CN109571551A - A kind of automatic transporting machine people's air defense collision device - Google Patents
A kind of automatic transporting machine people's air defense collision device Download PDFInfo
- Publication number
- CN109571551A CN109571551A CN201811363830.5A CN201811363830A CN109571551A CN 109571551 A CN109571551 A CN 109571551A CN 201811363830 A CN201811363830 A CN 201811363830A CN 109571551 A CN109571551 A CN 109571551A
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- China
- Prior art keywords
- fixed
- groove
- collision
- machine people
- transporting machine
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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
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
-
- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
Abstract
The present invention relates to a kind of automatic transporting machine people's air defense collision devices, include: fixing seat, and one side wall is fixed at the front end side wall of automatic transporting machine people, and the fixing seat is equipped with the first groove far from one end of the automatic transporting machine people；Carriage is fixed in first groove and can slide in first groove；Anticollision device, collision-prevention device is fixed on one side wall of the fixing seat far from the automatic transporting machine people by fixed device.Anti-collision effect of the invention is good and solves the problems, such as that existing robot anticollision device, collision-prevention device anti-collision effect is poor.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of automatic transporting machine people's air defense collision device.
Background technique
With the continuous development of society, the division of labor of all trades and professions increasingly detail, robot gradually popularize daily life
In work, however there is also the problems of anti-collision effect difference for existing robot anticollision device, collision-prevention device, during colliding, meeting
The phenomenon that making the inner body of robot be damaged, reduces the service life of robot, increases user and replaces machine
The frequency of people's part, the use for the person of being not convenient to use.
Summary of the invention
It is an object of the invention to overcome defect existing in the prior art, it is good and solve to provide a kind of anti-collision effect
The automatic transporting machine people's air defense collision device of the problem of existing robot anticollision device, collision-prevention device anti-collision effect difference.
To achieve the above object, the technical solution of the present invention is to provide a kind of automatic transporting machine people's air defense collision devices, comprising:
Fixing seat, one side wall are fixed at the front end side wall of automatic transporting machine people, and the fixing seat is far from described automatic
One end of transfer robot is equipped with the first groove；
Carriage is fixed in first groove and can slide in first groove；
Anticollision device, collision-prevention device is fixed on one side wall of the fixing seat far from the automatic transporting machine people by fixed device.
In order to avoid anticollision device, collision-prevention device and peripheral obstacle collide cause automatic transporting machine people damage and with week
Enclosing the barrier rear anti-collision device that collides can move upwards to the side of fixing seat, and currently preferred technical solution is institute
Stating carriage includes that the fixed block for being fixed on first groove middle position, one end are arranged in the fixed block side wall and another
The corresponding connecting rod for being fixed on the first groove inner sidewall in one end is sheathed on the outside of the connecting rod and one end and first groove
First bullet of slide plate, the slide plate side for being sheathed on the connecting rod outside and being disposed far from the fixed block that inner sidewall is slidably connected
Spring, first spring one end are fixed at the first groove inner sidewall, the other end is fixed with spring base, the spring base
One side wall far from first spring is contacted with the one side wall of the slide plate, and the slide plate is close to the first groove inner sidewall
One end be fixed with sliding block, the one side wall of the first groove inner sidewall and the shoe contact is equipped with and the sliding block cooperates
Sliding slot.
In order to move upwards anticollision device, collision-prevention device to the side of fixing seat, currently preferred technical solution is, described solid
Determine device to include the fixed plate for being fixed on the anticollision device, collision-prevention device inner sidewall, be fixed on the fixed plate far from the anticollision device, collision-prevention device
The telescopic rod in the middle position of one side, be fixed on the telescopic rod far from the fixed plate one end be equipped with sliding shoe, be arranged
On the outside of the sliding shoe and the corresponding sliding sleeve for being fixed on one side wall of the fixed block far from the automatic transporting machine people,
On the outside of being fixed at the second spring between the sliding shoe and the sliding sleeve inner sidewall, being sheathed on the sliding shoe and with institute
It states sealing shroud that the sliding sleeve inner sidewall is slidably connected and one end is fixed at the fixed plate far from the anticollision device, collision-prevention device
Side and the bearing diagonal that is obliquely installed, the bearing diagonal be arranged in the anticollision device, collision-prevention device side far from the other end of the fixed plate
Wall and the outside for extending to the anticollision device, collision-prevention device, it is remote that the bearing diagonal far from the other end of the fixed plate is fixed on the slide plate
One end from the sliding block, described sliding sleeve one end are set as open, and the open end of the sliding sleeve is fixed with limit plate, described
Limit plate is sheathed on the outside of the telescopic rod and the corresponding open end for being fixed on the sliding sleeve.
In order to buffer to the external force acted on anticollision device, collision-prevention device, currently preferred technical solution is the anticollision
Device includes the first anti-striker being fixed in the fixed plate, is fixed on one of the described first anti-striker far from the fixed plate
It the multiple buffer units of side wall and covers on the outside of the described first anti-striker and is fixed on the buffer unit far from described first
The second anti-striker of anti-striker one end, the buffer unit includes the first buffering plate for being fixed on the described first anti-striker, right
The second buffering plate that should be fixed in the second anti-striker and be fixed at first buffering plate with it is described
Between second buffering plate and telescopic bolster.
In one embodiment, damage is removed automatically after colliding in order to avoid automatic transporting machine people with peripheral obstacle
Robot is transported, currently preferred technical solution is that the automatic transporting machine people's air defense collision device further includes anti-collision system, described
Anti-collision system include controller, be fixed between the slide plate and the spring base and the pressure that is connect with the controller
Sensor is embedded at one end face of the fixed block equipped with the anticollision device, collision-prevention device and detects dress at a distance from controller connection
It sets, the driving motor of the mobile device of the warning device on the fixed block, output end and automatic transporting machine people connects
And the first electronic switch and output end for controlling driving motor starting or closing connect with the warning device and
For controlling the second electronic switch of the alarm activation or closing, the input terminal of first electronic switch and the control
Device connection processed, first electronic switch include the first pliotron and the first current-limiting resistance, the power supply of the driving motor
Anode is connected by the driving motor with the collector of first pliotron, the power cathode of the driving motor and
The emitter of first pliotron is connected, and the emitter ground connection of first pliotron, the controller passes through
First current-limiting resistance is connected with the base stage of first pliotron；The input terminal of second electronic switch with it is described
Controller connection, the second electronic switch include the second pliotron and the second current-limiting resistance, and the power supply of the warning device is just
Pole is connected by the warning device with the collector of second pliotron, the cathode of the power supply of the warning device and
The emitter of second pliotron is connected, and the emitter ground connection of second pliotron, the controller passes through
Second current-limiting resistance is connected with the base stage of second pliotron；
The work step of the controller are as follows:
The distance detection device to the distance between controller Real-time Feedback automatic transporting machine people and peripheral obstacle,
To issue enabling signal to second electronic switch by controller, second electronic switch controls the warning device
Starting, the warning device issue corresponding warning message；
The pressure sensor is to the pressure value between controller Real-time Feedback slide plate and spring base, to pass through controller
Stop signal is issued to first electronic switch, first electronic switch controls the driving motor and closes, automatic transporting
Robot stop motion；
The driving motor, which is controlled, by the first electronic switch and the second electronic switch closes and control alarm activation,
Driving motor control automatic transporting machine people rests on existing position, and warning device issues corresponding warning message；Barrier is clear
After removing, controller transmission enables signals to the first electronic switch, and first electronic switch controls the driving motor starting, from
Dynamic transfer robot continues mobile to next predeterminated position, and controller sends stop signal to the second electronic switch, and described the
Two electronic switches control the warning device and close.
In one embodiment, in order to avoid the distance detector that is mounted on automatic transporting machine people is in automatic carrying machine working
Colliding in device people's moving process causes distance detector to damage, and currently preferred technical solution is that the fixed block is set
There is an end face of the anticollision device, collision-prevention device to be equipped with the second groove, the distance detection device is embedded in second groove, institute
Distance detection device is stated to include the first cushion for being embedded at the second groove slot bottom, be set to first cushion far from institute
State the one side wall of the second groove and the intermediate fixing sleeve for being equipped with distance detector mounting hole, the position being embedded among the fixing sleeve
The distance detector set is arranged in the second groove notch and fastener that one end is contacted with the distance detector, described
Fastener lateral wall is connected through a screw thread with the second groove notch inner sidewall, the fastener include its lateral wall with it is described
Second groove inner sidewall is connected through a screw thread and section is set as U-shaped fixed ring, in the U-type groove of the fixed ring and is passed through
The two sidewalls of the clamping seat that clamping pin is fixed in the fixed ring, the fixed ring same position are corresponding and are uniformly provided with multiple
Mounting hole, the fixed ring bottom interior wall are equipped with spring mounting groove corresponding with each position of mounting hole, the clamping seat
It is set as stationary annular and the one side far from the distance detector is uniformly provided with multiple card columns, the clamping on the same circumference
Seat upper surface is equipped with the cushion mounting groove of annular, is arranged with the 4th spring, the 4th spring one end set in each card column
In the card column, the other end be fixed on the spring mounting groove bottom, the second buffering is equipped in the cushion mounting groove
Pad, second cushion upper surface and end thereof contacts of the distance detector far from the first cushion, the clamping seat and
The side wall of each card column corresponding position is crossed equipped with multiple strip-shaped holes, each clamping pin sequentially pass through the mounting hole and its
The clamping seat is fixed in the U-type groove of the fixed ring by corresponding strip-shaped hole.
It is fallen in order to avoid removing distance detector after fastener, currently preferred technical solution is the fixed block
An end face equipped with the anticollision device, collision-prevention device is equipped with the third groove that is disposed adjacent with second groove, second groove with
Through-hole is equipped between the third groove is connected to second groove with the third groove, is connected in the third groove
Striking gear, fixing sleeve position corresponding with the through-hole are equipped with the clamping groove that is clamped with the striking gear, and described group
Dynamic device includes the clamping set for being arranged in the through-hole, is fixed at the fixture block that the clamping covers the close clamping groove side,
The clamping set is set as hollow structure and one end is set as open, is embedded with third spring, the third spring in the clamping set
The clamping set inner sidewall is fixed in one end, the other end corresponds to and is fixed on the third groove inner sidewall, and the clamping covers side
Wall is fixed with driving lever, and the driving lever extends to the third groove notch direction far from one end of the clamping set.
Technical solution of the present invention has the advantages that
Automatic transporting machine people's air defense collision device provided by the invention, is fixed on automatically equipped with carriage, by fixing seat
Anticollision device, collision-prevention device on transfer robot, in automatic transporting machine people's moving process, the front end of automatic transporting machine people and surrounding
When barrier is close, it is affixed to the anticollision device, collision-prevention device and bar contact of the automatic transporting machine people front end first, and is hindering
Hinder object under the squeezing action of anticollision device, collision-prevention device, anticollision device, collision-prevention device moves upwards under the action of carriage to the side of fixing seat, from
And extruding force of the barrier to anticollision device, collision-prevention device is buffered, it is led so that automatic transporting machine people be avoided to contact with peripheral obstacle
Cause the damage of automatic transporting machine people.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the automatic transporting machine people's air defense collision device provided in one embodiment of the present invention；
Fig. 2 is enlarged diagram at A in Fig. 1；
Fig. 3 is enlarged diagram at B in Fig. 2；
Fig. 4 is the structural schematic diagram of buffer unit in Fig. 1；
Fig. 5 is the schematic diagram of the automatic transporting machine people's air defense collision device provided in another embodiment of the present invention；
Fig. 6 is the structural schematic diagram of first switch in Fig. 5；
Fig. 7 is the structural schematic diagram of second switch in Fig. 5.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " first ", " second ", " third " are used for description purposes only,
It is not understood to indicate or imply relative importance.In addition, involved in invention described below different embodiments
Technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in Fig. 1 to figure, a kind of automatic transporting machine people's air defense collision device provided by the invention, comprising:
Fixing seat 1, one side wall are fixed at the front end side wall of automatic transporting machine people, the fixing seat 1 far from it is described from
One end of dynamic transfer robot is equipped with the first groove 1-1；
Carriage 2 is fixed in the first groove 1-1 and can slide in the first groove 1-1；
Anticollision device, collision-prevention device 3 is fixed on side of the fixing seat 1 far from the automatic transporting machine people by fixed device 4
Wall.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
Anticollision device, collision-prevention device is fixed on automatic transporting machine people by fixing seat, in automatic transporting machine people's moving process, from
When the front end of dynamic transfer robot and the close barrier of surrounding, it is affixed to the anti-of the automatic transporting machine people front end first
Collision device and bar contact, and under squeezing action of the barrier to anticollision device, collision-prevention device, effect of the anticollision device, collision-prevention device in carriage
It is lower to be moved upwards to the side of fixing seat, to be buffered to extruding force of the barrier to anticollision device, collision-prevention device, to avoid removing automatically
Fortune robot contacts the damage for leading to automatic transporting machine people with peripheral obstacle.
In order to avoid anticollision device, collision-prevention device and peripheral obstacle collide cause automatic transporting machine people damage and with week
Enclosing the barrier rear anti-collision device that collides can move upwards to the side of fixing seat, and the preferred embodiment of the invention is institute
State carriage 2 include be fixed on the fixed block 2-1 in the middle position the first groove 1-1, one end is arranged in the fixed block
2-1 side wall and the other end, which correspond to, to be fixed on the connecting rod 2-2 of the first groove 1-1 inner sidewall, is sheathed on the outside of the connecting rod 2-2
And one end and the first groove 1-1 inner sidewall be slidably connected slide plate 2-3, be sheathed on the outside of the connecting rod 2-2 and be set to remote
First spring 2-4 of the side slide plate 2-3 from the fixed block 2-1, described one end first spring 2-4 are fixed at described first
Groove 1-1 inner sidewall, the other end are fixed with spring base 2-5, side of the spring base 2-5 far from the first spring 2-4
Wall is contacted with the one side wall of the slide plate 2-3, and the slide plate 2-3 is set close to the fixation of one end of the first groove 1-1 inner sidewall
There is sliding block 2-6, the one side wall that the first groove 1-1 inner sidewall is contacted with the sliding block 2-6 is equipped with to be cooperated with the sliding block 2-6
Sliding slot.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
Under the effect of external force, upward first spring in the side of slide plate to fixing seat lateral wall makes slide plate in cunning to slide plate
Block is moved upwards under the cooperation of the sliding slot to the side of fixing seat lateral wall, to delay to the external force acted on slide plate
Punching, to avoid the extruding force from directly acting on automatic transporting machine people, to avoid damage automatic transporting machine people.
In order to move upwards anticollision device, collision-prevention device to the side of fixing seat, the preferred embodiment of the invention is, described solid
Determine device 4 to include the fixed plate 4-1 for being fixed on 3 inner sidewall of anticollision device, collision-prevention device, be fixed on the fixed plate 4-1 far from described anti-
The telescopic rod 4-2 in the middle position of the one side of collision device 3, it is fixed on one of the telescopic rod 4-2 far from the fixed plate 4-1
End, which is equipped with sliding shoe 4-3, is sheathed on the outside of the sliding shoe 4-3 and corresponds to, is fixed on the fixed block 2-1 far from described automatic
The sliding sleeve 4-4 of the one side wall of transfer robot, it is fixed between the sliding shoe 4-3 and the sliding sleeve 4-4 inner sidewall
Second spring 4-5, be sheathed on the outside of the sliding shoe 4-3 and be slidably connected with the sliding sleeve 4-4 inner sidewall close
The bearing diagonal 4- that big envelope and one end are fixed at side of the fixed plate 4-1 far from the anticollision device, collision-prevention device 3 and are obliquely installed
6, the bearing diagonal 4-6 are arranged in 3 side wall of anticollision device, collision-prevention device far from the other end of the fixed plate 4-1 and extend to described anti-
The outside of collision device 3, the bearing diagonal 4-6 are fixed on the slide plate 2-3 far from described far from the other end of the fixed plate 4-1
One end of sliding block 2-6, the one end the sliding sleeve 4-4 are set as open, and the open end of the sliding sleeve 4-4 is fixed with limit plate,
The limit plate is sheathed on the outside of the telescopic rod 4-2 and the corresponding open end for being fixed on the sliding sleeve 4-4.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
The external force acted on anticollision device, collision-prevention device squeezes anticollision device, collision-prevention device to close to the fixing seat, thus to close to fixing seat
The upward fixed plate in side makes telescopic rod and is fixed on one section of telescopic rod of sliding shoe to slide under the action of extruding force
The introversive square upward sliding close to fixing seat of set, while the second spring being set between the sliding shoe and the sliding seat is opposite
The extruding force of the upward anticollision device, collision-prevention device in side close to the fixing seat is buffered, to drive entire anticollision device, collision-prevention device to close
The side of fixing seat moves upwards and buffers to the extruding force, so that the extruding force be avoided to directly act on automatic transporting machine
On people, to avoid damage automatic transporting machine people.
In order to buffer to the external force acted on anticollision device, collision-prevention device, the preferred embodiment of the invention is the anticollision
Device 3 includes the first anti-striker 3-1 being fixed on the fixed plate 4-1, is fixed on the described first anti-striker 3-1 far from described
It the multiple buffer unit 3-2 of the one side wall of fixed plate 4-1 and covers on the outside of the described first anti-striker 3-1 and is fixed on described
Buffer unit 3-2 the second anti-striker 3-3 far from described first one end anti-striker 3-2, the buffer unit 3-2 include being fixed on
The first buffering plate 3-21 of the first anti-striker 3-1, corresponding second be fixed on the described second anti-striker 3-2 are delayed
It rushes pedestal 3-22 and is fixed between the first buffering plate 3-21 and the second buffering plate 3-22 and scalable
Bolster 3-23.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
Anticollision device, collision-prevention device is fixed on automatic transporting machine people by fixing seat, in automatic transporting machine people's moving process, from
When the front end of dynamic transfer robot and the close barrier of surrounding, it is affixed to the anti-of the automatic transporting machine people front end first
Collision device and bar contact, and under squeezing action of the barrier to anticollision device, collision-prevention device, first on the direction of the first anti-striker
The second anti-striker is squeezed, when squeezing the second anti-striker, the extruding force for acting on the second anti-striker is transferred on buffer unit, and
Extruding force is carried out under the action of telescopic bolster between the first buffering plate and second buffering plate
Buffering, so that automatic transporting machine people be avoided to contact the damage for leading to automatic transporting machine people with peripheral obstacle.
In one embodiment, damage is removed automatically after colliding in order to avoid automatic transporting machine people with peripheral obstacle
Robot is transported, the preferred embodiment of the invention is that the automatic transporting machine people's air defense collision device further includes anti-collision system, described
Anti-collision system include controller 5-1, be fixed between the slide plate 2-3 and the spring base 2-5 and with the controller
The pressure sensor 5-2 of 5-1 connection, be embedded at mono- end face fixed block 2-1 equipped with the anticollision device, collision-prevention device 3 and with the control
It the distance detection device 5-3 of device 5-1 connection processed, the warning device 5-4 on the fixed block 2-1, output end and removes automatically
Transport the driving motor connection of the mobile device of robot and for controlling first electronic cutting driving motor starting or closed
Close 5-5 and output end connect with the warning device 5-4 and for control the warning device 5-4 start or closing the
Two electronic switch 5-6, the input terminal of the first electronic switch 5-5 are connect with the controller 5-1, first electronic switch
5-5 includes the first pliotron 5-51 and the first current-limiting resistance 5-52, and the positive pole of the driving motor passes through the drive
Dynamic motor is connected with the collector of the first pliotron 5-51, the power cathode of the driving motor and first function
The emitter of rate triode 5-51 is connected, and the emitter ground connection of the first pliotron 5-51, the controller 5-1 passes through
The first current-limiting resistance 5-52 is connected with the base stage of the first pliotron 5-51；The second electronic switch 5-6's
Input terminal is connect with the controller 5-1, and the second electronic switch 5-6 includes the second pliotron 5-61 and the second current-limiting resistance
The positive pole of 5-62, the warning device 5-4 pass through the collection of the warning device 5-4 and the second pliotron 5-61
Electrode is connected, and the cathode of the power supply of the warning device 5-4 is connected with the emitter of the second pliotron 5-61, described
The emitter of second pliotron 5-61 is grounded, and the controller 5-1 passes through the second current-limiting resistance 5-62 and described the
The base stage of two pliotron 5-61 is connected；
The work step of the controller 5-1 are as follows:
The distance detection device 5-3 is between controller 5-1 Real-time Feedback automatic transporting machine people and peripheral obstacle
Distance, thus by controller 5-1 to the second electronic switch 5-6 issue enabling signal, the second electronic switch 5-6
The warning device 5-4 starting is controlled, the warning device 5-4 issues corresponding warning message；
The pressure sensor 5-2 to the pressure value between controller 5-1 Real-time Feedback slide plate 2-3 and spring base 2-5, from
And stop signal is issued to the first electronic switch 5-5 by controller 5-1, described in the first electronic switch 5-5 control
Driving motor is closed, automatic transporting machine people's stop motion；
The driving motor, which is controlled, by the first electronic switch 5-5 and the second electronic switch 5-6 closes and control alarm dress
5-4 starting is set, driving motor control automatic transporting machine people rests on existing position, and warning device 5-4 issues corresponding alarm
Information；After barrier is removed, controller 5-1 transmission enables signals to the first electronic switch 5-5, the first electronic switch 5-5
The driving motor starting is controlled, automatic transporting machine people continues, controller 5-1 transmission stopping mobile to next predeterminated position
Signal controls the warning device 5-4 closing to the second electronic switch 5-6, the second electronic switch 5-6.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
The distance between the distance detection device real-time monitoring automatic transporting machine people and peripheral obstacle, and in real time to
Controller feeds back the vehicle, fragment, permanent structure, people that barrier described in automatic transporting machine people and peripheral obstacle includes surrounding
Deng the distance between and analyse and compare, when the real-time range monitored is less than preset value, then controller is to described second
Electronic switch issues enabling signal, and second electronic switch controls the alarm activation, and the warning device issues phase
The warning message answered carries out alarm to related personnel and prompts, manually makees to be equipped in region to prevent automatic transporting machine
Barrier influences automatic transporting machine people and works；Conversely, then without alarm.
When automatic transporting machine people and peripheral obstacle contact, after anticollision device, collision-prevention device stress, anticollision device, collision-prevention device is to automatic transporting
The side of robot moves upwards, so that slide plate is driven to move upwards to the side of transport power fixed block, work of the spring base in the first spring
It is squeezed on the lower direction to slide plate, spring base is made to have a extruding force to slide plate；Pressure sensor real-time monitoring slide plate with
Pressure value between spring base, and feed back the pressure value between slide plate and spring base to controller in real time and analyse and compare,
When the pressure value monitored be greater than preset value when, then controller to first electronic switch issue shutdown signal, described first
Electronic switch control driving motor stops working, thus avoid automatic transporting machine people and peripheral obstacle be in contact after still to
Before carry out mobile automatic transporting machine people being caused to damage.
In one embodiment, in order to avoid the distance detector that is mounted on automatic transporting machine people is in automatic carrying machine working
Colliding in device people's moving process causes distance detector to damage, and the preferred embodiment of the invention is the fixed block 2-1
An end face equipped with the anticollision device, collision-prevention device 3 is equipped with the second groove 2-11, the distance detection device 5-3 and is embedded at described second
In groove 2-11, the distance detection device 5-3 include the first cushion 5-31 for being embedded at the second groove 2-11 slot bottom,
One side wall and centre set on the first cushion 5-31 far from the second groove 2-11 are equipped with distance detector mounting hole
Fixing sleeve 5-32, the position being embedded among the fixing sleeve 5-32 distance detector 5-33, to be arranged in described second recessed
The fastener 5-34 that slot 2-11 notch and one end are contacted with the distance detector 5-33, the fastener 5-34 lateral wall and institute
It states the second groove 2-11 notch inner sidewall to be connected through a screw thread, the fastener 5-34 includes its lateral wall and second groove
2-11 inner sidewall is connected through a screw thread and section is set as U-shaped fixed ring 5-341, in the U-type groove of the fixed ring 5-341
And the clamping seat 5-342 being fixed on the fixed ring 5-341 by being clamped pin, the two of the fixed ring 5-341 same position
Side wall is corresponding and is uniformly provided with multiple mounting holes, and the fixed ring 5-341 bottom interior wall is equipped with and each position of mounting hole
Corresponding spring mounting groove 5-343, the clamping seat 5-342 are set as the one of stationary annular and the separate distance detector 5-33
Side is uniformly provided with multiple card column 5-344 on the same circumference, and the clamping upper surface seat 5-342 is equipped with the cushion peace of annular
Tankage is arranged with the 4th spring 5-345 on each card column 5-344, and the one end the 4th spring 5-345 is sheathed on the card column
5-344 is upper, the other end is fixed on the bottom the spring mounting groove 5-343, and the second cushion is equipped in the cushion mounting groove
5-346, the upper surface the second cushion 5-346 and a termination of the distance detector 5-33 far from the first cushion 5-31
The side wall of touching, the clamping seat 5-342 and each card column 5-344 corresponding position is crossed equipped with multiple strip-shaped holes, each card
Outbound sequentially passes through the mounting hole and its corresponding strip-shaped hole and the clamping seat 5-342 is fixed on the fixed ring 5-341
U-type groove in.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
The distance detection device be embedded in second groove and by the fastener at the second groove notch make away from
It is arranged in second groove from detector, the distance detection device is coaxially fixed on second groove by fastener
Interior, the fastener is equipped with fixed ring and clamping seat, and the fastener is recessed by the screw thread of fixed ring lateral wall and described second
Threaded connection on slot inner sidewall, and so that fixed ring is driven clamping direction of the seat to distance detection device by rotary-type fixed ring
Upper movement is clamped the strip-shaped hole being arranged on seat when second cushion being clamped on seat and distance detection device end face contact
Clamping seat is set to move and squeeze the 4th spring on the direction far from distance detection device, the 4th spring compresses distance in clamping seat
Play the role of buffering when detection device, avoid fastener from being moved through more, keep distance detection device over-stressed, thus damage away from
From detection device；The reaction force of the 4th spring makes the second cushion and distance detection device end face while squeezing four springs
It comes into full contact with, improves the leakproofness between fastener and distance detection device, to avoid range sensor can be second
It is shaken in groove, to avoid the distance detector being mounted on automatic transporting machine people in automatic transporting machine people's moving process
In collide distance detector caused to damage.
It is fallen in order to avoid removing distance detector after fastener, the preferred embodiment of the invention is the fixed block
The end face that 2-1 is equipped with the anticollision device, collision-prevention device 3 is equipped with the third groove 2-12 being disposed adjacent with the second groove 2-11, institute
Stating makes the second groove 2-11 and the third equipped with through-hole 2-13 between the second groove 2-11 and the third groove 2-12
Groove 2-12 is connected to, and 2-13 pairs of striking gear 6, the fixing sleeve 5-32 and the through-hole are connected in the third groove 2-12
The position answered is equipped with the clamping groove 5-321 being clamped with the striking gear 6, and the striking gear 6 includes being arranged in the through-hole
The clamping set 6-1 of 2-13, fixture block 6-2 of the clamping set 6-1 close to the side the clamping groove 5-321, the card are fixed at
Female connector 6-1 is set as hollow structure and one end is set as open, is embedded with third spring 6-3, the third bullet in the clamping set 6-1
Spring 6-3 is fixed on one end the clamping set 6-1 inner sidewall, other end correspondence is fixed on the third groove 2-12 inner sidewall, institute
It states clamping set 6-1 one side wall and is fixed with driving lever 6-4, the driving lever 6-4 extends to described far from one end of the clamping set 6-1
Third groove 2-12 notch direction.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
Fixture block is arranged in the clamping groove of the fixing sleeve, and fixing sleeve is arranged in second groove, thus will be away from
It is arranged in second groove from detector；When disassembly is desired, it is dialled by being dialed up to the side far from distance detector
Bar, driving lever are moved upwards to far from the side of distance detector, drive clamping set to the side far from distance detector upward the
Three springs move upwards clamping set to far from the side of distance detector, thus drive be fixed on the fixture block of clamping set one end to
Move upwards and leave in the clamping groove far from the side of range sensor, at the same take out on the direction of the second groove notch away from
From detector, to keep distance detector easy to disassemble and distance detector after removing fastener is avoided to fall.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (7)
1. a kind of automatic transporting machine people's air defense collision device characterized by comprising
Fixing seat (1), one side wall are fixed at the front end side wall of automatic transporting machine people, the fixing seat (1) far from it is described from
One end of dynamic transfer robot is equipped with the first groove (1-1)；
Carriage (2) is fixed in first groove (1-1) and can slide in first groove (1-1)；
Anticollision device, collision-prevention device (3) is fixed on one of the fixing seat (1) far from the automatic transporting machine people by fixed device (4)
Side wall.
2. automatic transporting machine people's air defense collision device according to claim 1, which is characterized in that carriage (2) packet
Include the fixed block (2-1) for being fixed on the first groove (1-1) middle position, one end is arranged in the fixed block (2-1) side wall
And the other end corresponds to and is fixed on the connecting rod (2-2) of the first groove (1-1) inner sidewall, is sheathed on the outside of the connecting rod (2-2)
And one end and the first groove (1-1) inner sidewall be slidably connected slide plate (2-3), be sheathed on the outside of the connecting rod (2-2) and
The first spring (2-4), the one end first spring (2-4) for being disposed far from side slide plate (2-3) of the fixed block (2-1) are solid
Surely it is set to the first groove (1-1) inner sidewall, the other end is fixed with spring base (2-5), the separate institute of the spring base (2-5)
The one side wall for stating the first spring (2-4) is contacted with the one side wall of the slide plate (2-3), and the slide plate (2-3) is close to described first
One end of groove (1-1) inner sidewall is fixed with sliding block (2-6), the first groove (1-1) inner sidewall and the sliding block (2-6)
The one side wall of contact is equipped with the sliding slot cooperated with the sliding block (2-6).
3. automatic transporting machine people's air defense collision device according to claim 2, which is characterized in that fixed device (4) packet
It includes and is fixed on the fixed plate (4-1) of the anticollision device, collision-prevention device (3) inner sidewall, is fixed on the fixed plate (4-1) far from the anticollision
The telescopic rod (4-2) in the middle position of the one side of device (3) is fixed on the telescopic rod (4-2) far from the fixed plate (4-
1) one end is equipped with sliding shoe (4-3), is sheathed on the outside of the sliding shoe (4-3) and correspondence is fixed on the fixed block (2-1)
The sliding sleeve (4-4) of one side wall far from the automatic transporting machine people is fixed at the sliding shoe (4-3) and the sliding
Second spring (4-5) between set (4-4) inner sidewall, be sheathed on the outside of the sliding shoe (4-3) and with the sliding sleeve
The sealing shroud and one end that (4-4) inner sidewall is slidably connected are fixed at the fixed plate (4-1) far from the anticollision device, collision-prevention device
(3) side and the bearing diagonal (4-6) being obliquely installed, the bearing diagonal (4-6) are worn far from the other end of the fixed plate (4-1)
Set on the anticollision device, collision-prevention device (3) side wall and the outsides of the anticollision device, collision-prevention device (3) is extended to, the bearing diagonal (4-6) is far from described
The other end of fixed plate (4-1) is fixed on the one end of the slide plate (2-3) far from the sliding block (2-6), the sliding sleeve (4-4)
One end is set as open, and the open end of the sliding sleeve (4-4) is fixed with limit plate, and the limit plate is sheathed on the telescopic rod
On the outside of (4-2) and the corresponding open end for being fixed on the sliding sleeve (4-4).
4. automatic transporting machine people's air defense collision device according to claim 3, which is characterized in that anticollision device, collision-prevention device (3) packet
It includes the anti-striker (3-1) of first be fixed on the fixed plate (4-1), be fixed on the described first anti-striker (3-1) far from described
It the multiple buffer units of one side wall (3-2) of fixed plate (4-1) and covers on the outside of the described first anti-striker (3-1) and fixed
In the second anti-striker (3-3) of the buffer unit (3-2) far from described first anti-striker (3-2) one end, the buffer unit
(3-2) includes the first buffering plate (3-21) for being fixed on the described first anti-striker (3-1), corresponds to and be fixed on described second
The second buffering plate (3-22) on anti-striker (3-2) and it is fixed at first buffering plate (3-21) and described the
Between two buffering plates (3-22) and telescopic bolster (3-23).
5. automatic transporting machine people's air defense collision device according to claim 2, which is characterized in that it further include anti-collision system, institute
State anti-collision system include controller (5-1), be fixed between the slide plate (2-3) and the spring base (2-5) and with institute
It states the pressure sensor (5-2) of controller (5-1) connection, be embedded at the fixed block (2-1) equipped with the anticollision device, collision-prevention device (3)
One end face and the distance detection device (5-3) being connect with the controller (5-1), the alarm being set on the fixed block (2-1)
The driving motor of the mobile device of device (5-4), output end and automatic transporting machine people connects and for controlling the driving electricity
Machine starting or the first electronic switch (5-5) and output end closed are connect and for controlling institute with the warning device (5-4)
State warning device (5-4) starting or close the second electronic switch (5-6), the input terminal of first electronic switch (5-5) with
Controller (5-1) connection, first electronic switch (5-5) include the first pliotron (5-51) and the first current limliting electricity
It hinders (5-52), the positive pole of the driving motor passes through the collection of the driving motor and first pliotron (5-51)
Electrode is connected, and the power cathode of the driving motor is connected with the emitter of first pliotron (5-51), and described the
The emitter of one pliotron (5-51) is grounded, and the controller (5-1) passes through first current-limiting resistance (5-52) and institute
The base stage for stating the first pliotron (5-51) is connected；The input terminal and the controller (5- of second electronic switch (5-6)
1) it connects, the second electronic switch (5-6) includes the second pliotron (5-61) and the second current-limiting resistance (5-62), the alarm
The positive pole of device (5-4) passes through the collector phase of the warning device (5-4) and second pliotron (5-61)
Even, the cathode of the power supply of the warning device (5-4) is connected with the emitter of second pliotron (5-61), and described the
The emitter of two pliotrons (5-61) is grounded, and the controller (5-1) passes through second current-limiting resistance (5-62) and institute
The base stage for stating the second pliotron (5-61) is connected；
The work step of the controller (5-1) are as follows:
The distance detection device (5-3) is between controller (5-1) Real-time Feedback automatic transporting machine people and peripheral obstacle
Distance, thus by controller (5-1) the second electronic switch of Xiang Suoshu (5-6) issue enabling signal, second electronic cutting
It closes (5-6) and controls warning device (5-4) starting, the warning device (5-4) issues corresponding warning message；
The pressure sensor (5-2) is to the pressure between controller (5-1) Real-time Feedback slide plate (2-3) and spring base (2-5)
Value, to issue stop signal, the first electronic switch (5- by controller (5-1) the first electronic switch of Xiang Suoshu (5-5)
5) it controls the driving motor to close, automatic transporting machine people's stop motion；
The driving motor, which is controlled, by the first electronic switch (5-5) and the second electronic switch (5-6) closes and control alarm dress
(5-4) starting is set, driving motor control automatic transporting machine people rests on existing position, and warning device (5-4) issues corresponding
Warning message；After barrier is removed, controller (5-1) transmission is enabled signals to the first electronic switch (5-5), first electronics
It switchs (5-5) and controls the driving motor starting, automatic transporting machine people continues, controller mobile to next predeterminated position
(5-1) sends stop signal to the second electronic switch (5-6), and second electronic switch (5-6) controls the warning device (5-
4) it closes.
6. automatic transporting machine people's air defense collision device according to claim 5, which is characterized in that the fixed block (2-1) sets
There is an end face of the anticollision device, collision-prevention device (3) to be equipped with the second groove (2-11), the distance detection device (5-3) is embedded at described
In second groove (2-11), the distance detection device (5-3) includes being embedded at the first of the second groove (2-11) slot bottom
Cushion (5-31), the one side wall for being set to separate second groove (2-11) of first cushion (5-31) and centre are equipped with
The fixing sleeve (5-32) of distance detector mounting hole, the distance detector for being embedded at the intermediate position of the fixing sleeve (5-32)
(5-33), it is arranged in the second groove (2-11) notch and fastener that one end is contacted with the distance detector (5-33)
(5-34), fastener (5-34) lateral wall is connected through a screw thread with the second groove (2-11) notch inner sidewall, described
Fastener (5-34) includes its lateral wall and the second groove (2-11) inner sidewall is connected through a screw thread and section is set as U-shaped
Fixed ring (5-341) is fixed on the fixed ring (5- in the U-type groove of the fixed ring (5-341) and by being clamped pin
341) two sidewalls of the clamping seat (5-342) on, fixed ring (5-341) same position are corresponding and are uniformly provided with multiple installations
Hole, fixed ring (5-341) bottom interior wall are equipped with spring mounting groove (5-343) corresponding with each position of mounting hole,
Clamping seat (5-342) is set as circular ring shape and the one side of separate distance detector (5-33) is uniform on the same circumference
Equipped with multiple card columns (5-344), the clamping seat upper surface (5-342) is equipped with the cushion mounting groove of annular, each card column
The 4th spring (5-345) is arranged on (5-344), described 4th spring (5-345) one end is sheathed on the card column (5-344)
The upper, other end is fixed on the bottom the spring mounting groove (5-343), is equipped with the second cushion (5- in the cushion mounting groove
346), the second cushion upper surface (5-346) and the distance detector (5-33) are far from the first cushion (5-31)
The side wall of end thereof contacts, clamping seat (5-342) and each card column (5-344) corresponding position is crossed equipped with multiple bar shapeds
Hole, each clamping pin sequentially pass through the mounting hole and its corresponding strip-shaped hole and the clamping seat (5-342) are fixed on institute
In the U-type groove for stating fixed ring (5-341).
7. automatic transporting machine people's air defense collision device according to claim 6, which is characterized in that the fixed block (2-1) sets
There is an end face of the anticollision device, collision-prevention device (3) to be equipped with the third groove (2-12) being disposed adjacent with second groove (2-11),
Through-hole (2-13) is equipped between second groove (2-11) and the third groove (2-12) makes second groove (2-11)
It is connected to, is connected with striking gear (6) in the third groove (2-12), the fixing sleeve (5- with the third groove (2-12)
32) position corresponding with the through-hole (2-13) is equipped with the clamping groove (5-321) that is clamped with the striking gear (6), and described group
Dynamic device (6) include the clamping set (6-1) for being arranged in the through-hole (2-13), are fixed at the clamping set (6-1) close to institute
The fixture block (6-2) of the side clamping groove (5-321) is stated, the clamping set (6-1) is set as hollow structure and one end is set as open, described
It is embedded with third spring (6-3) in clamping set (6-1), described third spring (6-3) one end is fixed in the clamping set (6-1)
Side wall, the other end are corresponding to be fixed on third groove (2-12) inner sidewall, and described clamping set (6-1) one side wall, which is fixed with, to be dialled
Bar (6-4), the driving lever (6-4) extend to third groove (2-12) the notch side far from one end of the clamping set (6-1)
To.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811363830.5A CN109571551B (en) | 2018-11-16 | 2018-11-16 | Automatic transfer robot buffer stop |
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|---|---|---|---|
| CN201811363830.5A CN109571551B (en) | 2018-11-16 | 2018-11-16 | Automatic transfer robot buffer stop |
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| CN110953294A (en) * | 2019-11-19 | 2020-04-03 | 湖南沃峰智能科技有限公司 | Material handling buffer stop |
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| CN112959368A (en) * | 2021-02-02 | 2021-06-15 | 柳斯 | Manipulator anticollision structure with higher safety |
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| CN109571551B (en) | 2021-05-28 |
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