A protective device for truss manipulators with flexible anti-collision strips

Abstract

This utility model discloses a protective device for a truss robot with flexible anti-collision strips, belonging to the field of truss robot protection. The truss robot protective device includes a truss with a hopper at its upper end. A pair of second light curtains are horizontally arranged at the upper end of the hopper, and a pair of first light curtains are horizontally arranged on one side of the upper end of the hopper. A first buzzer is arranged on one side of the hopper. This utility model solves the problem that existing truss robot protection devices cannot detect whether a person is approaching the hopper through the structure. This utility model uses a pair of second light curtains and a pair of first light curtains for detection. Upon detecting contact with a foreign object, it can directly give a start signal to the first buzzer. When the user's hand rests on the pressure sensor, the pressure sensor will directly give a start signal to the second buzzer. The second and first buzzers can respectively detect accidental touches and proximity from different directions.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot protection, specifically a gantry robot protection device with flexible anti-collision strips. Background Technology

[0002] A gantry robot safety device is a safety feature designed to protect personnel from potential injuries during the robot's movement. When the gantry robot is in automatic operation mode, if personnel inadvertently or accidentally enter hazardous areas such as hoppers due to work requirements, the robot's speed and inertia may prevent it from stopping immediately, potentially leading to collisions. The safety device detects personnel entering hazardous areas and can promptly trigger safety mechanisms to alert users, effectively preventing injuries and ensuring the safe operation of production. It is an indispensable safety measure in automated production lines.

[0003] Chinese Patent Publication No. CN218476718U discloses a truss manipulator with a protective structure, including a longitudinally placed main body. A flipping mechanism is provided at the right end of the front surface of the middle part of the main body, and a support frame that is fixedly installed at the front of the lower end of the main body and contacts the ground. This truss manipulator with a protective structure adopts a novel structural design, which allows the front protective mechanism to protect the manipulator during use, preventing accidental contact by the operator and causing danger. Furthermore, during the up-and-down movement of the manipulator, the movable protective plate moves up and down synchronously relative to the fixed protective plate, thereby maintaining its relative position with the manipulator and achieving the best protective effect.

[0004] The aforementioned patented truss robot with a protective structure requires the robot to frequently reach into the hopper to retrieve materials during operation. However, it lacks a surrounding detection structure to detect whether personnel are approaching the hopper, thus failing to achieve the goal of preventing personnel from approaching the hopper and improving safety during equipment operation. Utility Model Content

[0005] The purpose of this invention is to provide a protective device for a truss robot arm with a flexible anti-collision strip. A pair of second light curtains and a pair of first light curtains are used for detection. After detecting contact with a foreign object, a first buzzer can be directly activated. Correspondingly, when the user's hand rests on the upper end of the pressure sensor, the pressure sensor will directly activate the second buzzer. The second and first buzzers can detect accidental touches and proximity from different directions, respectively, thereby improving safety during use and solving the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a truss manipulator protective device with flexible anti-collision strips, comprising a truss with a hopper at the upper end, a pair of second light curtains arranged laterally at the upper end of the hopper, a pair of first light curtains arranged laterally on one side of the upper end of the hopper, a first buzzer arranged on one side of the hopper, and the first buzzer is electrically connected to the first and second light curtains, a pressure sensor is arranged laterally on the other side of the upper end of the hopper, and mounting holes are provided at the middle and front and rear ends of the lower end of the pressure sensor, and a pressure sensor is arranged in the middle of the mounting hole at the middle position of the lower end of the pressure sensor.

[0007] Preferably, shock absorbers are vertically installed inside the two mounting holes at the front and rear ends, and the two ends of the shock absorbers are fixedly connected to the pressure sensor and the hopper respectively by bolts.

[0008] Preferably, the two ends of the pressure sensor are fixedly connected to the pressure sensor and the hopper respectively by bolts.

[0009] Preferably, a second buzzer is provided on the other side of the hopper, and the second buzzer is electrically connected to the pressure sensor.

[0010] Preferably, an upper support is provided on one side of the upper outer end of the truss extending to the front end of the truss, and the two first light curtains and the two second light curtains are respectively fixedly connected to the upper support and the hopper by bolts.

[0011] Preferably, a connection hole is provided on the other side of the front end of the hopper, a first side bracket is provided on one side of the lower end of the upper bracket, and a second side bracket is provided on the other side of the lower end of the upper bracket.

[0012] Preferably, the first side bracket is welded and fixed to the upper bracket, and the first side bracket is rotatably connected to the truss via a connecting shaft.

[0013] Preferably, the lower end of the second side bracket is provided with a connecting piece, and the connecting piece is welded and fixed to the second side bracket. The connecting piece and the connecting hole are fixedly connected by bolts.

[0014] Preferably, a pair of anti-collision strips are provided at the front end and on both sides of the hopper, and the pair of anti-collision strips are fixed to the outer wall of the hopper with glue.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] When the robotic arm is in use and retrieves materials from the hopper for processing, the front end and one side of the hopper are detected by a pair of second light curtains and a pair of first light curtains, respectively. Upon detection of foreign object contact, a first buzzer can be directly activated. Correspondingly, after the robotic arm grabs and removes the item from the hopper, a pressure sensor connected to a pressure sensor is mounted on the other side of the upper end of the hopper. When the user's hand rests on the upper end of the pressure sensor, the pressure sensor will directly activate a second buzzer. The second and first buzzers can detect accidental touches and proximity from different directions, and promptly issue a warning upon detecting a foreign object, preventing the user from continuously approaching the robotic arm and frequently moving its position, thus improving safety during use. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall external structure of this utility model;

[0018] Figure 2 For the present utility model Figure 1 Enlarged view of a portion of region A in the middle;

[0019] Figure 3 For the present utility model Figure 1 Enlarged view of a portion of region B in the middle;

[0020] Figure 4 This is a schematic diagram of the rotation trajectory of the upper support of this utility model;

[0021] Figure 5 This is a schematic diagram showing the positional relationship of the pressure sensor of this utility model.

[0022] In the diagram: 1. Truss; 2. Hopper; 3. First buzzer; 4. First light curtain; 5. Second light curtain; 6. Upper support; 7. Handle; 8. First side support; 9. Connecting shaft; 10. Second side support; 11. Press sensor; 12. Connecting piece; 13. Connecting hole; 14. Mounting hole; 15. Shock absorber; 16. Pressure sensor; 17. Second buzzer; 18. Anti-collision strip. Detailed Implementation

[0023] The present invention will be further described below with reference to specific embodiments.

[0024] like Figure 1 As shown, this embodiment of a truss robot protective device with flexible anti-collision strips includes a truss 1, and a hopper 2 is provided at the upper end of the truss 1. The hopper 2 is used to store materials for processing, and the subsequent work of the robot arm is to grab materials from the hopper 2 for processing.

[0025] Furthermore, such as Figure 3As shown, in order to prevent the user's hands from approaching the exposed upper part of the hopper 2, a pair of second light curtains 5 are horizontally arranged at the upper part of the hopper 2, and a pair of first light curtains 4 are horizontally arranged on one side of the upper part of the hopper 2. The area between the two first light curtains 4 and the two second light curtains 5 is used for detection. When the user approaches the upper part of the hopper 2, the area between the two first light curtains 4 and the two second light curtains 5 can be detected.

[0026] In order to promptly remind the user after the two first light curtains 4 and two second light curtains 5 have performed detection, a first buzzer 3 is installed on one side of the hopper 2. The first buzzer 3 is electrically connected to the first light curtains 4 and two second light curtains 5. After the two first light curtains 4 and two second light curtains 5 detect that a person is approaching, they can directly give the first buzzer 3 an activation signal, which can actively remind the approaching user to move away from the detection area.

[0027] To avoid frequent false detections during the continuous grasping and movement of the robotic arm, and to protect the robotic arm's movement area from user approach and collision, a pressure sensor 11 is horizontally installed on the other side of the upper end of the hopper 2. Mounting holes 14 are provided at the middle and both ends of the lower end of the pressure sensor 11. Figure 5 As shown, shock absorbers 15 are vertically installed inside the two mounting holes 14 at the front and rear ends. The two ends of the shock absorbers 15 are fixedly connected to the pressure sensor 11 and the hopper 2 respectively by bolts. The shock absorbers 15 installed inside the mounting holes 14 can directly support the pressure sensor 11 at the upper end. The support allows the pressure sensor 11 to be suspended in the air and can be moved longitudinally by the user placing their hand on the upper end of the pressure sensor 11.

[0028] In this embodiment, a pressure sensor 16 is provided in the middle of the mounting hole 14 at the lower middle position of the pressure sensor 11, and the two ends of the pressure sensor 16 are fixedly connected to the pressure sensor 11 and the hopper 2 respectively by bolts. When the user's hand accidentally rests on the upper end of the pressure sensor 11, the pressure of the hand will be directly detected by the pressure sensor 16.

[0029] In addition, in order to directly remind the user to stay away after the pressure sensor 16 detects pressure, a second buzzer 17 is provided on the other side of the hopper 2. The second buzzer 17 is electrically connected to the pressure sensor 16. After the pressure sensor 11 detects pressure, the pressure sensor 11 can give a start signal to the second buzzer 17, which will remind the user to stay away from the dangerous and detected area.

[0030] To facilitate the installation of the second light curtain 5 and the first light curtain 4, an upper support 6 is provided on one side of the upper outer end of the truss 1 extending to the front end of the truss 1. The two first light curtains 4 and the two second light curtains 5 are respectively fixedly connected to the upper support 6 and the hopper 2 by bolts. The two first light curtains 4 and the two second light curtains 5 are connected by the upper support 6 and the hopper 2, respectively. This allows for the detection of the upper area of ​​the hopper 2 and prevents foreign objects from approaching the hopper 2.

[0031] It is worth mentioning that, in order to support the upper support 6, a connection hole 13 is provided on the other side of the front end of the hopper 2. A first side support 8 is provided on one side of the lower end of the upper support 6, and a second side support 10 is provided on the other side of the lower end of the upper support 6. The upper support 6 can be fixed by the second side support 10 and the first side support 8, so that the upper support 6 can drive the first light curtain 4 and the second light curtain 5 to be fixed on the upper end of the hopper 2.

[0032] In this embodiment, the first side bracket 8 is welded and fixed to the upper bracket 6, such as... Figure 4 As shown, the first side support 8 and the truss 1 are rotatably connected by a connecting shaft 9, as... Figure 2 As shown, a connecting piece 12 is provided at the lower end of the second side bracket 10, and the connecting piece 12 is welded and fixed to the second side bracket 10. The connecting piece 12 and the connecting hole 13 are fixedly connected by bolts. After the bolts that pass through the connecting piece 12 and are embedded in the connecting hole 13 are removed, the first light curtain 4 and the second light curtain 5 connected to the upper bracket 6 can rotate with the upper bracket 6 around the connecting shaft 9. The rotation can expose the upper end of the material bin 2, which can prevent the exposed upper bracket 6 from affecting the material being put into the material bin 2.

[0033] Regarding the impact protection of the entire outer wall of the hopper 2, a pair of impact strips 18 are provided at the front end and both sides of the hopper 2. The pair of impact strips 18 are fixed to the outer wall of the hopper 2 with glue. The impact protection capability can be improved by using the rubber impact strips 18.

[0034] To facilitate the user to move the upper bracket 6, a handle 7 is vertically installed in the middle of the upper end of the upper bracket 6, and the handle 7 is welded and fixed to the upper bracket 6. The upper bracket 6 can be moved by the handle 7. Moving the upper bracket 6 can directly drive the upper bracket 6 and the first light curtain 4 and the second light curtain 5 connected to the upper bracket 6 to rotate, so that the upper bracket 6, the first light curtain 4 and the second light curtain 5 can rotate around the connecting shaft 9 as the center.

[0035] Working principle: The device detects the position of the material hopper 2 where the robotic arm grasps the material. A pair of second light curtains 5 are installed at the front end of the upper inlet of hopper 2, while a pair of first light curtains 4 are installed on one side of the inlet. The pair of first light curtains 4 and the pair of second light curtains 5 can detect the orientation of this position. Upon detecting a foreign object, the pair of first light curtains 4 and the pair of second light curtains 5 can directly send a start signal to the first buzzer 3, which can directly alert the user and surrounding staff. Simultaneously, a [missing information - likely a device or mechanism] is installed at the lower end of the other side of the upper inlet of hopper 2. The pressable pressure sensor 11 allows the user's hand to rest on the upper end of the hopper 2, and the pressure can be directly supported by the pressure sensor 16 at the lower end. During the support process, the pressure sensor 16 can give a start signal to the second buzzer 17, which can directly remind the user and the surrounding staff. After adding materials to the hopper 2, the bolts that pass through the connecting piece 12 and are embedded in the connecting hole 13 are removed. The upper bracket 6 rotates around the connecting shaft 9 and exposes the upper end of the hopper 2, so as to avoid the protective device at the upper end of the hopper 2 from affecting the addition of materials.

[0036] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0037] 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.

Claims

1. A protective device for a truss robot with flexible anti-collision strips, comprising a truss (1) with a hopper (2) at the upper end, characterized in that, A pair of second light curtains (5) are horizontally arranged at the upper end of the hopper (2). A pair of first light curtains (4) are horizontally arranged on one side of the upper end of the hopper (2). A first buzzer (3) is arranged on one side of the hopper (2), and the first buzzer (3) is electrically connected to the first light curtain (4) and the second light curtain (5). A pressure sensor (11) is horizontally arranged on the other side of the upper end of the hopper (2). Mounting holes (14) are provided at the middle and front and rear ends of the lower end of the pressure sensor (11). A pressure sensor (16) is arranged in the middle of the mounting hole (14) at the middle position of the lower end of the pressure sensor (11).

2. A truss manipulator guard with a flexible impact strip according to claim 1, wherein, Shock absorbers (15) are vertically installed inside the two mounting holes (14) at the front and rear ends, and the two ends of the shock absorbers (15) are fixedly connected to the pressure sensor (11) and the hopper (2) respectively by bolts.

3. A gantry robot guard with flexible crash strip according to claim 2, characterized in that The two ends of the pressure sensor (16) are fixedly connected to the pressing sensor (11) and the hopper (2) respectively by bolts.

4. A protective device for a truss robot with a flexible anti-collision strip according to claim 3, characterized in that, A second buzzer (17) is provided on the other side of the hopper (2), and the second buzzer (17) is electrically connected to the pressure sensor (16).

5. The gantry robot guard with flexible fender strips of claim 1, wherein, An upper support (6) is provided on one side of the upper outer end of the truss (1) to the front end of the truss (1). The two first light curtains (4) and the two second light curtains (5) are respectively fixedly connected to the upper support (6) and the hopper (2) by bolts.

6. A gantry robot guard with flexible crash strip according to claim 5, characterised in that, A connection hole (13) is provided on the other side of the front end of the hopper (2), a first side bracket (8) is provided on one side of the lower end of the upper bracket (6), and a second side bracket (10) is provided on the other side of the lower end of the upper bracket (6).

7. A gantry robot guard with flexible crash strip according to claim 6, characterised in that, The first side bracket (8) is welded and fixed to the upper bracket (6), and the first side bracket (8) is rotatably connected to the truss (1) through the connecting shaft (9).

8. A gantry robot guard with flexible crash strip according to claim 7, characterised in that, The lower end of the second side bracket (10) is provided with a connecting piece (12), and the connecting piece (12) is welded and fixed to the second side bracket (10). The connecting piece (12) and the connecting hole (13) are fixedly connected by bolts.

9. A gantry robot guard with flexible crash strip according to claim 8, characterised in that, A pair of anti-collision strips (18) are provided at the front end and on both sides of the hopper (2), and the pair of anti-collision strips (18) are fixed to the outer wall of the hopper (2) with glue.

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