CN106737871A - For the collision brake device of service robot - Google Patents
For the collision brake device of service robot Download PDFInfo
- Publication number
- CN106737871A CN106737871A CN201710164928.7A CN201710164928A CN106737871A CN 106737871 A CN106737871 A CN 106737871A CN 201710164928 A CN201710164928 A CN 201710164928A CN 106737871 A CN106737871 A CN 106737871A
- Authority
- CN
- China
- Prior art keywords
- elasticity
- long tube
- service robot
- brake device
- collision brake
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 239000007788 liquid Substances 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of collision brake device for service robot, including the elasticity of installation flexible detection window touches long tube, and the elasticity is touched and liquid is filled in long tube, and the elasticity of the toughness detection window touches the elasticity of long tube much larger than elasticity.While the present invention effectively can reach collision brake for the collision brake device of service robot, it is easy to implement, low manufacture cost and practicality is high.
Description
Technical field
The present invention relates to a kind of collision brake device, especially a kind of collision brake device for service robot.
Background technology
Service robot is the equipment coexisted with people, and service robot protects the object such as people and equipment when execution is acted
Safety is First Principles.Current service robot collision brake method mainly has the sides such as Contact plate, electronic skin, air bag touching bar
Formula.Wherein Contact plate mechanism is relatively fixed, and protection position is limited；The curvature at its protection position of electronic skin sensitvity constraint, because
This uniformity is bad, and debugging is complicated；Its pressure change of air bag touching bar is relevant with environment temperature, it is necessary to temperature compensation system.
The content of the invention
In order to overcome drawbacks described above, the present invention provides a kind of collision brake device for service robot, described to be used for
While the collision brake device of service robot effectively can reach collision brake, it is easy to implement, low manufacture cost and practicality
Property is high.
The technical scheme that is used to solve its technical problem of the present invention is：A kind of collision system for service robot
Dynamic device, including the elasticity of installation flexible detection window touches long tube, and the elasticity is touched and liquid is filled in long tube, the toughness
Detect that the elasticity of window touches the elasticity of long tube much larger than elasticity.
As a further improvement on the present invention, position sensor is additionally provided with, the position sensor is located at elasticity and touches length
Pipe side and the position of window is detected corresponding to the toughness, the position sensor and toughness detection window keep certain gap.
The beneficial effects of the invention are as follows：The present invention is incompressible using liquid for the collision brake device of service robot
Characteristic and the mode that the more preferable toughness of flexible elastic performance detects window of installing is touched on long tube with reference to elasticity, efficiently solve touching
Plate protection position is limited, electronic skin uniformity is bad, and debugging is complicated, air bag touches bar needs the disadvantage of temperature compensation system etc.
End, and easy to implement, low manufacture cost, it is practical high.
Brief description of the drawings
Fig. 1 is structural representation of the present invention for the collision brake device of service robot.
Control the figures above, is supplemented as follows explanation：
1--- liquid 2--- elasticity touches long tube
3--- toughness detection window 4--- gaps
5--- position sensors 6--- touches stress point
Specific embodiment
A kind of collision brake device for service robot, including the elasticity of installation flexible detection window 3 touches long tube
2, the elasticity is touched and liquid 1 is filled in long tube 2, and the elasticity of the toughness detection window 3 touches the bullet of long tube 2 much larger than elasticity
Property.Ensuring that elasticity touches long tube 2 and toughness detects that the junction of window 3 and elasticity touch the two ends favorable sealing property of long tube 2
In the case of, when touching stress point 6 and being squeezed, toughness detection window 3 swells to outside chamber, and extruding detects window 3 after disappearing in toughness
Its own resilient effect is lower to restore to the original state.
The present invention is additionally provided with position sensor 5 for the collision brake device of service robot, and the position sensor 5 sets
The side of long tube 2 being touched in elasticity and the position of window 3 being detected corresponding to the toughness, the position sensor 5 and toughness detect window 3
Keep certain gap 4.Position sensor 5 is installed at toughness detection window 3, position sensor 5 can detect toughness detection
The change in location on the summit of window 3 is simultaneously connected with existing ripe control system, and control system controls braking motion mechanism to reach
Collision brake purpose.
The present invention is touched for the collision brake device of service robot using the incompressible characteristic of liquid 1 and with reference to elasticity
The mode that the more preferable toughness of flexible elastic performance detects window 3 is installed on long tube 2, efficiently solve Contact plate protection position it is limited,
Electronic skin uniformity is bad, the drawbacks of debugging is complicated, air bag touching bar needs temperature compensation system etc., and easy to implement, system
Make low cost, it is practical high.
Claims (2)
1. a kind of collision brake device for service robot, it is characterized in that：The elastic collision of window is detected including installing flexible
Long tube is touched, the elasticity is touched and liquid is filled in long tube, the elasticity of the toughness detection window touches the bullet of long tube much larger than elasticity
Property.
2. the collision brake device for service robot according to claim 1, it is characterized in that：It is additionally provided with position sensing
Device, the position sensor is located at the position that elasticity is touched long tube side and window is detected corresponding to the toughness, and the position is visited
Survey device and toughness detection window keeps certain gap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710164928.7A CN106737871A (en) | 2017-03-20 | 2017-03-20 | For the collision brake device of service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710164928.7A CN106737871A (en) | 2017-03-20 | 2017-03-20 | For the collision brake device of service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737871A true CN106737871A (en) | 2017-05-31 |
Family
ID=58967586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710164928.7A Pending CN106737871A (en) | 2017-03-20 | 2017-03-20 | For the collision brake device of service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737871A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6339786A (en) * | 1986-08-05 | 1988-02-20 | 松下電器産業株式会社 | Safety device for industrial robot |
| US5178136A (en) * | 1987-07-29 | 1993-01-12 | Dornier Medizintechnik | Lithotripter including a safety device |
| EP1810795A1 (en) * | 2006-01-19 | 2007-07-25 | Abb Ab | Safety device for an industrial robot with elastic sealed bag comprising a fluid or gas |
| DE102007062245A1 (en) * | 2007-12-21 | 2009-06-25 | Robert Bosch Gmbh | Collision detection device for robot arm in automatic production process, has tube and/or hose shaped, sectional, flexible storage units filled with medium and attached with pressure sensors, and control device detecting collision |
| CN104742154A (en) * | 2013-12-25 | 2015-07-01 | 昆山工研院新型平板显示技术中心有限公司 | Protective device and mechanical arm with protective device |
| CN206623111U (en) * | 2017-03-20 | 2017-11-10 | 苏州穿山甲机器人股份有限公司 | Collision brake device for service robot |
-
2017
- 2017-03-20 CN CN201710164928.7A patent/CN106737871A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6339786A (en) * | 1986-08-05 | 1988-02-20 | 松下電器産業株式会社 | Safety device for industrial robot |
| US5178136A (en) * | 1987-07-29 | 1993-01-12 | Dornier Medizintechnik | Lithotripter including a safety device |
| EP1810795A1 (en) * | 2006-01-19 | 2007-07-25 | Abb Ab | Safety device for an industrial robot with elastic sealed bag comprising a fluid or gas |
| DE102007062245A1 (en) * | 2007-12-21 | 2009-06-25 | Robert Bosch Gmbh | Collision detection device for robot arm in automatic production process, has tube and/or hose shaped, sectional, flexible storage units filled with medium and attached with pressure sensors, and control device detecting collision |
| CN104742154A (en) * | 2013-12-25 | 2015-07-01 | 昆山工研院新型平板显示技术中心有限公司 | Protective device and mechanical arm with protective device |
| CN206623111U (en) * | 2017-03-20 | 2017-11-10 | 苏州穿山甲机器人股份有限公司 | Collision brake device for service robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |