CN112959368A - Manipulator anticollision structure with higher safety - Google Patents
Manipulator anticollision structure with higher safety Download PDFInfo
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- CN112959368A CN112959368A CN202110142484.3A CN202110142484A CN112959368A CN 112959368 A CN112959368 A CN 112959368A CN 202110142484 A CN202110142484 A CN 202110142484A CN 112959368 A CN112959368 A CN 112959368A
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- fixedly connected
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- manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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Abstract
The invention discloses a manipulator anti-collision structure with higher safety, and relates to the field of manipulators; the device aims to solve the problem that the existing device cannot perform self protection; the equipment specifically comprises a base, wherein the outer wall of the top of the base is fixedly connected with a mechanical arm, the outer wall of the top of one end of the mechanical arm is fixedly connected with a protection mechanism, the outer wall of one side of the base is fixedly connected with a switch assembly, and the protection mechanism comprises a support and a wrapping assembly. According to the invention, the protection mechanism is arranged, wherein the protection mechanism comprises the wrapping component and the probe rod component, when the mechanical arm moves to a dangerous area, the top ball firstly contacts with an external object, then the support rod is driven to move, the motion of the support rod at the moment is irregular, the top ball can move backwards and can also move to the side, the first telescopic rod and the second telescopic rod on the inner wall of the shell plate can play a good protection role on the support rod, and meanwhile, the probe rod component drives the electric brake component to move, so that a power supply is cut off, and the occurrence of a crash accident is avoided.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a manipulator anti-collision structure with higher safety.
Background
The existing mechanical arm is very high in sensitivity, so that a crash accident easily occurs once the operation is careless, an anti-collision mechanism needs to be additionally arranged to protect the mechanical arm, the existing mechanical arm anti-collision device is mostly of an electromagnetic structure, the operation sensitivity of the mechanical arm is affected by the mechanical arm anti-collision device, the electromagnetic induction is easily interfered by a complex environment, and the anti-collision effect is poor.
Through retrieval, chinese patent application No. 201410152240.3 discloses a manipulator anticollision structure, belongs to mechanical technical field. The mechanical arm solves the problem that the existing mechanical arm easily causes collision of a machine tool due to programming error or improper operation. This manipulator anticollision structure, including the locating plate, locate the swing piece between locating plate and the manipulator, the swing piece links firmly with the manipulator, has linked firmly the fixed plate on the locating plate, through connecting screw connection between swing piece and the fixed plate, is equipped with the response contact on the fixed plate, is equipped with on the swing piece to correspond the high sensitivity magnetic induction switch that sets up and take place the response with this response contact, is equipped with location structure and reset structure between fixed plate and the swing piece. The above patents suffer from the following disadvantages: the anticollision performance of the anticollision mechanism needs to be considered when the anticollision mechanism is designed, particularly, the anticollision mechanism is arranged on the manipulator and needs to contact the limiting assembly in advance of the manipulator, and the anticollision performance of the device adopting the rigid pin cannot be guaranteed.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a manipulator anti-collision structure with high safety.
In order to achieve the purpose, the invention adopts the following technical scheme:
a manipulator anti-collision structure with high safety comprises a base, wherein the outer wall of the top of the base is fixedly connected with an mechanical arm, the outer wall of the top of one end of the mechanical arm is fixedly connected with a protective mechanism, the outer wall of one side of the base is fixedly connected with a switch assembly, the protective mechanism comprises a support and a wrapping assembly, the inner wall of the wrapping assembly is slidably connected with a probe assembly, the wrapping assembly comprises a protective cylinder and a solution cylinder, the probe assembly comprises a top ball and a support rod, the outer wall of the bottom of the top ball is welded on the outer wall of the top end of the support rod, the outer wall of the bottom end of the support rod is fixedly connected with an upper column, the outer wall of the upper column is provided with six circumferentially arranged clamping grooves, the inner walls of the clamping grooves are fixedly connected with shell plates, the inner walls of the shell plates are, top outer wall fixedly connected with free bearing in the middle of the shell plate, free bearing top outer wall is connected with the hinge head through axle rotation, hinge head top outer wall fixedly connected with telescopic link two, seat head top outer wall fixedly connected with telescopic link one, board is decided to two top outer wall fixedly connected with of telescopic link, decide board both sides outer wall and be connected with the connector through axle rotation, connector bottom outer wall fixed connection is in a telescopic link bottom outer wall, decide board top outer wall fixedly connected with projection, projection top outer wall is provided with the ball cover, ball cover inner wall sliding connection has the ball, ball outer wall sliding connection is in a protection section of thick bamboo inner wall.
Preferably: the outer wall of the bottom of the upper column is fixedly connected with a middle column, the outer wall of the bottom of the middle column is provided with a ball head, the outer wall of the ball head is connected with a ball socket in a sliding mode, the outer wall of the bottom of the ball socket is welded with a lower column, the outer diameter of the middle column is consistent with the outer diameter of the lower column, and the outer diameter of the top ball.
Further: protection section of thick bamboo outer wall fixed connection is in the support inner wall, and support bottom outer wall fixed connection is in arm top outer wall, and solution jar outer wall fixed connection is in protection section of thick bamboo inner wall, protection section of thick bamboo one end inner wall fixedly connected with shrouding, and shrouding one side outer wall is laminated in solution jar one side outer wall, and solution jar is inside to be full of high-pressure fluid.
Further preferred is: the inner wall of the center of the sealing plate and the inner wall of the center of one side of the solution cylinder are both provided with through holes, the inner wall of each through hole is fixedly connected with a flow guide pipe, the inner wall of each solution cylinder is slidably connected with a piston disc, the outer wall of one side of each piston disc is provided with a connecting rod, and the outer wall of one end of each connecting rod is fixedly connected to the outer.
As a preferable aspect of the present invention: the protective cylinder is characterized in that the outer wall of the other end of the protective cylinder is fixedly connected with a seal ring, the inner wall of the seal ring is provided with rubber, the inner wall of the center of the rubber is fixedly connected with a sliding sleeve, the outer wall of the support rod is connected to the inner wall of the sliding sleeve in a sliding mode, the outer wall of one side of the solution cylinder is provided with an oil inlet pipe, the inner wall of the oil inlet pipe is connected.
Further preferred as the invention: the electric brake component comprises an external cylinder and a seat frame, wherein the outer wall of one side of the seat frame is fixedly connected to the outer wall of one side of the base, the outer wall of the external cylinder is fixedly connected to the inner wall of the seat frame, the number of the solution cylinders is two, and one solution cylinder outer wall is fixedly connected to the inner wall of the external cylinder.
As a still further scheme of the invention: the quantity of piston dish is two, one of them the connecting rod one end outer wall fixedly connected with telescopic link three of piston dish, three one end outer wall fixedly connected with sliders of telescopic link, the slider inner wall is provided with logical groove, leads to groove inner wall fixedly connected with picture peg, picture peg one side outer wall is provided with the chamfer.
On the basis of the scheme: the outer wall fixedly connected with control box of base one side, inside central processing module and the drive control module of being provided with of control box, control box one side outer wall is provided with the rectangular channel, slider outer wall sliding connection in rectangular channel inner wall, and the rectangular channel both sides inner wall is provided with the elasticity head of symmetry, and the inside circuit intercommunication of elasticity head and control box, slider inner wall are provided with the card hole, and the first outer wall joint of elasticity is in the card hole inner wall.
On the basis of the foregoing scheme, it is preferable that: the outer wall of one side of the mechanical arm is fixedly connected with a driving box, the inner wall of the driving box is provided with a clamping electric cylinder, the outer walls of the bottoms of two piston plates of the clamping electric cylinder are fixedly connected with claw arms, each claw arm is of a semicircular structure, the outer wall of one end of the flow guide pipe is fixedly connected with a linking pipe, and the outer wall of the other end of the linking pipe is fixedly connected with the other flow guide pipe.
The invention has the beneficial effects that:
1. the utility model provides a higher manipulator anticollision structure of security, through setting up protection machanism, wherein protection machanism comprises parcel subassembly and probe rod subassembly, when the arm moves danger area, the knob at first contacts with external object earlier, then drive the branch motion, the branch motion at this moment presents irregularity, both can backward motion, also can be to the side motion, and the telescopic link of shell inboard wall one and telescopic link two, can play good guard action to branch, the probe rod subassembly drives the electric brake subassembly motion simultaneously, thereby the power off, avoid the emergence of the accident of colliding.
2. The utility model provides a higher manipulator anticollision structure of security, through setting up telescopic link one and telescopic link two, when branch when the motion of a protection section of thick bamboo inner wall, compression telescopic link one and telescopic link two, and three triangle regions are found to two telescopic links two, offset initial impact force, simultaneously, the resilience that resets makes branch axle center and a protection section of thick bamboo tend to unanimously, then branch removes and drives the piston disc motion, compression fluid, fluid transmits to the electric brake subassembly, drives the electric brake subassembly motion, the power failure.
3. The utility model provides a higher manipulator anticollision structure of security, through setting up the coverboard, the coverboard inner wall sets up the spout, spout both sides inner wall is provided with the guide slot, spout inner wall sliding connection has a seat head, the outer wall welding of seat head both sides has the guide pillar, guide pillar outer wall sliding connection is in the guide slot inner wall, can carry on spacingly to the seat head, avoid rocking and twist reverse, and simultaneously, because the coverboard both ends are the closed packing state, thereby the range of movement of seat head has been restricted, further restriction the range of motion of telescopic link one, avoid offsetting the impact force stage, telescopic link one is still not flexible, its motion just has surpassed the spout stroke.
4. The utility model provides a higher manipulator anticollision structure of security, through setting up seal ring and sliding sleeve, because branch is under the drive of kicking ball, its motion presents irregularity, consequently produce wearing and tearing with the parcel subassembly easily, and the seal ring, the existence of the sliding sleeve of rubber and, can enough avoid branch when moving and a protection section of thick bamboo border department production friction, provide dustproof protection for utilizing the rubber to protect a section of thick bamboo inner wall simultaneously, avoid internal pollution, furthermore, through the flexible connection between sliding sleeve and the seal ring, make the branch motion more smooth and easy.
5. The utility model provides a higher manipulator anticollision structure of security, through setting up the electric brake subassembly, wherein when fluid transmits to the electric brake subassembly, the piston dish drives telescopic link three and moves down, the slider slides, the picture peg pushes away the elastic head, make the inside outage of control box, need manual recovery after the outage of simultaneous control box, and because the slider continues downstream, the elastic head joint is in the draw-in hole inner wall, thereby pin the draw-in hole and reset, make the manipulator after the shut down need the outage get rid of after all faults, can reopen, ensure safety.
Drawings
Fig. 1 is a schematic overall structural diagram of a robot anti-collision structure with high safety according to the present invention;
fig. 2 is a schematic structural diagram of a protection mechanism of a manipulator anti-collision structure with higher safety according to the present invention;
fig. 3 is a schematic structural diagram of a wrapping assembly of a robot collision avoidance structure with high safety according to the present invention;
fig. 4 is a schematic structural view of a probe assembly of a robot anti-collision structure with high safety according to the present invention;
fig. 5 is a schematic structural diagram of a shell plate of a robot anti-collision structure with high safety according to the present invention;
fig. 6 is a schematic structural view of a switch assembly of a robot anti-collision structure with high safety according to the present invention;
fig. 7 is a schematic structural view of a slider of a robot anti-collision structure with high safety according to the present invention;
fig. 8 is a schematic structural diagram of a control box of a robot anti-collision structure with high safety according to the present invention.
In the figure: the device comprises a base 1, a mechanical arm 2, a claw arm 3, a driving box 4, a protection mechanism 5, an engagement tube 6, a switch assembly 7, a control box 8, a support 9, a wrapping assembly 10, a probe rod assembly 11, a protection barrel 12, a solution cylinder 13, a piston disc 14, a sealing plate 15, a flow guide tube 16, a plug 17, a sealing ring 18, a sliding sleeve 19, a jacking ball 20, a support rod 21, an upper column 22, a lower column 23, a middle column 24, a shell plate 25, a first telescopic rod 26, a connecting head 27, a ball 28, a second telescopic rod 29, a hinge base 30, a third telescopic rod 31, a hole 32, a plugboard 33, a sliding block 34, an elastic head 35, an external barrel 36 and a seat frame 37.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
A manipulator anti-collision structure with high safety is shown in figures 1-8 and comprises a base 1, wherein the outer wall of the top of the base 1 is fixedly connected with a manipulator 2, the outer wall of the top of one end of the manipulator 2 is fixedly connected with a protection mechanism 5, and the outer wall of one side of the base 1 is fixedly connected with an electric brake assembly 7; the protection mechanism 5 comprises a support 9 and a wrapping assembly 10, the inner wall of the wrapping assembly 10 is connected with a probe rod assembly 11 in a sliding manner, the wrapping assembly 10 comprises a protection cylinder 12 and a solution cylinder 13, the probe rod assembly 11 comprises a top ball 20 and a support rod 21, the outer wall of the bottom of the top ball 20 is welded on the outer wall of the top end of the support rod 21, the outer wall of the bottom end of the support rod 21 is fixedly connected with an upper column 22, the outer wall of the upper column 22 is provided with six clamping grooves which are circumferentially arranged, the inner walls of the clamping grooves are fixedly connected with a shell plate 25, the inner wall of the shell plate 25 is provided with a sliding groove, the inner walls of two sides of the sliding groove are provided with guide grooves, the inner wall of the sliding groove is connected with a seat head in a sliding manner, the outer walls of two sides of the seat head are welded with guide columns, the outer walls of the guide columns are connected with, the outer wall of the top of the second telescopic rod 29 is fixedly connected with a fixed plate, the outer walls of the two sides of the fixed plate are rotatably connected with connectors 27 through shafts, the outer wall of the bottom of each connector 27 is fixedly connected with the outer wall of the bottom of the first telescopic rod 26, the outer wall of the top of the fixed plate is fixedly connected with a convex column, the outer wall of the top of the convex column is provided with a ball sleeve, the inner wall of the ball sleeve is slidably connected with balls 28, and the outer wall; the outer wall of the bottom of the upper column 22 is fixedly connected with a middle column 24, the outer wall of the bottom of the middle column 24 is provided with a ball head, the outer wall of the ball head is connected with a ball socket in a sliding manner, the outer wall of the bottom of the ball socket is welded with a lower column 23, the outer diameter of the middle column 24 is consistent with that of the lower column 23, and the outer diameter of the top ball 20 is consistent with; the outer wall of the protection cylinder 12 is fixedly connected to the inner wall of the support 9, the outer wall of the bottom of the support 9 is fixedly connected to the outer wall of the top of the mechanical arm 2, the outer wall of the solution cylinder 13 is fixedly connected to the inner wall of the protection cylinder 12, the inner wall of one end of the protection cylinder 12 is fixedly connected with a sealing plate 15, the outer wall of one side of the sealing plate 15 is attached to the outer wall of one side of the solution cylinder 13, and; through holes are formed in the central inner wall of the sealing plate 15 and the central inner wall of one side of the solution cylinder 13, a guide pipe 16 is fixedly connected to the inner wall of each through hole, a piston disc 14 is connected to the inner wall of the solution cylinder 13 in a sliding mode, a connecting rod is arranged on the outer wall of one side of the piston disc 14, and the outer wall of one end of the connecting rod is fixedly connected to the outer wall of one end; a sealing ring 18 is fixedly connected to the outer wall of the other end of the protection cylinder 12, rubber is arranged on the inner wall of the sealing ring 18, a sliding sleeve 19 is fixedly connected to the central inner wall of the rubber, the outer wall of the supporting rod 21 is connected to the inner wall of the sliding sleeve 19 in a sliding manner, an oil inlet pipe is arranged on the outer wall of one side of the solution cylinder 13, a plug 17 is connected to the inner wall of the oil inlet pipe through threads, and an anti-skid; when the mechanical arm 2 moves to a dangerous area, the top ball 20 firstly contacts with an external object and then drives the support rod 21 to move, the movement of the support rod 21 at the moment is irregular and can move backwards and sideways, the first telescopic rod 26 and the second telescopic rod 29 on the inner wall of the shell plate 25 can play a good protection role for the support rod 21, namely when the support rod 21 moves on the inner wall of the protection cylinder 12, the first telescopic rod 26 and the second telescopic rod 29 are compressed, the two telescopic rods 29 form a triangular area to offset the initial impact force, and meanwhile, the reset rebound impact force enables the axis of the support rod 21 to be consistent with that of the protection cylinder 12, then the support rod 21 moves to drive the piston disc 14 to move, so that oil is compressed and transmitted to the electric brake assembly 7 to disconnect power supply, and the mechanical arm is stopped urgently to avoid a collision accident; by arranging the protection mechanism 5, wherein the protection mechanism 5 consists of the wrapping component 10 and the probe rod component 11, when the mechanical arm 2 moves to a dangerous area, the top ball 20 firstly contacts with an external object, then the support rod 21 is driven to move, the movement of the support rod 21 at the moment is irregular, the top ball can move backwards and can also move to the side edge, the first telescopic rod 26 and the second telescopic rod 29 on the inner wall of the shell plate 25 can well protect the support rod 21, and meanwhile, the probe rod component 11 drives the electric brake component 7 to move, so that the power supply is cut off, and the occurrence of a collision accident is avoided; by arranging the first telescopic rod 26 and the second telescopic rod 29, when the supporting rod 21 moves on the inner wall of the protective cylinder 12, the first telescopic rod 26 and the second telescopic rod 29 are compressed, the two second telescopic rods 29 form a triangular area to offset initial impact force, meanwhile, the shaft center of the supporting rod 21 is enabled to be consistent with that of the protective cylinder 12 due to reset springback, then the supporting rod 21 moves to drive the piston disc 14 to move, oil is compressed, and the oil is transmitted to the electric brake assembly 7 to drive the electric brake assembly 7 to move, and a power supply is disconnected; by arranging the shell plate 25, the inner wall of the shell plate 25 is provided with the sliding groove, the inner walls of two sides of the sliding groove are provided with the guide grooves, the inner wall of the sliding groove is connected with the seat head in a sliding manner, the outer walls of two sides of the seat head are welded with the guide pillars, the outer walls of the guide pillars are connected with the inner wall of the guide grooves in a sliding manner, the seat head can be limited, shaking and twisting are avoided, meanwhile, the two ends of the shell plate 25 are in a closed state, so that the moving range of the seat head is limited, the moving range of the first telescopic rod 26 is further limited, the stage of offsetting impact force is avoided; through setting up seal ring 18 and sliding sleeve 19, because branch 21 is under the drive of knob 20, its motion presents irregularity, consequently produce wearing and tearing with parcel subassembly 10 easily, and seal ring 18, the sliding sleeve 19's of rubber and existence, can enough avoid branch 21 when moving with a protection section of thick bamboo 12 border department production friction, provide dustproof protection for utilizing the rubber to a protection section of thick bamboo 12 inner wall simultaneously, avoid internal contamination, furthermore, through sliding sleeve 19 and the flexonics between the seal ring 18, make branch 21 move more smoothly.
In order to realize the timely shutdown; as shown in fig. 1, 6, 7 and 8, the electric brake assembly 7 includes an external cylinder 36 and a seat frame 37, an outer wall of one side of the seat frame 37 is fixedly connected to an outer wall of one side of the base 1, an outer wall of the external cylinder 36 is fixedly connected to an inner wall of the seat frame 37, the number of the solution cylinders 13 is two, and an outer wall of one of the solution cylinders 13 is fixedly connected to an inner wall of the external cylinder 36; the number of the piston discs 14 is two, the outer wall of one end of a connecting rod of one of the piston discs 14 is fixedly connected with a third telescopic rod 31, the outer wall of one end of the third telescopic rod 31 is fixedly connected with a sliding block 34, the inner wall of the sliding block 34 is provided with a through groove, the inner wall of the through groove is fixedly connected with an inserting plate 33, and the outer wall of one side of the inserting plate 33 is provided with a chamfer; the outer wall of one side of the base 1 is fixedly connected with a control box 8, a central processing module and a driving control module are arranged in the control box 8, a rectangular groove is formed in the outer wall of one side of the control box 8, the outer wall of a sliding block 34 is connected to the inner wall of the rectangular groove in a sliding mode, symmetrical elastic heads 35 are arranged on the inner walls of two sides of the rectangular groove, the elastic heads 35 are communicated with an internal circuit of the control box 8, a clamping hole 32 is formed in the inner wall of the sliding block 34, and the outer wall of each elastic; the outer wall of one side of the mechanical arm 2 is fixedly connected with a driving box 4, the inner wall of the driving box 4 is provided with a clamping electric cylinder, the outer walls of the bottoms of two piston plates of the clamping electric cylinder are fixedly connected with claw arms 3, each claw arm 3 is of a semicircular structure, the outer wall of one end of the flow guide pipe 16 is fixedly connected with a linking pipe 6, and the outer wall of the other end of the linking pipe 6 is fixedly connected with the other flow guide pipe 16; through setting up electric brake subassembly 7, wherein when fluid transmits to electric brake subassembly 7, piston disc 14 drives three 31 of telescopic link and moves down, slider 34 slides, picture peg 33 pushes away elastic head 35, make 8 inside outage of control box, 8 need manual resumeeds after the outage of control box simultaneously, and because slider 34 continues downstream, elastic head 35 joint in card hole 32 inner wall, thereby pin sliding hole 34 and reset, make the manipulator after the shut down need the outage to get rid of after all the trouble, can reopen, ensure safety.
When the present embodiment is in use.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. The manipulator anti-collision structure with higher safety comprises a base (1), wherein the outer wall of the top of the base (1) is fixedly connected with a mechanical arm (2), the outer wall of the top of one end of the mechanical arm (2) is fixedly connected with a protection mechanism (5), the outer wall of one side of the base (1) is fixedly connected with an electric brake assembly (7), the manipulator anti-collision structure is characterized in that the protection mechanism (5) comprises a support (9) and a wrapping assembly (10), the inner wall of the wrapping assembly (10) is slidably connected with a probe rod assembly (11), the wrapping assembly (10) comprises a protection cylinder (12) and a solution cylinder (13), the probe rod assembly (11) comprises a top ball (20) and a support rod (21), the outer wall of the bottom of the top ball (20) is welded on the outer wall of the top end of the support rod (21), the outer wall of the bottom of the support rod (21) is fixedly connected with an, the inner wall of the shell plate (25) is provided with a sliding chute, the inner walls of two sides of the sliding chute are provided with guide grooves, the inner wall of the sliding chute is connected with a seat head in a sliding manner, the outer walls of two sides of the seat head are welded with guide pillars, the outer walls of the guide pillars are connected with the inner wall of the guide groove in a sliding manner, the number of the seat heads is two, the outer wall of the middle top of the shell plate (25) is fixedly connected with a hinged seat (30), the outer wall of the top of the hinged seat (30) is rotatably connected with a hinged head through a shaft, the outer wall of the top of the hinged head is fixedly connected with a telescopic rod II (29), the outer wall of the top of the seat head is fixedly connected with a telescopic rod I (26), the outer wall of the top of the telescopic rod II (29) is fixedly connected with a fixed plate, the outer walls, the outer wall of the ball (28) is connected with the inner wall of the protective cylinder (12) in a sliding way.
2. The manipulator collision avoidance structure with high safety according to claim 1, wherein a central column (24) is fixedly connected to the outer wall of the bottom of the upper column (22), a ball head is arranged on the outer wall of the bottom of the central column (24), a ball socket is slidably connected to the outer wall of the bottom of the ball socket, a lower column (23) is welded to the outer wall of the bottom of the ball socket, the outer diameter of the central column (24) is consistent with the outer diameter of the lower column (23), and the outer diameter of the top ball (20) is consistent with the outer diameter of the upper column.
3. The manipulator collision avoidance structure with high safety according to claim 2, wherein the outer wall of the protection cylinder (12) is fixedly connected to the inner wall of the support (9), the outer wall of the bottom of the support (9) is fixedly connected to the outer wall of the top of the mechanical arm (2), the outer wall of the solution cylinder (13) is fixedly connected to the inner wall of the protection cylinder (12), a sealing plate (15) is fixedly connected to the inner wall of one end of the protection cylinder (12), the outer wall of one side of the sealing plate (15) is attached to the outer wall of one side of the solution cylinder (13), and high-pressure oil is filled in the solution cylinder (13.
4. The manipulator collision avoidance structure with high safety according to claim 3, wherein the central inner wall of the closing plate (15) and the central inner wall of one side of the solution cylinder (13) are provided with through holes, the inner wall of the through holes is fixedly connected with a flow guide pipe (16), the inner wall of the solution cylinder (13) is slidably connected with a piston disc (14), the outer wall of one side of the piston disc (14) is provided with a connecting rod, and the outer wall of one end of the connecting rod is fixedly connected with the outer wall of one end of the lower column (23).
5. The manipulator anti-collision structure with high safety according to claim 4, wherein a seal ring (18) is fixedly connected to the outer wall of the other end of the protection cylinder (12), a rubber is arranged on the inner wall of the seal ring (18), a sliding sleeve (19) is fixedly connected to the inner wall of the center of the rubber, the outer wall of the support rod (21) is slidably connected to the inner wall of the sliding sleeve (19), an oil inlet pipe is arranged on the outer wall of one side of the solution cylinder (13), a plug (17) is connected to the inner wall of the oil inlet pipe through threads, and an anti-slip bulge is arranged on the outer wall of.
6. The manipulator collision avoidance structure with high safety according to claim 1, wherein the electric brake assembly (7) comprises an external cylinder (36) and a seat frame (37), the outer wall of one side of the seat frame (37) is fixedly connected to the outer wall of one side of the base (1), the outer wall of the external cylinder (36) is fixedly connected to the inner wall of the seat frame (37), the number of the solution cylinders (13) is two, and one of the outer walls of the solution cylinders (13) is fixedly connected to the inner wall of the external cylinder (36).
7. The manipulator anti-collision structure with high safety according to claim 4, wherein the number of the piston discs (14) is two, a third telescopic rod (31) is fixedly connected to the outer wall of one end of the connecting rod of one of the piston discs (14), a sliding block (34) is fixedly connected to the outer wall of one end of the third telescopic rod (31), a through groove is formed in the inner wall of the sliding block (34), an inserting plate (33) is fixedly connected to the inner wall of the through groove, and a chamfer is formed in the outer wall of one side of the inserting plate (33).
8. The manipulator anti-collision structure with high safety according to claim 1, wherein a control box (8) is fixedly connected to an outer wall of one side of the base (1), a central processing module and a driving control module are arranged inside the control box (8), a rectangular groove is formed in an outer wall of one side of the control box (8), an outer wall of the slider (34) is slidably connected to an inner wall of the rectangular groove, symmetrical elastic heads (35) are arranged on inner walls of two sides of the rectangular groove, the elastic heads (35) are communicated with an internal circuit of the control box (8), a clamping hole (32) is formed in an inner wall of the slider (34), and an outer wall of each elastic head (35) is clamped to an inner wall of the corresponding clamping hole (32.
9. The mechanical arm collision avoidance structure with high safety according to claim 4, wherein the outer wall of one side of the mechanical arm (2) is fixedly connected with the driving box (4), the inner wall of the driving box (4) is provided with a clamping electric cylinder, the outer walls of the bottoms of two piston plates of the clamping electric cylinder are fixedly connected with the claw arms (3), the claw arms (3) are of a semi-circular structure, the outer wall of one end of the flow guide pipe (16) is fixedly connected with the connecting pipe (6), and the outer wall of the other end of the connecting pipe (6) is fixedly connected with the other flow guide pipe (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110142484.3A CN112959368A (en) | 2021-02-02 | 2021-02-02 | Manipulator anticollision structure with higher safety |
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| JP2002254384A (en) * | 2001-02-27 | 2002-09-10 | Kansai Tlo Kk | Bump avoidance device and robot |
| CN105619453A (en) * | 2016-03-28 | 2016-06-01 | 李伦锦 | Collision protection device |
| CN206795885U (en) * | 2017-05-04 | 2017-12-26 | 苏军建 | A kind of robot anticollision device, collision-prevention device |
| CN109571551A (en) * | 2018-11-16 | 2019-04-05 | 江苏长虹智能装备股份有限公司 | A kind of automatic transporting machine people's air defense collision device |
| DE102017217882A1 (en) * | 2017-10-09 | 2019-04-11 | Festo Ag & Co. Kg | Collision protection device for a robot and robot equipped therewith |
| CN111152265A (en) * | 2020-03-02 | 2020-05-15 | 重庆好未来智能科技有限公司 | Intelligent robot's anticollision protection architecture |
| CN111331631A (en) * | 2020-01-13 | 2020-06-26 | 武汉东余自动化科技有限公司 | Anti-collision sensor for robot |
| CN112077823A (en) * | 2020-08-05 | 2020-12-15 | 嘉兴学院 | Mobile platform of pipe gallery inspection robot |
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| JP2002254384A (en) * | 2001-02-27 | 2002-09-10 | Kansai Tlo Kk | Bump avoidance device and robot |
| CN105619453A (en) * | 2016-03-28 | 2016-06-01 | 李伦锦 | Collision protection device |
| CN206795885U (en) * | 2017-05-04 | 2017-12-26 | 苏军建 | A kind of robot anticollision device, collision-prevention device |
| DE102017217882A1 (en) * | 2017-10-09 | 2019-04-11 | Festo Ag & Co. Kg | Collision protection device for a robot and robot equipped therewith |
| CN109571551A (en) * | 2018-11-16 | 2019-04-05 | 江苏长虹智能装备股份有限公司 | A kind of automatic transporting machine people's air defense collision device |
| CN111331631A (en) * | 2020-01-13 | 2020-06-26 | 武汉东余自动化科技有限公司 | Anti-collision sensor for robot |
| CN111152265A (en) * | 2020-03-02 | 2020-05-15 | 重庆好未来智能科技有限公司 | Intelligent robot's anticollision protection architecture |
| CN112077823A (en) * | 2020-08-05 | 2020-12-15 | 嘉兴学院 | Mobile platform of pipe gallery inspection robot |
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