of the present disclosure protects the workpiece on the manipulator. Figure 4 ;

[0027] Figure 15 It is a schematic diagram of the protective cover of the protection mechanism provided by the embodiment of the present disclosure. Figure 1 ;

[0028] Figure 16 It is a schematic diagram of the non-bending state of the bending part of the protection mechanism provided by the embodiment of the present disclosure;

[0029] Figure 17 It is a schematic diagram of the folded state of the folding component of the protection mechanism provided by the embodiment of the present disclosure;

[0030] Figure 18 It is a schematic diagram of the protective cover of the protection mechanism provided by the embodiment of the present disclosure. Figure 2 ;

[0031] Figure 19 It is Figure 18 The enlarged view of part B in

[0032] Figure 20 It is a sectional view of the protective cover provided by the embodiment of the present disclosure;

[0033] Figure 21 It is Figure 20 The enlarged view of part C in

[0034] Figure 22 It is a partial sectional view of the manipulator provided by the embodiment of the present disclosure.

[0035] Explanation of reference numerals:

[0036] In the figure, 1 is a manipulator; 11 is a grasping end; 12 is a receiving cavity; 121 is an opening; 13 is a slider; 131 is an annular hole; 132 is a fixed bump; 14 is a fixed block; 2 is a protection mechanism; 21 is a protective cover; 210 is the main body of the protective cover; 211 is a cover opening; 212 is a cover door; 2121 is an observation window; 213 is a housing; 214 is a deformation part; 215 is an observation hole; 216 is a folding assembly; 2161 is a bending part; 21610 is a limiting hole; 2162 is a folding part; 21621 is a first folding part; 21622 is a second folding part; 217 is a protection assembly; 2170 is the main body of the protection assembly; 2171 is an elastic part; 2172 is an anti-detachment part; 3 is a fastener; 31 is a first fastener assembly; 32 is a second fastener assembly; 4 is a fixing assembly; 41 is a sliding pin; 42 is a sliding part; 421 is a sliding groove; 43 is a fixed plug-in; 431 is a jack; 5 is an adsorption assembly; 51 is a first adsorbent; 52 is a second adsorbent; 6 is a limiting assembly; 61 is a first limiting part; 611 is a first housing; 6111 is a groove; 6112 is an oblong hole; 612 is a limiting block; 6121 is the first end of the limiting block; 6122 is the second end of the limiting block; 6123 is a chamfer; 613 is a spring; 62 is a second limiting part; 621 is a limiting rod; 7 is a flexible protection part; 71 is a rubber pad; 8 is a driving mechanism; 81 is a telescopic rod; 82 is a driving fixing plate; 821 is a fixing protrusion; 9 is a transmission mechanism; 91 is a linkage part; 911 is a linkage rod; 912 is a transmission rod; 92 is a fixing part; 921 is a fixing rod; 93 is a first hinge point; 94 is a second hinge point; a is an included angle. Detailed implementation manners

[0037] In order to understand the features and technical content of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for reference and illustration only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the sake of explanation, multiple details are provided to provide a full understanding of the disclosed embodiments. However, one or more embodiments can still be implemented without these details. In other cases, well-known structures and devices can be shown in a simplified manner to simplify the drawings.

[0038] An embodiment of the present disclosure provides a protection mechanism 2, as Figures 1 to 14 shown. The protection mechanism 2 includes a protective cover 21, and the protective cover 21 is arranged around the manipulator 1;

[0039] The protective cover 21 can be in a closed or open state, and is used to enclose and open the parts on the manipulator 1.

[0040] Optionally, the protective cover 21 is arranged at the grasping end 11 of the manipulator 1.

[0041] Optionally, the number of protective covers 21 is one or more.

[0042] Optionally, as Figure 1 shown, the number of protective covers 21 is one. The outer shape of the protective cover 21 is spherical. The protective cover 21 covers the working part of the manipulator 1 (such as the grasping end 11 of the manipulator 1). The protective cover 21 and the manipulator 1 can be integrally formed. The working part of the manipulator 1 is arranged inside the protective cover 21. At a position of the protective cover 21 opposite to the manipulator 1, a cover opening 211 is provided. An operator operates the working part of the manipulator 1 through the cover opening 211. A cover door 212 is provided on the cover opening 211. The shape of the cover door 212 is adapted to the cover opening 211. An observation window 2121 is provided on the cover door 212. The observation window 2121 is adhered to the cover door 212. The operator observes the situation of the working part of the manipulator 1 through the observation window 2121. One side of the cover door 212 is hinged to the housing 213 of the protective cover 21. The side of the cover door 212 opposite to the hinge is connected to the housing 213 of the protective cover 21 through a fastener 3.

[0043] Optionally, the fastener 3 adopts a fastener of model 5808B-L-SUS304 from Nahui.

[0044] Optionally, the fastener 3 includes a fastener component one 31 and a fastener component two 32.

[0045] Optionally, the fastener component one 31 is fixed to the housing 213 of the protective cover 21 by screws, and the fastener component two 32 is fixed to the cover door 212 by screws. The embodiment of the present application provides a protection mechanism 2, which reduces the possibility of parts on the manipulator 1 falling, reduces the risk of workers being injured by the blank when fixing the blank on the manipulator 1, or reduces the risk of damage to the blank, thereby improving the accuracy of part processing.

[0046] Optionally, the number of protective covers 21 is two.

[0047] Optionally, as Figure 2 、 Figure 3 shown, the two protective covers 21 are symmetrically arranged on the grasping end 11 with any plane where the axis of the manipulator 1 is located as the symmetry plane.

[0048] Optionally, the number of protective covers 21 is three.

[0049] Optionally, as Figure 4 、 Figure 5 shown, the three protective covers 21 are evenly distributed on the grasping end 11 around the axis of the manipulator 1.

[0050] Optionally, the number of protective covers 21 is four.

[0051] Optionally, as Figures 6 to 9As shown, four protective covers 21 are evenly distributed around the axis of the manipulator 1 on the grasping end 11. Looking along the length direction of the axis, the four protective covers 21 are arranged in a "cross" shape on the grasping end 11, and two adjacent protective covers 21 are arranged on the grasping end 11 in two directions forming a right angle.

[0052] Optionally, as Figure 10 shown, the two sides of the protective cover 21 along its length direction are bent and deformed towards the axis of the manipulator 1.

[0053] Optionally, the included angle a between the deformed part 214 of the protective cover 21 after bending deformation and the main body 210 of the protective cover is 128°.

[0054] The embodiment of the present application provides a protection mechanism 2 including a protective cover 21, and the number of the protective covers 21 is one or two or three or four, or even more than four. When the protective cover 21 provides protection for the parts, the working conditions of the grasping end 11 of the manipulator 1 and the parts can also be observed through the gaps between the protective covers 21.

[0055] Optionally, as Figure 11 shown, the protective cover 21 is configured with an observation hole 215. The observation hole 215 is provided on the protective cover 21, which reduces the line-of-sight obstruction when the operator observes the working conditions of the manipulator 1 and optimizes the visual field range of the operator.

[0056] In some alternative embodiments, as Figure 2 、 Figure 3 shown, the protective cover 21 includes a foldable folding assembly 216.

[0057] Optionally, the bent part 2161 of the folding assembly 216 can be in a bent or non-bent state, for realizing the enclosure and opening of the parts on the manipulator 1.

[0058] Optionally, the bent part 2161 is a metal plate; the bent part 2161 is rotatably connected to the folding assembly 216; the way of rotational connection can be that the bent part 2161 is hinged to the folding assembly 216, or one end of the bent part 2161 is bonded to one end of an elastic rubber strip, and one end of the folding assembly 216 is bonded to the other end of the elastic rubber strip. Here, the shape of the bent part 2161 is not limited, as long as the bent part 2161 can be rotatably connected to the folding assembly 216 and realize the enclosure and opening of the parts on the manipulator.

[0059] Optionally, the folding part 2162 of the folding assembly 216 can be in a folded or non-folded state, for realizing the opening and enclosure of the parts on the manipulator 1.

[0060] Optionally, the folding part 2162 can be non-folded, or can be folded in one stage, or can be folded in multiple stages.

[0061] Optionally, as Figure 2 , Figure 3 shown, the folding part 2162 is a rectangular metal plate. One side where the long side of the folding part 2162 is located is rotatably connected to the bending part 2161, and the other side of the folding part 2162 away from the bending part 2161 is arranged on the manipulator 1. The way of rotational connection can be that the folding part 2162 is hinged to the bending part 2161, or one end of the folding part 2162 is bonded to one end of an elastic rubber strip, and one end of the bending part 2161 is bonded to the other end of the elastic rubber strip.

[0062] Optionally, as Figures 11 to 15 shown, the folding part 2162 includes a first folding part 21621 and a second folding part 21622, and both the first folding part 21621 and the second folding part 21622 are rectangular metal plates. One side where the long side of the first folding part 21621 is located is rotatably connected to one side where the long side of the second folding part 21622 is located. The other side of the first folding part 21621 is arranged on the manipulator 1, and the other side of the second folding part 21622 is rotatably connected to the bending part 2161. The way of rotational connection can be that one side where the long side of the first folding part 21621 is located is hinged to one side where the long side of the second folding part 21622 is located, and the other side of the second folding part 21622 is hinged to the bending part 2161. It can also be that one side where the long side of the first folding part 21621 is located is bonded to one end of an elastic rubber strip, and one side where the long side of the second folding part 21622 is located is bonded to the other end of this elastic rubber strip. The other side of the second folding part 21622 is bonded to one end of another elastic rubber strip, and the bending part 2161 is bonded to the other end of this elastic rubber strip.

[0063] In this embodiment, the folding assembly 216 provides multiple folding situations. Due to the size of the specific installation space required and the process requirements of the parts to be processed, the operator selects the folding structure of the folding assembly 216 according to the specific situation.

[0064] In some alternative embodiments, as Figure 11 , Figure 12 shown, the protection mechanism 2 further includes a fixing component 4;

[0065] The fixing component 4 is arranged on the folding part 2162, and the fixing component 4 is configured to fix the folding part 2162 when the folding part 2162 is in a non - folded state.

[0066] Optionally, the fixing component 4 is arranged on the deformation part 214 of the protective cover 21.

[0067] Optionally, the fixing component 4 adopts the plug - in pin lock of Xizhixing, or it can also adopt the rotary door bolt of Jima.

[0068] Optionally, as Figure 11 shown, the fixing component 4 includes a sliding pin 41, a sliding member 42 and a fixing plug-in 43. A sliding groove 421 adapted to the sliding pin 41 is formed on the sliding member 42, and the sliding pin 41 slides in the sliding groove 421. The shape of the sliding pin 41 is not specifically limited as long as the sliding pin 41 can slide in the sliding groove 421. A jack 431 adapted to the sliding pin 41 is formed on the fixing plug-in 43. The sliding member 42 is fixed to the deformed portion 214 of the first folding portion 21621 by screws, and the fixing plug-in 43 is fixed to the deformed portion 214 of the second folding portion 21622 by screws. When the first folding portion 21621 and the second folding portion 21622 are in a non-folded state, the sliding pin 41 slides in the sliding groove 421, and one end of the sliding pin 41 slides into the jack 431, realizing the fixation of the fixing component 4 to the first folding portion 21621 and the second folding portion 21622. At this time, the first folding portion 21621 and the second folding portion 21622 can be regarded as a whole.

[0069] In this embodiment, when machining parts, the rotation of the manipulator will generate centrifugal force, and the centrifugal force will cause the second folding portion 21622 and the bending portion 2161 of the folding portion 2162 of the protective cover 21 to rotate, and the protective cover 21 can no longer protect the parts on the manipulator. When the manipulator 1 rotates, the fixing component 4 fixes the folding portion 2162 of the protective cover 21 into a whole, avoiding the rotation of the folding portion 2162 due to centrifugal force. When the operator needs to operate on the parts on the manipulator 1, only the fixing component 4 needs to be operated, and the folding portion 2162 of the protective cover 21 can rotate again, so that the protective cover opens.

[0070] In some alternative embodiments, as Figure 2 , Figure 3 , Figure 11 and Figures 15 to 17 shown, the protection mechanism 2 further includes an adsorption component 5;

[0071] The adsorption component 5 is arranged on the folding portion 2162, and the adsorption component 5 is configured to realize the adsorption of the adsorption component 5 to the folding portion 2162 when the folding portion 2162 is in a folded state.

[0072] Optionally, the adsorption component 5 includes a first adsorbent 51 and a second adsorbent 52.

[0073] Optionally, both the first adsorbent 51 and the second adsorbent 52 are made of magnets.

[0074] Optionally, the first adsorbent 51 is made of a magnet, and the second adsorbent 52 is made of a metal block that can be adsorbed by the magnet.

[0075] Optionally, the first adsorption member 51 is fixed to the bending portion 2161 by screws, and the second adsorption member 52 is fixed to the folding portion 2162 by screws.

[0076] Optionally, the first adsorption member 51 is fixed to the bending portion 2161 by screws, and the second adsorption member 52 is fixed to the second folding portion 21622 by screws.

[0077] Optionally, the first adsorption member 51 is fixed to the first folding portion 21621 by screws, and the second adsorption member 52 can also be fixed to the second folding portion 21622 by screws.

[0078] In this embodiment, the operator rotates the bending portion 2161, so that the folding portion 2162 does not move, and the bending portion 2161 is adsorbed and fixed on the folding portion 2162 through the adsorption component 5; the operator can also choose to rotate the second folding portion 21622 according to specific circumstances, and the bending portion 2161 rotates together with the second folding portion 21622, and the second folding portion 21622 is adsorbed and fixed on the first folding portion 21621 through the adsorption component 5. When the operator operates the parts of the manipulator 1, the adsorption component 5 reduces the shaking of the bending portion 2161 or the bending portion 2161 and the second folding portion 21622, and also reduces the damage to the operator.

[0079] In some optional embodiments, such as Figure 4 , Figure 15 , Figures 18 to 21 As shown, the protection mechanism 2 also includes a limit assembly 6;

[0080] The limiting component 6 is disposed on the folding component 216 , and is configured to limit the bending portion 2161 when the bending portion 2161 is in a bent state.

[0081] Optional, Figure 15 , Figure 18 As shown, the limit assembly 6 adopts the revolving door latch of Jiama. The limit assembly 6 is bonded to the folding portion 2162, and a limit hole 21610 is constructed on the bending portion 2161. When the bending portion 2161 and the folding portion 2162 are in a bent state, the bending portion 2161 and the folding portion 2162 are at 90 degrees and cover the parts on the manipulator 1. The protruding end of the limit assembly 6 enters the limit hole 21610, realizing the limit fixation of the limit assembly 6 to the bending portion 2161.

[0082] Optional, Figures 18 to 21As shown, the limit component 6 includes a first limit member 61 and a second limit member 62. The first limit member 61 includes a first housing 611, a limit block 612, and a spring 613. The cross-section of the limit block 612 is in a "T" shape. One end of the first housing 611 is configured with a groove 6111, and the first housing 611 is configured with a kidney-shaped hole 6112. The second limit member 62 includes a limit rod 621. When the bent portion 2161 is in a bent state, the second limit member 62 is fixed to the side surface of the bent portion 2161 close to the manipulator 1 by screws, and the second limit rod 621 is close to the folding portion 2162. The first end 6121 of the limit block is smaller than the second end 6122 of the limit block. The first end passes through the kidney-shaped hole 6112, and the second end cannot pass through the kidney-shaped hole 6112 and will be stuck. A cavity is formed between the limit block 612 and the first housing 611, and a spring 613 is arranged in the cavity. One end of the spring 613 is bonded to the housing 213, and the other end of the spring 613 is bonded to the limit block 612; the assembled first limit member 61 is fixed to the folding portion 2162 by screws, and the first limit member 61 is close to the bent portion 2161. After the first limit member 61 is installed on the folding portion 2162, the second limit member 62 just enters the groove 6111.

[0083] When an operator wants to operate on the parts on the manipulator 1, the bent portion 2161 needs to be opened. The operator first pushes the first end 6121 of the limit block, and the limit block 612 slides along the length direction of the kidney-shaped groove. The sliding of the second end 6122 of the limit block will compress the spring 613, and the limit block 612 will open the notch of the groove 6111. The operator rotates the bent portion 2161, and the second limit member 62 will come out of the groove 6111, realizing the non-bent state of the bent portion 2161. The operator releases the first end of the limit member, and the limit block 612 resets under the action of the spring 613. When the operator wants to realize the bent state of the bent portion 2161, only need to rotate the bent portion 2161, and the second limit member 62 will enter the groove 6111 along the chamfer 6123 on the second end as the bent portion 2161 rotates.

[0084] In this embodiment, the limit component 6 limits the bent portion 2161 to reduce the shaking of the bent portion 2161.

[0085] In some alternative embodiments, as Figures 6 to 9 shown, the protective cover 21 includes a protection component 217.

[0086] Optionally, the elastic portion 2171 of the protection component 217 is used to protect the parts on the manipulator 1.

[0087] Optionally, the elastic portion 2171 is made of an arc-shaped PP rigid plastic plate, or an arc-shaped metal plate can also be used.

[0088] Optionally, the anti - detachment portion 2172 of the protection component 217 is in a hook shape, which is used to prevent the parts on the manipulator 1 from slipping off.

[0089] Optionally, the main body 2170 of the protection component is in an L - shaped rod shape. The anti - detachment portion 2172 is arranged at one end of the main body 2170 of the protection component. The anti - detachment portion 2172 is integrally formed with the protection component 217. An elastic portion 2171 is arranged at one end of the main body 2170 of the protection component close to the protection portion, and the other end of the protection component 217 is arranged on the manipulator. The elastic portion 2171 can be bonded to the main body 2170 of the protection component or welded to the main body 2170 of the protection component.

[0090] In this embodiment, the protection component 217 saves more materials compared with the folding component 216, minimizes the occlusion of the protective cover 21 for the parts on the manipulator 1, optimizes the operator's vision, and facilitates the operator to observe the condition of the parts.

[0091] In some alternative embodiments, such as Figure 7 、 Figure 15 、 Figure 16 、 Figure 18 and Figure 20 , a flexible protection member 7 is arranged on the side of the protective cover 21 facing the manipulator 1.

[0092] Optionally, the flexible protection member 7 includes a rubber pad 71.

[0093] Optionally, the material for making the flexible protection member 7 is soft PVC, or TEP, or rubber can also be used.

[0094] Optionally, a layer of rubber pad 71 is bonded on the side of the bending portion 2161 and the folding portion 2162 of the protective cover 21 facing the manipulator 1. The size and shape of the rubber pad 71 bonded on the bending portion 2161 are the same as those of the bending portion 2161. The size and shape of the rubber pad 71 bonded on the folding portion 2162 are the same as those of the folding portion 2162.

[0095] Optionally, a layer of rubber pad 71 is bonded on the side of the elastic portion 2171 of the protective cover 21 facing the manipulator 1, and the size and shape of the rubber pad 71 are the same as those of the elastic portion 2171.

[0096] In this embodiment, when the parts on the manipulator 1 fall, if the parts directly collide with the protective cover 21, it will also cause the blanks of the parts to be damaged, resulting in a reduction in the subsequent processing accuracy, or the accuracy of the processed parts not meeting the requirements. By arranging the flexible protection member 7 in the protective cover 21, when the parts hit the flexible protection member 7, it will deform, but will not damage the parts, thus improving the qualified rate of the parts.

[0097] In some optional embodiments, such as Figure 7 , Figure 8 as well as Figure 22 As shown, the protection mechanism 2 also includes a driving mechanism 8;

[0098] The driving mechanism 8 is disposed on the robot 1, and the driving part of the driving mechanism 8 is connected to the protective cover 21. The driving mechanism 8 drives the protective cover 21 to open or close.

[0099] Optionally, the driving mechanism 8 is arranged inside the manipulator 1 .

[0100] Optionally, the driving mechanism 8 includes a telescopic rod 81 and a driving fixed plate 82. The telescopic rod 81 adopts a cylinder of model SC200 of Coase, a cylinder of model MGPM16-10Z of ZPCAC, or an electric push rod of model ZGB800 of Zhengk.

[0101] Optional, such as Figure 22 As shown, the manipulator 1 is provided with a receiving chamber 12 for receiving the driving mechanism 8, the telescopic rod 81 is fixed in the receiving chamber 12 by screws, and the extended end of the telescopic rod 81 (i.e., the driving part of the driving mechanism 8) is fixed to the driving fixing plate 82 by screws. An opening 121 is provided on the side wall of the receiving chamber 12, and the fixing protrusion 821 of the driving fixing plate 82 can be exposed outside the receiving chamber 12 of the manipulator 1 through the opening 121, and the fixing protrusion 821 of the driving fixing plate 82 is connected to the protective cover 21.

[0102] Optional, such as Figures 6 to 9 As shown, a housing chamber 12 for accommodating the driving mechanism 8 is constructed in the manipulator 1, and the telescopic rod 81 is fixed in the housing chamber 12 by screws, and the protruding end of the telescopic rod 81 (i.e., the driving part of the driving mechanism 8) is fixed to the driving fixing plate 82 by screws. An opening 121 is constructed on the side wall of the housing chamber 12, and the fixing protrusion 821 of the driving fixing plate 82 can be exposed outside the housing chamber 12 of the manipulator 1 through the opening 121. The slider 13 is sleeved on the manipulator 1 and is located in the housing chamber 12. The slider 13 is annular, and the slider 13 moves toward the grasping end 11 of the manipulator 1 along the axial direction of the manipulator 1. The fixing protrusion 821 of the driving fixing plate 82 is welded in the annular hole 131 of the slider 13, and the fixing protrusion 132 of the slider 13 is connected to the protective cover 21.

[0103] In this embodiment, the protective cover 21 is driven to open by the driving mechanism 8 , and the opening mode of the protective cover 21 is changed to automatic driving, thereby increasing the automation degree of the manipulator 1 .

[0104] In some optional embodiments, such as Figure 2 ,Figures 6 to 9 As shown, the protection mechanism 2 further includes a transmission mechanism 9;

[0105] The driving part of the driving mechanism (8) is connected to the protective cover 21 through the transmission mechanism 9.

[0106] Optionally, one side of the linkage part 91 of the transmission mechanism 9 is connected to the protective cover 21, and the other side of the linkage part 91 is rotatably connected to the manipulator 1;

[0107] One side of the fixed part 92 of the transmission mechanism 9 is connected to the driving part of the driving mechanism 8, and the other side of the fixed part 92 is rotatably connected to the linkage part 91.

[0108] Optionally, as Figure 2 shown, the transmission mechanism 9 includes a linkage rod 911 (regarded as the linkage part 91) and a fixed rod 921 (regarded as the fixed part 92). One end of the linkage rod 911 is on the side of the folding part 2162 of the protective cover 21 away from the bending part 2161 through a screw. The other end of the linkage rod 911 is hinged to one end of the fixed rod 921. The other end of the fixed rod 921 is hinged to the fixed protrusion 821 of the driving fixing plate 82. At the middle position of the linkage rod 911 and near the part hinged to the fixed rod 921, it is hinged to the fixed block 14 at the part of the manipulator 1 located in the accommodation cavity 12. The hinge point here is the first hinge point 93, and the fixed block 14 is integrally formed with the manipulator 1.

[0109] Optionally, as Figure 9 、 Figure 13 shown, the transmission mechanism 9 includes a fixed rod 921 (regarded as the fixed part 92), a linkage rod 911 and a transmission rod 912 (regarded as the linkage part 91). The linkage rod 911 and the transmission rod 912 are arranged in parallel, and on the side of the transmission rod 912 close to the grasping end of the manipulator 1. One end of the linkage rod 911 and one end of the transmission rod 912 are simultaneously hinged to the side of the main body 2170 of the protection component away from the anti - detachment part 2172. The other end of the linkage rod 911 and the other end of the transmission rod 912 are simultaneously hinged to the fixed block 14 of the manipulator 1. The fixed rod 921 is arc - shaped. One end of the fixed rod 921 is hinged to the middle position of the linkage rod 911. The hinge point here is the second hinge point 94, and it is on the side close to the fixed block 14. The other end of the fixed rod 921 is hinged to the fixed protrusion 132 of the slider 13.

[0110] In this embodiment, one driving method is to realize the closing and opening of the protective cover 21 through the extension and contraction of the driving mechanism 8; another driving method is to realize the opening and closing of the protective cover through the contraction of the driving mechanism 8. Select the driving method more suitable for the processed part according to the process of the processed part and the size of the processed part.

[0111] According to the second aspect of the embodiments of the present application, as Figures 1 to 22As shown in the figure, the embodiment of the present application further provides a manipulator 1, and a protection mechanism 2 of any one of the above optional embodiments is provided on the manipulator 1.

[0112] In this embodiment, the manipulator 1 is provided with a protection mechanism 2, which can improve the accuracy of parts and protect the parts. The risk of parts injuring operators is reduced.

[0113] Exemplary movement process of the protective cover 21 on the manipulator 1 in an exemplary embodiment:

[0114] In this embodiment, the number of the protective covers 21 of the protection mechanism 2 is three, the folding part 2162 is a rectangular metal plate, both the first adsorbent 51 and the second adsorbent 52 are magnets, and the transmission mechanism 9 includes a linkage rod 911 and a fixed rod 921. The way for the operator to control the driving mechanism 8 to work is the prior art. It can be combined with the relevant content of the foregoing embodiments, and will not be elaborated here too much.

[0115] As Figure 4 、 Figure 5 、 Figure 22 shown, the operator controls the driving part of the driving mechanism 8 to contract, and the contraction of the driving part drives the driving fixing plate 82 to move towards the grasping end 11 of the manipulator 1. The movement of the driving fixing plate 82 will push the fixed rod 921 to move towards the grasping end 11, and one end of the fixed rod 921 away from the driving part pushes one end of the linkage rod 911 to rotate around the first hinge 93 as the axis, and the rotation of the linkage rod 911 realizes the opening of the protective cover 21. After the operator installs the workpiece and fixes it. The operator controls the driving part of the driving mechanism 8 to extend, and the extension of the driving part drives the driving fixing plate 82 to move away from the grasping end 11 of the manipulator 1. The movement of the driving fixing plate 82 will push the fixed rod 921 to move away from the grasping end 11, and one end of the fixed rod 921 away from the driving part drives one end of the linkage rod 911 to rotate around the first hinge 93 as the axis, and the rotation of the linkage rod 911 realizes the closing of the protective cover 21.

[0116] After the workpiece is processed, the operator rotates the bending part 2161 of the folding assembly 216 through the limiting component 6, and the first adsorbent 51 on the bending part 2161 is magnetically matched with the second adsorbent 52 on the folding part 2162 to complete the adsorption and fixation of the bending part 2161 and the folding part 2162. The operator disassembles the workpiece at the grasping end 11 and installs a new workpiece blank. After the operator installs the new workpiece blank, the bending part 2161 is rotated to reset it, and the limiting component 6 limits the bending part 2161 and re-covers the workpiece blank on the grasping end 11.

[0117] Exemplary movement process of the protective cover 21 on the manipulator 1 in another exemplary embodiment:

[0118] In this embodiment, the number of protective covers 21 of the protection mechanism 2 is four. The protective covers 21 adopt protection components 217. The transmission mechanism 9 includes a fixed rod 921, a linkage rod 911, and a transmission rod 912. The way for the operator to control the driving mechanism 8 to work is the prior art. It can be combined with the relevant content of the foregoing embodiment, and no further elaboration will be made here.

[0119] As Figures 6 to 9 shown, the operator installs the part on the grasping end 11 of the manipulator 1. The operator controls the driving part of the driving mechanism 8 to contract. The contraction of the driving part drives the driving fixing plate 82 to move towards the grasping end 11 of the manipulator 1. The movement of the driving fixing plate 82 will drive the slider 13 to move together. When the slider 13 moves to the middle position of the telescopic stroke of the driving part of the driving mechanism 8, the slider 13 pushes the linkage rod 911 to rotate around the second hinge 94, and the transmission rod 912 assists the linkage rod 911 to rotate. The simultaneous rotation of the linkage rod 911 and the transmission rod 912 realizes the opening of the protective cover 21, and the grasping end 11 drives the part into the protection component.

[0120] The driving part continues to contract, and the slider 13 pushes the linkage rod 911 to continue to rotate around the second hinge 94. The continuous rotation of the linkage rod 911 and the transmission rod 912 realizes the closing of the protective cover 21, completing the protection of the workpiece.

[0121] The above description and drawings fully illustrate the embodiments of the present disclosure, enabling those skilled in the art to practice them. Other embodiments may include structural, logical, process, and other changes. Embodiments merely represent possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The scope of the embodiments of the present disclosure includes the entire scope of the claims and all available equivalents of the claims. When used in this application, although terms such as "first", "second", etc. may be used in this application to describe various components, these components should not be limited by these terms. These terms are only used to distinguish one component from another. For example, without changing the meaning of the description, the first component may be called the second component, and similarly, the second component may be called the first component, as long as all occurrences of "the first component" are consistently renamed and all occurrences of "the second component" are consistently renamed. The first component and the second component are both components, but they may not be the same component. Moreover, the terms used in this application are only for describing the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to also include the plural forms. Similarly, as used in this application, the term "and / or" refers to any and all possible combinations including one or more of the associated listed items. Additionally, when used in this application, the term "comprise" and its variants "comprises" and / or "comprising" etc. mean the presence of the stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or groupings of these. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, or device comprising the element. In this document, each embodiment may focus on the differences from other embodiments, and the same or similar parts between various embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, the relevant parts may refer to the description of the method part.

[0122] As used herein, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present text and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present invention. In the description of the present text, unless otherwise specified and defined, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a mechanical connection or an electrical connection, or it may be the communication inside two elements. It may be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0123] As used herein, unless otherwise specified, the term "a plurality of" means two or more.

[0124] As used herein, the character " / " indicates that the objects before and after are in an "or" relationship. For example, A / B means: A or B.

[0125] As used herein, the term "and / or" is an associative relationship describing an object, indicating that three relationships may exist. For example, A and / or B means: A or B, or, A and B.

Claims

1. A protection mechanism, characterized in that the protection mechanism includes a protective cover, and the protective cover is arranged around the manipulator; the protective cover can be in a closed or open state to achieve the enclosure and opening of the parts on the manipulator; the protective cover includes a foldable folding component; the folding part of the folding component can be in a folded or non-folded state to achieve the opening and enclosure of the parts on the manipulator; the bending part of the folding component can be in a bent or non-bent state to achieve the enclosure and opening of the parts on the manipulator; an adsorption component is arranged on the folding part, and the adsorption component is configured to realize the adsorption of the adsorption component to the folding part when the folding part is in the folded state; the protective cover includes a protection component; the elastic part of the protection component is used to protect the parts on the manipulator; the anti-detachment part of the protection component is in a hook shape to prevent the parts on the manipulator from slipping off.

2. The protection mechanism according to claim 1, characterized in that one or two or more of the protective covers are arranged at the grasping end of the manipulator.

3. The protection mechanism according to claim 2, characterized in that two or three or more of the protective covers are evenly distributed around the axis of the manipulator on the grasping end.

4. The protection mechanism according to claim 1, characterized in that, It further includes a fixing component; the fixing component is arranged on the folding part and is configured to fix the folding part by the fixing component when the folding part is in the non-folded state.

5. The protection mechanism according to claim 1, characterized in that, It further includes a limiting component; the limiting component is arranged on the folding component and is configured to limit the bending part by the limiting component when the bending part is in the bent state.

6. The protection mechanism according to claim 1, characterized in that, It further includes a driving mechanism; the driving mechanism is arranged on the manipulator, and the driving part of the driving mechanism is connected to the protective cover.

7. The protection mechanism according to claim 6, characterized in that It further includes a transmission mechanism; the driving part of the driving mechanism is connected to the protective cover through the transmission mechanism.

8. The protection mechanism according to claim 7, characterized in that one side of the linkage part of the transmission mechanism is connected to the protective cover, and the other side of the linkage part is rotatably connected to the manipulator; one side of the fixing part of the transmission mechanism is connected to the driving part of the driving mechanism, and the other side of the fixing part is rotatably connected to the linkage part.

9. A manipulator, characterized in that the protection mechanism according to any one of claims 1 to 8 is arranged on the manipulator.

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