CN218364882U

CN218364882U - Electromagnetic anti-collision device of robot

Info

Publication number: CN218364882U
Application number: CN202222325804.1U
Authority: CN
Inventors: 赵林
Original assignee: Beijing Deer Electromechanical Equipment Co ltd
Current assignee: Beijing Deer Electromechanical Equipment Co ltd
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2023-01-24
Anticipated expiration: 2032-08-31

Abstract

The invention discloses an electromagnetic anti-collision device for a robot. The robot electromagnetic anti-collision device comprises a hollow shaft, a positioning sucker, a sensing cable, a communication cable and a connecting flange. The connecting flange is connected with the robot flange through bolts. When the robot runs, when the auxiliary tool contacts with peripheral equipment, a tool fixture and other metal objects, the robot can stop running immediately, when the auxiliary tool contacts with a non-metal object, the robot can also stop running immediately, and in extreme cases, when the contact force between the auxiliary tool and the peripheral object exceeds the suction force between the hollow shaft and the positioning sucker, the auxiliary tool and the peripheral object can be completely separated to protect the peripheral object and the auxiliary tool from being damaged by collision.

Description

Electromagnetic anti-collision device for robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to an electromagnetic anti-collision device for a robot.

Background

In the field of modern industrial manufacturing automation, robots are increasingly widely used. In different application occasions, the robot needs to be provided with corresponding auxiliary tools (such as a cutting tool, a welding gun, a glue gun and the like) for different purposes so as to effectively operate the robot. The auxiliary tools connected with the robots in the operation process can inevitably contact or collide with other peripheral equipment, tooling clamps and personnel, and the collision can sometimes generate serious damage accidents, and is difficult to avoid, so that the method has important significance on how to quickly and effectively stop the collision.

The anti-collision device of the robot common in the current market is mostly in a mechanical spring reset structure form, the parts of the anti-collision device are mostly connected by bolts and are also connected with the robot by bolts, once collision occurs, an auxiliary tool and the robot cannot be separated, so that the damage caused by the collision cannot be fundamentally eliminated by the products, meanwhile, the existing anti-collision device adopts a multi-section transmission single protection means that external force collision generates deformation displacement and transmits signals back to the robot, the protection effect is poor, and the reliability is poor.

The present invention has been made in view of this situation.

Disclosure of Invention

In order to solve the technical problems, the invention adopts the technical scheme that:

the electromagnetic anti-collision device for the robot comprises a hollow shaft, a positioning sucker, a sensing cable, a communication cable and a connecting flange, wherein the sensing cable is connected with an auxiliary tool, the communication cable is electrically connected with an indicating lamp assembly and a sensor assembly, one end face of the connecting flange is connected with the positioning sucker through a bolt, the other end face of the positioning sucker is closely attached to the hollow shaft through a magnetic structure, a sheath is sleeved outside the hollow shaft, the positioning sucker and the connecting flange, the periphery of the attachment part of the sleeve, located at the hollow shaft and the positioning sucker, is provided with an elastic telescopic structure, and the sensor assembly is arranged between the hollow shaft and the positioning sucker and used for detecting the collision condition.

The connecting flange is connected with the positioning sucker through bolts, the connecting flange and the positioning sucker are connected through concave-convex sub-openings for central positioning, and a first positioning pin is inserted between the connecting flange and the positioning sucker and used for radial positioning.

The hollow shaft and the positioning sucker are connected in a conical surface matching mode and used for conducting center positioning, a second positioning pin is installed on the positioning sucker in the radius direction, and a positioning notch which is correspondingly matched with the positioning pin is formed in the hollow shaft and used for guaranteeing radial positioning of the hollow shaft and the positioning sucker in a matching mode.

A plurality of circular grooves are formed in one end face of the hollow shaft, and magnetic column assemblies are spliced in the circular grooves.

The sensor assembly is arranged in the threaded hole and fixed on the hollow shaft.

The sheath is made of an insulating elastic material and is used for ensuring that the electromagnetic anti-collision device of the robot is integrally insulated from the outside.

The connecting flange is made of insulating materials and used for ensuring the robot electromagnetic anti-collision device to be insulated from the robot.

And an indicator lamp assembly is arranged on the side wall of the hollow shaft, the indicator lamp assembly is fixed on the surface of the hollow shaft, and a lamp cap part of the indicator lamp assembly is exposed out of the sheath.

Compared with the prior art, the invention has the following beneficial effects:

the invention ensures that when the robot runs, when the auxiliary tool contacts metal objects such as peripheral equipment, tool fixtures and the like, the robot can immediately stop running, when the auxiliary tool contacts non-metal objects, the robot can also immediately stop running, and when the contact force between the auxiliary tool and the peripheral objects exceeds the suction force between the hollow shaft and the positioning sucker, the auxiliary tool and the peripheral objects can be completely separated to protect the peripheral objects and the auxiliary tool from being crashed.

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

Drawings

In the drawings:

FIG. 1 is a schematic cross-sectional view of the present invention;

FIG. 2 is an exploded view of the present invention;

FIG. 3 is a schematic diagram of the circuit of the present invention;

fig. 4 is a schematic diagram of the operating principle of the present invention.

In the figure: 01-a sensing cable; 02-a sheath; 03-hollow shaft; 04-a sensor assembly; 05-indicator light assembly; 06-a magnetic column assembly; 07-positioning pins; 08-positioning suction cup; 09-positioning pins; 10-a coupling flange; 11-positioning pins; 12-a robotic flange; 13-auxiliary machinery; 14-a communication cable; 15-robot.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention.

As shown in fig. 1 to 4, the electromagnetic collision-preventing device for robot includes a hollow shaft 03, a positioning suction cup 08, a sensing cable 01, a communication cable 14, and a coupling flange 10, wherein the sensing cable 01 is connected to an auxiliary device 13, and the sensing cable 01 is led out through the central holes of the hollow shaft 03, the positioning suction cup 08, and the coupling flange 10 for standby use, the sensor assembly 04 and an indicator lamp assembly 05 are coupled to one end of the communication cable 14 according to the drawing (three), and the communication cable 14 is led out through the central holes of the hollow shaft 03, the positioning suction cup 08, and the coupling flange 10 for standby use, one end surface of the coupling flange 10 is connected with the positioning suction cup 08 by a bolt, the other end surface of the positioning suction cup 08 is closely attached to the hollow shaft 03 by a magnetic structure, and a sheath 02 is sleeved outside the hollow shaft 03, the positioning suction cup 08, and the coupling flange 10, the sheath 02 is located at the periphery of the joint portion of the hollow shaft 03 and the positioning suction cup 08 and is made of an elastic appliance structure, which can ensure that the detached auxiliary device 13 is suspended on the stopped robot 15, the telescopic device is made of a flexible and the electromagnetic collision-preventing device is made of elastic insulating material and capable of ensuring the electromagnetic collision-resisting function and the electromagnetic collision-preventing device.

The connecting flange 10 and the positioning sucker 08 are connected through bolts, the connecting flange and the positioning sucker 08 are connected through concave-convex sub-openings for central positioning, a positioning pin 09 is inserted between the connecting flange 10 and the positioning sucker 08 for radial positioning, a positioning pin 11 on the connecting flange 10 is aligned to a positioning pin hole on a robot flange 12, and the connecting flange 10 is tightly connected to the robot flange 12 through a mounting hole through which the bolts penetrate.

The hollow shaft 03 and the positioning sucker 08 are connected in a conical surface fit mode and used for conducting center positioning, the positioning sucker 08 is provided with a positioning pin 07 in the radius direction, a positioning notch matched with the positioning pin 07 is formed in the hollow shaft 03 and used for guaranteeing radial positioning of the hollow shaft 03 and the positioning sucker 08 in a matched mode, and when the hollow shaft 03 and the positioning sucker 08 are connected, the positioning notch is guaranteed to be aligned to the positioning pin 07 on the positioning sucker 08.

A plurality of circular grooves are formed in one end face of the hollow shaft 03, magnetic column assemblies are spliced and embedded in the circular grooves, when the hollow shaft 03 is connected, the concave conical surface of the hollow shaft 03 is aligned to the convex conical surface of the positioning suction disc 08, the hollow shaft 03 and the positioning suction disc 08 are tightly attracted, in addition, the hollow shaft 03 is firmly held by force during attraction, the hollow shaft 03 and the positioning suction disc 08 are slowly attracted, and impact generated during attraction of the hollow shaft 03 and the positioning suction disc 08 is avoided as much as possible.

A threaded hole is formed in the hollow shaft 03 along the direction of the central line of the hollow shaft, and the sensor assembly 04 is arranged in the threaded hole and fixed on the hollow shaft 03.

The sheath 02 is made of an insulating elastic material and is used for ensuring that the electromagnetic anti-collision device of the robot is integrally insulated from the outside.

And the connecting flange is made of an insulating material and is used for ensuring the robot electromagnetic anti-collision device to be insulated from the robot.

The side wall of the hollow shaft 03 is provided with an indicating lamp assembly 05, the indicating lamp assembly 05 is fixed on the surface of the hollow shaft 03, and the lamp cap part of the indicating lamp assembly 05 is exposed outside the sheath 02.

The electromagnetic anti-collision method for the robot comprises the following steps:

step 1: in the operation process of the robot 15, when the auxiliary tool 13 contacts metal objects such as peripheral equipment, tool fixtures and the like, a self potential signal S1 is transmitted to the robot 15 through the sensing cable 01;

and 2, step: after the robot 15 receives the potential signal S1, the robot 15 will send an instruction to stop running, and the robot 15 will immediately stop running;

and step 3: when the auxiliary tool 13 contacts a non-metal object, no potential signal S1 is generated, the auxiliary tool 13 can contact the object to continue to operate, and a certain interaction force can be generated between the auxiliary tool 13 and the object contacted with the auxiliary tool;

and 4, step 4: the force is transmitted to the robot electromagnetic anti-collision device, so that a gap is generated between the hollow shaft 03 and the positioning suction cup 08, and the sensor assembly 04 generates a collision signal S2;

and 5: the collision signal S2 is transmitted to the robot 15 through the communication cable 14, and when the collision signal S2 is received, the robot 15 sends out an instruction of stopping operation, and the robot 15 stops operating immediately;

step 6: under extreme conditions, when the contact force between the auxiliary device 13 and the peripheral object exceeds the suction force between the hollow shaft 03 and the positioning sucker 08, the auxiliary device and the hollow shaft can be completely separated, so that the peripheral object and the auxiliary device 13 are protected from being damaged;

and 7: the indication lamp assembly 05 is on to indicate that the robot electromagnetic anti-collision device operates normally, and the indication lamp assembly 05 is not on to indicate that the robot is in a shutdown state or the robot electromagnetic anti-collision device is in an alarm non-reset state;

and 8: after the robot and the auxiliary equipment 13 collide with the surrounding objects and are stopped, the collision reason is found out, the error program is eliminated, and the operation of the robot electromagnetic anti-collision device is recovered.

The robot electromagnetic anti-collision device is applicable to PNP type and NPN type robots, the circuit principle of the robot electromagnetic anti-collision device is shown in figure 4, the type of the robot and the running state or the shutdown of the robot are indicated by indicator lamp assemblies 05 with red and green colors, the red color is applied to the NPN type robot, the green color is applied to the PNP type robot, the indicator lamp assemblies 05 are lightened to indicate that the robot electromagnetic anti-collision device runs normally, and the indicator lamp assemblies 05 are not lightened to indicate that the robot is in the shutdown state or the robot electromagnetic anti-collision device is in the state of not resetting for alarming;

when the robot 15 is in operation, the robot 15 sends an instruction to stop its own operation as long as it receives the potential signal S1 or the collision signal S2. The principle is the electric and magnetic double anti-collision working principle of the robot electromagnetic anti-collision device.

Claims

1. The electromagnetic anti-collision device for the robot comprises a hollow shaft (03), a sensing cable (01), a communication cable (14) and a connecting flange (10), wherein the sensing cable (01) is connected with an auxiliary tool (13), the communication cable (14) is electrically connected with an indicating lamp assembly (05) and a sensor assembly (04), the electromagnetic anti-collision device is characterized in that one end face of the connecting flange (10) is connected with a positioning sucker (08) through a bolt, the other end face of the positioning sucker (08) is closely connected with the hollow shaft (03) in an adsorption and adhesion mode through a magnetic structure, a sheath (02) is sleeved outside the hollow shaft (03), the positioning sucker (08) and the connecting flange (10), the sheath (02) is located at the periphery of the joint portion of the hollow shaft (03) and the positioning sucker (08) and has an elastic telescopic structure, and the sensor assembly (04) is arranged between the hollow shaft (03) and the positioning sucker (08) and used for detecting the collision condition.

2. The robot electromagnetic collision-preventing device according to claim 1, characterized in that the coupling flange (10) and the positioning suction cup (08) are connected by bolts, and the connection between the coupling flange and the positioning suction cup is centered by a concave-convex sub-opening fit, and a first positioning pin (09) is inserted between the coupling flange (10) and the positioning suction cup (08) for radial positioning.

3. The robot electromagnetic collision-preventing device according to claim 1, characterized in that the hollow shaft (03) and the positioning suction cup (08) are connected by a conical surface for central positioning, a second positioning pin (07) is installed on the positioning suction cup (08) along a radius direction, and a positioning notch corresponding to the second positioning pin (07) is formed in the hollow shaft (03) for ensuring radial positioning of the hollow shaft (03) and the positioning suction cup (08).

4. The robot electromagnetic anti-collision device according to claim 1, wherein a plurality of circular grooves are formed in one end surface of the hollow shaft (03), and magnetic column assemblies are embedded in the circular grooves in a glued manner.

5. The robot electromagnetic anti-collision device according to claim 1, wherein a threaded hole is formed in the hollow shaft (03) along the central line direction of the hollow shaft, and the sensor assembly (04) is disposed in the threaded hole and fixed on the hollow shaft (03).

6. The robot electromagnetic collision-preventing device according to claim 1, characterized in that the sheath (02) is made of an insulating elastic material for ensuring the overall insulation of the robot electromagnetic collision-preventing device from the outside.

7. The robotic electromagnetic collision prevention device of claim 1, wherein the coupling flange is fabricated from an insulating material for ensuring the robotic electromagnetic collision prevention device is insulated from the robot.

8. The electromagnetic collision prevention device for robots as claimed in any one of claims 1 to 7, characterized in that the side wall of the hollow shaft (03) is provided with an indicator light assembly (05), the indicator light assembly (05) is fixed to the surface of the hollow shaft (03), and the light head part of the indicator light assembly (05) is exposed outside the sheath (02).