A manipulator protection device

Abstract

The present invention relates to the technical field of manipulators, and in particular to a manipulator protection device, comprising a manipulator, a fixed frame, a driving member, a movable cover and a linkage cover, the manipulator comprising an arm body and a picking part connected, the fixed frame being installed on the outer periphery of the arm body, the driving member being installed on the outer side of the fixed frame, the movable cover being a hollow cylindrical structure with openings at both ends, the movable cover being arranged outside the fixed frame, the movable end of the driving member being connected to the inner wall of the movable cover, the driving member being able to drive the movable cover to move along the arm body, the cover being arranged outside the picking part, the linkage cover comprising a linkage rod assembly and an end cover, after the movable cover moves along the arm body and the cover is arranged outside the picking part, the linkage rod assembly drives the end cover to move to the end of the movable cover, the present invention is provided with the fixed frame, the driving member, the movable cover and the linkage cover, the movable cover and the linkage cover can be driven by the driving member to cover the outside of the picking part of the manipulator, thereby avoiding the situation where parts fall from the manipulator and injure workers, and also reducing the risk of damage to parts.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a manipulator protection device. Background Art

[0002] A manipulator is an automatic device that can mimic certain movements of the human hand and arm, used to grasp, move objects, or operate tools according to a fixed program. It can replace heavy human labor to achieve mechanization and automation of production, and can operate in hazardous environments to protect human safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, and atomic energy sectors.

[0003] During the processing, the robot needs to grab parts and move within the production space. It is inevitable that there will be obstacles within the working range of the robot. When the picking part of the robot collides with the obstacle, the picking part of the robot will be damaged. After the collision, the parts are likely to fall from the robot, posing a safety hazard of injuring workers. Parts falling to the ground will also damage the parts, resulting in loss of processing costs. Summary of the Invention

[0004] In order to overcome the above-mentioned shortcomings, the present invention aims to provide a technical solution that can solve the above-mentioned problems.

[0005] A manipulator protection device, comprising:

[0006] A manipulator, the manipulator comprising an arm body and a picking portion connected;

[0007] A fixing frame, the fixing frame is installed on the outer periphery of the arm body;

[0008] A driving member, the driving member is installed on the outside of the fixing frame;

[0009] The movable cover is a hollow cylindrical structure with two ends open. The movable cover is arranged outside the fixed frame. The movable end of the driving member is connected to the inner wall of the movable cover. The driving member can drive the movable cover to move along the arm body. The cover is arranged outside the picking part;

[0010] The linkage cover includes a linkage rod assembly and an end cover. The movable cover is connected to the end cover through the linkage rod assembly. The linkage rod assembly can swing relative to the movable cover. After the movable cover moves along the arm body and is located outside the picking part, the linkage rod assembly drives the end cover to move to the end of the movable cover to close the port on the movable cover away from the arm body.

[0011] As a further solution of the present invention: the fixing frame includes a clamping frame A and a clamping frame B, which are relatively clamped on the periphery of the arm body. The inner sides of the clamping frame A and the clamping frame B are both provided with grooves that are compatible with the periphery of the arm body. The clamping frame A and the clamping frame B are both provided with ear plates, and the ear plates of the clamping frame A and the ear plates of the clamping frame B are detachably connected by bolts. The driving part is installed on the outside of the clamping frame A.

[0012] As a further solution of the present invention: the movable cover includes a cover body A and a cover body B, both of which are arc-shaped, the open end of the cover body A is connected to the open end of the cover body B, the movable end of the driving member is connected to the inner wall of the cover body A, and the linkage rod assembly is connected to the cover body B.

[0013] As a further solution of the present invention: an articulated seat A is provided on the outer periphery of the cover body B, an avoidance groove is opened on the cover body B along its length direction, an articulated seat B is provided on the outer side of the clamping frame B, the end of the articulated seat B passes through the avoidance groove and extends to the outside of the cover body B, the linkage rod assembly includes a linkage A and a linkage B, one end of the linkage A is connected to the end cover, the other end of the linkage A is rotatably connected to the end of the articulated seat B, one end of the linkage B is rotatably connected to the end of the articulated seat A, and the other end of the linkage B is rotatably connected to the rod body of the linkage A.

[0014] As a further solution of the present invention: the end cover includes a frame body and a cover body C, the frame body is a hollow cylindrical structure with openings at both ends, the cover body C is a hollow cylindrical structure with an open end and a closed end, the cover body C is movably arranged in the frame body, when the end cover closes the port on the movable cover away from the arm body, the open end of the cover body C faces the picking part, and the closed end of the cover body C protrudes from the frame body, and the outer periphery of the cover body C near its closed end is provided with multiple connecting seats A, and the outer periphery of the frame is provided with multiple connecting seats B, the multiple connecting seats B correspond to the multiple connecting seats A, and the multiple connecting seats B and the multiple connecting seats A are connected with tension springs.

[0015] As a further solution of the present invention: a travel groove is provided on the inner side of the frame, a detection block is provided on the outer periphery of the cover body C, the detection block is slidably arranged in the travel groove, a through hole communicating with the travel groove is provided on the outer side of the frame, a sensing unit is provided on the outer side of the frame, the sensing end of the sensing unit faces the through hole, and a detection surface is provided on the side of the detection block facing the through hole, and when the tension spring is in a stretched state, the detection surface faces the through hole.

[0016] As a further solution of the present invention: a plurality of mounting holes are opened on the outside of the frame, a movable rod is inserted into the mounting hole, a touch plate is provided on the end of the movable rod away from the cover body C, a spring is sleeved on the movable rod, one end of the spring abuts against the inner side of the touch plate, and the other end of the spring abuts against the outer side of the frame, an extrusion plate is provided on the end of the movable rod close to the cover body C, the opening edge of the cover body C is bent inward to form a sloped portion A, and one side of the extrusion plate is bent to form a sloped portion B, and the sloped portion B is in contact with the sloped portion A.

[0017] As a further solution of the present invention: the outer peripheries of the cover body A and the cover body B are both provided with a plurality of hollow grooves.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: through the arrangement of a fixed frame, a driving member, a movable cover and a linkage cover, the movable cover and the linkage cover can be driven by the driving member to cover the outside of the picking part of the manipulator, thereby protecting the picking part of the manipulator, avoiding the situation where parts fall from the manipulator and injure workers, and reducing the risk of damage to parts.

[0019] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a schematic diagram of the structure of the manipulator part of the present invention.

[0022] Figure 2 It is a partial structural diagram of the pickup portion of the present invention.

[0023] Figure 3 It is a structural schematic diagram of the cover body A part of the present invention.

[0024] Figure 4 It is a structural schematic diagram of the cover body B part of the present invention.

[0025] Figure 5 It is a schematic structural diagram of the cover body C part of the present invention.

[0026] Figure 6 It is a schematic structural diagram of the frame part of the present invention.

[0027] Figure 7 It is a partial structural diagram of the detection block of the present invention.

[0028] Figure 8 It is a schematic cross-sectional view of the frame portion of the present invention.

[0029] Figure 9 It is a schematic diagram of the contact block structure of the present invention.

[0030] Figure 10 It is a schematic cross-sectional view of the cover body C portion of the present invention.

[0031] In the picture:

[0032] 1. Robot, 11. Arm, 12. Picking part;

[0033] 2. Fixed frame, 21. Clamping frame A, 22. Clamping frame B, 211. Groove, 212. Ear plate, 221. Articulated seat B;

[0034] 3. Driving parts;

[0035] 4. Movable cover, 41. Cover body A, 42. Cover body B, 421. Articulated seat A, 422. Avoidance groove;

[0036] 5. Linkage cover, 51. Linkage rod assembly, 52. End cover, 511. Linkage rod A, 512. Linkage rod B, 521. Frame, 522. Cover body C, 523. Connecting seat B, 524. Connecting seat A, 525. Tension spring, 5211. Travel groove, 5212. Through hole, 5213. Sensing unit, 5214. Mounting hole, 5215. Movable rod, 5216. Touch plate, 5217. Spring, 5218. Extrusion plate, 5219. Inclined portion B, 5221. Detection block, 5222. Detection surface, 5223. Inclined portion A. DETAILED DESCRIPTION

[0037] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0038] See also Figures 1 to 10 In an embodiment of the present invention, a manipulator protection device includes:

[0039] The robot 1 includes an arm 11 and a picking portion 12 connected to each other;

[0040] A fixing frame 2, the fixing frame 2 is installed on the outer periphery of the arm body 11;

[0041] A driving member 3 is installed on the outside of the fixing frame 2;

[0042] The movable cover 4 is a hollow cylindrical structure with two ends open. The movable cover 4 is arranged outside the fixed frame 2. The movable end of the driving member 3 is connected to the inner wall of the movable cover 4. The driving member 3 can drive the movable cover 4 to move along the arm body 11 and the cover is arranged outside the picking portion 12;

[0043] The linkage cover 5 includes a linkage rod assembly 51 and an end cover 52. The movable cover 4 and the end cover 52 are connected through the linkage rod assembly 51. The linkage rod assembly 51 can swing relative to the movable cover 4. After the movable cover 4 moves along the arm body 11 and is located outside the picking part 12, the linkage rod assembly 51 drives the end cover 52 to move to the end of the movable cover 4 to close the port on the movable cover 4 away from the arm body 11.

[0044] When the manipulator 1 grabs a part, the movable cover 4 is located outside the fixed frame 2, and the linkage rod assembly 51 is in an outward-turned state. At this time, the end cover 52 does not close the port of the movable cover 4. Figure 2 As shown, the picking portion 12 of the manipulator 1 is exposed to the outside for grabbing parts. After grabbing the parts, the movable cover 4 is driven by the driving member 3 to move along the arm body 11 and the cover is arranged outside the picking portion 12. In this process, the linkage rod assembly 51 swings toward the movable cover 4, driving the end cover 52 to move to the end of the movable cover 4, thereby achieving the closure of the picking portion 12 of the manipulator 1 and protecting the picking portion 12. Figure 1 As shown, in the process of moving parts from one location to another, if the parts fall from the picking portion 12 due to external collision or insufficient gripping force, they will only fall into the end cover 52, avoiding the situation where the parts fall from the manipulator 1 and injure workers, thereby reducing the risk of damage to the parts.

[0045] The fixing frame 2 includes a clamping frame A21 and a clamping frame B22, which are clamped relative to each other on the outer periphery of the arm body 11. The inner sides of each clamping frame A21 and clamping frame B22 are equipped with grooves 211 that match the outer periphery of the arm body 11. Each clamping frame A21 and clamping frame B22 are equipped with ear plates 212. The ear plates 212 of clamping frame A21 and clamping frame B22 are detachably connected by bolts. The driving member 3 is mounted on the outer side of clamping frame A21. This split structural design of the fixing frame 2 facilitates installation on the arm body 11 by the operator, improving ease of use.

[0046] The movable cover 4 comprises a cover body A41 and a cover body B42. Both covers A41 and B42 are arc-shaped, with the open end of cover body A41 abutting against the open end of cover body B42. The movable end of the driver 3 is connected to the inner wall of cover body A41, and the linkage rod assembly 51 is connected to cover body B42. In this example, the driver 3 is a rodless cylinder, and the inner wall of cover body A41 is connected to the slider of the rodless cylinder.

[0047] An articulated seat A421 is provided on the outer periphery of the cover body B42, and an avoidance groove 422 is opened on the cover body B42 along its length direction. An articulated seat B221 is provided on the outer side of the clamping frame B22, and the end of the articulated seat B221 passes through the avoidance groove 422 and extends to the outside of the cover body B42. The linkage rod assembly 51 includes a linkage A511 and a linkage B512. One end of the linkage A511 is connected to the end cover 52, and the other end of the linkage A511 is rotatably connected to the end of the articulated seat B221. One end of the linkage B512 is rotatably connected to the end of the articulated seat A421, and the other end of the linkage B512 is rotatably connected to the rod body of the linkage A511. It can be understood that when the driving member 3 drives the cover body A41 to move outside the picking part 12, the cover body B42 also moves synchronously to the outside of the picking part 12, and when the cover body B42 moves, the transmission of the connecting rod B512 drives the connecting rod A511 to swing inward relative to the cover body B42, so that the end cover 52 moves to one end of the cover body A41 and the cover body B42, closing the ports of the two. When the driving member 3 drives the cover body A41 to move outside the fixed frame 2, the cover body B42 also moves synchronously to the outside of the fixed frame 2. When the cover body B42 moves, the transmission of the connecting rod B512 drives the connecting rod A511 to swing outward relative to the cover body B42, so that the end cover 52 is away from the ports of the cover body A41 and the cover body B42, thereby allowing the picking part 12 to leak out.

[0048] It should also be noted that a connecting plate can be provided between the cover body A41 and the cover body B42, fixing holes are opened at both ends of the connecting plate, and corresponding threaded holes are opened on the outer periphery of the cover body A41 and the cover body B42. During the installation process, bolts are used to pass through the fixing holes and connect to the threaded holes, so that the cover body A41 and the cover body B42 can be fixedly connected through the connecting plate. Only the fixedly connected cover body A41 and the cover body B42 can move synchronously under the drive of the driving member 3. It is common knowledge to provide a connecting plate between the cover body A41 and the cover body B42, and those skilled in the art can learn about it based on the existing technology.

[0049] The end cover 52 includes a frame body 521 and a cover body C522. The frame body 521 is a hollow cylindrical structure with both ends open, and the cover body C522 is a hollow cylindrical structure with one end open and the other end closed. The cover body C522 is movably arranged in the frame body 521. When the end cover 52 closes the port on the movable cover 4 away from the arm body 11, the open end of the cover body C522 faces the picking part 12, and the closed end of the cover body C522 protrudes from the frame body 521. The cover body C522 is provided with a plurality of connecting seats A524 on the outer periphery near its closed end, and the frame body 521 is provided with a plurality of connecting seats B523 on the outer periphery. The plurality of connecting seats B523 correspond to the plurality of connecting seats A524, and tension springs 525 are connected between the plurality of connecting seats B523 and the plurality of connecting seats A524. In this way, since the cover body C522 is connected to the frame body 521 through the tension spring 525, when the part falls from the picking part 12 into the cover body C522, the tension spring 525 will stretch and deform to cushion the falling force of the part, which can effectively prevent the part from rigidly colliding with the cover body C522.

[0050] A travel groove 5211 is provided on the inner side of the frame body 521, and a detection block 5221 is provided on the outer periphery of the cover body C522. The detection block 5221 is slidably set in the travel groove 5211. A through hole 5212 communicating with the travel groove 5211 is provided on the outer side of the frame body 521. A sensing unit 5213 is provided on the outer side of the frame body 521. The sensing end of the sensing unit 5213 faces the through hole 5212. A detection surface 5222 is provided on the side of the detection block 5221 facing the through hole 5212. When the tension spring 525 is in a stretched state, the detection surface 5222 faces the through hole 5212. In this way, when the part falls from the picking part 12 into the cover C522, the cover C522 moves under the impact of the part, causing the detection block 5221 to move along the stroke groove 5211, so that the detection surface 5222 faces the through hole 5212. When the detection surface 5222 faces the through hole 5212, the sensing end of the sensing unit 5213 senses the detection surface 5222, and then sends a signal to stop the robot 1. In this way, the staff can know that the part has fallen from the robot 1 and can deal with it in time to avoid affecting the subsequent work. In this embodiment, the sensing unit 5213 is a mirror reflection photoelectric sensor, and a reflector is provided on the surface of the detection surface 5222. When the detection surface 5222 faces the through hole 5212, the rays emitted by the mirror reflection photoelectric sensor hit the reflector. Under the action of the reflector, the rays return to the receiving surface of the mirror reflection photoelectric sensor, and the reflective photoelectric sensor sends a signal to stop the robot 1.

[0051] A plurality of mounting holes 5214 are provided on the outer side of the frame body 521, and a movable rod 5215 is inserted into the mounting hole 5214. A touch plate 5216 is provided on the end of the movable rod 5215 away from the cover body C522, and a spring 5217 is sleeved on the movable rod 5215. One end of the spring 5217 abuts against the inner side of the touch plate 5216, and the other end of the spring 5217 abuts against the outer side of the frame body 521. An extrusion plate 5218 is provided on the end of the movable rod 5215 close to the cover body C522, and the opening edge of the cover body C522 is bent inward to form a sloped portion A5223, and one side of the extrusion plate 5218 is bent to form a sloped portion B5219, and the sloped portion B5219 fits with the sloped portion A5223. In this way, when the robot 1 encounters an obstacle in the process of driving the parts to move, the obstacle will first collide with the touch plate 5216, causing the movable rod 5215 to move, thereby causing the extrusion plate 5218 to move toward the cover C522. Through the cooperation of the inclined portion B5219 and the inclined portion A5223, the extrusion plate 5218 squeezes the cover C522 to move the cover C522, so that the sensing end of the sensing unit 5213 senses the detection surface 5222, and then sends a signal to stop the robot 1 from working, to prevent the robot 1 from being damaged due to continuous operation. Through the setting of the spring 5217, the extrusion plate 5218 can maintain a tendency to move outward, to prevent the extrusion plate 5218 from being displaced when there is no obstacle collision, thereby affecting the operation of the robot 1. Since the spring 5217 has a deformation characteristic, it can have a certain weakening effect on the collision force, and can play a buffering role in the force after the collision of the robot 1 to better protect the robot 1.

[0052] The outer periphery of both cover A41 and cover B42 is provided with a plurality of hollow slots. This hollow design saves processing material for cover A41 and cover B42, and also reduces the weight of cover A41 and cover B42. During use, the staff can also observe the parts inside the movable cover 4 through the hollow slots, and installation tools can be inserted through the hollow slots during installation, improving the convenience of use.

[0053] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations that come within the meaning and range of equivalents of the claims be embraced therein.

Claims

1. A manipulator protection device, characterized in that: include: A manipulator, the manipulator comprising an arm body and a picking portion connected; A fixing frame, the fixing frame is installed on the outer periphery of the arm body; A driving member, the driving member is installed on the outside of the fixing frame; The movable cover is a hollow cylindrical structure with two ends open. The movable cover is arranged outside the fixed frame. The movable end of the driving member is connected to the inner wall of the movable cover. The driving member can drive the movable cover to move along the arm body. The cover is arranged outside the picking part; The linkage cover includes a linkage rod assembly and an end cover. The movable cover and the end cover are connected by the linkage rod assembly. The linkage rod assembly can swing relative to the movable cover. After the movable cover moves along the arm body and is arranged outside the picking part, the linkage rod assembly drives the end cover to move to the end of the movable cover to close the port on the movable cover away from the arm body. The fixing frame includes a clamping frame A and a clamping frame B. The clamping frame A and the clamping frame B are clamped relative to each other on the periphery of the arm body. The inner sides of the clamping frame A and the clamping frame B are both provided with grooves adapted to the periphery of the arm body. The clamping frame A and the clamping frame B are both provided with ear plates. The ear plates of the clamping frame A and the ear plates of the clamping frame B are detachably connected by bolts. The driving member is installed on the outer side of the clamping frame A. The movable cover includes a cover body A and a cover body B. Both the cover body A and the cover body B are arc-shaped. The open end of the cover body A is connected to the open end of the cover body B. The movable end of the driving member is connected to the inner wall of the cover body A, and the linkage rod assembly is connected to the cover body B. An articulated seat A is provided on the outer periphery of the cover body B, an avoidance groove is provided on the cover body B along its length, an articulated seat B is provided on the outer side of the clamping frame B, the end of the articulated seat B passes through the avoidance groove and extends to the outside of the cover body B, and the linkage rod assembly includes a link A and a link B, one end of the link A is connected to the end cover, the other end of the link A is rotatably connected to the end of the articulated seat B, one end of the link B is rotatably connected to the end of the articulated seat A, and the other end of the link B is rotatably connected to the rod body of the link A; The end cover includes a frame body and a cover body C. The frame body is a hollow cylindrical structure with openings at both ends, and the cover body C is a hollow cylindrical structure with an opening at one end and a closed end. The cover body C is movably arranged in the frame body. When the end cover closes the port on the movable cover away from the arm body, the open end of the cover body C faces the picking part, and the closed end of the cover body C protrudes from the frame body. A plurality of connecting seats A are provided on the outer periphery of the cover body C near its closed end, and a plurality of connecting seats B are provided on the outer periphery of the frame. The plurality of connecting seats B correspond to the plurality of connecting seats A, and tension springs are connected between the plurality of connecting seats B and the plurality of connecting seats A.

2. A manipulator protection device according to claim 1, characterized in that: A travel groove is provided on the inner side of the frame, and a detection block is provided on the outer periphery of the cover C. The detection block is slidably arranged in the travel groove. A through hole communicating with the travel groove is provided on the outer side of the frame. A sensing unit is provided on the outer side of the frame, and the sensing end of the sensing unit faces the through hole. A detection surface is provided on the side of the detection block facing the through hole. When the tension spring is in a stretched state, the detection surface faces the through hole.

3. A manipulator protection device according to claim 2, characterized in that: Several mounting holes are provided on the outside of the frame, and a movable rod is inserted into the mounting hole. A touch plate is provided on the end of the movable rod away from the cover C, and a spring is sleeved on the movable rod. One end of the spring abuts against the inner side of the touch plate, and the other end of the spring abuts against the outer side of the frame. An extrusion plate is provided on the end of the movable rod close to the cover C. The opening edge of the cover C is bent inward to form a sloped portion A, and one side of the extrusion plate is bent to form a sloped portion B, and the sloped portion B fits with the sloped portion A.

4. A manipulator protection device according to claim 1, characterized in that: The outer peripheries of both cover body A and cover body B are provided with a plurality of hollow grooves.

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