Operating range limiting device

Abstract

The utility model relates to the technical field of robot operation, in particular to an operation range limiting device which comprises an installation base, a movable base is connected to the inner side of a sliding rail base in a sliding mode, a linkage rod is rotatably connected to the top of an eccentric wheel, a sawtooth arc plate is fixedly connected to the right side of a limiting plate, and a rubber pad is fixedly connected to the right side of a damper. According to the operation range limiting device, a robot body structure is driven by a moving seat to slide in an electric sliding groove of a sliding rail seat, it is guaranteed that a robot body has a certain moving range, and when a rotating table enters the contact range of the rotating table and a limiting plate, a second sawtooth layer on the rotating table can be engaged with a second sawtooth layer on the inner side of a sawtooth arc plate; and meanwhile, an eccentric wheel is driven by a gear motor, the left-right distance of a limiting plate can be adjusted, a moving seat makes contact with the limiting plate through a damper and a rubber pad, and then the moving range of the robot body is limited.

Description

Technical Field

[0001] The utility model relates to the technical field of robot operation, in particular to an operation range limiting device. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Therefore, they are widely used in various industrial fields such as electronics, logistics, and chemicals. However, industrial robots run automatically through pre-set program codes and operate the processed objects according to the set rotation range and joint movements. Whether it is a disordered error in the system program or a loss in the connection hardware, it may cause the industrial robot to move beyond the set range. For example, when the program fails, the industrial robot may experience joint chaos and uncontrolled rotation direction. Therefore, it is necessary to use an operating range limit device to mechanically limit the robot's motion range to avoid damage to workers or other products and equipment in the event of a mechanical failure.

[0003] After searching, it is found that a maximum operating range limit device for an industrial robot is disclosed in a utility model patent with Chinese patent publication number CN219617817U. The maximum operating range limit device for an industrial robot in the utility model patent can adjust the positions of the sliding rod and the limit rod by adjusting the screw rod, thereby adjusting the limit amplitude when the turntable rotates. However, the operating range limit device only limits the rotation amplitude of the turntable by contacting and resisting the limit rod with the turntable structure, and ensures that the limit rod has a certain telescopic range of activity by a compression spring. When the rotation amplitude of the turntable is too large, the compression spring will be over-squeezed to cause the limit rod to separate from the contact surface with the turntable, thereby losing the limiting effect. Therefore, the limiting structure of the maximum operating range limit device for the industrial robot needs to be further improved, so an operating range limit device is proposed. Utility Model Content

[0004] In view of the shortcomings of the prior art, the utility model provides an operating range limit device, which has the advantage of stable clamping and limiting with the robot structure, and solves the problem that after the limit rod of the maximum operating range limit device of the industrial robot in the above-mentioned background technology is excessively squeezed, the compression spring drives the limit rod to retract, thereby causing the limit rod to separate from the contact surface with the turntable, thereby losing the limiting effect.

[0005] To achieve the above object, the utility model provides the following technical solutions: an operating range limiting device, comprising a mounting seat, a rotating table is movably mounted on the top of the mounting seat, a robot body is fixedly mounted on the top of the rotating table, and a movable limiting structure is arranged at the bottom of the mounting seat;

[0006] The movable limiting structure includes a slide rail seat, a movable seat, a reduction motor, an eccentric wheel, a connecting rod, a limit plate, a sawtooth arc plate, a damper and a rubber pad. The bottom of the mounting seat is provided with a slide rail seat, the inner side of the slide rail seat is slidably connected to the movable seat, the inner bottom wall of the slide rail seat is fixedly installed with a reduction motor, the inner bottom wall of the slide rail seat is rotatably connected to the eccentric wheel, the top of the eccentric wheel is rotatably connected to the connecting rod, the top of the slide rail seat is slidably connected to the limit plate, the right side of the limit plate is fixedly connected to the sawtooth arc plate, the outside of the limit plate is provided with a damper, and the right side of the damper is fixedly connected to the rubber pad.

[0007] Furthermore, the robot body includes a robotic arm and a pneumatic gripper, the left side of the pneumatic gripper is movably connected to the top of the robotic arm, the top of the movable seat is provided with a mounting groove, the bottom of the mounting seat is clamped with the inner side of the mounting groove by bolts, the inner side of the slide rail seat is provided with an electric slide groove, the electric slide groove is an I-shaped structure, and the bottom of the movable seat is slidably connected to the inner side of the electric slide groove.

[0008] Furthermore, the inner bottom wall of the slide rail seat is rotatably connected to a double-headed pulley, the output end of the reduction motor is fixedly connected to the top of the double-headed pulley, there are two eccentric wheels, and the bottom of one of the eccentric wheels is fixedly connected to a first pulley, and the first pulley is transmission-connected to the bottom of the double-headed pulley via a No. 1 belt.

[0009] Furthermore, the inner bottom wall of the slide rail seat is rotatably connected to a main gear, the top of the main gear is fixedly connected to a second pulley, the second pulley is transmission-connected to the top of the double-head pulley via a No. 2 belt, and the bottom of the other eccentric wheel is rotatably connected to a secondary gear, and the outer side of the gear ring of the main gear is meshed with the outer side of the gear ring of the secondary gear.

[0010] Furthermore, there are two connecting rods and two limiting plates, one end of the two connecting rods is rotatably connected to the top of the two eccentric wheels, and the other ends of the two connecting rods are rotatably connected to the bottom of the two limiting plates. The top of the slide rail seat is provided with two sliding grooves, and the inner side of each of the sliding grooves is fixedly connected with two screw rods, and the bottom of the two limiting plates is slidably connected to the outside of the four screw rods.

[0011] Furthermore, there are two sawtooth arc plates, the inner sides of the two sawtooth arc plates are each provided with a first sawtooth layer, the outer side of the rotating table is provided with a second sawtooth layer, and the inner diameter of each sawtooth arc plate is greater than the outer diameter of the rotating table.

[0012] Furthermore, the two limit plates are fixedly connected to the opposite sides with mounting blocks, and the right sides of the two mounting blocks are provided with two slots. The number of the dampers and rubber pads is two, and the left sides of the two dampers are fixedly connected to the inside of the two slots respectively.

[0013] Beneficial Effects

[0014] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0015] The operating range limiting device connects the mounting seat and the moving seat by bolts, so that the moving seat drives the robot body structure to slide in the electric slide groove of the slide rail seat, thereby ensuring that the robot body has a certain moving range. When the rotating table enters the contact range with the limiting plate, the second serrated layer on the rotating table will mesh with the second serrated layer on the inner side of the serrated arc plate, thereby limiting the rotation range of the rotating table. At the same time, the eccentric wheel is driven by the reduction motor to adjust the left and right distance of the limiting plate. The moving seat contacts the limiting plate through the damper and the rubber pad, thereby limiting the moving range of the robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional diagram of the overall structure of the utility model;

[0017] Figure 2 This is a left view of the slide rail seat structure of the utility model;

[0018] Figure 3 This is a top view of the slide rail seat structure of the utility model;

[0019] Figure 4 for Figure 3 Cross-sectional view of the structure of the middle slide rail seat;

[0020] Figure 5 for Figure 3 Top view of the electric chute structure;

[0021] Figure 6 for Figure 3 A schematic diagram of the enlarged structure in the middle.

[0022] In the figure: 1, mounting base; 2, rotating table; 3, robot body; 301, mechanical arm; 302, pneumatic claw; 4, moving limit structure; 401, slide rail seat; 402, moving seat; 403, reduction motor; 404, eccentric wheel; 405, connecting rod; 406, limit plate; 407, sawtooth arc plate; 408, damper; 409, rubber pad. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] See also Figure 1-6 , an operating range limiting device, includes a mounting base 1, a rotating table 2 is movably installed on the top of the mounting base 1, a robot body 3 is fixedly installed on the top of the rotating table 2, the robot body 3 includes a mechanical arm 301 and a pneumatic mechanical claw 302, the left side of the pneumatic mechanical claw 302 is movably connected to the top of the mechanical arm 301, and the bottom of the mechanical arm 301 is connected to the top of the rotating table 2, which can ensure that the operating direction of the pneumatic mechanical claw 302 can be changed, and a movable limiting structure 4 is arranged at the bottom of the mounting base 1.

[0025] The movable limiting structure 4 includes a slide rail seat 401, a movable seat 402, a reduction motor 403, an eccentric wheel 404, a linkage rod 405, a limit plate 406, a sawtooth arc plate 407, a damper 408 and a rubber pad 409. The slide rail seat 401 is arranged at the bottom of the mounting seat 1. The top view of the slide rail seat 401 is a U-shaped structure. The inner side of the slide rail seat 401 is slidably connected with the movable seat 402. The movable seat 402 is slidably connected with the electric slide groove inside the slide rail seat 401. The inner bottom wall of the slide rail seat 401 is fixedly installed with a reduction motor 403. The reduction motor 403 drives the double-head pulley. The double-head pulley drives the first pulley and the second pulley at the same time. The inner bottom wall of the slide rail seat 401 is rotatably connected with an eccentric wheel 404, and the two eccentric wheels 404 rotate in opposite directions. The top of the eccentric wheel 404 is rotatably connected with a limiting plate 406. The connecting rod 405 is rotatably connected with the bottom of the limiting plate 406. The right side of the limiting plate 406 is fixedly connected with a sawtooth arc plate 407, and the sawtooth arc plate 407 is clamped with the outside of the rotating table 2. A damper 408 is arranged on the outside of the limiting plate 406, and a rubber pad 409 is fixedly connected to the right side of the damper 408. The damper 408 and the rubber pad 409 are in contact with the outside of the moving seat 402 to limit the moving range of the moving seat 402.

[0026] according to Figure 3 and Figure 5 As shown, a mounting groove and four screw holes are provided on the top of the movable seat 402, and the bottom of the mounting seat 1 is clamped with the inner side of the mounting groove by four bolts to realize the connection between the rotating table 2 and the robot body 3 and the movable seat 402. The top view of the slide rail seat 401 is a U-shaped structure, and an I-shaped electric slide groove is provided on the inner side of the slide rail seat 401, and the movable seat 402 slides on the inner side of the electric slide groove.

[0027] according to Figure 3 and Figure 4 As shown, the output end of the reduction motor 403 is connected to the top of the double-headed pulley, and the top and bottom of the double-headed pulley are both pulley structures. The bottom of one of the eccentric wheels 404 is connected to the first pulley, and the first pulley is connected to the bottom of the double-headed pulley through a No. 1 belt. When the reduction motor 403 drives the double-headed pulley, one of the eccentric wheels 404 will rotate synchronously with the double-headed pulley in the same direction.

[0028] according to Figure 3 and Figure 4 As shown, the inner bottom wall of the slide rail seat 401 is rotatably connected to a main gear, the second pulley at the bottom of the main gear is transmission-connected to the top of the double-head pulley, and the main gear is meshed with the sub-gear at the bottom of the other eccentric wheel 404, thereby ensuring that the rotation direction of one eccentric wheel 404 is opposite to that of the other eccentric wheel 404.

[0029] according to Figure 3 and Figure 4 as well as Figure 6 As shown, one end of the two connecting rods 405 is rotatably connected to the top of the eccentric wheel 404, and the other end is rotatably connected to the bottom of the limit plate 406. When the eccentric wheel 404 drives the connecting rod 405 to rotate eccentrically, it can drive the two limit plates 406 to move left and right synchronously to adjust the limit distance with the moving seat 402.

[0030] according to Figure 1 and Figure 2 As shown, the sawtooth arc plate 407 is a semi-cylindrical structure, and a first sawtooth layer is provided on the inner side of the sawtooth arc plate 407. When the rotating table 2 enters the inner side of the sawtooth arc plate 407, the first sawtooth layer on the inner side of the sawtooth arc plate 407 will engage with the second sawtooth layer on the outer side of the rotating table 2, thereby limiting the rotation range of the rotating table 2.

[0031] according to Figure 1 and Figure 6 As shown, the left side of the rubber pad 409 is connected to the right side of the mounting block through the damper 408. When the moving seat 402 enters the contact range with the rubber pad 409, the moving seat 402 will be pressed against by squeezing the damper 408, thereby limiting the movement range of the moving seat 402.

[0032] In summary, the operating range limiting device connects the mounting seat 1 and the moving seat 402 by bolts, so that the moving seat 402 drives the robot body 3 structure to slide in the electric slide groove of the slide rail seat 401, ensuring that the robot body 3 has a certain range of movement. When the rotating table 2 enters the contact range with the limiting plate 406, the second serrated layer on the rotating table 2 will engage with the second serrated layer on the inner side of the serrated arc plate 407, thereby limiting the rotation range of the rotating table 2. At the same time, the eccentric wheel 404 is driven by the reduction motor 403 to adjust the left and right distance of the limiting plate 406. The moving seat 402 contacts the limiting plate 406 through the damper 408 and the rubber pad 409, thereby limiting the moving range of the robot body 3. This solves the problem that after the limiting rod of the maximum operating range limiting device of the industrial robot in the above-mentioned background technology is excessively squeezed, the compression spring drives the limiting rod to retract, thereby causing the limiting rod to detach from the contact surface with the turntable, thereby losing the limiting effect.

[0033] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0034] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An operating range limiting device, comprising a mounting seat (1), characterized in that: A rotating platform (2) is movably mounted on the top of the mounting seat (1), a robot body (3) is fixedly mounted on the top of the rotating platform (2), and a movable limiting structure (4) is provided at the bottom of the mounting seat (1); The movable limiting structure (4) comprises a slide rail seat (401), a movable seat (402), a reduction motor (403), an eccentric wheel (404), a linkage rod (405), a limit plate (406), a sawtooth arc plate (407), a damper (408) and a rubber pad (409); the slide rail seat (401) is arranged at the bottom of the mounting seat (1); the movable seat (402) is slidably connected to the inner side of the slide rail seat (401); the reduction motor (403) is fixedly installed on the inner bottom wall of the slide rail seat (401); The machine (403) comprises an eccentric wheel (404) rotatably connected to the inner bottom wall of the slide rail seat (401), a linkage rod (405) rotatably connected to the top of the eccentric wheel (404), a limit plate (406) slidably connected to the top of the slide rail seat (401), a sawtooth arc plate (407) fixedly connected to the right side of the limit plate (406), a damper (408) is arranged outside the limit plate (406), and a rubber pad (409) is fixedly connected to the right side of the damper (408).

2. An operating range limiting device according to claim 1, characterized in that: The robot body (3) comprises a mechanical arm (301) and a pneumatic mechanical claw (302), the left side of the pneumatic mechanical claw (302) is movably connected to the top of the mechanical arm (301), the top of the movable seat (402) is provided with a mounting groove, the bottom of the mounting seat (1) is clamped with the inner side of the mounting groove by bolts, the inner side of the slide rail seat (401) is provided with an electric slide groove, the electric slide groove is an I-shaped structure, and the bottom of the movable seat (402) is slidably connected to the inner side of the electric slide groove.

3. The operating range limiting device according to claim 1, characterized in that: The inner bottom wall of the slide rail seat (401) is rotatably connected to a double-headed pulley, the output end of the reduction motor (403) is fixedly connected to the top of the double-headed pulley, and there are two eccentric wheels (404), one of which is fixedly connected to a first pulley at the bottom, and the first pulley is connected to the bottom of the double-headed pulley through a No. 1 belt.

4. An operating range limiting device according to claim 3, characterized in that: The inner bottom wall of the slide rail seat (401) is rotatably connected to a main gear, the top of the main gear is fixedly connected to a second pulley, the second pulley is connected to the top of the double-head pulley through a second belt, and the bottom of the other eccentric wheel (404) is rotatably connected to a secondary gear, and the outer side of the gear ring of the main gear is meshed with the outer side of the gear ring of the secondary gear.

5. The operating range limiting device according to claim 1, characterized in that: The number of the connecting rods (405) and the limiting plates (406) are both two, one end of the two connecting rods (405) is respectively rotatably connected to the top of the two eccentric wheels (404), and the other ends of the two connecting rods (405) are respectively rotatably connected to the bottom of the two limiting plates (406), the top of the slide rail seat (401) is provided with two slide grooves, the inner side of each of the slide grooves is fixedly connected with two screw rods, and the bottoms of the two limiting plates (406) are respectively slidably connected to the outside of the four screw rods.

6. The operating range limiting device according to claim 1, characterized in that: The number of the sawtooth arc plates (407) is two, the inner sides of the two sawtooth arc plates (407) are each provided with a first sawtooth layer, the outer side of the rotating platform (2) is provided with a second sawtooth layer, and the inner diameter of each sawtooth arc plate (407) is greater than the outer diameter of the rotating platform (2).

7. An operating range limiting device according to claim 1, characterized in that: The two limiting plates (406) are fixedly connected to mounting blocks on opposite sides thereof, two slots are provided on the right sides of the two mounting blocks, the dampers (408) and rubber pads (409) are both provided in two numbers, and the left sides of the two dampers (408) are fixedly connected to the inside of the two slots respectively.

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