CN207415417U - /V anti-collision structure and with its robot - Google Patents
/V anti-collision structure and with its robot Download PDFInfo
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- CN207415417U CN207415417U CN201721411473.6U CN201721411473U CN207415417U CN 207415417 U CN207415417 U CN 207415417U CN 201721411473 U CN201721411473 U CN 201721411473U CN 207415417 U CN207415417 U CN 207415417U
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- limited block
- mechanical arm
- block
- joint structure
- collision
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Abstract
The utility model provides a kind of /V anti-collision structure and has its robot, and /V anti-collision structure is used to carry out /V with joint structure to the mechanical arm of robot, and /V anti-collision structure includes：Limited block, the activity direction of limited block along mechanical arm are movably disposed on mechanical arm or joint structure；Anticollison block, anticollison block are arranged on joint structure or mechanical arm, and anticollison block is set towards limited block, anticollison block during manipulator motion, to be made to move closer to limited block until being contacted with limited block and promoting limited block movement preset distance or predetermined angular.The /V anti-collision structure solves the problems, such as that the /V scope of limited block of the prior art is smaller.
Description
Technical field
The utility model is related to robot field, in particular to a kind of /V anti-collision structure and with its machine
People.
Background technology
In order to ensure the safe operation of robot, soft /V is usually provided at rotation axis and hard /V carries out dual guarantor
Shield, soft /V limits the motion range of robot by the method for the parametrizations such as electrical and software, and hard /V then passes through
Machined piece realizes the control of device location, and soft /V may not exceed the protection domain of hard /V, otherwise robot will
There is excess of stroke alarm.
At present, in robot frequently with hard limit method be joint install limited block, go out to prevent spin-ended pivoted arm
Showing overtravel and cause mechanical collision, the motion range of general limited block is less than 360 degree, and then makes /V scope smaller, and
It is larger to occupy intra articular space.
Utility model content
It is existing to solve the main purpose of the utility model is that providing a kind of /V anti-collision structure and with its robot
There is the smaller problem of /V scope of the limited block in technology.
To achieve these goals, one side according to the present utility model provides a kind of /V anti-collision structure, is used for
/V is carried out to the mechanical arm and joint structure of robot, /V anti-collision structure includes：Limited block, work of the limited block along mechanical arm
Dynamic direction is movably disposed on mechanical arm or joint structure；Anticollison block, anticollison block are arranged on joint structure or mechanical arm,
Anticollison block is set towards limited block, anticollison block during manipulator motion, to be made to move closer to limited block until and limited block
It contacts and promotes limited block movement preset distance or predetermined angular.
Further, mechanical arm rotates about axis and is installed in rotation on joint structure, and limited block is around mechanical arm
Rotation axis is rotatably arranged on mechanical arm；Anticollison block is mounted on joint structure.
Further, anticollision sliding slot is provided on mechanical arm, limited block is movably mounted at anticollision along anticollision sliding slot and slides
In slot, anticollison block is fixed on joint structure.
Further, mechanical arm rotates about axis and is installed in rotation on joint structure, and anticollision sliding slot is arc groove,
Arc groove is set around the rotation axis of mechanical arm.
Further, magnetic part is provided on mechanical arm, limited block is pull-in under the action of magnetic part in anticollision sliding slot.
Further, magnetic part is arranged in anticollision sliding slot, and at least part surface of magnetic part forms the slot of anticollision sliding slot
Bottom surface.
Further, magnetic part is magnet piece, and limited block is made of magnetically attractive material.
Further, the first butt plate is provided on mechanical arm, the second butt plate, the first docking are provided on joint structure
Disk and the second butt plate rotationally dock；Limited block is arranged on the first butt plate, and anticollison block is arranged on the second butt plate.
Further, limited block and anticollison block are arc block.
Other side according to the present utility model can provide a kind of robot, including joint structure and be arranged on pass
Mechanical arm in section structure, is provided with /V anti-collision structure between joint structure and mechanical arm, /V anti-collision structure is above-mentioned
/V anti-collision structure.
/V anti-collision structure in the utility model includes limited block and anticollison block, due to activity of the limited block along mechanical arm
Direction is movably disposed on mechanical arm or joint structure, and anticollison block is arranged on joint structure or mechanical arm, anticollison block court
It is set to limited block, in this way, during manipulator motion, anticollison block is made to move closer to limited block until contacting and pushing away with limited block
Dynamic limited block movement preset distance or predetermined angular, and then realize and /V is carried out with joint structure to the mechanical arm of robot.And
And due to the movable preset distance of limited block or predetermined angular, in this way, the motion range of anticollison block can be increased, limit is improved
Position scope, so as to solve the problems, such as that the /V scope of limited block of the prior art is smaller.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide a further understanding of the present invention, this practicality
New schematic description and description does not form the improper restriction to the utility model for explaining the utility model.
In the accompanying drawings：
Fig. 1 shows the structure diagram of the embodiment of /V anti-collision structure according to the present utility model.
Wherein, above-mentioned attached drawing is marked including the following drawings：
10th, limited block；20th, anticollison block；30th, mechanical arm；31st, anticollision sliding slot；40th, joint structure；50th, the first butt plate；
60th, the second butt plate；70th, magnetic part.
Specific embodiment
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.It is unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " bag
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
The utility model provides a kind of /V anti-collision structure, for the mechanical arm 30 to robot and joint structure 40 into
Row /V, please refers to Fig.1, and /V anti-collision structure includes：Limited block 10, limited block 10 are movable along the activity direction of mechanical arm 30
Ground is arranged on mechanical arm 30 or joint structure 40；Anticollison block 20, anticollison block 20 are arranged on joint structure 40 or mechanical arm 30,
Anticollison block 20 is set towards limited block 10, straight anticollison block 20 in 30 motion process of mechanical arm, to be made to move closer to limited block 10
It is extremely contacted with limited block 10 and limited block 10 is promoted to move preset distance or predetermined angular.
/V anti-collision structure in the utility model includes limited block 10 and anticollison block 20, since limited block 10 is along mechanical arm
30 activity direction is movably disposed on mechanical arm 30 or joint structure 40, and anticollison block 20 is arranged on joint structure 40 or machine
On tool arm 30, anticollison block 20 is set towards limited block 10, in this way, in 30 motion process of mechanical arm, moves closer to anticollison block 20
Limited block 10 with limited block 10 until contacting and limited block 10 being promoted to move preset distance or predetermined angular, and then realize to machine
The mechanical arm 30 of people carries out /V with joint structure 40.Also, due to 10 movable preset distance of limited block or predetermined angular, this
Sample can increase the motion range of anticollison block 20, improve /V scope, so as to solve the /V of limited block of the prior art
The smaller problem of scope.
The set-up mode of limited block 10 and anticollison block 20 in the present embodiment is, as shown in Figure 1, mechanical arm 30 rotates about
Axis is installed in rotation on joint structure 40, and limited block 10 is rotatably arranged in machinery around the rotation axis of mechanical arm 30
On arm 30；Anticollison block 20 is mounted on joint structure 40.
In order to realize the movably setting of limited block 10, as shown in Figure 1, anticollision sliding slot 31 is provided on mechanical arm 30,
Limited block 10 is movably mounted at along anticollision sliding slot 31 in anticollision sliding slot 31, and anticollison block 20 is fixed on joint structure 40.It is logical
Crossing makes limited block 10 be movably mounted in anticollision sliding slot 31, can be driven when anticollison block 20 is contacted with joint structure 40
Limited block 10 moves, and then increases the motion range of anticollison block 20.
In the present embodiment, mechanical arm 30 rotates about axis and is installed in rotation on joint structure 40, anticollision sliding slot
31 be arc groove, and arc groove is set around the rotation axis of mechanical arm 30.
For the ease of the installation of limited block 10, magnetic part 70 is provided on mechanical arm 30, limited block 10 is in magnetic part 70
It is pull-in under effect in anticollision sliding slot 31.In this way, can limited block 10 be more easily movably mounted at mechanical arm 30
On.
The specific set-up mode of magnetic part 70 is that magnetic part 70 is arranged in anticollision sliding slot 31, at least portion of magnetic part 70
Surface is divided to form the groove bottom of anticollision sliding slot 31.
In the present embodiment, magnetic part 70 is magnet piece, and limited block is made of magnetically attractive material.It in this way, can be more convenient
Realize the actuation between magnetic part 70 and limited block in ground.
For the ease of docking between mechanical arm 30 and joint structure 40, as shown in Figure 1, being provided with first on mechanical arm 30
Butt plate 50 is provided with the second butt plate 60 on joint structure 40, and the first butt plate 50 and the second butt plate 60 are rotationally right
It connects；Limited block 10 is arranged on the first butt plate 50, and anticollison block 20 is arranged on the second butt plate 60.
Preferably, limited block 10 and anticollison block 20 are arc block.
The utility model additionally provides a kind of robot, including joint structure 40 and the machinery being arranged on joint structure 40
Arm 30, is provided with /V anti-collision structure between joint structure 40 and mechanical arm 30, /V anti-collision structure is above-mentioned /V anticollision
Structure.
The utility model proposes a kind of hard limit methods of robot, can prevent robot from occurring during the motion
Mechanical collision,
The inner space of robot can also farthest be saved.
/V anti-collision structure in the utility model has the advantages that compact-sized, easy for installation, it is possible to reduce robot
Abrasion and collision, noise is small to be replaced conveniently.
The utility model point of the utility model is：Mounting permanent magnet in anticollision slot, limited block for magnetically attractive material (steel or
Iron).Limited block coordinates under the suction of magnet with mechanical arm zero clearance.
Limit method provided by the utility model is reached by installing a slip limited block at joint of mechanical arm
/V scope is more than 360 degree of purposes, and structure in robot body rotating mechanical arm anticollision slot as shown in Figure 1, by installing
Permanent magnet, limited block are magnetically attractive material (steel or iron).Limited block coordinates under the suction of magnet with mechanical arm zero clearance./V
Block is slided in the anticollision slot for filling lubricating grease more than 30 degree.The anticollision position of robot solid mechanical arm and limited block contact angle
Less than 30 degree.When mechanical arm goes to extreme position, hard limited block rib can then avoid the excess of stroke of mechanical arm, so as to reach /V
Purpose.
It can be seen from the above description that the above embodiments of the present invention achieve the following technical effects：
/V anti-collision structure in the utility model includes limited block 10 and anticollison block 20, since limited block 10 is along mechanical arm
30 activity direction is movably disposed on mechanical arm 30 or joint structure 40, and anticollison block 20 is arranged on joint structure 40 or machine
On tool arm 30, anticollison block 20 is set towards limited block 10, in this way, in 30 motion process of mechanical arm, moves closer to anticollison block 20
Limited block 10 with limited block 10 until contacting and limited block 10 being promoted to move preset distance or predetermined angular, and then realize to machine
The mechanical arm 30 of people carries out /V with joint structure 40.Also, due to 10 movable preset distance of limited block or predetermined angular, this
Sample can increase the motion range of anticollison block 20, improve /V scope, so as to solve the /V of limited block of the prior art
The smaller problem of scope.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be the object for distinguishing similar, without being used to describe specific order or precedence.It should be appreciated that it so uses
Data can exchange in the appropriate case, so that presently filed embodiment described herein for example can be with except herein
Order beyond those of diagram or description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment not
Be necessarily limited to those steps clearly listed or unit, but may include not list clearly or for these processes, side
The intrinsic other steps of method, product or equipment or unit.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be appreciated that spatially relative term is intended to comprising the orientation except device described in figure
Outside different azimuth in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modifications, equivalent replacements and improvements are made should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of /V anti-collision structure carries out /V, feature for the mechanical arm (30) to robot and joint structure (40)
It is, the /V anti-collision structure includes：
Limited block (10), the limited block (10) are movably disposed in the machinery along the activity direction of the mechanical arm (30)
On arm (30) or the joint structure (40)；
Anticollison block (20), the anticollison block (20) are arranged on the joint structure (40) or the mechanical arm (30), described anti-
Collision block (20) is set towards the limited block (10), in the mechanical arm (30) motion process, to make the anticollison block (20)
The limited block (10) is moved closer to until being contacted with the limited block (10) and the limited block (10) being promoted to move pre- spacing
From or predetermined angular.
2. /V anti-collision structure according to claim 1, which is characterized in that the mechanical arm (30) rotates about axis can
It is rotatably mounted on the joint structure (40), the limited block (10) is rotatable around the rotation axis of the mechanical arm (30)
Ground is arranged on the mechanical arm (30)；The anticollison block (20) is mounted on the joint structure (40).
3. /V anti-collision structure according to claim 1, which is characterized in that anticollision cunning is provided on the mechanical arm (30)
Slot (31), the limited block (10) is movably mounted at along the anticollision sliding slot (31) in the anticollision sliding slot (31), described
Anticollison block (20) is fixed on the joint structure (40).
4. /V anti-collision structure according to claim 3, which is characterized in that the mechanical arm (30) rotates about axis can
It is rotatably mounted on the joint structure (40), the anticollision sliding slot (31) is arc groove, and the arc groove is around the machinery
The rotation axis of arm (30) is set.
5. /V anti-collision structure according to claim 3, which is characterized in that be provided with magnetic part on the mechanical arm (30)
(70), the limited block (10) is pull-in under the action of the magnetic part (70) in the anticollision sliding slot (31).
6. /V anti-collision structure according to claim 5, which is characterized in that the magnetic part (70) is arranged on the anticollision
In sliding slot (31), at least part surface of the magnetic part (70) forms the groove bottom of the anticollision sliding slot (31).
7. /V anti-collision structure according to claim 5, which is characterized in that the magnetic part (70) is magnet piece, described
Limited block is made of magnetically attractive material.
8. /V anti-collision structure according to claim 1, which is characterized in that be provided with first pair on the mechanical arm (30)
Disk (50) is connect, the second butt plate (60), first butt plate (50) and described second are provided on the joint structure (40)
Butt plate (60) rotationally docks；The limited block (10) is arranged on first butt plate (50), the anticollison block
(20) it is arranged on second butt plate (60).
9. /V anti-collision structure according to claim 1, which is characterized in that the limited block (10) and the anticollison block
(20) it is arc block.
10. a kind of robot, described including joint structure (40) and the mechanical arm (30) being arranged on the joint structure (40)
/V anti-collision structure is provided between joint structure (40) and the mechanical arm (30), which is characterized in that the /V anticollision knot
/V anti-collision structure of the structure any one of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721411473.6U CN207415417U (en) | 2017-10-27 | 2017-10-27 | /V anti-collision structure and with its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721411473.6U CN207415417U (en) | 2017-10-27 | 2017-10-27 | /V anti-collision structure and with its robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207415417U true CN207415417U (en) | 2018-05-29 |
Family
ID=62310011
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721411473.6U Active CN207415417U (en) | 2017-10-27 | 2017-10-27 | /V anti-collision structure and with its robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207415417U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107738278A (en) * | 2017-10-27 | 2018-02-27 | 珠海格力智能装备有限公司 | Spacing anti-collision structure and there is its robot |
-
2017
- 2017-10-27 CN CN201721411473.6U patent/CN207415417U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107738278A (en) * | 2017-10-27 | 2018-02-27 | 珠海格力智能装备有限公司 | Spacing anti-collision structure and there is its robot |
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