Hidden emergency stop switch for robot

Abstract

A hidden emergency stop switch for a robot comprises a robot body, a movable vertical groove and an emergency stop handle structure are arranged on the back of the robot body, a movable control pull rod is fixedly arranged at one end of the emergency stop handle structure, and the movable control pull rod is movably arranged in the movable vertical groove. The other end of the emergency stop handle structure is movably connected to the robot body, a conductive contact piece A is arranged on the bottom wall of the movable vertical groove, a conductive contact piece B is arranged at the bottom end of the movable control pull rod, and the conductive contact piece A and the conductive contact piece B are used for being connected with a control bus or a power source. A traction reset part is further arranged between the inner wall of the movable vertical groove and the movable control pull rod and used for providing traction force to control the conductive contact piece A and the conductive contact piece B to be in close contact fit. The structure is simple, the appearance of the robot is not affected, and sudden stop and outage of the robot can be achieved easily and rapidly.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a hidden emergency stop switch for robots. BACKGROUND

[0002] The emergency stop switch is used for quickly cutting off the power supply of equipment in an emergency to protect personnel and equipment safety, and is an indispensable part of industrial safety design. In the robot industry, especially before a humanoid robot is completely stable and fault-free or can autonomously handle faults, it is necessary to provide an emergency stop switch on the robot.

[0003] However, the emergency stop switches currently used by most humanoid robots still follow the general knob type emergency stop switch in the industry, such as the emergency stop switch disclosed in the announcement No. CN206363937U, which uses a circlip for longitudinal positioning, so that the tail of the emergency stop button is short, and the structure is simple. Although shortening the length of the emergency stop switch solves the installation problem, there are still two relatively large problems: one is the appearance problem, the emergency stop cap of this emergency stop switch is protrudingly arranged on the humanoid robot, which greatly affects the industrial design aesthetics, if the presence of the emergency stop cap is weakened, the customer who unknowingly touches the robot is easy to be mistaken, or it is not conducive to quickly achieving emergency stop; the second is the way of cutting off the power supply by pressing the emergency stop cap, which is easy to operate on fixed equipment, but for robots and other mobile walking and collapsed equipment after failure, it is not easy to operate, because there is no stable force point on the robot body for pressing the emergency stop cap. SUMMARY

[0004] The present application aims at the deficiencies of the prior art, and provides a hidden emergency stop switch for robots, which has a simple structure, does not affect the appearance of the robot, and is easy to quickly achieve emergency stop and power-off of the robot.

[0005] The specific technical scheme is as follows:

[0006] A hidden emergency stop switch for robots, comprising a robot body, an active vertical slot and an emergency stop handle structure are arranged on the back of the robot body, one end of the emergency stop handle structure is fixedly provided with an active control pull rod, the active control pull rod is movably arranged in the active vertical slot, and the other end of the emergency stop handle structure is movably connected to the robot body, a conductive contact A is arranged on the bottom wall of the active vertical slot, a conductive contact B is arranged on the bottom end of the active control pull rod, the conductive contact A and the conductive contact B are respectively used for connecting a control bus or a power supply, and a traction reset component is further arranged between the inner wall of the active vertical slot and the active control pull rod, for providing a traction force to control the close contact between the conductive contact A and the conductive contact B.

[0007] As preferred: a stop component is further arranged between the active control pull rod and the inner wall of the active vertical slot or the robot body, for stably maintaining the separation state of the conductive contact A and the conductive contact B after the emergency stop handle structure is pulled to separate the conductive contact A and the conductive contact B.

[0008] As preferred: a sliding mounting seat is further arranged at the bottom end of the active control pull rod, the conductive contact B is mounted at the bottom end of the active control pull rod through the sliding mounting seat, and the emergency stop handle structure is a handle structure or a pull ring sleeve, and the emergency stop handle structure is fixedly connected to the outer end of the active control pull rod.

[0009] As preferred: the stop component comprises a spring sheet assembly and a stop clamping groove, the stop clamping groove is arranged around the side of the conductive contact B or the sliding mounting seat, the spring sheet assembly is arranged on the upper side of the inner side wall of the active vertical slot, and the spring sheet assembly cooperates with the stop clamping groove.

[0010] As preferred: the stop component comprises a stop nut sleeve, a threaded structure is arranged on the upper part of the active connecting column, the stop nut sleeve cooperates with the threaded structure, the stop nut sleeve is arranged outside the robot body, and the diameter of the stop nut sleeve is greater than the diameter of the outer end port of the active vertical slot.

[0011] As preferred: the conductive contact A is composed of a conductive contact ring A and a center contact recess, an isolation insulator A is arranged around the center contact recess, and the conductive contact ring A is arranged outside the isolation insulator A for insulating and separating the conductive contact ring A and the center contact recess.

[0012] The conductive contact B is composed of a conductive contact ring B and a center telescopic contact convex head, an isolation insulator B is arranged around the center telescopic contact convex head, the conductive contact ring B is arranged outside the isolation insulator B for insulating and separating the conductive contact ring B and the center telescopic contact convex head, the center contact recess and the center telescopic contact convex head are in close contact, and the conductive contact ring A and the conductive contact ring B are in close contact.

[0013] As preferred: the center telescopic contact convex head is composed of a contact convex head and a compression spring, a telescopic recess is arranged in the middle part of the isolation insulator B, the contact convex head and the telescopic recess are in sliding cooperation, and the compression spring is connected to the inner wall of the telescopic recess and the contact convex head at both ends.

[0014] As preferred: the traction reset component is composed of a metal-containing magnet A and a metal-containing magnet B, the metal-containing magnet A and the metal-containing magnet B are arranged in the bottom wall of the active vertical slot and the bottom end of the active control pull rod respectively, and the opposite faces of the metal-containing magnet A and the metal-containing magnet B are magnetically different.

[0015] Preferably, the metal-containing magnet A is fixedly arranged at the bottom wall of the movable vertical slot and used for connecting the power supply, the metal-containing magnet B is fixedly arranged at the bottom end of the movable control pull rod and used for connecting the control bus, and the metal-containing magnet A and the metal-containing magnet B are made of Nd-Fe-B alloy, Sm-Co alloy, nickel-zinc ferrite or Al-Ni-Co alloy.

[0016] Preferably, the traction reset component is composed of a reset spring element, and the reset spring element is connected at both ends to the movable vertical slot and the end of the movable control pull rod.

[0017] The present application has the following advantages: the traction reset component provides traction force to make the conductive contact A and the conductive contact B connected, so that the control bus and the power supply are connected in power-on state, and the conductive contact A and the conductive contact B are separated by pulling the emergency stop handle structure in emergency state, so that the control bus and the power supply are disconnected in emergency power-off state, which plays a circuit protection role, and is very suitable for the equipment such as robots, which has irregular motion after the emergency stop mechanism is installed on the body in failure, and the emergency stop handle structure is a handle structure or a pull ring sleeve, which is hidden as a handle structure or a pull ring sleeve in failure-free state, does not affect the design of the appearance of the robot, and the instinctive reaction of the operator to support the equipment such as the robot in the failure process of twitching, shaking or collapsing is to directly grab the handle structure or the pull ring sleeve, at this time, the handle structure or the pull ring sleeve is grabbed to support the robot, and the power supply is cut off at the same time, which avoids more action operations, and there is no reaction time to find the emergency stop switch, the degree of damage of the equipment failure can be reduced, and the emergency stop does not need fulcrum force, and the gravity of the equipment such as the robot can be lifted through the handle structure or the pull ring sleeve. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a schematic diagram of the present application installed on the robot body.

[0019] Figure 2 It is a schematic diagram of the present application installed on the robot body. Figure 1 It is a schematic diagram of the present application installed on the robot body.

[0020] Figure 3 It is a schematic diagram of the present application installed on the robot body.

[0021] Figure 4 It is a schematic diagram of the present application installed on the robot body.

[0022] Figure 5 It is a schematic diagram of the present application installed on the robot body.

[0023] In the figure: robot body 1; movable vertical slot 2; emergency stop handle structure 3; traction reset component 4; stop component 5;

[0024] Conductive contact A21; movable control pull rod 31; conductive contact B32; sliding mounting seat 33;

[0025] Conductive contact ring piece A211; center contact recess 212; isolation insulator A213;

[0026] Conductive contact ring piece B321; center telescopic contact convex head 322; isolation insulator B323;

[0027] Metal-containing magnet A41; metal-containing magnet B42; reset spring member 43;

[0028] Spring piece assembly 51; stop clamping groove 52; stop nut sleeve 53; threaded structure 54. DETAILED DESCRIPTION

[0029] The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings, so that the advantages and features of the present application can be more easily understood by those skilled in the art, and the scope of protection of the present application can be more clearly defined.

[0030] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0031] In the description of the present application, it should also be noted that unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected, it can be directly connected, or it can be connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0032] Example one:

[0033] As Figures 1 to 4The utility model discloses a hidden emergency stop switch for robot, which comprises a robot body 1, a movable vertical slot 2 and an emergency stop handle structure 3 are arranged on the back of the robot body 1, the emergency stop handle structure 3 is fixedly provided with a movable control pull rod 31 at one end, the movable control pull rod 31 is movably arranged in the movable vertical slot 2, and the other end of the emergency stop handle structure 3 is movably connected to the robot body 1, the emergency stop handle structure 3 is a handle structure or a pull ring sleeve, and the emergency stop handle structure 3 is fixedly connected to the outer end of the movable control pull rod 31.

[0034] A conductive contact A21 is arranged on the bottom wall of the movable vertical slot 2, and a conductive contact B32 is arranged on the bottom end of the movable control pull rod 31, the conductive contact A21 and the conductive contact B32 are respectively used for connecting a control bus or a power supply, that is, the conductive contact A21 can be connected to the control bus, the conductive contact B32 is connected to the power supply, the conductive contact A21 can be connected to the power supply, and the conductive contact B32 is connected to the control bus, so that the function of the switch can be realized, and the wire cable connected to the conductive contact B32 is arranged in the handle structure or the pull ring sleeve and then back into the robot body. A traction reset component 4 is arranged between the inner wall of the movable vertical slot 2 and the movable control pull rod 31, which is used for providing traction force to control the close contact between the conductive contact A21 and the conductive contact B32, that is, in the natural state, the control bus and the power supply are connected in power-on state through the conductive contact A21 and the conductive contact B32, and in the emergency state, the emergency stop handle structure 3 is pulled outwards, so that the conductive contact A21 and the conductive contact B32 are separated, thereby the control bus and the power supply are disconnected in emergency, which plays a circuit protection role, and is very suitable for the equipment with irregular motion of the body after the installation of the emergency stop mechanism of the robot and the like.

[0035] A stop component 5 is further arranged between the active control pull rod 31 and the inner wall of the active vertical slot 2 or the robot body 1, which is used to keep the active control pull rod 31 in the separated state after the electrically conductive contact A21 is separated from the electrically conductive contact B32, that is, to mainly overcome the traction force of the traction reset component 4, so that the electrically conductive contact A21 and the electrically conductive contact B32 are still kept in the separated state even if no external force is applied to the emergency stop pull structure 3, facilitating the maintenance of the robot and other equipment in the power-off state.

[0036] A sliding mounting seat 33 is further arranged at the bottom end of the active control pull rod 31, and the electrically conductive contact B32 is installed at the bottom end of the active control pull rod 31 through the sliding mounting seat 33. The sliding mounting seat 33 can slide in the inner wall of the active vertical slot 2, and rollers or the like for sliding can be arranged around the sliding mounting seat 33. The sliding mounting seat 33 can also be used as a limiting structure. The diameter of the sliding mounting seat 33 is greater than the diameter of the active control pull rod 31 and the diameter of the outer end of the active vertical slot 2, respectively. In this way, the sliding mounting seat 33 can only be limited in the active vertical slot 2 and cannot be separated. This can avoid the exposure of the electrically conductive contact B32 to the outside, which may cause safety risks, and can also maintain the overall integrity of the hidden emergency stop switch.

[0037] The stop component 5 includes a spring sheet assembly 51 and a stop clamping groove 52. The stop clamping groove 52 is arranged around the side of the electrically conductive contact B22 or the sliding mounting seat 23, and the spring sheet assembly 51 is arranged on the upper side of the inner wall of the active vertical slot 2. The spring sheet assembly 51 cooperates with the stop clamping groove 52 to lock the electrically conductive contact B32 at a certain height in the active vertical slot 2, so that the electrically conductive contact B32 does not conductively contact the electrically conductive contact A21. When the outer end of the active control pull rod 31 is pressed hard, the stop clamping groove 52 is pressed to overcome the spring sheet assembly 51, and then the electrically conductive contact B32 can continue to conductively contact the electrically conductive contact A21. Since the spring sheet assembly 51 cooperates with the stop clamping groove 52 to overcome the magnetic force between the metal-containing magnet A41 and the metal-containing magnet B42, the magnetic force between the two is smaller when they are farther apart. Therefore, the spring sheet assembly 51 is preferably arranged farther away from the metal-containing magnet A41 at the bottom wall of the active vertical slot 2, and the required elastic resistance of the spring sheet assembly 51 is smaller.

[0038] The electrically conductive contact A21 is composed of an electrically conductive contact ring sheet A211 and a center contact recess 212. The center contact recess 212 is surrounded by an isolation insulator A213 around. The electrically conductive contact ring sheet A211 is arranged outside the isolation insulator A213, which is used to insulate and separate the electrically conductive contact ring sheet A211 and the center contact recess 212. The electrically conductive contact ring sheet A211 and the center contact recess 212 are respectively electrically connected to the two poles of the power supply.

[0039] The conductive contact piece B32 is composed of a conductive contact ring piece B321 and a center telescopic contact head 322, the center telescopic contact head 322 is surrounded by an isolation insulator B323, the conductive contact ring piece B321 is arranged outside the isolation insulator B323, and is used to insulate and separate the conductive contact ring piece B321 and the center telescopic contact head 322, the conductive contact ring piece B321 and the center telescopic contact head 322 are respectively electrically connected with two inlet ends of the control bus, and the center contact groove 212 is in close contact with the center telescopic contact head 322, and the conductive contact ring piece A211 is in close contact with the conductive contact ring piece B321, so that the power supply two poles are simultaneously turned on and off, and only the positive pole of the power supply is turned on and off, and the conductive contact piece is a conductive contact piece or a center contact, which can be realized.

[0040] The above-mentioned center telescopic contact head 322 is composed of a contact head and a compression spring, a telescopic groove is formed in the middle of the isolation insulator B323, the contact head is in sliding fit with the telescopic groove, and the compression spring is connected with the inner wall of the telescopic groove and the contact head at two ends, so that the center telescopic contact head 322 can be more closely contacted with the center contact groove 212, and the condition of poor contact is avoided, and the contact head is connected with the handle structure or the inner circuit cable of the pull ring through the telescopic conductive rod or the compression spring of the metal conductive material.

[0041] The traction reset part 4 is composed of a metal-containing magnet A41 and a metal-containing magnet B42, the metal-containing magnet A41 and the metal-containing magnet B42 are respectively arranged in the bottom wall of the movable vertical slot 2 and the bottom end of the movable control pull rod 31, and the opposite surfaces of the metal-containing magnet A41 and the metal-containing magnet B42 are magnetically different, that is, the metal-containing magnets of different natures attract each other, thereby providing a traction force for closely contacting the conductive contact piece A21 and the conductive contact piece B32. The metal-containing magnet A41 is fixedly arranged in the bottom wall of the movable vertical slot 2 and is used for connecting the power supply, so that the metal-containing magnet A41 and the metal-containing magnet B42 can be used as conductive contact pieces, such as conductive contact ring pieces, but the power supply can also be disconnected, and the metal-containing magnet B42 is fixedly arranged at the bottom end of the movable control pull rod 31 and is used for connecting the control bus, and the metal-containing magnet A41 and the metal-containing magnet B42 are made of neodymium iron boron alloy, samarium cobalt alloy, nickel zinc ferrite or aluminum nickel cobalt alloy. These alloy magnets have good conductivity and different characteristics, which are convenient to use in different environments, but are not limited to the above-mentioned materials. For example, neodymium iron boron alloy (high cost performance) has high conductivity and strong permanent magnetism; samarium cobalt alloy (high temperature resistance); silicon steel and permalloy are selected for high conductivity, soft magnetism and low loss; manganese zinc / nickel zinc ferrite is selected for high frequency scene anti-eddy current; cobalt metal, samarium cobalt alloy and aluminum nickel cobalt alloy are used in high temperature and other extreme environments, and any magnet material meeting the conductivity characteristics can be used, which will not be listed here.

[0042] Example two:

[0043] As Figure 5 shown: as an improved scheme, in the same case as embodiment one, the above-mentioned traction reset component 4 is composed of a reset spring piece 43, the two ends of which are connected to the end of the movable control pull rod 31 and the inner wall of the movable vertical slot 2 respectively, specifically, the two ends of the reset spring piece 43 are connected to the inner wall of the movable vertical slot 2 and the sliding mounting seat 33 respectively, the reset spring piece 43 is a compression spring, the sliding mounting seat 33 is pressed by the elastic force of the reset spring piece 43 to drive the conductive contact piece A21 and the conductive contact piece B32 to contact and conduct, the reset spring piece 43 does not necessarily use a metal spring to avoid the possibility of electric leakage.

[0044] The above-mentioned stop component 5 includes a stop nut sleeve 53, a threaded structure 54 is arranged on the upper part of the movable control pull rod 31, the stop nut sleeve 53 cooperates with the threaded structure 54, the stop nut sleeve 53 is arranged outside the robot body 1, and the diameter of the stop nut sleeve 53 is greater than the diameter of the outer port of the movable vertical slot 2, by rotating the stop nut sleeve 53, the movable control pull rod 31 can be extended to a length less than the bottom wall of the movable vertical slot 2, so that the conductive contact piece A21 and the conductive contact piece B32 are always in a separated and disconnected state; reverse rotation of the stop nut sleeve 53 makes the movable control pull rod 31 extend to a length greater than or equal to the movable vertical slot 2, and under the action of the reset spring piece 43, the conductive contact piece A21 and the conductive contact piece B32 are in contact and conduct. The specific structure of the stop component 5 and the traction reset component 4 in the above-mentioned embodiment one and two can be cross-cooperated, only different settings are needed according to different characteristics, such as using a reset spring as a traction reset component and a spring sheet assembly and a stop clamping groove as a stop component 5, the spring sheet assembly is better arranged closer to the bottom wall of the movable vertical slot 2, because the greater the compression of the reset spring, the greater the elastic force, and here the different settings of the spring sheet assembly are not listed.

[0045] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, the scope of the present application is defined by the appended claims.

Claims

1. A hidden emergency stop switch for a robot, comprising a robot body (1), characterized in that: A movable vertical slot (2) and an emergency stop handle structure (3) are provided on the back of the robot body (1); a movable control pull rod (31) is fixedly provided at one end of the emergency stop handle structure (3); the movable control pull rod (31) is movably provided in the movable vertical slot (2), and the other end of the emergency stop handle structure (3) is movably connected to the robot body (1); a conductive contact piece A (21) is provided on the bottom wall of the movable vertical slot (2); a conductive contact piece B (32) is provided at the bottom end of the movable control pull rod (31); the conductive contact piece A (21) and the conductive contact piece B (32) are respectively used to connect a control bus or a power supply; a traction reset component (4) is further provided between the inner wall of the movable vertical slot (2) and the movable control pull rod (31) for providing traction force to control the conductive contact piece A (21) and the conductive contact piece B (32) to be in close contact and fit.

2. The hidden emergency stop switch for a robot according to claim 1, characterized in that: A stop member (5) is also provided between the movable control pull rod (31) and the inner wall of the movable vertical slot (2) or the robot body (1), for pulling the emergency stop handle structure (3) so that the conductive contact member A (21) and the conductive contact member B (32) are separated and their separation state is stably maintained.

3. The hidden emergency stop switch for a robot according to claim 2, characterized in that: A sliding mounting seat (33) is also provided at the bottom end of the movable control rod (31), and the conductive contact member B (32) is mounted on the bottom end of the movable control rod (31) through the sliding mounting seat (33), and the emergency stop handle structure (3) is a handle structure or a pull ring rope loop, and the emergency stop handle structure (3) is fixedly connected to the outer end of the movable control rod (31).

4. The hidden emergency stop switch for a robot according to claim 3, characterized in that: The stopping component (5) includes a spring sheet assembly (51) and a stopping slot (52), wherein the stopping slot (52) is arranged around the side of the conductive contact member B (22) or the sliding mounting seat (23), and the spring sheet assembly (51) is arranged on the upper side of the inner side wall of the movable vertical slot (2), and the spring sheet assembly (51) cooperates with the stopping slot (52).

5. The hidden emergency stop switch for a robot according to claim 2, characterized in that: The stopping component (5) includes a stopping nut sleeve (53), a threaded structure (54) is provided on the upper part of the movable control rod (31), the stopping nut sleeve (53) cooperates with the threaded structure (54), the stopping nut sleeve (53) is provided on the outside of the robot body (1), and the diameter of the stopping nut sleeve (53) is larger than the diameter of the outer end of the movable vertical groove (2).

6. The hidden emergency stop switch for a robot according to any one of claims 1 to 5, characterized in that: The conductive contact piece A (21) is composed of a conductive contact ring piece A (211) and a central contact groove (212); the central contact groove (212) is surrounded by an isolation insulator A (213); the conductive contact ring piece A (211) is surrounded by an outer portion of the isolation insulator A (213) and is used to insulate and separate the conductive contact ring piece A (211) and the central contact groove (212); The conductive contact piece B (32) is composed of a conductive contact ring piece B (321) and a central telescopic contact protrusion (322); the central telescopic contact protrusion (322) is surrounded by an isolation insulator B (323); the conductive contact ring piece B (321) is surrounded by the outer side of the isolation insulator B (323) and is used to insulate and separate the conductive contact ring piece B (321) and the central telescopic contact protrusion (322); the central contact groove (212) is in close contact with the central telescopic contact protrusion (322); and the conductive contact ring piece A (211) is in close contact with the conductive contact ring piece B (321).

7. The hidden emergency stop switch for a robot according to claim 6, characterized in that: The central telescopic contact protrusion (322) is composed of a contact protrusion and a compression spring. A telescopic groove is provided in the middle of the isolation insulator B (323). The contact protrusion is in sliding engagement with the telescopic groove. The two ends of the compression spring are respectively connected to the inner wall of the telescopic groove and the contact protrusion.

8. The hidden emergency stop switch for a robot according to any one of claims 1 to 5 or 7, characterized in that: The traction reset component (4) is composed of a metal-containing magnet A (41) and a metal-containing magnet B (42), and the metal-containing magnet A (41) and the metal-containing magnet B (42) are respectively arranged in the bottom wall of the movable vertical groove (2) and the bottom end of the movable control rod (31), and the relative surfaces between the metal-containing magnet A (41) and the metal-containing magnet B (42) have different magnetic properties.

9. The hidden emergency stop switch for a robot according to claim 8, characterized in that: The metal-containing magnet A (41) is fixedly arranged on the bottom wall of the movable vertical slot (2) for connecting to a power supply, and the metal-containing magnet B (42) is fixedly arranged on the bottom end of the movable control pull rod (31) for connecting to a control bus, and the metal-containing magnet A (41) and the metal-containing magnet B (42) are made of neodymium iron boron alloy, samarium cobalt alloy, nickel zinc ferrite or aluminum nickel cobalt alloy.

10. The hidden emergency stop switch for a robot according to any one of claims 1 to 5 or 7, characterized in that: The traction reset component (4) is composed of a reset spring component (43), and the two ends of the reset spring component (43) are respectively connected to the end of the movable vertical groove (2) and the end of the movable control rod (31).

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