CN210678782U - Intelligent anti-collision device for manipulator - Google Patents
Intelligent anti-collision device for manipulator Download PDFInfo
- Publication number
- CN210678782U CN210678782U CN201921186490.3U CN201921186490U CN210678782U CN 210678782 U CN210678782 U CN 210678782U CN 201921186490 U CN201921186490 U CN 201921186490U CN 210678782 U CN210678782 U CN 210678782U
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- Prior art keywords
- fixedly connected
- plate
- buffer
- sliding
- manipulator
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- 230000003139 buffering effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 7
- 238000001125 extrusion Methods 0.000 description 6
- 210000002421 cell wall Anatomy 0.000 description 3
- 244000309464 bull Species 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The utility model discloses an intelligent collision avoidance device for manipulator, including the buffer board, the lateral wall fixedly connected with connecting rod on buffer board right side, the right-hand member fixedly connected with connecting plate of connecting rod, the lateral wall fixedly connected with on connecting plate right side snatchs the unit, the equal fixedly connected with sleeve of lateral wall of four sides of connecting plate, telescopic inner wall sliding connection has a buffer cylinder, telescopic one end fixedly connected with anticollision board is kept away from to the buffer cylinder, anticollision board is close to the lateral wall fixedly connected with dead lever of sleeve one side, the dead lever is located the buffer cylinder, sliding connection has the sliding plate in the buffer cylinder, the through-hole has been seted up to the lateral wall of sliding plate, the pole wall of dead lever is located through the through-hole movable. The utility model discloses can carry out collision avoidance to the side of manipulator, improve the anticollision effect of manipulator, can make the unit of snatching after the collision resume initial position, guarantee the normal use of manipulator.
Description
Technical Field
The utility model relates to a manipulator manufacturing technical field especially relates to an intelligent anti-collision device for manipulator.
Background
The manipulator is the important component of intelligent production, and through the program control manipulator automatic work that the programmer compiled in advance, do not need the manual work to carry out real-time operation, but the manipulator probably because the procedure error in the course of the work can lead to the manipulator motion stroke mistake, leads to the manipulator to produce the collision with other article, leads to the manipulator impaired, so need set up buffer stop on the manipulator, comes to provide effectual protection to the manipulator.
Through retrieval, chinese patent with grant number CN207027557U discloses a planer-type manipulator collision avoidance device, including the vertical sliding mechanism who locates manipulator longitudinal axis roof beam, the crashproof detecting element who corresponds with vertical sliding mechanism and with the controller that crashproof detecting element is connected, vertical sliding mechanism and work piece snatch the unit connection, the controller is connected with manipulator switch. The gantry type manipulator anti-collision protection device in the patent has the following defects: the device only carries out collision avoidance to the manipulator openly, does not carry out collision avoidance to the side of manipulator, and the collision avoidance is not comprehensive, and the unable automatic re-setting of crashproof slide in the above-mentioned device after the collision leads to the work piece to snatch the unable unit and resets, influences the normal use of manipulator.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving and not carrying out collision avoidance to the manipulator side among the prior art, the collision avoidance is incomplete and collision back work piece snatchs the problem that the unit can't reset and influence normal use, and the intelligent buffer stop for manipulator who provides.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an anti-collision device for an intelligent manipulator comprises a buffer plate, wherein a connecting rod is fixedly connected to the side wall of the right side of the buffer plate, a connecting plate is fixedly connected to the right end of the connecting rod, a grabbing unit is fixedly connected to the side wall of the right side of the connecting plate, sleeves are fixedly connected to the side walls of the four sides of the connecting plate, a buffer cylinder is slidably connected to the inner wall of each sleeve, an anti-collision plate is fixedly connected to one end, away from each sleeve, of each buffer cylinder, a fixed rod is fixedly connected to the side wall, close to one side of each sleeve, of each anti-collision plate, the fixed rod is located in each buffer cylinder, a sliding plate is slidably connected to each buffer cylinder, through holes are formed in the side wall of each sliding plate, each sliding plate is movably sleeved on the rod wall of each fixed rod through each through hole, the same, the cylinder bottom of the sleeve is fixedly connected with a rubber pad.
Preferably, two sliding chutes have been seted up to the left lateral wall symmetry of buffer board, sliding connection has the guide bar in the sliding chute, two limit slide of the cell wall symmetry fixedly connected with of sliding chute, the pole wall of guide bar seted up with limit slide assorted limit slide, the sliding chute is stretched out to the left end of guide bar, two the same fixed plate of left end fixedly connected with of guide bar, the pole wall movable sleeve of guide bar is equipped with reset spring, reset spring's both ends respectively with fixed plate and buffer board fixed connection.
Preferably, the side wall of the anticollision plate, which is far away from one side of the buffer cylinder, is provided with a mounting groove, a same rotating rod is fixedly connected between the groove walls of the opposite sides of the mounting groove, and a rotating cylinder is movably sleeved on the rod wall of the rotating rod.
Preferably, the outer wall of the buffer cylinder is symmetrically and fixedly connected with two first sliding blocks, and the inner wall of the sleeve is provided with a first sliding groove matched with the first sliding blocks.
Preferably, the side wall of one side of the sliding plate opposite to the other side is fixedly connected with a second sliding block, and the inner wall of the buffer cylinder is provided with a second sliding groove matched with the second sliding block.
Preferably, a buffer pad for buffering the guide rod is fixedly connected to the bottom of the sliding groove.
Compared with the prior art, the utility model provides an intelligent buffer stop for manipulator possesses following beneficial effect:
1. this intelligent buffer stop for manipulator, connecting plate through setting up, the sleeve, a buffer cylinder, the anticollision board, the dead lever, the sliding plate, buffer spring, rubber air cushion and rubber pad, when the side of manipulator receives the collision, at first the anticollision board receives the extrusion, the anticollision board drives a buffer cylinder and removes, a buffer cylinder drives rubber air cushion and takes place elastic deformation with the rubber pad contact collision and cushions, rubber air cushion extrusion sliding plate, sliding plate extrusion buffer spring cushions, this device can carry out collision avoidance to the side of manipulator, the anticollision effect of manipulator has been improved.
2. This buffer stop for intelligent manipulator, through the sliding tray that sets up, the guide bar, limit slide, spacing spout, fixed plate and reset spring, when the manipulator receives frontal collision, buffer board extrusion reset spring cushions, protect the manipulator, after the collision, under reset spring's effect, make the buffer board resume initial position, the buffer board drives and snatchs the unit and resume initial position, this device can make the unit of snatching after the collision resume initial position, guarantee the normal use of manipulator.
The part that does not relate to among the device all is the same with prior art or can adopt prior art to realize, the utility model discloses can carry out collision avoidance to the side of manipulator, improve the anticollision effect of manipulator, can make the unit of snatching after the collision resume initial position, guarantee the normal use of manipulator.
Drawings
Fig. 1 is a schematic structural view of an anti-collision device for an intelligent manipulator according to the present invention;
fig. 2 is a schematic structural view of a portion a in fig. 1.
In the figure: 1 buffer plate, 2 connecting rods, 3 connecting plates, 4 sleeves, 5 buffer cylinders, 6 anti-collision plates, 7 fixed rods, 8 sliding plates, 9 buffer springs, 10 rubber air cushions, 11 rubber cushions, 12 sliding grooves, 13 guide rods, 14 limiting sliding blocks, 15 limiting sliding grooves, 16 fixed plates, 17 return springs, 18 mounting grooves, 19 rotating rods and 20 rotating cylinders.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Referring to fig. 1-2, an anti-collision device for an intelligent manipulator comprises a buffer plate 1, a connecting rod 2 is fixedly connected to the side wall on the right side of the buffer plate 1, a connecting plate 3 is fixedly connected to the right end of the connecting rod 2, a grabbing unit is fixedly connected to the side wall on the right side of the connecting plate 3, sleeves 4 are fixedly connected to the side walls on four sides of the connecting plate 3, a buffer cylinder 5 is slidably connected to the inner wall of the sleeve 4, an anti-collision plate 6 is fixedly connected to one end of the buffer cylinder 5, which is far away from the sleeve 4, a fixing rod 7 is fixedly connected to the side wall of the anti-collision plate 6, the fixing rod 7 is positioned in the buffer cylinder 5, a sliding plate 8 is slidably connected in the buffer cylinder 5, a through hole is formed in the side wall of the sliding plate 8, the sliding plate 8 is movably sleeved on the, the side wall of the sliding plate 8 close to one side of the connecting plate 3 is fixedly connected with a rubber cushion 10, and the bottom of the sleeve 4 is fixedly connected with a rubber cushion 11.
Two sliding chutes 12 have been seted up to the left lateral wall symmetry of buffer board 1, sliding connection has guide bar 13 in sliding chute 12, two limit slide 14 of the cell wall symmetry fixedly connected with of sliding chute 12, guide bar 13's pole wall seted up with limit slide 14 assorted limit slide 15, sliding chute 12 is stretched out to guide bar 13's left end, the same fixed plate 16 of left end fixedly connected with of two guide bar 13, the pole wall movable sleeve of guide bar 13 is equipped with reset spring 17, reset spring 17's both ends respectively with fixed plate 16 and buffer board 1 fixed connection.
The lateral wall of anticollision board 6 far away from buffer 5 one side has seted up mounting groove 18, and fixedly connected with is the same bull stick 19 between the cell wall of the relative one side of mounting groove 18, and the pole wall activity cover of bull stick 19 is equipped with rotary drum 20, and when anticollision board 6 and collision thing take place relative slip, the rotary drum rotates and converts sliding friction into rolling friction, reduces frictional resistance, reduces the damage of anticollision board 6 and collision thing.
Two first sliders of outer wall symmetry fixedly connected with of buffer cylinder 5, the inner wall of sleeve 4 set up with first slider assorted first spout, mutually support through first slider and second spout, avoid sleeve 4 to break away from buffer cylinder 5.
The equal fixedly connected with second slider of lateral wall on the back of the body one side of sliding plate 8, the inner wall of buffer cylinder 5 set up with second slider assorted second spout, mutually support through second slider and second spout, make sliding plate 8 smoothly slide in buffer cylinder 5.
The buffer pad that is used for buffering guide bar 13 is fixedly connected with to the tank bottom of sliding tray 12, avoids guide bar 13 direct and sliding tray 12's tank bottom direct collision, protects guide bar 13 and buffer board 1.
The utility model discloses in, when the side of manipulator receives the collision, at first crashproof board 6 receives the extrusion, crashproof board 6 drives buffer cylinder 5 and removes, buffer cylinder 5 drives rubber air cushion 10 and 11 contact collisions of rubber pad take place elastic deformation and cushions, rubber air cushion 10 extrudes sliding plate 8, sliding plate 8 extrudes buffer spring 9 and cushions, this device can carry out collision avoidance to the side of manipulator, the anticollision effect of manipulator has been improved, when the manipulator receives the frontal collision, 1 extrusion reset spring 17 of buffer board cushions, protect the manipulator, after the collision, under reset spring 17's effect, make buffer board 1 resume initial position, buffer board 1 drives and snatchs the unit and resume initial position, this device can make snatch the unit after the collision and resume initial position, guarantee the normal use of manipulator.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (6)
1. The anti-collision device for the intelligent manipulator comprises a buffer plate (1) and is characterized in that a connecting rod (2) is fixedly connected to the side wall of the right side of the buffer plate (1), a connecting plate (3) is fixedly connected to the right end of the connecting rod (2), a grabbing unit is fixedly connected to the side wall of the right side of the connecting plate (3), sleeves (4) are fixedly connected to the side walls of four sides of the connecting plate (3), a buffer cylinder (5) is slidably connected to the inner wall of each sleeve (4), an anti-collision plate (6) is fixedly connected to one end, far away from the sleeves (4), of each buffer cylinder (5), a fixing rod (7) is fixedly connected to the side wall, close to one side of each sleeve (4), of each anti-collision plate (6), the fixing rod (7) is located in each buffer cylinder (5), a sliding plate (8) is slidably connected to each, the anti-collision device is characterized in that the sliding plate (8) is movably sleeved on the rod wall of the fixed rod (7) through a through hole, the same buffer spring (9) is fixedly connected between the sliding plate (8) and the anti-collision plate (6), the buffer spring (9) is movably sleeved outside the fixed rod (7), the side wall of the sliding plate (8) close to one side of the connecting plate (3) is fixedly connected with a rubber air cushion (10), and the cylinder bottom of the sleeve (4) is fixedly connected with a rubber cushion (11).
2. The intelligent anti-collision device for the manipulator as claimed in claim 1, wherein two sliding grooves (12) are symmetrically formed in the side wall of the left side of the buffer board (1), a guide rod (13) is slidably connected in the sliding grooves (12), two limiting sliders (14) are symmetrically and fixedly connected to the groove wall of the sliding grooves (12), a limiting sliding groove (15) matched with the limiting slider (14) is formed in the rod wall of the guide rod (13), the left end of the guide rod (13) extends out of the sliding grooves (12), the left ends of the two guide rods (13) are fixedly connected with the same fixed plate (16), a return spring (17) is movably sleeved on the rod wall of the guide rod (13), and two ends of the return spring (17) are respectively fixedly connected with the fixed plate (16) and the buffer board (1).
3. The intelligent manipulator collision avoidance device according to claim 1, wherein a mounting groove (18) is formed in a side wall of the collision avoidance plate (6) far away from the buffer cylinder (5), a same rotating rod (19) is fixedly connected between groove walls of the opposite sides of the mounting groove (18), and a rotating cylinder (20) is movably sleeved on a rod wall of the rotating rod (19).
4. The intelligent anti-collision device for the manipulator as claimed in claim 1, wherein the outer wall of the buffer cylinder (5) is symmetrically and fixedly connected with two first sliding blocks, and the inner wall of the sleeve (4) is provided with a first sliding groove matched with the first sliding blocks.
5. The anti-collision device for the smart manipulator as claimed in claim 1, wherein the side wall of the opposite side of the sliding plate (8) is fixedly connected with a second sliding block, and the inner wall of the buffer cylinder (5) is provided with a second sliding groove matched with the second sliding block.
6. The anti-collision device for the smart manipulator as claimed in claim 2, wherein a buffer pad for buffering the guide rod (13) is fixedly connected to the bottom of the sliding groove (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921186490.3U CN210678782U (en) | 2019-07-26 | 2019-07-26 | Intelligent anti-collision device for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921186490.3U CN210678782U (en) | 2019-07-26 | 2019-07-26 | Intelligent anti-collision device for manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210678782U true CN210678782U (en) | 2020-06-05 |
Family
ID=70896134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921186490.3U Expired - Fee Related CN210678782U (en) | 2019-07-26 | 2019-07-26 | Intelligent anti-collision device for manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210678782U (en) |
-
2019
- 2019-07-26 CN CN201921186490.3U patent/CN210678782U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200605 |