An industrial robot with protective function

Abstract

The present invention discloses an industrial robot with a protective function, which relates to the technical field of industrial robots, including an AGV trolley, a protective component, a supporting component, a trigger component, a driving component, a protection component and a mechanical arm, wherein the protective component is fixedly connected to the top of the AGV trolley, and the protective component includes a first protective shell. In the present invention, when the industrial robot is in use, the trigger component cooperates with the driving component, and the driving component is triggered when the trigger component detects an abnormality. The driving component cooperates with the water pipe and the vacuum pipe, and can respond quickly when triggered, and use the negative pressure vacuum to drive the piston to move quickly, so that when the industrial robot generates a large vibration, the mechanical arm is quickly put into the first protective shell for protection, and the use of the first protective shell provides protection for the outer side of the mechanical arm, so as to avoid the damage to the mechanical arm when the industrial robot falls or is hit by subsequent collisions, causing property losses.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robots, in particular to an industrial robot with a protection function. Background Art

[0002] An industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and achieve various functions through its own power and control capabilities.

[0003] In the prior art, when an industrial robot is in use, there cannot be any obstruction within the operating radius of the robotic arm, so a baffle structure cannot be used to directly provide protection for the robotic arm. When the industrial robot walks over an obstacle or is hit and falls, the robotic arm will directly contact the ground and be subject to a large impact force, which can easily lead to complete damage to the robotic arm and cause significant property losses.

[0004] Therefore, an industrial robot with a protection function is proposed to solve the problems raised in the above background technology. Summary of the invention

[0005] The purpose of the present invention is to provide an industrial robot with a protective function to solve the problem proposed in the above background technology that when the industrial robot walks over an obstacle or is hit and falls, the mechanical arm will be directly in contact with the ground and subjected to a large impact force, which can easily lead to complete damage of the mechanical arm and cause great property losses.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an industrial robot with a protection function, comprising an AGV trolley, a protection component, a support component, a trigger component, a drive component, a protection component and a mechanical arm, wherein the protection component is fixedly connected to the top of the AGV trolley, the protection component comprises a first protection shell, and the outer surfaces of both sides of the first protection shell are symmetrically fixedly connected with first slide rails; the support component is fixedly connected to the inner surface of the first protection shell, the support component comprises two second slide rails, the outer surfaces of the two second slide rails are slidably connected with sliding seats, a support seat is fixedly connected between the two sliding seats, and a mounting plate is fixedly connected to the top of the support seat; the trigger component is fixedly connected to the inner surface of the first protection shell, and the trigger component comprises a fixed frame; the drive component is located inside the first protection shell, the drive component comprises a water pipe, a vacuum pipe, a first guide roller, two second guide rollers and a mounting seat, a piston is arranged inside the water pipe, a connecting pipe is fixedly connected between the water pipe and the vacuum pipe, a plug hole is opened on the outer surface of the connecting pipe, and a plug is plugged and connected on the inner surface of the plug hole; the protection component is located outside the first protection shell, and the protection component comprises a second protection shell.

[0007] Preferably, side frames are fixedly connected to the outer surfaces of both sides of the first protective shell, a plurality of first springs are fixedly connected to the top of the side frames at equal intervals, and a notch is provided on the right outer surface of the first protective shell, and the notch is located above the side frame.

[0008] By adopting the above technical solution, when the second protective shell is in the initial position, the first spring is in a compressed state, so when the second protective shell loses support, the rebound force of the first spring can drive the second protective shell to bounce up quickly for protection.

[0009] Preferably, sliders are symmetrically fixedly connected to the inner surfaces of both sides of the second protective shell, and the multiple sliders are respectively slidably connected to the multiple first slide rails. Brackets are fixedly connected to the inner surfaces of both sides of the second protective shell, and the bottoms of the two brackets are respectively fixedly connected to the upper end surfaces of the two groups of first springs, and the first springs are in a compressed state. One of the brackets is symmetrically fixedly connected to the outer surface of one side close to the first protective shell, and a clamping plate is fixedly connected between the end surfaces of the two third springs, and the clamping plate is located on the inner side of the slot.

[0010] By adopting the above technical solution, the rebound force of the second spring is used to provide support for the card plate. The card plate is stuck inside the slot to provide support for the second protective shell. When not triggered, the second protective shell is flush with the first protective shell and does not obstruct the operation of the robotic arm.

[0011] Preferably, the robotic arm is fixedly connected to the top of the mounting plate, an extension rod is symmetrically fixedly connected to the outer surface of the mounting plate on one side close to the slot, a push block is fixedly connected between the end faces of the two extension rods, and the push block matches the slot position.

[0012] By adopting the above technical solution, when the push block moves to a position close to the inner wall of the first protective shell, the push block contacts the card plate and presses it. After the card plate is pressed, it moves out of the slot. At this time, the bracket is separated from the support of the card plate, and the rebound force of the first spring can be used to drive the second protective shell to bounce up quickly. After the second protective shell moves up and bounces up, it can cooperate with the first protective shell to be raised, so that the first protective shell and the second protective shell cooperate to form a higher protective barrier.

[0013] Preferably, the right end surfaces of the two second slide rails are fixedly connected with baffles, and the outer surfaces of the two sliding seats close to the baffles are fixedly connected with buffer blocks, and the buffer blocks are matched with the baffles.

[0014] By adopting the above technical solution, the buffer block can play a role in buffering and shock absorption, and at the same time can reduce the rebound and noise generated during contact, thereby avoiding damage when the robot arm is quickly stored and protected.

[0015] Preferably, a connecting seat is fixedly connected to the bottom of the fixing frame, a ball head is movably connected to the inner surface of the connecting seat, a plurality of side rods are evenly fixedly connected to the bottom of the ball head, an outer ring is fixedly connected between the lower end surfaces of the plurality of side rods, a plurality of counterweights are evenly fixedly connected to the top of the outer ring, a plurality of first inclined blocks are evenly fixedly connected to the inner surface of the outer ring, a circular hole is opened on the outer surface of the first inclined block, a ball is arranged inside the circular hole, a circular inclined block is fixedly connected to the upper end surface of the insert tube, the circular inclined block is located on the inner side of the outer ring, and the circular inclined block cooperates with the position of the first inclined block.

[0016] By adopting the above technical solution, when the outer ring rotates in any direction, it will drive the first inclined block on its inner side to approach the circular inclined block. When the inclined surface of the first inclined block contacts the inclined surface of the circular inclined block, it can push the circular inclined block upward. When the circular inclined block moves upward, it can drive the insert tube and the displacement plate to move upward with it.

[0017] Preferably, the water pipe and the vacuum tube are both fixedly connected to the bottom inner side of the first protective shell, the first guide roller and the second guide roller are both rotatably connected to the inner surface of the first protective shell, a first sealing rope is fixedly connected to the outer surface of one side of the piston, the first sealing rope passes around the first guide roller and is fixedly connected to the outer surface of the support seat, a second sealing rope is fixedly connected to the outer surface of the other side of the piston, the second sealing rope passes around two second guide rollers and is fixedly connected to the outer surface of the other side of the support seat, the right end of the water pipe is in an open state, the left end face of the water pipe is in a closed state, the piston is located near the right end, the second sealing rope slides through the left end face of the water pipe, a water filling valve is fixedly connected to the outer surface of the water pipe, the inside of the water pipe is filled with water, and a vacuum valve is fixedly connected to the end face of the vacuum tube.

[0018] By adopting the above technical solution, the displacement of the support seat is supported by the first sealing rope and the second sealing rope on both sides. Since the water pipe is full of water, the water filling valve is closed, and the tube is inserted into the connecting pipe so that the connecting pipe is in a closed state, the piston inside the water pipe and the end face are in a closed state, so the piston is unable to move at this time, and the stable position of the piston is used to provide support for the first sealing rope and the second sealing rope on both sides.

[0019] Preferably, the mounting seat is fixedly connected to the inner surface of the first protective shell, the inner surface of the mounting seat is symmetrically fixedly connected to a limiting rod, and a displacement plate is slidably connected through the outer surfaces of the two limiting rods.

[0020] By adopting the above technical solution and setting the limiting rod, the up and down displacement of the displacement plate can be limited.

[0021] Preferably, the displacement plate is fixedly connected to the insert tube, and a through hole is provided on the outer surface of the insert tube near the lower end surface, and the through hole matches the position of the connecting tube.

[0022] By adopting the above technical solution, when the insert tube is in the normal position, the connecting tube is blocked by the insert tube. After the insert tube is moved up to align the through hole with the connecting tube, the connecting tube can be in a connected state, that is, the water pipe and the vacuum tube are in a connected state.

[0023] Preferably, a second spring is symmetrically fixedly connected to the inner surface of the mounting seat, and a second inclined block is fixedly connected between the two end surfaces of the second spring. The second inclined block is located above the displacement plate, and there is a distance between the top of the second inclined block and the top of the mounting seat, and the distance is greater than the thickness of the displacement plate.

[0024] By adopting the above technical solution, when the displacement plate moves up, the second inclined block will be pushed away, so that the displacement plate is stuck between the second inclined block and the inner wall of the mounting seat, so that the insertion tube maintains a stable height and the connecting tube always remains connected.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. In the present invention, when the industrial robot is in use, the trigger component is used in conjunction with the drive component. When the trigger component detects an abnormality, the drive component is triggered. The drive component can respond quickly when triggered through the cooperation of the water pipe and the vacuum tube, and use the negative pressure vacuum to drive the piston to move quickly, so that when the industrial robot generates a large vibration, the mechanical arm can be quickly retracted into the first protective shell for protection. The use of the first protective shell provides protection for the outside of the mechanical arm, thereby preventing the mechanical arm from being damaged and causing property loss when the industrial robot falls or is subjected to subsequent impacts.

[0027] 2. In the present invention, when the support seat is pulled and displaced, when the push block is displaced close to the inner wall of the first protective shell, the push block contacts the card plate and presses it. After the card plate is pressed, it will move out of the slot. The rebound force of the first spring can drive the second protective shell to bounce up quickly. After the second protective shell moves up and bounces up, it can cooperate with the first protective shell to be raised, so that the first protective shell and the second protective shell cooperate to form a higher protective barrier, which has a better protective effect on the robot arm.

[0028] 3. In the present invention, when the sliding seat moves to the baffle position, the buffer block will contact the baffle to generate impact force. The setting of the buffer block can play a role in buffering and shock absorption. At the same time, it can reduce the rebound and noise generated during contact, avoid damage to the mechanical arm when it is quickly stored for protection, and provide better protection for the mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A three-dimensional diagram of an industrial robot with a protective function according to the present invention;

[0030] Figure 2A top view of an industrial robot with a protective function according to the present invention;

[0031] Figure 3 A cross-sectional view of an industrial robot with a protective function according to the present invention;

[0032] Figure 4 This is a cross-sectional view of a first protective shell structure of an industrial robot with a protective function according to the present invention;

[0033] Figure 5 A schematic diagram of a partial structural assembly of an industrial robot with a protective function according to the present invention;

[0034] Figure 6 This is a schematic diagram of the structure of a protective component of an industrial robot with a protective function according to the present invention;

[0035] Figure 7 This is a schematic diagram of the structure of a support assembly of an industrial robot with a protective function according to the present invention;

[0036] Figure 8 This is a schematic diagram of the structure of a trigger component of an industrial robot with a protective function according to the present invention;

[0037] Fig. 9 This is a schematic diagram of the structure of a drive component of an industrial robot with a protective function according to the present invention;

[0038] Fig.10 This is a cross-sectional view of a water pipe structure of an industrial robot with a protective function according to the present invention;

[0039] Fig.11 This is a schematic diagram of the vacuum tube structure of an industrial robot with a protective function according to the present invention;

[0040] Fig.12 for Fig.11 A magnified view of the structure at A;

[0041] Fig.13 The present invention is a schematic diagram of the structure of a protection component of an industrial robot with a protection function.

[0042] In the figure: 1. AGV trolley; 2. Protection assembly; 201. First protection shell; 202. First slide rail; 203. Side frame; 204. First spring; 205. Notch; 3. Support assembly; 301. Second slide rail; 302. Sliding seat; 303. Support seat; 304. Mounting plate; 305. Extension rod; 306. Push block; 307. Baffle; 308. Buffer block; 4. Trigger assembly; 401. Fixed frame; 402. Connecting seat; 403. Ball head; 404. Side rod; 405. Outer ring; 406. Counterweight block; 407. First inclined block; 408. Ball; 5. Drive assembly Components; 501, water pipe; 502, vacuum tube; 503, piston; 504, first sealing rope; 505, second sealing rope; 506, first guide roller; 507, second guide roller; 508, water adding valve; 509, connecting pipe; 510, mounting seat; 511, limit rod; 512, displacement plate; 513, insert tube; 514, through hole; 515, circular inclined block; 516, second spring; 517, second inclined block; 518, vacuum valve; 6, protection assembly; 601, slider; 602, second protective shell; 603, bracket; 604, third spring; 605, card plate; 7, mechanical arm. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Example 1: Please refer to Figure 1-Figure 13As shown, the present invention provides a technical solution: an industrial robot with a protection function, comprising an AGV trolley 1, a protection component 2, a support component 3, a trigger component 4, a drive component 5, a protection component 6 and a mechanical arm 7, wherein the protection component 2 is fixedly connected to the top of the AGV trolley 1, and the protection component 2 comprises a first protection shell 201, and the outer surfaces of both sides of the first protection shell 201 are symmetrically fixedly connected with first slide rails 202; the support component 3 is fixedly connected to the inner surface of the first protection shell 201, and the support component 3 comprises two second slide rails 301, and the outer surfaces of the two second slide rails 301 are slidably connected with sliding seats 302, and the two sliding seats 3 02 is fixedly connected with a support seat 303, and a mounting plate 304 is fixedly connected to the top of the support seat 303; the trigger assembly 4 is fixedly connected to the inner surface of the first protective shell 201, and the trigger assembly 4 includes a fixing frame 401; the driving assembly 5 is located inside the first protective shell 201, and the driving assembly 5 includes a water pipe 501, a vacuum tube 502, a first guide roller 506, two second guide rollers 507 and a mounting seat 510, a piston 503 is arranged inside the water pipe 501, a connecting pipe 509 is fixedly connected between the water pipe 501 and the vacuum tube 502, and a plug hole is opened on the outer surface of the connecting pipe 509, and a plug 513 is plugged and connected to the inner surface of the plug hole;The protection component 6 is located outside the first protective shell 201, and the protection component 6 includes a second protective shell 602. The bottom of the fixing frame 401 is fixedly connected to a connecting seat 402, and the inner surface of the connecting seat 402 is movably connected to a ball head 403. The bottom of the ball head 403 is evenly fixedly connected to multiple side rods 404, and an outer ring 405 is fixedly connected between the lower end surfaces of the multiple side rods 404. The top of the outer ring 405 is evenly fixedly connected to multiple counterweights 406, and the inner surface of the outer ring 405 is evenly fixedly connected to multiple first inclined blocks 407. The outer surface of the first inclined block 407 is provided with a circular hole, and a ball 408 is arranged inside the circular hole. The upper end surface of the insert tube 513 is fixedly connected with a circular inclined block 515, which is located on the inner side of the outer ring 405. The circular inclined block 515 matches the position of the first inclined block 407. The water pipe 501 and the vacuum tube 502 are fixedly connected to the bottom of the first protective shell 201. The first guide roller 506 and the second guide roller 507 are rotatably connected to the inner surface of the first protective shell 201. The outer surface of one side of the piston 503 is fixedly connected with a first sealing rope 504. The first sealing rope 504 bypasses the first guide roller 506 and is fixedly connected to the outer surface of the support seat 303. The outer surface of the other side of the piston 503 is fixedly connected with a second sealing rope. The sealing rope 505 is passed through the two second guide rollers 507 and fixedly connected to the outer surface of the other side of the support seat 303. The right end of the water pipe 501 is in an open state, and the left end face of the water pipe 501 is in a closed state. The piston 503 is located near the right end. The second sealing rope 505 slides through the left end face of the water pipe 501. A water filling valve 508 is fixedly connected to the outer surface of the water pipe 501. The inside of the water pipe 501 is filled with water. The end face of the vacuum tube 502 is fixedly connected to a vacuum valve 518. The mounting seat 510 is fixedly connected to the inner surface of the first protective shell 201. The inner surface of the mounting seat 510 is symmetrically fixedly connected to the limited The two limiting rods 511 are connected with a displacement plate 512 which is slidably connected between the outer surfaces of the two limiting rods 511. The displacement plate 512 is fixedly connected with the insertion tube 513. A through hole 514 is provided on the outer surface of the insertion tube 513 near the lower end surface. The through hole 514 matches the position of the connecting tube 509. The inner surface of the mounting seat 510 is symmetrically fixedly connected with a second spring 516. A second inclined block 517 is fixedly connected between the end surfaces of the two second springs 516. The second inclined block 517 is located above the displacement plate 512. There is a gap between the top of the second inclined block 517 and the inner top of the mounting seat 510, and the gap is greater than the thickness of the displacement plate 512. ;

[0045] The use steps of the present invention are as follows: when the industrial robot is in use, the vibration amplitude of the entire industrial robot can be monitored by using the trigger component 4. When the industrial robot is affected by any direction and vibrates, the outer ring 405 will rotate. When the outer ring 405 rotates in any direction, it will drive the first inclined block 407 on the inner side to approach the circular inclined block 515. When the inclined surface of the first inclined block 407 contacts the inclined surface of the circular inclined block 515, the circular inclined block 515 can be pushed upward. When the industrial robot as a whole shakes greatly, the outer ring 405 will also be displaced greatly. At this time, the outer ring 405 drives the insertion tube 513 and the displacement plate 512 to move upward. The displacement plate 512 is relatively large, and at this time, the displacement plate 512 will be stuck in the position between the inner wall of the mounting seat 510 and the second inclined block 517. At the same time, the insertion tube 513 moves upward, and the insertion tube 513 moves upward so that the through hole 514 is in a state of being directly facing the connecting tube 509, so that the connecting tube 509 forms a passage between the water pipe 501 and the vacuum tube 502. The vacuum negative pressure inside the vacuum tube 502 can be used to attract the water inside the water pipe 501, so that the water in the water pipe 501 is quickly pumped into the vacuum tube 502. When the water inside the water pipe 501 is pumped away, the piston 503 will move quickly to the left with the flow of water. At this time, the movement of the piston 503 drives the first sealing rope 504 and the second The sealing rope 505 follows the movement. When the first sealing rope 504 is pulled, the support seat 303 can be pulled downward. At the same time, the second sealing rope 505 will also move to the left, so that the second sealing rope 505 is released and the support seat 303 can move. Therefore, at this time, the support seat 303 can drive the mechanical arm 7 to move quickly through the connection with the mounting plate 304. The support seat 303 can follow the movement along the second slide rail 301 through the connection with the sliding seat 302. The position of the support seat 303 is supported and limited by the cooperation between the sliding seat 302 and the second slide rail 301. After the water inside the water pipe 501 is pumped out, the support seat 303 will be pulled into position. Move to the baffle 307 position below the second slide rail 301, and the robot arm 7 will be put into the first protective shell 201 at this time. The first protective shell 201 is used to provide protection for the outer side of the robot arm 7 to prevent the robot arm 7 from being damaged and causing property loss when the industrial robot falls or is hit subsequently. The trigger component 4 is used in conjunction with the drive component 5, and the drive component 5 is triggered when the trigger component 4 detects an abnormality. The drive component 5 can respond quickly when triggered through the cooperation of the water pipe 501 and the vacuum tube 502, and use the negative pressure vacuum to drive the piston 503 to move quickly, so that the robot arm 7 can be put into the first protective shell 201 for protection in a relatively short time.

[0046] Embodiment 2: Figure 3 , Figure 4 , Figure 6 and Fig.13As shown, the outer surfaces of both sides of the first protective shell 201 are fixedly connected to the side frames 203, and the top of the side frames 203 is fixedly connected to multiple first springs 204 at equal intervals. A notch 205 is opened on the right outer surface of the first protective shell 201, and the notch 205 is located above the side frame 203. The inner surfaces of both sides of the second protective shell 602 are symmetrically fixedly connected to the sliders 601, and the multiple sliders 601 are respectively slidably connected to the multiple first slide rails 202. The inner surfaces of both sides of the second protective shell 602 are fixedly connected to the brackets 603, and the bottoms of the two brackets 603 are respectively connected to the upper and lower surfaces of the two groups of first springs 204. The end faces are fixedly connected, and the first spring 204 is in a compressed state. One of the brackets 603 is symmetrically fixedly connected to the third spring 604 on the outer surface close to the first protective shell 201. A clamping plate 605 is fixedly connected between the end faces of the two third springs 604. The clamping plate 605 is located on the inner side of the slot 205. The robotic arm 7 is fixedly connected to the top of the mounting plate 304. The outer surface of the mounting plate 304 close to the slot 205 is symmetrically fixedly connected to the extension rod 305. A push block 306 is fixedly connected between the end faces of the two extension rods 305, and the push block 306 matches the position of the slot 205.

[0047] In the use steps of the present invention, when the support seat 303 is pulled and displaced, the mounting plate 304 can drive the push block 306 to follow the displacement through the connection of the extension rod 305. When the push block 306 is displaced to the inner wall of the first protective shell 201, the push block 306 contacts the card plate 605 for pressing. The position of the card plate 605 is supported by the third spring 604, and the third spring 604 is supported by the internally connected telescopic rod. After being pressed, the card plate 605 will move out of the slot 205. At this time, the bracket 603 is separated from the support of the card plate 605, so that the second protective shell 602 is in a free displacement state, and the rebound force of the first spring 204 can be used to drive the second protective shell 602 to bounce up quickly. When displacing, the second protective shell 602 will be displaced along the first slide rail 202 through the connection of the slider 601, which plays a supporting and limiting role in the displacement of the second protective shell 602. After the second protective shell 602 moves up and bounces up, it can be heightened in conjunction with the first protective shell 201, so that the first protective shell 201 and the second protective shell 602 cooperate to form a higher protective barrier, which has a better protective effect on the robot arm 7.

[0048] Embodiment 3: Figure 5 and Figure 7 As shown, the right end surfaces of the two second slide rails 301 are fixedly connected with baffles 307 , and the outer surfaces of the two sliding seats 302 close to the baffles 307 are fixedly connected with buffer blocks 308 , and the buffer blocks 308 are matched with the baffles 307 .

[0049] According to the usage steps of the present invention, when the sliding seat 302 moves to the position of the baffle 307, the buffer block 308 will contact the baffle 307 to generate an impact force. The setting of the buffer block 308 can play a role in buffering and shock absorption. At the same time, it can reduce the rebound and noise generated during contact, avoid damage to the robot arm 7 when it is quickly stored for protection, and provide better protection for the robot arm 7.

[0050] The effect and working principle achieved by the entire mechanism are as follows: when the industrial robot is in use, the AGV trolley 1, the protective component 2 and the supporting component 3 are used to provide support for the robot arm 7, so that the robot arm 7 is fixed on the top of the first protective shell 201 for work, and the output end position of the robot arm 7 can be connected to various operating heads for workpiece processing. Through the use of the AGV trolley 1, the robot arm 7 can be supported to work at any displacement, thereby improving the working range of the robot arm 7. When the AGV trolley 1 supports the displacement of the robot arm 7, the rotation of the AGV trolley 1 is used to replace the main shaft rotation function of the robot arm 7, so that the extension direction of the robot arm 7 is always parallel to the first protective shell 201 at the rear side, and the robot arm 7 can be put into the first protective shell in case of an accident. The protective shell 201 is used for protection to avoid serious damage to the robot arm 7. During the normal operation of the robot arm 7, the sliding seat 302, the support seat 303 and the mounting plate 304 are used in conjunction to provide installation support for the robot arm 7. The robot arm 7 is in an upper position close to the second slide rail 301. The displacement of the support seat 303 is supported by the first sealing rope 504 and the second sealing rope 505 on both sides. Since the water pipe 501 is full of water, the water filling valve 508 is closed, and the insert pipe 513 is inserted into the connecting pipe 509 so that the connecting pipe 509 is in a closed state, so that the piston 503 inside the water pipe 501 and the end surface are in a closed state, so at this time the piston 503 is in an immovable state, and the stable position of the piston 503 is used for both sides. The first sealing rope 504 and the second sealing rope 505 provide support. Both the first sealing rope 504 and the second sealing rope 505 are made of Kevlar fiber with high density and not easy to deform, ensuring that the second sealing rope 505 and the opening where the water pipe 501 passes through remain in a sealed state. The first guide roller 506 is set to limit the first sealing rope 504 and the second guide roller 507 is set to limit the second sealing rope 505, ensuring that the first sealing rope 504 and the second sealing rope 505 maintain a predetermined path for use. At this time, the second sealing rope 505 provides support for the upper support seat 303 to ensure that the support seat 303 maintains a stable position for use. When the AGV trolley 1 drives the mechanical arm 7 to move, and the mechanical arm 7 During the operation, the overall vibration amplitude of the industrial robot can be monitored by using the trigger component 4. When the vibration amplitude is too large, the trigger component 4 will be triggered, thereby controlling the support component 3, the drive component 5 and the protection component 6 to operate in conjunction to provide storage protection for the robot arm 7. When the industrial robot vibrates, the ball head 403 is connected to the connecting seat 402 through the cooperation, so that the ball head 403 is in a free rotation state, and the outer ring 405 is supported by the connection of the side rod 404. The outer ring 405 is weighted by using the counterweight block 406 to ensure that the outer ring 405 is in a relatively stable state during normal use, avoiding the influence of the trigger component 4 being accidentally touched due to slight external influences. At this time, the outer ring 405 is in a free rotation state.When the industrial robot is affected by any direction and vibrates, the outer ring 405 will cause rotation. When the outer ring 405 rotates in any direction, the first inclined block 407 on the inner side will be driven to approach the circular inclined block 515. When the inclined surface of the first inclined block 407 contacts the inclined surface of the circular inclined block 515, the circular inclined block 515 can be pushed upward. When the circular inclined block 515 moves upward, the insertion tube 513 and the displacement plate 512 can be driven to move upward. When the displacement plate 512 moves upward, the limiting rod 511 is set to guide and limit the displacement plate 512 and the insertion tube 513 to maintain a vertical upward state. When the first inclined block 407 contacts the circular inclined block 515 and is subjected to force, the setting of the ball 408 can reduce the rotation of the friction force, thereby reducing The wear is reduced and the service life is increased. When the industrial robot as a whole shakes greatly, the outer ring 405 will also be displaced greatly. At this time, the outer ring 405 drives the insertion tube 513 and the displacement plate 512 to move up to a large extent. When the displacement plate 512 moves up and contacts the second inclined block 517, the displacement plate 512 contacts the lower inclined surface of the second inclined block 517, which can push the displacement plate 512 to move, that is, the second spring 516 is compressed, and the inner side of the second spring 516 is supported by the telescopic rod. At this time, the displacement plate 512 can pass through the second inclined block 517 and move to the top thereof. The rebound force of the second spring 516 is used to drive the second inclined block 517 to reset. At this time, the displacement plate 512 will be stuck between the inner wall of the mounting seat 510 and the second inclined block 517. When the plug 513 moves upward, the plug 513 moves upward so that the through hole 514 is in a state of facing the connecting pipe 509, so that the connecting pipe 509 forms a passage between the water pipe 501 and the vacuum pipe 502, that is, the water pipe 501 and the vacuum pipe 502 are in a connected state. When the vacuum pipe 502 is put into use, the interior of the vacuum pipe 502 is evacuated to a vacuum state through the position of the vacuum valve 518. After the vacuum pipe 502 is connected with the water pipe 501, the vacuum negative pressure inside the vacuum pipe 502 can be used to attract the water inside the water pipe 501, so that the water in the water pipe 501 is quickly pumped into the vacuum pipe 502. When the water in the water pipe 501 is pumped away, the piston 503 will move quickly to the left with the flow of water. At this time, the movement of the piston 503 drives the first sealing rope 50 4 and the second sealing rope 505 follow the movement. When the first sealing rope 504 is pulled, the support seat 303 can be pulled downward, and the second sealing rope 505 will also move to the left, so that the second sealing rope 505 is released and the support seat 303 can move. Therefore, at this time, the support seat 303 can drive the mechanical arm 7 to move quickly through the connection with the mounting plate 304. The support seat 303 can follow the movement along the second slide rail 301 through the connection with the sliding seat 302. The position of the support seat 303 is set to support and limit the position through the cooperation of the sliding seat 302 and the second slide rail 301. After the water in the water pipe 501 is pumped out, the support seat 303 will be pulled and displaced to the baffle 307 position below the second slide rail 301.When the sliding seat 302 moves to the position of the baffle 307, the buffer block 308 will contact the baffle 307 to generate an impact force. The setting of the buffer block 308 can play a role in buffering and shock absorption. At the same time, it can reduce the rebound and noise generated during contact, avoid damage to the mechanical arm 7 when it is quickly stored and protected, and provide a better protection for the mechanical arm 7. The mechanical arm 7 will be stored in the first protective shell 201 at this time. The use of the first protective shell 201 provides protection for the outside of the mechanical arm 7 to avoid damage to the mechanical arm 7 when the industrial robot falls or is hit by subsequent collisions, causing property losses. The use of the trigger component 4 in conjunction with the drive component 5 can trigger the drive component 5 when the trigger component 4 detects an abnormality. The drive component 5 can respond quickly when triggered through the cooperation of the water pipe 501 and the vacuum tube 502, and use the negative pressure vacuum to drive the piston 503 to move quickly, so that when the industrial robot generates a large vibration, the mechanical arm 7 can be quickly stored in the first protective shell 201 for protection, and when the support seat 303 is pulled and displaced When the mounting plate 304 is connected with the extension rod 305, the push block 306 can follow the displacement. When the push block 306 is displaced to the inner wall of the first protective shell 201, the push block 306 contacts the card plate 605 for pressing. The position of the card plate 605 is supported by the third spring 604. The third spring 604 is supported by the internally connected telescopic rod. After the card plate 605 is pressed, it will move out of the slot 205. At this time, the bracket 603 is separated from the support of the card plate 605, so that the second protective shell 602 is in a free displacement state. In this state, the rebound force of the first spring 204 can be used to drive the second protective shell 602 to bounce up quickly. When the second protective shell 602 is displaced, it will move along the first slide rail 202 through the connection of the slider 601, which plays a supporting and limiting role in the displacement of the second protective shell 602. After the second protective shell 602 moves up and bounces up, it can cooperate with the first protective shell 201 to be raised, so that the first protective shell 201 and the second protective shell 602 cooperate to form a higher protective barrier, which has a better protective effect on the robot arm 7.

[0051] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An industrial robot with a protective function, comprising an AGV vehicle (1), a protective component (2), a support component (3), a trigger component (4), a drive component (5), a protective component (6) and a mechanical arm (7), characterized in that: The protective component (2) is fixedly connected to the top of the AGV trolley (1), and the protective component (2) comprises a first protective shell (201), and first slide rails (202) are symmetrically fixedly connected to the outer surfaces of both sides of the first protective shell (201); The support assembly (3) is fixedly connected to the inner surface of the first protective shell (201), and the support assembly (3) comprises two second slide rails (301), the outer surfaces of the two second slide rails (301) are slidably connected to a slide seat (302), a support seat (303) is fixedly connected between the two slide seats (302), and a mounting plate (304) is fixedly connected to the top of the support seat (303); The trigger assembly (4) is fixedly connected to the inner surface of the first protective shell (201), and the trigger assembly (4) comprises a fixing frame (401), the bottom of the fixing frame (401) is fixedly connected to a connecting seat (402), the inner surface of the connecting seat (402) is movably connected to a ball head (403), the bottom of the ball head (403) is evenly fixedly connected to a plurality of side rods (404), the lower end surfaces of the plurality of side rods (404) are fixedly connected to an outer ring (405), the top of the outer ring (405) is evenly fixedly connected to a plurality of counterweight blocks (406), the inner surface of the outer ring (405) is evenly fixedly connected to a plurality of first inclined blocks (407), the outer surface of the first inclined block (407) is provided with a circular hole, and a ball (408) is arranged inside the circular hole; The driving assembly (5) is located inside the first protective shell (201), and comprises a water pipe (501), a vacuum tube (502), a first guide roller (506), two second guide rollers (507) and a mounting seat (510). A piston (503) is arranged inside the water pipe (501), a connecting pipe (509) is fixedly connected between the water pipe (501) and the vacuum tube (502), a plug hole is provided on the outer surface of the connecting pipe (509), and a plug pipe (513) is plugged and connected to the inner surface of the plug hole. The water pipe (501) and the vacuum tube (502) are both fixedly connected to the bottom of the first protective shell (201), the first guide roller (506) and the second guide roller (507) are both rotatably connected to the inner surface of the first protective shell (201), and a first sealing rope (504) is fixedly connected to the outer surface of one side of the piston (503), and the first sealing rope (504) passes around the first guide roller (506) and the support seat (310). 03) outer surface, the outer surface of the other side of the piston (503) is fixedly connected with a second sealing rope (505), the second sealing rope (505) passes around two second guide rollers (507) and is fixedly connected with the outer surface of the other side of the support seat (303), the right end of the water pipe (501) is in an open state, the left end face of the water pipe (501) is in a closed state, the piston (503) is located near the right end, and the second sealing rope (505) is connected to the water pipe ( The left end face of the water pipe (501) slides through, the outer surface of the water pipe (501) is fixedly connected with a water filling valve (508), the interior of the water pipe (501) is filled with water, the end face of the vacuum tube (502) is fixedly connected with a vacuum valve (518), the upper end face of the insert tube (513) is fixedly connected with a circular inclined block (515), the circular inclined block (515) is located on the inner side of the outer ring (405), and the circular inclined block (515) matches the position of the first inclined block (407); The protection component (6) is located outside the first protection shell (201), and the protection component (6) comprises a second protection shell (602).

2. The industrial robot with protection function according to claim 1, characterized in that: The outer surfaces of both sides of the first protective shell (201) are fixedly connected to side frames (203), the top of the side frames (203) are fixedly connected to a plurality of first springs (204) at equal intervals, and a notch (205) is provided on the right outer surface of the first protective shell (201), the notch (205) being located above the side frames (203).

3. The industrial robot with protection function according to claim 2, characterized in that: The inner surfaces of both sides of the second protective shell (602) are symmetrically fixedly connected with sliders (601), and the plurality of sliders (601) are respectively slidably connected with the plurality of first slide rails (202). The inner surfaces of both sides of the second protective shell (602) are fixedly connected with brackets (603), and the bottoms of the two brackets (603) are respectively fixedly connected with the upper end surfaces of the two groups of first springs (204), and the first springs (204) are in a compressed state. The outer surface of one side of the bracket (603) close to the first protective shell (201) is symmetrically fixedly connected with a third spring (604), and a clamping plate (605) is fixedly connected between the end surfaces of the two third springs (604), and the clamping plate (605) is located at the inner side of the notch (205).

4. The industrial robot with protection function according to claim 2, characterized in that: The mechanical arm (7) is fixedly connected to the top of the mounting plate (304); an extension rod (305) is symmetrically fixedly connected to the outer surface of one side of the mounting plate (304) close to the notch (205); a push block (306) is fixedly connected between the end surfaces of the two extension rods (305); the push block (306) matches the position of the notch (205).

5. The industrial robot with protection function according to claim 2, characterized in that: The right end surfaces of the two second slide rails (301) are fixedly connected to a baffle (307), and the outer surfaces of the two sliding seats (302) on one side close to the baffle (307) are fixedly connected to a buffer block (308), and the buffer block (308) is matched with the baffle (307) in position.

6. The industrial robot with protection function according to claim 1, characterized in that: The mounting seat (510) is fixedly connected to the inner surface of the first protective shell (201), the inner surface of the mounting seat (510) is symmetrically fixedly connected to a limit rod (511), and a displacement plate (512) is slidably connected through the outer surfaces of the two limit rods (511).

7. The industrial robot with protection function according to claim 6, characterized in that: The displacement plate (512) is fixedly connected to the insertion tube (513); a through hole (514) is provided on the outer surface of the insertion tube (513) near the lower end surface; the through hole (514) matches the position of the connecting tube (509).

8. The industrial robot with protection function according to claim 6, characterized in that: The inner surface of the mounting seat (510) is symmetrically fixedly connected with a second spring (516); a second inclined block (517) is fixedly connected between the end surfaces of the two second springs (516); the second inclined block (517) is located above the displacement plate (512); and there is a distance between the top of the second inclined block (517) and the inner top of the mounting seat (510), and the distance is greater than the thickness of the displacement plate (512).

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