A safety protection device and method for a robotic arm with early warning function

Abstract

This invention belongs to the field of robotic arms technology, specifically a safety protection device and method for robotic arms with early warning function. Addressing the problem in existing technologies where robotic arms are prone to damage due to insufficient timely prediction of unexpected collisions during operation, the following solution is proposed: a crossbeam frame positioned above the lifting start and target positions. A fixed base is fixed to the center of the lower surface of the crossbeam frame, and a robotic arm mechanism is mounted on the lower surface of the fixed base. The robotic arm mechanism includes three large robotic arms, with a central angle distance of 120 degrees between adjacent large robotic arms. A forearm is rotatably connected to the bottom of each large robotic arm. This invention ensures that during the packing process, if a collision occurs due to packing failure or one of the arms falls off midway, the contact position of the spring plates will change, triggering an overload alarm mechanism.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and in particular to a safety protection device and method for a robotic arm with an early warning function. Background Technology

[0002] With the development of society, the application of robotic arms is becoming more and more widespread. A robotic arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection and other fields. A flexible robotic arm refers to the ability of the fixture to adapt to changes in the shape and size of the workpiece and continue to be used.

[0003] Upon investigation, it was found that existing robotic arms inevitably experience docking errors during transport. For example, if the holding device is not in position, and the robotic arm continues to operate as before while carrying the packaged items, it is highly likely that the joints of the robotic arm will break. Therefore, we propose a method to prevent the continuous collisions caused by the holding device not being in position from causing the robotic arm to veer off course or even become damaged. Summary of the Invention

[0004] To address the technical problem in existing technologies where robotic arms are not timely enough in predicting unexpected collisions during operation, which can easily lead to damage to the robotic arm, this invention adopts the following technical solution:

[0005] A safety protection device for a robotic arm with an early warning function includes a crossbeam frame positioned above the lifting start and target positions. A fixed base is fixed to the center of the lower surface of the crossbeam frame, and a robotic arm mechanism is mounted on the lower surface of the fixed base. The robotic arm mechanism includes three large robotic arms, with a central angle distance of 120 degrees between adjacent large robotic arms. A forearm is rotatably connected to the bottom end of each large robotic arm. The bottom ends of the three forearms are hinged to the same drive pawl. The drive pawl has a T-shaped circular structure, and an extension rod is pre-installed at the bottom end of the drive pawl. A sliding bearing is fixed to the outer circumference of the extension rod, and a rotating fixed disk is fixed to the outer circumference of the sliding bearing. Multiple vertical... A connecting rod extends straight downwards, and the bottom ends of multiple connecting rods are fixed with the same suction cup mechanism; the extension rod is slidably inserted into a sliding bearing, and a spring support ring is fixed near the bottom end of the circumferential outer wall of the extension rod, and multiple tension springs are fixed on the upper surface of the spring support ring in a centrally symmetrical distribution; the top end of the tension springs is fixed with the same thrust ball bearing, which is embedded in the lower surface of the rotating fixed disk; an overload alarm mechanism is set on the upper surface of the suction cup mechanism below the spring support ring, and the overload alarm mechanism includes a spring plate fixed near the edge of the lower surface of the spring support ring; an insulating tube is fixed on the upper surface of the suction cup mechanism, and three parallel and non-contact metal rings, metal ring one and metal ring three, are sleeved on the outer wall of the insulating tube.

[0006] Preferably, the bottom end of the spring sheet has a protrusion, which is pressed tightly against the outer circumference of the insulating tube by the spring sheet. The outer circumference of the insulating tube has three annular grooves for fitting metal ring one, metal ring two, and metal ring three. The outer circumference of metal ring one, metal ring two, and metal ring three is flush with the outer circumference of the insulating tube. Metal ring one, metal ring two, and metal ring three are respectively connected to audible and visual alarm one, audible and visual alarm two, and a working indicator light via wires.

[0007] Preferably, the top of the drive claw disk has a through hole extending through both the upper and lower ends, and a common bearing is embedded in the top of the through hole. A suction cup control tube adapted to the suction cup mechanism is inserted into the common bearing. The side of the drive claw disk has an installation notch, and a servo motor is fixed in the installation notch. A drive gear is fixed at the top of the output shaft of the servo motor. A driven gear ring that meshes with the drive gear is fixed on the upper surface of the rotating fixed disk.

[0008] Preferably, the thickness of the driving gear is 2-4 times the thickness of the driven gear ring, and the diameter of the driving gear is smaller than the diameter of the driven gear ring.

[0009] Preferably, the suction cup mechanism includes a main pressure plate, the lower surface of which is provided with multiple soft tubes, and a corrugated buffer strip is fixed near the edge of the lower surface of the main pressure plate; this can provide a certain degree of protection and buffering during suction.

[0010] Preferably, a vertical grooved suspension rail is fixed to the lower surface of one end of the crossbeam frame, and a rectangular hole is opened near the top of the groove of the grooved suspension rail. A fixed pulley is installed in the rectangular hole. A shaft frame is fixed near the bottom of the groove of the grooved suspension rail, and a vertically downward extending drive shaft is rotatably inserted into the middle of the shaft frame. A roller seat is fixed to the bottom of the drive shaft. A grooved rope pulley is rotatably connected in the roller seat. A detection rope is fixed at the closest distance between the outer circumference of the drive claw disk and the grooved suspension rail, and a counterweight is fixed to the detection rope after passing through the grooved rope pulley and the fixed pulley in sequence. A tilt detection mechanism is provided on the side of the roller seat.

[0011] Preferably, the skew detection mechanism includes a folded indicator rod fixed to the side of the roller seat, and a return spring is fixed to the end of the folded indicator rod away from the roller seat, and a trigger ball is fixed to the end of the return spring away from the folded indicator rod; a U-shaped slot rod extending towards the trigger ball is fixed to the side of the grooved hanging rail near the folded indicator rod, and two parallel side guards are provided on the U-shaped slot rod near the trigger ball, with pressure sensors fixed to the opposite side of the two side guards.

[0012] Preferably, the grooved rail has a vertical guide groove on the side near the counterweight, and the counterweight is slidably connected in the guide groove.

[0013] Preferably, the diameter of the grooved pulley is 3-5 times the diameter of the fixed pulley, and the outer circumference of the grooved pulley has an annular groove; the depth of the annular groove is greater than the diameter of the detection rope.

[0014] A safety protection method for a robotic arm with early warning function includes the following steps:

[0015] Step 1: When the device is running normally, the robotic arm mechanism works with the suction cup mechanism to move the object to be clamped from one side to the packaging box on the other side. During this period, the drive claw disk above the suction cup mechanism moves in a vertical plane.

[0016] If an accident occurs during the grasping process, the suction cup mechanism will react as overweight or a collision will cause a sudden drop in weight. This will inevitably cause a change in the contact position of the spring plate, which will trigger the overweight alarm mechanism and send a signal to the processor in time to control the robotic arm to stop.

[0017] Step 2: As the servo motor rotates, the object to be clamped will be rotated horizontally to adjust its state, and then the object to be clamped will be placed into the packaging box at the required angle.

[0018] Step 3: During this process, if the whole machine swings back and forth due to an accidental collision, the taut detection rope will cause the grooved pulley and roller seat to swing, which will then trigger the tilt detection mechanism. The machine will then be stopped based on the degree of detection to protect the robotic arm mechanism.

[0019] The beneficial effects of this invention are as follows:

[0020] 1. The overload alarm mechanism ensures that if a box fails to load properly, causing a collision or if one of the boxes falls off, the contact position of the spring plate will change. This will trigger the overload alarm mechanism, which will then send a signal to the processor to stop the robotic arm in time, thus protecting it. Furthermore, the alarm light type can indicate the magnitude of the impact, allowing the system to adjust itself and continue operation. If a minor impact occurs and the indicator light returns to illuminate after stopping, it indicates that loading can continue, improving the device's predictive and judgment capabilities.

[0021] 2. By setting up a tilt detection mechanism, it is possible to detect whether the drive claw disk always moves in one plane during the hoisting back and forth operation. If the hoisting process causes back and forth swinging due to an accidental collision, the taut detection rope will drive the grooved rope wheel and roller seat to swing, which will then trigger the tilt detection mechanism. The machine will then be stopped based on the degree of detection to protect the robotic arm mechanism. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of a safety protection device for a robotic arm with an early warning function proposed in this invention;

[0023] Figure 2 This is a front view of a safety protection device for a robotic arm with an early warning function proposed in this invention;

[0024] Figure 3 This is a half-sectional three-dimensional structural diagram of a safety protection device for a robotic arm with an early warning function proposed in this invention;

[0025] Figure 4 This invention proposes a safety protection device for a robotic arm with an early warning function. Figure 3 Enlarged structural diagram at point A;

[0026] Figure 5 This is a bottom-view three-dimensional structural diagram of a safety protection device for a robotic arm with an early warning function proposed in this invention;

[0027] Figure 6This is a three-dimensional structural diagram showing the installation position of the drive claw disc in a safety protection device for a mechanical arm with an early warning function proposed in this invention.

[0028] Figure 7 The circuit diagram is shown for the overload alarm mechanism in a safety protection device for a mechanical working arm with early warning function proposed in this invention.

[0029] Figure 8 This is a three-dimensional structural diagram of the drive claw disc in a safety protection device for a mechanical working arm with an early warning function proposed in this invention.

[0030] In the diagram: 1. Crossbeam frame; 2. Fixed base; 3. Grooved lifting rail; 4. Guide groove; 5. U-shaped clamping rod; 6. Counterweight; 7. Roller seat; 8. Grooved rope pulley; 9. Detection rope; 10. Drive claw plate; 1001. Extension lifting rod; 11. Object to be clamped; 12. Packaging box; 13. Suction cup mechanism; 14. Rotating fixed plate; 15. Mechanical arm; 16. Suction cup control tube; 17. Insulating tube; 18. Tension spring; 19. Servo 20. Servo motor; 21. Folded indicator rod; 22. Actuating ball; 23. Pressure sensor; 24. Fixed pulley; 25. Drive gear; 26. Connecting rod; 27. Spring plate; 28. Metal ring II; 29. ​​Spring support ring; 30. Perforation; 31. Thrust ball bearing; 32. Driven gear ring; 33. Return spring; 34. Shaft bracket; 35. Metal ring I; 36. Audible and visual alarm II; 37. Working indicator light. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0032] Reference Figure 1-8A safety protection device for a robotic arm with an early warning function includes a crossbeam frame 1 positioned above the starting and target positions of the hoisting operation. A fixed base 2 is fixed to the center of the lower surface of the crossbeam frame 1, and a robotic arm mechanism is mounted on the lower surface of the fixed base 2. The robotic arm mechanism includes three large robotic arms 15, with a central angle distance of 120 degrees between any two adjacent large robotic arms 15. A forearm is rotatably connected to the bottom end of each large robotic arm 15, and the bottom ends of the three forearms are hinged to the same drive claw disk 10. This robotic arm mechanism is mainly used for moving objects left and right within the same plane, i.e., moving the object 11 to be clamped into a packaging box 12. The drive claw disk 10 is characterized by its T-shaped disc structure, with an extension rod 1001 pre-installed at the bottom end. A sliding bearing is fixed to the outer circumference of the extension rod 1001, and a rotating fixed disk 14 is fixed to the outer circumference of the sliding bearing. Multiple vertically downward extending connecting rods 25 are fixed to the outer circumference of the 4, and the bottom ends of the multiple connecting rods 25 are fixed to the same suction cup mechanism 13; the extension rod 1001 is slidably inserted into the sliding bearing, and the outer circumference of the extension rod 1001 is fixed to the bottom end of the spring ring 28, and the upper surface of the spring ring 28 is fixed with multiple tension springs 18 distributed in a centrally symmetrical manner; the top end of the tension springs 18 is fixed with the same thrust ball bearing 30, and the thrust ball bearing 30 is embedded in the lower surface of the rotating fixed disk 14; the upper surface of the suction cup mechanism 13 is provided with an overload alarm mechanism located below the spring ring 28, and the overload alarm mechanism includes a spring plate 26 fixed to the lower surface of the spring ring 28 near the edge; the upper surface of the suction cup mechanism 13 is fixed with an insulating tube 17, and the outer wall of the insulating tube 17 is sleeved with three parallel and non-contacting metal rings 35, 27 and 34;

[0033] Specifically, the overload alarm mechanism can be set up so that if the packing fails and a collision occurs or one of the pieces falls off during the packing process, the contact position of the spring plate 26 will change. At this time, the overload alarm mechanism will be triggered, and a signal will be sent to the processor in time to control the robotic arm to stop, thereby protecting the robotic arm.

[0034] Reference Figure 4 , Figures 6-7The bottom end of the spring plate 26 has a protruding block, which is pressed tightly against the outer circumference of the insulating tube 17 by the spring plate 26. The outer circumference of the insulating tube 17 has three annular grooves for embedding metal ring 1 35, metal ring 27 and metal ring 34. The outer circumference of metal ring 1 35, metal ring 27 and metal ring 34 is flush with the outer circumference of the insulating tube 17. Metal ring 1 35, metal ring 27 and metal ring 34 are respectively connected to audible and visual alarm 1, audible and visual alarm 2 36 and working indicator light 37 through wires. Through the overload alarm mechanism, the magnitude of the impact can be distinguished according to the type of alarm light, and then it can be judged whether it can continue to operate through self-adjustment. If a small impact occurs, if the working indicator light 37 can be restored to the lit state after the machine stops, it means that feeding can continue, which improves the predictive and judgment capabilities of the device.

[0035] Reference Figure 4 and Figure 8 The top of the drive claw disk 10 has a through hole 29 extending through both the top and bottom ends, and a common bearing is embedded in the top of the through hole 29. A suction cup control tube 16 adapted to the suction cup mechanism 13 is inserted into the common bearing. The side of the drive claw disk 10 has an installation notch, and a servo motor 19 is fixed in the installation notch. The top of the output shaft of the servo motor 19 is fixed with a drive gear 24. The upper surface of the rotating fixed disk 14 is fixed with a driven gear ring 31 that meshes with the drive gear 24. The position of the object to be clamped 11 can be adjusted by controlling the rotation of the servo motor 19 so that the object to be clamped 11 can be properly loaded into the packaging box 12.

[0036] Reference Figure 4 The thickness of the driving gear 24 is 2-4 times the thickness of the driven gear ring 31, and the diameter of the driving gear 24 is smaller than the diameter of the driven gear ring 31. This allows the gear to maintain engagement even when there is an overload, i.e. when the overall position of the rotating fixed disk 14 drops significantly relative to the drive claw disk 10. This ensures that the suction cup mechanism 13 can adjust its state.

[0037] Reference Figure 6 The suction cup mechanism 13 includes a main pressure plate, and multiple soft tubes are provided on the lower surface of the main pressure plate. A corrugated buffer strip is fixed on the lower surface of the main pressure plate near the edge, which can play a certain protective and buffering role during suction.

[0038] Reference Figures 2-3 , Figure 5A vertical grooved suspension rail 3 is fixed to the lower surface of one end of the crossbeam frame 1. A rectangular hole is opened near the top of the groove of the grooved suspension rail 3, and a fixed pulley 23 is installed in the rectangular hole. A shaft frame 33 is fixed near the bottom of the groove of the grooved suspension rail 3, and a vertically downward extending drive shaft is rotatably inserted into the middle of the shaft frame 33. A roller seat 7 is fixed to the bottom of the drive shaft. A grooved rope wheel 8 is rotatably connected in the roller seat 7. A detection rope 9 is fixed at the closest distance between the outer circumference of the drive claw disk 10 and the grooved suspension rail 3. Furthermore, the detection rope 9 passes upwards through the grooved pulley 8 and the fixed pulley 23 and is fixed with a counterweight 6; a tilt detection mechanism is provided on the side of the roller seat 7; during the hoisting back and forth operation, it can detect whether the drive claw disk 10 always moves in one plane. If it swings back and forth due to an accidental collision during the hoisting process, the taut detection rope 9 will drive the grooved pulley 8 and the roller seat 7 to swing, which will then trigger the tilt detection mechanism. Then, based on the degree of detection, it will be determined whether to stop the machine to protect the robotic arm mechanism.

[0039] Reference Figures 2-3 , Figure 5 The skew detection mechanism includes a folded indicator rod 20 fixed to the side of the roller seat 7, and a return spring 32 fixed to the end of the folded indicator rod 20 away from the roller seat 7. A trigger ball 21 is fixed to the end of the return spring 32 away from the folded indicator rod 20. A U-shaped slot rod 5 extending towards the trigger ball 21 is fixed to the side of the grooved hanging rail 3 near the folded indicator rod 20. Two parallel side guards are provided on the U-shaped slot rod 5 near the trigger ball 21. Pressure sensors 22 are fixed to the opposite side of the two side guards. When the taut detection rope 9 swings left and right, it will indirectly drive the trigger ball 21 to squeeze the pressure sensor 22. At this time, the magnitude of the swing amplitude of the device can be judged according to the pressure transmitted by the pressure sensor 22.

[0040] Reference Figure 1 The grooved rail 3 has a vertical guide groove 4 on the side near the counterweight 6. The counterweight 6 is slidably connected in the guide groove 4 to ensure that the counterweight 6 can always generate a large gravity, which is then converted into tension on the detection rope 9 so that the detection rope 9 is always kept taut.

[0041] In this embodiment, the diameter of the grooved pulley 8 is 3-5 times the diameter of the fixed pulley 23, and the outer circumference of the grooved pulley 8 is provided with an annular groove; the depth of the annular groove is greater than the diameter of the detection rope 9; this ensures that when the detection rope 9 shakes, it can pull the grooved pulley 8 to swing.

[0042] A safety protection method for a robotic arm with early warning function includes the following steps:

[0043] Step 1: When the device is running normally, the robotic arm mechanism, together with the suction cup mechanism 13, moves the object 11 to be clamped from one side to the packaging box 12 on the other side. During this period, the drive claw disk 10 above the suction cup mechanism 13 moves in a vertical plane.

[0044] If an accident occurs during the grasping process, the suction cup mechanism 13 will be affected by overweight or a collision, indicating a sudden drop in weight. This will inevitably cause a change in the contact position of the spring plate 26, which will trigger the overweight alarm mechanism and send a signal to the processor in time to control the robotic arm to stop.

[0045] Step 2: As the servo motor 19 rotates, the object to be clamped 11 will be rotated horizontally to adjust its state, and then the object to be clamped 11 will be put into the packaging box 12 at the required angle.

[0046] Step 3: During this process, if the whole swings back and forth due to an accidental collision, the taut detection rope 9 will drive the grooved rope wheel 8 and roller seat 7 to swing, which will then trigger the tilt detection mechanism. The machine will then be stopped based on the degree of detection to protect the robotic arm mechanism.

[0047] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A safety protection device for a mechanical boom with an early warning function, comprising a crossbeam frame (1) positioned above the starting and target positions of the hoisting operation, wherein a fixed seat (2) is fixed to the middle of the lower surface of the crossbeam frame (1), and a mechanical boom mechanism is provided on the lower surface of the fixed seat (2), the mechanical boom mechanism comprising three large mechanical booms (15), wherein the central angle distance between two adjacent large mechanical booms (15) is 120 degrees, and a small arm is rotatably connected to the bottom end of each large mechanical boom (15), and the bottom ends of the three small arms are hinged to the same drive chuck (10), characterized in that, The drive claw disk (10) is an integral T-shaped disk structure, and an extension rod (1001) is reserved at the bottom end of the drive claw disk (10). A sliding bearing is fixed to the outer circumference of the extension rod (1001), and a rotating fixed disk (14) is fixed to the outer circumference of the sliding bearing. Multiple vertically downward extending connecting rods (25) are fixed to the outer circumference of the rotating fixed disk (14), and the bottom ends of the multiple connecting rods (25) are fixed to the same suction cup mechanism (13). The extension rod (1001) is slidably inserted into the sliding bearing, and a spring support ring (28) is fixed to the outer circumference of the extension rod (1001) near the bottom end. The upper part of the spring support ring (28) is... Multiple tension springs (18) are fixed on the surface in a centrally symmetrical distribution; the top of each tension spring (18) is fixed with the same thrust ball bearing (30), which is embedded in the lower surface of the rotating fixed disk (14); the upper surface of the suction cup mechanism (13) is provided with an overload alarm mechanism located below the spring support ring (28), and the overload alarm mechanism includes a spring plate (26) fixed near the edge of the lower surface of the spring support ring (28); the upper surface of the suction cup mechanism (13) is fixed with an insulating tube (17), and the outer wall of the insulating tube (17) is fitted with three parallel and non-contact metal rings one (35), two (27) and three (34).

2. The safety protection device for a robotic arm with an early warning function according to claim 1, characterized in that, The bottom end of the spring sheet (26) has a protruding block, and the protruding block is pressed tightly against the outer circumference of the insulating tube (17) under the pressure of the spring sheet (26). The outer circumference of the insulating tube (17) has three annular grooves for embedding metal ring one (35), metal ring two (27) and metal ring three (34). The outer circumference of metal ring one (35), metal ring two (27) and metal ring three (34) is flush with the outer circumference of the insulating tube (17). The metal ring one (35), metal ring two (27) and metal ring three (34) are respectively connected to the sound and light alarm one, the sound and light alarm two (36) and the working indicator light (37) through wires.

3. The safety protection device for a robotic arm with an early warning function according to claim 1, characterized in that, The top of the drive claw disk (10) has a through hole (29) that runs through both the top and bottom ends, and a common bearing is installed at the top of the through hole (29). A suction cup control tube (16) adapted to the suction cup mechanism (13) is inserted into the common bearing. The side of the drive claw disk (10) has an installation notch, and a servo motor (19) is fixed in the installation notch. The top of the output shaft of the servo motor (19) is fixed with a drive gear (24). The upper surface of the rotating fixed disk (14) is fixed with a driven gear ring (31) that meshes with the drive gear (24).

4. A safety protection device for a robotic arm with an early warning function according to claim 3, characterized in that, The thickness of the driving gear (24) is 2-4 times the thickness of the driven gear ring (31), and the diameter of the driving gear (24) is smaller than the diameter of the driven gear ring (31).

5. A safety protection device for a robotic arm with an early warning function according to claim 1, characterized in that, The suction cup mechanism (13) includes a main pressure plate, the lower surface of which is provided with a plurality of soft tubes, and a corrugated buffer strip is fixed on the lower surface of the main pressure plate near the edge.

6. A safety protection device for a robotic arm with an early warning function according to claim 1, characterized in that, A vertical grooved suspension rail (3) is fixed to the lower surface of one end of the crossbeam frame (1), and a rectangular hole is opened near the top of the groove bottom of the grooved suspension rail (3). A fixed pulley (23) is provided in the rectangular hole. A shaft frame (33) is fixed near the bottom of the groove bottom of the grooved suspension rail (3), and a vertically downward extending transmission shaft is rotatably inserted in the middle of the shaft frame (33). A roller seat (7) is fixed at the bottom of the transmission shaft. A grooved rope wheel (8) is rotatably connected in the roller seat (7). A detection rope (9) is fixed at the closest distance between the outer circumference of the drive claw disk (10) and the grooved rope wheel (8) and the fixed pulley (23) in sequence, and a counterweight (6) is fixed thereon. A tilt detection mechanism is provided on the side of the roller seat (7).

7. A safety protection device for a robotic arm with an early warning function according to claim 6, characterized in that, The skew detection mechanism includes a folded indicator rod (20) fixed to the side of the roller seat (7), and a return spring (32) is fixed to the end of the folded indicator rod (20) away from the roller seat (7), and a trigger ball (21) is fixed to the end of the return spring (32) away from the folded indicator rod (20); a U-shaped slot rod (5) extending towards the trigger ball (21) is fixed to the side of the grooved hanging rail (3) near the folded indicator rod (20), and two parallel side guards are provided on the U-shaped slot rod (5) near the trigger ball (21), and a pressure sensor (22) is fixed to the opposite side of the two side guards.

8. A safety protection device for a robotic arm with an early warning function according to claim 7, characterized in that, The grooved rail (3) has a vertical guide groove (4) on the side near the counterweight (6), and the counterweight (6) is slidably connected in the guide groove (4).

9. A safety protection device for a robotic arm with an early warning function according to claim 8, characterized in that, The diameter of the grooved pulley (8) is 3-5 times the diameter of the fixed pulley (23), and the outer circumference of the grooved pulley (8) has an annular groove; the depth of the annular groove is greater than the diameter of the detection rope (9).

10. A safety protection method for a robotic arm with an early warning function, comprising a safety protection device for a robotic arm with an early warning function as described in claim 9, characterized in that, Includes the following steps: Step 1: When the device is running normally, the robotic arm mechanism, in conjunction with the suction cup mechanism (13), moves the object to be clamped (11) from one side to the packaging box (12) on the other side. During this period, the drive claw disk (10) above the suction cup mechanism (13) moves in a vertical plane. If an accident occurs during the grasping process, the reaction on the suction cup mechanism (13) will be overweight or a collision will indicate a sudden drop in weight. This will inevitably cause the contact position of the spring plate (26) to change, which will trigger the overweight alarm mechanism and then send the signal to the processor in time to control the robotic arm to stop. Step 2: As the servo motor (19) rotates, the object to be clamped (11) will be rotated horizontally to adjust its state, and then the object to be clamped (11) will be put into the packaging box (12) at the required angle. Step 3: During this process, if the whole swings back and forth due to an accidental collision, the taut detection rope (9) will drive the grooved rope wheel (8) and roller seat (7) to swing, which will then trigger the tilt detection mechanism. Then, the machine will be stopped according to the degree of detection to protect the robotic arm mechanism.

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