Running protection device of heavy-load robot

Abstract

The invention relates to the technical field of robots, in particular to an operation protection device of a heavy-load robot, which comprises a plurality of first driving parts, a plurality of second driving parts and a plurality of second coils, a plurality of second coils distributed in the radial direction of the main shaft are arranged on the second driving parts; the mover is connected to the first driving part and the second driving part in a sliding mode, and a plurality of magnetic blocks distributed in the radial direction are arranged on the mover; the control part is used for acquiring the rotating speed of the main shaft and the rotating speed of the second articulated arm, and controlling the rotor to slide to the first driving part and the second driving part when the rotating speed of the main shaft and the rotating speed of the second articulated arm do not conform to a preset transmission ratio; the problem of falling of heavy objects can be prevented, and the running stability of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an operation protection device for a heavy-load robot. Background Art

[0002] With the development of technology, robots are more and more widely used. Especially for heavy-load robots, they can greatly reduce the burden on workers and improve work efficiency. Since heavy-load robots need to carry heavy objects, a speed reducer needs to be installed at the joint.

[0003] With improper use or maintenance of the robot, such as using inappropriate grease for maintenance, the gears of the speed reducer at the joints of the robot will be excessively worn. When the robot carries heavy objects, the problem of gear slipping will occur. At this time, the heavy object will fall, and in severe cases, it will hurt the workers. Therefore, the present application proposes an operation protection device for a heavy-load robot. Summary of the Invention

[0004] The purpose of the present invention is to provide an operation protection device for a heavy-load robot to solve the problem that the heavy object falls after gear slipping of the current heavy-load robot.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: An operation protection device for a heavy-load robot, the operation protection device is installed on the first joint arm, the second joint arm of the robot and the main shaft that drives the second joint arm to rotate. It is characterized in that the operation protection device includes: A plurality of first driving parts, installed on the first joint arm, and the plurality of first driving parts are evenly distributed in the circumferential direction around the axis of the main shaft. A plurality of first coils are arranged on the first driving part along the radial direction of the main shaft; A plurality of second driving parts, installed on the second joint arm, and the plurality of second driving parts are evenly distributed in the circumferential direction around the axis of the main shaft. A plurality of second coils are arranged on the second driving part along the radial direction of the main shaft; A mover, the mover is slidably connected to the first driving part and the second driving part, and a plurality of magnets are arranged on the mover along the radial direction of the main shaft; A control part, the control part obtains the rotation speed of the main shaft and the rotation speed of the second joint arm, and when the rotation speed of the main shaft and the rotation speed of the second joint arm do not conform to a preset transmission ratio, controls the mover to slide onto the first driving part and the second driving part through the first coil and the second coil.

[0006] Further, the first driving part further includes a first guiding member, the first coil is fixedly connected to the first guiding member, and the first guiding member is fixedly connected to the first joint arm in a divergent shape; The second driving part further includes a second guiding member, the second coil is fixedly connected to the second guiding member, and the second guiding member is fixedly connected to the second joint arm in a divergent shape; The mover further includes a sliding member, the magnet is fixedly connected to the sliding member, and the sliding member is slidably connected to the first guiding member and the second guiding member.

[0007] Further, the first guiding member and the second guiding member are groove-shaped, and the sliding member is block-shaped.

[0008] Further, the first guiding member and the second guiding member are guide rails, and the sliding member is a slider structure that cooperates with the guide rails.

[0009] Further, a first limiting block is provided between adjacent first guiding members, a second limiting block is provided between adjacent second guiding members, and both the first limiting block and the second limiting block are fan-shaped blocks.

[0010] Further, the control part further includes: Angle sensors, there are multiple angle sensors, and the multiple angle sensors are respectively installed on the second joint arm and the main shaft, and are used to respectively obtain the rotation speeds of the second joint arm and the main shaft.

[0011] Further, the control part further includes: A distance sensor, the distance sensor is fixedly connected to the first joint arm and is used to obtain the position of the mover.

[0012] Further, during the sliding process of the mover, if the distance sensor detects that the mover stops sliding when approaching the end of the second driving part, the control currents of the first coil and the second coil remain unchanged until the mover continues to slide.

[0013] Further, the operation protection device further includes: A speed reducer, the input end of the speed reducer is fixedly connected to the main shaft, the speed reducer includes a sun gear, a planetary gear and an outer gear ring, the sun gear is fixedly connected to the main shaft, the planetary gear is rotatably connected to the first joint arm, the outer gear ring is rotatably connected to the first joint arm, and the sun gear, the planetary gear and the outer gear ring form a planetary reduction structure; The third driving part, the third driving part includes a third guiding part and a third coil, the third guiding part is fixedly connected to the external gear ring, the third coil is fixedly connected to the third guiding part, and the mover slides onto the second guiding part and the third guiding part under the drive of the second coil and the third coil.

[0014] Furthermore, the third guiding part is fixedly connected to the external gear ring through a fixing port, and the fixing port is of a cylindrical structure.

[0015] In summary, compared with the prior art, the present invention has the following beneficial effects: The operation protection device of the heavy-load robot disclosed in the embodiment of the present invention is provided with a first driving part, a second driving part and a mover. The first driving part is fixed to the first joint arm, the second driving part is fixed to the second joint arm, and the mover is slidably connected to the first driving part and the second driving part. When the problem of gear slipping occurs in the heavy-load robot, the mover slides onto the first driving part and the second driving part, so that the second joint arm is locked to the first joint arm, thereby preventing the problem of heavy objects falling and improving the running stability of the robot. Description of the Drawings

[0016] Figure 1 It is a schematic structural diagram of the operation protection device of the heavy-load robot disclosed in the embodiment of the present invention.

[0017] Figure 2 It is Figure 1 The partial enlarged view at I in

[0018] Figure 3 It is the front view of the operation protection device of the heavy-load robot disclosed in the embodiment of the present invention.

[0019] Figure 4 It is a schematic structural diagram of the mover in the operation protection device of the heavy-load robot disclosed in Embodiment 1 of the present invention.

[0020] Figure 5 It is a schematic structural diagram of the first guiding part in the operation protection device of the heavy-load robot disclosed in Embodiment 1 of the present invention.

[0021] Figure 6 It is a schematic structural diagram of the mover in the operation protection device of the heavy-load robot disclosed in Embodiment 2 of the present invention.

[0022] Figure 7 It is a schematic structural diagram of the first guiding part in the operation protection device of the heavy-load robot disclosed in Embodiment 2 of the present invention.

[0023] Figure 8 It is a schematic diagram of the operation protection device of the heavy-load robot in the prior art.

[0024] Reference numerals: 10. First joint arm; 20. Second joint arm; 30. Main shaft; 40. First driving part; 41. First guiding part; 42. First coil; 43. First limiting block; 50. Second driving part; 51. Second guiding part; 52. Second coil; 53. Second limiting block; 60. Rotor; 61. Sliding part; 62. Magnet block; 70. Distance sensor; 80. Reducer; 81. Sun gear; 82. Planet gear; 83. Outer gear ring; 84. Planet shaft; 85. Connecting plate; 90. Third driving part; 91. Third guiding part; 92. Third coil; 93. Fixed port; 94. Third limiting block; 101. Base; 102. Waist; 103. Waist joint; 104. First arm; 105. First joint; 106. Second arm; 107. Second joint; 108. Third arm; 109. Reduction mechanism. Detailed implementation manners

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] Embodiment 1 As Figure 1 shown, a running protection device for a heavy-load robot provided by an embodiment of the present invention is installed on the first joint arm 10, the second joint arm 20 of the robot, and the main shaft 30 that drives the second joint arm 20 to rotate, and includes: A plurality of first driving parts 40 are installed on the first joint arm 10. The plurality of first driving parts 40 are evenly distributed in the circumferential direction around the axis of the main shaft 30. A plurality of first coils 42 are arranged on the first driving part 40 and distributed radially along the main shaft 30; A plurality of second driving parts 50 are installed on the second joint arm 20. The plurality of second driving parts 50 are evenly distributed in the circumferential direction around the axis of the main shaft 30. A plurality of second coils 52 are arranged on the second driving part 50 and distributed radially along the main shaft 30; A rotor 60 is slidably connected to the first driving part 40 and the second driving part 50. A plurality of magnet blocks 62 are arranged on the rotor 60 and distributed radially along the main shaft 30. The rotor 60 slides radially along the main shaft 30 on the first driving part 40 and the second driving part 50 under the drive of the first coil 42 and the second coil 52; A control unit is configured to obtain the rotational speed of the main shaft 30 and the rotational speed of the second joint arm 20, and when the rotational speeds of the main shaft 30 and the second joint arm 20 do not conform to a preset transmission ratio, control the slider 60 to slide onto the first driving part 40 and the second driving part 50 through the first coil 42 and the second coil 52, so that the slider 60 locks the first driving part 40 and the slider 60.

[0027] In this embodiment, the second joint arm 20 rotates around the first joint arm 10 driven by the main shaft 30. The second joint arm 20 rotates at a preset speed under the control of the control system and the power system of the robot. When the second joint arm 20 rotates, the control system of the robot sends a control command to the corresponding power system. The control command includes the rotation angle and the rotational speed of the main shaft 30. The control unit calculates the rotational speed and the rotation angle of the second joint arm 20 based on the rotational speed and the rotation angle of the main shaft 30 and the transmission ratio of the reduction system between the main shaft 30 and the second joint arm 20. When the second joint arm 20 is operating, the control unit obtains the rotational speed of the second joint arm 20 and the rotational speed of the main shaft 30 through the connected sensor structure. Since there is a certain transmission ratio between the rotational speed of the second joint arm 20 and the rotational speed of the main shaft 30, when there is a problem of gear slipping in the reduction system on the main shaft 30, the speed ratio between the rotational speed of the second joint arm 20 and the rotational speed of the main shaft 30 does not conform to the transmission ratio of the reduction system. At this time, the control unit determines that there is a fault in the reduction system on the main shaft 30, and the control unit controls the first coil 42 and the second coil 52 to be energized, so that the slider 60 slides on the first driving part 40 and the second driving part 50. When both ends of the slider 60 are respectively located on the first driving part 40 and the second driving part 50, the slider 60 jams the second joint arm 20 and the first joint arm 10, so that the second joint arm 20 can no longer rotate, thereby preventing the heavy object from falling.

[0028] The operation protection device of the heavy-load robot disclosed in the embodiment of the present invention is provided with a first driving part 40, a second driving part 50 and a slider 60. The first driving part 40 is fixed to the first joint arm 10, the second driving part 50 is fixed to the second joint arm 20, and the slider 60 is slidably connected to the first driving part 40 and the second driving part 50. When there is a problem of gear slipping in the heavy-load robot, the slider 60 slides onto the first driving part 40 and the second driving part 50, so that the second joint arm 20 is locked on the first joint arm 10, thereby preventing the problem of the heavy object from falling and improving the operation stability of the robot.

[0029] Specifically, in this embodiment, the first joint arm 10, the second joint arm 20, and the main shaft 30 are all existing structures of the heavy-duty robot. The main shaft 30 and the second joint arm 20 are connected by a reduction system (such as an RV reducer). The main shaft 30 drives the second joint arm 20 to rotate on the first joint arm 10. The first joint arm 10 and the second joint arm 20 are connected to form a joint mechanism on the robot.

[0030] As a preferred implementation manner in this embodiment, the first driving part 40 further includes a first guiding member 41. The first coil 42 is fixedly connected to the first guiding member 41. The first guiding member 41 is fixedly connected to the first joint arm 10 in a divergent shape. The second driving part 50 further includes a second guiding member 51. The second coil 52 is fixedly connected to the second guiding member 51. The second guiding member 51 is fixedly connected to the second joint arm 20 in a divergent shape. The mover 60 further includes a sliding member 61. The magnet 62 is fixedly connected to the sliding member 61. The magnet 62 is a permanent magnet. The sliding member 61 is slidably connected to the first guiding member 41 and the second guiding member 51. The first driving part 40, the second driving part 50, and the mover 60 constitute a linear motor structure. The first driving part 40 and the second driving part 50 constitute the stator structure of the linear motor. The mover 60 constitutes the rotor structure of the linear motor. After pulse current is applied to the first coil 42 and the second coil 52, the first coil 42 and the second coil 52 drive the mover 60 to move linearly. Since the rotation speed of the second joint arm 20 is not fast, when the second driving part 50 rotates with the second joint arm 20 and rotates to a position collinear with the first driving part 40, the mover 60 can slide onto the second driving part 50, thereby realizing the locking of the second joint arm 20 and the first joint arm 10.

[0031] It should be noted that the driving circuits of the first coil 42 and the second coil 52 are integrated into the control part.

[0032] Specifically, in this embodiment, the first guiding member 41 and the second guiding member 51 have the same structure. The first guiding member 41 and the second guiding member 51 are both linear structures. The sliding member 61 is a linear structure, such as Figure 4 and Figure 5As shown, when the first guiding member 41 and the second guiding member 51 are in a groove shape, such as a straight groove, the sliding member 61 is in a square block shape. The first coil 42 and the second coil 52 are respectively fixedly connected to the inner walls of the first guiding member 41 and the second guiding member 51 by gluing. The magnetic block 62 is embedded in the side surface of the sliding member 61 that fits the first coil 42 and the second coil 52 by gluing.

[0033] As a preferred implementation manner in this embodiment, as Figure 3 shown, a first limiting block 43 is further provided between adjacent first guiding members 41, and a second limiting block 53 is provided between adjacent second guiding members 51. The first limiting block 43 and the second limiting block 53 are both fan-shaped blocks, which are used to prevent the mover 60 from detaching from the first guiding member 41 and the second guiding member 51. The first limiting block 43 and the end of the first guiding member 41 away from the center of the main shaft 30 are in smooth transition, and its edge forms a circular outer edge; the second limiting block 53 and the end of the second guiding member 51 away from the center of the main shaft 30 are in smooth transition, and its edge forms a circular outer edge.

[0034] In this embodiment, the structures on the first driving portion 40 and the second driving portion 50 are fixedly connected to the first joint arm 10 and the second joint arm 20 by bolts.

[0035] As a preferred implementation manner in this embodiment, the control portion further includes angle sensors. A plurality of angle sensors are provided, and the plurality of angle sensors are respectively installed on the second joint arm 20 and the main shaft 30, and are used to respectively obtain the rotation speeds of the second joint arm 20 and the main shaft 30. In this embodiment, the angle sensors can be wheel speed sensor structures.

[0036] As a preferred implementation manner in this embodiment, as Figure 2 shown, the control portion further includes a distance sensor 70. The distance sensor 70 is fixedly connected to the first joint arm 10 and is used to obtain the position of the mover 60. In this embodiment, the distance sensor 70 is fixedly connected to the end of the first guiding member 41. The distance sensor 70 is an ultrasonic sensor, and the detection end of the distance sensor 70 is arranged in a straight line. A distance sensor 70 is provided at the end of each first guiding member 41, and each distance sensor 70 respectively detects the position of a mover 60.

[0037] Preferably, the control structure of the control unit is a microprocessor, which is used to process the detection information of the angle sensor and the distance sensor 70 and issue corresponding control commands. The drive circuits of the first coil 42 and the second coil 52 are also electrically connected to the microprocessor to control the current of the first guide member 41 and the second coil 52.

[0038] Preferably, when the mover 60 is sliding, if the distance sensor 70 detects that the mover 60 stops sliding when approaching the end of the second driving part 50, the control currents of the first coil 42 and the second coil 52 remain unchanged until the mover 60 continues to slide.

[0039] Specifically, when the mover 60 stops sliding when approaching the end of the second driving part 50, it means that the first guide member 41 and the second guide member 51 are in a non-collinear position. At this time, the second limiting block 53 blocks the sliding of the mover 60. At this time, the currents of the first coil 42 and the second coil 52 are continuously maintained until the first guide member 41 and the second guide member 51 are collinear, and the mover 60 slides onto the second driving part 50.

[0040] As a preferred implementation mode in this embodiment, as Figures 1 to 3 shown, the operation protection device further includes: a speed reducer 80, the input end of the speed reducer 80 is fixedly connected to the main shaft 30, the speed reducer 80 includes a sun gear 81, a planetary gear 82 and an outer gear ring 83, the sun gear 81 is fixedly connected to the main shaft 30, the planetary gear 82 is rotatably connected to the first joint arm 10, the outer gear ring 83 is rotatably connected to the first joint arm 10, and the sun gear 81, the planetary gear 82 and the outer gear ring 83 form a planetary reduction structure; a third driving part 90, the third driving part 90 includes a third guide member 91 and a third coil 92, the structure of the third guide member 91 is the same as that of the first guide member 41, the third guide member 91 is fixedly connected to the outer gear ring 83, the third coil 92 is fixedly connected to the third guide member 91, and the mover 60 slides onto the second guide member 51 and the third guide member 91 under the drive of the second coil 52 and the third coil 92 to temporarily drive the second joint arm 20 to rotate, so that the heavy object can be lowered and the robot can work temporarily until maintenance.

[0041] Specifically, the third guide member 91 is fixedly connected to the fixed port 93. The fixed port 93 is of a cylindrical structure and is fixedly connected to the external gear ring 83. When the external gear ring 83 rotates following the main shaft 30, the third guide member 91 can drive the second driving part 50 to rotate, so that the main shaft 30 drives the second joint arm 20 to rotate. The transmission ratio of the speed reducer 80 is the same as that of the deceleration system on the main shaft 30. The planetary gear 82 is rotatably connected to the first joint arm 10 through a planetary shaft 84. A connecting plate 85 is fixed to one end of the planetary shaft 84 away from the first joint arm 10. The connecting plate 85 is used to mount the deceleration mechanism 109 of the heavy-duty robot. The deceleration mechanism 109 is fixedly connected to the connecting plate 85. The second joint arm 20 is fixedly connected to the output end of the deceleration mechanism 109 through bolts. The main shaft 30 is fixedly connected to the input end of the deceleration mechanism 109. The planetary shaft 84 is threadedly connected to the connecting plate 85. The planetary gear 82 is rotatably connected to the planetary shaft 84. The planetary shaft 84 is fixed to the first joint arm 10 through interference connection. The external gear ring 83 is rotatably connected to the first joint arm 10 through a bearing.

[0042] Preferably, as Figure 3 shown, a third limiting block 94 is further provided between adjacent third guide members 91. The third limiting block 94 is fixedly connected to the fixed port 93. The third guide member 91, the third limiting block 94 and the fixed port 93 are an integral mechanism. The third limiting block 94 is of a sector structure. The outer edges of the third limiting block 94 and the third guide member 91 form a circular structure.

[0043] As Figure 1 and Figure 8 shown, as an application form of this embodiment, this embodiment is applied to Figure 8 the multi-axis robot shown in. The multi-axis robot includes a base 101, a waist 102, a waist joint 103, a first arm 104, a first joint 105, a second arm 106, a second joint 107, and a third arm 108. Among them, the waist joint 103 drives the first arm 104 to rotate on the waist 102. The first joint 105 drives the second arm 106 to rotate on the first arm 104. The second joint 107 drives the third arm 108 to rotate on the second arm 106. The operation protection device described in this embodiment is installed on the waist joint 103 and the first joint 105. When the operation protection device is installed on the waist joint 103, the first joint arm 10 is the housing structure of the waist 102, and the second joint arm 20 is the housing structure of the first arm 104.

[0044] Embodiment 2 As another embodiment of the present invention, as Figure 6 and Figure 7 shown, the difference between this embodiment and Embodiment 1 is that when the first guide member 41 and the second guide member 51 are in the shape of a guide rail, the sliding member 61 is a slider structure that cooperates with the guide rail, the first coil 42 and the second coil 52 are respectively fixedly connected to the outer walls of the first guide member 41 and the second guide member 51, and the magnetic block 62 is fixedly connected to the inner wall of the sliding member 61 that cooperates with the first guide member 41 and the second guide member 51.

[0045] The terms used in the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The singular forms "a", "the", and "said" used in the present invention and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0046] It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0047] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made in these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An operation protection device for a heavy-load robot, the operation protection device being installed on a first joint arm, a second joint arm and a main shaft driving the second joint arm to rotate, characterized in that: The operation protection device comprises: A plurality of first drive parts are mounted on the first joint arm, the plurality of first drive parts are evenly distributed around the axis of the main shaft in the circumferential direction, and the first drive parts are provided with a plurality of first coils distributed along the radial direction of the main shaft; A plurality of second drive parts are mounted on the second joint arm, the plurality of second drive parts are evenly distributed around the axis of the main shaft in the circumferential direction, and the second drive parts are provided with a plurality of second coils distributed radially along the main shaft; A mover, the mover is slidably connected to the first driving part and the second driving part, and the mover is provided with a plurality of magnetic blocks distributed along the radial direction of the main axis; A control unit, wherein the control unit obtains the rotation speed of the main shaft and the rotation speed of the second articulated arm, and when the rotation speed of the main shaft and the rotation speed of the second articulated arm do not meet the preset transmission ratio, controls the mover to slide onto the first driving unit and the second driving unit through the first coil and the second coil.

2. The operation protection device for a heavy-load robot according to claim 1, characterized in that: The first driving part further includes a first guide member, the first coil is fixedly connected to the first guide member, and the first guide member is fixedly connected to the first joint arm in a divergent shape; The second driving part further comprises a second guide member, the second coil is fixedly connected to the second guide member, and the second guide member is fixedly connected to the second joint arm in a divergent shape; The mover further includes a sliding member, the magnetic block is fixedly connected to the sliding member, and the sliding member is slidably connected to the first guide member and the second guide member.

3. The operation protection device for a heavy-load robot according to claim 2, characterized in that: The first guide member and the second guide member are groove-shaped, and the sliding member is block-shaped.

4. The operation protection device for a heavy-load robot according to claim 2, characterized in that: The first guide member and the second guide member are guide rails, and the sliding member is a sliding block structure matching the guide rails.

5. The operation protection device for a heavy-load robot according to claim 2, characterized in that: A first limiting block is further arranged between adjacent first guide members, and a second limiting block is arranged between adjacent second guide members. Both the first limiting block and the second limiting block are fan-shaped blocks.

6. The operation protection device for a heavy-load robot according to any one of claims 1 to 5, characterized in that: The control unit also includes: Angle sensors, wherein a plurality of the angle sensors are provided and the plurality of the angle sensors are respectively mounted on the second articulated arm and the main shaft, so as to respectively obtain the rotation speeds of the second articulated arm and the main shaft.

7. The operation protection device for a heavy-load robot according to any one of claims 1 to 5, characterized in that: The control unit also includes: A distance sensor is fixedly connected to the first joint arm and is used to obtain the position of the mover.

8. The operation protection device for a heavy-load robot according to claim 7, characterized in that: During the sliding of the mover, if the distance sensor detects that the mover stops sliding when approaching the end of the second driving part, the control currents of the first coil and the second coil remain unchanged until the mover continues to slide.

9. The operation protection device for a heavy-load robot according to any one of claims 2 to 5, characterized in that: The operation protection device also includes: A reducer, wherein the input end of the reducer is fixedly connected to the main shaft, the reducer comprises a sun gear, a planetary gear and an outer gear ring, the sun gear is fixedly connected to the main shaft, the planetary gear is rotatably connected to the main shaft, the outer gear ring is rotatably connected to the first joint arm, and the sun gear, the planetary gear and the outer gear ring constitute a planetary reduction structure; The third driving part includes a third guide and a third coil, the third guide is fixedly connected to the outer gear ring, the third coil is fixedly connected to the third guide, and the mover slides onto the second guide and the third guide under the drive of the second coil and the third coil.

10. The operation protection device for a heavy-load robot according to claim 9, characterized in that: The third guide member is fixedly connected to the outer gear ring through a fixing opening, and the fixing opening is a cylindrical structure.

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