robot

Abstract

The utility model provides a kind of robot, robot includes: base;Multiple mechanical arms, multiple mechanical arms at least include first arm and second arm, one end of first arm is rotatably connected with base, the other end of first arm is rotatably connected with second arm;Detection piece, for detecting the rotating position of at least one of first arm and second arm;Control module, with detection piece electric connection, for controlling the movement state of first arm or second arm according to the detection result of detection piece;Limiting assembly, at least one of base and first arm is equipped, for limiting first arm in the case where first arm rotates to first position, and / or limiting assembly is equipped at least one of first arm and second arm, for limiting second arm in the case where second arm rotates to second position, realize the double guarantee of robot limiting in actual work, to ensure that in the case where soft limit fails, the hard limit is realized to the emergency stop brake of robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a robot. Background Technology

[0002] Currently, the limiting mechanisms used for industrial robots in related technologies are generally soft limiting mechanisms, meaning that the robot's range of motion is limited through a control terminal. However, in actual production operations, when the internal control terminal experiences accuracy errors or the control program fails, the robot will be unable to stop itself at the limit point, endangering the personal safety of the operators. Utility Model Content

[0003] The embodiments of this utility model are intended to solve at least one of the technical problems existing in the prior art.

[0004] Therefore, a first aspect of the embodiments of this utility model provides a robot.

[0005] In view of the above, according to a first aspect of the present invention, a robot is provided, the robot comprising: a base; a plurality of robotic arms, the plurality of robotic arms including at least a first arm and a second arm, one end of the first arm being rotatably connected to the base, and the other end of the first arm being rotatably connected to the second arm; a detection element for detecting the rotational position of at least one of the first arm and the second arm; a control module electrically connected to the detection element for controlling the motion state of the first arm or the second arm according to the detection result of the detection element; and a limiting component disposed on at least one of the base and the first arm for limiting the first arm when the first arm rotates to a first position, and / or a limiting component disposed on at least one of the first arm and the second arm for limiting the second arm when the second arm rotates to a second position.

[0006] The robot provided in this embodiment of the utility model includes a base, multiple robotic arms, a limiting component, a detection component, and a control module. Specifically, the multiple robotic arms include at least a first arm and a second arm, wherein the two ends of the first arm are rotatably connected to the base and the second arm, respectively.

[0007] The detection device can detect the rotational position of the first arm and / or the second arm. The control module is electrically connected to the detection device and can control the movement state of the first or second arm based on the detection results. Specifically, when the detection device detects that the first arm has rotated to its limit position, it sends an electrical signal to the control module. Upon receiving the signal, the control module stops the first arm from rotating. When the detection device detects that the second arm has rotated to its limit position, it sends an electrical signal to the control module. Upon receiving this signal, the control module stops the second arm from rotating. In other words, the detection device and the control module work together to form the robot's soft limit.

[0008] The limiting component is disposed on at least one of the base and the first arm. Specifically, the limiting component is disposed on the base, or the limiting component is disposed on the first arm, or a portion of the limiting component is disposed on the base and another portion is disposed on the first arm.

[0009] Alternatively, the limiting component may be disposed on at least one of the first arm and the second arm. Specifically, the limiting component may be disposed on the first arm, or on the second arm, or a portion of the limiting component may be disposed on the first arm and another portion on the second arm.

[0010] Alternatively, there may be multiple limiting components, with one limiting component located in at least one of the base and the first arm, and another limiting component located in at least one of the first arm and the second arm. The specific configuration can be adjusted according to actual needs.

[0011] In detail, when the soft limit fails, i.e., when there is a fault in the detection component, a deviation in positional accuracy, or a failure in the degree of control, and the robot cannot be stopped when the first or second arm reaches its limit position, the first arm continues to rotate a small distance and reaches the first position. Due to the setting of the limit component, the robot can be stopped by limiting the first arm. Alternatively, the second arm continues to rotate a small distance and reaches the second position. Due to the setting of the limit component, the robot can be stopped by limiting the second arm.

[0012] By setting up detection components and limit components, which combine soft and hard limits, the robot achieves dual protection for limit operation in actual work. This ensures that in the event of soft limit failure, the robot can be stopped and braked urgently through hard limit, reducing the risk of safety accidents and improving the safety of robot limit operation.

[0013] In some technical solutions, optionally, in the rotation direction of the first arm, the first arm can rotate from a third position to a first position. Based on the first arm being in the third position, the detection element sends a first signal to the control module, and the control module controls the first arm to stop rotating according to the first signal; and / or in the rotation direction of the second arm, the second arm can rotate from a fourth position to a second position. Based on the second arm being in the fourth position, the detection element sends a second signal to the control module, and the control module controls the second arm to stop rotating according to the second signal.

[0014] In this technical solution, the first arm can rotate from the third position to the first position in its rotation direction. Specifically, during the rotation of the first arm, it first reaches the third position and then the first position. When the first arm rotates to the third position (the extreme position), the detection component sends a first signal to the control module, which then controls the first arm to stop rotating. When the soft limit fails, the first arm does not stop rotating when it reaches the third position and continues to rotate to the first position. Due to the presence of the limit component, the first arm stops rotating, thus achieving dual protection of the robot's limit during actual operation.

[0015] Because the second arm can rotate from the fourth position to the second position in its rotation direction, meaning that during the rotation of the second arm, it first reaches the fourth position and then the second position. Specifically, when the second arm rotates to the fourth position (the limit position), the detection component sends a second signal to the control module, and the control module controls the second arm to stop rotating. When the soft limit fails, the second arm does not stop rotating when it reaches the fourth position and continues to rotate to the second position. Due to the presence of the limit component, the second arm stops rotating, achieving a double guarantee of limit protection for the robot in actual operation.

[0016] In some technical solutions, optionally, the limiting component includes a limiting block and a stop block; when the limiting component is located in at least one of the base and the first arm, the limiting block is located in the first arm, the stop block is located in the base, and the detection element is located in the stop block; wherein, based on the first arm being in a third position, a portion of the limiting block is disposed opposite to the detection element so that the detection element emits a first signal; based on the first arm being in a first position, the limiting block and the stop block abut against each other.

[0017] In this technical solution, when the limiting component is located on at least one of the base and the first arm, the limiting block is located on the first arm, and the stop block is located on the base. Specifically, when the first arm rotates to the third position (extreme position), part of the limiting block is positioned opposite the detection element to block the signal emitted by the detection element. At this time, the detection element sends a first signal to the control module, indicating that the first arm has reached the extreme position, and the control module controls the first arm to stop rotating. When the soft limiting fails, the first arm does not stop rotating when it reaches the extreme position and continues to rotate to the first position. At this time, the limiting block and the stop block abut against each other, causing the first arm to stop rotating, thus achieving dual protection of the robot's limiting during actual operation.

[0018] In some technical solutions, the stop block may optionally include a buffer; based on the first arm being in a first position, the stop block abuts against the buffer.

[0019] In this technical solution, since the stop block includes a buffer, when the soft limit fails, the first arm does not stop rotating when it reaches the limit position, but continues to rotate to the first position. At this time, the limit block and the buffer abut against each other to achieve the last line of protection. Because of the buffer, when the limit block and the stop block collide, it plays a buffering role, greatly absorbing the impact energy and reducing the damage caused by the direct collision between the stop block and the limit block. While achieving effective limit and emergency stop of the robot, it can also protect the robot, which is conducive to extending the service life of the robot and improving the safety of robot use.

[0020] In some technical solutions, the buffer may optionally include a spring or a damper.

[0021] In this technical solution, specifically, the buffer includes a spring, or the buffer includes a damper. The specific configuration can be determined according to actual needs. Because the buffer includes a spring or a damper, during the final hard-limit protection, the spring or damper acts as a buffer medium for the collision between the limit block and the stop block, absorbing the impact energy.

[0022] In some technical solutions, the stop block may optionally include a mounting groove, in which at least a portion of the buffer is embedded.

[0023] In this technical solution, since at least part of the buffer component is embedded in the mounting groove of the stop block, the buffer component can be used as a buffer medium when the limit block and the stop block collide during the last hard limit protection. This absorbs the impact energy and prevents the buffer component from falling off the stop block under the impact of the limit block, which helps to improve the installation stability and reliability of the buffer component.

[0024] In some technical solutions, the stop block may optionally include a first body and two extensions. The first body is disposed on the base, and the two extensions are respectively disposed on the side of the first body away from the base and are arranged opposite to each other. The two extensions and the first body enclose and form a clearance groove. A detection element is disposed on one of the extensions, and the other extension is provided with a first passage. One end of the first passage is connected to the clearance groove, and the other end of the first passage penetrates the outer wall of the extension. The limiting block includes a limiting part. Based on the first arm being in the third position, the limiting part is inserted into the clearance groove and is located between the first passage and the detection element.

[0025] In this technical solution, the stop block further includes a first body and two extensions. Specifically, the two extensions are respectively disposed on the side of the first body away from the base, and the two extensions are arranged opposite to each other. Since the detection element is disposed on one of the extensions, and the other extension has a first passage, that is, the first passage and the detection element are arranged opposite to each other.

[0026] Specifically, when the first arm has not rotated to the third position (extreme position), the electrical signal emitted by the detection element can pass through the first path, and the robot operates normally. When the first arm rotates to the third position (extreme position), the limiting part inserts into the clearance groove, and the limiting part is located between the first path and the detection element, that is, the limiting part is set opposite to the detection element to block the electrical signal emitted by the detection element. At this time, the detection element sends a first signal to the control module, indicating that the first arm has reached the extreme position, and the control module controls the first arm to stop rotating. When the soft limit fails, the first arm does not stop rotating when it reaches the extreme position and continues to rotate to the first position. At this time, the limiting block and the stop block abut against each other, so that the first arm stops rotating, realizing the dual guarantee of limiting the robot in actual operation.

[0027] In some technical solutions, optionally, the limiting block includes a second body and a second passage, wherein the second body is disposed on the first arm, the limiting part is disposed on the side of the second body away from the first arm, and the second passage is disposed at the end of the limiting part away from the second body; in the rotation direction of the first arm, the first arm can rotate from the fifth position to the third position, based on the first arm being in the fifth position, the limiting part is inserted into the clearance groove, one end of the second passage is opposite to the detection element, and the other end of the second passage is opposite to the first passage.

[0028] In this technical solution, the limiting block is defined to include a second body and a second passage. Specifically, the second passage is located at the end of the limiting part away from the second body.

[0029] In the direction of rotation of the first arm, the first arm can rotate from the fifth position to the third position. That is to say, during the rotation of the first arm, it passes through the fifth position, the third position and the first position in sequence.

[0030] Specifically, when the first arm rotates to the fifth position, the limiting part inserts into the clearance groove. Since the two ends of the second passage are opposite to the first passage and the detection element respectively, the electrical signal emitted by the detection element can pass through the second passage and the first passage respectively, and the robot operates normally. That is, the fifth position is the robot's operating position. When the first arm rotates to the third position (extreme position), the limiting part is located between the first passage and the detection element, that is, the limiting part is set opposite to the detection element to block the electrical signal emitted by the detection element. At this time, the detection element sends a first signal to the control module, indicating that the first arm has reached the extreme position, and the control module controls the first arm to stop rotating. When the soft limit fails, the first arm does not stop rotating when it reaches the extreme position and continues to rotate to the first position. At this time, the limiting block and the stop block abut against each other, so that the first arm stops rotating, realizing the dual guarantee of limiting the robot in actual operation.

[0031] In some technical solutions, optionally, at least a portion of the stop block is located on the movement path of the limit block.

[0032] In this technical solution, since at least some of the stop blocks are located on the movement path of the limit blocks, that is, the limit blocks and the stop blocks are located on the same trajectory of the robot's movement, when the soft limit fails, it ensures that the limit blocks and the stop blocks can abut against each other to achieve hard limit braking of the robot, reduce the risk of safety accidents, and help improve the safety of robot limit.

[0033] In some technical solutions, optionally, along the rotation direction of the first arm, the first arm includes a first side and a second side facing away from each other; wherein, the number of stop blocks is two, one stop block is located on the first side and the other stop block is located on the second side.

[0034] In this technical solution, there are two stop blocks, one of which is located on the first side and the other on the second side. That is to say, a limiting component includes two stop blocks, and the two stop blocks are located on both sides of the rotation direction of the first arm, so as to limit the first arm on both sides of the rotation direction of the first arm and ensure the rotation angle of the first arm.

[0035] In some technical solutions, the detection element may optionally include an infrared light sensor, a pressure sensor, or a displacement sensor.

[0036] In this technical solution, the detection element may specifically include an infrared light sensor. Alternatively, the detection element may include a pressure sensor. Or, the detection element may include a displacement sensor. The specific configuration can be determined according to actual needs.

[0037] Understandably, when the detection component includes an infrared light sensor, it is mounted on the stop block. When the detection component includes a pressure sensor, it can be mounted on the buffer. When the detection component includes a displacement sensor, it can be mounted on the stop block or on the robotic arm, thereby enabling the detection of the robotic arm's rotational position. This results in a simple structure that helps reduce the robot's production cost.

[0038] In some technical solutions, the robot may optionally include an alarm device, which is electrically connected to at least one of the control module and the detection device.

[0039] This technical solution specifies that the robot also includes an alarm device. Specifically, the alarm device is electrically connected to the control module, or the alarm device is electrically connected to the detection component, or the alarm device is electrically connected to both the control module and the detection component. The specific configuration can be tailored to actual needs.

[0040] By setting up an alarm device, an alarm signal can be issued when the first arm and / or the second arm rotates to its limit position to remind the operator, which can reduce the probability of accidents and improve the safety of robot use.

[0041] Additional aspects and advantages of the present invention will be set forth in the description which follows, in part will be obvious from the description, or may be learned by practice of the present invention. Attached Figure Description

[0042] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0043] Figure 1 A schematic diagram of the structure of a robot according to an embodiment of the present invention is shown;

[0044] Figure 2 A schematic diagram of the structure of a limiting component according to an embodiment of the present invention is shown;

[0045] Figure 3 One of the structural schematic diagrams of a stop block according to an embodiment of the present invention is shown;

[0046] Figure 4 A second schematic diagram of the structure of a stop block according to an embodiment of the present invention is shown;

[0047] Figure 5 A schematic diagram of the structure of a limiting block according to an embodiment of the present invention is shown;

[0048] Figure 6 A schematic block diagram of a control module, detection element, and alarm device according to an embodiment of the present invention is shown.

[0049] in, Figures 1 to 6 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0050] 100 Robot, 110 Base, 120 Robotic Arm, 121 First Arm, 122 Second Arm, 123 Third Arm, 130 Limiting Component, 140 Limiting Block, 141 Limiting Part, 142 Second Body, 143 Second Passage, 150 Stop Block, 151 Buffer, 152 Mounting Slot, 153 First Body, 154 Extension, 155 Clearance Slot, 156 First Passage, 160 Detection Component, 170 Control Module, 180 Alarm Device. Detailed Implementation

[0051] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0052] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0053] The following reference Figures 1 to 6 To describe a robot 100 provided according to some embodiments of the present invention.

[0054] In one embodiment according to this application, such as Figure 1 and Figure 6 As shown, a robot 100 is proposed, comprising: a base 110; a plurality of robotic arms 120, the plurality of robotic arms 120 including at least a first arm 121 and a second arm 122, one end of the first arm 121 being rotatably connected to the base 110, and the other end of the first arm 121 being rotatably connected to the second arm 122; a detection element 160 for detecting the rotational position of at least one of the first arm 121 and the second arm 122; a control module 170 electrically connected to the detection element 160 for controlling the motion state of the first arm 121 or the second arm 122 according to the detection result of the detection element 160; and a limiting component 130 disposed on at least one of the base 110 and the first arm 121 for limiting the first arm 121 when it rotates to a first position, and / or the limiting component 130 disposed on at least one of the first arm 121 and the second arm 122 for limiting the second arm 122 when it rotates to a second position.

[0055] The robot 100 provided in this embodiment of the utility model includes a base 110, multiple robotic arms 120, a limiting component 130, a detection component 160, and a control module 170. Specifically, the multiple robotic arms 120 include at least a first arm 121 and a second arm 122, wherein the two ends of the first arm 121 are rotatably connected to the base 110 and the second arm 122, respectively.

[0056] The detection element 160 can detect the rotational position of the first arm 121 and / or the second arm 122. The control module 170 is electrically connected to the detection element 160, and the control module 170 can control the movement state of the first arm 121 or the second arm 122 according to the detection result of the detection element 160. Specifically, when the detection element 160 detects that the first arm 121 has rotated to its limit position, the detection element 160 sends an electrical signal to the control module 170. After receiving the electrical signal, the control module 170 controls the first arm 121 to stop rotating. When the detection element 160 detects that the second arm 122 has rotated to its limit position, the detection element 160 sends an electrical signal to the control module 170. After receiving the electrical signal, the control module 170 controls the second arm 122 to stop rotating. That is, the detection element 160 and the control module 170 cooperate to form a soft limit for the robot 100.

[0057] The limiting component 130 is disposed on at least one of the base 110 and the first arm 121. Specifically, the limiting component 130 is disposed on the base 110, or the limiting component 130 is disposed on the first arm 121, or a portion of the limiting component 130 is disposed on the base 110 and another portion is disposed on the first arm 121.

[0058] Alternatively, the limiting component 130 may be disposed on at least one of the first arm 121 and the second arm 122. Specifically, the limiting component 130 may be disposed on the first arm 121, or on the second arm 122, or a portion of the limiting component 130 may be disposed on the first arm 121 and another portion on the second arm 122.

[0059] Alternatively, there may be multiple limiting components 130, with one limiting component 130 located in at least one of the base 110 and the first arm 121, and another limiting component 130 located in at least one of the first arm 121 and the second arm 122. The specific configuration can be adjusted according to actual needs.

[0060] In detail, when the soft limit fails, i.e., when the detection element 160 malfunctions, the position accuracy deviates, or the control level fails, and the robot 100 cannot be stopped when the first arm 121 or the second arm 122 reaches the limit position, the first arm 121 continues to rotate a small distance and reaches the first position. Due to the setting of the limit component 130, the robot 100 can be stopped by limiting the first arm 121. Alternatively, the second arm 122 continues to rotate a small distance and reaches the second position. Due to the setting of the limit component 130, the robot 100 can be stopped by limiting the second arm 122.

[0061] By setting up the detection component 160 and the limit component 130, which combines soft and hard limits, the robot 100 achieves dual protection for limit operation in actual work. This ensures that in the event of soft limit failure, the robot 100 can be stopped and braked by the hard limit, reducing the risk of safety accidents and improving the safety of limit operation of the robot 100.

[0062] Optionally, the detection element 160 is located on the limiting component 130.

[0063] Optionally, the detection element 160 is located on the first arm 121.

[0064] Optionally, the detection element 160 is located on the second arm 122.

[0065] Optionally, the number of test pieces 160 can be multiple.

[0066] Optionally, the plurality of robotic arms 120 further includes a third arm 123, which is rotatably connected to the second arm 122. A limiting component 130 is provided on at least one of the second arm 122 and the third arm 123 for limiting the third arm 123 when it rotates to a preset position.

[0067] like Figure 1 and Figure 6 As shown, in some embodiments, optionally, in the rotation direction of the first arm 121, the first arm 121 can rotate from a third position to a first position. Based on the first arm 121 being in the third position, the detection element 160 sends a first signal to the control module 170, and the control module 170 controls the first arm 121 to stop rotating according to the first signal; and / or in the rotation direction of the second arm 122, the second arm 122 can rotate from a fourth position to a second position. Based on the second arm 122 being in the fourth position, the detection element 160 sends a second signal to the control module 170, and the control module 170 controls the second arm 122 to stop rotating according to the second signal.

[0068] In this embodiment, since the first arm 121 can rotate from the third position to the first position in the rotation direction, that is, during the rotation of the first arm 121, it first reaches the third position and then reaches the first position. Specifically, when the first arm 121 rotates to the third position (the extreme position), the detection element 160 sends a first signal to the control module 170, and the control module 170 controls the first arm 121 to stop rotating. When the soft limit fails, the first arm 121 does not stop rotating when it reaches the third position and continues to rotate to the first position. Due to the presence of the limit component 130, the first arm 121 stops rotating, thus achieving a double guarantee of limit for the robot 100 in actual operation.

[0069] Because the second arm 122 can rotate from the fourth position to the second position in the rotation direction, that is, during the rotation of the second arm 122, it first reaches the fourth position and then reaches the second position. Specifically, when the second arm 122 rotates to the fourth position (the limit position), the detection element 160 sends a second signal to the control module 170, and the control module 170 controls the second arm 122 to stop rotating. When the soft limit fails, the second arm 122 does not stop rotating when it reaches the fourth position and continues to rotate to the second position. Due to the presence of the limit component 130, the second arm 122 stops rotating, thus achieving a double guarantee of limit for the robot 100 in actual operation.

[0070] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments, optionally, the limiting component 130 includes a limiting block 140 and a stop block 150; when the limiting component 130 is disposed on at least one of the base 110 and the first arm 121, the limiting block 140 is disposed on the first arm 121, the stop block 150 is disposed on the base 110, and the detection element 160 is disposed on the stop block 150; wherein, based on the first arm 121 being in a third position, a portion of the limiting block 140 is disposed opposite to the detection element 160 so that the detection element 160 emits a first signal; based on the first arm 121 being in a first position, the limiting block 140 abuts against the stop block 150.

[0071] In this embodiment, when the limiting component 130 is located on at least one of the base 110 and the first arm 121, the limiting block 140 is located on the first arm 121, and the stop block 150 is located on the base 110. Specifically, when the first arm 121 rotates to the third position (extreme position), part of the limiting block 140 is positioned opposite to the detection element 160 to block the signal emitted by the detection element 160. At this time, the detection element 160 sends a first signal to the control module 170, indicating that the first arm 121 has reached the extreme position, and the control module 170 controls the first arm 121 to stop rotating. When the soft limiting fails, the first arm 121 does not stop rotating when it reaches the extreme position and continues to rotate to the first position. At this time, the limiting block 140 and the stop block 150 abut against each other to stop the first arm 121 from rotating, thus achieving dual protection of the robot 100's limiting function during actual operation.

[0072] Optionally, when the limiting component 130 is provided on at least one of the first arm 121 and the second arm 122, the limiting block 140 is provided on the second arm 122, and the stop block 150 is provided on the first arm 121. Specifically, when the second arm 122 rotates to the fourth position (extreme position), part of the limiting block 140 is positioned opposite to the detection element 160 to block the signal emitted by the detection element 160. At this time, the detection element 160 sends a second signal to the control module 170, indicating that the second arm 122 has reached the extreme position, and the control module 170 controls the second arm 122 to stop rotating. When the soft limit fails, the second arm 122 does not stop rotating when it reaches the extreme position and continues to rotate to the second position. At this time, the limiting block 140 and the stop block 150 abut against each other to stop the second arm 122 from rotating, thus achieving dual protection of the robot 100 in actual operation.

[0073] like Figure 2 and Figure 3 As shown, in some embodiments, the stop block 150 may optionally include a buffer 151; the limiting block 140 abuts against the buffer 151 based on the first arm 121 being in a first position.

[0074] In this embodiment, it is understood that in related technologies, when implementing hard limiting of a robot, the limitation is generally achieved by the collision of mechanical parts, which results in a large mechanical impact on the entire robot, reducing its actual service life. Moreover, under large impacts, there is a risk that parts may break off and fly out, directly endangering the personal safety of the user.

[0075] Since the stop block 150 includes a buffer 151, when the soft limit fails, the first arm 121 does not stop rotating when it reaches the limit position, but continues to rotate to the first position. At this time, the limit block 140 abuts against the buffer 151 to achieve the last line of protection. Because the buffer 151 is set, it plays a buffering role when the limit block 140 collides with the stop block 150, greatly absorbing the impact energy and reducing the damage caused by the direct collision between the stop block 150 and the limit block 140. While achieving effective limit and emergency stop of the robot 100, it can also protect the robot 100, which is conducive to extending the service life of the robot 100 and improving the safety of the robot 100.

[0076] Optionally, if the limiting component 130 is provided in at least one of the first arm 121 and the second arm 122, the stop block 150 includes a buffer 151, and the limiting block 140 abuts against the buffer 151 based on the second arm 122 being in a second position.

[0077] In some embodiments, the buffer 151 may optionally include a spring or a damper.

[0078] In this embodiment, specifically, the buffer 151 includes a spring, or the buffer 151 includes a damper. The specific configuration can be adjusted according to actual needs. Because the buffer 151 includes a spring or a damper, during the final hard-stop protection, the spring or damper acts as a buffer medium for the collision between the limit block 140 and the stop block 150, absorbing the impact energy.

[0079] Alternatively, if the buffer 151 includes a spring, the spring may include a rigid spring, a rubber spring, or an air spring.

[0080] Alternatively, if the buffer 151 includes a buffer, the buffer cavity may include an electromagnetic buffer or a hydraulic-pneumatic buffer.

[0081] like Figure 2 As shown, in some embodiments, the stop block 150 may optionally include a mounting groove 152, in which at least a portion of the buffer 151 is embedded.

[0082] In this embodiment, since at least part of the buffer 151 is embedded in the mounting groove 152 of the stop block 150, the buffer 151 can be used as a buffer medium for the collision between the limit block 140 and the stop block 150 during the last hard limit protection. This absorbs the impact energy and prevents the buffer 151 from falling off the stop block 150 under the impact of the limit block 140, which helps to improve the installation stability and reliability of the buffer 151.

[0083] like Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, optionally, the stop block 150 further includes a first body 153 and two extensions 154, wherein the first body 153 is disposed on the base 110, and the two extensions 154 are respectively disposed on the side of the first body 153 away from the base 110 and are arranged opposite to each other. The two extensions 154 and the first body 153 enclose to form a clearance groove 155. The detection element 160 is disposed on one of the extensions 154, and the other extension 154 is provided with a first passage 156. One end of the first passage 156 communicates with the clearance groove 155, and the other end of the first passage 156 penetrates the outer wall of the extension 154. The limiting block 140 includes a limiting part 141. Based on the first arm 121 being located in the third position, the limiting part 141 is inserted into the clearance groove 155 and is located between the first passage 156 and the detection element 160.

[0084] In this embodiment, the stop block 150 further includes a first body 153 and two extensions 154. Specifically, the two extensions 154 are respectively disposed on the side of the first body 153 opposite to the base 110. The two extensions 154 are disposed opposite to each other. Since the detection element 160 is disposed on one of the extensions 154, and the other extension 154 is provided with a first passage 156, that is, the first passage 156 and the detection element 160 are disposed opposite to each other.

[0085] Specifically, when the first arm 121 has not rotated to the third position (extreme position), the electrical signal emitted by the detection element 160 can pass through the first passage 156, and the robot 100 operates normally. When the first arm 121 rotates to the third position (extreme position), the limiting part 141 inserts into the clearance groove 155, and the limiting part 141 is located between the first passage 156 and the detection element 160, that is, the limiting part 141 is arranged opposite to the detection element 160 to block the electrical signal emitted by the detection element 160. At this time, the detection element 160 sends a first signal to the control module 170, indicating that the first arm 121 has reached the extreme position, and the control module 170 controls the first arm 121 to stop rotating. When the soft limit fails, the first arm 121 does not stop rotating when it rotates to the extreme position, but continues to rotate to the first position. At this time, the limiting block 140 abuts against the stop block 150 to stop the first arm 121 from rotating, thus achieving dual protection of the robot 100's limit during actual operation.

[0086] Optionally, the first body 153 and the two extensions 154 are an integral structure.

[0087] Optionally, if the limiting component 130 is provided in at least one of the first arm 121 and the second arm 122, when the second arm 122 has not rotated to the fourth position (extreme position), the electrical signal emitted by the detection element 160 can pass through the first passage 156, and the robot 100 operates normally. When the second arm 122 rotates to the fourth position (extreme position), the limiting part 141 is inserted into the clearance groove 155, and the limiting part 141 is located between the first passage 156 and the detection element 160, that is, the limiting part 141 is arranged opposite to the detection element 160 to block the electrical signal emitted by the detection element 160. At this time, the detection element 160 sends a second signal to the control module 170, indicating that the second arm 122 has reached the extreme position, and the control module 170 controls the second arm 122 to stop rotating. When the soft limit fails, the second arm 122 does not stop rotating when it reaches the limit position, but continues to rotate to the second position. At this time, the limit block 140 and the stop block 150 abut against each other, so that the second arm 122 stops rotating, thus achieving dual protection of the robot 100 in actual work.

[0088] like Figure 2 and Figure 5As shown, in some embodiments, optionally, the limiting block 140 includes a second body 142 and a second passage 143, wherein the second body 142 is disposed on the first arm 121, the limiting part 141 is disposed on the side of the second body 142 away from the first arm 121, and the second passage 143 is disposed at the end of the limiting part 141 away from the second body 142; in the rotation direction of the first arm 121, the first arm 121 can rotate from the fifth position to the third position. Based on the first arm 121 being in the fifth position, the limiting part 141 is inserted into the clearance groove 155, one end of the second passage 143 is opposite to the detection element 160, and the other end of the second passage 143 is opposite to the first passage 156.

[0089] In this embodiment, the limiting block 140 is defined to include a second body 142 and a second passage 143. Specifically, the second passage 143 is disposed at the end of the limiting portion 141 away from the second body 142.

[0090] In the rotation direction of the first arm 121, the first arm 121 can rotate from the fifth position to the third position. That is, during the rotation of the first arm 121, it passes through the fifth position, the third position and the first position in sequence.

[0091] Specifically, when the first arm 121 rotates to the fifth position, the limiting part 141 inserts into the clearance groove 155. Since the two ends of the second passage 143 are opposite to the first passage 156 and the detection element 160 respectively, the electrical signal emitted by the detection element 160 can pass through the second passage 143 and the first passage 156 respectively, and the robot 100 operates normally. That is, the fifth position is the operating position of the robot 100. When the first arm 121 rotates to the third position (extreme position), the limiting part 141 is located between the first passage 156 and the detection element 160, that is, the limiting part 141 is set opposite to the detection element 160 to block the electrical signal emitted by the detection element 160. At this time, the detection element 160 sends a first signal to the control module 170, indicating that the first arm 121 has reached the extreme position, and the control module 170 controls the first arm 121 to stop rotating. When the soft limit fails, the first arm 121 does not stop rotating when it reaches the limit position, but continues to rotate to the first position. At this time, the limit block 140 and the stop block 150 abut against each other, so that the first arm 121 stops rotating, thus achieving dual protection of the robot 100 in actual work.

[0092] Optionally, if the limiting component 130 is provided in at least one of the first arm 121 and the second arm 122, the second arm 122 can rotate from the sixth position to the fourth position in the rotation direction of the second arm 122. Specifically, when the second arm 122 rotates to the sixth position, the limiting part 141 is inserted into the clearance groove 155. Since the two ends of the second passage 143 are respectively opposite to the first passage 156 and the detection element 160, that is, the electrical signal emitted by the detection element 160 can pass through the second passage 143 and the first passage 156 respectively, and the robot 100 operates normally. That is, the sixth position is the operating position of the robot 100. When the second arm 122 rotates to the fourth position (extreme position), the limiting part 141 is located between the first passage 156 and the detection element 160, that is, the limiting part 141 is arranged opposite to the detection element 160 to block the electrical signal emitted by the detection element 160. At this time, the detection element 160 sends a second signal to the control module 170, indicating that the second arm 122 has reached the extreme position, and the control module 170 controls the second arm 122 to stop rotating. When the soft limit fails, the second arm 122 does not stop rotating when it reaches the extreme position, but continues to rotate to the second position. At this time, the limiting block 140 and the stop block 150 abut against each other to stop the second arm 122 from rotating, thus achieving dual protection of the robot 100 in actual operation.

[0093] In some embodiments, at least a portion of the stop block 150 may be located on the movement path of the limit block 140.

[0094] In this embodiment, since at least part of the stop block 150 is located on the movement path of the limit block 140, that is, the limit block 140 and the stop block 150 are located on the same trajectory of the robot 100, when the soft limit fails, it is ensured that the limit block 140 and the stop block 150 can abut against each other to achieve hard limit braking of the robot 100, reduce the risk of safety accidents, and help improve the safety of the robot 100's limit.

[0095] In some embodiments, optionally, along the rotation direction of the first arm 121, the first arm 121 includes a first side and a second side facing away from each other; wherein, the number of stop blocks 150 is two, one stop block 150 is provided on the first side and the other stop block 150 is provided on the second side.

[0096] In this embodiment, since there are two stop blocks 150, one stop block 150 is located on the first side and the other stop block 150 is located on the second side, that is, a limiting component 130 includes two stop blocks 150, and the two stop blocks 150 are respectively located on both sides of the rotation direction of the first arm 121, so as to limit the first arm 121 on both sides of the rotation direction of the first arm 121 and ensure the rotation angle of the first arm 121.

[0097] Optionally, the distance between the limit block 140 and the stop block 150 can be set according to the rotation angle of the first arm 121.

[0098] Optionally, if the limiting component 130 is provided in at least one of the first arm 121 and the second arm 122, the limiting component 130 includes two stop blocks 150, which are respectively located on both sides of the rotation direction of the second arm 122 to ensure the rotation angle of the second arm 122.

[0099] In some embodiments, the detection element 160 may optionally include an infrared light sensor, a pressure sensor, or a displacement sensor.

[0100] In this embodiment, the detection element 160 may specifically include an infrared light sensor. Alternatively, the detection element 160 may include a pressure sensor. Alternatively, the detection element 160 may include a displacement sensor. The specific configuration can be adjusted according to actual needs.

[0101] It is understandable that when the detection element 160 includes an infrared light sensor, the detection element 160 is disposed on the stop block 150. When the detection element 160 includes a pressure sensor, the detection element 160 can be disposed on the buffer 151. When the detection element 160 includes a displacement sensor, the detection element 160 can be disposed on the stop block 150 or on the robotic arm 120, thereby realizing the detection of the rotational position of the robotic arm 120, and the structure is simple, which helps to reduce the production cost of the robot 100.

[0102] like Figure 6 As shown, in some embodiments, the robot 100 may optionally include an alarm device 180, which is electrically connected to at least one of the control module 170 and the detection element 160.

[0103] In this embodiment, the robot 100 is further defined as including an alarm device 180. Specifically, the alarm device 180 is electrically connected to the control module 170, or the alarm device 180 is electrically connected to the detection element 160, or the alarm device 180 is electrically connected to both the control module 170 and the detection element 160. The specific configuration can be adjusted according to actual needs.

[0104] By setting an alarm device 180, an alarm signal can be issued when the first arm 121 and / or the second arm 122 rotate to the limit position to remind the operator to pay attention, which can reduce the probability of accidents and improve the safety of using the robot 100.

[0105] Optionally, the alarm device 180 includes an audible and visual alarm.

[0106] With the rapid development of Industry 4.0, more and more industrial robots are being used, and therefore, robot safety has received increasing attention. Currently, there are two main methods for limiting the movement of industrial robots: hard limiting and soft limiting. If the robot relies solely on software to achieve its limits (soft limiting), the robot may malfunction if the software settings and accuracy are off. When the terminal control program fails, the robot will be unable to stop itself due to the limitations.

[0107] Hard limits rely on the collision of mechanical parts to restrict movement. This can cause significant mechanical impact to the robot during use, reducing its actual lifespan. If the colliding mechanical parts break off and fly out, it can directly endanger the user's personal safety.

[0108] To address the problems associated with hard and soft limiting devices, this application proposes a combined hard and soft limiting device. First, a light sensor (detector 160) determines the position of the robot (first arm 121 and / or second arm 122). If the soft limiting fails, the two limiting blocks (limiting block 140 and stop block 150) will buffer the collision via a spring (buffer 151), achieving emergency braking of the robot (first arm 121 and / or second arm 122), significantly reducing damage to the robot 100 caused by collisions. Furthermore, the structure is simple, and the components used are all commonly available on the market, resulting in low actual cost.

[0109] In one specific embodiment, optionally, the robot includes a base 110 and a robotic arm structure (robotic arm 120) with several rotatable cantilever beams. The base 110 and robotic arm 120 are provided with mutually cooperating limit blocks 140 and stop blocks 150 to achieve hard limiting. The stop block 150 is provided with a sensor (detector 160) for determining the position of the robot (first arm 121) and a rigid spring (buffer 151) for buffering. The limit block 140 has a slot (second passage 143) through which the sensor signal can pass. The cooperating limit blocks 140 and stop blocks 150 are located on the same trajectory of the robot (first arm 121) movement.

[0110] When the robot (first arm 121) reaches its limit position (third position), the protruding part (limiting part 141) of the limiting block 140 first blocks the signal of the sensor (detector 160). In this way, the sensor (detector 160) can trigger the emergency stop function of the robot (first arm 121) by converting it into a current signal (first signal), thus realizing the emergency stop of the robot 100. If there is a problem with the terminal control or the sensor itself fails, the limiting block 140 will contact the rigid spring (buffer 151). At this time, the rigid spring (buffer 151) acts as a buffer medium for the collision between the stop block 150 and the limiting block 140, greatly absorbing the impact energy and reducing the damage caused by the direct collision between the stop block 150 and the limiting block 140. When the stop block 150 and the limiting block 140 finally collide, the robot (first arm 121) achieves hard limit braking.

[0111] On the one hand, the position reached by the robot (first arm 121) is determined by the sensor (detector 160), that is, the range of motion of the robot (first arm 121) is detected by the sensor (detector 160). Through the safety circuit of the robot 100, an electrical signal is transmitted to trigger the emergency stop function, which solves the problem of soft limit control failure. On the other hand, in the event of sensor (detector 160) failure, a final hard limit protection is adopted, which can achieve dual protection for the robot 100 in actual operation. At the same time, a hard spring (buffer 151) is added as a buffer for the collision between the limit block 140 and the stop block 150, which effectively reduces the mechanical impact of hard limit, minimizes the impact energy of the collision to the robot 100, reduces the damage to the robot 100 caused by the collision, improves the safety of the robot 100 limit, protects the robot 100, and extends the service life of the robot 100.

[0112] Optionally, such as Figure 1 As shown, at the rotation centers of the first axis (first arm 121), second axis (second arm 122), and third axis (third arm 123) of the robot 100, corresponding limit blocks 140 and stop blocks 150 are installed according to the actual limit requirements, and the distance between the limit blocks 140 and the stop blocks 150 is determined according to the movement angle of the robot 100.

[0113] Optionally, the sensor (detector 160) used for soft positioning can be not only an infrared light sensor, but also a pressure sensor, displacement sensor, or other instrument for detecting the movement position of the robot 100. The output signal can also be connected to an external alarm device 180 to alert the operator.

[0114] Optionally, the rigid spring (buffer 151) used for cushioning can be replaced with a rubber spring, air spring, electromagnetic damper, or hydraulic-pneumatic damper, etc., which can absorb impact energy and dampen shock.

[0115] The instruction manual is required. The limit component 130 is not limited to the first three axes, and the specific installation method and position can be designed according to actual needs.

[0116] In the description of this specification, the terms "connection," "installation," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0117] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0118] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robot, characterized in that, include: Base; Multiple robotic arms, wherein the multiple robotic arms include at least a first arm and a second arm, one end of the first arm is rotatably connected to the base, and the other end of the first arm is rotatably connected to the second arm; The detection element is used to detect the rotational position of at least one of the first arm and the second arm; A control module, electrically connected to the detection element, is used to control the movement state of the first arm or the second arm according to the detection result of the detection element. A limiting component is disposed in at least one of the base and the first arm for limiting the first arm when the first arm is rotated to a first position, and / or the limiting component is disposed in at least one of the first arm and the second arm for limiting the second arm when the second arm is rotated to a second position.

2. The robot of claim 1, wherein, In the rotation direction of the first arm, the first arm can rotate from a third position to the first position. Based on the first arm being in the third position, the detection element sends a first signal to the control module, and the control module controls the first arm to stop rotating according to the first signal; and / or In the rotation direction of the second arm, the second arm can rotate from the fourth position to the second position. Based on the second arm being in the fourth position, the detection element sends a second signal to the control module, and the control module controls the second arm to stop rotating according to the second signal.

3. The robot of claim 2, wherein, The limiting component includes a limiting block and a stop block; When the limiting component is located in at least one of the base and the first arm, the limiting block is located in the first arm, the stop block is located in the base, and the detection element is located in the stop block; Wherein, based on the first arm being located in the third position, a portion of the limiting block is disposed opposite to the detection element, so that the detection element emits the first signal; based on the first arm being located in the first position, the limiting block abuts against the stop block.

4. The robot of claim 3, wherein, The stop block includes a buffer component; Based on the first arm being located in the first position, the limiting block abuts against the buffer.

5. The robot of claim 4, wherein, The buffer includes a spring or a damper.

6. The robot of claim 4, wherein, The stop block also includes a mounting groove, and at least a portion of the buffer is embedded in the mounting groove.

7. The robot of claim 3, wherein, The stop block also includes: The first body is disposed on the base; Two extensions are respectively located on the side of the first body away from the base and are arranged opposite to each other. The two extensions and the first body enclose and form a clearance groove. The detection element is located in one of the extensions. The other extension is provided with a first passage. One end of the first passage is connected to the clearance groove, and the other end of the first passage penetrates the outer wall of the extension. The limiting block includes a limiting part, which is inserted into the clearance groove and located between the first passage and the detection element, based on the first arm being located in the third position.

8. The robot of claim 7, wherein, The limiting block includes: The second body is disposed on the first arm, and the limiting part is disposed on the side of the second body away from the first arm; The second passage is located at the end of the limiting portion away from the second body; In the rotation direction of the first arm, the first arm can rotate from the fifth position to the third position. Based on the first arm being in the fifth position, the limiting part is inserted into the clearance groove. One end of the second passage is opposite to the detection element, and the other end of the second passage is opposite to the first passage.

9. The robot according to any of claims 3 to 8, characterized in that, At least a portion of the stop block is located on the movement path of the limiting block.

10. The robot according to any one of claims 3 to 8, characterized in that, Along the rotation direction of the first arm, the first arm includes a first side and a second side facing away from each other; The number of stop blocks is two, one of which is located on the first side and the other is located on the second side.

11. The robot according to any one of claims 1 to 8, characterized in that, The detection device includes an infrared light sensor, a pressure sensor, or a displacement sensor.

12. The robot according to any one of claims 1 to 8, characterized in that, Also includes: An alarm device is electrically connected to at least one of the control module and the detection element.

Images