WO2021017557A1 - 一种应用于工业机器人的防碰撞装置及防碰撞方法 - Google Patents
一种应用于工业机器人的防碰撞装置及防碰撞方法 Download PDFInfo
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- WO2021017557A1 WO2021017557A1 PCT/CN2020/087879 CN2020087879W WO2021017557A1 WO 2021017557 A1 WO2021017557 A1 WO 2021017557A1 CN 2020087879 W CN2020087879 W CN 2020087879W WO 2021017557 A1 WO2021017557 A1 WO 2021017557A1
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- vehicle body
- guide platform
- force
- lifting
- sliding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/04—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting directly on tread
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Definitions
- the invention relates to the technical field of industrial equipment, in particular to an anti-collision device and an anti-collision method applied to industrial robots.
- Industrial robots are multi-joint manipulators or multi-degree-of-freedom mechanical devices oriented to the industrial field, including AGV trolleys, robotic arms, etc.
- AGV trolleys are mainly used to carry some items, and collisions with other components will occur during the handling process. As a result, the items on the car fall off.
- Most of the current AGV cars do not have corresponding anti-collision devices. The impact force cannot be effectively reduced during a collision, and it is easy to cause certain damage to the trolley itself.
- most AGV trolleys cannot stop in time after the collision, which will cause the AGV trolley and other components to collide and collide twice.
- the existing patent publication number CN208745951U discloses an anti-collision device, which realizes energy through the cooperation between the squeeze rod, the button, the central control device, the connecting line and the wheels. After the AGV trolley collides, the movement of the AGV trolley can be stopped immediately, which avoids the problem that the AGV trolley will continue to move after the collision and cause a greater probability of a secondary collision.
- the device is used to obtain the collision point
- the key presses are arranged around the trolley in a ring shape. This method of setting multiple key presses not only requires the arrangement of many wires, but also requires great cost support.
- the purpose of the present invention is to provide an anti-collision device and an anti-collision method applied to industrial robots, so as to solve the problems raised in the background art.
- An anti-collision device applied to an industrial robot comprising a vehicle body and a supporting walking mechanism provided at the lower end thereof, the walking mechanism including a buffer frame and wheels provided on the buffer frame for supporting the walking of the vehicle body;
- the surface of the vehicle body has a cylindrical structure, and the vehicle body is provided with a mounting cavity inside the mounting cavity for detecting obstacles around the vehicle body through contact and transmitting the reaction force generated by the contact to obtain wheel brakes Powerful braking mechanism;
- the brake mechanism includes a lifting sleeve arranged at the middle position of the bottom of the installation cavity, and a lifting column is slidingly fitted inside the lifting sleeve.
- the cross section of the lifting sleeve and the lifting column adopts a rectangular structure or an elliptical structure.
- the upper end of the lifting sleeve A conical guide platform is arranged coaxially, and a plurality of return springs are distributed in an array outside the lower end of the conical guide platform, and the return spring connects the conical guide platform with the bottom of the installation cavity;
- a plurality of telescopic sleeves are distributed in an array on the outer side of the upper end of the vehicle body, the telescopic sleeve is slidingly fitted with a transmission column, the cross section of the telescopic sleeve and the transmission column is a rectangular or elliptical structure, and the outer end of the transmission column is provided with
- the inner end of the transmission column abuts against the surface of the tapered guide platform, and the detection plate and the surface of the vehicle body are connected by a contraction spring.
- the cone where the inner end of the transmission column is located is
- the surface of the guide platform is provided with a pressure detection block for detecting the squeezing force of the end of the transmission column.
- the pressure detection block is electrically connected to a processor for obtaining pressure information at the top of the installation cavity, and the output end of the processor Electrically connected to the auxiliary push rod provided on the top of the installation cavity for generating thrust on the top of the tapered guide platform so that the lifting column slides down along the lifting sleeve, and the output end of the auxiliary push rod is provided with the tapered guide platform Push plate with matching top bearing surface.
- the lower end of the lifting column is horizontally provided with a connecting rod extending above the wheel, and the end of the connecting rod is provided with a brake plate for resisting the wheel for braking purposes.
- the buffer frame includes two fixed blocks arranged in parallel at the lower end of the vehicle body, and at least two sliding rods arranged in parallel are erected between the two fixed blocks, and the two sliding rods slide on A sliding plate is sleeved, and a buffer spring is sleeved on the sliding rod between the sliding plate and the two fixed blocks.
- the two ends of the buffer spring are respectively connected with the fixed block and the sliding plate, and the lower end of the sliding plate is connected with a mounting block,
- the mounting block is rotatably provided with an axle with wheels mounted at its ends.
- the pressure detection block includes an annular plate coaxially arranged above the conical guide platform, and a number of pressure sensors for detecting pressure are arranged between the annular plate and the conical guide platform .
- the sliding rod is arranged at a certain angle with the horizontal plane.
- the sliding rod and the horizontal plane are arranged at an angle of 45 degrees.
- the sliding surfaces of the telescopic sleeve and the transmission column, the lifting sleeve and the lifting column are provided with a lubricating oil groove for convenient lubricating oil storage.
- the detection board has a spherical structure.
- the inner end of the transmission column is rotated by a fixed shaft and provided with a guide wheel for resisting the conical guide platform.
- An anti-collision method applied to an anti-collision device of an industrial robot includes the following steps:
- Step 1 The force is generated by the detection plate. Under the action of the force, the contraction spring will deform, and the transmission column will slide along the telescopic sleeve, thereby generating a pressing force on the surface of the pressure detection block. Due to the inclined structure of the tapered guide table surface , The squeezing force will produce a downward component force, which pushes the lifting column to slide along the lifting sleeve. At this time, the lifting column slides down along the lifting sleeve so that the connecting rod drives the brake plate to produce a squeezing force on the wheels to limit the wheels. Rotate
- Step 2 When the pressure detection block detects the pressure, the processor will receive the corresponding electrical signal. At this time, the processor will control the extension of the auxiliary push rod, and then generate downward pressure on the conical guide platform, thereby preventing the car body from directly collision.
- the present invention improves against the drawbacks of the existing device.
- the component force generated by the collision force is used as braking power through the cooperation of the transmission column and the conical guide platform.
- the collision is detected by the pressure detection block arranged in a ring shape, and the collision is detected by the control
- the auxiliary push rod supplements the braking power in time, and finally completes the anti-collision braking.
- the cost of this application is lower, there is no need to arrange a large number of circuits, and the collision force can be reduced and converted into braking. Power, greatly reduced costs, and strong practicability.
- Figure 1 is a schematic diagram of the structure of the present invention.
- Figure 2 is a top view of the structure of the transmission column and the tapered guide platform in the present invention.
- Fig. 3 is a schematic diagram of the structure of the lifting column and the conical guiding platform in the present invention.
- car body 1 car body 1, processor 2, guide wheel 3, auxiliary push rod 4, tapered guide table 5, fixed shaft 6, transmission column 7, return spring 8, lifting sleeve 9, lifting column 10, pressure detection block 11,
- the connecting rod 12 the sliding rod 13, the brake plate 14, the wheel 15, the sliding plate 16, the buffer spring 17, the fixed block 18, the telescopic sleeve 19, the detection plate 20, and the contraction spring 21.
- an anti-collision device applied to an industrial robot includes a vehicle body 1 and a walking mechanism provided at the lower end of the vehicle body for supporting.
- the walking mechanism includes a buffer frame and a Wheels 15 on the buffer frame for supporting the walking of the vehicle body 1;
- the buffer frame includes two fixed blocks 18 arranged in parallel at the lower end of the vehicle body 1, at least two sliding rods 13 arranged in parallel are erected between the two fixed blocks 18, and the two sliding rods 13 are slidably sleeved.
- the two ends of the buffer spring 17 are respectively connected with the fixed block 18 and the sliding plate 16.
- the sliding plate The lower end of the 16 is connected with a mounting block.
- the mounting block is rotated with an axle with wheels mounted at the end.
- the sliding plate 16 can slide along the sliding rod 13, and the buffer spring 17 can absorb the impact generated by walking. Force absorption, so that it can play the role of shock absorption for the car.
- the vibration here is generally the push back feeling generated by the starting of the wheel and the forward momentum when stopping.
- the surface of the vehicle body 1 has a cylindrical structure, and the vehicle body 1 is provided with a mounting cavity inside the mounting cavity for detecting obstacles around the vehicle body through contact and transmitting the reaction force generated by the contact to obtain
- the braking mechanism of wheel 15 braking force when the car body 1 collides with an external object, the braking mechanism can detect the obstacle information in time, and take braking action in time to prevent a secondary collision;
- the brake mechanism includes a lifting sleeve 9 arranged at the middle position of the bottom of the installation cavity.
- the lifting sleeve 9 is fitted with a lifting column 10 slidingly inside, and the cross section of the lifting sleeve 9 and the lifting column 10 adopts a rectangular structure or an elliptical structure,
- the rectangular column sleeve structure or the elliptical structure prevents relative rotation between the two, thereby making the later transmission more stable.
- the upper end of the lifting sleeve 9 is provided with a conical guide platform 5 coaxially.
- the return spring 8 connects the tapered guide platform 5 with the bottom of the installation cavity. The function of the return spring 8 is to ensure that the guide platform 5 is always at the set point without external force. Height, in order to transfer force in time, improve the accuracy of detection;
- a plurality of telescopic sleeves 19 are distributed in an array on the outer side of the upper end of the vehicle body 1, and a transmission column 7 is slidingly fitted in the telescopic sleeve 19.
- the outer end of the column 7 is provided with a detection plate 20 for direct contact with obstacles.
- the inner end of the transmission column 7 abuts against the surface of the conical guide platform 5, and a contraction spring passes between the detection plate 20 and the surface of the vehicle body 1.
- the function of the contraction spring 21 is to ensure the distance between the guide platform 5 and the inner end of the transmission column 7, and the surface of the tapered guide platform 5 where the inner end of the transmission column 7 is located is used to detect the end of the transmission column 7
- the pressure detecting block 11 of the pressing force is arranged in a ring shape on the outside of the conical guide platform 5, so that the pressing force at the inner end of each transmission column 7 can be detected.
- the block 11 is electrically connected to the processor 2 arranged at the top of the mounting cavity for obtaining pressure information, and the output end of the processor 2 is electrically connected to the top of the mounting cavity for generating a thrust on the top of the tapered guide platform 5
- the auxiliary push rod 4 that makes the lifting column 10 slide down along the lifting sleeve 9.
- the output end of the auxiliary push rod 4 is provided with a push plate that matches the top force surface of the tapered guide platform 5, and the setting of the push plate is increased ⁇ The area of action.
- the pressure detection block 11 includes an annular plate coaxially arranged above the conical guide platform 5, and a number of pressure sensors for detecting pressure are arranged between the annular plate and the conical guide platform 5, regardless of the annular When which position of the plate is under pressure, the pressure sensor will detect the pressure in time.
- the lower end of the lifting column 10 is horizontally provided with a connecting rod 12 extending above the wheel 15, and the end of the connecting rod 12 is provided with a brake plate 14 for resisting the wheel 15 for braking purposes.
- the working principle of the present invention is: when the car body 1 encounters an obstacle, the obstacle will generate a force on the detection plate 20. Under the action of the force, the contraction spring 21 will deform, and the transmission column 7 will slide along the telescopic sleeve 19 , And then generate a pressing force on the surface of the pressure detection block 11, due to the inclined structure of the tapered guide platform 5 surface, the pressing force will produce a downward component force, thereby pushing the lifting column 10 to slide along the lifting sleeve 9, because here The component force is too small to produce the frictional force that restricts the rotation of the wheel 15, so when the pressure detection block 11 detects the pressure, the processor 2 will receive the corresponding electrical signal, and the processor 2 will control the auxiliary push rod 4.
- the component force generated by the collision force is used as braking power through the cooperation of the transmission column 7 and the cone-shaped guide platform 5.
- the cone-shaped guide platform 5 here can convert the force in all directions into the vertical component force.
- the transmission performance is very strong.
- the collision is detected by the pressure detection block arranged in a ring, and the auxiliary push rod 4 is controlled to supplement the braking power in time, and finally the anti-collision braking is completed.
- the cost of the present application is lower, a large number of circuits do not need to be arranged, and the collision force can be reduced into braking power, which greatly reduces the cost and has strong practicability.
- the sliding rod 13 is set at a certain angle with the horizontal plane, preferably the angle is 45 degrees.
- the advantage of this tilt angle setting is that it can absorb the horizontal and vertical directions. Because the inclined sliding rod makes the sliding plate slide in the inclined direction, and the combination of the vertical and horizontal impact forces is the impact in the inclined direction, so the sliding rod 13 is set in an inclined manner to improve the performance of the device. Buffering effect.
- the sliding surfaces of the telescopic sleeve 19 and the transmission column 7, the lifting sleeve 9 and the lifting column 10 are provided with a lubricating oil groove for the storage of lubricating oil.
- the lubricating oil can greatly reduce the components. The abrasion between the components increases the service life between components and reduces the noise generated during work.
- the detection board 20 has a spherical structure, because the spherical structure is surrounded by an arc-shaped surface, no matter which direction the force is received, it can be converted into a force for driving the telescopic sleeve 19 and the transmission column 7 to slide relatively, so as to provide detection accuracy. .
- the inner end of the transmission column 7 is rotated by a fixed shaft 6 and is provided with a guide wheel 3 for resisting the tapered guide platform 5, so that the transmission column 7 follows When the surface of the tapered guide platform 5 slides, the guide wheel 3 converts the sliding friction into rolling friction, thereby reducing the wear between components.
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Abstract
一种应用于工业机器人的防碰撞装置及防碰撞方法，包括车体（1）以及设置在其下端起支撑作用的行走机构，行走机构包括缓冲架以及设置在缓冲架上用于支撑车体（1）行走的车轮（15）；车体（1）表面呈圆柱形结构，车体（1）内部设有安装腔，安装腔内部设有用于通过接触式检测车体四周障碍物体并将接触产生的反作用力进行传递以获得车轮（15）刹车力的刹车机构，通过传动柱（7）和锥形引导台（5）的配合将碰撞力产生的分力作为刹车动力，另外通过呈环状设置的压力检测块（11）对碰撞进行检测，并且通过控制辅助推动杆（4）及时为刹车动力进行补充，最终完成防碰撞制动。本装置的成本更低，不需要布置大量的电路，还能降碰撞力转换为刹车动力，极大的降低了成本，实用性强。
Description
本发明涉及工业设备技术领域，具体是一种应用于工业机器人的防碰撞装置及防碰撞方法。
工业机器人是面向工业领域的多关节机械手或多自由度的机器装置，其中包括AGV小车、机械手臂等，AGV小车主要用来搬运一些物品，在搬运的过程中会发生与其他部件的碰撞，会导致车上的物品掉落，当前的大多的AGV小车没有相对应的防碰撞装置，在受到
碰撞时不能有效的减轻冲击力的力道，容易对小车本身造成一定的损伤，同时大多的AGV小车在碰撞后不能及时的停止，会导致AGV小车与其他部件发生二次撞击与碰撞的问题。
针对上述问题，现有专利公告号为CN208745951U的专利公布了一种防碰撞装置，该装置通过通过挤压杆、按键器、中央控制装置、连接线和轮子之间的相互配合，从而实现了能在AGV小车发生碰撞后能立即将AGV小车的运动给停止，避免了在AGV小车发生碰撞后还会继续运动造成二次碰撞的概率较大的问题，但是该装置中用于获得取碰撞点的按键器呈环状设置在小车四周，这种设置多个按键器的方式不仅需要布置很多导线，还需要极大的成本支撑。
针对现有装置存在的问题，现在提供一种可以降低加工成本的防碰撞小车。
本发明的目的在于提供一种应用于工业机器人的防碰撞装置及防碰撞方法，以解决上述背景技术中提出的问题。
一种应用于工业机器人的防碰撞装置，包括车体以及设置在其下端起支撑作用的行走机构，所述行走机构包括缓冲架以及设置在缓冲架上用于支撑车体行走的车轮；
所述车体表面呈圆柱形结构，所述车体内部设有安装腔，所述安装腔内部设有用于通过接触式检测车体四周障碍物体并将接触产生的反作用力进行传递以获得车轮刹车力的刹车机构；
所述刹车机构包括设置在安装腔底部中间位置的升降套，所述升降套内部滑动配合有升降柱，所述升降套和升降柱的截面都采用矩形结构或椭圆形结构，所述升降套上端同轴设有锥形引导台，所述锥形引导台下端外侧阵列分布有若干个复位弹簧，所述复位弹簧将锥形引导台与安装腔底部连接；
所述车体上端外侧阵列分布有若干个伸缩套，所述伸缩套中滑动配合有传动柱，所述伸缩套和传动柱的截面为矩形或椭圆形结构，所述传动柱外端部设有用于直接与障碍物触碰的检测板，所述传动柱内端与锥形引导台表面相抵，所述检测板与车体表面之间通过收缩弹簧连接，所述传动柱内端部所在的锥形引导台表面设有用于检测传动柱端部挤压力的压力检测块，所述压力检测块电性连接设置在安装腔内顶部用于获得压力信息的处理器，所述处理器的输出端电性连接设置在安装腔内顶部用于对锥形引导台顶部产生推力以使得升降柱沿着升降套向下滑动的辅助推动杆，所述辅助推动杆的输出端设有与锥形引导台顶部受力面相配合的推板。
所述升降柱下端水平设有延伸至车轮上方的连接杆，所述连接杆末端设有用于抵住车轮以实现刹车目的的刹车板。
作为本发明进一步的方案：所述缓冲架包括设置在车体下端两个平行设置的固定块，两个固定块之间架设有至少两根平行设置的滑动杆，两个所述滑动杆上滑动套设有滑动板，滑动板与两个固定块之间的滑动杆上套设有缓冲弹簧，所述缓冲弹簧两端分别与固定块和滑动板连接，所述滑动板下端连接有安装块，所述安装块上转动设有端部安装有车轮的车轴。
作为本发明进一步的方案：所述压力检测块包括同轴设置在锥形引导台上方的环状板，所述环状板与锥形引导台之间设有若干个用于检测压力的压力传感器。
作为本发明进一步的方案：所述滑动杆与水平面之间呈一定角度设置。
作为本发明进一步的方案：所述滑动杆与水平面之间呈度45度夹角设置。
作为本发明进一步的方案：所述伸缩套和传动柱、所述升降套和升降柱的滑动面设有便于润滑油存储的润滑油槽。
作为本发明进一步的方案：所述检测板为球形结构。
作为本发明进一步的方案：所述传动柱内端部通过固定转轴转动设有用于抵住锥形引导台的引导轮。
一种应用于工业机器人的防碰撞装置的防碰撞方法，包括以下步骤：
步骤1：通过检测板产生作用力，在力的作用下，收缩弹簧会发生形变，传动柱沿着伸缩套滑动，进而对压力检测块表面产生挤压力，由于锥形引导台表面的斜面结构，挤压力会产生向下的分力，从而推动升降柱沿着升降套滑动，此时升降柱沿着升降套向下滑动进而使得连接杆驱动刹车板对车轮产生挤压力，以限制车轮转动；
步骤2：压力检测块检测到压力的时候，处理器会收到相应的电信号，此时处理器会控制辅助推动杆伸长，进而对锥形引导台产生下压力，从而阻止车体发生直接碰撞。
本发明针对现有装置的弊端进行改进，通过传动柱和锥形引导台的配合将碰撞力产生的分力作为刹车动力，另外通过呈环状设置的压力检测块对碰撞进行检测，并且通过控制辅助推动杆及时为刹车动力进行补充，最终完成防碰撞制动，相对现有技术中的检测方式而言，本申请的成本更低，不需要布置大量的电路，还能降碰撞力转换为刹车动力，极大的降低了成本，实用性强。
图1为本发明的结构示意图。
图2为本发明中传动柱和锥形引导台的结构俯视图。
图3为本发明中升降柱和锥形引导台的结构示意图。
其中：车体1、处理器2、引导轮3、辅助推动杆4、锥形引导台5、固定转轴6、传动柱7、复位弹簧8、升降套9、升降柱10、压力检测块11、连接杆12、滑动杆13、刹车板14、车轮15、滑动板16、缓冲弹簧17、固定块18、伸缩套19、检测板20、收缩弹簧21。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例1
请参阅图1-3，本发明实施例中，一种应用于工业机器人的防碰撞装置，包括车体1以及设置在其下端起支撑作用的行走机构，所述行走机构包括缓冲架以及设置在缓冲架上用于支撑车体1行走的车轮15；
所述缓冲架包括设置在车体1下端两个平行设置的固定块18，两个固定块18之间架设有至少两根平行设置的滑动杆13，两个所述滑动杆13上滑动套设有滑动板16，滑动板16与两个固定块18之间的滑动杆13上套设有缓冲弹簧17，所述缓冲弹簧17两端分别与固定块18和滑动板16连接，所述滑动板16下端连接有安装块，所述安装块上转动设有端部安装有车轮的车轴，在车体行走的时候，滑动板16可以沿着滑动杆13滑动，缓冲弹簧17能够将行走产生的冲击力吸收，这样就能为小车起到减震的作用，这里的震动一般为车轮行启动产生的推背感以及停止时的前冲力。
所述车体1表面呈圆柱形结构，所述车体1内部设有安装腔，所述安装腔内部设有用于通过接触式检测车体四周障碍物体并将接触产生的反作用力进行传递以获得车轮15刹车力的刹车机构，在车体1碰撞到外界物体时，刹车机构能够及时检测到障碍物信息，并且及时采取刹车行动，阻止发生二次碰撞；
所述刹车机构包括设置在安装腔底部中间位置的升降套9，所述升降套9内部滑动配合有升降柱10，所述升降套9和升降柱10的截面都采用矩形结构或椭圆形结构，这种矩形柱套结构或椭圆形结构防止二者之间发生相对转动，从而可以使得后期传动更加稳定，所述升降套9上端同轴设有锥形引导台5，所述锥形引导台5下端外侧阵列分布有若干个复位弹簧8，所述复位弹簧8将锥形引导台5与安装腔底部连接，复位弹簧8的作用是保证引导台5在没有外力的作用下始终处于所设定的高度，以便及时将力进行传递，提高了检测的准确性；
所述车体1上端外侧阵列分布有若干个伸缩套19，所述伸缩套19中滑动配合有传动柱7，所述伸缩套19和传动柱7的截面为矩形或椭圆形结构，所述传动柱7外端部设有用于直接与障碍物触碰的检测板20，所述传动柱7内端与锥形引导台5表面相抵，所述检测板20与车体1表面之间通过收缩弹簧21连接，收缩弹簧21的作用是确保引导台5与传动柱7内端部之间的距离，所述传动柱7内端部所在的锥形引导台5表面设有用于检测传动柱7端部挤压力的压力检测块11，所述压力检测块11成环状布置在锥形引导台5外侧，这样就可以对每个传动柱7内端部的挤压力进行检测，所述压力检测块11电性连接设置在安装腔内顶部用于获得压力信息的处理器2，所述处理器2的输出端电性连接设置在安装腔内顶部用于对锥形引导台5顶部产生推力以使得升降柱10沿着升降套9向下滑动的辅助推动杆4，所述辅助推动杆4的输出端设有与锥形引导台5顶部受力面相配合的推板，推板的设置增大了作用面积。
所述压力检测块11包括同轴设置在锥形引导台5上方的环状板，所述环状板与锥形引导台5之间设有若干个用于检测压力的压力传感器，无论环状板哪个位置受到压力时，压力传感器会及时检测到压力。
所述升降柱10下端水平设有延伸至车轮15上方的连接杆12，所述连接杆12末端设有用于抵住车轮15以实现刹车目的的刹车板14。
本发明的工作原理是：在车体1遇到障碍物时，障碍物会对检测板20产生作用力，在力的作用下，收缩弹簧21会发生形变，传动柱7沿着伸缩套19滑动，进而对压力检测块11表面产生挤压力，由于锥形引导台5表面的斜面结构，挤压力会产生向下的分力，从而推动升降柱10沿着升降套9滑动，由于这里的分力太小，不足以产生限制车轮15转动的摩擦力，所以在压力检测块11检测到压力的时候，处理器2会收到相应的电信号，此时处理器2会控制辅助推动杆4伸长，进而对锥形引导台5产生下压力，此时升降柱10沿着升降套9向下滑动进而使得连接杆12驱动刹车板14对车轮15产生挤压力，以限制车轮15转动，从而阻止车体1发生直接碰撞；
本申请通过传动柱7和锥形引导台5的配合将碰撞力产生的分力作为刹车动力，这里的锥形引导台5可以将四周各个方向的力转换成竖直方向的分力，力的传递性能很强，另外通过呈环状设置的压力检测块对碰撞进行检测，并且通过控制辅助推动杆4及时为刹车动力进行补充，最终完成防碰撞制动，相对现有技术中的检测方式而言，本申请的成本更低，不需要布置大量的电路，还能降碰撞力转换为刹车动力，极大的降低了成本，实用性强。
实施例2
为了使得小车的缓冲架也能吸收纵向颠簸冲击，所述滑动杆13与水平面之间呈一定角度设置，优选角度为45度，这种倾斜角度设置的好处是可以吸收水平方向和竖直方向的力，因为这种倾斜的滑动杆使得滑动板沿着倾斜方向滑动，而竖直方向和水平方向冲击力的合成即是倾斜方向的冲击，因此将滑动杆13设置成倾斜的方式可以提高装置的缓冲效果。
实施例3
为了降低部件之间的磨损，所述伸缩套19和传动柱7、所述升降套9和升降柱10的滑动面设有便于润滑油存储的润滑油槽，通过设置润滑油可以极大的降低部件之间的磨损，提高部件之间的使用寿命，降低工作时产生的噪音。
实施例4
所述检测板20为球形结构，因为球形结构四周为弧形面无论哪个方向收到力的作用都可以转换成驱动伸缩套19和传动柱7相对滑动的力，这样就可以提供检测的准确性。
实施例5
为了降低传动柱7端部对锥形引导台5的磨损，所述传动柱7内端部通过固定转轴6转动设有用于抵住锥形引导台5的引导轮3，这样传动柱7沿着锥形引导台5表面滑动时，引导轮3会将滑动摩擦转换成滚动摩擦，从而降低了部件之间的磨损。
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
Claims (9)
- 一种应用于工业机器人的防碰撞装置，包括车体（1）以及设置在其下端起支撑作用的行走机构，所述行走机构包括缓冲架以及设置在缓冲架上用于支撑车体（1）行走的车轮（15）；其特征在于，所述车体（1）表面呈圆柱形结构，所述车体（1）内部设有安装腔，所述安装腔内部设有用于通过接触式检测车体四周障碍物体并将接触产生的反作用力进行传递以获得车轮（15）刹车力的刹车机构；所述刹车机构包括设置在安装腔底部中间位置的升降套（9），所述升降套（9）内部滑动配合有升降柱（10），所述升降套（9）和升降柱（10）的截面都采用矩形结构或椭圆形结构，所述升降套（9）上端同轴设有锥形引导台（5），所述锥形引导台（5）下端外侧阵列分布有若干个复位弹簧（8），所述复位弹簧（8）将锥形引导台（5）与安装腔底部连接；所述车体（1）上端外侧阵列分布有若干个伸缩套（19），所述伸缩套（19）中滑动配合有传动柱（7），所述伸缩套（19）和传动柱（7）的截面为矩形或椭圆形结构，所述传动柱（7）外端部设有用于直接与障碍物触碰的检测板（20），所述传动柱（7）内端与锥形引导台（5）表面相抵，所述检测板（20）与车体（1）表面之间通过收缩弹簧（21）连接；所述传动柱（7）内端部所在的锥形引导台（5）表面设有用于检测传动柱（7）端部挤压力的压力检测块（11），所述压力检测块（11）电性连接设置在安装腔内顶部用于获得压力信息的处理器（2），所述处理器（2）的输出端电性连接设置在安装腔内顶部用于对锥形引导台（5）顶部产生推力以使得升降柱（10）沿着升降套（9）向下滑动的辅助推动杆（4），所述辅助推动杆（4）的输出端设有与锥形引导台（5）顶部受力面相配合的推板；所述升降柱（10）下端水平设有延伸至车轮（15）上方的连接杆（12），所述连接杆（12）末端设有用于抵住车轮（15）以实现刹车目的的刹车板（14）。
- 根据权利要求1所述的应用于工业机器人的防碰撞装置，其特征在于，所述缓冲架包括设置在车体（1）下端两个平行设置的固定块（18），两个固定块（18）之间架设有至少两根平行设置的滑动杆（13），两个所述滑动杆（13）上滑动套设有滑动板（16），滑动板（16）与两个固定块（18）之间的滑动杆（13）上套设有缓冲弹簧（17），所述缓冲弹簧（17）两端分别与固定块（18）和滑动板（16）连接，所述滑动板（16）下端连接有安装块，所述安装块上转动设有端部安装有车轮的车轴。
- 根据权利要求1所述的应用于工业机器人的防碰撞装置，其特征在于，所述压力检测块（11）包括同轴设置在锥形引导台（5）上方的环状板，所述环状板与锥形引导台（5）之间设有若干个用于检测压力的压力传感器。
- 根据权利要求2所述的应用于工业机器人的防碰撞装置，其特征在于，所述滑动杆（13）与水平面之间呈一定角度设置。
- 根据权利要求4所述的应用于工业机器人的防碰撞装置，其特征在于，所述滑动杆（13）与水平面之间呈45度夹角设置。
- 根据权利要求1所述的应用于工业机器人的防碰撞装置，其特征在于，所述伸缩套（19）和传动柱（7）、所述升降套（9）和升降柱（10）的滑动面设有便于润滑油存储的润滑油槽。
- 根据权利要求1所述的应用于工业机器人的防碰撞装置，其特征在于，所述检测板（20）为球形结构。
- 根据权利要求1所述的应用于工业机器人的防碰撞装置，其特征在于，所述传动柱（7）内端部通过固定转轴（6）转动设有用于抵住锥形引导台（5）的引导轮（3）。
- 根据权利要求1-8任一所述的应用于工业机器人的防碰撞装置的防碰撞方法，其特征在于，包括以下步骤：步骤1：通过检测板（20）产生作用力，在力的作用下，收缩弹簧（21）会发生形变，传动柱（7）沿着伸缩套（19）滑动，进而对压力检测块（11）表面产生挤压力，由于锥形引导台（5）表面的斜面结构，挤压力会产生向下的分力，从而推动升降柱（10）沿着升降套（9）滑动，此时升降柱（10）沿着升降套（9）向下滑动进而使得连接杆（12）驱动刹车板（14）对车轮（15）产生挤压力，以限制车轮（15）转动；步骤2：压力检测块（11）检测到压力的时候，处理器（2）会收到相应的电信号，此时处理器（2）会控制辅助推动杆（4）伸长，进而对锥形引导台（5）产生下压力，从而阻止车体（1）发生直接碰撞。
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| CN108721909A (zh) * | 2018-08-06 | 2018-11-02 | 湖州振锋贸易有限公司 | 多功能儿童玩具车 |
| CN110341832A (zh) * | 2019-07-29 | 2019-10-18 | 南京涵铭置智能科技有限公司 | 一种应用于工业机器人的防碰撞装置及防碰撞方法 |
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