Emergency stop mechanism for robot

Abstract

An emergency stop mechanism for a robot comprises a fixed base and an emergency stop pulling structure, a movable vertical groove is formed in the end of the fixed base, the emergency stop pulling structure is provided with a movable connecting column, the movable connecting column is movably installed in the movable vertical groove, a conductive contact A is arranged on the bottom wall of the movable vertical groove, and the conductive contact A is connected with the movable connecting column. A conductive contact piece B is arranged at the bottom end of the movable connecting column, the conductive contact piece A and the conductive contact piece B are used for being connected with a control bus or a power source respectively, and a traction reset part is arranged between the fixed base and the sudden stop pulling structure and used for providing traction force to control the conductive contact piece A and the conductive contact piece B to be in close contact fit. The emergency stop device is simple in structure, and can also quickly realize emergency stop and power failure in the irregular movement process after the robot breaks down.

Description

Technical Field

[0001] This utility model belongs to the technical field of emergency stop switches, specifically relating to an emergency stop mechanism for robots. Background Technology

[0002] Emergency stop switches are used to quickly cut off power to equipment in emergencies, protecting personnel and equipment safety, and are an essential part of industrial safety design. In the robotics industry, especially before humanoid robots are fully stable and fault-free, or capable of autonomously handling malfunctions, it is necessary to install emergency stop switches on robots.

[0003] However, most humanoid robots currently use the industrial-grade rotary emergency stop switch, similar to the one disclosed in CN206363937U. This switch employs a spring clip for longitudinal limiting, resulting in a shorter tail and simpler structure. While shortening the emergency stop switch solves the installation problem, for robots, the method of cutting off power by snapping the emergency stop cap is easy to operate on fixed equipment. However, for mobile machines like robots that are prone to twitching, shaking, or collapsing after a malfunction, this type of emergency stop switch is difficult to operate because a stable force point cannot be formed on the robot's body to snap the emergency stop cap. Utility Model Content

[0004] This invention addresses the shortcomings of existing technologies by proposing a robot emergency stop mechanism that is simple in structure and can quickly achieve emergency stop and power cut-off even during irregular movement after a robot malfunction.

[0005] The specific technical solution is as follows:

[0006] An emergency stop mechanism for a robot includes a fixed base and an emergency stop pulling structure. The fixed base has a movable vertical groove at its end, and the emergency stop pulling structure has a movable connecting column that is movably installed in the movable vertical groove. A conductive contact A is provided on the bottom wall of the movable vertical groove, and a conductive contact B is provided at the bottom end of the movable connecting column. The conductive contact A and the conductive contact B are respectively used to connect to a control bus or a power supply. A traction reset component is provided between the fixed base and the emergency stop pulling structure to provide traction force to control the tight contact and engagement of the conductive contact A and the conductive contact B.

[0007] Preferably, the traction reset component consists of a metal magnet A and a metal magnet B, which are respectively disposed in the bottom wall of the movable vertical groove and the bottom end of the movable connecting column, and the opposing surfaces of the metal magnet A and the metal magnet B have different magnetic properties.

[0008] Preferably, the metal magnet A is fixedly installed on the bottom wall of the movable vertical slot for connecting to the power supply, and the metal magnet B is fixedly installed at the bottom of the movable connecting column for connecting to the control bus. The metal magnets A and B are made of neodymium iron boron alloy, samarium cobalt alloy, nickel zinc ferrite or aluminum nickel cobalt alloy.

[0009] Preferably, the traction reset component consists of a reset spring, with both ends of the reset spring connected to the fixed base and the emergency stop pulling structure, respectively.

[0010] Preferably, the conductive contact A consists of a conductive contact ring A and a central contact groove, wherein the conductive contact ring A is arranged around the central contact groove and is isolated by an insulator;

[0011] The conductive contact B consists of a conductive contact ring B and a central telescopic contact post. The conductive contact ring B is arranged around the central telescopic contact post and is isolated by an insulator. The central contact groove is in close contact with the central telescopic contact post, and the conductive contact ring A is in close contact with the conductive contact ring B.

[0012] Preferably, a stop component is provided between the fixed base and the emergency stop pulling structure to keep the conductive contact A and conductive contact B separated after the emergency stop pulling structure is pulled.

[0013] Preferably, the emergency stop pulling structure consists of a movable connecting column, a sliding mounting seat, and a pulling member. The pulling member is fixedly connected to the outer end of the movable connecting column, the sliding mounting seat is fixedly disposed at the inner end of the movable connecting column, and the conductive contact B is mounted on the bottom end of the movable connecting column through the sliding mounting seat.

[0014] Preferably, the stop component includes a spring plate assembly and a stop groove, the stop groove being formed around the side of the conductive contact B or the sliding mounting base, the spring plate assembly being disposed on the upper side of the inner wall of the movable vertical groove, and the spring plate assembly cooperating with the stop groove.

[0015] Preferably, the stopping component includes a stopping nut sleeve, and a threaded structure is provided on the upper part of the movable connecting column. The stopping nut sleeve cooperates with the threaded structure. The stopping nut sleeve is provided on the outside of the fixed base, and the diameter of the stopping nut sleeve is larger than the diameter of the outer port of the movable vertical groove.

[0016] The beneficial effects of this utility model are as follows: the traction reset component provides traction force to connect conductive contact A and conductive contact B, thereby controlling the power supply between the bus and the power source. In an emergency, pulling the emergency stop mechanism outward can separate conductive contact A and conductive contact B, thereby controlling the emergency power cut-off between the bus and the power source, playing a circuit protection role. It is also very suitable for robots and other equipment with irregular body movements after a failure. The emergency stop mechanism can be connected or directly set as a handle or emergency pull rope, so that when the robot or other equipment is twitching, shaking or collapsing, the operator can directly grab the handle or emergency pull rope, which is an instinctive reaction to stabilize the robot or other equipment. At the same time, the power is cut off, so that the emergency stop does not require a fulcrum force. The power can be cut off by lifting the robot or other equipment by its own weight through the handle or emergency pull rope. Attached Figure Description

[0017] Figure 1 This is a schematic cross-sectional view of the overall structure of this utility model.

[0018] Figure 2 This is a schematic diagram of the overall cross-sectional structure of Example 2.

[0019] In the diagram: 1. Fixed base; 2. Emergency stop pulling structure; 3. Movable vertical slot; 4. Traction reset component; 5. Stop component;

[0020] Movable connecting post 21; conductive contact B22; sliding mounting base 23; pull member 24;

[0021] Conductive contact A31; metal magnet A41; metal magnet B42; return spring 43;

[0022] Spring plate assembly 51; stop groove 52; stop nut sleeve 53; threaded structure 54. Detailed Implementation

[0023] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0024] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0025] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or a connection through an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] Example 1:

[0027] like Figure 1 As shown: A robot emergency stop mechanism includes a fixed base 1 and an emergency stop pulling structure 2. The fixed base 1 has a movable vertical groove 3 at one end. The emergency stop pulling structure 2 has a movable connecting post 21, which is movably installed in the movable vertical groove 3. A conductive contact A31 is provided on the bottom wall of the movable vertical groove 3, and a conductive contact B22 is provided at the bottom end of the movable connecting post 21. The conductive contact A31 and the conductive contact B22 are respectively used to connect to a control bus or a power supply. A traction reset component 4 is provided between the fixed base 1 and the emergency stop pulling structure 2 to provide traction force to control the tight contact between the conductive contact A31 and the conductive contact B22. That is, in the natural state, the conductive contact A31 and the conductive contact B22 are in close contact. When 22 is connected, the control bus and power supply are connected. In an emergency, pulling the emergency stop mechanism 2 outwards can separate the conductive contact A31 from the conductive contact B22, thereby controlling the emergency power cut-off between the control bus and the power supply, which plays a role in circuit protection. It is also very suitable for robots and other equipment with irregular body movements after a failure. The emergency stop mechanism 2 can be connected or directly set as a handle or emergency pull rope, so that when the robot or other equipment is twitching, shaking or collapsing, grabbing the handle or emergency pull rope is the instinctive reaction of the operator to hold the robot or other equipment. At the same time, the power is cut off, so that the emergency stop does not require a fulcrum force. It can be achieved by lifting the robot or other equipment by its own weight through the handle or emergency pull rope.

[0028] A stop component 5 is also provided between the fixed base 1 and the emergency stop pulling structure 2. This component is used to pull the emergency stop pulling structure 2 to separate the conductive contact A31 and the conductive contact B22 and maintain their separated state. This mainly overcomes the traction force of the traction reset component 4, so that even if no external force is applied to the emergency stop pulling structure 2, the conductive contact A31 and the conductive contact B22 remain stably separated, which is convenient for keeping the power off during the maintenance of robots and other equipment.

[0029] The emergency stop pulling structure 2 consists of a movable connecting column 21, a sliding mounting base 23, and a pulling member 24. The pulling member 24 is fixedly connected to the outer end of the movable connecting column 21, and the sliding mounting base 23 is fixedly installed at the inner end of the movable connecting column 21. The conductive contact B22 is installed at the bottom end of the movable connecting column 21 through the sliding mounting base 23. The sliding mounting base 23 can slide easily in the inner wall of the movable vertical groove 3. Rollers or other features can be provided around it to facilitate sliding. The sliding mounting base 23 can also be used as a limiting structure. The diameter of the sliding mounting base 23 is larger than the diameter of the movable connecting column 21 and the diameter of the outer end of the movable vertical groove 3. In this way, the sliding mounting base 23 can only move within the movable vertical groove 3 and cannot be detached. This avoids the safety risks caused by the exposed conductive contact B22. However, the conductive contact B22 is generally used to connect the control bus. There is no such risk when it is not connected. Therefore, if the power supply is strictly connected to the conductive contact A31, the aesthetic issue of the sliding mounting base 23 being detached from the movable vertical groove 3 can be disregarded. This way, the sliding mounting base 23 can be detached from the movable vertical groove 3 without the need to set the stop component 5 to keep the conductive contact A31 and the conductive contact B22 in a separated state.

[0030] The aforementioned conductive contact A31 consists of a conductive contact ring A and a central contact groove. The conductive contact ring A surrounds the central contact groove and is isolated by an insulator, and is electrically connected to the two poles of the power supply respectively. The conductive contact B22 consists of a conductive contact ring B and a central telescopic contact post. The conductive contact ring B surrounds the central telescopic contact post and is isolated by an insulator, and is electrically connected to the two input terminals of the control bus respectively. The central contact groove and the central telescopic contact post are in close contact, and the conductive contact ring A and the conductive contact ring B are in close contact. In this way, the two poles of the power supply can be switched on and off simultaneously, or only the positive pole of the power supply can be switched on and off, i.e., the conductive contact is a single conductive contact piece or a central contact.

[0031] The traction reset component 4 consists of a metal magnet A41 and a metal magnet B42. The metal magnets A41 and B42 are respectively disposed in the bottom wall of the movable vertical groove 3 and the bottom end of the movable connecting column 21. The opposing surfaces of the metal magnets A41 and B42 have opposite magnetic properties, and opposite magnetic properties attract each other, which provides the traction force to control the tight contact between the conductive contact A31 and the conductive contact B22. Among them, the metal magnet A41 is fixedly installed on the bottom wall of the movable vertical groove 3 for connecting the power supply, and the metal magnet B42 is fixedly installed at the bottom end of the movable connecting column 21 for connecting the control bus. Therefore, the metal magnets A41 and B42 can be used as conductive contacts. If used as conductive contact rings, the power supply can be left unconnected. The metal magnets A41 and B42 are made of neodymium iron boron alloy, samarium cobalt alloy, nickel-zinc ferrite or aluminum nickel cobalt alloy. These alloy magnets have good conductivity and different characteristics, and can be used in different environments.

[0032] The stopping component 5 includes a spring plate assembly 51 and a stopping groove 52. The stopping groove 52 is formed around the side of the conductive contact B22 or the sliding mounting base 23. The spring plate assembly 51 is set on the upper side of the inner wall of the movable vertical groove 3, and the spring plate assembly 51 cooperates with the stopping groove 52 to lock the conductive contact B22 at a certain height in the movable vertical groove 3, so as not to make conductive contact with the conductive contact A31. When the outer end of the movable connecting post 21 is pressed hard, the stopping groove 52 is squeezed past the spring plate assembly 51, and the conductive contact B22 can continue to make conductive contact with the conductive contact A31. Since the spring plate assembly 51 and the stop groove 52 cooperate to overcome the magnetic force of the opposite attraction between the metal magnet A41 and the metal magnet B42, and the magnetic force is smaller as the distance between the two is greater, the spring plate assembly 51 should be set further away from the metal magnet A41 on the inner side wall of the movable vertical groove 3, and the elastic blocking force of the spring plate assembly 51 should be smaller.

[0033] Example 2:

[0034] like Figure 2 As shown: As an improvement, with other structures the same as in Embodiment 1, the above-mentioned traction reset component 4 is composed of a reset spring 43. The two ends of the reset spring 43 are respectively connected to the fixed base 1 and the emergency stop pulling structure 2. Specifically, the two ends of the reset spring 43 are respectively connected to the inner wall of the movable vertical groove 3 and the sliding mounting seat 23. The reset spring 43 is a compression spring. The elastic force of the reset spring 43 presses the sliding mounting seat 23 to drive the conductive contact A31 and the conductive contact B22 to make contact and conduct electricity. The reset spring 43 does not use a metal spring unless necessary to avoid the possibility of leakage.

[0035] The aforementioned stopping component 5 includes a stopping nut sleeve 53. A threaded structure 54 is provided on the upper part of the movable connecting post 21. The stopping nut sleeve 53 mates with the threaded structure 54. The stopping nut sleeve 53 is located on the outside of the fixed base 1, and the diameter of the stopping nut sleeve 53 is larger than the diameter of the outer port of the movable vertical groove 3. By rotating the stopping nut sleeve 53, the maximum extension length of the movable connecting post 21 in the movable vertical groove 3 is insufficient to reach the bottom wall of the movable vertical groove 3. Therefore, the conductive contact A31 and the conductive contact B22 are always in a separated and de-energized state. Reverse rotation of the stopping nut sleeve 53 causes the movable connecting post 21 to... If the column 21 can extend into the movable vertical slot 3 to a length greater than or equal to the movable vertical slot 3, then under the action of the return spring 43, the conductive contact A31 and the conductive contact B22 will make contact and conduct. The specific structures of the different stop components 5 and the traction reset components 4 mentioned above can be used in combination. However, different settings are required depending on the characteristics. For example, when the return spring is used as the traction reset component and the spring plate assembly and the stop slot are used as the stop component 5, the closer the spring plate assembly is to the bottom wall of the movable vertical slot 3, the better, because the more the return spring is compressed, the greater the elastic force. This will not be listed here.

[0036] Although 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 alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims.

Claims

1. An emergency stop mechanism for a robot, characterized in that: It includes a fixed base (1) and an emergency stop pulling structure (2). The fixed base (1) has a movable vertical groove (3) at its end. The emergency stop pulling structure (2) has a movable connecting column (21) which is movably installed in the movable vertical groove (3). The bottom wall of the movable vertical groove (3) is provided with a conductive contact A (31). The bottom end of the movable connecting column (21) is provided with a conductive contact B (22). The conductive contact A (31) and the conductive contact B (22) are respectively used to connect to the control bus or the power supply. A traction reset component (4) is provided between the fixed base (1) and the emergency stop pulling structure (2) to provide traction force to control the conductive contact A (31) and the conductive contact B (22) to make tight contact and fit.

2. The robot emergency stop mechanism according to claim 1, characterized in that: The traction reset component (4) is composed of a metal magnet A (41) and a metal magnet B (42). The metal magnet A (41) and the metal magnet B (42) are respectively disposed in the bottom wall of the movable vertical groove (3) and the bottom end of the movable connecting column (21), and the relative surfaces of the metal magnet A (41) and the metal magnet B (42) are magnetically different.

3. The robot emergency stop mechanism according to claim 2, characterized in that: The metal magnet A (41) is fixedly installed on the bottom wall of the movable vertical groove (3) for connecting the power supply. The metal magnet B (42) is fixedly installed at the bottom of the movable connecting column (21) for connecting the control bus. The metal magnet A (41) and the metal magnet B (42) are made of neodymium iron boron alloy, samarium cobalt alloy, nickel zinc ferrite or aluminum nickel cobalt alloy.

4. The emergency stop mechanism for robots according to claim 1, characterized in that: The traction reset component (4) is composed of a reset spring (43), with both ends of the reset spring (43) connected to the fixed base (1) and the emergency stop pulling structure (2), respectively.

5. The emergency stop mechanism for a robot according to claim 1, characterized in that: The conductive contact A (31) is composed of a conductive contact ring A and a central contact groove. The conductive contact ring A is arranged around the central contact groove and is isolated by an insulator. The conductive contact B (22) is composed of a conductive contact ring B and a central telescopic contact post. The conductive contact ring B is arranged around the central telescopic contact post and is isolated by an insulator. The central contact groove is in close contact with the central telescopic contact post. The conductive contact ring A is in close contact with the conductive contact ring B.

6. The emergency stop mechanism for a robot according to any one of claims 1-5, characterized in that: A stop component (5) is also provided between the fixed base (1) and the emergency stop pulling structure (2) to pull the emergency stop pulling structure (2) so that the conductive contact A (31) and the conductive contact B (22) are separated and remain in their separated state.

7. The emergency stop mechanism for a robot according to claim 6, characterized in that: The emergency stop pulling structure (2) consists of a movable connecting column (21), a sliding mounting seat (23) and a pulling member (24). The pulling member (24) is fixedly connected to the outer end of the movable connecting column (21), the sliding mounting seat (23) is fixedly installed at the inner end of the movable connecting column (21), and the conductive contact B (22) is installed at the bottom end of the movable connecting column (21) through the sliding mounting seat (23).

8. The emergency stop mechanism for a robot according to claim 7, characterized in that: The stop component (5) includes a spring plate assembly (51) and a stop groove (52). The stop groove (52) is formed around the side of the conductive contact B (22) or the sliding mounting base (23). The spring plate assembly (51) is disposed on the upper side of the inner wall of the movable vertical groove (3), and the spring plate assembly (51) cooperates with the stop groove (52).

9. The emergency stop mechanism for a robot according to claim 6, characterized in that: The stop component (5) includes a stop nut sleeve (53), and a threaded structure (54) is provided on the upper part of the movable connecting column (21). The stop nut sleeve (53) cooperates with the threaded structure (54). The stop nut sleeve (53) is located on the outside of the fixed base (1), and the diameter of the stop nut sleeve (53) is larger than the diameter of the outer port of the movable vertical groove (3).

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