Automatic pressing device for robot emergency stop switch

Abstract

The utility model discloses a robot emergency stop switch automatic pressing device which comprises a base plate, a pose adjusting arm and an automatic pressing mechanism, the automatic pressing mechanism is arranged at the tail end of the pose adjusting arm, and the pose adjusting arm is installed on the base plate; the automatic pressing mechanism comprises a pressing assembly and a sensing assembly used for sensing the pressing position. The pressing assembly comprises a shell, an electromagnetic driving unit, a movable pressing rod, a pressing plate, a detection plate and a reset spring, the movable pressing rod is movably installed on the shell, the pressing plate is arranged at the lower end of the movable pressing rod, the detection plate is arranged at the upper end of the movable pressing rod, and the movable pressing rod is sleeved with the reset spring; the electromagnetic driving unit is installed in the shell and used for controlling and driving the movable pressing rod to move downwards and extrude the reset spring. The sensing assembly comprises a detection switch and a mounting plate, and the detection switch can be triggered when the detection plate is pressed in place along with the movable pressing rod. The utility model has the advantages of compact structure and strong universality.

Description

Technical Field

[0001] This utility model relates to an automatic pressing device for an emergency stop switch on a robot. Background Technology

[0002] The technology and market demand for intelligent robots (such as low-speed unmanned sweepers) are developing rapidly, and their application scope is constantly expanding, which also puts forward higher requirements for the safety of robots.

[0003] Functional safety is an important part of the certification and testing of intelligent robot products. Emergency stop function and performance testing are among the main test contents of functional safety. For example, robot standards such as GB / T 38260-2019 "Functional Safety Assessment of Service Robots" all point out that emergency stop function and performance need to be verified. However, due to the diverse installation positions and angles of emergency stop switches in service robots, it is difficult to automatically press them during the test. If pressed manually, the robot's obstacle avoidance function may affect the robot's movement when people approach, thus affecting the test results. Utility Model Content

[0004] To at least partially address the shortcomings of the existing technology, the main objective of this utility model is to provide an automatic pressing device for an emergency stop switch on a robot, which has the advantages of compact structure and strong versatility.

[0005] To achieve the above-mentioned main objectives, this utility model discloses an automatic pressing device for an emergency stop switch of a robot, characterized in that it includes a base plate, a posture adjustment arm, and an automatic pressing mechanism. The automatic pressing mechanism is disposed at the end of the posture adjustment arm, which is mounted on the base plate and is used to adjust the spatial position and posture of the automatic pressing mechanism.

[0006] The automatic pressing mechanism includes a pressing component and a sensing component for sensing the pressing position;

[0007] The pressing assembly includes a housing, an electromagnetic drive unit, a movable pressing rod, a pressing plate, a detection plate, and a return spring. The movable pressing rod is movably mounted on the housing. The pressing plate is located at the lower end of the movable pressing rod, and the detection plate is located at the upper end of the movable pressing rod. The return spring is fitted onto the movable pressing rod. The electromagnetic drive unit is installed inside the housing to control and drive the movable pressing rod to move downwards and press the return spring. The electromagnetic drive unit includes an electromagnet and a metal block. The electromagnet is fixedly installed inside the housing, the metal block is slidably installed inside the housing, and the movable pressing rod is fixed to the metal block.

[0008] The sensing component includes a detection switch and a mounting plate. The detection switch is connected to the housing via the mounting plate and is located next to the movable push rod. The detection plate can trigger the detection switch when the movable push rod is pressed into place.

[0009] According to a specific embodiment of the present invention, a rubber pad is provided on the pressing plate, and the rubber pad is installed on the side of the pressing plate that contacts the emergency stop switch.

[0010] According to a specific embodiment of the present invention, the mounting plate is provided with a guide groove extending along the moving direction of the movable pressing rod.

[0011] According to a specific embodiment of the present invention, the posture adjustment arm includes a first adjustment arm, a second adjustment arm, a third adjustment arm, and a fourth adjustment arm that are rotatably connected in sequence. A first auxiliary fixing member is installed between the first adjustment arm and the second adjustment arm to adjust the installation angle, and a second auxiliary fixing member is installed between the second adjustment arm and the third adjustment arm to adjust the installation angle.

[0012] Furthermore, the second adjusting arm is provided with a second sliding groove extending along its length. The first auxiliary fixing member is rod-shaped, with its proximal end rotatably connected to the first adjusting arm and its distal end connected to a first locking bolt. The first locking bolt is slidably and lockingly disposed in the second sliding groove to adjust the installation angle of the second adjusting arm. The third adjusting arm is provided with a third sliding groove extending along its length. The second auxiliary fixing member is rod-shaped, with its proximal end rotatably connected to the second adjusting arm and its distal end connected to a second locking bolt. The second locking bolt is slidably and lockingly disposed in the third sliding groove to adjust the installation angle of the third adjusting arm. The proximal end of the first auxiliary fixing member refers to the end closer to the base plate in the extending direction, and the distal end of the first auxiliary fixing member refers to the other end corresponding to the proximal end of the first auxiliary fixing member. The proximal end of the second auxiliary fixing member refers to the end closer to the base plate in the extending direction, and the distal end of the second auxiliary fixing member refers to the other end corresponding to the proximal end of the second auxiliary fixing member.

[0013] Optionally, the distal end of the first adjusting arm is provided with a first arc-shaped groove for assisting in adjusting the installation angle of the second adjusting arm and a first pre-tightening bolt installed in the first arc-shaped groove; the distal end of the second adjusting arm is provided with a second arc-shaped groove for assisting in adjusting the installation angle of the third adjusting arm and a second pre-tightening bolt installed in the second arc-shaped groove; the distal end of the third adjusting arm is provided with a third arc-shaped groove for adjusting the installation angle of the fourth adjusting arm and a third pre-tightening bolt installed in the third arc-shaped groove.

[0014] Furthermore, the first adjusting arm is provided with a side mounting plate, and the first adjusting arm is vertically mounted to the base plate through the side mounting plate.

[0015] According to a specific embodiment of the present invention, a horizontal rotating disk is provided on the base plate, and the posture adjustment arm is fixedly installed on the horizontal rotating disk.

[0016] According to a specific embodiment of the present invention, the horizontal rotating disk is provided with an arc-shaped groove, and the base plate is provided with at least one threaded hole corresponding to the arc-shaped groove. The installation angle of the horizontal rotating disk is adjusted by locking the fixing bolt connected in the threaded hole.

[0017] Furthermore, the number of arc-shaped grooves is two or more.

[0018] This invention offers the following advantages: It provides a modularly integrated automatic pressing device for robot emergency stop switches. The automatic pressing mechanism is installed via a posture adjustment arm, facilitating adjustment of its spatial position and attitude, and is suitable for various types of emergency stop switch installation environments. The automatic pressing mechanism uses an electromagnetic drive unit and a return spring to collaboratively control the movement of the movable pressing rod, ensuring that the rod automatically returns to its initial position after pressing, making operation very convenient. Furthermore, the automatic pressing mechanism incorporates a sensing component to detect the pressing distance, enhancing its practicality.

[0019] To more clearly illustrate the purpose, technical solution, and advantages of this utility model, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the automatic pressing device for the robot emergency stop switch of this utility model;

[0021] Figure 2 This is a structural diagram of the automatic pressing mechanism;

[0022] Figure 3 This is a structural diagram of the base plate and the horizontal rotating disk;

[0023] Figure 4 This is a structural diagram of the posture adjustment arm;

[0024] Figure 5 This is an exploded view of the posture adjustment arm;

[0025] Figure 6 This is a diagram showing the usage status of the automatic pressing device for the robot emergency stop switch of this utility model. Detailed Implementation

[0026] To better understand the above-mentioned objectives, features and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] Many specific details are set forth in the following description in conjunction with embodiments in order to provide a full understanding of the present invention. However, it should be understood that the following embodiments and detailed description are for illustrative purposes only and do not limit the scope of protection of the present invention.

[0028] The robot emergency stop switch automatic pressing device in the embodiment is as follows: Figure 1 As shown, it includes a base plate 10, a posture adjustment arm 20, and an automatic pressing mechanism 30. The automatic pressing mechanism 30 is located at the end of the posture adjustment arm 20, which is mounted on the base plate 10 and is used to adjust the spatial position and posture of the automatic pressing mechanism 30.

[0029] like Figure 2 As shown, the automatic pressing mechanism 30 includes a pressing component 31 and a sensing component 32. The pressing component 31 is used to press the emergency stop switch, and the sensing component 32 is used to sense the pressing position and then control the pressing distance.

[0030] The pressing assembly 31 includes a housing 311, an electromagnetic drive unit, a movable pressing rod 313, a pressing plate 314, a detection plate 315, and a return spring 316; wherein, the housing 311 is fixed to the end of the posture adjustment arm 20, for example, by bolts. The movable pressing rod 313 is movably mounted on the housing 311, specifically along... Figure 2 The double-headed arrow P moves back and forth in the direction of the arrow.

[0031] Press plate 314 is located at the lower end of movable press lever 313 for pressing the emergency stop switch. Optionally, a rubber pad 317 is provided on press plate 314, and the rubber pad 317 is installed on the side of press plate 314 that contacts the emergency stop switch. Return spring 316 is fitted onto movable press lever 313. Electromagnetic drive unit is installed in housing 311 to control the downward movement of movable press lever 313 and compress return spring 316. Specifically, housing 311 is, for example, a hollow plastic housing. Electromagnetic drive unit includes electromagnet and metal block. Electromagnet is installed in housing 311. Metal block is slidably installed in housing 311 and limited by housing 311 so as not to detach from housing 311. Movable press lever 313 is fixed to metal block.

[0032] When in use, the electromagnet is energized and generates magnetic force, which attracts the metal block and drives the movable pressing rod 313 to move downward toward the electromagnet. After the pressing action is completed, the electromagnet is de-energized and the metal block and the movable pressing rod 313 move upward to reset under the action of the return spring 316.

[0033] The detection plate 315 is positioned at the upper end of the movable pressing lever 313 and is used to be sensed by the sensing component 32. Please continue reading. Figure 2 The sensing component 32 includes a detection switch 321 and a mounting plate 322. The detection switch 321 is connected to the housing 311 via the mounting plate 322 and is located beside the movable pressing lever 313. The detection plate 315 can trigger the detection switch 321 when the movable pressing lever 313 is pressed into place. For example, the detection switch 321 can be selected as a proximity switch or a mechanical trigger switch.

[0034] Furthermore, the mounting plate 322 is provided with a guide groove 323 extending along the moving direction of the movable pressing rod 313, and the housing 311 is provided with a connecting hole. The mounting plate 322 is fixed in position by a fixing bolt that passes through the guide groove 323 and extends into the connecting hole. In use, the installation position of the mounting plate 322 can be adjusted according to the different pressing distances of different types of emergency stop switches. Moreover, the electromagnet and the detection switch 321 can be linked together to control the de-energization of the electromagnet.

[0035] like Figure 3 As shown, a horizontal rotating disk 11 is provided on the base plate 10, and the posture adjustment arm 20 is fixedly installed on the horizontal rotating disk 11. The horizontal rotating disk 11 has two arc-shaped grooves 12. At least one threaded hole 13, for example, three or four threaded holes, is provided on the base plate 10 corresponding to each arc-shaped groove 12. The installation angle of the horizontal rotating disk 11 is adjusted by tightening the fixing bolts connected to the threaded holes 13, thereby adjusting the rotation angle position of the posture adjustment arm 20 in the horizontal plane.

[0036] The pose adjustment arm 20 in this embodiment can be a multi-axis electrically controlled arm. To enhance adaptability and save costs, the pose adjustment arm 20 adopts a multi-section mechanical locking arm. For example... Figure 4-5 As shown, the posture adjustment arm 20 includes a first adjustment arm 21, a second adjustment arm 22, a third adjustment arm 23, and a fourth adjustment arm 24 that are rotatably connected in sequence. A first auxiliary fixing member 25 is installed between the first adjustment arm 21 and the second adjustment arm 22 to adjust the installation angle. A second auxiliary fixing member 26 is installed between the second adjustment arm 22 and the third adjustment arm 23 to adjust the installation angle. The fourth adjustment arm 24 is relatively short and is mainly used to fix the automatic pressing mechanism 30.

[0037] Specifically, the second adjusting arm 22 is provided with a second sliding groove 221 extending along its length. The first auxiliary fixing member 25 is rod-shaped, with its proximal end rotatably connected to the first adjusting arm 21 and its distal end connected to a first locking bolt. The first locking bolt is slidably and lockingly disposed in the second sliding groove 221 to adjust the installation angle of the second adjusting arm 22. It should be noted that the proximal end refers to the end that is close in position in terms of connection, which here refers to the end that is closer to the base plate 10 in the extension direction. The distal end is the other end corresponding to the proximal end. That is, the proximal end of the first auxiliary fixing member 25 refers to the end that is rotatably connected to the first adjusting arm 21, and the distal end of the first auxiliary fixing member 25 refers to the other end. The following understanding of "proximal end" and "distal end" is the same and will not be elaborated further.

[0038] The third adjusting arm 23 is provided with a third sliding groove 231 extending along its length. The second auxiliary fixing member 26 is rod-shaped, with its proximal end rotatably connected to the second adjusting arm 22 and its distal end connected to a second locking bolt. The second locking bolt is slidably and lockingly disposed in the third sliding groove 231 to adjust the installation angle of the third adjusting arm 23. To avoid structural interference, a pad 27 can also be provided at the connection position of the first auxiliary fixing member 25 and the second auxiliary fixing member 26.

[0039] Optionally, the distal end of the first adjusting arm 21 is provided with a first arc-shaped groove 211 for assisting in adjusting the installation angle of the second adjusting arm 22 and a first pre-tightening bolt installed in the first arc-shaped groove 211; the distal end of the second adjusting arm 22 is provided with a second arc-shaped groove 222 for assisting in adjusting the installation angle of the third adjusting arm 23 and a second pre-tightening bolt installed in the second arc-shaped groove 222; the distal end of the third adjusting arm 23 is provided with a third arc-shaped groove 232 for adjusting the installation angle of the fourth adjusting arm 24 and a third pre-tightening bolt installed in the third arc-shaped groove 232. In this embodiment, the first pre-tightening bolt, the second pre-tightening bolt, and the third pre-tightening bolt are used for pre-adjustment of the posture, which facilitates the assembly and locking of the first locking bolt and the second locking bolt. After the posture is adjusted to the correct position, the first pre-tightening bolt, the second pre-tightening bolt, and the third pre-tightening bolt are then fully locked.

[0040] Please refer to this page. Figure 4 The first adjusting arm 21 is provided with a side mounting plate 212, and the first adjusting arm 21 is vertically mounted to the horizontal rotating disk 11 via the side mounting plate 212; for easy installation and position adjustment, please refer to Figure 3 A vertical connecting plate 14 may also be provided on the horizontal rotating disk 11. A horizontal mounting groove 15 is provided on the vertical connecting plate 14, and the side mounting plate 212 is fixed to the vertical connecting plate 14 by bolts.

[0041] The usage state diagram of the embodiment is as follows: Figure 6 As shown, the operation involves the following steps:

[0042] S1: Secure the base plate 10 to the top wall plate of the robot using screws;

[0043] S2: At this time, the angle of the horizontal rotating disk 11 is adjusted according to the installation position of the base plate 10 and the position of the emergency stop switch. After the adjustment is completed, the bolts are tightened and fixed.

[0044] S3: The installation position of the automatic pressing mechanism 30 is determined by adjusting the posture adjustment arm 20;

[0045] S4: Adjust and fix the position of the detection switch 321 according to the required pressing distance;

[0046] S6: After adjustment, the electromagnet is energized, and the movable pressing rod 313 extends downward through the metal block, and the pressing plate 314 applies a pressing action to the emergency stop switch; after pressing, the electromagnet is de-energized, and the movable pressing rod 313 returns to the initial position under the restoring force of the return spring 316.

[0047] The bolts in the accompanying drawings of this embodiment are not shown, and should be understood as conventional bolt connection methods. The specific model and specifications can be selected according to actual needs.

[0048] Although the present invention has been described above through embodiments, the above embodiments are only used to exemplarily describe possible implementations of the present invention, and are not intended to limit the scope of protection of the present invention. Any equivalent substitutions or changes made by those skilled in the art in accordance with the present invention should also be covered by the scope of protection defined by the claims of the present invention.

Claims

1. An automatic pressing device for an emergency stop switch on a robot, characterized in that... It includes a base plate, a posture adjustment arm, and an automatic pressing mechanism. The automatic pressing mechanism is located at the end of the posture adjustment arm, which is mounted on the base plate and is used to adjust the spatial position and posture of the automatic pressing mechanism. The automatic pressing mechanism includes a pressing component and a sensing component for sensing the pressing position; The pressing assembly includes a housing, an electromagnetic drive unit, a movable pressing rod, a pressing plate, a detection plate, and a return spring. The movable pressing rod is movably mounted on the housing. The pressing plate is located at the lower end of the movable pressing rod, and the detection plate is located at the upper end of the movable pressing rod. The return spring is fitted onto the movable pressing rod. The electromagnetic drive unit is installed inside the housing to control and drive the movable pressing rod to move downward and compress the return spring. The electromagnetic drive unit includes an electromagnet and a metal block. The electromagnet is fixedly mounted inside the housing, the metal block is slidably mounted inside the housing, and the movable pressing rod is fixed to the metal block. The sensing component includes a detection switch and a mounting plate. The detection switch is connected to the housing via the mounting plate and is located next to the movable pressing rod. The detection plate can trigger the detection switch when the movable pressing rod is pressed into place.

2. The automatic pressing device for the robot emergency stop switch according to claim 1, characterized in that: The pressing plate is provided with a rubber pad, which is installed on the side of the pressing plate that contacts the emergency stop switch.

3. The automatic pressing device for the robot emergency stop switch according to claim 1, characterized in that: The mounting plate is provided with a guide groove extending along the moving direction of the movable pressing rod.

4. The automatic pressing device for the robot emergency stop switch according to claim 1, characterized in that: The posture adjustment arm includes a first adjustment arm, a second adjustment arm, a third adjustment arm, and a fourth adjustment arm that are rotatably connected in sequence. A first auxiliary fixing member is installed between the first adjustment arm and the second adjustment arm to adjust the installation angle, and a second auxiliary fixing member is installed between the second adjustment arm and the third adjustment arm to adjust the installation angle.

5. The automatic pressing device for the robot emergency stop switch according to claim 4, characterized in that: The second adjusting arm has a second sliding groove extending along its length. The first auxiliary fixing member is rod-shaped, with its proximal end rotatably connected to the first adjusting arm and its distal end connected to a first locking bolt. The first locking bolt is slidably and lockingly disposed in the second sliding groove to adjust the installation angle of the second adjusting arm. The third adjusting arm has a third sliding groove extending along its length. The second auxiliary fixing member is rod-shaped, with its proximal end rotatably connected to the second adjusting arm and its distal end connected to a second locking bolt. The second locking bolt is slidably and lockingly disposed in the third sliding groove to adjust the installation angle of the third adjusting arm. The proximal end of the first auxiliary fixing member refers to the end closer to the base plate in the extending direction, and the distal end of the first auxiliary fixing member refers to the other end corresponding to the proximal end of the first auxiliary fixing member. The proximal end of the second auxiliary fixing member refers to the end closer to the base plate in the extending direction, and the distal end of the second auxiliary fixing member refers to the other end corresponding to the proximal end of the second auxiliary fixing member.

6. The automatic pressing device for the robot emergency stop switch according to claim 5, characterized in that: The distal end of the first adjusting arm is provided with a first arc-shaped groove for assisting in adjusting the installation angle of the second adjusting arm and a first pre-tightening bolt installed in the first arc-shaped groove; the distal end of the second adjusting arm is provided with a second arc-shaped groove for assisting in adjusting the installation angle of the third adjusting arm and a second pre-tightening bolt installed in the second arc-shaped groove; the distal end of the third adjusting arm is provided with a third arc-shaped groove for adjusting the installation angle of the fourth adjusting arm and a third pre-tightening bolt installed in the third arc-shaped groove.

7. The automatic pressing device for the robot emergency stop switch according to claim 4, characterized in that: The first adjusting arm is provided with a side mounting plate, and the first adjusting arm is vertically mounted to the base plate through the side mounting plate.

8. The automatic pressing device for the robot emergency stop switch according to claim 1, characterized in that: The base plate is provided with a horizontal rotating disk, and the posture adjustment arm is fixedly installed on the horizontal rotating disk.

9. The automatic pressing device for the robot emergency stop switch according to claim 8, characterized in that: The horizontal rotating disk is provided with an arc-shaped groove, and the base plate is provided with at least one threaded hole corresponding to the arc-shaped groove. The installation angle of the horizontal rotating disk is adjusted by tightening the fixing bolt connected in the threaded hole.

10. The automatic pressing device for the robot emergency stop switch according to claim 9, characterized in that: The number of the arc-shaped grooves is two or more.

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