An external robot safety emergency stop device

Abstract

The present invention discloses an external robot safety emergency stop device. The device's external airbag module array is attached to the robot's mechanical arm. The external airbag module is connected to the gas-to-electric conversion module, which is electrically connected to the signal execution module. The signal execution module is located at the robot's emergency stop switch. The device of the present invention has a simple structure and is easy to install, and can be used by non-professionals. The gas-to-electric conversion module has a high conversion sensitivity of the gas-to-electric signal, which reduces the risk of collision with the mechanical arm and the risk of human use. The device is reusable, and the reset method is simple and low-cost, thereby improving the safety of the robot's tasks at a lower cost.

Description

Technical Field

[0001] The invention relates to a safety emergency stop device and the technical field of robots, in particular to an externally attached robot safety emergency stop device. Background Art

[0002] With the rapid development of robotics in recent years, robots are gradually replacing human labor due to their low cost and high efficiency. Robots can automatically perform heavy, dangerous, or repetitive tasks, improving production efficiency and quality. While the application prospects of robots are promising, robot safety has become a key issue. Robot safety technology aims to ensure that robots do not cause harm to humans or the environment during operation, protecting the safety of robotic equipment.

[0003] In terms of hardware design, the robot's mechanical structure and sensors must incorporate safety features to prevent accidental injuries. For example, the robot's mechanical components should be designed to be less likely to pinch or collide with people, and force sensors should be installed on each motor. In terms of software control, the robot must possess intelligent decision-making and autonomous obstacle avoidance capabilities to prevent collisions with people or other objects.

[0004] However, a robot is a complex mechanical equipment. It is difficult to replace the force sensing motor of an existing robot that is not equipped with a force sensor. Installing a force sensor will increase the cost and make the design of the force sensor data processing algorithm complex. Summary of the Invention

[0005] In order to solve the problems existing in the background technology, the present invention provides an external robot safety emergency stop device, which is simple to install, reusable and low in cost.

[0006] The technical solution adopted in the present invention is:

[0007] The external robot safety emergency stop device of the present invention includes several external airbag modules, gas-to-electric conversion modules and signal execution modules. The external airbag module array is attached to the arm surface of the robot's mechanical arm. The external airbag modules located in the same column are hinged to each other. Each external airbag module is connected to the gas-to-electric conversion module, the gas-to-electric conversion module is electrically connected to the signal execution module, and the signal execution module is installed at the emergency stop switch of the robot's control box.

[0008] The external airbag module includes an airbag cap, an external airbag upper cover, an external airbag lower cover and a built-in airbag. The external airbag upper cover covers the external airbag lower cover, and the built-in airbag is located inside the external airbag upper cover and the external airbag lower cover. A through-opening is provided in the middle of the external airbag upper cover. The airbag cap is located at the through-opening of the external airbag upper cover and covers the built-in airbag. The top of the airbag cap is located on the outside of the external airbag module; an airbag outlet is provided on the bottom side of the built-in airbag and is connected to the outside of the external airbag module, and the external airbag module is connected to the gas-to-electric conversion module through the airbag outlet.

[0009] The external airbag module consists of an outer shell and an internal airbag. The outer shell includes an upper cover and a lower cover, which are connected and fixed by an upper cover positioning shaft. The airbag cap's travel is limited by the shell. Pressing the airbag cap on the outer shell folds the flexible material of the internal airbag, achieving pressure changes within the airbag. The internal airbag's outlet is located at the bottom of the rigid airbag body and is connected to the air-to-electric conversion module via a flexible hose. Each external airbag module's lower cover also has splicing serial ports on both symmetrical sides, and each row of external airbag modules is hingedly connected via these splicing serial ports.

[0010] The two ends of the built-in airbag are built-in airbag hard bodies, the middle part of the built-in airbag is a built-in airbag foldable elastic body, and an airbag air outlet is provided on the side of the built-in airbag hard body away from the airbag cap; the built-in airbag foldable elastic body is an origami structure, and the built-in airbag hard body and the built-in airbag foldable elastic body are made of hard material and elastic material respectively.

[0011] The airbag cap is put on the upper part of the built-in airbag hard body. The size of the airbag cap is slightly smaller than the opening of the external airbag upper cover. The airbag cap is also provided with a brim, which is located inside the built-in airbag. The size of the brim is larger than the opening of the external airbag upper cover and slightly smaller than the external airbag lower cover. The airbag cap is limited in stroke by the upper and lower covers and the built-in airbag hard body. By pressing the airbag cap on the outer shell, the foldable elastomer of the built-in airbag is folded to achieve the pressure change of the built-in airbag. The gas is input into the connecting hose through the airbag outlet of the built-in airbag. The gas is transported to the gas-to-electric conversion module through the transportation of the connecting hose.

[0012] The gas-electric conversion module includes a gas-electric bag, a conductive sheet and a potential relay. The conductive sheet is installed on one of the outer surfaces of the gas-electric bag, and the potential relay is installed at a fixed position and arranged opposite the conductive sheet at intervals; an gas-electric bag air inlet is opened on the bottom side of the gas-electric bag, and the gas-electric conversion module is connected to the external gas-electric bag module through the gas-electric bag air inlet; the gas-electric conversion module is electrically connected to the signal execution module through the potential relay.

[0013] The gas-to-electric conversion module includes an expandable airbag, a conductive sheet and an electrical signal relay. As gas is input, the internal pressure of the gas-to-electric conversion module increases, the airbag elastomer expands, the conductive sheet installed on the airbag hard body is pushed up, and the electrical signal relay is energized.

[0014] The two ends of the airbag are airbag hard bodies, the middle part of the airbag is an airbag elastic body, the conductive sheet is installed on the outer side of one of the airbag hard bodies, and the side of the other airbag hard body is provided with an airbag air inlet; the airbag elastic body is an origami structure, and the airbag hard body and the airbag elastic body are made of hard material and elastic material respectively.

[0015] The signal execution module includes a pedestal, a key spring, a paddle spring, a paddle support rod, a key, a paddle, a motor and a motor gear. The key spring, the key, the motor and the motor gear are all installed inside the pedestal. The pedestal is installed on a side of the robot's control box provided with an emergency stop switch. The body of the motor is installed on the inner wall of the pedestal through a motor fixing rib. The output shaft of the motor is parallel to a side of the control box where the pedestal is located. The motor gear is synchronously mounted on the output shaft of the motor. The key spring and the key are located on the same side of the motor gear and away from a side of the control box where the pedestal is located. The elastic direction of the key spring is the same as the length direction of the key and are both parallel to a side of the control box where the pedestal is located and perpendicular to the output shaft of the motor. One end of the key spring is connected to On the inner wall of the pedestal, the other end of the key spring is connected to one end of the key, and the other end of the key is located outside the pedestal, and the key and the motor gear are meshed with each other to form a gear rack structure; the paddle is hinged on the pedestal through the paddle support rod and is located outside the pedestal, and the hinge of the paddle is close to one end of the paddle, and one side of one end of the paddle abuts the other end of the key, and the other side of one end of the paddle away from the key is connected to one end of the paddle spring, and the other end of the paddle spring is connected to the pedestal, and the elastic direction of the paddle spring is perpendicular to one side of the control box where the pedestal is located. The other end of the paddle is a free end and is directly opposite to the emergency stop switch of the robot's control box; the motor is controlled by an external motor switch, and the motor switch is connected to the potential relay of the gas-to-electric conversion module.

[0016] The pedestal also features a motor port, through which the motor's wires are electrically connected to an external switch and power supply. The motor is housed within the pedestal and can be locked into place via the pedestal's ribs. The motor within the signal execution module activates upon receiving an electrical signal, rapidly retracting the latch via a rack-and-pinion transmission. The motor only needs to offset the spring force exerted by the latch. The motor is low-power and easily replaceable.

[0017] Each external airbag module is small and can be spliced to accommodate robotic arm surfaces of different curvatures. Each external airbag module can be connected in parallel through a hose to form a bundle and connect to a gas-to-electric conversion module. When a certain external airbag module is pressed, the other normal external airbag modules are restricted by the shell and cannot expand. Gas can only enter the built-in airbag of the gas-to-electric conversion module through the ventilation hose. The conductive plate is pushed up, and after the potential relay is energized, the motor in the signal execution module is energized to realize the conversion between pressure signal and electrical signal. Then, through the gear rack transmission, the key can be retracted, the paddle spring at the storage end of the paddle returns to the normal position, and the other end is pressed down, and the paddle presses the emergency stop button. There can be multiple external airbag devices corresponding to one gas-to-electric conversion module and one signal execution module.

[0018] When the robot's robotic arm touches an obstacle, the external airbag module is compressed; the airbag pressure signal is converted into an electrical signal through the pneumatic-electrical conversion module; the signal execution module is installed in the robot control box, and its built-in motor quickly retracts the key after receiving the electrical signal, causing the paddle spring to elastically deform and push the stainless steel paddle on the signal execution module downward, pressing the emergency stop switch on the robot control box to execute the emergency stop command.

[0019] The signal execution module also includes a caliper fixing frame, a left caliper and a right caliper. The left caliper and the right caliper are installed on the side of the emergency stop switch of the robot's control box close to the caliper fixing frame. The root ends of the left caliper and the right caliper are respectively connected to the caliper fixing frame, and the ends of the left caliper and the right caliper are free ends. The emergency stop switch of the robot's control box is located between the caliper and the right caliper.

[0020] The signal execution module is divided into a caliper, a paddle and a pedestal. The caliper can be opened and closed flexibly to adapt to different robot control boxes. The paddle is made of rigid material and is set small so as not to affect the normal pressing of the robot's emergency stop switch. There are motor fixing ribs inside the pedestal for easy disassembly; the pedestal of the signal execution module and the bottom of its caliper are provided with strong magnetic materials or adhesives so that the signal execution module can be fixed on the robot control box.

[0021] When the robot's robotic arm touches an obstacle, the airbag caps of several external airbag modules on the robot's robotic arm are squeezed by the obstacle, and the airbag caps compress the built-in airbag foldable elastomer of the built-in airbag of the external airbag module, and the air in the built-in airbag is output to the airbag inlet of the airbag of the air-to-electric conversion module through the airbag outlet and enters the airbag, and the airbag elastomer of the airbag unfolds and pushes the conductive piece close to the potential relay until it contacts the potential relay and is turned on. After the potential relay is energized, the motor of the signal execution module is energized through the motor switch, and the motor drives the motor gear to rotate and move the key toward the side away from the paddle support rod and compress the key spring until the key and the paddle support rod are no longer in contact, and one end of the paddle is rotated by the paddle spring toward the side of the control box away from the base, and the paddle rotates around its own hinge, driving the free end of the paddle to rotate toward the emergency stop switch of the robot's control box and press the emergency stop switch to execute the robot's emergency stop command.

[0022] After the robot resumes normal operation, the pneumatic-electric bag elastomer of the pneumatic-electric conversion module can retract to its normal state. At the same time, the compressed external airbag rebounds, and the airbag cap bounces up to the shell limit position. At this time, the motor of the signal execution module is manually turned off. Without motor traction, the key rebounds under the action of the key spring. By manually adjusting the paddle, the device returns to standby state.

[0023] The beneficial effects of the present invention are:

[0024] 1) The device of the present invention has a simple structure, and the external airbag module can be adjusted and arranged according to the surface of the robotic arm; the signal execution module uses adjustable calipers and magnetic materials, which is simple to install and can be easily used by non-professionals.

[0025] 2) The gas-to-electric conversion module of the present invention can be packaged in advance, leaving only the gas port and the potential interface. The conversion of gas-to-electric signals is highly sensitive, reducing the risk of collision of the robotic arm and the risk of personnel use.

[0026] 3) The safety device of the present invention is reusable, has a simple reset method, and is low-cost, thereby improving the safety of robot tasks at a lower cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is the parallel splicing method of the external airbag modules of the present invention;

[0028] Figure 2 The external airbag module of the present invention;

[0029] Figure 3 This is a cross-sectional view of the structure of the external airbag module of the present invention;

[0030] Figure 4 This is a diagram showing the internal structure of the gas-to-electricity conversion module of the present invention;

[0031] Figure 5 The signal execution module of the present invention;

[0032] Figure 6 It is a cross-sectional diagram of the structure of the signal execution module of the present invention;

[0033] Figure 7 This is the motor installation diagram;

[0034] Figure 8 This is an example diagram of the operating mechanism of the present invention;

[0035] Figure: 1. External airbag module, 111. Airbag cap, 121. External airbag upper cover, 122. Upper cover positioning shaft, 131. External airbag lower cover, 132. Splicing serial port, 141. Internal airbag hard body, 142. Internal airbag foldable elastic body, 143. Airbag outlet, 2. Gas-to-electric conversion module, 211. Gas-to-electric bag hard body, 212. Gas-to-electric bag elastic body, 213. Gas-to-electric bag air inlet , 221, conductive sheet, 231, potential relay, 3, signal execution module, 311, pedestal, 312, key spring, 313, motor fixing rib, 314, motor conductive port, 315, paddle spring, 316, paddle support rod, 317, caliper fixing frame, 321, key, 331, paddle, 341, left caliper, 342, right caliper, 351, motor, 352, motor gear. DETAILED DESCRIPTION

[0036] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] like Figure 8 As shown, the external robot safety emergency stop device of the present invention includes several external airbag modules 1, gas-to-electric conversion modules 2 and signal execution modules 3. Each external airbag module 1 is attached to the arm surface of the robot's mechanical arm in an array, as shown in FIG. Figure 1 As shown, each external airbag module 1 located in the same column is hinged to each other, each external airbag module 1 is connected to the gas-to-electric conversion module 2, the gas-to-electric conversion module 2 is electrically connected to the signal execution module 3, and the signal execution module 3 is installed at the emergency stop switch of the robot's control box.

[0038] like Figure 2 and Figure 3As shown, the external airbag module 1 includes an airbag cap 111, an external airbag upper cover 121, an external airbag lower cover 131 and a built-in airbag, the external airbag upper cover 121 covers the external airbag lower cover 131, the built-in airbag is located inside the external airbag upper cover 121 and the external airbag lower cover 131, a through-opening is provided in the middle of the external airbag upper cover 121, the airbag cap 111 is located at the through-opening of the external airbag upper cover 121 and covers the built-in airbag, and the top of the airbag cap 111 is located on the outside of the external airbag module 1; an airbag outlet 143 is provided on the bottom side of the built-in airbag and is connected to the outside of the external airbag module 1, and the external airbag module 1 is connected to the gas-to-electric conversion module 2 through the airbag outlet 143.

[0039] The external airbag module 1 consists of an outer shell and an internal airbag. The outer shell comprises an external airbag upper cover 121 and an external airbag lower cover 131, which are connected and fixed by an upper cover positioning shaft 122. The travel of the airbag cap 111 is limited by the shell. Pressing the airbag cap 111 on the outer shell folds the flexible material of the internal airbag, achieving pressure changes within the internal airbag. The internal airbag outlet 143 is located at the bottom of the rigid airbag body and is connected to the air-to-electric conversion module 2 via a flexible hose. Each external airbag lower cover 131 of each external airbag module 1 is also equipped with splicing serial ports 132 on symmetrical sides. Each row of external airbag modules 1 is hingedly connected via these splicing serial ports 132.

[0040] The two ends of the built-in airbag are the built-in airbag hard body 141, the middle part of the built-in airbag is the built-in airbag foldable elastic body 142, and the side of the built-in airbag hard body 141 away from the airbag cap 111 is provided with an airbag air outlet 143; the built-in airbag foldable elastic body 142 is an origami structure, and the built-in airbag hard body 141 and the built-in airbag foldable elastic body 142 are made of hard material and elastic material respectively.

[0041] The airbag cap 111 is sleeved on the upper part of the built-in airbag hard body 141. The size of the airbag cap 111 is slightly smaller than the opening of the external airbag upper cover 121. The airbag cap 111 is also provided with a brim, which is located inside the built-in airbag. The size of the brim is larger than the opening of the external airbag upper cover 121 and slightly smaller than the external airbag lower cover 131. The airbag cap 111 is limited in stroke by the upper and lower covers and the built-in airbag hard body 141. By pressing the airbag cap 111 on the outer shell, the foldable elastomer 142 of the built-in airbag is folded to realize the pressure change of the built-in airbag. The gas is input into the connecting hose through the airbag outlet 143 of the built-in airbag. The gas is transported to the gas-to-electric conversion module 2 through the transportation of the connecting hose.

[0042] like Figure 4As shown, the gas-electric conversion module 2 includes a gas-electric bag, a conductive sheet 221 and a potential relay 231. The conductive sheet 221 is installed on one of the outer surfaces of the gas-electric bag, and the potential relay 231 is installed at a fixed position and arranged opposite to the conductive sheet 221. An gas-electric bag air inlet 213 is provided on the bottom side of the gas-electric bag, and the gas-electric conversion module 2 is connected to the external gas-electric bag module 1 through the gas-electric bag air inlet 213. The gas-electric conversion module 2 is electrically connected to the signal execution module 3 through the potential relay 231.

[0043] The gas-to-electric conversion module 2 includes an expandable airbag, a conductive sheet and an electrical signal relay. As gas is input, the internal pressure of the gas-to-electric conversion module 2 increases, the airbag elastomer 212 expands, the conductive sheet installed on the airbag hard body 211 is pushed up, and the electrical signal relay is energized.

[0044] The two ends of the airbag are airbag hard bodies 211, the middle part of the airbag is an airbag elastic body 212, the conductive sheet 221 is installed on the outer side of one of the airbag hard bodies 211, and the side of the other airbag hard body 211 is provided with an airbag air inlet 213; the airbag elastic body 212 is an origami structure, and the airbag hard body 211 and the airbag elastic body 212 are respectively made of hard material and elastic material.

[0045] like Figure 5 、 Figure 6 and Figure 7As shown, the signal execution module 3 includes a base 311, a key spring 312, a paddle spring 315, a paddle support rod 316, a key 321, a paddle 331, a motor 351 and a motor gear 352. The key spring 312, the key 321, the motor 351 and the motor gear 352 are all installed inside the base 311. The base 311 is installed on the side of the robot's control box where the emergency stop switch is provided. The body of the motor 351 is installed on the inner side of the base 311 through the motor fixing rib 313. The output shaft of the motor 351 is parallel to one side of the control box where the pedestal 311 is located, and a motor gear 352 is synchronously mounted on the output shaft of the motor 351; the key spring 312 and the key 321 are located on the same side of the motor gear 352 and away from one side of the control box where the pedestal 311 is located, the elastic direction of the key spring 312 and the length direction of the key 321 are the same and are both parallel to one side of the control box where the pedestal 311 is located and perpendicular to the output shaft of the motor 351, the key spring 312 and the key 321 are located on the same side of the motor gear 352 and away from one side of the control box where the pedestal 311 is located, One end of the key spring 312 is connected to the inner wall of the base 311, and the other end of the key spring 312 is connected to one end of the key 321. The other end of the key 321 is located outside the base 311. The key 321 and the motor gear 352 are meshed with each other to form a gear rack structure; the paddle 331 is hinged to the base 311 through the paddle support rod 316 and is located outside the base 311. The hinge of the paddle 331 is close to one end of the paddle 331, and one side of one end of the paddle 331 abuts against the key 321. At the other end, the other side of one end of the paddle 331 away from the card key 321 is connected to one end of the paddle spring 315, and the other end of the paddle spring 315 is connected to the base 311. The elastic direction of the paddle spring 315 is perpendicular to one side of the control box where the base 311 is located. The other end of the paddle 331 is a free end and is directly opposite to the emergency stop switch of the robot's control box; the motor 351 is controlled by an external motor switch, and the motor switch is connected to the potential relay 231 of the gas-to-electric conversion module 2.

[0046] The base 311 also features a motor conductive port 314, through which the wires of the motor 351 are electrically connected to an external switch and power supply. The motor 351 is housed within the base 311 and can be locked in place by the base's ribs. Upon receiving an electrical signal, the motor 351 within the signal execution module 3 activates and rapidly retracts the latch key via a rack and pinion transmission. The motor 351 only needs to offset the retracting force of the latch key spring 312. The motor 351 consumes low power and is easily replaced.

[0047] Each external airbag module 1 is relatively small and can be spliced together to accommodate robotic arm surfaces of different curvatures. Each external airbag module 1 can be connected in parallel through a hose to form a bundle and connected to a gas-to-electric conversion module 2. When a certain external airbag module 1 is pressed, the other normal external airbag modules 1 are restricted by the shell and cannot expand. Gas can only enter the built-in airbag of the gas-to-electric conversion module 2 through the ventilation hose. The conductive sheet 221 is pushed upward, and after the potential relay 231 is energized, the motor 351 in the signal execution module 3 is energized to realize the conversion between the pressure signal and the electrical signal. Then, through the gear rack transmission, the key 321 can be retracted, the paddle spring 315 at the storage end of the paddle 331 returns to the normal position, and the other end is pressed down, and the paddle presses the emergency stop button. There can be multiple external airbag devices 1 corresponding to one gas-to-electric conversion module 2 and one signal execution module 3.

[0048] When the robot's robotic arm touches an obstacle, the external airbag module 1 is compressed; the airbag pressure signal is converted into an electrical signal through the pneumatic-to-electrical conversion module 2; the signal execution module 3 is installed in the robot control box, and its built-in motor 351 quickly retracts the card key 321 after receiving the electrical signal, and the paddle spring 315 undergoes elastic deformation and pushes the stainless steel paddle 331 on the signal execution module downward, pressing the emergency stop switch of the robot control box to execute the emergency stop command.

[0049] The signal execution module 3 also includes a caliper fixing frame 317, a left caliper 341 and a right caliper 342. The left caliper 341 and the right caliper 342 are installed on the side of the emergency stop switch of the robot's control box close to the pedestal 311 through the caliper fixing frame 317. The root ends of the left caliper 341 and the right caliper 342 are respectively connected to the caliper fixing frame 317, and the ends of the left caliper 341 and the right caliper 342 are free ends. The emergency stop switch of the robot's control box is located between the caliper 341 and the right caliper 342.

[0050] The signal execution module 3 is divided into a caliper, a paddle 331 and a base 311. The caliper can be flexibly opened and closed to adapt to different robot control boxes. The paddle 331 is made of rigid material and is set small so as not to affect the normal pressing of the robot's emergency stop switch. There is a motor fixing rib 313 inside the base 311 for easy disassembly; the base 311 of the signal execution module 3 and the bottom of its caliper are provided with strong magnetic material or adhesive so that the signal execution module 3 can be fixed on the robot control box.

[0051] When the robot's robotic arm touches an obstacle, the airbag caps 111 of the external airbag modules 1 on the robot's robotic arm are squeezed by the obstacle, and the airbag caps 111 compress the built-in airbag foldable elastic body 142 of the built-in airbag of the external airbag module 1. The air in the built-in airbag is output through the airbag outlet 143 to the airbag inlet 213 of the airbag of the air-to-electric conversion module 2 and enters the airbag. The airbag elastic body 212 of the airbag unfolds and pushes the conductive sheet 221 close to the potential relay 231 until it contacts the potential relay 231 and conducts. The potential relay 231 is turned on. After power is turned on, the motor 351 of the signal execution module 3 is energized through the motor switch. The motor 351 drives the motor gear 352 to rotate, thereby moving the latch key 321 toward the side away from the paddle support rod 316 and compressing the latch key spring 312 until the latch key 321 and the paddle support rod 316 are no longer in contact. The paddle spring 315 then rotates one end of the paddle 331 toward the side of the control box away from the base 311. The paddle 331 rotates around its hinge, driving the free end of the paddle 331 to rotate toward the emergency stop switch of the robot's control box, pressing the emergency stop switch and executing the robot's emergency stop command.

[0052] After the robot resumes normal operation, the pneumatic-electric bag elastomer 212 of the pneumatic-electric conversion module 2 can retract to its normal state. At the same time, the compressed external airbag rebounds, and the airbag cap 111 bounces up to the shell limit position. At this time, the motor 351 of the signal execution module 3 is manually turned off. Without motor traction, the key 321 rebounds under the action of the key spring 312. By manually adjusting the paddle, the device returns to the standby state.

[0053] The specific implementation of the present invention is as follows:

[0054] Multiple external airbag modules 1 are attached to the surface of the robotic arm. During operation, if the robotic arm touches an obstacle or a worker, the airbag cap 111 is pressed down. The only deformable part of the airbag is the internal airbag foldable elastic body 142. The gas inside the airbag is pressed out and discharged into the airbag pipeline through the airbag outlet 143. Due to the limitations of the shell of the other external airbag modules 1 that were not touched, the excess gas can only be squeezed into the expandable air-to-electric conversion module 2.

[0055] At this time, the pneumatic bag elastic body 212 expands, pushing the conductive sheet 221 upward, causing the potential relay 231 to be connected, and the motor 351 of the signal execution module 3 to be turned on.

[0056] The motor 351 is mounted on the motor fixing rib 313. When the motor 351 is started, the motor gear 352 rotates in the reverse direction, counteracting the force of the latch spring 312. The latch key 321 is retracted. After the key body is retracted, the paddle 331 is lifted up near the base 311 by the elastic force of the paddle spring 315. Due to the fixation of the paddle support rod 316, the other end moves downward until the emergency stop switch on the control box is pressed, and the emergency stop process ends.

[0057] During the reset operation, first turn off the switch of the motor 351 of the signal execution module 3. At this time, the motor 351 is de-energized, and the latch 321 rebounds under the action of the latch spring 312. Then, manually lift the depressed end of the paddle 331 until the paddle 331 is again engaged by the latch 321. Due to the action of the pneumatic-electrical bag elastic body 212, the external airbag of the robotic arm is no longer pressed and automatically returns to its initial state.

[0058] The above-mentioned implementation cases are for explaining the present invention, not for limiting the present invention. Any solution that is a simple transformation of the present invention falls within the protection scope of the present invention.

Claims

1. An external robot safety emergency stop device, characterized by: The invention comprises a plurality of external airbag modules (1), a gas-electric conversion module (2) and a signal execution module (3), wherein each external airbag module (1) is attached to the arm surface of the robot's mechanical arm in an array, and each external airbag module (1) located in the same row is hinged to each other, each external airbag module (1) is connected to the gas-electric conversion module (2), and the gas-electric conversion module (2) is electrically connected to the signal execution module (3), and the signal execution module (3) is installed at the emergency stop switch of the robot's control box; The signal execution module (3) includes a pedestal (311), a key spring (312), a pick spring (315), a pick support rod (316), a key (321), a pick (331), a motor (351) and a motor gear (352), wherein the key spring (312), the key (321), the motor (351) and the motor gear (352) are all installed inside the pedestal (311), and the pedestal (311) is installed on a side of the robot control box provided with an emergency stop switch, and the body of the motor (351) is installed inside the pedestal (311). On the side wall, the output shaft of the motor (351) is parallel to one side of the control box where the pedestal (311) is located, and the motor gear (352) is synchronously mounted on the output shaft of the motor (351); the key spring (312) and the key (321) are located on the same side of the motor gear (352) and away from one side of the control box where the pedestal (311) is located, the elastic direction of the key spring (312) and the length direction of the key (321) are the same and are both parallel to one side of the control box where the pedestal (311) is located and perpendicular to the output shaft of the motor (351), and the key spring One end of the spring (312) is connected to the inner wall of the base (311), the other end of the key spring (312) is connected to one end of the key (321), the other end of the key (321) is located outside the base (311), the key (321) and the motor gear (352) are meshed with each other to form a gear rack structure; the paddle (331) is hinged to the base (311) through the paddle support rod (316) and is located outside the base (311), the hinge of the paddle (331) is close to one end of the paddle (331), and one end of the paddle (331) is close to the other end of the paddle (331). The side surface abuts against the other end of the card key (321), the other side surface of one end of the paddle (331) away from the card key (321) is connected to one end of the paddle spring (315), the other end of the paddle spring (315) is connected to the base (311), the elastic direction of the paddle spring (315) is perpendicular to one side of the control box where the base (311) is located, and the other end of the paddle (331) is a free end and is opposite to the emergency stop switch of the control box of the robot; the motor (351) is controlled by an external motor switch, and the motor switch is connected to the gas-to-electric conversion module (2).

2. The external robot safety emergency stop device according to claim 1, characterized in that: The external airbag module (1) comprises an airbag cap (111), an external airbag upper cover (121), an external airbag lower cover (131) and an internal airbag, wherein the external airbag upper cover (121) covers the external airbag lower cover (131), the internal airbag is located inside the external airbag upper cover (121) and the external airbag lower cover (131), a through-hole is provided in the middle of the external airbag upper cover (121), the airbag cap (111) is located at the through-hole of the external airbag upper cover (121) and covers the internal airbag, and the top of the airbag cap (111) is located outside the external airbag module (1); an airbag outlet (143) is provided on the bottom side of the internal airbag and is connected to the outside of the external airbag module (1), and the external airbag module (1) is connected to the gas-to-electricity conversion module (2) through the airbag outlet (143).

3. The external robot safety emergency stop device according to claim 2, characterized in that: The two ends of the built-in airbag are built-in airbag hard bodies (141), the middle part of the built-in airbag is a built-in airbag foldable elastic body (142), and an airbag air outlet (143) is provided on the side of the built-in airbag hard body (141) away from the airbag cap (111); the built-in airbag foldable elastic body (142) is an origami structure, and the built-in airbag hard body (141) and the built-in airbag foldable elastic body (142) are respectively made of hard material and elastic material.

4. The external robot safety emergency stop device according to claim 1, characterized in that: The gas-to-electric conversion module (2) comprises a gas-to-electric bag, a conductive sheet (221) and a potential relay (231), wherein the conductive sheet (221) is mounted on one of the outer surfaces of the gas-to-electric bag, and the potential relay (231) is mounted at a fixed position and arranged opposite to the conductive sheet (221) at intervals; a gas-to-electric bag air inlet (213) is provided on the bottom side of the gas-to-electric bag, and the gas-to-electric conversion module (2) is connected to the external gas-to-electric bag module (1) through the gas-to-electric bag air inlet (213); and the gas-to-electric conversion module (2) is electrically connected to the signal execution module (3) through the potential relay (231).

5. The external robot safety emergency stop device according to claim 4, characterized in that: The two ends of the air-electric bag are air-electric bag hard bodies (211), the middle part of the air-electric bag is an air-electric bag elastic body (212), the conductive sheet (221) is installed on the outer side of one of the air-electric bag hard bodies (211), and the side of the other air-electric bag hard body (211) is provided with an air-electric bag air inlet (213); the air-electric bag elastic body (212) is an origami structure, and the air-electric bag hard body (211) and the air-electric bag elastic body (212) are respectively made of a hard material and an elastic material.

6. The external robot safety emergency stop device according to claim 1, characterized in that: The signal execution module (3) further comprises a caliper fixing frame (317), a left caliper (341) and a right caliper (342), wherein the left caliper (341) and the right caliper (342) are mounted on a side of the pedestal (311) close to the emergency stop switch of the control box of the robot through the caliper fixing frame (317), the root ends of the left caliper (341) and the right caliper (342) are respectively connected to the caliper fixing frame (317), the distal ends of the left caliper (341) and the right caliper (342) are free ends, and the emergency stop switch of the control box of the robot is located between the left caliper (341) and the right caliper (342).

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