CN220699658U - Anticollision device of manipulator - Google Patents

Abstract

The utility model relates to the technical field of manipulators, and particularly discloses an anti-collision device of a manipulator, which comprises a first movable block, a second movable block, a third movable block, a fourth movable block, a first shaft body, a second shaft body, a third shaft body and a grabbing unit.

Description

Anticollision device of manipulator

Technical Field

The utility model relates to the technical field of manipulators, in particular to an anti-collision device of a manipulator.

Background

The manipulator is an automatic operation device which can simulate some action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to fixed programs, and is characterized in that various expected operations can be completed through programming. At present, most of modern automatic production workshops are provided with manipulators, the manipulators are usually arranged on the manipulators, the manipulators are driven to move to the upper portion of a part to be processed through the manipulators, and then the manipulators grab the part to be processed to corresponding production equipment for processing after the manipulators are lowered to a proper position, so that the degree of automation of the production workshops is improved, and the production efficiency of products is improved.

However, in the present life, the maximum difference between the robot arm and the arm with human is the flexibility and the strength under the development of the new moon of science and technology. In order to enable the manipulator to flexibly grasp the parts to be processed with different volumes, the clamping jaw of the manipulator is flexibly arranged in a swinging way, but when the manipulator descends to grasp an object, the clamping jaw is easy to shift in position, so that the clamping jaw is turned over to influence the normal operation of the clamping jaw; moreover, if the equipment fails or the procedure is improper, the acceleration generated by the manipulator during movement and the inertial force generated by the equipment during stopping often cause the clamping jaw to swing greatly, so that the clamping jaw collides with other equipment or facilities, and the manipulator or equipment is damaged.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, an object of the present utility model is to provide a collision avoidance device for a manipulator, which can improve the stability, durability and safety of the manipulator.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the technical scheme of this application has proposed a buffer stop of manipulator, and it includes first movable block, second movable block, third movable block, fourth movable block, first axis body, second axis body and third axis body, the bottom of first movable block is provided with the first trench of opening decurrent, the bottom of second movable block is provided with the second trench of opening decurrent, the bottom of third movable block is provided with the third trench of opening decurrent, the top of second movable block through first axis body with the top rotation of first movable block is connected, the both sides of first trench are provided with the draw-in groove of opening decurrent respectively, the top of third movable block with draw-in groove cooperation is connected, the third movable block passes through the second axis body with the both sides wall sliding connection of second trench, the fourth movable block passes through the third axis body with the both sides wall sliding connection of third trench, be provided with on the third movable block and be used for restricting the fourth movable block before the swing block locking part is used for waiting to snatch the fourth movable block and snatchs the processing unit.

The anti-collision device of the manipulator comprises a manipulator body, and is characterized by further comprising a top plate and an assembly plate used for connecting the manipulator, wherein the top plate is L-shaped, the vertical part of the top plate is connected with the assembly plate, and the transverse part of the top plate is connected with the top of the first movable block.

In the anti-collision device of the manipulator, a mounting plate for mounting the grabbing unit is arranged on the fourth movable block.

In the anti-collision device of the manipulator, the top of the first shaft body is connected with the first movable block through a first elastic mechanism, and the first elastic mechanism is used for limiting the first shaft body to rotate freely; the two ends of the second shaft body and the two ends of the third shaft body are respectively connected with the second movable block and the third movable block through second elastic mechanisms, and the second elastic mechanisms are used for limiting the second shaft body and the third shaft body to freely rotate.

In the anti-collision device of the manipulator, the first elastic mechanism comprises a first connecting piece and two first connecting pieces, the first connecting pieces are connected with the first shaft body, the two first connecting pieces are respectively arranged at the top of the first movable block, the two first connecting pieces are respectively positioned at two sides of the first connecting piece, and first springs are respectively arranged between the two ends of the first connecting pieces.

In the anti-collision device of the manipulator, the second elastic mechanism comprises a second connecting piece and a second connecting piece, the second connecting piece is connected with the second shaft body or the third shaft body, one end of the second connecting piece is connected with the side wall of the second movable block or the side wall of the third movable block, the other end of the second connecting piece is provided with a connecting plate, and second springs are respectively arranged between two ends of the connecting plate and two ends of the second connecting piece.

In the anti-collision device of the manipulator, the top of the first shaft body, two ends of the second shaft body and two ends of the third shaft body are respectively provided with a fixing cap.

In the anti-collision device of the manipulator, first strip-shaped holes are longitudinally formed in two side walls of the second groove respectively, two ends of the second shaft body are connected with the two first strip-shaped holes in a sliding mode respectively, and the diameters of fixing caps at two ends of the second shaft body are larger than the distance between the first strip-shaped holes.

In the anti-collision device of the manipulator, a through hole is formed in the top of the first movable block, the first shaft body is in sliding connection with the through hole, and the bottom of the first shaft body penetrates through the through hole and is connected with the top of the second movable block.

In the anti-collision device of the manipulator, second strip-shaped holes are longitudinally formed in two side walls of the third groove respectively, two ends of the third shaft body are connected with the second strip-shaped holes in a sliding mode respectively, and the diameters of fixing caps at two ends of the third shaft body are larger than the distance between the second strip-shaped holes.

The beneficial effects are that:

the utility model provides an anti-collision device of a manipulator, which is characterized in that a first slot, a second slot and a third slot are respectively and reasonably arranged at the bottom of a first movable block, the bottom of a second movable block and the bottom of a third movable block, clamping slots are respectively and reasonably arranged at two sides of the first slot, and corresponding locking blocks are arranged on the third movable block, so that the first movable block, the second movable block, the third movable block, a fourth movable block, a first shaft body, a second shaft body and the third shaft body can realize flexible grabbing of parts to be machined with different volumes by a grabbing unit, the problem that the grabbing unit is shifted in the process of descending grabbing the parts to be machined is avoided, the problem that the manipulator is turned over when grabbing the parts to be machined is avoided, the stability of the manipulator grabbing the parts to be machined is greatly improved, and the durability and the safety of the manipulator are enhanced. In addition, through setting up first elastic mechanism and restricting first axis body free rotation to and through setting up second elastic mechanism and restricting second axis body and third axis body free rotation, avoid the manipulator to lead to snatching the unit and swing by a wide margin at the acceleration that produces when removing and the inertial force when equipment stops, greatly reduced the damage risk of manipulator and equipment.

Drawings

Fig. 1 is a partially exploded schematic view of an anti-collision device of a manipulator according to the present utility model;

fig. 2 is an exemplary diagram of a collision avoidance device of a manipulator according to the present utility model grasping a part to be processed;

FIG. 3 is an enlarged schematic view of area A of FIG. 2;

FIG. 4 is an enlarged schematic view of region B of FIG. 2;

fig. 5 is a perspective view of a collision avoidance device of a manipulator for descending operation;

fig. 6 is a second perspective view of a collision avoidance device of a manipulator for descending operation;

fig. 7 is a perspective view of an anti-collision device of a manipulator according to the present utility model performing a lifting operation;

fig. 8 is a second perspective view of the collision avoidance device of the manipulator according to the present utility model.

Description of main reference numerals: 1-first movable block, 11-first slot, 101-clamping slot, 12-through hole, 2-second movable block, 21-second slot, 201-first bar-shaped hole, 3-third movable block, 31-third slot, 301-second bar-shaped hole, 4-fourth movable block, 5-first shaft, 6-second shaft, 7-third shaft, 8-locking block, 9-grabbing unit, 91-connecting arm, 92-clamping jaw, 10-first elastic mechanism, 110-first connecting piece, 111-first mounting hole, 120-first connecting piece, 121-first hole site A, 122-second hole site A, 130-first spring, 20-second elastic mechanism, 210-second connecting piece, 211-second mounting hole site, 220-second connecting piece, 221-first hole site B, 222-second hole site B, 230-second spring, 30-fixing cap, 40-top plate, 50-assembly plate, 60-spacer, 70-mounting plate.

Detailed Description

The utility model provides an anti-collision device of a manipulator, which is used for making the aim, the technical scheme and the effect of the utility model clearer and more definite, and the utility model is further described in detail below by referring to the accompanying drawings and the embodiment.

In the description of the present utility model, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "top", "bottom", "longitudinal", "transverse", etc. are based on the directions or positional relationships shown in the drawings, and are merely for convenience of description of the present utility model and for simplification of the description, and are not to be construed as limiting the present utility model; furthermore, the terms "mounted," "connected," and the like, are to be construed broadly and, as appropriate, the specific meaning of the terms in the present utility model will be understood by those of ordinary skill in the art.

Referring to fig. 1 and 2, the utility model provides an anti-collision device of a manipulator, which comprises a first movable block 1, a second movable block 2, a third movable block 3, a fourth movable block 4, a first shaft body 5, a second shaft body 6 and a third shaft body 7, wherein a first groove 11 with a downward opening is arranged at the bottom of the first movable block 1, a second groove 21 with a downward opening is arranged at the bottom of the second movable block 2, a third groove 31 with a downward opening is arranged at the bottom of the third movable block 3, the top of the second movable block 2 is rotationally connected with the top of the first movable block 1 through the first shaft body 5, clamping grooves 101 with downward openings are respectively arranged at two sides of the first groove 11, the top of the third movable block 3 is in matched connection with the clamping grooves 101, the third movable block 3 is in sliding connection with two side walls of the second groove 21 through the second shaft body 6, the fourth movable block 4 is in sliding connection with two side walls of the third groove 31 through the third shaft body 7, and a locking unit 9 for limiting the fourth movable block 4 to be used for grabbing and processing the fourth movable block 4.

In a practical production embodiment, as shown in fig. 5, the gripping unit 9 comprises a connecting arm 91 and two opposite clamping jaws 92, one end of the connecting arm 91 is connected with the fourth movable block 4, the other end of the connecting arm 91 is provided with a track, the clamping jaws 92 are slidably connected with the track, the clamping jaws 92 are connected with air cylinders, and the two clamping jaws 92 are pushed to move relatively in the track through the air cylinders, so that the gripping unit 9 can grip and release a part to be processed; wherein, the clamping jaw 92 is pushed by the cylinder to grasp or release the part to be processed belongs to the technical means commonly used in the prior art, and will not be described herein.

Of course, the present design is not limited to this, and in other embodiments, the gripping unit 9 may be a suction cup, through which suction gripping of the component to be processed can be achieved.

In some embodiments, as shown in fig. 2, the anti-collision device of the manipulator further includes a top plate 40 and a mounting plate 50 for connecting the manipulator, the top plate 40 has an "L" shape, a vertical portion of the top plate 40 is connected to the mounting plate 50, and a lateral portion of the top plate 40 is connected to the top of the first movable block 1. Through roof 40 in order to make first movable block 1 and assembly plate 50 cooperation be connected, with assembly plate 50 and arm separation like this can dismantle whole manipulator and come the periodic maintenance, the installation of manipulator of also being convenient for simultaneously has further improved the convenience that the manipulator was dismantled and was installed.

Optionally, as shown in fig. 3, a lateral part of the top plate 40 is located between the first movable block 1 and the first connection piece 110, and the first connection piece 120 is provided on the lateral part of the top plate 40, so that the positional relationship among the top plate 40, the first movable block 1, the first connection piece 110 and the first connection piece 120 is reasonably set to facilitate the assembly and disassembly of the robot; and the gasket 60 is arranged between the transverse part of the top plate 40 and the top of the first movable block 1 and between the transverse part of the top plate 40 and the bottom of the first connecting piece 110, and the contact area between the transverse part of the top plate 40 and the top of the first movable block 1 and between the transverse part of the top plate 40 and the bottom of the first connecting piece 110 is reduced through the gasket 60, so that the friction resistance between the transverse part of the top plate 40 and the top of the first movable block 1 and between the transverse part of the top plate 40 and the bottom of the first connecting piece 110 is reduced, and the rotation flexibility of the first movable block 1 is further improved.

As shown in fig. 1, a gasket 60 is also disposed between the fixing caps 30 at two ends of the second shaft body 6 and the second movable block 2, and between the fixing caps 30 at two ends of the third shaft body 7 and the third movable block 3, and the function of the gasket 60 is to improve the flexibility of rotation of each movable block, and the use of the gasket 60 belongs to a common technical means in the prior art, which is not described herein.

In some embodiments, as shown in fig. 5 and 6, the fourth movable block 4 is provided with a mounting plate 70 for mounting the grabbing unit 9, and the convenience of mounting the grabbing unit 9 is further improved through the connection function of the mounting plate 70.

In a practical production embodiment, as shown in fig. 5 and 6, the number of the mounting plates 70 is two, one ends of the two mounting plates 70 are respectively connected to two sides of the fourth movable block 4, and the other ends of the two mounting plates 70 are connected to two sides of the connecting arm 91, i.e., the connecting arm 91 is clamped and fixed by the two mounting plates 70, thereby increasing the stability of the connection between the fourth movable block 4 and the connecting arm 91.

As shown in fig. 2, when the grabbing unit 9 performs a descending motion to grab a part to be machined, the fourth movable block 4 slides into the third slot position 31 along the Z direction along with the supporting action of the grabbing unit 9 and is matched with the third shaft body 7, the fourth movable block 4 cannot rotate in the X direction in the third slot position 31 through the limiting action of the locking block 8, then the third movable block 3 slides into the clamping groove 101 along with the second shaft body 6, as shown in fig. 5 and 6, under the limiting action of the clamping groove 101, the third movable block 3 cannot rotate in the Y direction in the second slot position 21, and meanwhile, the second movable block 2 cannot rotate in the axial direction of the Z direction in the first slot position 11, so that the problem that a manipulator turns over when grabbing the part to be machined is avoided, the stability of grabbing the part of the manipulator is greatly improved, and the durability and the safety of the manipulator are enhanced; meanwhile, as shown in fig. 7 and 8, when the grabbing unit 9 grabs the part to be machined and then performs the lifting action, the first movable block 1, the second movable block 2, the third movable block 3 and the fourth movable block 4 are automatically reset under the action of gravity of each part on the manipulator and the part to be machined, so that the flexibility of grabbing the part to be machined next time by the manipulator is ensured, and the manipulator grabs the part to be machined with different volumes conveniently.

It should be noted that, the heights of the to-be-processed parts with different volumes are different, so that in the process of grabbing the to-be-processed parts by the grabbing unit 9 in a descending manner, the first movable block 1, the second movable block 2, the third movable block 3 and the fourth movable block 4 can move along the Z direction along with the to-be-processed parts with different heights, so that the manipulator can grab the to-be-processed parts with different volumes and heights, and the universality of the manipulator is greatly improved.

In some embodiments, as shown in fig. 2, 3 and 4, the top of the first shaft body 5 is connected with the first movable block 1 through a first elastic mechanism 10, and the first elastic mechanism 10 is used for limiting the first shaft body 5 to freely rotate, so as to avoid that the grabbing unit 9 greatly rotates along the axial direction of the Z direction due to acceleration generated when the manipulator moves and inertial force generated when the device stops; the two ends of the second shaft body 6 and the two ends of the third shaft body 7 are respectively connected with the second movable block 2 and the third movable block 3 through a second elastic mechanism 20, and the second elastic mechanism 20 is used for limiting the free rotation of the second shaft body 6 and the third shaft body 7, so that the large rotation of the grabbing unit 9 along the X direction and the Y direction caused by acceleration generated when the manipulator moves and inertial acting force generated when the equipment stops is avoided.

In some embodiments, referring to fig. 3, the first elastic mechanism 10 includes a first connecting piece 110 and two first connecting pieces 120, the first connecting piece 110 is connected with the first shaft body 5, the two first connecting pieces 120 are respectively disposed at the top of the first movable block 1, the two first connecting pieces 120 are respectively disposed at two sides of the first connecting piece 110, and a first spring 130 is respectively disposed between the two first connecting pieces 120 and two ends of the first connecting piece 110. When the second movable block 2 rotates along the axial direction of the Z direction through the first shaft body 5, the first shaft body 5 and the first connecting piece 110 synchronously rotate, and the first spring 130 is used for matching with the first connecting piece 120, so that the first connecting piece 110 resets after rotating, the first shaft body 5 resets after rotating, the flexibility of grabbing a part to be processed next time of the mechanical arm is ensured, and meanwhile, the phenomenon that the top of the third movable block 3 cannot slide into the clamping groove 101 due to the rotation dislocation of the first shaft body 5 is avoided.

In an actual production embodiment, as shown in fig. 3, the cross section of the first connecting piece 120 is in a zigzag shape, two ends of the first connecting piece 120 are respectively provided with a first hole site a121 and a second hole site a122, the first connecting piece 120 is installed at the top of the first movable block 1 through a screw penetrating through the second hole site a122, the first hole site a121 of the first connecting piece 120 is in a suspended state, two ends of the first connecting piece 110 are respectively provided with a first installation hole site 111, two ends of the first spring 130 are respectively provided with a hook part, and the hooks at two ends of the first spring 130 are respectively fastened in the first hole site a121 and the first installation hole site 111, so that reasonable assembly among the first connecting piece 110, the first connecting piece 120 and the first spring 130 is realized, and convenience in assembly and disassembly of the first elastic mechanism 10 is improved.

In some embodiments, as shown in fig. 4, the second elastic mechanism 20 includes a second connecting piece 210 and a second connecting piece 220, where the second connecting piece 210 is connected to the second shaft body 6 or the third shaft body 7, one end of the second connecting piece 220 is connected to a side wall of the second movable block 2 or the third movable block 3, the other end of the second connecting piece 220 is provided with a connecting plate, and a second spring 230 is respectively disposed between two ends of the connecting plate and two ends of the second connecting piece 210. When the third movable block 3 swings along the Y direction through the second shaft body 6, the second shaft body 6 and the second connecting piece 210 on the second movable block 2 synchronously rotate, and the second spring 230 on the second movable block 2 is matched with the second connecting piece 210, so that the second connecting piece 210 on the second movable block 2 resets after rotating, and the second shaft body 6 resets after rotating, thereby effectively avoiding the third movable block 3 from swinging greatly along the Y direction. Similarly, when the fourth movable block 4 swings along the X direction through the third shaft body 7, the third shaft body 7 and the second connecting piece 210 on the third movable block 3 synchronously rotate, and the second spring 230 on the third movable block 3 is matched with the second connecting piece 210, so that the second connecting piece 210 on the third movable block 3 resets after rotating, and the third shaft body 7 resets after rotating, thereby effectively avoiding the fourth movable block 4 from swinging greatly along the X direction.

For example, as shown in fig. 4, the second connecting piece 220 is in an inverted T shape, the vertical portion of the second connecting piece 220 is connected with the side wall of the second movable block 2 or the third movable block 3, the two ends of the transverse portion of the second connecting piece 220 are respectively provided with the first hole site B221 and the second hole site B222, the two ends of the second connecting piece 210 are respectively provided with the second mounting hole site 211, wherein the two ends of the second spring 230 are respectively provided with the hook portions, and the hooks at the two ends of the second spring 230 are respectively fastened in the second hole site a122 and the second mounting hole site 211, so as to realize reasonable assembly among the second connecting piece 210, the second connecting piece 220 and the second spring 230, and improve convenience of assembling and disassembling the second elastic mechanism 20.

In a practical embodiment, as shown in fig. 4, the vertical portion and the horizontal portion of the second connecting member 220 are configured to be detachably connected, so that the vertical portion and the horizontal portion of the second connecting member 220 can be detached for packaging, thereby saving packaging space.

In some embodiments, as shown in fig. 1, the top of the first shaft body 5, both ends of the second shaft body 6, and both ends of the third shaft body 7 are provided with fixing caps 30. Through the limiting effect of the fixed cap 30, the phenomenon that the top of the first shaft body 5 is easily separated from the first movable block 1, the two ends of the second shaft body 6 are easily separated from the second movable block 2 and the two ends of the third shaft body 7 are easily separated from the third movable block 3 is avoided, and the firmness of the manipulator is improved.

In some embodiments, as shown in fig. 1, first strip-shaped holes 201 are longitudinally arranged on two side walls of the second slot 21, two ends of the second shaft body 6 are slidably connected with the two first strip-shaped holes 201, and the diameters of the fixing caps 30 at two ends of the second shaft body 6 are larger than the distance between the first strip-shaped holes 201. The second shaft body 6 is matched with the first strip-shaped hole 201, so that sliding connection between the second shaft body 6 and two side walls of the second groove 21 is realized, and the third movable block 3 can slide up and down and swing along the Y direction through the second shaft body 6 matched with the first strip-shaped hole 201.

In some embodiments, as shown in fig. 1, a through hole 12 is provided at the top of the first movable block 1, the first shaft 5 is slidably connected to the through hole 12, and the bottom of the first shaft 5 penetrates through the through hole 12 to be connected to the top of the second movable block 2. Through the cooperation of first axis body 5 through-hole 12 to realize rotating between second movable block 2 and the first movable block 1 and be connected, make second movable block 2 can follow the axial rotation of Z direction.

In some embodiments, as shown in fig. 1, second bar-shaped holes 301 are longitudinally arranged on two side walls of the third slot 31, two ends of the third shaft body 7 are slidably connected with the two second bar-shaped holes 301, and the diameters of the fixing caps 30 at two ends of the third shaft body 7 are larger than the distance between the second bar-shaped holes 301. The third shaft body 7 is matched with the second strip-shaped hole 301, so that sliding connection between the third shaft body 7 and two side walls of the third groove position 31 is realized, and the fourth movable block 4 can slide up and down and swing along the X direction through the third shaft body 7 matched with the second strip-shaped hole 301.

To sum up, this application is through the bottom at first movable block 1, the bottom of second movable block 2 and the bottom of third movable block 3 reasonable setting up first trench 11 respectively, second trench 21 and third trench 31, and set up draw-in groove 101 at the both sides of first trench 11 respectively reasonable, and set up corresponding locking piece 8 on third movable block 3, make first movable block 1, second movable block 2, third movable block 3, fourth movable block 4, first axis body 5, second axis body 6 and third axis body 7 can realize snatching unit 9 and snatch the not unidimensional waiting to process the part of processing in a flexible way, avoided snatching unit 9 decline and snatch the in-process position offset of waiting to process the part, avoid the manipulator to appear turning on one's side when snatching the processing part, greatly improved the manipulator snatch the stability of waiting to process the part, the durability and the security of manipulator have been strengthened. In addition, through setting up first elastic mechanism 10 restriction first axis body 5 free rotation, and through setting up second elastic mechanism 20 restriction second axis body 6 and the free rotation of third axis body 7, avoid the acceleration that the manipulator produced when moving and the inertial force when equipment stops to lead to grabbing unit 9 to swing by a wide margin, greatly reduced the damage risk of manipulator and equipment.

It will be understood that equivalents and modifications will occur to those skilled in the art based on the present utility model and its spirit, and all such modifications and substitutions are intended to be included within the scope of the present utility model.

Claims (10)

1. The utility model provides a buffer stop of manipulator, its characterized in that includes first movable block, second movable block, third movable block, fourth movable block, first axis body, second axis body and third axis body, the bottom of first movable block is provided with the first trench of opening down, the bottom of second movable block is provided with the second trench of opening down, the bottom of third movable block is provided with the third trench of opening down, the top of second movable block through first axis body with the top of first movable block rotates to be connected, the both sides of first trench are provided with the draw-in groove of opening down respectively, the top of third movable block with draw-in groove cooperation is connected, the third movable block passes through the second axis body with the both sides wall sliding connection of second trench, the fourth movable block passes through the third axis body with the both sides wall sliding connection of third trench, be provided with on the third movable block and be used for restricting the locking piece after the fourth movable block swings, the fourth movable block has the fourth movable block to wait to snatch the processing unit.

2. The anti-collision device of the manipulator according to claim 1, further comprising a top plate and a mounting plate for connecting the manipulator, wherein the top plate is in an L shape, a vertical portion of the top plate is connected with the mounting plate, and a lateral portion of the top plate is connected with a top portion of the first movable block.

3. The collision avoidance device of the manipulator according to claim 1, wherein the fourth movable block is provided with a mounting plate for mounting the gripping unit.

4. The anti-collision device of the manipulator according to claim 1, wherein the top of the first shaft body is connected with the first movable block through a first elastic mechanism, and the first elastic mechanism is used for limiting the first shaft body to freely rotate; the two ends of the second shaft body and the two ends of the third shaft body are respectively connected with the second movable block and the third movable block through second elastic mechanisms, and the second elastic mechanisms are used for limiting the second shaft body and the third shaft body to freely rotate.

5. The anti-collision device of claim 4, wherein the first elastic mechanism comprises a first connecting piece and two first connecting pieces, the first connecting piece is connected with the first shaft body, the two first connecting pieces are respectively arranged at the top of the first movable block, the two first connecting pieces are respectively positioned at two sides of the first connecting piece, and first springs are respectively arranged between the two first connecting pieces and two ends of the first connecting piece.

6. The anti-collision device of the manipulator according to claim 4, wherein the second elastic mechanism comprises a second connecting piece and a second connecting piece, the second connecting piece is connected with the second shaft body or the third shaft body, one end of the second connecting piece is connected with the side wall of the second movable block or the side wall of the third movable block, the other end of the second connecting piece is provided with a connecting plate, and second springs are respectively arranged between two ends of the connecting plate and two ends of the second connecting piece.

7. The robot bumper of any of claims 1-6, wherein the top of the first shaft, the two ends of the second shaft, and the two ends of the third shaft are each provided with a securing cap.

8. The anti-collision device of the manipulator according to claim 7, wherein first strip-shaped holes are longitudinally formed in two side walls of the second slot respectively, two ends of the second shaft body are slidably connected with the two first strip-shaped holes respectively, and the diameters of the fixing caps at two ends of the second shaft body are larger than the distance between the first strip-shaped holes.

9. The anti-collision device of the manipulator according to claim 7, wherein a through hole is formed in the top of the first movable block, the first shaft body is slidably connected with the through hole, and the bottom of the first shaft body penetrates through the through hole and is connected with the top of the second movable block.

10. The anti-collision device of the manipulator according to claim 7, wherein second strip-shaped holes are longitudinally formed in two side walls of the third groove respectively, two ends of the third shaft body are slidably connected with the two second strip-shaped holes respectively, and diameters of fixing caps at two ends of the third shaft body are larger than the distance between the second strip-shaped holes.