CN212684022U

CN212684022U - Mechanical arm anti-collision protection device

Info

Publication number: CN212684022U
Application number: CN202021381484.6U
Authority: CN
Inventors: 覃华
Original assignee: Suzhou Hkd Ultrasonic Equipment Co ltd
Current assignee: Suzhou Hkd Ultrasonic Equipment Co ltd
Priority date: 2020-07-14
Filing date: 2020-07-14
Publication date: 2021-03-12
Anticipated expiration: 2030-07-14

Abstract

The utility model discloses an arm collision avoidance device, include: a base; the two sides of the top of the base are both fixedly connected with fixed plates, the opposite sides of the two fixed plates are both fixedly connected with buffer devices, the buffer device comprises an outer pressure cylinder, a pressure accumulator and an inner pressure cylinder, the surface of the inner pressure cylinder is provided with a plurality of oil holes, when the first mechanical arm collides, the buffer sleeve pushes the long rod into the inner pressure cylinder, the long rod drives the piston to move in the inner pressure cylinder, the piston extrudes the return spring to the inner part to press hydraulic oil, the hydraulic oil is discharged to the pressure accumulator through the oil hole under the pressure, thereby generating a buffering resisting force, the hydraulic oil discharged from the oil hole is gradually returned to the internal pressure cylinder from the oil hole, when the external force disappears, the return spring rebounds the piston to the initial point, so that the impacted object can be balanced and effectively stopped, the service life of the machine is prolonged, the maintenance cost is reduced, and the operation of the machine is safer.

Description

Mechanical arm anti-collision protection device

Technical Field

The utility model particularly relates to an arm collision avoidance device.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. The mechanical arm is a complex system and has uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of a joint space of the mechanical arm needs to be planned, so that the tail end pose is formed in a cascading mode, the arm support needs to be controlled when the mechanical arm is used, but peripheral obstacles are easily touched in the operation process, and safety accidents are caused.

At present, infrared or angle sensors are mostly used for collision detection of the mechanical arm, but the method is used for preventing the mechanical arm from generating collision cost which is very high and easily influenced by the outside, and the mechanical arm is not protected when colliding, if the mechanical arm collides and is not protected, the maintenance cost of the mechanical arm can be greatly improved in the later stage, the service life of the mechanical arm is reduced, and the influence is also caused to the safe operation of a machine to a certain extent.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to prior art's weak point, provide a arm collision avoidance device, solved the arm and not protected when taking place the striking, can improve arm cost of maintenance greatly, reduce the life of arm, also to a certain extent cause the problem of influence to the safe operation of machine.

In order to solve the technical problem, the utility model provides a mechanical arm anti-collision protection device, which comprises a base;

the oil cylinder is characterized in that fixing plates are fixedly connected to two sides of the top of the base, a buffer device is fixedly connected to one side, opposite to the two fixing plates, of the base, the buffer device comprises an outer pressure cylinder, an accumulator and an inner pressure cylinder, a plurality of oil holes are formed in the surface of the inner pressure cylinder, a return spring is fixedly connected to the left side of the inner wall of the inner pressure cylinder, a piston is movably connected to the right side, located in the inner pressure cylinder, of the return spring, and a check valve is arranged in the piston;

the right side fixedly connected with stock of piston, the one end of stock runs through outer pressure cylinder and extends to the right side of outer pressure cylinder, the stock extends to the one end fixedly connected with fixed block on outer pressure cylinder right side, the right side fixedly connected with cushion collar of fixed block, the surface of outer pressure cylinder is provided with the sealing washer around the stock junction, there is hydraulic oil in the inside of inner pressure cylinder, when receiving the striking, the piston rod moves inwards, forces hydraulic oil to flow into accumulator in through the oilhole, therefore produce the resistance of a buffering, the check valve can prevent that hydraulic oil flows in the opposite direction and the check valve is automatic work, under the fluid pressure effect of a direction flow, the valve clack is opened, when the fluid flow backward, can cut off and flow, the relative one side of cushion collar is the radian with the radian looks adaptation of arm.

Preferably, the top of base is provided with the spout, the inside sliding connection of spout has the base, the equal fixedly connected with steering wheel in both sides at base top, two steering wheels are connected with first arm and second arm respectively through prior art.

Preferably, a first mechanical arm is arranged between two opposite sides of the steering engine, and a second mechanical arm is arranged at the top of the first mechanical arm.

Preferably, the top of second arm is provided with the claw steering wheel, the top fixedly connected with connecting block of claw steering wheel, the connecting block is hollow structure, and the claw steering wheel is connected with the claw through prior art.

Preferably, the top of the connecting block is movably connected with a connecting rod, and the top end of the connecting rod is provided with a claw.

Preferably, one end of the connecting rod penetrates through the connecting block and extends to the inside of the connecting block, the connecting rod extends to the one end fixedly connected with movable block inside the connecting block, and a sealing sleeve is arranged on the outer surface of the movable block, which is in contact with the inner wall of the connecting block.

Preferably, the bottom fixedly connected with buffer spring of connecting block inner wall, buffer spring's one end and the bottom fixed connection of movable block receive the striking when the cleft hand, and the connecting rod promotes the movable block and to the inside removal of connecting block, and buffer spring has a cushioning effect to the cleft hand, avoids the impaired seriously of cleft hand.

Compared with the prior art, the utility model provides a mechanical arm collision avoidance device has following beneficial effect:

the utility model provides an arm anticollision protection device, collide when first arm, the buffer sleeve pushes away the stock to the inside of pressing the jar in, the stock drives the piston and removes in the interior pressure jar, the piston makes hydraulic oil pressurized with reset spring to inside extrusion, hydraulic oil pressurized back will be by the oilhole row to the accumulator on interior pressure cylinder surface, therefore produce the resistance of a buffering, also flow back to interior pressure jar from the oilhole gradually by oilhole exhaust hydraulic oil, when the external force that receives disappears, reset spring rebounds original starting point with the piston, with this the balanced effectual stopping of object that can make and receive the striking, make the machine life extension reduce cost of maintenance and make the operation of machine avoid accident safer.

Drawings

Fig. 1 is a schematic structural diagram of a preferred embodiment of the mechanical arm collision avoidance apparatus provided by the present invention;

FIG. 2 is a schematic structural view of the buffering device shown in FIG. 1;

FIG. 3 is an enlarged view of portion A of FIG. 1;

fig. 4 is a schematic top view of the cushion collar shown in fig. 2.

Reference numbers in the figures: 1. the device comprises a base, 2, a fixing plate, 3, a buffer device, 31, an external pressure cylinder, 32, an accumulator, 33, an internal pressure cylinder, 34, an oil hole, 35, a return spring, 36, a piston, 37, a check valve, 38, a long rod, 39, a fixing block, 310, a buffer sleeve, 4, a sliding groove, 5, a base, 6, a steering engine, 7, a first mechanical arm, 8, a second mechanical arm, 9, a claw steering engine, 10, a connecting block, 11, a connecting rod, 12, a claw hand, 13, a movable block, 14 and a buffer spring.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and embodiments.

Please refer to fig. 1, fig. 2, fig. 3 and fig. 4 in combination, wherein fig. 1 is a schematic structural diagram of a preferred embodiment of the collision avoidance apparatus for a robot arm according to the present invention; FIG. 2 is a schematic structural view of the buffering device shown in FIG. 1; fig. 3 is an enlarged view of a portion a shown in fig. 1, and fig. 4 is a schematic top view of the cushion cover shown in fig. 2. The mechanical arm anti-collision protection device comprises a base 1;

the base comprises a base 1, wherein fixing plates 2 are fixedly connected to two sides of the top of the base 1, a buffer device 3 is fixedly connected to one opposite side of each fixing plate 2, the buffer device 3 comprises an outer pressure cylinder 31, a pressure accumulator 32 and an inner pressure cylinder 33, a plurality of oil holes 34 are formed in the surface of the inner pressure cylinder 33, a return spring 35 is fixedly connected to the left side of the inner wall of the inner pressure cylinder 33, a piston 36 is movably connected to the right side of the return spring 35 inside the inner pressure cylinder 33, and a check valve 37 is arranged inside the piston 36;

a long rod 38 is fixedly connected to the right side of the piston 36, one end of the long rod 38 penetrates the outer pressing cylinder 31 and extends to the right side of the outer pressing cylinder 31, a fixing block 39 is fixedly connected to one end of the long rod 38 extending to the right side of the external pressure cylinder 31, the right side of the fixed block 39 is fixedly connected with a buffer sleeve 310, the outer surface of the outer pressure cylinder 31 is provided with a sealing ring around the joint of the long rod 38, the inner pressure cylinder 33 is internally provided with hydraulic oil, when struck, the piston 36 moves inwardly, forcing hydraulic oil through the oil port 34 into the accumulator 32, thereby generating a buffering resisting force, the check valve 37 can prevent the hydraulic oil from flowing in the reverse direction and the check valve 37 works automatically, under the action of the pressure of the liquid flowing in one direction, the valve clack is opened, and when the flowing fluid flows in the reverse direction, the flow can be cut off and the opposite side of the sock 310 is in an arc that matches the arc of the robotic arm.

The top of base 1 is provided with spout 4, the inside sliding connection of spout 4 has base 5, the equal fixedly connected with steering wheel 6 in both sides at base 5 top, two steering wheels 6 are connected with first arm 7 and second arm 8 respectively through prior art.

A first mechanical arm 7 is arranged between two opposite sides of the steering engine 6, and a second mechanical arm 8 is arranged at the top of the first mechanical arm 7.

The top of second arm 8 is provided with claw steering wheel 9, the top fixedly connected with connecting block 10 of claw steering wheel 9, connecting block 10 are hollow structure, and claw steering wheel 9 is connected with claw 12 through prior art.

The top swing joint of connecting block 10 has connecting rod 11, the top of connecting rod 11 is provided with claw 12.

One end of the connecting rod 11 penetrates through the connecting block 10 and extends to the inside of the connecting block 10, the connecting rod 11 extends to one end fixedly connected with movable block 13 inside the connecting block 10, and a sealing sleeve is arranged on the outer surface of the movable block 13 in contact with the inner wall of the connecting block 10.

Bottom fixedly connected with buffer spring 14 of connecting block 10 inner wall, buffer spring 14's one end and the bottom fixed connection of movable block 13 receive the striking when cleft hand 12, and connecting rod 11 promotes movable block 13 to the inside removal of connecting block 10, and buffer spring 14 has a cushioning effect to cleft hand 12, avoids the damage of cleft hand 12 serious.

The utility model provides an arm collision avoidance device's theory of operation as follows:

when the mechanical arm works, if the claw 12 is impacted, the connecting rod 11 can push the movable block 13 to move towards the inside of the connecting block 10, the buffer spring 14 is pressed downwards, the buffer spring 14 relieves the force generated by the impact, the claw 12 is protected to a certain extent, the damage to the claw 12 is reduced, and when the base 5 moves in the sliding groove 4, the buffer sleeves 310 on the two sides of the first mechanical arm 7 produce resistance to the mechanical arm when the mechanical arm is impacted;

when the first mechanical arm 7 collides, the buffer sleeve 310 pushes the long rod 38 into the internal pressure cylinder 33, the long rod 38 drives the piston 36 to move in the internal pressure cylinder 33, the piston 36 presses the return spring 35 inwards to press the hydraulic oil, the hydraulic oil is discharged from the oil hole 34 on the surface of the internal pressure cylinder 33 to the pressure accumulator 32 after being pressed, a buffer resisting force is generated, the hydraulic oil discharged from the oil hole 34 gradually flows back to the internal pressure cylinder 33 from the oil hole 34, and when the external force is removed, the return spring 35 rebounds the piston 36 to the original starting point, so that the impacted object can be balanced and effectively stopped, the service life of the machine is prolonged, the maintenance cost is reduced, and the operation of the machine is safer and accidents are avoided.

when the first mechanical arm 7 collides, the buffer sleeve 310 pushes the long rod 38 into the internal pressure cylinder 33, the long rod 38 drives the piston 36 to move in the internal pressure cylinder 33, the piston 36 presses the return spring 35 inwards to press the hydraulic oil, the hydraulic oil is discharged from the oil hole 34 on the surface of the internal pressure cylinder 33 to the pressure accumulator 32 after being pressed, so that a buffer resisting force is generated, the hydraulic oil discharged from the oil hole 34 gradually returns to the internal pressure cylinder 33 from the oil hole 34, and when the external force is removed, the return spring 35 rebounds the piston 36 to the original point, so that the impacted object can be balanced and effectively stopped, the service life of the machine is prolonged, the maintenance cost is reduced, and the operation of the machine is safer and accidents are avoided.

The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention are used in the specification and the attached drawings, or directly or indirectly applied to other related technical fields, and the same principle is included in the protection scope of the present invention.

Claims

1. An anti-collision protection device for a mechanical arm is characterized by comprising a base;

the right side fixedly connected with stock of piston, the one end of stock runs through outer pressure cylinder and extends to the right side of outer pressure cylinder, the stock extends to the one end fixedly connected with fixed block on outer pressure cylinder right side, the right side fixedly connected with cushion collar of fixed block.

2. The mechanical arm collision avoidance device of claim 1, wherein: the top of base is provided with the spout, the inside sliding connection of spout has the base, the equal fixedly connected with steering wheel in both sides at base top.

3. The mechanical arm collision avoidance device of claim 1, wherein: and a first mechanical arm is arranged between two opposite sides of the steering engine, and a second mechanical arm is arranged at the top of the first mechanical arm.

4. The mechanical arm collision avoidance device of claim 1, wherein: the top of second arm is provided with the claw steering wheel, the top fixedly connected with connecting block of claw steering wheel.

5. The mechanical arm collision avoidance device of claim 1, wherein: the top swing joint of connecting block has the connecting rod, the top of connecting rod is provided with the cleft hand.

6. The mechanical arm collision avoidance device of claim 1, wherein: one end of the connecting rod runs through the connecting block and extends to the inside of connecting block, the connecting rod extends to the inside one end fixedly connected with movable block of connecting block.

7. The mechanical arm collision avoidance device of claim 1, wherein: and the bottom of the inner wall of the connecting block is fixedly connected with a buffer spring.