Robot safety sudden stop device

Abstract

The utility model provides a robot safety sudden stop device which comprises a supporting seat and a first impact triggering assembly, the supporting seat is movably arranged on a machine table, a robot is arranged on the supporting seat, the first impact triggering assembly is arranged on the supporting seat, and the first impact triggering assembly comprises a tensioning rope, a position sensing device and an elastic piece. The two ends of the tensioning rope are connected with the supporting base and the position sensing device respectively, the middle of the tensioning rope is movably limited to the supporting base, the two ends of the elastic piece are connected with the supporting base and the position sensing device respectively so that the tensioning rope can be tensioned and the position sensing device can be in a non-triggered state, and the central control system is electrically connected with the position sensing device. And when the tensioning rope is impacted from any side of the moving direction of the supporting seat, the position sensing device is in a triggered state, so that the central control system controls the robot to stop moving. According to the utility model, the maintenance personnel can be prevented from being hurt by touching the moving robot in case of emergencies.

Description

Technical Field

[0001] The utility model relates to the technical field of LED cleaning, and particularly relates to a robot safety emergency stop device. Background Art

[0002] Wet cleaning of LEDs is a key step in the semiconductor manufacturing process for cleaning and processing LED epitaxial wafers or chips. Its main function is to remove pollutants generated during LED manufacturing, such as organic substances, metal residues, oxides, etc., to ensure the quality and performance of the final product.

[0003] In wet cleaning, various chemical reagents are usually used to react chemically or dissolve with the pollutants adsorbed on the surface of the product to be cleaned. At the same time, physical measures such as ultrasonic, heating, and vacuum pumping are supplemented to make the pollutants detach from the surface of the product to be cleaned, and then rinsed with high-purity deionized water to obtain a clean surface. However, since most of the chemical reagents used in cleaning are strongly acidic or strongly alkaline, robots are usually used for operations. For example, the robot is used to pick up and place the product to be cleaned from the cleaning tank.

[0004] When the robot has a sudden failure or the cleaning equipment has a sudden failure, maintenance personnel need to enter the operation site and manually press the safety emergency stop device set inside the automation equipment or on the robot to promptly stop the robot or the cleaning equipment from running. However, during this process, since the robot is always in a moving state, it is possible for maintenance personnel to be injured by the robot and cause a safety accident. For example, the arm of the maintenance personnel is squeezed and injured by the moving robot. Content of the Utility Model

[0005] Based on this, the purpose of the utility model is to provide a robot safety emergency stop device, which can prevent maintenance personnel from being injured by touching the moving robot in case of an emergency.

[0006] The utility model provides a robot safety emergency stop device, which is applied to an LED automatic cleaning machine. The LED automatic cleaning machine includes a machine platform, a robot, and a central control system. The robot is electrically connected to the central control system. The robot safety emergency stop device includes a support seat and a first impact trigger assembly. The support seat is movably arranged on the machine platform, the robot is arranged on the support seat, and the first impact trigger assembly is arranged on the support seat. The first impact trigger assembly includes a tension rope, a position sensing device, and an elastic member. The two ends of the tension rope are respectively connected to the support seat and the position sensing device, and the middle part of the tension rope is movably limited on the support seat. The two ends of the elastic member are respectively connected to the support seat and the position sensing device to make the tension rope taut and make the position sensing device in an untriggered state. The central control system is electrically connected to the position sensing device. When the tension rope is impacted from any side of the moving direction of the support seat, the position sensing device is in a triggered state, and the central control system controls the robot to stop moving.

[0007] The beneficial effects of the present utility model at least include: by providing the first impact trigger component, when the maintenance personnel fail to press the safety emergency stop device provided inside the automated equipment or on the robot in a timely manner, or when the safety emergency stop device provided inside the automated equipment or on the robot fails, the tension rope on the moving support seat will immediately generate a trigger signal for the position sensing device after hitting the maintenance personnel, thereby causing the central control system to respond and immediately control the robot to stop moving; moreover, since the robot safety emergency stop device in this application is a passive activation device and does not require personnel operation, it can be automatically triggered when the tension rope hits the maintenance personnel, with high reliability.

[0008] In addition, according to the above-mentioned robot safety emergency stop device of the present utility model, the following additional technical features may also be provided:

[0009] Further, the position sensing device includes a sensor and a sensing member. The sensor is electrically connected to the central control system, the sensor is fixed on the support seat, the sensing member is movably arranged on the support seat, one end of the tension rope is connected to the sensing member, and one end of the elastic member is connected to the sensing member to keep the relative position between the sensor and the sensing member unchanged.

[0010] Further, the position sensing device includes a sensor and a sensing member. The sensor is electrically connected to the central control system, the sensor is movably arranged on the support seat, the sensing member is fixed on the support seat, one end of the tension rope is connected to the sensor, and one end of the elastic member is connected to the sensor to keep the relative position between the sensor and the sensing member unchanged.

[0011] Further, the first impact trigger component further includes a pulley group, and the middle part of the tension rope is wound around the pulley group.

[0012] Further, a support panel is provided on the upper support, and the pulley group includes a plurality of pulleys arranged on the circumferential edge of the support panel.

[0013] Further, the robot safety emergency stop device further includes a second impact trigger component, which is arranged on both sides of the moving direction of the support seat. The central control system is electrically connected to the second impact trigger component. When hitting the second impact trigger component from any side of the moving direction of the support seat, the second impact trigger component is in a triggered state and causes the central control system to control the robot to stop moving.

[0014] Further, the second impact trigger component includes a pressure sensor, and the pressure sensor is electrically connected to the central control system.

[0015] Further, the second impact trigger component further includes a rubber strip, and the rubber strip wraps the pressure sensor.

[0016] Further, the support base includes an upper support and a lower support that are connected to each other. There is a hollow area between the upper support and the lower support. The middle part of the tensioning rope passes through the hollow area. The position sensing device and the elastic member are both arranged on the lower support. The middle part of the tensioning rope is movably limited on the upper support. The second impact trigger assembly is arranged on the lower support.

[0017] Further, the lower support includes an outer frame and a fixed seat. An accommodation chamber is provided inside the outer frame. The fixed seat is arranged inside the accommodation chamber. The position sensing device and the elastic member are both arranged on the fixed seat. The two ends of the tensioning rope pass through the outer frame and enter the accommodation chamber. The second impact trigger assembly is arranged on the outer frame. Description of the Drawings

[0018] Figure 1 is a schematic structural diagram of the first perspective of the embodiment of the present invention;

[0019] Figure 2 is Figure 1 a partial enlarged view of part A in

[0020] Figure 3 is a schematic structural diagram of the second perspective of the embodiment of the present invention;

[0021] Main Element Symbol Description:

[0022] Support base 100, upper support 110, support panel 111, lower support 120, outer frame 121, fixed seat 122, accommodation chamber 1211, second guide rail 130;

[0023] First impact trigger assembly 200, tensioning rope 210, position sensing device 220, sensor 221, sensing member 222, elastic member 230, pulley block 240, pulley 241;

[0024] Support plate 300, first guide rail 310;

[0025] Second impact trigger assembly 400, rubber strip 410;

[0026] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. Specific Embodiments

[0027] For the convenience of understanding the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this utility model belongs. The terms used in the description of this utility model herein are for the purpose of describing specific embodiments only and are not intended to limit this utility model. The term "and / or" as used herein includes any and all combinations of one or more of the related listed items.

[0029] Referring to Figures 1 to 3 , a robot safety emergency stop device provided by this utility model is applied to an LED automatic cleaning machine. The LED automatic cleaning machine includes a machine platform, a robot, and a central control system. The robot is electrically connected to the central control system, and the central control system can control the robot to perform corresponding actions, such as placing the product to be cleaned in the cleaning tank on the machine platform.

[0030] Specifically, the robot safety emergency stop device includes a support base 100 and a first impact trigger assembly 200. The robot is installed on the support base 100, and the support base 100 is movably arranged on the machine platform. Exemplarily, a support plate 300 is arranged on the machine platform, and a first guide rail 310 extending in the left-right direction is arranged on the support plate 300. The support base 100 is slidably arranged on the first guide rail 310, so that the robot can move in the left-right direction. The first impact trigger assembly 200 is arranged on the support base 100. Specifically, the first impact trigger assembly 200 includes a tension rope 210, a position sensing device 220, and an elastic member 230. The two ends of the tension rope 210 are respectively connected to the support base 100 and the position sensing device 220. The middle part of the tension rope 210 is movably limited on the support base 100. The two ends of the elastic member 230 are respectively connected to the support base 100 and the position sensing device 220. The central control system is electrically connected to the position sensing device 220. Among them, the elastic member 230 can adopt a spring with a simple structure, or other elastic devices with similar functions to the spring.

[0031] Before the tension rope 210 is impacted, the elastic member 230 provides an equal-sized pulling force opposite to the pulling force acting on the position sensing device 220 when the tension rope 210 is tensioned. In this way, the tension rope 210 can not only be in a tensioned state, but also because these two pulling forces are equal in magnitude and opposite in direction, the upper and lower sides of the position sensing device 220 are in a force balance state, and at this time the position sensing device 220 is not triggered. When the tension rope 210 is impacted from any side of the moving direction of the support base 100, the tensioned tension rope 210 is squeezed, causing the pulling force acting on the position sensing device 220 to suddenly increase, thereby breaking the force balance state on the upper and lower sides of the position sensing device 220 and making the position sensing device 220 in a triggered state. When the central control system detects that the position sensing device 220 is in a triggered state, it immediately controls the robot to stop moving.

[0032] In this embodiment, when the tension rope 210 is not impacted, the robot can move normally. When a maintenance personnel entering the working site impacts the tension rope 210, the position sensing device 220 can be immediately triggered, and then the central control system immediately controls the robot to stop moving, thereby protecting the safety of the maintenance personnel.

[0033] In some alternative embodiments, such as Figure 2 shown, the position sensing device 220 includes a sensor 221 and a sensing member 222. The sensor 221 is electrically connected to the central control system. The sensor 221 is fixedly arranged on the support base 100, and the sensing member 222 is movably arranged on the support base 100. Specifically, a second guide rail 130 can be arranged on the support base 100, and then the sensing member 222 is slidably arranged on the second guide rail 130. One end of the tension rope 210 is connected to the sensing member 222, and one end of the elastic member 230 is connected to the sensing member 222. Before the tension rope 210 is impacted, due to the fact that the tension force of the elastic member 230 acting on the position sensing device 220 is equal in magnitude and opposite in direction to the tension force of the tension rope 210 when it is tensioned acting on the position sensing device 220, the relative position between the sensor 221 and the sensing member 222 remains unchanged at this time. When the tension rope 210 is impacted from any side in the moving direction of the support base 100, the tensioned tension rope 210 is squeezed, causing the tension force acting on the position sensing device 220 to suddenly increase, thereby breaking the force balance state on the upper and lower sides of the position sensing device 220, causing the sensing member 222 to slide upward on the second guide rail 130. At this time, the sensing member 222 deviates from the sensor 221 in position, and then the sensor 221 generates a trigger signal. When the central control system detects this trigger signal, it immediately controls the robot to stop moving. In this embodiment, the relative position between the sensor 221 and the sensing member 222 can be realized through characteristics such as the photoelectric effect, magnetic field change, capacitance change, and ultrasonic wave reflection. By detecting the changes in these characteristics, it can be determined that the relative position between the two has deviated, and then the sensor 221 generates a trigger signal.

[0034] It can be understood that the sensor 221 can also be movably arranged on the support base 100, the sensing member 222 is fixedly arranged on the support base 100, one end of the tension rope 210 is connected to the sensor 221, and one end of the elastic member 230 is connected to the sensor 221.

[0035] In some alternative embodiments, such as Figure 1As shown, the first impact trigger assembly 200 further includes a pulley set 240, and the middle part of the tensioning rope 210 is wound around the pulley set 240. In this embodiment, by providing the pulley set 240, on the one hand, it is convenient to assemble the tensioning rope 210 and keep the tensioning rope 210 tensioned on the pulley set 240 without falling off. On the other hand, it is convenient for the tensioning rope 210 in the tensioned state to move smoothly when being impacted, thereby changing the relative position between the sensor 221 and the sensing member 222.

[0036] In some alternative embodiments, such as Figure 1 、 Figure 3 As shown, the robot safety emergency stop device further includes a second impact trigger assembly 400. The second impact trigger assembly 400 is provided on both sides of the moving direction of the support base 100, and the central control system is electrically connected to the second impact trigger assembly 400. Before the second impact trigger assembly 400 is impacted, the second impact trigger assembly 400 is not triggered; when the second impact trigger assembly 400 is impacted from any side of the moving direction of the support base 100, the second impact trigger assembly 400 is in a triggered state. When the central control system detects that the second impact trigger assembly 400 is in a triggered state, it immediately controls the robot to stop moving.

[0037] In this embodiment, the first impact trigger assembly 200 and the second impact trigger assembly 400 are safety backups for each other, which can improve the reliability of the device. Specifically, when the first impact trigger assembly 200 fails, when the maintenance personnel impact the second impact trigger assembly 400, the central control system immediately controls the robot to stop moving; or, when the second impact trigger assembly 400 fails, when the maintenance personnel impact the first impact trigger assembly 200, the central control system immediately controls the robot to stop moving.

[0038] In some alternative embodiments, the second impact trigger assembly 400 includes a pressure sensor, and the pressure sensor is electrically connected to the central control system. When the maintenance personnel impact the pressure sensor, if the central control system detects that the pressure value is greater than the preset value or the pressure sensor generates a pressure signal, it can be determined that a maintenance personnel has been impacted, and then the central control system immediately controls the robot to stop moving.

[0039] In some alternative embodiments, such as Figure 1 、 Figure 3 As shown, the second impact trigger assembly 400 further includes a rubber strip 410, and the rubber strip 410 wraps the pressure sensor. In this embodiment, by providing the rubber strip 410, and the rubber strip 410 has a certain buffering effect, so it can play a role in protecting the pressure sensor and the maintenance personnel to a certain extent.

[0040] In some alternative embodiments, such as Figure 1 、 Figure 3As shown, the support base 100 includes an upper support 110 and a lower support 120 that are connected to each other. There is a hollow area between the upper support 110 and the lower support 120. The middle part of the tension rope 210 passes through the hollow area. In this way, when the maintenance personnel hits the tension rope 210 in the hollow area, they will not touch the support base 100. The position sensing device 220 and the elastic member 230 are both provided on the lower support 120, and the second impact trigger assembly 400 is provided on the lower support 120. A support panel 111 is provided on the upper support 110. The pulley group 240 includes a plurality of pulleys 241 provided on the circumferential edge of the support panel 111.

[0041] In some alternative embodiments, as Figure 1 , Figure 3 shown, the lower support 120 includes an outer frame 121 and a fixed seat 122. An accommodation chamber 1211 is provided inside the outer frame 121. The fixed seat 122 is provided in the accommodation chamber 1211. The position sensing device 220 and the elastic member 230 are both provided on the fixed seat 122. The two ends of the tension rope 210 pass through the outer frame 121 and enter the accommodation chamber 1211, and are respectively fixed on the position sensing device 220 and the fixed seat 122. The second impact trigger assembly 400 is provided on the outer frame 121, specifically on the outer walls of the left and right sides of the outer frame 121.

[0042] Exemplarily, in a specific application scenario, the position of the second impact trigger assembly 400 is more outward than the position of the tension rope 210 in the hollow area, that is, the leg of the standing maintenance personnel hits the second impact trigger assembly 400 first. When the second impact trigger assembly 400 fails, the arm of the standing maintenance personnel touches and hits the tension rope 210 in the hollow area.

[0043] It should be noted that the positions of the second impact trigger assembly 400 and the tension rope 210 in the hollow area can be set in other forms, so that the maintenance personnel can hit the second impact trigger assembly 400 and the tension rope 210 simultaneously, or hit the second impact trigger assembly 400 and the tension rope 210 successively.

[0044] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0045] The above-described embodiments merely represent several implementation manners of the present utility model. The description is relatively specific and detailed, but it should not be construed as a limitation on the protection scope of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made, and these all fall within the protection scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the appended claims.

Claims

1. A robot safety emergency stop device, applied to an LED automatic cleaning machine, the LED automatic cleaning machine comprises a machine platform, a robot, and a central control system, the robot is electrically connected to the central control system, characterized in that: The robot safety emergency stop device comprises: A support base, movably disposed on the machine platform, and the robot is disposed on the support base; The first impact trigger component is arranged on the support seat, and the first impact trigger component includes a tensioning rope, a position sensing device, and an elastic member. The two ends of the tensioning rope are respectively connected to the support seat and the position sensing device, and the middle movable limit of the tensioning rope is located on the support seat; the two ends of the elastic member are respectively connected to the support seat and the position sensing device to tension the tensioning rope and put the position sensing device in an untriggered state; the central control system is electrically connected to the position sensing device, and when the tensioning rope is hit from any side of the moving direction of the support seat, the position sensing device is in a triggered state and the central control system controls the robot to stop moving.

2. The robot safety emergency stop device according to claim 1, characterized in that: The position sensing device includes a sensor and a sensing component. The sensor is electrically connected to the central control system. The sensor is fixed on the support seat, and the sensing component is movably arranged on the support seat. One end of the tensioning rope is connected to the sensing component, and one end of the elastic component is connected to the sensing component so that the relative position between the sensor and the sensing component remains unchanged.

3. The robot safety emergency stop device according to claim 1, characterized in that: The position sensing device includes a sensor and a sensing element. The sensor is electrically connected to the central control system. The sensor is movably arranged on the support seat, and the sensing element is fixedly arranged on the support seat. One end of the tensioning rope is connected to the sensor, and one end of the elastic element is connected to the sensor so that the relative position between the sensor and the sensing element remains unchanged.

4. The robot safety emergency stop device according to claim 1, characterized in that: The first impact triggering assembly further includes a pulley block, and the middle portion of the tensioning rope is wound around the pulley block.

5. The robot safety emergency stop device according to claim 4, characterized in that: The support seat is provided with a support panel, and the pulley group includes a plurality of pulleys arranged on the circumferential edge of the support panel.

6. The robot safety emergency stop device according to any one of claims 1 to 5, characterized in that: The robot safety emergency stop device also includes a second impact trigger component, which is arranged on both sides of the moving direction of the support base. The central control system is electrically connected to the second impact trigger component. When the second impact trigger component is hit from any side of the moving direction of the support base, the second impact trigger component is in a triggered state and the central control system controls the robot to stop moving.

7. The robot safety emergency stop device according to claim 6, characterized in that: The second impact triggering component includes a pressure sensor, and the pressure sensor is electrically connected to the central control system.

8. The robot safety emergency stop device according to claim 7, characterized in that: The second impact triggering component further includes a rubber strip, and the rubber strip wraps the pressure sensor.

9. The robot safety emergency stop device according to claim 6, characterized in that: The support seat includes an upper support and a lower support which are connected to each other. A hollow area is provided between the upper support and the lower support. The middle part of the tensioning rope passes through the hollow area. The position sensing device and the elastic member are both provided on the lower support. The middle part of the tensioning rope is movable limited on the upper support. The second impact trigger component is provided on the lower support.

10. The robot safety emergency stop device according to claim 9, characterized in that: The lower support includes an outer frame and a fixed seat. A accommodating chamber is provided in the outer frame. The fixed seat is arranged in the accommodating chamber. The position sensing device and the elastic member are both arranged on the fixed seat. Both ends of the tensioning rope are passed through the outer frame into the accommodating chamber. The second impact trigger component is arranged on the outer frame.

Images