CN110497446A - A kind of collision protection mechanism for industrial robot - Google Patents
A kind of collision protection mechanism for industrial robot Download PDFInfo
- Publication number
- CN110497446A CN110497446A CN201910803660.6A CN201910803660A CN110497446A CN 110497446 A CN110497446 A CN 110497446A CN 201910803660 A CN201910803660 A CN 201910803660A CN 110497446 A CN110497446 A CN 110497446A
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- Prior art keywords
- connector
- protection mechanism
- plate
- fixed
- industrial robot
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of collision protection mechanisms for industrial robot, are related to industrial robot field, mainly for solving the problems, such as the collision protection mechanism narrow scope of application of existing industrial robot；This is used for the collision protection mechanism of industrial robot, including mechanical arm and impingement plate, impingement plate is arranged in mechanical arm two sides, the mechanical arm is equipped with the first sliding rail, the first connector is rotatably connected on first sliding rail, first connector is rotatablely connected by first rotating shaft and the first sliding rail, first connector is plugged in inside the second connector, first connector two sides are equipped with the second attachment base, second attachment base is rotatablely connected by the first attachment base on first connecting rod and sliding block, sliding block is slidably connected with the second sliding rail on mechanical arm, the impingement plate is equipped with protection mechanism, the protection mechanism is the first protection mechanism or the second protection mechanism, improve the applicability of protection mechanism.
Description
Technical field
The present invention relates to industrial robot field, specifically a kind of collision protection mechanism for industrial robot.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action.
Application publication number CN107650146A discloses a kind of buffering proof equipment for industrial robot
Manipulator and two buffers, manipulator include fixing seat, middle pivoted arm, work back and clamping jaw, and rushing device includes pedestal, fixed group
Part, Buffer Unit, supporting part and impact portions are rushed component between pedestal and supporting part, and being rushed component includes at least two
Groups of springs, impact portions are set to the side of the remote high buffer spring of supporting part, and the axis of the exhausted supporting part of impact portions circularizes distribution,
Structure is complicated in use for this buffering crash feature, and the protecting effect simultaneously for mechanical arm is simultaneously bad, for difference
The protective capability of position of collision is insufficient.
Summary of the invention
The purpose of the present invention is to provide a kind of collision protection mechanisms for industrial robot, solve existing industrial machine
The collision protection mechanism narrow scope of application of device people and the problem weaker for the protective capability of different location.
To achieve the above object, the invention provides the following technical scheme:
A kind of collision protection mechanism for industrial robot, including mechanical arm and impingement plate, impingement plate are arranged in mechanical arm two
Side, the mechanical arm are equipped with the first sliding rail, and the first connector is rotatably connected on the first sliding rail, and the first connector passes through first
Shaft and the first sliding rail are rotatablely connected, and the first connector is plugged in inside the second connector, and the first connector two sides are equipped with second
Attachment base, the second attachment base are rotatablely connected by the first attachment base on first connecting rod and sliding block, and the on sliding block and mechanical arm
Two sliding rails are slidably connected, and the second attachment base between adjacent first connector is attached by second connecting rod；The impingement plate
It is equipped with the second connecting hole, the rotation of the second connecting hole has third shaft, multiple gears are fixed in third shaft；The impingement plate
It is equipped with protection mechanism, the protection mechanism is the first protection mechanism or the second protection mechanism.
Based on the above technical solution, the present invention also provides following optional technical solutions:
In a kind of optinal plan: the diameter of first connector less than the diameter of the second connector, fix by the second connector
It is fixedly connected in the first connecting hole of fixed block and with the second shaft in the first connecting hole.
In a kind of optinal plan: the fixed block is fixed on the inner surface of impingement plate, and impingement plate is arc line shaped.
In a kind of optinal plan: being equipped with fixed plate, the inner wall of fixed plate and the second connector in second connector
It is fixedly connected, fixed there are two mobile bar in fixed plate, mobile bar is plugged in the mobile cavity in the first connector, and fixed plate is logical
The first spring is crossed to connect with the first connector.
In a kind of optinal plan: first protection mechanism includes the cavity being arranged in fixed block, is placed in cavity
There is cylinder, the output shaft of cylinder is attached by telescopic rod and limit plate, and limit plate is connect by second spring with impingement plate.
In a kind of optinal plan: second protection mechanism includes the third attachment base being fixed on impingement plate, third
Attachment base is connect by elastic rod with the 4th attachment base on movable stand, and movable stand one end is slidably connected with second support bar, the
Two support rods are fixed between connecting plate, and connecting plate is fixed on impingement plate.
In a kind of optinal plan: the quantity of the movable stand is two, is separately positioned on partition two sides, movable stand is another
End is slidably connected with first support bar, and first support bar runs through two movable stands and partition, passes through the between movable stand and partition
Three springs are attached.
Compared to the prior art, beneficial effects of the present invention are as follows:
1, by the way that the second shaft is arranged and is fixedly connected with the second shaft with the second connector, it can be improved the second link block solid
Determine the stability in block, improves the concatenation ability of the second connector and fixed block, it is very simple and practical, while impingement plate is arc
It is linear, when the collision of the impingement plate of two mechanical arms, by the design of arc line shaped so that contact surface is wider, to pass through impingement plate
Regulating power it is stronger, safety between the two also will increase；
2, when elastic rod stress drives, movable stand carries out sliding or movable stand is stressed directly when being slided, and passes through first support bar
The stability that movable stand is improved with second support bar improves buffer capacity by third spring, when the second protection mechanism without
When method is moved again, it will drive impingement plate and rotated, and then reduce the power being subject to again, improve safety；When protection machine
When structure is collided, first damping, buffering is carried out by protection mechanism, then secondary buffer is carried out by impingement plate.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the collision protection mechanism for industrial robot.
Fig. 2 is the connection signal for the first connector and the second connector in the collision protection mechanism of industrial robot
Figure.
Fig. 3 is the perspective view for impingement plate and fixed block in the collision protection mechanism of industrial robot.
Fig. 4 is for the first connector in the collision protection mechanism of industrial robot and the fixed figure of the first sliding rail.
Fig. 5 is the structural schematic diagram for embodiment 2 in the collision protection mechanism of industrial robot.
Fig. 6 is the structural schematic diagram for embodiment 3 in the collision protection mechanism of industrial robot.
Appended drawing reference annotation: 1- mechanical arm, 2- impingement plate, the first sliding rail of 3-, the first connector of 4-, the second connector of 5-,
The first protection mechanism of 6-, the second protection mechanism of 7-, 21- fixed block, the first connecting hole of 22-, the second connecting hole of 23-, 24- third turn
Axis, 25- gear, the second sliding rail of 31-, 32- sliding block, 33- first rotating shaft, the first attachment base of 34-, the second attachment base of 41-, 42-
One connecting rod, 43- second connecting rod, 44- mobile cavity, the second shaft of 51-, 52- fixed plate, 53- mobile bar, the first spring of 54-, 61-
Cavity, 62- cylinder, 63- telescopic rod, 64- limit plate, 65- second spring, 71- third attachment base, 72- elastic rod, 73- the 4th
Attachment base, 74- movable stand, 75- first support bar, 76- partition, 77- third spring, 78- second support bar, 79- connecting plate.
Specific embodiment
Following embodiment can be described in detail the present invention in conjunction with attached drawing, in attached drawing or explanation, similar or identical part
Using identical label, and in practical applications, shape, thickness or the height of each component can be expanded or shunk.Institute of the present invention
Each embodiment enumerated is only to illustrate the present invention, is not used to limit the scope of the present invention.It is made for the present invention any aobvious
And modification easy to know or change are without departure from spirit and scope of the invention.
Embodiment 1
Please refer to Fig. 1~4, in the embodiment of the present invention, a kind of collision protection mechanism for industrial robot, including mechanical arm 1
With impingement plate 2, mechanical arm 1 is one of the component of industrial robot, but when the distance between industrial robot is excessively close, there are machinery
The problem of mutually colliding between arm 1 causes very big damage to robot, thus there is also very big risk, it is described to touch
The setting of plate 2 is hit in 1 two sides of mechanical arm, for reducing the damage caused by industrial robot when mechanical arm 1 collides, to bring peace
Quan Xing.
Further, the mechanical arm 1 is equipped with the first sliding rail 3, and the first sliding rail 3 is fixed on mechanical arm 1, the first sliding rail
The first connector 4 is rotatably connected on 3, the first connector 4 is rotatablely connected by first rotating shaft 33 and the first sliding rail 3, so that the
A connection piece 4 can be rotated on the first sliding rail 3 around first rotating shaft 33；First connector 4 is plugged in the second connector 5
Inside, the diameter of the first connector 4 enable the first connector 4 in the second connector 5 less than the diameter of the second connector 5
Between moved, the second connector 5 is fixed in the first connecting hole 22 of fixed block 21, at the same in the first connecting hole 22
Second shaft 51 is fixedly connected, and is fixedly connected with by the second shaft 51 of setting and with the second connector 5 second shaft 51, can
Stability of second connector 5 in fixed block 21 is improved, the concatenation ability of the second connector 5 and fixed block 21 is improved, it is non-
Often simple and practical, fixed block 21 is fixed on the inner surface of impingement plate 2, and fixed block 21 and the stability of impingement plate 2 are very good, collision
Plate 2 is arc line shaped, when the impingement plate 2 of two mechanical arms 1 collides, by the design of arc line shaped so that contact surface is wider, thus
Regulating power by impingement plate 2 is stronger, and safety between the two also will increase.
Further, it is equipped with fixed plate 52 in second connector 5, the inner wall of fixed plate 52 and the second connector 5 is consolidated
Fixed connection has stability well, is fixed in fixed plate 52 there are two mobile bar 53, mobile bar 53 is plugged in the first connector
In mobile cavity 44 in 4, when 2 stress of impingement plate, it will drive fixed block 21 and move inward, so that fixed plate 52 will drive the second company
Fitting 5 moves inward, and the mobile bar 53 in the second connector 5 can be inserted into the mobile cavity 44 of the first connector 4 at this time, and then adjusts
The position of impingement plate 2 is saved, fixed plate 52 is also connect by the first spring 54 with the first connector 4, for improving the first connector 4
Stability and buffer capacity, it is very simple and practical, by be arranged the first spring 54, when the second connector 5 moves inward from
To the effect of compression, the resiliency of the two is improved.
Further, 4 two sides of the first connector are equipped with the second attachment base 41, and the second attachment base 41 passes through first connecting rod
42 are rotatablely connected with the first attachment base 34 on sliding block 32, and sliding block 32 is slidably connected with the second sliding rail 31 on mechanical arm 1, when the
It when a connection piece 4 rotates, is slided on the second sliding rail 31 by first connecting rod 42 with movable slider 32, and then improves impingement plate
2 regulating power, the second attachment base 41 on adjacent first connector 4 are attached by second connecting rod 43, improve first
Stability between connector 4, it is very useful；When two 2 sides of impingement plate collide, will drive the first connector 4 around
First rotating shaft 33 rotated, due to the first connector 4 rotate, can by first connecting rod 42 with movable slider 32 in the second sliding rail
It is moved on 31, reduces the active force between two impingement plates 2, safety is higher.
Further, the impingement plate 2 is equipped with the second connecting hole 23, and the rotation of the second connecting hole 23 has third shaft 24,
It is fixed with multiple gears 25 in third shaft 24, when colliding, can be reduced by the engagement between gear 25 because of collision
The active force of generation, is extremely secure.
Embodiment 2
Referring to Fig. 5, the embodiment of the present invention difference from example 1 is that, the impingement plate 2 be equipped with protection mechanism,
The protection mechanism is the first protection mechanism 6, and the first protection mechanism 6 includes the cavity 61 being arranged in fixed block 21, cavity 61
It is inside placed with cylinder 62, the output shaft of cylinder 62 is attached with limit plate 64 by telescopic rod 63, can be adjusted by cylinder 62
The position of limit plate 64 is saved, limit plate 64 is connect by second spring 65 with impingement plate 2, for improving the stability of limit plate 64
And regulating power, by the way that the first protection mechanism 6 is arranged, when two mechanical arms 1 will free collision, limit plate 64 can touch first
It hits, staff is aware of mechanical arm 1 and collide at this time, can be handled immediately, and limit plate 64 will drive collision at this time
Plate 2 is rotated, and then reduces the pressure generated when mechanical arm 1 rotates, is played the role of protection to mechanical arm 1, is passed through cylinder
62 adjust the position of limit plate 64, make it possible to apply in different positions.
Embodiment 3
Referring to Fig. 6, the embodiment of the present invention difference from example 1 is that, the protection mechanism can for second protection
Mechanism 7, the second protection mechanism 7 include the third attachment base 71 being fixed on impingement plate 2, and third attachment base 71 passes through elastic rod 72
It is connect with the 4th attachment base 73 on movable stand 74,74 one end of movable stand is slidably connected with second support bar 78, when elastic rod 72
When stress, it will drive movable stand 74 and moved in second support bar 78, and then be adjusted, second support bar 78 is fixed on
Between connecting plate 79, connecting plate 79 is fixed on impingement plate 2, and the quantity of movable stand 74 is two, is separately positioned on 76 liang of partition
Side, 74 other end of movable stand are slidably connected with first support bar 75, and first support bar 75 runs through two movable stands 74 and partition 76,
Stability and sliding ability for both improving, are attached between movable stand 74 and partition 76 by third spring 77, when
It can be moved inward after 74 stress of movable stand, can be improved the buffer capacity of movable stand 74 by third spring 77, improved second and protect
The stability of mechanism 7 is protected, practicability is very good.
In use, when 72 stress of elastic rod drives, movable stand 74 carries out sliding or movable stand 74 is stressed directly progress
When sliding, the stability of movable stand 74 is improved by first support bar 75 and second support bar 78, is mentioned by third spring 77
High buffer capacity will drive impingement plate 2 and rotated, and then subtract again when the second protection mechanism 7 can not be moved again
The power being subject to less improves safety.
The working principle of the invention is: when the impingement plate 2 of two mechanical arms 1 is directly collided, impingement plate 2 passes through second
Connector 5 is buffered inside the first connector 4 in turn, and the first connector 4 is then driven to be revolved around first rotating shaft 33
Turn, and then slided on the second sliding rail 31 by first connecting rod 42 with movable slider 32, so that impingement plate 2 is carried out around machinery
Arm 1 is rotated, and then improves the safety of the two；When protection mechanism is collided, subtracted for the first time by protection mechanism
Shake buffering, then secondary buffer is carried out by impingement plate 2.
The above, the only specific embodiment of the disclosure, but the protection scope of the disclosure is not limited thereto, it is any
Those familiar with the art can easily think of the change or the replacement in the technical scope that the disclosure discloses, and should all contain
It covers within the protection scope of the disclosure.Therefore, the protection scope of the disclosure should be subject to the protection scope in claims.
Claims (7)
1. a kind of collision protection mechanism for industrial robot, including mechanical arm (1) and impingement plate (2), which is characterized in that institute
Impingement plate (2) setting is stated in mechanical arm (1) two sides, the mechanical arm (1) is equipped with the first sliding rail (3), turns on the first sliding rail (3)
Dynamic to be connected with the first connector (4), the first connector (4) is rotatablely connected by first rotating shaft (33) and the first sliding rail (3), and first
Connector (4) is plugged in the second connector (5) inside, and the first connector (4) two sides are equipped with the second attachment base (41), the second connection
Seat (41) is rotatablely connected by the first attachment base (34) on first connecting rod (42) and sliding block (32), sliding block (32) and mechanical arm
(1) the second sliding rail (31) on is slidably connected, and the second attachment base (41) on adjacent first connector (4) passes through second connecting rod
(43) it connects；The impingement plate (2) is equipped with the second connecting hole (23), and the second connecting hole (23) rotation has third shaft (24),
Multiple gears (25) are fixed in third shaft (24)；The impingement plate (2) is equipped with protection mechanism, and the protection mechanism is the
One protection mechanism (6) or the second protection mechanism (7).
2. the collision protection mechanism according to claim 1 for industrial robot, which is characterized in that first connection
For the diameter of part (4) less than the diameter of the second connector (5), the second connector (5) is fixed on the first connecting hole of fixed block (21)
(22) it is fixedly connected in and with the second shaft (51) in the first connecting hole (22).
3. the collision protection mechanism according to claim 2 for industrial robot, which is characterized in that the fixed block
(21) it is fixed on the inner surface of impingement plate (2), impingement plate (2) is arc line shaped.
4. the collision protection mechanism according to claim 1 or 2 for industrial robot, which is characterized in that described second
Fixed plate (52) are equipped in connector (5), fixed plate (52) is fixedly connected with the inner wall of the second connector (5), fixed plate (52)
There are two mobile bar (53), mobile bars (53) to be plugged in the mobile cavity (44) in the first connector (4) Nei for upper fixation, fixed plate
(52) it is connect by the first spring (54) with the first connector (4).
5. the collision protection mechanism according to claim 1 for industrial robot, which is characterized in that first protection
Mechanism (6) includes that cavity (61) in fixed block (21) is arranged, and is placed with cylinder (62) in cavity (61), cylinder (62) it is defeated
Shaft is attached by telescopic rod (63) with limit plate (64), and limit plate (64) passes through second spring (65) and impingement plate (2)
Connection.
6. the collision protection mechanism according to claim 1 for industrial robot, which is characterized in that second protection
Mechanism (7) includes the third attachment base (71) being fixed on impingement plate (2), and third attachment base (71) is by elastic rod (72) and moves
The 4th attachment base (73) connection in moving frame (74), movable stand (74) one end are slidably connected with second support bar (78), and second
Strut (78) is fixed between connecting plate (79), and connecting plate (79) is fixed on impingement plate (2).
7. the collision protection mechanism according to claim 6 for industrial robot, which is characterized in that the movable stand
(74) quantity is two, is separately positioned on partition (76) two sides, and movable stand (74) other end and first support bar (75) are slided
Connection, first support bar (75) run through two movable stands (74) and partition (76), pass through between movable stand (74) and partition (76)
Third spring (77) is attached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910803660.6A CN110497446B (en) | 2019-08-28 | 2019-08-28 | A collision protection mechanism for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910803660.6A CN110497446B (en) | 2019-08-28 | 2019-08-28 | A collision protection mechanism for industrial robot |
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| Publication Number | Publication Date |
|---|---|
| CN110497446A true CN110497446A (en) | 2019-11-26 |
| CN110497446B CN110497446B (en) | 2021-03-30 |
Family
ID=68589935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910803660.6A Active CN110497446B (en) | 2019-08-28 | 2019-08-28 | A collision protection mechanism for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110497446B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113510175A (en) * | 2021-08-04 | 2021-10-19 | 河南林镁合金科技有限公司 | Aluminum alloy wheel hub spinning apparatus for producing |
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| CN208484642U (en) * | 2018-05-04 | 2019-02-12 | 山西卡每特工业机械有限公司 | A kind of automobile side shield thick stick |
| CN109501703A (en) * | 2018-12-24 | 2019-03-22 | 刘宏波 | A kind of protection means for automobile |
| CN109571551A (en) * | 2018-11-16 | 2019-04-05 | 江苏长虹智能装备股份有限公司 | A kind of automatic transporting machine people's air defense collision device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6032992A (en) * | 1997-04-01 | 2000-03-07 | Hongjian Zhang | Automobile automatic safety protector |
| KR100376458B1 (en) * | 2000-11-30 | 2003-03-17 | 현대자동차주식회사 | Impact Absorbing Apparatus of Hood for Car |
| WO2015145376A1 (en) * | 2014-03-25 | 2015-10-01 | Saipem S.P.A. | Laying device and method for laying a pipeline on the bed of a body of water |
| CN207633255U (en) * | 2017-11-27 | 2018-07-20 | 戴开良 | A kind of environment-friendly type municipal road isolated column |
| CN208051964U (en) * | 2018-04-20 | 2018-11-06 | 江苏建筑职业技术学院 | A kind of novel robot anticollision pedestal |
| CN208484642U (en) * | 2018-05-04 | 2019-02-12 | 山西卡每特工业机械有限公司 | A kind of automobile side shield thick stick |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113510175A (en) * | 2021-08-04 | 2021-10-19 | 河南林镁合金科技有限公司 | Aluminum alloy wheel hub spinning apparatus for producing |
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| CN110497446B (en) | 2021-03-30 |
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Effective date of registration: 20210312 Address after: 201600 No.361, Xinzhan Road, Xinqiao Town, Songjiang District, Shanghai Applicant after: SHANGHAI YINTIAN ELECTROMECHANICAL ENGINEERING Co.,Ltd. Address before: 523000 room 801, building 1, shuianshan City, Fenggang town, Dongguan City, Guangdong Province Applicant before: Yan Yan |
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Effective date of registration: 20230619 Granted publication date: 20210330 |