Detachable emergency stop device of manipulator

Abstract

The utility model discloses a detachable sudden stop device of a manipulator, which comprises a demonstrator and a key box, an inserting block is arranged on the front side of the key box, an inserting seat is arranged at the bottom of the demonstrator, an inserting groove matched with the inserting block in an inserting manner is formed in the inserting seat, and the inserting block is inserted into the inserting groove. An elastic limiting mechanism is arranged between at least one side wall of the inserting groove and the side portion of the inserting block, the inserting block is arranged in the inserting groove in an elastic limiting and inserting mode through the elastic limiting mechanism, and the two sides of the bottom of the inserting groove are bent inwards to be provided with blocking edges. The inserting and pulling structure of the split type demonstrator has the advantages of being reasonable in structural arrangement, convenient to assemble, disassemble and combine, easy to operate, convenient to maintain after sale and capable of saving cost.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulator application, in particular to a detachable emergency stop device of the manipulator. Background Art

[0002] With the development of science and technology, the application of manipulators is becoming more and more extensive. In the process of manipulator application, due to the increasing complexity of application scenarios, it is sometimes necessary to perform emergency stop operations on the manipulator to ensure safety.

[0003] The existing emergency stop device usually includes an emergency stop button box and a manipulator teach pendant with a screen. The emergency stop button box can effectively control the manipulator teach pendant through buttons, and the manipulator teach pendant with a screen can display the current machine's operating status parameters and the like after being connected to the button box. Usually, the emergency stop button box and the manipulator teach pendant are integrated, but in actual use, we often only need to perform simple operations on the machine and do not need a screen to display data. Therefore, the existing integrated emergency stop button box and manipulator teach pendant with a screen, the button box and the teach pendant are not convenient to disassemble. When the internal components of the button box are damaged, the entire teach pendant often needs to be disassembled, which is relatively time-consuming and labor-intensive, and is not conducive to after-sales maintenance. Summary of the invention

[0004] The technical problem to be solved by the utility model is to provide an emergency stop device for a manipulator which has a reasonable structure and is convenient for disassembly and assembly, is easy to operate, is convenient for after-sales maintenance, and saves costs.

[0005] A detachable emergency stop device for a manipulator comprises a teach pendant and a button box, wherein a plug-in block is arranged on the front side of the button box, a plug-in seat is arranged on the bottom of the teach pendant, a slot for plugging with the plug-in block is formed in the plug-in seat, an elastic limiting mechanism is arranged between at least one side wall of the slot and the side of the plug-in block, the plug-in block is elastically limited and plugged in the slot by the elastic limiting mechanism, and retaining edges are arranged on both sides of the bottom of the slot which are bent inwards.

[0006] The elastic limiting mechanism comprises a limiting hole arranged on at least one side wall of the slot and an elastic buckle protruding outwardly and arranged on the side of the plug-in block, and the elastic buckle is elastically clamped in the limiting hole.

[0007] The elastic buckle is composed of an integrally formed spring sheet, which includes a fixing part, a pressing part, a connecting part and a limiting part which are integrally connected from front to back. A mounting slot is provided on the side of the plug-in block, a first through hole is provided on the outer side of the mounting slot, and a second through hole is provided on the inner side of the mounting slot. The fixing part is fixedly arranged at the front end of the mounting slot, the pressing part elastically protrudes outward and extends out of the first through hole, the connecting part is bent inwardly and arranged at the rear end of the pressing part, the limiting part is bent at the inner end of the pressing part and is clamped in the second through hole, and a button for pressing the pressing part inward is movably arranged in the limiting hole. By elastically clamping the spring sheet in the limiting hole, with the help of the guiding function of the slot and the precise limiting of the limiting hole, the traditional screw locking method is successfully replaced, thereby significantly reducing the cost of parts and manufacturing time; when disconnection is required, the rebound force of the spring sheet can be overcome by pressing the button, and the components can be quickly separated, with a simple structure and convenient operation.

[0008] The plug-in seat includes a fixed seat fixedly arranged at the bottom of the teaching pendant and a fixed sheet bent downward and fixedly arranged on the fixed seat, the slot is formed between the two fixed sheets, and the retaining edge is fixedly bent inwardly and arranged at the bottom of the fixed sheet. The fixing sheet is used to limit and guide the side wall of the plug-in block, so as to facilitate the accurate positioning of the key box between the two fixing sheets, ensure that the key box remains stable during use, and at the same time, the plug-in block is plugged into the inner slot to ensure that the components are accurately positioned during the assembly process, thereby improving the assembly quality of the product; further, the two fixing sheets are arranged in an "eight" shape, and the eight-shaped arrangement can further enhance the overall strength and stability of the structure and reduce possible swaying or shaking; the bottom of the fixing sheet is bent inwardly and provided with a retaining edge to ensure that the key box will not swing in other directions during use, so that the elastic limiting mechanism and the side wall of the plug-in block are more firmly connected, ensuring the reliability and stability of the product under various working conditions.

[0009] Furthermore, the rib is an arc-shaped rib. The arc-shaped structure is more convenient to process and improves stability.

[0010] The two sides of the slot are provided with limit ribs protruding inwardly along the front-back direction, and the two sides of the plug-in block are provided with limit grooves cooperating with the limit ribs concave inwardly along the front-back direction, and the limit ribs are slidably arranged in the limit grooves. The cooperation between the limit ribs and the limit grooves can ensure that the position of the intersection of the bottom of the teaching pendant and the plug-in block is accurately fixed and limited, which can ensure that the structure remains stable during operation, reduce the risk of accidents caused by improper assembly or abnormal operation, and improve the safety and reliability of the entire system.

[0011] The bottom of the socket on the teaching pendant is recessed upwards to provide a positioning cavity, the internal spacing of the positioning cavity decreases from back to front, and the top of the plug-in block is protruding upwards to provide a positioning protrusion that cooperates with the positioning cavity.

[0012] The positioning cavity includes an outer positioning portion and an inner positioning portion distributed in sequence from back to front, the inner positioning portion extends forward from the inner side of the front end of the outer positioning portion for positioning, and the positioning protrusion includes an outer positioning block that cooperates and plugs with the outer positioning portion and an inner positioning block that cooperates and plugs with the inner positioning portion.

[0013] The edge of the outer positioning block and the edge of the inner positioning block both form an arc chamfer. The arc chamfers formed by the edges of the outer positioning block and the inner positioning block are respectively matched and connected with the arcuate parts of the outer positioning part and the inner positioning part, which is conducive to accurate matching connection, soft and not easy to be damaged, and can enhance the strength of the overall structure.

[0014] The front side of the key box is located on one side of the plug-in block and is provided with a signal plug-in interface, and the bottom rear side of the teaching pendant is provided with a signal plug-in connector that cooperates with the signal plug-in interface.

[0015] Compared with the prior art, the advantage of the utility model lies in that the plug-in block is elastically limited and plugged into the slot through an elastic limit mechanism, and the plug-in seat and the retaining edge are used to limit and guide the side wall of the plug-in block, so as to realize the signal conduction and separation between the teach pendant and the key box. Under normal circumstances, while retaining key functions such as emergency stop of the key box, many complex and infrequently used functions are removed, making it easier to use; at the same time, the teach pendant and the key box are connected by an emergency stop device, and there is no need to purchase a teach pendant for each manipulator. Only one teach pendant is needed to flexibly connect the key boxes on different manipulators for operation, and the key box is set to a detachable structure to realize a detachable connection with the teach pendant, so that the key box can be used as a mobile box, which is convenient for after-sales maintenance and saves costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an exploded diagram of the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of the key box and the plug-in block of the utility model;

[0018] Figure 3 It is a partial structural schematic diagram of the key box and the plug-in block of the utility model;

[0019] Figure 4 It is a partial structural schematic diagram of the plug-in block and the elastic limiting mechanism of the utility model;

[0020] Figure 5It is a partial structural schematic diagram of the plug-in block and the spring piece of the utility model. DETAILED DESCRIPTION

[0021] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0022] Embodiment 1: A detachable emergency stop device for a manipulator comprises a teach pendant 1 and a button box 2, a plug-in block 21 is arranged on the front side of the button box 2, a plug-in seat 11 is arranged on the bottom of the teach pendant 1, a slot 12 for mating with the plug-in block 21 is formed in the plug-in seat 11, an elastic limiting mechanism is arranged between at least one side wall of the slot 12 and the side of the plug-in block 21, the plug-in block 21 is elastically limited and plugged in the slot 12 by the elastic limiting mechanism, and retaining edges 13 are arranged on both sides of the bottom of the slot 12 which are bent inward.

[0023] The elastic limiting mechanism includes a limiting hole 121 provided on at least one side wall of the slot 12 and an elastic buckle 22 protruding outwardly and provided on the side of the plug-in block 21 , and the elastic buckle 22 is elastically engaged in the limiting hole 121 .

[0024] The elastic buckle 22 is composed of an integrally formed spring sheet, which includes a fixing portion 221, a pressing portion 222, a connecting portion 223 and a limiting portion 224 that are integrally connected from front to back. A mounting slot 23 is provided on the side of the plug-in block 21, a first through hole 231 is provided on the outer side of the mounting slot 23, and a second through hole 232 is provided on the inner side of the mounting slot 23. The fixing portion 221 is fixedly arranged at the front end of the mounting slot 23, the pressing portion 222 elastically protrudes outward and extends out of the first through hole 231, the connecting portion 223 is bent inwardly and arranged at the rear end of the pressing portion 222, the limiting portion 224 is bent and arranged at the inner end of the pressing portion 222 and is clamped in the second through hole 232, and a button 122 for pressing the pressing portion 222 inwardly is movably arranged in the limiting hole 121.

[0025] The plug socket 11 includes a fixed seat 111 fixedly arranged at the bottom of the teaching pendant 1 and a fixing plate 112 bent downward and fixedly arranged on the fixed seat 111 , a slot 12 is formed between the two fixing plates 112 , and a retaining edge 13 is fixedly bent inwardly and arranged at the bottom of the fixing plate 112 .

[0026] The rib 13 is an arc-shaped rib.

[0027] The two sides of the slot 12 are provided with limiting ribs 14 protruding inwardly along the front-back direction, and the two sides of the plug-in block 21 are provided with limiting grooves 24 recessed inwardly along the front-back direction to cooperate with the limiting ribs 14 , and the limiting ribs 14 are slidably arranged in the limiting grooves 24 .

[0028] The bottom of the socket 11 on the teaching pendant 1 is recessed upward to provide a positioning cavity 15 , the internal spacing of the positioning cavity 15 decreases from back to front, and the top of the plug-in block 21 is protruding upward to provide a positioning protrusion 25 that cooperates with the positioning cavity 15 .

[0029] The positioning cavity 15 includes an outer positioning portion 151 and an inner positioning portion 152 which are distributed in sequence from back to front. The inner positioning portion 152 extends forward from the inner side of the front end of the outer positioning portion 151 for positioning. The positioning protrusion 25 includes an outer positioning block 251 which is plugged into the outer positioning portion 151 and an inner positioning block 252 which is plugged into the inner positioning portion 152.

[0030] A signal plug interface 26 is provided on the front side of the key box 2 at one side of the plug block 21 , and a signal plug connector (not shown) that is plugged into the signal plug interface 26 is provided on the bottom rear side of the teaching pendant 1 .

[0031] Embodiment 2: The rest is the same as Embodiment 1, except that the edge of the outer positioning block 251 and the edge of the inner positioning block 252 both form an arc chamfer 253 .

Claims

1. A detachable emergency stop device for a manipulator, comprising a teaching pendant and a button box, Features A plug-in block is provided on the front side of the button box, a plug-in socket is provided at the bottom of the teaching pendant, a slot for cooperating with the plug-in block is formed in the plug-in socket, an elastic limiting mechanism is provided between at least one side wall of the slot and the side of the plug-in block, the plug-in block is elastically limited and plug-in arranged in the slot by the elastic limiting mechanism, and guard edges are provided on both sides of the bottom of the slot that are bent inwards.

2. A detachable emergency stop device for a manipulator according to claim 1, Features The elastic limiting mechanism comprises a limiting hole arranged on at least one side wall of the slot and an elastic buckle protruding outwardly and arranged on the side of the plug-in block, and the elastic buckle is elastically clamped in the limiting hole.

3. A detachable emergency stop device for a manipulator according to claim 2, Features The elastic buckle is composed of an integrally formed spring sheet, and the spring sheet includes a fixing portion, a pressing portion, a connecting portion and a limiting portion that are integrally connected from front to back. A mounting groove is provided on the side of the plug-in block, a first through hole is provided on the outer side of the mounting groove, and a second through hole is provided on the inner side of the mounting groove. The fixing portion is fixedly arranged at the front end of the mounting groove, the pressing portion elastically protrudes outward and extends out of the first through hole, the connecting portion is bent inwardly and arranged at the rear end of the pressing portion, the limiting portion is bent at the inner end of the pressing portion and is clamped in the second through hole, and a button for pressing the pressing portion inwardly is movably arranged in the limiting hole.

4. A detachable emergency stop device for a manipulator according to claim 1, Features The socket comprises a fixed seat fixedly arranged at the bottom of the teaching pendant and a fixing plate bent downward and fixedly arranged on the fixed seat, the slot is formed between the two fixing plates, and the retaining edge is fixedly bent inwardly and arranged at the bottom of the fixing plate.

5. A detachable emergency stop device for a manipulator according to claim 4, Features The rib is an arc rib.

6. A detachable emergency stop device for a manipulator according to claim 1, Features The two sides of the slot are provided with limiting ribs protruding inwardly along the front-back direction, and the two sides of the plug-in block are provided with limiting grooves matching with the limiting ribs recessed inwardly along the front-back direction, and the limiting ribs are slidably arranged in the limiting grooves.

7. A detachable emergency stop device for a manipulator according to claim 1, Features The bottom of the socket on the teaching pendant is recessed upwards to provide a positioning cavity, the internal spacing of the positioning cavity decreases from back to front, and the top of the plug-in block is protruding upwards to provide a positioning protrusion that cooperates with the positioning cavity.

8. A detachable emergency stop device for a manipulator according to claim 7, Features The positioning cavity includes an outer positioning portion and an inner positioning portion distributed in sequence from back to front, the inner positioning portion extends forward from the inner side of the front end of the outer positioning portion for positioning, and the positioning protrusion includes an outer positioning block that cooperates and plugs with the outer positioning portion and an inner positioning block that cooperates and plugs with the inner positioning portion.

9. A detachable emergency stop device for a manipulator according to claim 8, Features The edge of the outer positioning block and the edge of the inner positioning block both form an arc chamfer.

10. A detachable emergency stop device for a manipulator according to claim 1, Features The front side of the key box is located at one side of the plug-in block and is provided with a signal plug interface, and the bottom rear side of the teaching pendant is provided with a signal plug connector that cooperates with the signal plug interface.

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