Hidden emergency stop switch for robots

Abstract

The utility model provides a hidden emergency stop switch for robot, including robot body, is equipped with movable vertical slot and emergency stop handle structure in the back of robot body, one end of emergency stop handle structure is fixedly provided with movable control pull rod, movable control pull rod is movably arranged in movable vertical slot, and the other end of emergency stop handle structure is movably connected on robot body, the bottom wall of movable vertical slot is provided with electric contact A, the bottom of movable control pull rod is provided with electric contact B, electric contact A and electric contact B are used for connecting control bus or power supply respectively, and the inner wall of movable vertical slot and movable control pull rod are further provided with traction reset parts, which are used for providing traction force to control the close contact of electric contact A and electric contact B. The utility model has the advantages of simple structure, no influence on the appearance of robot, and easy to realize quick emergency stop and power-off of robot.

Description

Technical Field

[0001] This utility model belongs to the technical field of robots, specifically relating to a hidden emergency stop switch 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 emergency stop switches currently used in humanoid robots still follow the industrially common rotary emergency stop switch, such as the one disclosed in CN206363937U. This switch uses a spring clip for longitudinal limiting, resulting in a shorter tail and simpler structure. While shortening the emergency stop switch solves the installation problem, two major issues remain: First, the appearance. The protruding emergency stop cap on the humanoid robot significantly impacts the aesthetics of industrial design. If the presence of the cap is minimized, either unsuspecting customers might accidentally activate it, or it would hinder rapid emergency stopping. Second, while the method of slamming down the emergency stop cap to cut off power is easy on fixed equipment, it is difficult for mobile devices like robots that collapse after a malfunction, as the robot's body cannot form a stable point of force for slamming down the cap. Utility Model Content

[0004] This invention addresses the shortcomings of existing technologies by proposing a hidden emergency stop switch for robots that has a simple structure, does not affect the robot's appearance, and allows the robot to quickly and easily achieve emergency power-off.

[0005] The specific technical solution is as follows:

[0006] A concealed emergency stop switch for robots includes a robot body. A movable vertical slot and an emergency stop handle structure are provided on the back of the robot body. A movable control rod is fixedly mounted at one end of the emergency stop handle structure. The movable control rod is movably disposed in the movable vertical slot, and the other end of the emergency stop handle structure is movably connected to the robot body. A conductive contact A is provided on the bottom wall of the movable vertical slot, and a conductive contact B is provided at the bottom end of the movable control rod. Conductive contacts A and B are respectively used to connect to a control bus or a power supply. A traction reset component is also provided between the inner wall of the movable vertical slot and the movable control rod to provide traction force to ensure tight contact between conductive contacts A and B.

[0007] Preferably, a stop component is provided between the movable control lever and the inner wall of the movable vertical slot or the robot body, which is used to stably maintain the separated state after the emergency stop handle structure is pulled to separate the conductive contact A and the conductive contact B.

[0008] Preferably, a sliding mounting base is provided at the bottom end of the movable control lever, the conductive contact B is mounted at the bottom end of the movable control lever through the sliding mounting base, and the emergency stop handle structure is a handle structure or a pull ring rope loop, the emergency stop handle structure is fixedly connected to the outer end of the movable control lever.

[0009] 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.

[0010] Preferably, the stop component includes a stop nut sleeve, and a threaded structure is provided on the upper part of the movable connecting column. The stop nut sleeve cooperates with the threaded structure. The stop nut sleeve is provided on the outside of the robot body, and the diameter of the stop nut sleeve is larger than the diameter of the outer port of the movable vertical slot.

[0011] Preferably, the conductive contact A is composed of a conductive contact ring A and a central contact groove. An insulating body A is arranged around the central contact groove, and the conductive contact ring A is arranged around the outer side of the insulating body A to insulatingly separate the conductive contact ring A from the central contact groove.

[0012] The conductive contact B consists of a conductive contact ring B and a central telescopic contact protrusion. An insulating body B is arranged around the central telescopic contact protrusion. The conductive contact ring B is arranged around the outer side of the insulating body B to insulate and separate the conductive contact ring B from the central telescopic contact protrusion. The central contact groove is in close contact with the central telescopic contact protrusion. The conductive contact ring A is in close contact with the conductive contact ring B.

[0013] Preferably, the central telescopic contact protrusion consists of a contact protrusion and a compression spring, and a telescopic groove is provided in the middle of the insulating body B. The contact protrusion slides in the telescopic groove, and the two ends of the compression spring are respectively connected to the inner wall of the telescopic groove and the contact protrusion.

[0014] 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 control rod, and the opposing surfaces of the metal magnet A and the metal magnet B have different magnetic properties.

[0015] 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 end of the movable control lever 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.

[0016] Preferably, the traction reset component consists of a reset spring, with its two ends connected to the movable vertical slot and the end of the movable control rod, respectively.

[0017] The beneficial effects of this utility model are as follows: A traction reset component provides traction force to connect conductive contact A and conductive contact B, thereby controlling the connection between the bus and the power supply. In an emergency, pulling the emergency stop handle structure outwards separates conductive contact A and conductive contact B, thus controlling the emergency power cut-off between the bus and the power supply, providing circuit protection. It is particularly suitable for robots and other devices with irregular body movements after a malfunction, where an emergency stop mechanism is installed. The emergency stop handle structure is a handle or pull ring loop. In a fault-free state, the emergency stop structure is hidden as a handle or pull ring loop, without affecting the robot's appearance design. During a malfunction such as a robot twitching, shaking, or collapsing, the operator's instinctive reaction to support the robot is to directly grab the handle or pull ring loop. Grabbing the handle or pull ring loop supports the robot while simultaneously cutting off the power, avoiding unnecessary actions and eliminating the reaction time required to find the emergency stop switch. The degree of damage from the equipment malfunction can be reduced. Furthermore, the emergency stop does not require a fulcrum force; the weight of the robot or other equipment can be used to lift it. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the present invention installed on the robot body.

[0019] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle.

[0020] Figure 3 This is a schematic diagram of the overall installation cross-section of this utility model.

[0021] Figure 4 This is a schematic diagram of the structure of conductive contact A and conductive contact B in this utility model.

[0022] Figure 5 This is a schematic diagram of the overall installation cross-section in Example 2.

[0023] In the diagram: 1. Robot body; 2. Movable vertical slot; 3. Emergency stop handle structure; 4. Traction reset component; 5. Stop component;

[0024] Conductive contact A21; movable control lever 31; conductive contact B32; sliding mounting base 33;

[0025] Conductive contact ring A211; center contact groove 212; insulating insulator A213;

[0026] Conductive contact ring B321; central telescopic contact protrusion 322; insulating body B323;

[0027] A41 containing a metal magnet; B42 containing a metal magnet; 43 containing a reset spring;

[0028] Spring plate assembly 51; stop groove 52; stop nut sleeve 53; threaded structure 54. Detailed Implementation

[0029] 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.

[0030] 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.

[0031] 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.

[0032] Example 1:

[0033] like Figures 1 to 4As shown: A concealed emergency stop switch for a robot includes a robot body 1. A movable vertical slot 2 and an emergency stop handle structure 3 are provided on the back of the robot body 1. A movable control rod 31 is fixedly mounted at one end of the emergency stop handle structure 3, and the movable control rod 31 is movably disposed in the movable vertical slot 2. The other end of the emergency stop handle structure 3 is movably connected to the robot body 1. The emergency stop handle structure 3 can be a handle or a pull ring loop, and is fixedly connected to the outer end of the movable control rod 31. Specifically, if the emergency stop handle structure 3 is a handle, one end of the handle has an integrally formed movable control rod 31, and the other end of the handle is hinged to the outer shell of the robot body 1 or other parts via a pivot. If the emergency stop handle structure 3 is a pull ring loop, since the loop itself is soft and movable, there is no need for a separate movable structure to accommodate the movement of the movable control rod 31 when connecting it to the robot body 1. The other end of the pull ring loop is connected to the movable control rod 31 via a connecting buckle or an integral connector.

[0034] A conductive contact A21 is installed on the bottom wall of the movable vertical slot 2, and a conductive contact B32 is installed at the bottom end of the movable control lever 31. Conductive contacts A21 and B32 are used to connect to the control bus or the power supply, respectively. Specifically, conductive contact A21 can connect to the control bus, and conductive contact B32 can connect to the power supply; conversely, conductive contact A21 can connect to the power supply, and conductive contact B32 can connect to the control bus. This enables the switching function. The cable connecting conductive contact B32 passes through the handle structure or the middle of the pull ring loop and returns to the robot body. A traction reset component 4 is also provided between the inner wall of the movable vertical slot 2 and the movable control lever 31 to provide traction force to ensure tight contact between conductive contacts A21 and B32. In a natural state, the control bus and power supply are connected through the connection between conductive contacts A21 and B32. In an emergency, pulling outwards... The emergency stop handle structure 3 can separate the conductive contact A21 and the conductive contact B32, thereby controlling the emergency power cut-off between the bus and the power supply, playing a circuit protection role. It is also very suitable for robots and other equipment with irregular body movements after a failure, where an emergency stop mechanism is installed. The emergency stop handle structure 3 is a handle structure or a pull ring rope loop. In the fault-free state, the emergency stop structure is hidden as a handle structure or a pull ring rope loop, without affecting the robot's appearance design. In the process of twitching, shaking or collapsing of robots and other equipment, the operator's instinctive reaction to support the robot and other equipment is to directly grab the handle structure or pull ring rope loop. At this time, grabbing the handle structure or pull ring rope loop to support the robot also cuts off the power supply, avoiding unnecessary operations and eliminating the reaction time of searching for the emergency stop switch. The degree of damage to the equipment can be reduced. Moreover, the emergency stop does not require a fulcrum force; it can be achieved by lifting the robot and other equipment by the weight of the handle structure or pull ring rope loop.

[0035] A stop component 5 is also provided between the active control lever 31 and the inner wall of the active vertical slot 2 or the robot body 1. This stop component 5 is used to pull the emergency stop handle structure 3 so that the conductive contact A21 and the conductive contact B32 are separated and the stop component 5 is stably maintained in the 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 pull structure 3, the conductive contact A21 and the conductive contact B32 remain stably separated, which is convenient for keeping the robot and other equipment in a power-off state during maintenance.

[0036] A sliding mounting base 33 is also provided at the bottom of the movable control lever 31. The conductive contact B32 is installed at the bottom of the movable control lever 31 through the sliding mounting base 33. The sliding mounting base 33 can slide easily in the inner wall of the movable vertical groove 2. Rollers or other features can be provided around it to facilitate sliding. The sliding mounting base 33 can also be used as a limiting structure. The diameter of the sliding mounting base 33 is set to be larger than the diameter of the movable control lever 31 and the diameter of the outer port of the movable vertical groove 2. In this way, the sliding mounting base 33 can only move within the movable vertical groove 2 and cannot be detached. This can prevent the conductive contact B32 from being exposed to the outside and causing safety risks, as well as maintain the overall integrity of the concealed emergency stop switch.

[0037] 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 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 2, and the spring plate assembly 51 cooperates with the stop groove 52 to lock the conductive contact B32 at a certain height in the movable vertical groove 2, so as not to make conductive contact with the conductive contact A21. When the outer end of the movable control lever 31 is pressed hard, the stop groove 52 is squeezed past the spring plate assembly 51, and the conductive contact B32 can continue to make conductive contact with the conductive contact A21. 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 2, and the elastic blocking force of the spring plate assembly 51 should be smaller.

[0038] The conductive contact A21 is composed of a conductive contact ring A211 and a center contact groove 212. An insulating body A213 is arranged around the center contact groove 212. The conductive contact ring A211 is arranged around the outer side of the insulating body A213 to insulatingly separate the conductive contact ring A211 from the center contact groove 212. The conductive contact ring A211 and the center contact groove 212 are electrically connected to the two poles of the power supply, respectively.

[0039] The conductive contact B32 consists of a conductive contact ring B321 and a central telescopic contact protrusion 322. An insulating body B323 surrounds the central telescopic contact protrusion 322, and the conductive contact ring B321 surrounds the outer side of the insulating body B323 to insulate and separate the conductive contact ring B321 from the central telescopic contact protrusion 322. The conductive contact ring B321 and the central telescopic contact protrusion 322 are electrically connected to the two input terminals of the control bus, respectively. The central contact groove 212 is in close contact with the central telescopic contact protrusion 322, and the conductive contact ring A211 is in close contact with the conductive contact ring B321. This allows for simultaneous switching on and off of both power poles, or, alternatively, switching on and off only the positive power pole. In this case, the conductive contact can be a single conductive contact piece or a central contact.

[0040] The aforementioned central telescopic contact protrusion 322 consists of a contact protrusion and a compression spring. A telescopic groove is provided in the middle of the insulating body B323. The contact protrusion slides in the telescopic groove. The two ends of the compression spring are respectively connected to the inner wall of the telescopic groove and the contact protrusion. The central telescopic contact protrusion 322 can make closer contact with the central contact groove 212, avoiding poor contact. The contact protrusion is connected to the handle structure or the circuit cable inside the pull ring rope sleeve through a telescopic conductive rod or a compression spring made of metal conductive material.

[0041] The traction reset component 4 consists of a metal magnet A41 and a metal magnet B42. The metal magnets A41 and B42 are respectively installed in the bottom wall of the movable vertical groove 2 and the bottom end of the movable control rod 31. 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 A21 and the conductive contact B32. Among them, the metal magnet A41 is fixedly installed on the bottom wall of the movable vertical slot 2 for connecting the power supply. Therefore, the metal magnets A41 and B42 can be used as conductive contacts, such as conductive contact rings, but they can also be used without connecting the power supply. The metal magnet B42 is fixedly installed at the bottom end of the movable control lever 31 for connecting the control bus. The materials of the metal magnets A41 and B42 are neodymium iron boron alloy, samarium cobalt alloy, nickel-zinc ferrite, or aluminum nickel-cobalt alloy. These alloy magnets have good conductivity and different characteristics, making them suitable for use in different environments. However, they are not limited to the above materials. For example, neodymium iron boron alloy (high cost performance) and samarium cobalt alloy (high temperature resistance) are used for high conductivity and strong permanent magnets; silicon steel and permalloy are used for high conductivity, soft magnetism, and low loss; and manganese zinc / Nickel-zinc ferrite; cobalt metal, samarium cobalt alloy, aluminum nickel cobalt alloy, etc., which are used in extreme environments such as high temperature, can all be used as magnetic materials that meet the conductivity characteristics, and will not be listed here one by one.

[0042] Example 2:

[0043] like Figure 5 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 movable vertical groove 2 and the end of the movable control rod 31. Specifically, the two ends of the reset spring 43 are respectively connected to the inner wall of the movable vertical groove 2 and the sliding mounting seat 33. The reset spring 43 is a compression spring. The elastic force of the reset spring 43 presses the sliding mounting seat 33 to drive the conductive contact A21 and the conductive contact B32 to make contact and conduct electricity. The reset spring 43 does not use a metal spring unless necessary to avoid the possibility of leakage.

[0044] The aforementioned stop component 5 includes a stop nut sleeve 53. A threaded structure 54 is provided on the upper part of the movable control rod 31. The stop nut sleeve 53 cooperates with the threaded structure 54. The stop nut sleeve 53 is located on the outside of the robot body 1, and the diameter of the stop nut sleeve 53 is larger than the diameter of the outer port of the movable vertical groove 2. By rotating the stop nut sleeve 53, the maximum extension length of the movable control rod 31 in the movable vertical groove 2 is insufficient to reach the bottom wall of the movable vertical groove 2. Therefore, the conductive contact A21 and the conductive contact B32 are always in a separated and de-energized state. By rotating the stop nut sleeve 53 in the opposite direction, the maximum extension length of the movable control rod 31 in the movable vertical groove 2 is greater than or equal to the movable vertical groove 2. Then, under the action of the return spring 43, the conductive contact A21 and the conductive contact B32 make contact and conduct. Furthermore, the specific structures of the different stop components 5 and traction reset components 4 in the above embodiments one and two can be used interchangeably. However, different settings are required depending on the characteristics. For example, when a reset spring is used as a traction reset component and a spring plate assembly and a stop groove are used as stop components 5, the closer the spring plate assembly is to the bottom wall of the movable vertical groove 2, the better, because the more the reset spring is compressed, the greater the elastic force. The different settings will not be listed here.

[0045] 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. A concealed emergency stop switch for a robot, comprising a robot body (1), characterized in that: A movable vertical groove (2) and an emergency stop handle structure (3) are provided on the back of the robot body (1). A movable control rod (31) is fixedly provided at one end of the emergency stop handle structure (3). The movable control rod (31) is movably disposed in the movable vertical groove (2), and the other end of the emergency stop handle structure (3) is movably connected to the robot body (1). A conductive contact A (21) is provided on the bottom wall of the movable vertical groove (2), and a conductive contact B (32) is provided at the bottom end of the movable control rod (31). The conductive contact A (21) and the conductive contact B (32) are respectively used to connect the control bus or the power supply. A traction reset component (4) is also provided between the inner wall of the movable vertical groove (2) and the movable control rod (31) to provide traction force to control the conductive contact A (21) and the conductive contact B (32) to make tight contact and fit.

2. The concealed emergency stop switch for robots according to claim 1, characterized in that: A stop component (5) is also provided between the active control lever (31) and the inner wall of the active vertical groove (2) or the robot body (1) for pulling the emergency stop handle structure (3) to keep the conductive contact A (21) and the conductive contact B (32) stably separated after they are separated.

3. The concealed emergency stop switch for robots according to claim 2, characterized in that: A sliding mounting base (33) is also provided at the bottom end of the movable control lever (31). The conductive contact B (32) is installed at the bottom end of the movable control lever (31) through the sliding mounting base (33). The emergency stop handle structure (3) is a handle structure or a pull ring rope loop. The emergency stop handle structure (3) is fixedly connected to the outer end of the movable control lever (31).

4. The concealed emergency stop switch for robots according to claim 3, 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 (32) or the sliding mounting base (33). The spring plate assembly (51) is disposed on the upper side of the inner wall of the movable vertical groove (2), and the spring plate assembly (51) cooperates with the stop groove (52).

5. The concealed emergency stop switch for robots according to claim 2, 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 control lever (31). The stop nut sleeve (53) cooperates with the threaded structure (54). The stop nut sleeve (53) is located on the outside of the robot body (1), and the diameter of the stop nut sleeve (53) is larger than the diameter of the outer port of the movable vertical groove (2).

6. The concealed emergency stop switch for robots according to any one of claims 1-5, characterized in that: The conductive contact A (21) is composed of a conductive contact ring A (211) and a center contact groove (212). An insulating body A (213) is arranged around the center contact groove (212). The conductive contact ring A (211) is arranged around the outer side of the insulating body A (213) to insulatingly separate the conductive contact ring A (211) from the center contact groove (212). The conductive contact B (32) is composed of a conductive contact ring B (321) and a central telescopic contact protrusion (322). An insulating body B (323) is arranged around the central telescopic contact protrusion (322). The conductive contact ring B (321) is arranged around the outer side of the insulating body B (323) to insulate and separate the conductive contact ring B (321) from the central telescopic contact protrusion (322). The central contact groove (212) is in close contact with the central telescopic contact protrusion (322). The conductive contact ring A (211) is in close contact with the conductive contact ring B (321).

7. The concealed emergency stop switch for robots according to claim 6, characterized in that: The central telescopic contact protrusion (322) consists of a contact protrusion and a compression spring. A telescopic groove is provided in the middle of the insulating body B (323). The contact protrusion slides in the telescopic groove. The two ends of the compression spring are respectively connected to the inner wall of the telescopic groove and the contact protrusion.

8. The concealed emergency stop switch for robots according to any one of claims 1-5 or 7, 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 (2) and the bottom end of the movable control rod (31), and the relative surfaces of the metal magnet A (41) and the metal magnet B (42) are magnetically different.

9. The concealed emergency stop switch for robots according to claim 8, characterized in that: The metal magnet A (41) is fixedly installed on the bottom wall of the movable vertical groove (2) for connecting to the power supply. The metal magnet B (42) is fixedly installed at the bottom end of the movable control lever (31) for connecting to 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.

10. The concealed emergency stop switch for a robot according to any one of claims 1-5 or 7, characterized in that: The traction reset component (4) is composed of a reset spring (43), and the two ends of the reset spring (43) are respectively connected to the ends of the movable vertical groove (2) and the movable control rod (31).

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