Robotic guard and robot

Abstract

A robot protection device is applied to a robot, which includes a robot body, a working platform, and a manipulator. The robot protection device includes multiple top obstacle avoidance sensors, which are respectively disposed on different edges of the robot body or the working platform. Each top obstacle avoidance sensor emits a laser protection area. The multiple laser protection areas emitted by the multiple top obstacle avoidance sensors surround the working area of ​​the manipulator. The top obstacle avoidance sensors are used to detect foreign objects entering the laser protection area to trigger the manipulator to stop working, thereby improving the robot's safety protection performance.

Description

Technical Field

[0001] This application belongs to the field of industrial safety technology, and in particular relates to a robot protection device and a robot. Background Technology

[0002] Industrial robots have the function of automatic movement and operation in specific work areas, such as industrial plants. However, when the robot is moving or operating, if it is interfered with by external objects, such as foreign objects entering the robot's movement range or work range, it may cause obstacles to the robot's smooth movement or operation, and in severe cases, it may cause damage to the robot and pose a safety hazard to industrial production. Utility Model Content

[0003] This application provides a robot protection device and a robot to improve the safety protection performance of the robot.

[0004] In a first aspect, this application provides a robot protection device for use in a robot, which includes a robot body, a working platform, and a manipulator. The robot protection device includes multiple top obstacle avoidance sensors, which are respectively disposed on different edges of the working platform. Each top obstacle avoidance sensor emits a laser protection area. The multiple laser protection areas emitted by the multiple top obstacle avoidance sensors surround the working area of ​​the manipulator. The top obstacle avoidance sensors are used to detect foreign objects entering the laser protection area to trigger the manipulator to stop working.

[0005] The robot protection device of this application embodiment sets multiple top obstacle avoidance sensors on different edges of the robot body or working platform. Each top obstacle avoidance sensor emits a laser protection area. The multiple laser protection areas emitted by the multiple top obstacle avoidance sensors surround the working area of ​​the robot arm. The top obstacle avoidance sensors are used to detect foreign objects entering the laser protection area to trigger the robot arm to stop working, thereby protecting the robot and improving the robot's safety protection performance.

[0006] In some embodiments, the laser protection area emitted by each top obstacle avoidance sensor faces upward, and the laser protection area emitted by each top obstacle avoidance sensor intersects with the laser protection area emitted by the adjacent top obstacle avoidance sensor to form a three-dimensional laser protection area, which surrounds the working area of ​​the robot.

[0007] In some embodiments, multiple top obstacle avoidance sensors are arranged along the four edges of the work platform, and the cross-section of the three-dimensional laser protection area is trapezoidal or rectangular.

[0008] In some embodiments, each top obstacle avoidance sensor includes a support base, an angle adjustment unit, and a transmitter. The support base is fixedly connected to the work platform or the robot body. The angle adjustment unit is rotatably disposed on the support base. The transmitter is connected to the angle adjustment unit and is used to emit laser protection area. The angle adjustment unit drives the transmitter to rotate to adjust the angle of the laser protection area.

[0009] In some embodiments, the robot protection device further includes a plurality of bottom obstacle avoidance sensors disposed on different edges of the robot body. The plurality of bottom obstacle avoidance sensors emit laser protection areas that surround the bottom of the robot body. When any bottom obstacle avoidance sensor detects a foreign object entering the laser protection area, the bottom obstacle avoidance sensor triggers the robot to stop working.

[0010] In some embodiments, the laser protection area emitted by each bottom obstacle avoidance sensor faces downward, and the laser protection area emitted by each bottom obstacle avoidance sensor intersects with the laser protection area emitted by the adjacent bottom obstacle avoidance sensor to form a bottom laser protection area, which covers the bottom perimeter of the body.

[0011] In some embodiments, multiple bottom obstacle avoidance sensors are arranged diagonally along the robot body, and the laser protection area emitted by each bottom obstacle avoidance sensor is a fan-shaped area.

[0012] In some embodiments, when the robot is moving and the work platform is in operation, if any top obstacle avoidance sensor detects an object entering the three-dimensional laser protection area, or any bottom obstacle avoidance sensor detects an object entering the bottom laser protection area, the top obstacle avoidance sensor or the bottom obstacle avoidance sensor triggers the robot to stop moving and stop working.

[0013] In some embodiments, when the robot is used to dock with a workstation, the top obstacle avoidance sensor and the bottom obstacle avoidance sensor on the docking side of the robot are turned off, the top obstacle avoidance sensor on the non-docking side of the robot adjusts the three-dimensional laser protection area, and the bottom obstacle avoidance sensor adjusts the bottom laser protection area. The three-dimensional laser protection area and the bottom laser protection area are used to detect whether foreign objects enter.

[0014] Secondly, this application provides a robot, comprising: a robot body movably disposed on the ground; a work platform disposed on the robot body; a manipulator disposed on the robot body or the work platform; and a robot protective device according to the first aspect. Attached Figure Description

[0015] Figure 1 This is a perspective view of a robot with a robot protection device provided in an embodiment of this application.

[0016] Figure 2 yes Figure 1Another perspective 3D view of the robot shown.

[0017] Figure 3 This is a perspective view of the top obstacle avoidance sensor of the robot protection device provided in the embodiments of this application.

[0018] Figure 4 yes Figure 3 The diagram shows the laser protection area emitted by the top obstacle avoidance sensor.

[0019] Figure 5 This is a schematic diagram of the laser protection area emitted by the top obstacle avoidance sensor and the bottom obstacle avoidance sensor with robot protection device provided in the embodiments of this application.

[0020] Explanation of main component symbols

[0021] 200 - Robot, 210 - Robot body, 220 - Working platform, 230 - Robotic arm, 240 - Material storage area

[0022] 100 - Robot protective device, 10 - Top obstacle avoidance sensor, 12 - Support base, 14 - Angle adjustment unit, 16 - Launching unit, 20 - Bottom obstacle avoidance sensor.

[0023] The following detailed description, in conjunction with the accompanying drawings, further illustrates this application. Detailed Implementation

[0024] It should be noted that the terms "first" and "second" in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence. In the specification, claims, and drawings of this application, unless otherwise stated, " / " indicates "or," for example, A / B can mean A or B. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, the term "multiple units" in the specification, claims, and drawings of this application refers to two or more units.

[0025] Understandably, the connection relationships described in this application refer to direct or indirect connections. For example, the connection between A and B, or A electrically connecting B, can be a direct connection between A and B, or an indirect connection between A and B through one or more other electrical components. For instance, A can be directly connected to C, and C can be directly connected to B, thus enabling a connection between A and B through C.

[0026] It should also be noted that the methods disclosed in the embodiments of this application or the methods shown in the flowcharts include one or more steps for implementing the method. Without departing from the scope of the claims, the execution order of multiple steps can be interchanged, and some steps can also be deleted.

[0027] Some embodiments will now be described with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] Figure 1 This is a perspective view of a robot 200 with a robot protection device 100 provided in an embodiment of this application. The robot protection device 100 is applied to the robot 200 to detect safety obstacles and provide safety protection for the robot 200. In some embodiments, the robot 200 may be, but is not limited to, a composite robot or an autonomous mobile robot (AMR), and is applied in industrial production, such as automatically loading and unloading, automatically changing tools, and handling the turnover of material trays, material frames, and products in a computer numerical control (CNC) machining center within an industrial plant. The robot 200 has mobility and operational functions and can move autonomously to perform industrial operations. In some embodiments, the robot 200 can move to a workstation in a work environment and dock with the workstation to perform operations, such as loading and unloading, automatically changing tools, and handling the turnover of material trays, material frames, and products.

[0029] Please refer to the following: Figure 1 and Figure 2 The robot 200 may include a robot body 210, a work platform 220, a robotic arm 230, a material area 240, and a robot protective device 100.

[0030] The robot body 210 is used to support the work platform 220, the robotic arm 230, the material area 240, and the robot protective device 100. The robot body 210 is also used for autonomous movement. In some embodiments, the robot body 210 is an Automatic Guided Vehicle (AGV) chassis, which may be equipped with pulley components for movement to realize the autonomous movement function of the robot body 210. In some embodiments, the robot body 210 may also be a robot body with an AGV chassis, possessing functions such as autonomous navigation, dynamic obstacle avoidance, and task scheduling of AGVs, and can autonomously move to the workstation in the work scene, and achieve dynamic obstacle avoidance during autonomous movement.

[0031] The work platform 220 is disposed on top of the robot body 210 and is used for industrial operations. In some embodiments, the work platform 220 is generally rectangular and has multiple distinct edges, such as the four edges of a rectangle.

[0032] A robotic arm 230 and a material storage area 240 are disposed on a work platform 220. The robotic arm 230 is used to perform operations on the work platform 220, such as picking up, placing, and transporting materials between the material storage area 240 and the workstation. The material storage area 240 is used to store materials. In some embodiments, the robotic arm 230 is rotatable and has a working area. It can be understood that the working area of ​​the robotic arm 230 may correspond to the area of ​​the work platform 220 or extend beyond the work platform 220.

[0033] The robot protection device 100 includes multiple top obstacle avoidance sensors 10 and multiple bottom obstacle avoidance sensors 20.

[0034] Multiple top obstacle avoidance sensors 10 are respectively disposed on different edges of the work platform 220. Each top obstacle avoidance sensor 10 is used to emit a laser protection zone to detect whether a foreign object enters the laser protection zone. In some embodiments, the laser protection zone can be the detection area of ​​the top obstacle avoidance sensor 10. When the top obstacle avoidance sensor 10 detects that a foreign object has entered or passed through the laser protection zone, the top obstacle avoidance sensor 10 can generate a trigger signal to trigger the robot arm 230 to stop working.

[0035] In some embodiments, multiple top obstacle avoidance sensors 10 are respectively disposed on different edges of the robot body 210. Multiple laser protection zones emitted by the multiple top obstacle avoidance sensors 10 surround the working area of ​​the robot arm 230. The top obstacle avoidance sensors 10 are used to detect foreign objects entering or passing through the laser protection zones to trigger the robot arm 230 to stop working.

[0036] Please refer to the following: Figure 5 In some embodiments, multiple top obstacle avoidance sensors 10 emit laser protection zones respectively. Since the multiple top obstacle avoidance sensors 10 are respectively set on different edges of the robot body 210 or the working platform 220, the laser protection zones emitted by the multiple top obstacle avoidance sensors 10 surround the working area of ​​the robot arm 230. When any top obstacle avoidance sensor 10 detects a foreign object entering the corresponding laser protection zone, the top obstacle avoidance sensor 10 can generate a trigger signal to trigger the robot arm 230 to stop working.

[0037] In some embodiments, the laser protection area emitted by each top obstacle avoidance sensor 10 faces upwards, meaning that the multiple top obstacle avoidance sensors 10 emit upward-facing laser protection areas from different edges of the robot body 210 or the work platform 220. In some embodiments, the laser protection area emitted by each top obstacle avoidance sensor 10 has a preset shape, such as, but not limited to, a trapezoidal, inverted trapezoidal, or rectangular area. It is understood that the height of the laser protection area emitted by each top obstacle avoidance sensor 10 is greater than the height of the robot arm 230 and the material area 240 on the work platform 220, so that the laser protection area can cover the robot arm 230 and the material area 240. In some embodiments, the laser protection area emitted by each top obstacle avoidance sensor 10 intersects with the laser protection areas emitted by adjacent top obstacle avoidance sensors 10 to form a three-dimensional laser protection area. The three-dimensional laser protection area is used to enclose the working area of ​​the robot arm 230, and the work platform 220, the robot arm 230, and the material area 240 are located within this three-dimensional laser protection area. It is understood that the three-dimensional laser protection area formed by multiple laser protection zones emitted by multiple top obstacle avoidance sensors 10 can surround the working range of the work platform 220, the robot arm 230, and the material area 240. When a foreign object enters or passes through the three-dimensional laser protection area, it can be determined that it interferes with the operation of the work platform 220, the robot arm 230, and the material area 240. The top obstacle avoidance sensor 10 triggers the robot 200 to stop working, thereby reducing the impact of foreign objects on the operation of the robot 200 or the safety hazards caused by them. In some embodiments, the cross-section of the three-dimensional laser protection area has a preset shape, such as, but not limited to, a trapezoidal, inverted trapezoidal, or rectangular area.

[0038] Please refer to the following: Figure 3 and Figure 4Each top obstacle avoidance sensor 10 includes a support base 12, an angle adjustment section 14, and a transmitter 16. The support base 12 is fixedly connected to the robot body 210 or the work platform 220. The angle adjustment section 14 is rotatably disposed on the support base 12. The transmitter 16 is connected to the angle adjustment section 14 and is used to emit a laser protection area. The angle adjustment section 14 rotates relative to the support base 12, which can adjust the angle relative to the robot body 210 or the work platform 220, thereby driving the transmitter 16 to rotate to adjust the angle of the laser protection area. In some embodiments, the transmitter 16 has an arc-shaped emitting surface, which can emit a larger area of ​​laser protection area. In some embodiments, by rotating the transmitter 16 relative to the robot body 210 or the work platform 220 through the angle adjustment section 14, the angle of the laser protection area emitted by the transmitter 16 can be adjusted, for example, the laser protection area is perpendicular to the work platform 220 or at a preset angle relative to the work platform 220. It is understood that by adjusting the angle of the laser protection area emitted by each top obstacle avoidance sensor 10, the range of the three-dimensional laser protection area formed by the multiple laser protection areas emitted by multiple top obstacle avoidance sensors 10 can be adjusted to adapt to the adjustment of the working range of the work platform 220, the robot arm 230 and the material area 240.

[0039] Multiple bottom obstacle avoidance sensors 20 are disposed on different edges of the bottom of the robot body 210. Each bottom obstacle avoidance sensor 20 is used to emit a laser protection zone to detect whether a foreign object enters the laser protection zone. In some embodiments, the laser protection zone can be the detection area of ​​the bottom obstacle avoidance sensor 20. When the bottom obstacle avoidance sensor 20 detects that a foreign object has entered or passed through the laser protection zone, the bottom obstacle avoidance sensor 20 can generate a trigger signal to trigger the robot 200 to stop working.

[0040] In some embodiments, the laser protection area emitted by each bottom obstacle avoidance sensor 20 faces downwards, meaning that the multiple bottom obstacle avoidance sensors 20 emit downward-facing laser protection areas from different edges of the bottom of the robot body 210. It can be understood that the laser protection areas emitted by the bottom obstacle avoidance sensors 20 face downwards to the ground. In some embodiments, the laser protection area emitted by each bottom obstacle avoidance sensor 20 has a preset shape, such as, but not limited to, a fan-shaped area. In some embodiments, the robot protection device 100 includes two bottom obstacle avoidance sensors 20, which are arranged along a pair of opposite corners of the bottom of the robot body 210. In some embodiments, the laser protection areas emitted by the two bottom obstacle avoidance sensors 20 intersect to form a bottom laser protection area, which covers the perimeter of the robot body 210. It is understandable that the bottom laser protection area emitted by multiple bottom obstacle avoidance sensors 20 can cover the movement range of the robot body 210. When an external object enters or passes through the three-dimensional laser protection area, it can be determined that it interferes with the movement of the robot body 210. The bottom obstacle avoidance sensor 20 triggers the robot 200 to stop working or moving, thereby reducing the impact of external objects on the operation or movement of the robot 200 or the safety hazards caused by them.

[0041] In some application scenarios of the robot 200, when the robot 200 receives and initiates a work task, the robot protection device 100 is activated. A three-dimensional laser protection area, formed by multiple laser protection zones emitted by multiple top obstacle avoidance sensors 10, surrounds the work platform 220, the robotic arm 230, and the material area 240. A bottom laser protection area, formed by multiple laser protection zones emitted by multiple bottom obstacle avoidance sensors 20, covers the bottom of the robot body 210. Both the top and bottom obstacle avoidance sensors 10 and 20 simultaneously detect whether any foreign objects enter their respective laser protection zones. In other words, the three-dimensional and bottom laser protection areas are used to simultaneously detect whether foreign objects have entered. The robot 200 moves autonomously towards the workstation. During this movement, the top obstacle avoidance sensors 10 continuously detect whether any foreign objects have entered the upper work area of ​​the robot 200, and the bottom obstacle avoidance sensors 20 continuously detect whether any foreign objects have entered the lower movement area of ​​the robot 200, until the robot 200 docks with the workstation. During this movement, if either the top obstacle avoidance sensor 10 detects an object entering the 3D laser protection zone or the bottom obstacle avoidance sensor 20 detects an object entering the bottom laser protection zone, the top obstacle avoidance sensor 10 or the bottom obstacle avoidance sensor 20 triggers the robot 200 to stop moving and / or the robotic arm 230 to stop operating, and the robot 200 issues an alarm. After the operator removes the obstacle, the robot 200 continues moving.

[0042] As robot 200 continues to the workstation and docks with it, the top obstacle avoidance sensor 10 and bottom obstacle avoidance sensor 20 on the docking side of robot 200 are turned off. The top obstacle avoidance sensor 10 on the non-docking side of robot 200 adjusts its 3D laser protection area; for example, it turns off the laser protection area emitted by the top obstacle avoidance sensor 10 on the docking side of robot 200 to reduce the size of the 3D laser protection area on the non-docking side. The bottom obstacle avoidance sensor 20 on the non-docking side of robot 200 adjusts its emitted bottom laser protection area; for example, it reduces the area of ​​the bottom laser protection area. This allows robot 200 to operate with the workstation via the work platform 220, the robotic arm 230, and the material area 240. The top obstacle avoidance sensor 10 and bottom obstacle avoidance sensor 20 on the non-docking side of robot 200 simultaneously detect whether foreign objects enter their respective emitted laser protection areas; that is, the 3D laser protection area and the bottom laser protection area are used to simultaneously detect whether foreign objects are entering. During the operation of robot 200, multiple top obstacle avoidance sensors 10 detect in real time whether foreign objects enter the upper working area of ​​robot 200, and multiple bottom obstacle avoidance sensors 20 detect in real time whether foreign objects enter the lower moving area of ​​robot 200. When any top obstacle avoidance sensor 10 detects a foreign object entering the three-dimensional laser protection area or a bottom obstacle avoidance sensor 20 detects a foreign object entering the bottom laser protection area, that top obstacle avoidance sensor 10 or bottom obstacle avoidance sensor 20 triggers the robotic arm 230 to stop operation. After the operator removes the obstacle, robot 200 continues to operate.

[0043] The robot protection device 100 of this application embodiment provides multiple top obstacle avoidance sensors 10 at different edges of the robot body 210 or the work platform 220. Each top obstacle avoidance sensor 10 emits a laser protection area. The multiple laser protection areas 10 emitted by the multiple top obstacle avoidance sensors 10 surround the working area of ​​the robot arm 230. When any top obstacle avoidance sensor 10 detects a foreign object entering the laser protection area, the corresponding top obstacle avoidance sensor 10 triggers the robot arm 230 to stop working, thereby protecting the robot 200 and improving the safety protection performance of the robot 200.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. In actual application, all the contents of the technical solutions described in any embodiment of this application can be implemented, or some contents can be added, deleted, or modified / replaced. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A robot protection device, applied to a robot, said robot comprising a robot body, a working platform, and a robotic arm, characterized in that, The robot protection device includes: Multiple top obstacle avoidance sensors are respectively disposed on different edges of the robot body or working platform. Each top obstacle avoidance sensor emits a laser protection area, and the multiple laser protection areas emitted by the multiple top obstacle avoidance sensors surround the working area of ​​the robot arm. The top obstacle avoidance sensors are used to detect foreign objects entering the laser protection area to trigger the robot arm to stop working. Each top obstacle avoidance sensor includes a support base, an angle adjustment part, and an emitting part. The support base is fixedly connected to the working platform or the robot body. The angle adjustment part is rotatably disposed on the support base. The emitting part is connected to the angle adjustment part and is used to emit the laser protection area. The angle adjustment part drives the emitting part to rotate to adjust the angle of the laser protection area.

2. The robotic guard of claim 1, wherein, Each of the top obstacle avoidance sensors emits a laser protection area facing upwards, and the laser protection area emitted by each of the top obstacle avoidance sensors intersects with the laser protection areas emitted by adjacent top obstacle avoidance sensors to form a three-dimensional laser protection area, which is used to enclose the working area of ​​the robot arm.

3. The robot protection device as described in claim 2, characterized in that, The multiple top obstacle avoidance sensors are arranged along the four edges of the work platform, and the cross-section of the three-dimensional laser protection area is trapezoidal or rectangular.

4. The robotic guard of claim 2, wherein, The robot protection device also includes multiple bottom obstacle avoidance sensors, which are disposed on different edges of the robot body. The multiple bottom obstacle avoidance sensors emit laser protection areas that surround the bottom of the robot body. When any of the bottom obstacle avoidance sensors detects a foreign object entering the laser protection area, the bottom obstacle avoidance sensor triggers the robot to stop operating.

5. The robotic guard of claim 4, wherein, Each of the bottom obstacle avoidance sensors emits a laser protection area facing downwards, and the laser protection area emitted by each bottom obstacle avoidance sensor intersects with the laser protection area emitted by the adjacent bottom obstacle avoidance sensor to form a bottom laser protection area, which covers the bottom perimeter of the body.

6. The robotic guard of claim 5, wherein, The plurality of bottom obstacle avoidance sensors are arranged along the diagonal of the robot body, and the laser protection area emitted by each bottom obstacle avoidance sensor is a fan-shaped area.

7. The robotic guard of claim 5, wherein, When the robot is moving and the work platform is operating, if any of the top obstacle avoidance sensors detects an object entering the three-dimensional laser protection area, or if any of the bottom obstacle avoidance sensors detects an object entering the bottom laser protection area, the top obstacle avoidance sensor or the bottom obstacle avoidance sensor triggers the robot to stop moving and stop operating.

8. The robotic guard of claim 5, wherein, When the robot is used to dock with the workstation, the top obstacle avoidance sensor and the bottom obstacle avoidance sensor on the docking side of the robot are turned off, and the top obstacle avoidance sensor on the non-docking side of the robot adjusts the three-dimensional laser protection area, and the bottom obstacle avoidance sensor adjusts the bottom laser protection area. The three-dimensional laser protection area and the bottom laser protection area are used to detect whether foreign objects enter.

9. A robot, characterized in that The robot includes: a robot body movably disposed on the ground; a work platform disposed on the robot body; a robot arm disposed on the robot body or the work platform; and a robot guard as claimed in any one of claims 1 to 8.

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