CN110877349A

CN110877349A - Anticollision arresting gear of manipulator

Info

Publication number: CN110877349A
Application number: CN201911104411.4A
Authority: CN
Inventors: 陆富荣; 陆志龙; 姚富强; 郭国民; 史伟荣; 王明强
Original assignee: TONGXIANG HENGTAI PRECISION MACHINERY CO Ltd
Current assignee: TONGXIANG HENGTAI PRECISION MACHINERY CO Ltd
Priority date: 2019-11-13
Filing date: 2019-11-13
Publication date: 2020-03-13

Abstract

The invention discloses an anti-collision braking device of a manipulator, which comprises a frame, wherein a guide sleeve is arranged right above the rectangular frame body, a guide rod is sleeved in the guide sleeve and fixedly connected with a workbench through the frame, connecting rods are fixedly connected with the top ends of two sides of the workbench, the connecting rods are in threaded connection with bolts through holes formed in the top end of the frame, a movable guide rail is arranged at the bottom end of the workbench, two sets of steering assemblies are sleeved on the outer surface of the movable guide rail, a swing arm is fixedly connected with the bottom end of each steering assembly, and one end, far away from the steering assemblies, of each swing arm is fixedly connected with a clamping jaw, through the cooperation of workstation, connecting rod and fixed plate, be convenient for improve its job stabilization nature.

Description

Anticollision arresting gear of manipulator

Technical Field

The invention relates to mechanical equipment, in particular to an anti-collision braking device of a manipulator, and belongs to the technical field of mechanical application.

Background

The mechanical fingers can imitate some action functions of human hands and arms, and are used for grabbing, carrying objects or operating an automatic operating device of a tool according to a fixed program. The device mainly comprises an actuating mechanism, a driving mechanism and a control system. It can replace the heavy labor of people to realize the mechanization and automation of production, and can be operated under harmful environment to protect the personal safety, thus being widely applied to the departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

Traditional manipulator is because the holistic firm stability of manipulator is not good in long-time use, and the speed and the operating efficiency that snatch the article descend by a wide margin, lead to article easily because whereabouts such as gravity factor, are not convenient for realize snatching article back upset, and striking phenomenon appears easily in the use manipulator, unable furthest protection debugging personnel and operating personnel's safety, consequently, propose an anticollision arresting gear of manipulator to above-mentioned problem.

Disclosure of Invention

The present invention has been made to solve the above problems, and an object of the present invention is to provide a crash brake apparatus for a manipulator.

The anti-collision braking device comprises a rack, a guide sleeve is arranged right above the rectangular frame, a guide rod is sleeved in the guide sleeve and fixedly connected with a workbench through the rack, connecting rods are fixedly connected to the top ends of two sides of the workbench and are in threaded connection with bolts through openings formed in the top end of the rack, a movable guide rail is arranged at the bottom end of the workbench, two steering assemblies are sleeved on the outer surfaces of the movable guide rail, swing arms are fixedly connected to the bottom ends of the steering assemblies, one ends, far away from the steering assemblies, of the swing arms are fixedly connected with clamping jaws, a driving unit is arranged on one side of the clamping jaws, a protective cover is arranged above the driving unit, and the protective cover is detachably connected to the outer surfaces of the swing arms.

Preferably, a fixing seat is arranged between the guide sleeve and the rack, bolts are arranged on two sides of the fixing seat, and a fixing plate is fixedly connected between the connecting rod and the rack.

Preferably, the outer surface of the shield is provided with a plurality of groups of vent holes, the shield is shaped like a semi-elliptical bowl, and the distance between the shield and the driving unit is 25 cm.

Preferably, a micro control unit is fixedly connected in the shield, and one side of the micro control unit is linearly connected with the current acquisition chip.

Preferably, the top end of the rack is provided with a working state display lamp, and the working state display lamp is positioned on one side of the bolt.

Preferably, the outer wall of the rack is fixedly connected with an electrostatic sensor, the output end of the electrostatic sensor is connected with the input end of a current acquisition chip, and the output end of the current acquisition chip is connected with the micro control unit.

The invention has the beneficial effects that:

1. the invention has reasonable structural design, can realize quick grabbing action and improve the operation efficiency by matching the steering assembly, the swing arm, the driving unit and the clamping jaw, can realize the turnover of a certain angle after grabbing articles, prevents the articles from falling due to gravity factors and the like, and is convenient to improve the working stability by matching the workbench, the connecting rod and the fixed plate.

2. The invention is convenient for detecting the close range of the personnel, and controls the manipulator to stop moving when the distance exceeds the micro control unit, thereby realizing the anti-collision treatment of the manipulator and protecting the safety of debugging personnel and operating personnel to the maximum extent.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic side view of the rack of the present invention.

In the figure: 1. the device comprises a driving unit, 2, a steering assembly, 3, a clamping jaw, 4, a workbench, 5, a guide rod, 6, a rack, 7, a movable guide rail, 8, a guide sleeve, 9, a connecting rod, 10, a swing arm, 11, a bolt, 12, a fixed seat, 13, air holes, 14, an electrostatic sensor, 15, a micro control unit, 16, a fixed plate, 17, a working state display lamp, 18, a current acquisition chip, 19 and a shield.

Detailed Description

In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

Referring to fig. 1-2, an anti-collision braking device for a manipulator includes a frame 6, a guide sleeve 8 is disposed directly above the rectangular frame 6, a fixing seat 12 is disposed between the guide sleeve 8 and the frame 6 for fixing the guide sleeve 8, a guide rod 5 is sleeved in the guide sleeve 8, the guide rod 5 is fixedly connected to a workbench 4 through the frame 6, connecting rods 9 are fixedly connected to top ends of two sides of the workbench 4, the connecting rods 9 are in threaded connection with bolts 11 through openings formed in the top end of the frame 6, bolts 11 are disposed on two sides of the fixing seat 12, a fixing plate 16 is fixedly connected between the connecting rods 9 and the frame 6 for improving stability of the device, a movable guide rail 7 is disposed at a bottom end of the workbench 4, two steering assemblies 2 are sleeved on outer surfaces of the movable guide rail 7, a swing arm 10 is fixedly connected to a bottom end of the steering assembly 2, the swing arm 10 is L-shaped, one end of the swing arm, the clamping jaw is characterized in that a driving unit 1 is arranged on one side of the clamping jaw 3, the clamping jaw 3 is convenient to overturn and rotate to adjust a certain direction, a rack 6 is utilized to protect the clamping jaw, a protective cover 19 is arranged above the driving unit 1, the protective cover 19 is positioned on the outer surface of a swing arm 10 and is detachably connected with the outer surface of the swing arm, a plurality of groups of vent holes 13 are formed in the outer surface of the protective cover 19, the protective cover 19 is shaped like a semi-oval bowl, the internal device of the protective cover 19 is convenient to protect and maintain, the protective cover 19 is 1 twenty-five centimeters away from the driving unit, the protective cover 19 is made of a steel material, the driving unit 1 is prevented from damaging the protective cover 19, a micro-control unit 15 is fixedly connected in the protective cover 19, a current acquisition chip 18 is linearly connected on one side of, the 18 outputs of current acquisition chip are connected with little the control unit 15, are convenient for lean on closely detecting to personnel, exceed and then control manipulator stop motion apart from little the control unit 15 to realize manipulator anticollision and handle, maximum protection debugging personnel and operating personnel's safety, 6 tops of frame are equipped with operating condition display lamp 17, and operating condition display lamp 17 is located bolt 11 one side, are convenient for show whether the manipulator is in operating condition from operating condition display lamp 17, further provide operating condition information for operating personnel and debugging personnel, are convenient for operate it.

When the invention is used, the electric elements in the application are externally connected and communicated with the power supply and the control switch, the protective cover is positioned on the outer surface of the swing arm and is detached and connected, the protection and the maintenance of the device in the protective cover are convenient, the output end of the electrostatic sensor is connected with the input end of the current acquisition chip, the output end of the current acquisition chip is connected with the micro control unit, the detection of a person near a short distance is convenient, the micro control unit controls the manipulator to stop moving when the distance exceeds the distance, thereby realizing the anti-collision treatment of the mechanical arm, protecting the safety of debugging personnel and operating personnel to the maximum extent, utilizing the working state display lamp to remind and warn the debugging personnel and providing the working state information for the operating personnel and the debugging personnel, the driving unit drives the steering assembly to further drive the swing arm and the clamping jaw to turn over for a certain angle, so that quick grabbing action can be realized, and articles are prevented from falling due to gravity factors and the like.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a crashproof arresting gear of manipulator, includes frame (6), its characterized in that: a guide sleeve (8) is arranged right above the rectangular frame body rack (6), a guide rod (5) is sleeved in the guide sleeve (8), the guide rod (5) is fixedly connected with the workbench (4) through a frame (6), the top ends of the two sides of the workbench (4) are fixedly connected with connecting rods (9), the connecting rods (9) are in threaded connection with bolts (11) through holes formed in the top end of the frame (6), a movable guide rail (7) is arranged at the bottom end of the workbench (4), two groups of steering components (2) are sleeved on the outer surface of the movable guide rail (7), the bottom end of the steering component (2) is fixedly connected with a swing arm (10), one end of the swing arm (10) far away from the steering component (2) is fixedly connected with the clamping jaw (3), clamping jaw (3) one side is equipped with drive unit (1), drive unit (1) top is equipped with guard shield (19), and guard shield (19) are located swing arm (10) surface and dismantle the connection.

2. The anti-collision braking device for a manipulator according to claim 1, characterized in that: a fixing seat (12) is arranged between the guide sleeve (8) and the rack (6), bolts (11) are arranged on two sides of the fixing seat (12), and a fixing plate (16) is fixedly connected between the connecting rod (9) and the rack (6).

3. The anti-collision braking device for a manipulator according to claim 1, characterized in that: the outer surface of the shield (19) is provided with a plurality of groups of vent holes (13), the shield (19) is in a semi-elliptical bowl shape, and the distance between the shield (19) and the driving unit (1) is 25 cm.

4. The anti-collision braking device for a manipulator according to claim 1, characterized in that: a micro control unit (15) is fixedly connected in the protective cover (19), and one side of the micro control unit (15) is linearly connected with a current acquisition chip (18).

5. The anti-collision braking device for a manipulator according to claim 1, characterized in that: frame (6) top is equipped with operating condition display lamp (17), and operating condition display lamp (17) are located bolt (11) one side.

6. The anti-collision braking device for a manipulator according to claim 1, characterized in that: frame (6) outer wall rigid coupling has electrostatic sensor (14), electrostatic sensor (14) output links to each other with current acquisition chip (18) input, current acquisition chip (18) output is connected with little the control unit (15).