Machine joint protection device capable of preventing people from being hurt

Abstract

The invention provides an anti-injury machine joint protection device, and belongs to the technical field. The problem that the safety of a robot, especially a nursing robot, needs to be improved is solved. According to the technical scheme, the human injury prevention machine joint protection device comprises a driving wheel and a driven wheel, the driving wheel is used for being connected with a power device, a damper is connected between the driving wheel and the driven wheel, the damper is sleeved with a buffer spring, and the two ends of the buffer spring are fixedly connected with the driving wheel and the driven wheel respectively. The robot has the beneficial effects that when the power device drives the driving wheel to rotate, the driving wheel drives the buffer spring to twist, the buffer spring drives the driven wheel to rotate, and when the driven wheel is loaded, the buffer spring continuously deforms and applies linearly increasing force to the driven wheel, so that the force of the robot is slowly increased, and it is guaranteed that the force of the robot is gentle; and meanwhile, if the driven wheel unloads force accidentally, the damper can prevent the driven wheel from rotating rapidly, people are prevented from being hurt, and therefore the safety of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field, and in particular to a machine joint protection device that prevents people from being injured. Background Art

[0002] Robots are gaining popularity in production and life, but incidents of robots injuring people occur from time to time, especially nursing robots. The structure of nursing robots imitates the human body and has arms and other structures. When caring for the elderly with limited mobility or injured patients, they can perform some nursing actions such as supporting and handing over objects.

[0003] Robotic arms are mostly driven by motors and other mechanisms. If the motor fails, the robotic arm may easily move out of control and rapidly, thereby crashing into the elderly or patients and causing injuries. Therefore, the safety of robots in the existing technology needs to be improved. Summary of the Invention

[0004] The object of the present invention is to provide a protective device that can improve the safety of a robot.

[0005] In order to achieve the above-mentioned purpose of the invention, the technical solution adopted by the present invention is as follows:

[0006] A machine joint protection device for preventing personal injury includes a driving wheel and a driven wheel. The driving wheel is used to connect to a power device, which can be a motor. A damper is connected between the driving wheel and the driven wheel. A buffer spring is provided on the damper. The two ends of the buffer spring are fixedly connected to the driving wheel and the driven wheel respectively. The rotation direction of the driving wheel is the same as the spiral direction of the buffer spring.

[0007] Furthermore, the damper includes a shell, a rotating shaft, a piston page and a shell partition wall, the piston page is connected to the rotating shaft, a pinhole is pre-opened on the piston page, the rotating shaft is coaxially and fixedly connected to the driven wheel, the piston page is also connected to the driven wheel, the shell and the partition wall inside the shell are both fixedly connected to the driving wheel; the shell is filled with liquid or gas with a pressure greater than atmospheric pressure to hinder the rapid movement of the piston page, and a dynamic seal is provided between the shell and the driven wheel.

[0008] Furthermore, an overload protection device is connected to the housing, and the overload protection device is used to cooperate with the piston page to limit the rotation of the driving wheel relative to the joint housing.

[0009] Furthermore, the overload protection device includes a push rod, a mounting sleeve and a reset spring, the reset spring is arranged in the mounting sleeve, the mounting sleeve is arranged on the outer wall of the shell, the push rod passes through the shell, one end of the push rod is located in the shell, and the other end of the push rod passes through the reset spring and the mounting sleeve at the same time and is located outside the shell; the end of the push rod is located outside the shell, and is used to resist the joint shell of the robot; a dynamic seal is provided at the position where the push rod passes through the shell.

[0010] Furthermore, two overload protection devices are provided, and the two push rods are symmetrically arranged on both sides of the shell, and the ends of the two push rods inserted into the shell face the same direction. A locking groove is provided on the inner wall of the joint shell pointed to by the outer ends of the push rods, and the ends of the two push rods inserted into the shell are the rotation range of the piston page.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. When the motor drives the active wheel to rotate, the active wheel drives the buffer spring to twist, and the buffer spring drives the driven wheel to rotate. When the driven wheel is subjected to a load, the buffer spring continuously deforms, exerting a linearly increasing force on the driven wheel, causing the robot's force to increase slowly, ensuring that the machine applies force gently; thereby improving the robot's safety.

[0013] 2. When the driving wheel rotates, it drives the shell to rotate, and further drives the overload protection device to rotate, causing the push rod and the piston page to rotate relative to each other. After the push rod rotates to contact the piston page, the piston page pushes the push rod toward the mounting sleeve under the action of relative motion. The push rod compresses the reset spring at the same time. After the push rod moves to the end and contacts the inner wall of the robot joint housing, the push rod stops moving, thereby stopping the relative rotation between the driving wheel and the joint housing, and braking the driving wheel to avoid the driving wheel rotating at an excessive angle, which leads to excessive torque in the buffer spring. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0015] Figure 1 The figure is a partial cross-sectional structural diagram of a machine joint protection device to prevent personal injury according to an embodiment of the present invention.

[0016] Figure 2 This is a cross-sectional view illustrating the connection relationship between the overload protection device and the housing according to an embodiment of the present invention.

[0017] Among them, the accompanying drawings are marked as 1, driving wheel; 2, driven wheel; 3, damper; 31, housing; 32, rotating shaft; 33, piston page; 331, pinhole; 34, partition wall inside the housing; 4, overload protection device; 41, push rod; 42, mounting sleeve; 43, reset spring; 5, buffer spring; 6, joint housing. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. Of course, the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0019] See also Figure 1-2 The present invention provides a technical solution, which is a machine joint protection device to prevent human injury, including a driving wheel 1 and a driven wheel 2. The robot working arm is shaped like a human arm. The protection device of this application is connected to the robot joint. The robot arm includes an upper arm and a lower arm. The driving wheel 1 is used to connect to the power device in the upper arm. The power device is a motor in this embodiment; the driven wheel 2 can be directly connected to the lower arm or control the rotation of the lower arm through an indirect connection; the connection method between the above-mentioned protection device and the robot is one of the connection methods between the protection device and the robot of this application. In other application scenarios, the shape of the robot working arm is not limited to the shape of a human arm, but can also be other structures compatible with the protection device of this application.

[0020] Preferably, a damper 3 is connected between the driving wheel 1 and the driven wheel 2. The damper 3 includes a shell 31, a rotating shaft 32, a piston page 33 and a partition wall 34 inside the shell. The piston page 33 is connected to the side wall of the rotating shaft 32, and the end of the piston page 33 is in contact with the inner wall of the shell 31. A pinhole 331 is pre-opened on the piston page 33. The rotating shaft 32 is coaxially and fixedly connected to the driven wheel 2. The piston page 33 is connected to the driven wheel 2. The shell 31 and the partition wall 34 inside the shell are fixedly connected to the driving wheel 1. The shell 31 is filled with liquid or a fluid such as a gas with an air pressure greater than the standard atmospheric pressure to hinder the rapid movement of the piston page 33. In this embodiment, it is liquid. A dynamic seal is set between the shell 31 and the driven wheel 2.

[0021] Preferably, a buffer spring 5 is sleeved on the outer side of the housing 31 , and two ends of the buffer spring 5 are fixedly connected to the driving wheel 1 and the driven wheel 2 respectively.

[0022] When the motor drives the active wheel 1 to rotate, the active wheel 1 drives the buffer spring 5 to twist, and the buffer spring 5 drives the driven wheel 2 to rotate. When the driven wheel 2 is subjected to a load, the buffer spring 5 continuously deforms, exerting a linearly increasing force on the driven wheel 2, causing the robot's strength to increase slowly, ensuring that the machine applies force gently; thereby improving the robot's safety.

[0023] Preferably, two overload protection devices 4 are connected to the shell 31, and one overload protection device 4 includes a push rod 41, a mounting sleeve 42 and a reset spring 43. The reset spring 43 is arranged in the mounting sleeve 42, and the mounting sleeve 42 is connected to the outer wall of the shell 31. The push rod 41 passes through the shell 31, and one end of the push rod 41 is located in the shell 31. The other end of the push rod 41 passes through the reset spring 43 and the mounting sleeve 42 at the same time and is located on the outside of the shell 31. A dynamic seal is provided at the position where the push rod 41 passes through the shell 31.

[0024] Preferably, the two push rods 41 are symmetrically arranged on both sides of the shell 31, and the ends of the two push rods 41 inserted into the shell 31 face the same direction. The ends of the two push rods 41 inserted into the shell 31 are within the rotation range of the piston page 33; a number of locking grooves are opened on the inner wall of the joint housing 6 at the corresponding positions of the push rods 41, so that the push rods 41 can be stuck in the locking grooves when extended.

[0025] When the driving wheel 1 rotates, it drives the housing 31 to rotate, further driving the overload protection device 4 to rotate, causing the push rod 41 and the piston leaf 33 to rotate relative to each other. After the push rod 41 rotates to contact the piston leaf 33, the piston leaf 33 pushes the push rod 41 toward the mounting sleeve 42 due to the relative motion. The push rod 41 also compresses the return spring 43. After the push rod 41 moves to the position of the robot joint housing 6, it further inserts into the groove on the joint housing 6. The push rod 41 stops moving, thereby stopping the relative rotation between the top cover and the piston leaf 33, and braking the driving wheel 1. This prevents the driving wheel 1 from rotating too much and causing excessive torsional force on the buffer spring 5. After the piston leaf 33 rotates away from the push rod 41, the return spring 43 returns to its original position, driving the push rod 41 to move back to its original position.

[0026] When the robot is assisting or handing over objects, if the object suddenly falls off the robot arm, the driven wheel 2 accidentally unloads the force at this time, and the buffer spring 5 immediately recovers and twists to drive the driven wheel 2 to reverse. At this time, the damper 3 can prevent the driven wheel 2 from rotating rapidly. When the piston page 33 rotates rapidly in the shell 31, the liquid in the shell 31 flows through the pinhole 331 pre-opened in the piston page 33. Since the pinhole 331 is small, the liquid flows slowly, thereby limiting the rotation speed of the piston page 33, and the rotation speed of the driven wheel 2 is limited, thereby reducing the reversal speed of the forearm to avoid injury and improve the safety of the robot.

[0027] 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, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A machine joint protection device to prevent injury to people, characterized in that: The invention comprises a driving wheel (1) and a driven wheel (2), wherein the driving wheel (1) is used to be connected to a power device, and the other end of the power device is used to be fixedly connected to a joint housing (6). A damper (3) is connected between the driving wheel (1) and the driven wheel (2), and a buffer spring (5) is sleeved on the damper (3). The two ends of the buffer spring (5) are respectively fixedly connected to the driving wheel (1) and the driven wheel (2).

2. The machine joint protection device for preventing injuries according to claim 1, characterized in that: The damper (3) comprises a housing (31), a rotating shaft (32), a piston leaf (33) and a partition wall (34) inside the housing; the piston leaf (33) is connected to the rotating shaft (32); a pinhole (331) is pre-opened on the piston leaf (33); the rotating shaft (32) and the piston leaf (33) are coaxially fixedly connected to the driven wheel (2); and the housing (31) and the partition wall (34) inside the housing are fixedly connected to the driving wheel (1).

3. The machine joint protection device for preventing injuries according to claim 2, characterized in that: An overload protection device (4) is connected to the housing (31), and the overload protection device (4) is used to cooperate with the piston leaf (33) to limit the relative rotation of the driving wheel (1) relative to the joint housing (6).

4. The machine joint protection device for preventing injuries to people according to claim 3, characterized in that: The overload protection device (4) comprises a push rod (41), a mounting sleeve (42) and a reset spring (43); the reset spring (43) is arranged in the mounting sleeve (42); the mounting sleeve (42) is arranged on the outer wall of the housing (31); the push rod (41) passes through the housing (31); one end of the push rod (41) is located in the housing (31); the other end of the push rod (41) passes through the reset spring (43) and the mounting sleeve (42) at the same time and is located outside the housing (31).

5. The machine joint protection device for preventing injuries to people according to claim 4, characterized in that: Two overload protection devices (4) are provided, and the two push rods (41) are symmetrically arranged on both sides of the housing (31). The ends of the two push rods (41) inserted into the housing (31) face the same direction. The inner wall of the joint housing (6) pointed by the outer ends of the push rods (41) is provided with a locking groove. The ends of the two push rods (41) inserted into the housing (31) are the rotation range of the piston leaf (33).

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