CN219152942U - Flexible alarm device and manipulator mechanism applying same - Google Patents
Flexible alarm device and manipulator mechanism applying same Download PDFInfo
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- CN219152942U CN219152942U CN202223094736.9U CN202223094736U CN219152942U CN 219152942 U CN219152942 U CN 219152942U CN 202223094736 U CN202223094736 U CN 202223094736U CN 219152942 U CN219152942 U CN 219152942U
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Abstract
The utility model relates to the technical field of manipulators, and discloses a flexible alarm device and a manipulator mechanism applying the same, wherein the alarm device comprises: a detection assembly and a sensing component; the manipulator mechanism includes: the device comprises a mounting substrate I, a manipulator assembly and the alarm device, wherein the manipulator assembly is connected to the bottom mounting surface of the mounting substrate I, the grabbing component of the manipulator assembly is in sliding connection with the main body component, the detection component of the alarm device is connected to the main body component, the sensing component is connected to the grabbing component, and the sensing component is correspondingly arranged with the detection component and can trigger the alarm action of the detection component; according to the scheme, the motion of each grabbing component is independently detected, the relative load of a detection target in the detection process is reduced, the sensitivity is higher, and the problems that the manipulator damages a battery or the manipulator clamping jaw mechanism is damaged and the like in the alarm process are prevented.
Description
Technical Field
The utility model belongs to the field of manipulators, and particularly relates to a flexible alarm device and a manipulator mechanism applying the same.
Background
In the production process of lithium ion batteries, when batteries are assembled and replaced, the batteries are generally grasped through a mechanical arm clamping jaw mechanism, so that the functions of assembling and replacing the batteries are realized.
When the manipulator is used for assembling and replacing the tray, the impact event of the manipulator and the battery occurs due to inaccurate positioning of the tray or position deviation and the like when the manipulator clamps the battery, so that a flexible alarm device is generally arranged on the manipulator.
In the process of clamping the battery, if the manipulator collides with the tray, the clamping jaw mechanism of the manipulator triggers flexible alarm and returns to stop action. However, the traditional alarm device is arranged above the whole set of clamping jaw mechanism, the clamping jaw mechanisms of the whole set of mechanical arm share the same flexible alarm device, the force for triggering the flexible alarm by the mechanical arm is larger than the weight of the battery and the weight of the whole set of clamping jaw mechanism, so that when the flexible alarm is triggered, relatively large force is required, the sensitivity is relatively low, and the battery is damaged to different degrees or the clamping jaw mechanism of the mechanical arm is damaged when the mechanical arm triggers the flexible alarm.
Disclosure of Invention
The utility model aims to provide a flexible alarm device to solve the technical problems that the flexible alarm device of a mechanical arm mechanism is low in sensitivity and a battery is easy to damage.
In order to solve the technical problems, the specific technical scheme of the utility model is as follows:
in some embodiments of the present application, there is provided a flexible alarm device comprising: the detection assembly is connected to the main body structure of the grabbing device in the equipment; the sensing component is connected with the action component of the grabbing device, corresponds to the detection component and can trigger the alarm action of the detection component.
Compared with the prior art, the utility model has the beneficial effects that:
the sensing parts are arranged on each moving part, each moving part is independently detected, and the sensing parts are driven to trigger the alarm action of the detection assembly through the action of the moving parts, so that the sensitivity is higher.
In some embodiments of the present application, a manipulator mechanism applying a flexible alarm device is provided, comprising: the alarm device comprises a first mounting substrate, a manipulator assembly and the alarm device, wherein the manipulator assembly is connected to a bottom mounting surface of the first mounting substrate, a grabbing component of the manipulator assembly is slidably connected with a main body component, a detection assembly of the alarm device is connected to the main body component, and a sensing component is connected to the grabbing component.
Preferably, in a preferred embodiment of the manipulator mechanism applying the flexible alarm device, at least two groups of the manipulator assembly and the alarm device are respectively arranged and connected in a matching manner.
Preferably, in a preferred embodiment of the manipulator mechanism applying the flexible alarm device, the manipulator assembly includes:
a second mounting substrate connected to the first mounting substrate;
the first guide rail components are arranged in groups and are respectively arranged on opposite sides of the first mounting substrate;
the large arm mechanisms are arranged in groups and are respectively connected with the guide rail parts on the corresponding sides in a sliding manner; the detection component is connected to the large arm mechanism;
the guide rail components II are arranged in groups and are respectively arranged at the bottoms of the large arm mechanisms at the corresponding sides;
the jaw mechanisms are arranged in groups and are respectively connected with the second guide rail component on the corresponding side in a sliding manner; the sensing part is connected to the jaw mechanism.
Preferably, in a preferred embodiment of the manipulator mechanism applying the flexible alarm device, the manipulator mechanism further includes a central guide rail, where the central guide rail is disposed in a middle portion of the second mounting substrate and is slidably connected with the large arm mechanism.
Preferably, in a preferred embodiment of the manipulator mechanism applying the flexible alarm device, the large arm mechanism includes:
a first linear driving part, the main body of which is in sliding connection with the first guide rail part, and a telescopic part which is connected with the first guide rail part;
and one end of the large arm part is connected with the main body of the first linear driving part, the other end of the large arm part is connected with the second guide rail part, and the middle part of the large arm part is provided with a first sliding part which is in sliding connection with the central guide rail.
Preferably, in a preferred embodiment of the manipulator mechanism applying the flexible alarm device, the manipulator assembly further includes an adjusting mechanism, and the manipulator assembly is connected to the first mounting substrate through the adjusting mechanism, so that a relative position between the manipulator assembly and the first mounting substrate can be adjusted.
Preferably, in a preferred embodiment of the manipulator mechanism applying the flexible alarm device, the adjusting mechanism includes:
the guide rail component III is arranged on the bottom end surface of the first mounting substrate;
the second sliding component is fixed with the manipulator assembly and is in sliding connection with the third guide rail component;
and the main body of the linear driving component II is connected with the first mounting substrate, and the telescopic component of the linear driving component II is connected with the manipulator assembly.
Preferably, in a preferred embodiment of the manipulator mechanism applying the flexible alarm device, the manipulator mechanism further includes a material detection mechanism connected to the manipulator assembly, for detecting the stock of the material below.
Preferably, in a preferred embodiment of the manipulator mechanism applying the flexible alarm device, the manipulator mechanism further includes a bottom covering mechanism connected to the first mounting substrate, and the protection component of the bottom covering mechanism can move to a position below the material after the manipulator assembly grabs the material.
Compared with the prior art, the utility model has the beneficial effects that:
through installing alarm device's detection component at the main part of manipulator subassembly, sensing component installs in grabbing the part, independently detects through the action of every grabbing the part, has reduced the relative load of detection target in the testing process, has effectively promoted sensitivity.
The manipulator assembly can carry out overall position fine adjustment through adjustment mechanism, and the position fine adjustment of the grabbing part of being convenient for prevents to snatch the inaccurate problem of part location, produces the harm to the material during snatching, and the flexibility is higher.
The anti-falling protection system for the materials is formed below the manipulator assembly, the materials are prevented from falling off and falling on the ground from the manipulator assembly in the process of transferring after grabbing the materials, damage is generated, and the safety of transferring the materials is improved.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of an embodiment of the present utility model;
FIG. 2 is a perspective view of an embodiment of the present utility model with a partial bottom mechanism removed;
FIG. 3 is a front view of FIG. 2;
fig. 4 is a schematic connection diagram of a plurality of groups of manipulator assemblies according to an embodiment of the present utility model.
In the figure:
1. a detection assembly; 2. an induction member; 30. a first mounting substrate; 31. a manipulator assembly; 310. a second mounting substrate; 311. a first guide rail member; 312. a large arm mechanism; 3120. a first linear driving part; 3121. a large arm member; 3122. an extension plate; 3123. a first sliding member; 313. a second guide rail component; 314. a claw mechanism; 3140. a jaw mounting plate; 3141. a jaw member; 3142. a flexible cleat; 3143. a limit slide bar; 315. a substrate connection member; 32. a center rail; 320. a middle fixing block; 33. an adjusting mechanism; 330. a guide rail member III; 331. a second sliding member; 332. a second linear driving member; 34. a material detection mechanism; 35. a bottom covering mechanism; 350. fixing the connecting plate; 351. a limit connecting plate; 352. a rotation driving part; 353. and a supporting plate.
Detailed Description
The following describes in further detail the embodiments of the present utility model with reference to the drawings and examples. The following examples are illustrative of the utility model and are not intended to limit the scope of the utility model.
In the description of the present application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
The present utility model will be described in further detail with reference to the accompanying drawings for a better understanding of the objects, structures and functions of the present utility model.
Example 1
Referring to fig. 1, in accordance with some embodiments of the present application, a flexible alarm device includes: the detection assembly 1 and the induction component 2, wherein the detection assembly 1 is connected to the main structure of the grabbing device in the equipment; the sensing component 2 is connected to an action component of the gripping device, is arranged corresponding to the detection component 1, and can trigger an alarm action of the detection component 1.
Specifically, the detection assembly 1 includes: the device comprises a mounting seat and a detection part, wherein the mounting seat is of a U-shaped structure and is fixed on a main body part of the device; the generator and the receiver of the detection component are arranged on the opposite inner walls of the U-shaped structure, an induction section is formed in the middle of the detection component, the induction component 2 corresponds to the induction section of the mounting seat, and after the detection component rises, the signal transmission of the generator and the receiver of the detection component can be blocked, and an alarm action is triggered.
In particular, the detection means is preferably a photosensor device.
Through above-mentioned technical scheme, the technical effect that this application can reach lies in:
the sensing component 2 is arranged on each moving component, each moving component is independently detected, and the sensing component 2 is driven to trigger the alarm action of the detection assembly 1 through the action of the moving component, so that the sensitivity is higher.
Example 2
A manipulator mechanism employing a flexible alarm device, comprising: the first mounting substrate 30, the manipulator assembly 31 and the alarm device of the embodiment 1, the manipulator assembly 31 is connected to the bottom mounting surface of the first mounting substrate 30, the grabbing component is slidably connected with the main body component, the detection component 1 of the alarm device is connected to the main body component, the sensing component 2 is connected to the grabbing component, in the grabbing process, when the grabbing component is positioned inaccurately and the material is touched by mistake, the grabbing component is stressed to rise, the sensing component 2 blocks the signal of the detection component 1, the alarm action is triggered, and the manipulator assembly 31 is driven to return.
Example 3
Referring to fig. 1-3, a manipulator mechanism using a flexible alarm device is provided, in accordance with embodiment 2 above, with at least two groups of manipulator assemblies 31 and alarm devices, which are connected in a matching manner.
Specifically, the manipulator assemblies 31 and the alarm devices are provided with four groups, the multiple groups of manipulator assemblies 31 are parallel and are installed below the first mounting substrate 30 side by side, and the multiple groups of alarm devices are respectively installed on the corresponding manipulator assemblies 31 to detect the grabbing action of each manipulator assembly 31.
Example 4
Referring to fig. 1-3, a manipulator mechanism using a flexible alarm device, in accordance with the above-described embodiment 3, a manipulator assembly 31 includes:
a second mounting substrate 310, a first guide rail part 311, a large arm mechanism 312, a second guide rail part 313 and a claw mechanism 314; the second mounting substrate 310 is mounted on the bottom plane of the first mounting substrate 30; the first guide rail part 311 is provided with two groups, and is respectively arranged at the edge positions of the opposite sides of the bottom plane of the first mounting substrate 30, and the sliding track faces the middle part of the first mounting substrate 30; two large arm mechanisms 312 are combined into a group, and the top ends of the large arm mechanisms are respectively connected with a first 311 of the guide rail components on the corresponding sides in a sliding manner; the detection assembly 1 is connected to the large arm mechanism 312; two guide rail parts II 313 are arranged in a group and are respectively arranged at the bottom of the corresponding side large arm mechanism 312, and the sliding track faces the sensing part 2; two jaw mechanisms 314 are in a group and are respectively connected with the second guide rail part 313 on the corresponding side in a sliding way; the sensing part 2 is arranged on the upper room of the jaw mechanism 314, and when the jaw mechanism 314 drives the sensing part 2 to move upwards, the alarm signal of the detection assembly 1 can be triggered.
Specifically, the device further comprises a central guide rail 32, the central guide rail 32 is fixed at the middle part of the second mounting substrate 310 through a middle fixing block 320 and is in sliding connection with the large arm mechanism 312, and by adopting the scheme, the large arm mechanism 312 slides synchronously along the first guide rail part 311 and the central guide rail 32, so that the operation stability of the large arm mechanism 312 is improved.
Specifically, the large arm mechanism 312 includes: linear drive member one 3120 and large arm member 3121; the main body part of the first linear driving part 3120 is in sliding connection with the first guide rail part 311, and the end part of the telescopic part of the main body part is fixed with the connecting plate at the end part of the first guide rail part 311; the top end of the large arm part 3121 is fixed on the main body part of the linear driving part one 3120, the other end is connected with the guide rail part two 313, and the middle part is fixed with the extension plate 3122; one end of the extension plate 3122 is vertically fixed to the large arm member 3121, and the other end is fixed with a sliding member 3123 slidably connected to the center rail 32.
Specifically, the first linear driving member 3120 is preferably a cylinder device, the cylinder body of the cylinder device is slidably connected with the first guide rail member 311, the telescopic rod of the cylinder device is fixed with the connecting plate at the end of the first guide rail member 311, and the cylinder device pushes the large arm member 3121 to slide along the first guide rail member 311, so that the jaw mechanism 314 moves synchronously, and the actions of grabbing and discharging are realized.
Specifically, the jaw mechanism 314 includes a jaw mounting plate 3140, a jaw member 3141, and a flexible anti-slip pad 3142, the jaw mounting plate 3140 is slidably connected to the second rail member 313, and the jaw member 3141 is fixed to the jaw mounting plate 3140 by a connecting plate; a flexible cleat 3142 is secured to the gripping side of the jaw member 3141.
Specifically, the jaw member 3141 has a U-shaped structure, two walls are limiting plates, and the flexible anti-slip pad 3142 is fixed to the bottom surface of the U-shaped structure.
Specifically, the surface of the flexible cleat 3142 is provided with a plurality of cleated raised structures to further enhance the cleat's ability.
Specifically, the tops of the two opposing jaw members 3141 are provided with a stopper rod that restricts the gripping position of the jaw members 3141.
Specifically, the top of the jaw mounting plate 3140 is fixed with a limit slide bar 3143, the extension plate 3122 in the middle of the large arm member 3121 is provided with a slide hole adapted to the limit slide bar 3143, and the limit slide bar 3143 slides in the slide hole during the up-and-down movement of the jaw mounting plate 3140 and the jaw member 3141.
Example 5
Referring to fig. 1-3, a manipulator mechanism using a flexible alarm device, based on the above embodiment 4, further includes an adjusting mechanism 33, a power device of the adjusting mechanism 33 is fixed on the top of the first mounting substrate 30, an actuating end of the power device is connected with the manipulator assembly 31, and the power device can drive the second mounting substrate 310 to actuate, so as to adjust the relative position between the second mounting substrate 310 and the manipulator assembly 31.
Specifically, the adjusting mechanism 33 includes a third guide rail member 330, a second sliding member 331, and a second linear driving member 332, wherein the third guide rail member 330 is disposed on the bottom end surface of the first mounting substrate 30; the second sliding component 331 is fixed on the top end surface of the second mounting substrate 310 and is in sliding connection with the third guide rail component 330; the main body of the second linear driving member 332 is connected to the first mounting substrate 30, and the telescopic member thereof is fixed to the second mounting substrate 310 by a connecting member.
Specifically, the second linear driving member 332 is preferably a cylinder device, the cylinder body of the second linear driving member is fixed with the first mounting substrate 30, the telescopic rod of the second linear driving member is fixed with the second mounting substrate, the second mounting substrate 310, the large arm member 3121 and the jaw mechanism 314 are pushed to synchronously move through the cylinder, the position of the jaw mechanism 314 is adjusted, the grabbing position is convenient to adjust, the inaccurate positioning of the grabbing member is prevented, and the problem of damage to materials during grabbing is solved.
Referring to fig. 4, when there are a plurality of manipulator assemblies 31, the second mounting substrate 310 of each manipulator assembly 31 is integrally connected by the substrate connector 315, and the top of each second mounting substrate 310 is slidably connected to the third rail member 330 by the second sliding member 331.
Example 6
Referring to fig. 1-3, a manipulator mechanism using a flexible alarm device, in accordance with the above embodiment 2, further includes a material detection mechanism 34 connected to the manipulator assembly 31 for detecting the stock of the material below.
Specifically, the material detecting mechanism 34 is connected to the outer side of the manipulator assembly 31 through a connecting rod, and can collect information about whether the material exists at the bottom of the grabbing component, and give an alarm when the material does not exist.
In particular, the material detection mechanism 34 is preferably a photo detection device.
Example 7
Referring to fig. 1-3, a manipulator mechanism using a flexible alarm device, in accordance with the above embodiment 5, further includes a bottom covering mechanism 35 connected to the first mounting substrate 30, and after the manipulator assembly 31 grabs the material, the protection component of the bottom covering mechanism 35 can move to the lower portion of the material.
Specifically, the bottom pocket mechanism 35 includes: a fixed connection plate 350, a limit connection plate 351, a rotation driving part 352 and a supporting plate 353; wherein, two fixing connection plates 350 are provided, and the end parts of the two fixing connection plates 350 are respectively fixed at two opposite sides of the first mounting substrate 30; the two limiting connecting plates 351 are arranged, two ends of the two limiting connecting plates 351 are respectively connected with two sides of the two fixed connecting plates 350, and the middle parts of the two limiting connecting plates are simultaneously fixed at the tops of the plurality of central guide rails 32; the rotary driving part 352 is fixed on the fixed connection plate 350, and the output shaft direction thereof is perpendicular to the fixed connection plate 350; the two of the supporting plates 353 are a group, are of concave structures, one wall plate of each supporting plate 353 is rotationally connected to the fixed connecting plate 350, the other side wall is fixed to two output shafts of the rotary driving part 352 through the connecting part, after the claw mechanism 314 grabs materials, the rotary driving part 352 drives the supporting plate 353 to rotate along the driving shaft of the rotary driving part 352, the bottom plate of the supporting plate 353 acts below the claw mechanism 314 and the materials, if the materials fall down, the materials fall onto the supporting plate 353, the materials are prevented from directly falling onto the ground, the damage to the materials is avoided, and the safety of transferring the materials is improved.
Specifically, the rotary drive member 352 is a rotary cylinder device.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A flexible alarm device, comprising:
the detection assembly comprises a mounting seat and a detection part, wherein the mounting seat is connected with a main body structure of the grabbing device in the equipment; the generator and the receiver of the detection component are arranged on the opposite inner walls of the mounting seat, and an induction section is formed in the middle;
and the sensing component is connected with the action component of the grabbing device, corresponds to the sensing section, and can block signal transmission between the generator and the receiver of the detection component after rising.
2. A manipulator mechanism employing a flexible alarm device, comprising: the alarm device of the claim 1, wherein the manipulator assembly is connected to the bottom of the first mounting substrate, and the grabbing component of the manipulator assembly is in sliding connection with the main body component; the detection assembly of the alarm device is connected with the main body part, and the sensing part is connected with the grabbing part.
3. A manipulator mechanism employing a flexible alarm device according to claim 2, wherein the manipulator assembly and the alarm device are each provided with at least two sets and are matingly connected.
4. A manipulator mechanism employing a flexible alarm device according to claim 2 or 3, wherein: the manipulator assembly includes:
a second mounting substrate connected to the first mounting substrate;
the first guide rail components are arranged in groups and are respectively arranged on opposite sides of the first mounting substrate;
the large arm mechanisms are arranged in groups and are respectively connected with the guide rail parts on the corresponding sides in a sliding manner; the detection component is connected to the large arm mechanism;
the guide rail components II are arranged in groups and are respectively arranged at the bottoms of the large arm mechanisms at the corresponding sides;
the jaw mechanisms are arranged in groups and are respectively connected with the second guide rail component on the corresponding side in a sliding manner; the sensing part is connected to the jaw mechanism.
5. The manipulator mechanism applying the flexible alarm device according to claim 4, further comprising a central guide rail, wherein the central guide rail is disposed in the middle of the second mounting substrate and is slidably connected to the large arm mechanism.
6. A manipulator mechanism for use with a flexible alarm device as in claim 5, wherein the large arm mechanism comprises:
a first linear driving part, the main body of which is in sliding connection with the first guide rail part, and a telescopic part which is connected with the first guide rail part;
and one end of the large arm part is connected with the main body of the first linear driving part, the other end of the large arm part is connected with the second guide rail part, and the middle part of the large arm part is provided with a first sliding part which is in sliding connection with the central guide rail.
7. The manipulator mechanism for applying a flexible alarm device according to claim 2, further comprising an adjustment mechanism, wherein the manipulator assembly is coupled to the first mounting substrate via the adjustment mechanism, and wherein the relative position of the manipulator assembly and the first mounting substrate is adjustable.
8. The manipulator mechanism for applying a flexible alarm device of claim 7, wherein the adjustment mechanism comprises:
the guide rail component III is arranged on the bottom end surface of the first mounting substrate;
the second sliding component is fixed with the manipulator assembly and is in sliding connection with the third guide rail component;
and the main body of the linear driving component II is connected with the first mounting substrate, and the telescopic component of the linear driving component II is connected with the manipulator assembly.
9. The manipulator mechanism for use with a flexible alarm device according to claim 2, further comprising a material detection mechanism coupled to the manipulator assembly for detecting the inventory of material below.
10. The manipulator mechanism for applying a flexible alarm device according to claim 2, further comprising a bottom catch mechanism coupled to the first mounting substrate, wherein the protective member of the bottom catch mechanism is operable to move under the material when the manipulator assembly is gripping the material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223094736.9U CN219152942U (en) | 2022-11-21 | 2022-11-21 | Flexible alarm device and manipulator mechanism applying same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223094736.9U CN219152942U (en) | 2022-11-21 | 2022-11-21 | Flexible alarm device and manipulator mechanism applying same |
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| Publication Number | Publication Date |
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| CN219152942U true CN219152942U (en) | 2023-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202223094736.9U Active CN219152942U (en) | 2022-11-21 | 2022-11-21 | Flexible alarm device and manipulator mechanism applying same |
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| Country | Link |
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| CN (1) | CN219152942U (en) |
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