Manipulator injury prevention mechanism

Abstract

The utility model relates to the technical field of manipulators, in particular to a manipulator injury prevention mechanism which comprises a steering base, a manipulator body is fixedly installed on the top of the steering base, and the output end of the manipulator body is fixedly connected with a direction adjusting disc. Arc-shaped clamping plate frames are fixedly connected to the bottoms, close to the front side and the rear side, of the direction adjusting disc, locking assemblies are connected to the bottoms, close to the inner walls, of the arc-shaped clamping plate frames, side plates are connected to the surfaces of the locking assemblies, and guide sliding grooves are formed in the surfaces of the side plates; according to the anti-pinch mechanical arm, the anti-pinch structural parts are installed in the upper clamping hand of the mechanical arm, the protection and alarm effects on the front side face, the rear side face and the lower portion can be achieved, force unloading is conducted through soft materials such as sponge, and the sudden pinch injury condition is prevented; and the multi-direction anti-clamping protection effect in the object clamping process of the mechanical arm can be achieved.

Description

Technical Field

[0001] The utility model relates to a mechanism for preventing manipulators from being injured, and belongs to the technical field of manipulators. Background Art

[0002] As automation becomes more and more widespread, a large amount of object handling is achieved through automation. However, for fragile and easily damaged workpieces such as stators, special mechanisms must be used to ensure the safe handling of objects. Robots are often used for object handling operations. Robotic fingers can imitate certain movements and functions of human hands and arms. They are automatic operating devices used to grasp, carry objects or operate tools according to fixed procedures. They can replace humans in heavy labor to achieve mechanization and automation of production.

[0003] Since the current robots are used to grip and transport objects, injuries may occur when the grippers approach each other. However, safety education and reminders are not effective, and accidents involving injuries from robots still occur frequently, which has a certain adverse impact on actual use. Therefore, improvements are needed. Utility Model Content

[0004] The purpose of the present invention is to provide a mechanism to prevent injuries from a manipulator. The present invention forms a protective alarm effect on the front, rear, sides and bottom of the manipulator by installing an anti-pinch structure inside the manipulator, and utilizes soft materials such as sponge to unload force to prevent sudden pinching injuries, thereby solving the problems raised in the above-mentioned background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] The top of the restraining member is fixedly provided with a toothed connecting strip which is cooperatively connected with the toothed connecting strip, and the toothed connecting strip is connected with the toothed connecting strip on the bottom surface of the reinforcing bar.

[0007] Furthermore, the locking assembly includes an electromagnetic suction plate and a magnetic locking groove. The electromagnetic suction plate is fixedly connected to the bottom of the arc-shaped clamping plate frame near its inner wall. The magnetic locking groove is opened on the side of the side plate. The inner wall of the magnetic locking groove and the surface of the electromagnetic suction plate are magnetically clamped.

[0008] Furthermore, the main body of the adjusting clamp is a lower clamping plate, an electric push rod is fixedly installed inside the lower clamping plate, and an upper clamping plate is fixedly installed on the top of the electric push rod.

[0009] Furthermore, the lower clamping plate is composed of a vertical plate and an inclined plate, the bottom of the vertical plate is fixedly connected to one side of the inclined plate, and one end of the inclined plate is an anti-collision arc edge.

[0010] Furthermore, the side surfaces of the upper clamping plate and the lower clamping plate are both fixedly connected with anti-skid pads, and the surfaces of the anti-skid pads are coated with a wear-resistant coating.

[0011] Furthermore, a rubber buffer plate is fixedly connected to the side surface of the arc-shaped splint frame close to its inner wall, an expansion soft rubber pad is fixedly connected to one side of the rubber buffer plate, and a protruding baffle is fixedly connected to the surface of the rubber buffer plate close to its side, and the surface of the protruding baffle abuts the surface of the expansion soft rubber pad.

[0012] Furthermore, the fixing plate in the outer sponge cover and the fixing plate in the inner sponge cover are both provided with grooves, the interior of the grooves is fixedly installed with a proximity sensor with an alarm, and the interior of the outer sponge cover is sleeved on the exterior of the inner sponge cover.

[0013] The beneficial effects of the utility model are:

[0014] The utility model discloses a controller for controlling the upper arc clamping plate frame to clamp objects through the steering wheel. When the two arc clamping plate frames are close to each other, the control and adjustment clamping hands can be used to pick up and clamp the objects from the side bottom. In order to ensure the top constraint of objects at different heights, the electric push rod can be operated to drive the upper clamping plate to move, thereby adjusting the side clamping range formed between the lower clamping plate and the upper clamping plate. Under the action of the anti-slip pad, the situation of objects falling and slipping after clamping is reduced. In addition, since there is an inclined plate at the bottom of the lower clamping plate, it can adapt to the lifting operation of objects with different bottom edges. If the object is heavier, the compression spring can be used to retract and unload the force. The restraining and guiding effect of the restraining slide plate in the guide slot can be used to avoid tilting during the movement of the adjusting clamping hands, thereby increasing the bearing resistance. The striking plate is used for pressure buffering under the adjusting clamping hand, and the shock-absorbing spring telescopic rod is used for shock-absorbing elastic unloading, which can adapt to the maintenance of clamping of objects of different sizes; in the utility model, a rubber buffer plate and an expanded soft rubber pad are provided on the inner wall side of the arc-shaped clamping plate frame to separate the internal objects from the external space. When the staff's hand touches the inside of the clamping structure, the soft part can be touched first to avoid pressure damage. An outer sponge cover and an inner sponge cover are provided at the bottom of the arc-shaped clamping plate frame to avoid the staff from being pinched from below. If the outer sponge cover and the inner sponge cover are lifted by external force or the staff's hand enters accidentally, the proximity sensor can sense it and alarm to notify the robot body to operate, which can play a multi-directional anti-pinching protection effect in the process of the robot clamping objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the specific embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention.

[0016] Figure 1 This is a schematic diagram of the overall structure of a mechanism for preventing manipulator injuries in the present utility model;

[0017] Figure 2 This is a side sectional view of a side plate of a mechanism for preventing manipulator injury in the present invention;

[0018] Figure 3 This is a side sectional view of an arc-shaped splint frame in a mechanism for preventing manipulator injury in the utility model;

[0019] Figure 4 This is a top view of the inner and outer sponge covers of a mechanism for preventing manipulator injury in the utility model;

[0020] Figure 5 This is an enlarged view of point A of a mechanism for preventing manipulator injury in the present utility model;

[0021] Numbers in the figure: 1. Steering base; 2. Manipulator body; 3. Steering wheel; 4. Arc-shaped clamping plate frame; 5. Side plate; 6. Guide slide; 7. Constraint slide plate; 8. Compression spring; 9. Adjustment clamp; 10. Shock-absorbing spring telescopic rod; 11. Support and impact plate; 12. Outer sponge cover; 13. Inner sponge cover; 14. Electromagnetic suction plate; 15. Magnetic locking groove; 16. Lower clamping plate; 17. Electric push rod; 18. Upper clamping plate; 19. Anti-slip pad; 20. Rubber buffer plate; 21. Expanding soft rubber pad; 22. Extending baffle; 23. Proximity sensor. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] Example 1, please refer to Figure 1-Figure 5 , the utility model provides a technical solution:

[0024] A mechanism for preventing manipulators from injuring themselves comprises a steering base 1, a manipulator body 2 being fixedly mounted on the top of the steering base 1, a steering plate 3 being fixedly connected to the output end of the manipulator body 2, an arc-shaped clamping plate frame 4 being fixedly connected to the bottom near the front side and the bottom near the rear side of the steering plate 3, a locking assembly being connected to the bottom near the inner wall of the arc-shaped clamping plate frame 4, a side plate 5 being connected to the surface of the locking assembly, a guide slot 6 being provided on the surface of the side plate 5, a constraint slide 7 being slidably connected to the inner wall of the guide slot 6, and the bottom of the constraint slide 7 being fixedly connected to the bottom of the constraint slide 7. A compression spring 8 is connected between the top and the bottom of the inner wall of the guide slide 6 through a damping pad, and an adjusting clamp 9 is clamped on the side of the constraint slide 7. A shock-absorbing spring telescopic rod 10 is fixedly installed on the side of the side plate 5 near its bottom through a bracket, and the top of the shock-absorbing spring telescopic rod 10 is fixedly connected to a receiving and impacting plate 11, and the receiving and impacting plate 11 is located below the adjusting clamp 9. The bottom of the arc-shaped splint frame 4 on the front side is fixedly connected to an outer sponge cover 12 with a fixed plate, and the bottom of the arc-shaped splint frame 4 on the rear side is fixedly connected to an inner sponge cover 13 with a fixed plate.

[0025] Specifically, such as Figure 1-Figure 5As shown, the locking assembly includes an electromagnetic suction plate 14 and a magnetic locking groove 15. The electromagnetic suction plate 14 is fixedly connected to the bottom of the arc-shaped clamping plate frame 4 near its inner wall, and the magnetic locking groove 15 is opened on the side of the side panel 5. The inner wall of the magnetic locking groove 15 and the surface of the electromagnetic suction plate 14 are magnetically clamped. Under the connection and locking action of the electromagnetic suction plate 14 and the magnetic locking groove 15, the arc-shaped clamping plate frame 4 on it can be disassembled and assembled.

[0026] Specifically, such as Figure 1-Figure 5 As shown, a rubber buffer plate 20 is fixedly connected to the side of the arc-shaped splint frame 4 close to its inner wall, and an expansion soft rubber pad 21 is fixedly connected to one side of the rubber buffer plate 20. A protruding baffle 22 is fixedly connected to the surface of the rubber buffer plate 20 close to its side, and the surface of the protruding baffle 22 abuts the surface of the expansion soft rubber pad 21. The rubber buffer plate 20 and the expansion soft rubber pad 21 are arranged on the inner wall side of the arc-shaped splint frame 4 to separate the internal objects and the external space.

[0027] Furthermore, a groove is provided in the fixing plate in the outer sponge cover 12 and the fixing plate in the inner sponge cover 13, and a proximity sensor 23 with an alarm is fixedly installed inside the groove, and the inner part of the outer sponge cover 12 is sleeved on the outer part of the inner sponge cover 13. If the outer sponge cover 12 and the inner sponge cover 13 are lifted up by external force or the hands of a staff member accidentally enter, the proximity sensor 23 can sense it and alarm to notify the robot body 2 to operate.

[0028] Example 2, please refer to Figure 1-Figure 5 This embodiment differs from the first embodiment in that the main body of the adjusting gripper 9 is a lower clamping plate 16, within which an electric push rod 17 is fixedly mounted, and an upper clamping plate 18 is fixedly mounted on top of the electric push rod 17. The lower clamping plate 16 consists of a vertical plate and an inclined plate. The bottom of the vertical plate is fixedly connected to one side of the inclined plate, and one end of the inclined plate has an anti-collision curved edge. The sides of the upper clamping plate 18 and the sides of the lower clamping plate 16 are fixedly connected with anti-slip pads 19, which are coated with a wear-resistant coating. The electric push rod 17 drives the upper clamping plate 18 to move, thereby adjusting the lateral clamping range formed between the lower clamping plate 16 and the upper clamping plate 18. The action of the anti-slip pads 19 reduces the risk of objects falling or slipping after clamping. Furthermore, the presence of the inclined plate at the bottom of the lower clamping plate 16 allows for the scooping operation of objects with different bottom edges.

[0029] The working principle of the present invention is as follows: when in use, the rotation and reversing operation of the manipulator body 2 can be performed at the top of the steering base 1, and the manipulator body 2 with an intelligent module can be bent and adjusted, and the steering wheel 3 can be used to control the arc clamping plate frame 4 on the controller to control the clamping object. When the two arc clamping plate frames 4 are close to each other, the clamping hand 9 can be controlled to pick up and clamp the object from the bottom of the side. In order to ensure the top constraint of objects at different heights, the electric push rod 17 can be operated to drive the upper clamping plate 18 located above to move, and then adjust the side clamping range formed between the lower clamping plate 16 and the upper clamping plate 18. Under the action of the anti-slip pad 19, the situation of the object falling and slipping after clamping is reduced, and because there is an inclined plate at the bottom of the lower clamping plate 16, it can adapt to the lifting operation of objects with different bottom edges. If the object is heavy, the compression spring 8 can be retracted to unload the force, and the constraint slide plate 7 can be used on the guide slide The restraining and guiding effect in the groove 6 can prevent the adjusting clamp 9 from tilting during its movement. A receiving and impacting plate 11 is added to the bottom of the adjusting clamp 9 for pressure buffering, and the shock-absorbing spring telescopic rod 10 is used to elastically relieve the force. A rubber buffer plate 20 and an expanded soft rubber pad 21 are provided on the inner wall side of the arc-shaped clamping plate frame 4 to separate the internal objects from the external space. When the staff's hand touches the inside of the clamping structure, the soft part can be touched first to avoid pressure damage. An outer sponge cover 12 and an inner sponge cover 13 are provided at the bottom of the arc-shaped clamping plate frame 4 to avoid the staff from being pinched from below. If the outer sponge cover 12 and the inner sponge cover 13 are lifted by external force or the staff's hand enters accidentally, the proximity sensor 23 can sense it and alarm to notify the manipulator body 2 to operate, which can play a multi-directional anti-pinching protection effect in the process of the manipulator clamping objects.

[0030] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanism for preventing robot from being injured, comprising a steering base (1), a robot body (2) being fixedly mounted on the top of the steering base (1), characterized in that: The output end of the manipulator body (2) is fixedly connected to a steering disc (3), and the bottom of the steering disc (3) near the front side and the bottom of the rear side are fixedly connected to an arc-shaped clamping plate frame (4), and the bottom of the arc-shaped clamping plate frame (4) near the inner wall is connected to a locking component, and the surface of the locking component is connected to a side plate (5), and the surface of the side plate (5) is provided with a guide groove (6), and the inner wall of the guide groove (6) is slidably connected to a constraint slide (7), and the bottom of the constraint slide (7) and the bottom of the inner wall of the guide groove (6) are connected via a damping pad. A compression spring (8) is provided, and an adjusting clamp (9) is clamped on the side of the restraining slide plate (7). A shock-absorbing spring telescopic rod (10) is fixedly installed on the side of the side plate (5) near its bottom through a bracket. The top of the shock-absorbing spring telescopic rod (10) is fixedly connected to a receiving and impacting plate (11), and the receiving and impacting plate (11) is located below the adjusting clamp (9). The bottom of the arc-shaped splint frame (4) located on the front side is fixedly connected to an outer sponge sleeve (12) with a fixed plate, and the bottom of the arc-shaped splint frame (4) located on the rear side is fixedly connected to an inner sponge sleeve (13) with a fixed plate.

2. The mechanism for preventing robot injuries according to claim 1, characterized in that: The locking assembly comprises an electromagnetic suction plate (14) and a magnetic locking groove (15), wherein the electromagnetic suction plate (14) is fixedly connected to the bottom of the arc-shaped clamping plate frame (4) near its inner wall, and the magnetic locking groove (15) is provided on the side surface of the side plate (5), and the inner wall of the magnetic locking groove (15) is magnetically engaged with the surface of the electromagnetic suction plate (14).

3. The mechanism for preventing robot injuries according to claim 1, characterized in that: The main body of the adjusting clamp (9) is a lower clamping plate (16), an electric push rod (17) is fixedly installed inside the lower clamping plate (16), and an upper clamping plate (18) is fixedly installed on the top of the electric push rod (17).

4. The mechanism for preventing robot injuries according to claim 3, characterized in that: The lower clamping plate (16) consists of a vertical plate and an inclined plate, the bottom of the vertical plate is fixedly connected to one side of the inclined plate, and one end of the inclined plate is an anti-collision arc edge.

5. The mechanism for preventing robot injuries according to claim 3, characterized in that: The side surfaces of the upper clamping plate (18) and the lower clamping plate (16) are both fixedly connected with anti-skid pads (19), and the surfaces of the anti-skid pads (19) are coated with a wear-resistant coating.

6. The mechanism for preventing robot injuries according to claim 1, characterized in that: A rubber buffer plate (20) is fixedly connected to the side surface of the arc-shaped clamping plate frame (4) close to the inner wall thereof, an expansion soft rubber pad (21) is fixedly connected to one side of the rubber buffer plate (20), and a protruding baffle plate (22) is fixedly connected to the surface of the rubber buffer plate (20) close to one side thereof, and the surface of the protruding baffle plate (22) abuts against the surface of the expansion soft rubber pad (21).

7. The mechanism for preventing robot injuries according to claim 1, characterized in that: The fixing plate in the outer sponge cover (12) and the fixing plate in the inner sponge cover (13) are both provided with grooves, a proximity sensor (23) with an alarm is fixedly installed inside the grooves, and the inside of the outer sponge cover (12) is sleeved on the outside of the inner sponge cover (13).

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