CN104369198A - Multidirectional collision preventing device of robot - Google Patents
Multidirectional collision preventing device of robot Download PDFInfo
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- CN104369198A CN104369198A CN201410692256.3A CN201410692256A CN104369198A CN 104369198 A CN104369198 A CN 104369198A CN 201410692256 A CN201410692256 A CN 201410692256A CN 104369198 A CN104369198 A CN 104369198A
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Abstract
The invention relates to a multidirectional collision preventing device of a robot. The multidirectional collision preventing device of the robot is used for preventing collision when a manipulator moves horizontally and vertically. The multidirectional collision preventing device of the robot comprises a horizontal collision preventing unit, a vertical collision preventing unit and a sensing switch. The vertical collision preventing unit and the horizontal collision preventing unit are similar in structure and have the same collision preventing principle. The vertical collision preventing unit is installed above the horizontal collision preventing unit. The horizontal collision preventing unit comprises a left fixing base, a right fixing base and a horizontal guide rod perpendicularly installed between the left fixing base and the right fixing base. A collision preventing block is connected with the middle of the horizontal guide rod in a sleeving mode, and a C-type spring is installed at the position where the collision preventing block and the horizontal guide rod are connected in the sleeving mode. Springs are installed on the two sides of the collision preventing block, a connecting plate is fixed to the lower end of the collision preventing block, and a mechanical clamping jaw and the connecting plate are fixedly installed. When the mechanical clamping jaw horizontally moves and collides, the connecting plate and the collision preventing block bear collision force jointly, and the collision preventing block overcomes resistance of the C-type spring to move on the horizontal guide rod, so that the collision force is weakened suddenly, the sensing switch is triggered in the moving process to shut down the robot, and then the manipulator, a machine tool and the like are protected. After collision is relieved, the collision preventing block resets rapidly and accurately under action of the springs.
Description
Technical field
The invention belongs to technical field of mechanical equipment, relate to a kind of multidirectional anticollision device, collision-prevention device for robot.
Background technology
Along with the development of industrial automation, the intelligence degree that the production and processing of each big, medium-sized and small enterprises manufactures is more and more higher, and in addition current cost of labor is more and more higher, and therefore robot miscellaneous is introduced into each big, medium-sized and small enterprises.The advantage of robot is high efficiency, high-quality, and high speed, can long time continuous working.But in the use procedure of robot, often can there is plane collision incident, not only affect operating efficiency, also can part of damage, even damage lathe, sometimes also can jeopardize the personal safety of operator.
, there is following problem in robot anticollision device, collision-prevention device common at present:
1. can only be crashproof in one or both directions;
2. anticollision device, collision-prevention device does not significantly unload or weakening effect the power of collision, can damage anticollision mechanism, do not have crashproof effect when impact force is excessive;
3. accelerate suddenly in moving process at mechanical arm, due to manipulator by unbalanced force, easily produce and rock;
Summary of the invention
In order to solve the problems of the technologies described above; the invention provides the multidirectional anticollision device, collision-prevention device of a kind of robot; be arranged between the mechanical arm of robot and mechanical grip; can with mechanical grip synchronizing moving; and can four orientation are crashproof up and down; have impact force when colliding and significantly unload or slacken effect, Neng Shi robot shuts down simultaneously.
Concrete solution of the present invention is as follows:
The multidirectional anticollision device, collision-prevention device of a kind of robot; be arranged between the mechanical arm of robot and mechanical grip, its special character is: comprise horizontal anti-collision unit and vertical anti-collision unit and the inductive switch for transmitting stopping signal after vertical and/or horizontal anti-collision unit collides.
Horizontal anti-collision unit comprises horizontally-guided bar and the left holder be parallel to each other and right holder, the two ends of horizontally-guided bar respectively with left holder, right holder is vertical is fixedly connected with; The first anticollison block is socketed with at the middle part of horizontally-guided bar; The horizontally-guided bar of the described first anticollison block left and right sides is arranged with the first spring and the second spring respectively; The lower end of the first anticollison block is installed with connecting plate, and connecting plate and left holder and right holder keep spacing, and namely the mechanical grip of robot is installed fixing with this connecting plate; Described first anticollison block and horizontally-guided bar offer suitable groove in socket position, at groove built with C type spring, in order to produce resistance when the first anticollison block and the relative movement of horizontally-guided bar;
Vertical anti-collision unit is arranged on the top of described horizontal anti-collision unit, comprises upper fixed seat and is vertically fixedly mounted on the vertical guide post of its lower end; Fixed seat is connected with the mechanical arm of robot; The middle part of described vertical guide post is socketed with the second anticollison block, and lower end is provided with spacing adjusting nut; Spacing adjusting nut lower end and place, vertical guide post lower end plane all keep spacing with the first place, anticollison block upper end plane; The vertical guide post of the described second upper and lower both sides of anticollison block is arranged with the 3rd spring and the 4th spring respectively; The lower end of described second anticollison block is fixedly connected with the left holder of described horizontal anti-collision unit, the upper end of right holder; Described second anticollison block and vertical guide post offer suitable groove in socket position, at groove built with C type spring, in order to produce resistance when the second anticollison block and vertical guide post relative movement.
As further optimization, improve stability of the present invention, above-mentioned horizontally-guided bar has two at least, and shares same first anticollison block; Above-mentioned vertical guide post has two at least, and shares same second anticollison block.
Above-mentioned first both ends of the spring is connected with left holder and the first anticollison block respectively; Above-mentioned second both ends of the spring is connected with the first anticollison block and right holder respectively; Above-mentioned 3rd both ends of the spring is connected with upper fixed seat and the second anticollison block respectively; The two ends of above-mentioned 4th spring are connected with the second anticollison block and spacing adjusting nut respectively;
For causing damage to the present invention when preventing impact force excessive, the above-mentioned first anticollison block left and right sides, the second upper and lower both sides of anticollison block are all installed with anti-collision sleeve, and anti-collision sleeve is set in outside the first spring, the second spring, the 3rd spring, the 4th spring.
On the right side of above-mentioned left holder, on the left of right holder, inside upper fixed seat and on the upside of spacing adjusting nut, be all installed with anti-collision sleeve, and anti-collision sleeve is set in outside the first spring, the second spring, the 3rd spring, the 4th spring.
Above-mentioned upper fixed seat is provided with the bolt hole in order to be fixedly connected with mechanical arm; Connecting plate is provided with the bolt hole in order to be fixedly connected with mechanical grip.
The front end of above-mentioned first anticollison block or after the place of moving in the right direction be provided with inductive switch, this inductive switch is arranged on left holder or right holder; The front end of the second anticollison block or after the place of moving in the right direction be provided with inductive switch, this inductive switch is arranged on upper fixed seat.
What above-mentioned first anticollison block and the second anticollison block were offered is rectangular recess; What described horizontally-guided bar and vertical guide post were offered is v-depression or semi-circular recesses.
The invention has the advantages that:
1. whether the present invention can collide from four direction detection up and down, and can cut off the electricity supply immediately when colliding, and protection robot and lathe are not damaged;
2. the power of the present invention to collision has significantly unloading or weakening effect, and this anticollision mechanism can be protected when impact force is excessive to damage;
3. what the present invention can effectively avoid mechanical arm to produce in accelerated motion process rocks.
Accompanying drawing explanation
Fig. 1 is general structure schematic diagram of the present invention;
Fig. 2 is front view of the present invention;
Fig. 3 is partial sectional view of the present invention;
Fig. 4 is C type spring structure schematic diagram;
Accompanying drawing is detailed as follows:
The left holder of 1-; 2-horizontally-guided bar; 3-first spring; 4-anti-collision sleeve; 5-inductive switch; 6-connecting plate; 7-second spring; The right holder of 8-; 9-first anticollison block; The spacing adjusting nut of 10-; 11-the 4th spring; 13-the 3rd spring; The vertical guide post of 14-; 15-upper fixed seat; 16-second anticollison block; 17-C type spring.
Detailed description of the invention
Below by embodiment by reference to the accompanying drawings, the invention will be further described.
Embodiment 1:
As shown in Figure 1, Figure 2, Figure 3 shows, the multidirectional anticollision mechanism of robot that the present embodiment describes, is arranged between the mechanical arm of robot and mechanical grip, is made up of horizontal anti-collision unit and vertical anti-collision unit and inductive switch 5.
Horizontal anti-collision unit comprises horizontally-guided bar 2 and the left holder 1 be parallel to each other and right holder 8, and the two ends of horizontally-guided bar 2 are fixedly connected with right holder 8 is vertical with left holder 1 respectively; Left and right holder lateral surface can be stretched out in the two ends of horizontally-guided bar 2, also can not stretch out, and in the present embodiment, left and right holder 8 lateral surface is not stretched out at the two ends of horizontally-guided bar 2.The middle part of horizontally-guided bar 2 is socketed with the first anticollison block 9; The horizontally-guided bar 2 of first anticollison block 9 left and right sides is arranged with respectively the first spring 3 and the second spring 7, it has the power of collision and certain slackens effect, and the first anticollison block 9 can be resetted after collision is removed.Can reset more fast and accurately after collision is removed for making the first anticollison block 9, the present embodiment be by the two ends of the first spring 3 be connected with the first anticollison block 9 with left holder 1 respectively, the two ends of the second spring 7 are connected with right holder 8 with the first anticollison block 9 respectively.In fact, the two ends of the first spring 3 can only contact with left holder 1 and the first anticollison block 9; The two ends of the second spring 7 can only contact with the first anticollison block 9 and right holder 8.The concrete mounting means of the first spring 3 and the second spring 7 is determined by actual condition, and the present invention is not limited to this mounting means described in the present embodiment.
Be installed with connecting plate 6 in the lower end of the first anticollison block 9, connecting plate 6 be provided with the screwed hole be fixedly connected with the mechanical grip of robot; Connecting plate 6 keeps spacing with left holder 1 and right holder 8, to guarantee that connecting plate 6 can drive the first anticollison block 9 to move on horizontally-guided bar 2 when colliding generation.
For protection, the present invention is not fragile when impact is excessive; and effectively avoid mechanical arm to produce in accelerator rocking; the present invention offers suitable groove in the socket position of the first anticollison block 9 and horizontally-guided bar 2; at groove built with C type spring 17, in order to produce resistance at the first anticollison block 9 with during 2 relative movement of horizontally-guided bar.For reaching the effect better slackening impact, the present embodiment offers rectangular recess on the first anticollison block 9, and horizontally-guided bar 2 is offered V-type groove.
The present embodiment is provided with inductive switch 5 in the place of moving in the right direction before the first anticollison block 9, and inductive switch 5 is arranged on left holder 1.When the first anticollison block 9 offsets inductive switch 5, inductive switch 5 can be triggered and send signal robot is shut down.The installation site of inductive switch 5 is determined by actual condition, and the present invention is not limited to mode described in the present embodiment.
Vertical anti-collision unit is arranged on the top of above-mentioned horizontal anti-collision unit, comprises upper fixed seat 15 and is vertically fixedly mounted on the vertical guide post 14 of its lower end; The middle part of vertical guide post 14 is socketed with the second anticollison block 16, and lower end is provided with spacing adjusting nut 10; Spacing adjusting nut 10 lower end and place, vertical guide post 14 lower end plane all keep spacing with the first place, anticollison block 9 upper end plane, and to avoid this anticollision device, collision-prevention device operationally, horizontal anti-collision unit and vertical anti-collision unit disturb mutually, produce collision.The lower end of the second anticollison block 16 is fixedly connected with the upper end of left holder 1, right holder 8.
The vertical guide post 14 of the second anticollison block about 16 both sides is arranged with the 3rd spring 13 and the 4th spring 11 respectively, and it has the power of collision and certain slackens effect, and the second anticollison block 16 can be resetted after making contact.Can reset more fast and accurately after collision is removed for making the second anticollison block 16, the present embodiment be by the two ends of the 3rd spring 13 be connected with the second anticollison block 16 with upper fixed seat 15 respectively, the two ends of the 4th spring 11 are connected with spacing adjusting nut 10 with the second anticollison block 16 respectively.In fact, the two ends of the 3rd spring 13 can only contact with upper fixed seat 15 and the second anticollison block 16; The two ends of the 4th spring 11 can only contact with the second anticollison block 16 and spacing adjusting nut 10.The concrete mounting means of the 3rd spring 13 and the 4th spring 11 is determined by actual condition, and the present invention is not limited to this mounting means described in embodiment.
Similarly; for protection, the present invention is not fragile when impact is excessive; and effectively avoid mechanical arm to produce in accelerator rocking, the present invention offers suitable groove, at groove built with C type spring 17 in the socket position of the second anticollison block 16 and vertical guide post 14.For reaching the effect better slackening impact, the present embodiment offers rectangular recess on the second anticollison block 16, and V-type groove offered by vertical guide post 14.
The present embodiment is provided with inductive switch 5 in the place of moving in the right direction before the second anticollison block 16, and inductive switch 5 is arranged on upper fixed seat 15.When the second anticollison block 16 offsets inductive switch 5, inductive switch 5 can be triggered and send signal robot is shut down.The installation site of inductive switch 5 is determined by actual condition, and the present invention is not limited to mode described in the present embodiment.
For making the steadily movement on horizontally-guided bar 2 of the first anticollison block 9, improve the stability of anticollision device, collision-prevention device, horizontally-guided bar 2 of the present invention has two at least, and shares same first anticollison block 9; In like manner, vertical guide post 14 of the present invention has two at least, and shares same second anticollison block 16.In the present embodiment, horizontally-guided bar 2 and 14 bars that vertically lead respectively have two.
When impact force is excessive; for reaching the object that better this anticollision device, collision-prevention device of protection is not damaged; the present embodiment is on the right side of first anticollison block 9 left and right sides, the second anticollison block about 16 both sides, left holder 1, be all installed with anti-collision sleeve 4 on the left of right holder 8 and on the upside of spacing adjusting nut 10, and anti-collision sleeve 4 is set in outside the first spring 3, second spring 7, the 3rd spring 13 and the 4th spring 11.The visual actual condition of the quantity of anti-collision sleeve 4 and installation site is selected, and such as only can install anti-collision sleeve 4 inside the first anticollison block 9 both sides or left and right holder, the present invention is not limited to mode described in the present embodiment.
Crashproof principle and the course of work of horizontal anti-collision unit of the present invention are: when mechanical grip horizontal left (or moving to right) collides, connecting plate 6 is subject to impact together with the first anticollison block 9, make the first anticollison block 9 on horizontally-guided bar 2, move to right (or moving to left), owing to being provided with C type spring 17 between the first anticollison block 9 and horizontally-guided bar 2, first anticollison block 9 need overcome groove on horizontally-guided bar 2 to the resistance of C type spring 17 when moving on horizontally-guided bar 2, impact is slackened suddenly; Because groove can also the out-of-balance force suffered in accelerated motion process of balancing mechanical arm to the resistance of C type spring 17, therefore can mechanical arm be effectively avoided to rock.Meanwhile, the first anticollison block 9 move to right (or moving to left) time can trigger inductive switch 5 and send signal robot is shut down.Because of the first anticollison block 9 move to right (or moving to left) time can compress the second spring 7 (or first spring 3), stretch the first spring 3 (or second spring 7), therefore after collision is removed, the first anticollison block 9 can reset automatically, quickly and accurately due to spring force.
When moving (or moving down) on mechanical grip is vertical and colliding, the crashproof principle of vertical anti-collision unit of the present invention is identical with horizontal anti-collision unit with the course of work, does not repeat them here.
Claims (8)
1. the multidirectional anticollision device, collision-prevention device of robot, being arranged between the mechanical arm of robot and mechanical grip, it is characterized in that: comprising horizontal anti-collision unit and vertical anti-collision unit and the inductive switch for transmitting stopping signal after vertical and/or horizontal anti-collision unit collides;
Horizontal anti-collision unit comprises horizontally-guided bar and the left holder be parallel to each other and right holder, the two ends of horizontally-guided bar respectively with left holder, right holder is vertical is fixedly connected with; The middle part of described horizontally-guided bar is socketed with the first anticollison block; The horizontally-guided bar of the described first anticollison block left and right sides is arranged with the first spring and the second spring respectively; The lower end of described first anticollison block is installed with connecting plate, and connecting plate and left holder and right holder keep spacing, and namely the mechanical grip of robot is installed fixing with this connecting plate; Described first anticollison block and horizontally-guided bar offer suitable groove in socket position, at groove built with C type spring, in order to produce resistance when the first anticollison block and the relative movement of horizontally-guided bar;
Vertical anti-collision unit is arranged on the top of described horizontal anti-collision unit, comprises upper fixed seat and is vertically fixedly mounted on the vertical guide post of its lower end; Fixed seat is connected with the mechanical arm of robot; The middle part of described vertical guide post is socketed with the second anticollison block, and lower end is provided with spacing adjusting nut; Spacing adjusting nut lower end and place, vertical guide post lower end plane all keep spacing with the first place, anticollison block upper end plane; The vertical guide post of the described second upper and lower both sides of anticollison block is arranged with the 3rd spring and the 4th spring respectively; The lower end of described second anticollison block is fixedly connected with the left holder of described horizontal anti-collision unit, the upper end of right holder; Described second anticollison block and vertical guide post offer suitable groove in socket position, at groove built with C type spring, in order to produce resistance when the second anticollison block and vertical guide post relative movement.
2. the multidirectional anticollision device, collision-prevention device of robot as claimed in claim 1, is characterized in that: described horizontally-guided bar has two at least, and shares same first anticollison block; Described vertical guide post has two at least, and shares same second anticollison block.
3. the multidirectional anticollision device, collision-prevention device of robot as claimed in claim 1 or 2, is characterized in that: described first both ends of the spring is connected with left holder and the first anticollison block respectively; Described second both ends of the spring is connected with the first anticollison block and right holder respectively; Described 3rd both ends of the spring is connected with upper fixed seat and the second anticollison block respectively; The two ends of described 4th spring are connected with the second anticollison block and spacing adjusting nut respectively.
4. the multidirectional anticollision device, collision-prevention device of robot as claimed in claim 3, it is characterized in that: the described first anticollison block left and right sides, the second upper and lower both sides of anticollison block are all installed with anti-collision sleeve, and anti-collision sleeve is set in outside the first spring, the second spring, the 3rd spring, the 4th spring.
5. the multidirectional anticollision device, collision-prevention device of robot as claimed in claim 3, it is characterized in that: on the right side of described left holder, on the left of right holder, inside upper fixed seat and on the upside of spacing adjusting nut, be all installed with anti-collision sleeve, and anti-collision sleeve is set in outside the first spring, the second spring, the 3rd spring, the 4th spring.
6. the multidirectional anticollision device, collision-prevention device of robot as claimed in claim 3, is characterized in that: upper fixed seat is provided with the bolt hole in order to be fixedly connected with mechanical arm; Connecting plate is provided with the bolt hole in order to be fixedly connected with mechanical grip.
7. the multidirectional anticollision device, collision-prevention device of robot as claimed in claim 1 or 2, is characterized in that: the front end of described first anticollison block or after the place of moving in the right direction be provided with inductive switch, this inductive switch is arranged on left holder or right holder; The front end of the second anticollison block or after the place of moving in the right direction be provided with inductive switch, this inductive switch is arranged on upper fixed seat.
8. the multidirectional anticollision device, collision-prevention device of robot as claimed in claim 1 or 2, is characterized in that: what described first anticollison block and the second anticollison block were offered is rectangular recess; What described horizontally-guided bar and vertical guide post were offered is v-depression or semi-circular recesses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410692256.3A CN104369198B (en) | 2014-11-04 | 2014-11-26 | The multidirectional anticollision device, collision-prevention device of a kind of robot |
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| CN201410613404 | 2014-11-04 | ||
| CN2014106134048 | 2014-11-04 | ||
| CN201410692256.3A CN104369198B (en) | 2014-11-04 | 2014-11-26 | The multidirectional anticollision device, collision-prevention device of a kind of robot |
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| CN104369198A true CN104369198A (en) | 2015-02-25 |
| CN104369198B CN104369198B (en) | 2016-04-13 |
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Cited By (15)
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| CN105233412A (en) * | 2015-10-22 | 2016-01-13 | 江苏海明医疗器械有限公司 | Therapeutic head efficient anti-collision mechanism |
| CN105340482A (en) * | 2015-11-10 | 2016-02-24 | 广西大学 | Novel banana harvesting trolley |
| CN105340481A (en) * | 2015-11-10 | 2016-02-24 | 广西大学 | Multi-degree-of-freedom cutting machine |
| CN106825625A (en) * | 2017-04-17 | 2017-06-13 | 广西科技大学 | A kind of automatic loading and unloading manipulator |
| CN106862989A (en) * | 2017-04-17 | 2017-06-20 | 广西科技大学 | A kind of automatic loading/unloading lathe |
| CN107309909A (en) * | 2017-08-27 | 2017-11-03 | 刘哲 | A kind of Anti-knocking robot |
| CN107322645A (en) * | 2017-08-27 | 2017-11-07 | 刘哲 | A kind of robot protection device with Anti-knocking function |
| CN107598972A (en) * | 2017-10-24 | 2018-01-19 | 孙立民 | A kind of industrial robot anticollision gripping apparatus |
| CN108081314A (en) * | 2018-01-19 | 2018-05-29 | 昆山精讯电子技术有限公司 | A kind of anticollision device, collision-prevention device |
| CN108115726A (en) * | 2017-12-04 | 2018-06-05 | 深圳市今天国际物流技术股份有限公司 | Anticollision device, collision-prevention device and the robot with the anticollision device, collision-prevention device |
| CN108262751A (en) * | 2018-02-27 | 2018-07-10 | 南安市丰州盈信图文设计工作室 | Robot with anticollision function |
| CN108582164A (en) * | 2018-05-18 | 2018-09-28 | 繁昌县亘通智能装备有限公司 | A kind of intelligent robot anticollision mechanism |
| CN110052857A (en) * | 2019-04-17 | 2019-07-26 | 涂翔宇 | The anti-collision control method of fixture |
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| CN105340482A (en) * | 2015-11-10 | 2016-02-24 | 广西大学 | Novel banana harvesting trolley |
| CN105340481A (en) * | 2015-11-10 | 2016-02-24 | 广西大学 | Multi-degree-of-freedom cutting machine |
| CN105340481B (en) * | 2015-11-10 | 2018-02-23 | 广西大学 | A kind of multiple degrees of freedom cutting mechanism |
| CN106862989A (en) * | 2017-04-17 | 2017-06-20 | 广西科技大学 | A kind of automatic loading/unloading lathe |
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| CN107322645A (en) * | 2017-08-27 | 2017-11-07 | 刘哲 | A kind of robot protection device with Anti-knocking function |
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| CN108081314B (en) * | 2018-01-19 | 2024-05-10 | 昆山精讯电子技术有限公司 | Anti-collision device |
| CN108262751A (en) * | 2018-02-27 | 2018-07-10 | 南安市丰州盈信图文设计工作室 | Robot with anticollision function |
| CN108582164A (en) * | 2018-05-18 | 2018-09-28 | 繁昌县亘通智能装备有限公司 | A kind of intelligent robot anticollision mechanism |
| CN110052857A (en) * | 2019-04-17 | 2019-07-26 | 涂翔宇 | The anti-collision control method of fixture |
| CN112499237A (en) * | 2020-12-03 | 2021-03-16 | 北京北方华创微电子装备有限公司 | Workpiece picking and placing assembly |
| CN113696311A (en) * | 2021-09-09 | 2021-11-26 | 广东碧品居建筑工业化有限公司 | Cleaning and spraying device and cleaning equipment |
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