Safety device and method for identifying operation area of mechanical arm

Abstract

The invention discloses a safety device and method for recognizing a working area of a mechanical arm. The device comprises a safety ring mechanism, a danger ring mechanism, an area recognition mechanism, a safety limiting mechanism and a follow-up block. The safety ring mechanism comprises a safety ring plate, and the danger ring mechanism comprises a danger ring plate; the area identification mechanism comprises a safety detection switch and a dangerous area detection switch; the safety ring plate is rotated, and the periphery of the safety ring plate presses the contact of the safety detection switch, so that the safety detection switch sends out a safety signal; the danger annular plate is rotated, and the periphery of the danger annular plate presses the contact of the danger area detection switch, so that the danger area detection switch sends out a danger signal; the safety limiting mechanism comprises a limiting block, and when peripheral equipment detects that an operator enters a dangerous area, the limiting block extends out after receiving a dangerous signal and blocks and limits a follow-up block arranged at the bottom of the rotating chassis. According to the safety device, the problems that a robot program is easily modified by mistake and the robot is easily operated by mistake are solved, and potential safety hazards are greatly reduced.

Description

Technical Field

[0001] The present invention belongs to the field of robot technology, and more specifically, relates to a safety device and method for identifying an operating area of ​​a robot arm. Background Art

[0002] Industrial robots are widely used in the welding field, and human-machine interaction is also relatively frequent. Robots are fast and carry heavy equipment, so personnel safety will become the top priority.

[0003] Traditional human-machine interactive safety devices generally only send signals to the control device through the robot program to inform the robot of its location, and then control peripheral safety equipment, such as light barriers, safety carpets, and beam switches, to determine whether they are effective. However, the robot program is easily modified by mistake, and the robot is also easily operated by mistake, which brings great safety hazards.

[0004] Therefore, at this stage, there is an urgent need for a safety device that can identify the operating area of ​​a robotic arm, which can avoid errors caused by program or safety software control, more reliably determine the area where the robot is located, and ensure the safety of relevant operators. Summary of the invention

[0005] In view of the problem that errors in program or safety software control of robots in the prior art may cause harm to operators around the control, the present invention provides a safety device and method for identifying the operating area of ​​a robot arm to solve such problems.

[0006] To achieve the above-mentioned purpose, the present invention provides a safety device for identifying the working area of ​​a robot arm, comprising a safety ring mechanism and a danger ring mechanism respectively fixed at the bottom of a rotating chassis of the robot, both of which are used to divide the working area of ​​the robot arm and rotate left and right following the J-axis of the robot; the safety ring mechanism comprises a safety ring plate, which covers the safe area; the danger ring mechanism comprises a danger ring plate, which covers the dangerous area; an area identification mechanism fixedly arranged on the top of the robot base, which is located at the junction of the safe area and the dangerous area, comprises a safety detection switch and a dangerous area detection switch, which are at different heights; the contact of the safety detection switch is at the same height as the safety ring plate and the two interfere with each other; the dangerous area detection switch and the dangerous ring plate are at the same height and interfere with each other; and a safety limit mechanism fixedly arranged on the top of the robot base, which includes a limit block; the robot rotates in the safe area, and the safety ring plate that follows the robot presses the switch contacts of the safety detection switch, so that the safety detection switch sends a safety signal; the robot rotates to the dangerous area, and the outer periphery of the dangerous ring plate contacts the switch contacts of the dangerous area detection switch, so that the dangerous area detection switch sends a danger signal; when the peripheral equipment detects that an operator has entered the dangerous area, the limit block rotates forward through the danger signal to block the follower block arranged at the bottom of the rotating chassis to ensure that the robot cannot rotate to the dangerous area.

[0007] Furthermore, the safety ring plate and the danger ring plate are both semi-annular structures, and both are fixedly arranged at the bottom of the rotating chassis of the robot to enclose and seal the bottom of the rotating chassis.

[0008] Furthermore, the safety ring mechanism also includes a plurality of first positioning and fixing holes provided on the safety ring plate, and a first height adjustment rod is passed through the corresponding first positioning and fixing holes to fix the safety ring plate to the bottom of the rotating chassis; wherein, the first positioning and fixing holes correspond to the fixing screw holes at the bottom of the rotating chassis; one end of the first height adjustment rod is separately connected to the fixing screw holes at the bottom of the rotating chassis, and the other end passes through the first positioning and fixing hole and is connected to the fixing nut, thereby fixing the safety ring plate to the bottom of the rotating chassis.

[0009] Furthermore, first chamfers are provided at both ends of the safety ring plate.

[0010] Furthermore, the danger ring mechanism also includes a second positioning and fixing hole, a second height adjustment rod and a second chamfer; the second positioning and fixing hole corresponds to the fixing screw hole at the bottom of the rotating chassis; one end of the second height adjustment rod is separately connected to the fixing screw hole at the bottom of the rotating chassis, and the other end passes through the second positioning and fixing hole and is connected to the fixing nut, thereby fixing the danger ring plate to the bottom of the rotating chassis.

[0011] Furthermore, the dangerous ring plate is provided with second chamfers at both ends.

[0012] Furthermore, the area identification mechanism includes a switch group support, a first bracket, a safety detection switch, a second bracket and a dangerous area detection switch; the switch group support is an I-shaped structure, which preliminarily lifts the safety detection switch and the dangerous area detection switch, and its bottom is fixed to the top of the robot base by bolts; the first bracket is an L-shaped plate, which is fixed to the top of the switch group support, and fixes the safety detection switch and accurately adjusts the height; the safety detection switch is fixed to the top of the first bracket, and its contacts are at the same height as the safety ring plate and the two interfere with each other; the second bracket is an L-shaped plate, which is fixed to the top of the switch group support and is located on the side of the first bracket. It fixes the dangerous area detection switch and accurately adjusts the height, so that the height of the dangerous area detection switch is staggered with the safety detection switch; the dangerous area detection switch is fixed to the top of the second bracket, and its contacts are at the same height as the dangerous ring plate and the two interfere with each other.

[0013] Furthermore, the safety limiting mechanism includes a fixed base, a cylinder, a limiting block, a connecting pin, a first hinge seat and a second hinge seat.

[0014] Furthermore, the fixed base is fixedly arranged on the top of the robot base, located on the side of the area identification mechanism, with a second hinged seat in the middle and a connecting pin on the top; the cylinder is hinged to the middle of the fixed base through the second hinged seat; the limit block is rotatably connected to the connecting pin, and a first hinged seat is fixedly arranged on the rear side; the first hinged seat is hinged to the front end of the cylinder piston rod.

[0015] According to another aspect of the present invention, there is also provided a method for identifying a robot arm operation area, comprising the following steps:

[0016] S100: Divide the safe area and the dangerous area according to the robot's mechanical arm construction area and the operator's working area;

[0017] S200: confirming the arc lengths of the safety ring plate and the danger ring plate according to the safety area and the danger area respectively;

[0018] S300: fix the safety ring plate to the bottom of the rotating chassis and make it cover the safe area; fix the danger ring plate to the bottom of the rotating chassis and make it cover the dangerous area, and make the safety ring plate and the danger ring plate staggered in height;

[0019] S400: Install the zone identification mechanism so that it is located at the junction of the safe area and the dangerous area;

[0020] S500: Install the safety limit mechanism and follower block;

[0021] S600: When the robot rotates in the safety area, the safety ring plate moving with the robot presses the switch contacts of the safety detection switch, causing the safety detection switch to send a safety signal;

[0022] S700; When the robot rotates to the dangerous area, the safety ring plate is separated from the safety detection switch, and the outer periphery of the dangerous ring plate contacts the switch contacts of the dangerous area detection switch, causing the dangerous area detection switch to send out a danger signal;

[0023] S800: When the peripheral equipment detects that the operator has entered the dangerous area, the danger signal is used to control the cylinder to extend the piston, push the limit block forward, and block the follower block to ensure that the robot cannot rotate to the dangerous area.

[0024] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0025] 1. The safety device of the present invention installs the area identification mechanism and the safety limit mechanism on the robot base; installs the safety ring mechanism, the danger ring mechanism, and the follower block on the rotating chassis of the robot, and moves with the J1 axis of the robot. When the robot rotates into the safe area and the danger area, the safety signal and the danger signal are respectively sent out, and the safety limit mechanism is controlled to cooperate with the follower block to perform blocking and limiting, so as to ensure that the robot cannot rotate to the danger area when there are operators in the danger area, thereby ensuring that the operators can work safely in the danger area.

[0026] 2. The safety device of the present invention compresses the switch contacts of the safety detection switch by means of a safety ring plate, so that the safety detection switch sends out a safety signal to identify the safe area; the outer periphery of the danger ring plate contacts the switch contacts of the danger zone detection switch, so that the danger zone detection switch sends out a danger signal to identify the danger zone; the piston is extended by the cylinder to push the limit block to rotate forward, thereby blocking the follower block; that is, the safety device of the present invention determines the area where the robot is located through the mechanical structure and the auxiliary switch, thereby solving the problems that the robot program is easily modified by mistake and the robot is easily operated by mistake, thereby greatly reducing safety hazards.

[0027] 3. The safety device of the present invention has a reliable structure, is easy to maintain and has a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of a use scenario of a safety device for identifying an operating area of ​​a robotic arm in an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of a safety device for identifying the operating area of ​​a robot arm in an embodiment of the present invention;

[0030] Figure 3 Schematic diagram of the installation positions of the safety ring mechanism and the danger ring mechanism in the embodiment of the present invention;

[0031] Figure 4 A schematic diagram of the installation positions of the area identification mechanism and the safety limit mechanism in an embodiment of the present invention;

[0032] Figure 5 A schematic diagram of the structure of a region identification mechanism in an embodiment of the present invention;

[0033] Figure 6 It is a structural schematic diagram of a safety limit mechanism in an embodiment of the present invention;

[0034] Figure 7 Schematic diagram of the regional division principle of the safety device in an embodiment of the present invention

[0035] Figure 8The figure is a flow chart of a method for identifying an operating area of ​​a robotic arm in an embodiment of the present invention.

[0036] In all the drawings, the same reference numerals represent the same technical features, specifically:

[0037] 1-Robot, including: 101-Rotating chassis

[0038] 2-Robot base;

[0039] 3-safety ring mechanism, including: 301-safety ring plate, 302-first positioning fixing hole, 303-first height adjustment rod, 304-first chamfer;

[0040] 4-danger ring mechanism, including: 401-danger ring plate, 402-second positioning fixing hole, 403-second height adjustment rod, 404-second chamfer;

[0041] 5-area identification mechanism, including: 501-switch group support, 502-first bracket, 503-safety detection switch, 504-second bracket, 505-dangerous area detection switch;

[0042] 6-safety limit mechanism, including: 601-fixed base, 602-cylinder, 603-limit block, 604-connecting pin, 605-first hinge seat, 606-second hinge seat;

[0043] 7- Follower block. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0045] like Figure 1-7As shown, the present invention provides a safety device for identifying the working area of ​​a robot arm, including a safety ring mechanism 3, a danger ring mechanism 4, an area identification mechanism 5, a safety limit mechanism 6 and a follower block 7. The safety ring mechanism 3 includes a safety ring plate 301, and the danger ring mechanism 4 includes a danger ring plate 401; the safety ring plate 301 and the danger ring plate 401 are both semi-annular structures, and the two are respectively fixed at the bottom of the rotating chassis 101 of the robot 1 to enclose and seal the bottom of the rotating chassis 101, and the two are at different heights; the area identification mechanism 5 is fixed at the top of the robot base 2, and includes a safety detection switch 503 and a danger zone detection switch 505. The contact of the safety detection switch 503 is at the same height as the safety ring plate 301 and the two interfere with each other. When the safety ring plate 301 is rotated, its periphery contacts the safety detection switch 503. The contact of the dangerous area detection switch 505 is pressed, so that the safety detection switch 503 sends a safety signal; the dangerous area detection switch 505 is at the same height as the dangerous ring plate 401 and the two interfere with each other. The dangerous ring plate 401 is rotated, and its periphery presses the contact of the dangerous area detection switch 505, so that the dangerous area detection switch 505 sends a danger signal; the safety limit mechanism 6 includes a limit block 603. When receiving a danger signal and the peripheral equipment detects that the operator is in a dangerous area, the limit block 603 extends to block and limit the follower block 78 provided at the bottom of the rotating chassis 101, ensuring that the robot 1 cannot rotate to the dangerous area, so that the operator can perform related operations in the dangerous area. The safety device of the present invention determines the area where the robot 1 is located through a mechanical structure and an auxiliary switch, solves the problem that the robot program is easily modified by mistake and the robot is easily misoperated, and greatly reduces safety hazards.

[0046] like Figure 2-3 As shown, the safety ring mechanism 3 and the danger ring mechanism 4 are used to divide the working area of ​​the robot arm. Both are located at the bottom of the rotating chassis 101 of the robot 1 and rotate left and right following the J1 axis of the robot 1.

[0047] The safety ring mechanism 3 includes a safety ring plate 301, a plurality of first positioning and fixing holes 302 arranged on the safety ring plate 301, and a first height adjustment rod 303 that passes through the corresponding first positioning and fixing holes 302 to fix the safety ring plate 301 to the bottom of the rotating chassis 101. The safety ring plate 301 is a semi-annular structure, and its arc length is adapted according to the safe rotation area of ​​the robot arm; the first positioning and fixing holes 302 correspond to the fixing screw holes at the bottom of the rotating chassis 101; one end of the first height adjustment rod 303 is separately connected to the fixing screw holes at the bottom of the rotating chassis 101, and the other end passes through the first positioning and fixing holes 302 and is connected to the fixing nut, so that the safety ring plate 301 is fixed to the bottom of the rotating chassis 101; further, the first height adjustment rod 303 can adjust its own height, so that the safety ring plate 301 and the dangerous ring plate 302 are staggered in height to avoid interference with the area identification mechanism 5.

[0048] Preferably, first chamfers 304 are provided at both ends of the safety ring plate 301. By tilting the first chamfers 304, the contacts of the safety detection switch 503 are gradually pressurized, thereby avoiding direct collision between the two and causing damage to the safety detection switch 503.

[0049] The danger ring mechanism 4 includes a danger ring plate 401 , a second positioning and fixing hole 402 , a second height adjustment rod 403 and a second chamfer 404 . The dangerous ring plate 401 is a semi-annular structure, the arc length of which is adapted to the dangerous rotation area of ​​the robot arm, and is enclosed and sealed with the safety ring plate 301 on the bottom of the rotating chassis 101; the second positioning and fixing hole 402 corresponds to the fixing screw hole at the bottom of the rotating chassis 101; one end of the second height adjustment rod 403 is separately connected to the fixing screw hole at the bottom of the rotating chassis 101, and the other end passes through the second positioning and fixing hole 402 and is connected to the fixing nut, thereby fixing the dangerous ring plate 401 to the bottom of the rotating chassis 101; further, the second height adjustment rod 403 adjusts its own height, and its height is different from that of the first height adjustment rod 303, so that the safety ring plate 301 and the dangerous ring plate 302 are staggered in height to avoid interference with the area identification mechanism 5; preferably, second chamfers 404 are provided at both ends of the dangerous ring plate 401, and the contacts of the dangerous area detection switch 505 are gradually pressurized by the inclined setting of the second chamfer 404, which can avoid direct collision between the two and damage to the dangerous area detection switch 505.

[0050] like Figure 4-5As shown, the area identification mechanism 5 uses a contact mechanical switch to identify and determine the area where the robot 1 is located, and has high reliability and stability. It is fixed on the top of the robot base 2, located on the outer periphery of the closed ring formed by the safety ring plate 301 and the danger ring plate 401, and includes a switch group support 501, a first bracket 502, a safety detection switch 503, a second bracket 504 and a danger zone detection switch 505. The switch group support 501 is an I-shaped structure, which preliminarily lifts the safety detection switch 503 and the dangerous area detection switch 505, and its bottom is fixed to the top of the robot base 2 by bolts; the first bracket 502 is an L-shaped plate, which is fixed to the top of the switch group support 501, and fixes the safety detection switch 503 and accurately adjusts the height; the safety detection switch 503 is fixed to the top of the first bracket 502, and its contact is at the same height as the safety ring plate 301 and the two interfere with each other; the second bracket 504 is an L-shaped plate, which is fixed to the top of the switch group support 501 and is located on the side of the first bracket 502. It fixes the dangerous area detection switch 505 and accurately adjusts the height, so that the height of the dangerous area detection switch 505 is staggered with the safety detection switch 503; the dangerous area detection switch 505 is fixed to the top of the second bracket 504, and its contact is at the same height as the dangerous ring plate 401 and the two interfere with each other.

[0051] When the area identification mechanism 5 performs the identification operation, when the mechanical arm of the robot 1 rotates in the safe area, the safety ring plate 301 that follows the robot 1 is in the safe area, and it presses the switch contacts of the safety detection switch 503, so that the safety detection switch 503 sends a safety signal; when the mechanical arm of the robot 1 rotates to the dangerous area, the safety ring plate 301 is disengaged from the safety detection switch 503, and the outer periphery of the dangerous ring plate 401 contacts the switch contacts of the dangerous area detection switch 505, so that the dangerous area detection switch 505 sends a danger signal. When the peripheral equipment detects that an operator has entered the dangerous area, the danger signal takes effect, thereby controlling the robot 1 to immediately stop rotating towards the dangerous area.

[0052] To prevent the robot 1 from making program errors and continuing to rotate toward the danger zone after receiving a danger signal and confirming that an operator is in the danger zone, a safety limit mechanism 6 is fixedly provided on the top of the robot base 2, which cooperates with a follower block 78 provided at the bottom of the rotating chassis 101 to block and limit, thereby ensuring that the robot 1 cannot rotate to the danger zone.

[0053] like Figure 6As shown, the safety limit mechanism 6 includes a fixed base 601, a cylinder 602, a limit block 603, a connecting pin 604, a first hinge seat 605 and a second hinge seat 606. The fixed base 601 is fixedly arranged on the top of the robot base, located on the side of the area identification mechanism 5, and a second hinge seat 606 is arranged in the middle thereof, and a connecting pin 604 is arranged on the top; the cylinder 602 is hinged to the middle of the fixed base 601 through the second hinge seat 606; the limit block 603 is rotatably connected to the connecting pin 604, and a first hinge seat 605 is fixedly arranged on the rear side thereof; the first hinge seat 605 is hinged to the front end of the piston rod of the cylinder 602.

[0054] When the safety limit mechanism 6 performs limit braking on the robot 1, by receiving the danger signal from the danger zone detection switch 505, when the peripheral equipment detects that the operator is in the danger zone, the cylinder 602 extends the piston, pushes the limit block 603 to rotate forward, blocks the follower block 7, and ensures that the robot 1 cannot rotate to the danger zone.

[0055] like Figure 3 As shown, the follower block 7 is fixed at the bottom of the rotating chassis 101 and is located above the end of the safety ring plate 301. After the robot 1 rotates to the dangerous area, it cooperates with the limit block 603 to block and limit the robot 1, thereby stopping the robot 1.

[0056] like Figure 7 As shown, when the robot 1 is in the safe area: the safety detection switch 503 is pressed by the safety ring plate 301, the dangerous area detection switch 505 is not pressed by the dangerous ring plate 401, the limit block 603 is retracted, and the operator can work freely in the dangerous area;

[0057] When the robot 1 is about to move from the safe area to the dangerous area: if the peripheral equipment (such as the light barrier, the safety carpet, the beam switch) detects that someone is in the dangerous area, the dangerous area detection switch 505 is pressed by the dangerous ring plate 401, and the limit block 603 extends to block the follower block 7, the robot 1 will stop moving and wait for the person to exit the dangerous area. After the person exits the dangerous area, the robot 1 can move to the dangerous area;

[0058] When the robot is in a dangerous area, the outer light barrier takes effect and personnel are no longer allowed to enter the dangerous area. Otherwise, the outer light barrier will be triggered and the line will stop suddenly.

[0059] In the embodiment of the present invention, when the safety device is operating, the safe area and the dangerous area are divided according to the construction area of ​​the robot arm of the robot 1 and the operating area of ​​the operator; the arc lengths of the safety ring plate 301 and the dangerous ring plate 401 are respectively confirmed according to the safe area and the dangerous area; the safety ring plate 301 is fixed to the bottom of the rotating chassis 101 by the first height adjustment rod 303, and it covers the safe area; the dangerous ring plate 401 is fixed to the bottom of the rotating chassis 101 by the second height adjustment rod 403, and it covers the dangerous area, and the safety ring plate 301 and the dangerous ring plate 302 are staggered in height to avoid interference with the area identification mechanism 5; the area identification mechanism 5 is installed so that it is located at the junction of the safe area and the dangerous area, and the contact of the safety detection switch 503 is at the same height as the safety ring plate 301 and the two interfere with each other, and the contact of the dangerous area detection switch 505 is at the same height as the dangerous ring plate 401 and the two interfere with each other; the safety limit mechanism 6 and the follower block 7 are installed; the robot 1 When the safe area rotates, the safety ring plate 301 following the robot 1 presses the switch contact of the safety detection switch 503, so that the safety detection switch 503 sends a safety signal, and the cylinder 602 retracts the piston to drive the limit block 603 to move backward; when the robot 1 rotates to the dangerous area, the safety ring plate 301 is separated from the safety detection switch 503, and the outer periphery of the dangerous ring plate 401 contacts the switch contact of the dangerous area detection switch 505, so that the dangerous area detection switch 505 sends a danger signal; if the peripheral equipment (such as grating, safety carpet, and shooting switch) detects that no operator enters the dangerous area at this time, the safety limit mechanism 6 does not work, the limit block 603 does not block the follower block 7, and the robot 1 The mechanical arm can clamp the material in the dangerous area for loading and unloading operations; if the peripheral equipment detects that an operator enters the dangerous area, the cylinder 602 is controlled to extend the piston through the danger signal, and the limit block 603 is pushed to rotate forward to block the follower block 7 to ensure that the robot 1 cannot rotate to the dangerous area.

[0060] The safety device of the present invention installs the area identification mechanism 5 and the safety limit mechanism 6 on the robot base 2; installs the safety ring mechanism 3, the danger ring mechanism 4, and the follower block 7 on the rotating chassis of the robot 1, and moves with the robot J1 axis. When the robot 1 rotates into the safe area and the dangerous area, a safety signal and a danger signal are respectively sent out, and the safety limit mechanism 6 is controlled to cooperate with the follower block 7 to perform blocking and limiting, so as to ensure that the robot 1 cannot rotate to the dangerous area when there are operators in the dangerous area, thereby ensuring that the operators can work safely in the dangerous area.

[0061] The safety device of the present invention compresses the switch contacts of the safety detection switch 503 by means of a safety ring plate 301, so that the safety detection switch 503 sends out a safety signal to identify the safe area; the outer periphery of the danger ring plate 401 contacts the switch contacts of the danger zone detection switch 505, so that the danger zone detection switch 505 sends out a danger signal to identify the danger zone; the piston is extended by the cylinder 602 to push the limit block 603 to rotate forward, thereby blocking the follower block 7; that is, the safety device of the present invention determines the area where the robot 1 is located by means of a mechanical structure and an auxiliary switch, thereby solving the problems that the robot program is easily modified by mistake and the robot is easily operated by mistake, thereby greatly reducing safety hazards.

[0062] The safety device of the present invention has reliable mechanism, convenient maintenance and low cost.

[0063] like Figure 8 As shown, an embodiment of the present invention also provides a method for identifying a robot arm operation area, comprising the following steps:

[0064] S100: Dividing the safe area and the dangerous area according to the construction area of ​​the robot arm of the robot 1 and the operation area of ​​the operator;

[0065] S200: confirming the arc lengths of the safety ring plate 301 and the danger ring plate 401 according to the safety area and the danger area respectively;

[0066] S300: fix the safety ring plate 301 to the bottom of the rotating chassis 101 and cover the safe area; fix the danger ring plate 401 to the bottom of the rotating chassis 101 and cover the dangerous area, and make the safety ring plate 301 and the danger ring plate 302 staggered in height;

[0067] S400: installing the area identification mechanism 5 so that it is located at the junction of the safe area and the dangerous area;

[0068] S500: Install the safety limit mechanism 6 and the follower block 7;

[0069] S600: When the robot 1 rotates in the safety area, the safety ring plate 301 moving with the robot 1 presses the switch contact of the safety detection switch 503, so that the safety detection switch 503 sends a safety signal;

[0070] S700; when the robot 1 rotates to the dangerous area, the safety ring plate 301 is separated from the safety detection switch 503, and the outer periphery of the dangerous ring plate 401 contacts the switch contacts of the dangerous area detection switch 505, so that the dangerous area detection switch 505 sends a danger signal;

[0071] S800: The peripheral device detects that an operator has entered the danger zone, and through a danger signal, controls the cylinder 602 to extend the piston, pushes the limit block 603 to rotate forward, blocks the follower block 7, and ensures that the robot 1 cannot rotate to the danger zone.

[0072] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A safety device for identifying the operating area of ​​a robot arm, characterized in that: include: A safety ring mechanism (3) and a danger ring mechanism (4) are respectively fixedly arranged at the bottom of a rotating chassis (101) of the robot (1), and are used to divide the operation area of ​​the robot arm and rotate left and right following the J1 axis of the robot (1); the safety ring mechanism (3) includes a safety ring plate (301) that covers the safety area; the danger ring mechanism (4) includes a danger ring plate (401) that covers the danger area; A region identification mechanism (5) fixedly arranged on the top of the robot base (2), located at the junction of the safe region and the dangerous region, comprises a safety detection switch (503) and a dangerous region detection switch (505), which are located at different heights; the contact of the safety detection switch (503) and the safety ring plate (301) are at the same height and the two interfere with each other; the dangerous region detection switch (505) and the dangerous ring plate (401) are at the same height and the two interfere with each other; and a safety limiting mechanism (6) fixedly arranged on the top of the robot base (2), comprising a limiting block (603); The robot (1) rotates in a safe area, and the safety ring plate (301) that moves with the robot (1) presses the switch contact of the safety detection switch (503), so that the safety detection switch (503) sends a safety signal; the robot (1) rotates to a dangerous area, and the outer periphery of the dangerous ring plate (401) contacts the switch contact of the dangerous area detection switch (505), so that the dangerous area detection switch (505) sends a danger signal; the peripheral device detects that an operator has entered the dangerous area, and controls the limit block (603) to rotate forward through the danger signal, thereby blocking the follower block (7) arranged at the bottom of the rotating chassis (101), ensuring that the robot (1) cannot rotate to the dangerous area.

2. A safety device for identifying the working area of ​​a robot arm according to claim 1, characterized in that: The safety ring plate (301) and the danger ring plate (401) are both semi-ring structures, and are respectively fixed to the bottom of the rotating chassis (101) of the robot (1) to enclose and seal the bottom of the rotating chassis (101).

3. A safety device for identifying the operating area of ​​a robot arm according to any one of claims 1-2, characterized in that: The safety ring mechanism (3) further comprises a plurality of first positioning and fixing holes (302) provided on the safety ring plate (301), and a first height adjustment rod (303) is passed through the corresponding first positioning and fixing holes (302) to fix the safety ring plate (301) to the bottom of the rotating chassis (101); wherein the first positioning and fixing holes (302) correspond to the fixing screw holes at the bottom of the rotating chassis (101); one end of the first height adjustment rod (303) is separately connected to the fixing screw holes at the bottom of the rotating chassis (101), and the other end passes through the first positioning and fixing holes (302) and is connected to the fixing nut, thereby fixing the safety ring plate (301) to the bottom of the rotating chassis (101).

4. A safety device for identifying the operating area of ​​a robot arm according to claim 3, characterized in that: The safety ring plate (301) has first chamfers (304) at both ends.

5. A safety device for identifying the operating area of ​​a robot arm according to any one of claims 1-2, characterized in that: The danger ring mechanism (4) further comprises a second positioning fixing hole (402), a second height adjustment rod (403) and a second chamfer (404); the second positioning fixing hole (402) corresponds to the fixing screw hole at the bottom of the rotating chassis (101); one end of the second height adjustment rod (403) is separately connected to the fixing screw hole at the bottom of the rotating chassis (101), and the other end passes through the second positioning fixing hole (402) and is connected to the fixing nut, thereby fixing the danger ring plate (401) to the bottom of the rotating chassis (101).

6. A safety device for identifying the working area of ​​a robot arm according to claim 5, characterized in that: The dangerous ring plate (401) is provided with second chamfers (404) at both ends.

7. A safety device for identifying the operating area of ​​a robot arm according to any one of claims 1-2, characterized in that: The area identification mechanism (5) comprises a switch group support (501), a first bracket (502), a safety detection switch (503), a second bracket (504) and a dangerous area detection switch (505); The switch group support (501) is an I-shaped structure, which initially lifts the safety detection switch (503) and the dangerous area detection switch (505), and its bottom is fixed to the top of the robot base (2) by bolts; the first bracket (502) is an L-shaped plate, which is fixed to the top of the switch group support (501), and fixes the safety detection switch (503) and accurately adjusts the height; the safety detection switch (503) is fixed to the top of the first bracket (502), and its contact is in contact with the safety ring plate (301 ) are at the same height and the two interfere with each other; the second bracket (504) is an L-shaped plate, fixedly arranged on the top of the switch group support (501), located on the side of the first bracket (502), which fixes the dangerous area detection switch (505) and accurately adjusts the height, so that the height of the dangerous area detection switch (505) is staggered with the safety detection switch (503); the dangerous area detection switch (505) is fixedly arranged on the top of the second bracket (504), and its contact is at the same height as the dangerous ring plate (401) and the two interfere with each other.

8. A safety device for identifying the operating area of ​​a robot arm according to any one of claims 1-2, characterized in that: The safety limiting mechanism (6) comprises a fixed base (601), a cylinder (602), a limiting block (603), a connecting pin (604), a first hinge seat (605) and a second hinge seat (606).

9. A safety device for identifying the working area of ​​a robot arm according to claim 8, characterized in that: The fixed base (601) is fixedly arranged on the top of the robot base, located on the side of the area identification mechanism (5), and a second hinge seat (606) is arranged in the middle thereof, and a connecting pin (604) is arranged on the top thereof; the cylinder (602) is hingedly connected to the middle of the fixed base (601) through the second hinge seat (606); the limit block (603) is rotatably connected to the connecting pin (604), and a first hinge seat (605) is fixedly arranged on the rear side thereof; the first hinge seat (605) is hingedly connected to the front end of the piston rod of the cylinder (602).

10. A method for identifying a robot arm operation area, characterized in that: The steps include: S100: Dividing a safe area and a dangerous area according to the construction area of ​​the robot arm of the robot (1) and the operation area of ​​the operator; S200: confirming the arc lengths of the safety ring plate (301) and the danger ring plate (401) respectively according to the safety area and the danger area; S300: fixing the safety ring plate (301) to the bottom of the rotating chassis (101) so that it covers the safe area; fixing the danger ring plate (401) to the bottom of the rotating chassis (101) so that it covers the dangerous area, and staggering the safety ring plate (301) and the danger ring plate (302) in height; S400: Installing the area identification mechanism (5) so that it is located at the junction of the safe area and the dangerous area; S500: Install the safety limit mechanism (6) and the follower block (7); S600: When the robot (1) rotates in the safety area, the safety ring plate (301) moving with the robot (1) presses the switch contact of the safety detection switch (503), so that the safety detection switch (503) sends a safety signal; S700; when the robot (1) rotates to the dangerous area, the safety ring plate (301) is separated from the safety detection switch (503), and the outer periphery of the dangerous ring plate (401) contacts the switch contact of the dangerous area detection switch (505), so that the dangerous area detection switch (505) sends a danger signal; S800: The peripheral device detects that an operator has entered the danger zone, and through a danger signal, controls the cylinder (602) to extend the piston, pushes the limit block (603) to rotate forward, blocks the follower block (7), and ensures that the robot (1) cannot rotate to the danger zone.

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