Anti-collision protection device for tail end of manipulator

Abstract

The utility model relates to an anti-collision protection device for the tail end of a manipulator. The anti-collision protection device comprises an inner sleeve, an outer sleeve and a plurality of buttons. The inner sleeve is connected with the tail end of the manipulator; the outer sleeve is connected with the manipulator tail end tool, is supported outside the inner sleeve through a supporting assembly, and can move relative to the inner sleeve when the manipulator tail end tool is collided; the button is arranged on the inner sleeve and / or the outer sleeve and can be triggered by the outer sleeve and / or the inner sleeve when the outer sleeve moves relative to the inner sleeve so as to output a switching value signal. When a tool at the tail end of the manipulator collides with surrounding objects, the outer sleeve moves relative to the inner sleeve, and the button is triggered to output a switching value signal, so that the robot system performs operations such as alarming, avoiding or stopping. And the switching value signal output by the button is a binary signal and only has two states: on (ON) and off (OFF), so that compared with an analog signal, the switching value signal is easy to distinguish and more stable and reliable, and the subsequent processing is not easy to make mistakes.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to an anti-collision protection device for the end of a robot arm. Background Art

[0002] When the end tool of the manipulator is working, due to accidents, failures, accidental entry of personnel and equipment, etc., the end tool of the manipulator collides with surrounding objects. At this time, the system must alarm and shut down. The existing end of the manipulator is usually equipped with a sensor (such as a proximity switch). When the end tool of the manipulator collides with surrounding objects, the sensor will output an analog signal, such as a current signal of 4mA~20mA. The system will judge whether the end tool of the manipulator collides with surrounding objects based on this signal. However, the analog signal output by the sensor is a range, which not only leads to high signal processing costs, but also may lead to misjudgment. Summary of the invention

[0003] Based on this, it is necessary to provide an anti-collision protection device for the end of the manipulator to address the above technical problems.

[0004] An anti-collision protection device for the end of a manipulator, comprising:

[0005] An inner sleeve connected to the end of the manipulator;

[0006] an outer sleeve, the outer sleeve being connected to the manipulator end tool, the outer sleeve being supported on the outside of the inner sleeve by a supporting assembly, and being movable relative to the inner sleeve when the manipulator end tool is collided; and

[0007] A plurality of buttons are arranged on the inner sleeve and / or the outer sleeve, and can be triggered by the outer sleeve and / or the inner sleeve to output a switching signal when the outer sleeve moves relative to the inner sleeve.

[0008] In one embodiment, the inner sleeve includes a first circumferential side wall and a first end wall, the first circumferential side wall is arranged around the central axis of the anti-collision protection device, and the first end wall is arranged on a side of the first circumferential side wall away from the end of the manipulator; the plurality of buttons include a plurality of transverse buttons and a plurality of longitudinal buttons, the transverse buttons are arranged on the first circumferential side wall along the circumference of the inner sleeve, and the longitudinal buttons are arranged on the first end wall;

[0009] When the end tool of the manipulator collides laterally, at least one of the lateral buttons is triggered;

[0010] When the manipulator end tool undergoes a longitudinal collision, at least one of the longitudinal buttons is triggered;

[0011] When the manipulator end tool is tilted and collides, at least one of the transverse buttons and / or at least one of the longitudinal buttons is triggered.

[0012] In one embodiment, the transverse buttons are evenly arranged on the first circumferential side wall along the circumference of the inner sleeve, and / or the longitudinal buttons are evenly arranged on the first end wall along the circumference of the inner sleeve.

[0013] In one embodiment, the outer sleeve includes a second circumferential side wall and a second end wall, the second circumferential side wall is arranged around the central axis of the anti-collision protection device, and the second end wall is arranged on a side of the circumferential side wall away from the end of the manipulator;

[0014] The second circumferential side wall is provided with a transverse pressing piece arranged along the circumference, and the transverse pressing piece is used to trigger the corresponding transverse button; and / or the second end wall is provided with a longitudinal pressing piece, and the longitudinal pressing piece is used to trigger the corresponding longitudinal button.

[0015] In one embodiment, the support assembly includes an elastic member, and the elastic member is arranged between a side of the inner sleeve away from the end of the manipulator and a side of the outer sleeve away from the end of the manipulator;

[0016] The elastic member has a first deformation amount Δx1 before the robot end tooling collides, and the elastic member has a second deformation amount Δx2 after the robot end tooling collides, wherein Δx1<Δx2.

[0017] In one embodiment, a first boss is provided on a side of the outer sleeve away from the end of the manipulator, a second boss is provided on a side of the inner sleeve away from the end of the manipulator, and two ends of the elastic member are respectively sleeved on the outside of the first boss and the outside of the second boss.

[0018] In one embodiment, the inner sleeve has a through hole on one side away from the end of the manipulator, and the support assembly also includes a reinforcement member, the reinforcement member has a first end and a second end that are relatively arranged, the first end of the reinforcement member is connected to the outer sleeve on the side away from the end of the manipulator, and the second end of the reinforcement member can be passed through the through hole and has a clearance between the through hole.

[0019] In one embodiment, a limiting head is provided at the second end of the reinforcement, and the support assembly further includes a retaining ring, which is provided between the limiting head and the side of the inner sleeve away from the end of the manipulator, the inner diameter of the retaining ring is greater than or equal to the diameter of the second end of the reinforcement, and the outer diameter of the retaining ring is greater than the aperture of the through hole.

[0020] In one of the embodiments, the anti-collision protection device further includes a connecting flange, which is disposed on a side of the inner sleeve close to the end of the manipulator and is used to connect the inner sleeve to the end of the manipulator.

[0021] In one embodiment, the anti-collision protection device also includes an elastic sleeve, which has a first end and a second end that are relatively arranged, the first end of the elastic sleeve is wrapped around the outside of the outer sleeve and connected to the outer sleeve, and the second end of the elastic sleeve is wrapped around the outside of the connecting flange and connected to the connecting flange.

[0022] In the above-mentioned anti-collision protection device, when the end tool of the manipulator collides with surrounding objects, the collision force acts on the outer sleeve of the anti-collision protection device, and the outer sleeve moves relative to the inner sleeve under the action of the collision force, so that the outer sleeve and / or the inner sleeve triggers the button, and the button outputs a switch signal. The control subject of the robot system performs operations such as alarm, avoidance or shutdown based on the switch signal, thereby protecting the end tool of the manipulator and surrounding objects. Among them, the switch signal output by the button is a binary signal with only two states: on (ON) and off (OFF). Compared with analog signals, this signal is easy to distinguish, more stable and reliable, less prone to errors in subsequent processing, and easier to configure electrical components.

[0023] It can be seen that the anti-collision protection device provided in the present application, by setting a button between the inner sleeve and the outer sleeve, can not only simplify the structure of the anti-collision protection device, reduce costs, and facilitate maintenance, but also make the output signal of the device more stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] FIG1 is a schematic diagram of the three-dimensional structure of an anti-collision protection device for the end of a manipulator provided in one embodiment of the present application.

[0025] FIG. 2 is a side view of the anti-collision protection device provided in FIG. 1 .

[0026] FIG. 3 is a cross-sectional view of the anti-collision protection device provided in FIG. 2 along the AA direction.

[0027] FIG. 4 is a cross-sectional view of the anti-collision protection device provided in FIG. 2 in the BB direction.

[0028] The reference numerals in the accompanying drawings are described as follows:

[0029] 10. Anti-collision protection device; 100. Inner sleeve; 110. First circumferential side wall; 120. First end wall; 100a. Second boss; 100b. Through hole; 100b. Clearance; 200. Outer sleeve; 210. Second circumferential side wall; 220. Second end wall; 200a. First boss; 300. Support assembly; 310. Elastic member; 320. Reinforcement member; 321. Limiting head; 330. Retaining ring; 400. Button; 410. Horizontal button; 420. Vertical button; 510. Horizontal pressing member; 520. Vertical pressing member; 600. Connecting flange; 700. Elastic sleeve. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0031] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0032] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0033] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0034] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0035] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0036] As shown in Figures 1 and 2, an embodiment of the present application provides a schematic structural diagram of an anti-collision protection device 10 for a manipulator end. Further, referring to Figure 3, the anti-collision protection device 10 includes an inner sleeve 100, an outer sleeve 200 and a plurality of buttons 400; the inner sleeve 100 is connected to the manipulator end; the outer sleeve 200 is connected to the manipulator end tool, the outer sleeve 200 is supported on the outside of the inner sleeve 100 by a support assembly 300, and can move relative to the inner sleeve 100 when the manipulator end tool is collided; the button 400 is arranged on the inner sleeve 100 and / or the outer sleeve 200, and can be triggered by the outer sleeve 200 and / or the inner sleeve 100 when the outer sleeve 200 moves relative to the inner sleeve 100, so as to output a switch signal.

[0037] The anti-collision protection device 10 of the present application is applied to a robot system, and plays a protective role when a robot end tool (such as a welding gun, a nozzle, etc.) collides. When the robot end tool collides with surrounding objects, the collision force acts on the outer sleeve 200 of the anti-collision protection device 10, and the outer sleeve 200 moves relative to the inner sleeve 100 under the action of the collision force, so that the outer sleeve 200 and / or the inner sleeve 100 trigger the button 400, and the button 400 outputs a switch signal. The control body of the robot system performs operations such as alarm, avoidance or shutdown based on the switch signal, thereby protecting the robot end tool and surrounding objects. Among them, the switch signal output by the button 400 is a binary signal with only two states: ON and OFF. Compared with the analog signal, the signal is easy to distinguish, more stable and reliable, less prone to errors in subsequent processing, and easier to configure electrical components.

[0038] It can be seen that the anti-collision protection device 10 provided in the present application, by setting a button 400 between the inner sleeve 100 and the outer sleeve 200, can not only simplify the structure of the anti-collision protection device 10, reduce costs, and facilitate maintenance, but also make the output signal of the device more stable and reliable.

[0039] In some embodiments of the present application, the button 400 may be disposed on the inner sleeve 100. The button 400 may include a button, a button box, an action contact and a reset spring. The button may be slidably disposed on the button box to drive the action contact to perform a corresponding action. The reset spring is disposed on the button box and is used to reset the button. The button box of the button 400 runs through the entire wall of the inner sleeve 100, and the button extends from the inner sleeve 100 so as to be triggered by the outer sleeve 200. The button 400 is disposed on the inner sleeve 100 to facilitate the disassembly and assembly of the button 400.

[0040] All buttons 400 are connected in series in sequence. As long as one of the buttons 400 is triggered, the control body of the system will perform operations such as alarm, avoidance or shutdown, so as to timely and effectively protect the end tool of the robot and surrounding objects.

[0041] 3 , the inner sleeve 100 may include a first circumferential side wall 110 and a first end wall 120. The first circumferential side wall 110 is arranged around the central axis of the anti-collision protection device 10, and the first end wall 120 is arranged on a side of the first circumferential side wall 110 away from the end of the manipulator. The structure of the outer sleeve 200 is the same as that of the inner sleeve 100, and includes a second circumferential side wall 210 and a second end wall 220.

[0042] As shown in FIG3 , the plurality of buttons 400 include a plurality of transverse buttons 410 and a plurality of longitudinal buttons 420. The transverse buttons 410 are arranged on the first circumferential side wall 110 along the circumference of the inner sleeve 100, and the longitudinal buttons 420 are arranged on the first end wall 120 of the inner sleeve 100. When the end tool of the manipulator collides transversely, at least one transverse button 410 is triggered; when the end tool of the manipulator collides longitudinally, at least one longitudinal button 420 is triggered; when the end tool of the manipulator collides obliquely, at least one transverse button 410 and / or at least one longitudinal button 420 are triggered. By arranging the transverse buttons 410 and the longitudinal buttons 420, it can be ensured that the buttons 400 can be triggered when the end tool of the manipulator collides transversely, longitudinally, and obliquely, and it can monitor whether the end tool of the manipulator collides in all directions. It should be noted that the straight solid arrow in FIG3 represents the transverse direction, the straight dashed arrow represents the longitudinal direction, and the oblique direction refers to the direction between the transverse direction and the longitudinal direction.

[0043] It can be understood that the button box of the transverse button 410 penetrates the first circumferential side wall 110 along the radial direction of the inner sleeve 100 , and the button box of the longitudinal button 420 penetrates the first end wall 120 along the axial direction of the inner sleeve 100 .

[0044] Referring to Fig. 4, the transverse buttons 410 can be evenly arranged on the first circumferential side wall 110 of the inner sleeve 100 along the circumference of the inner sleeve 100. Such arrangement of the transverse buttons 410 can further ensure all-round monitoring of whether the end tool of the manipulator has a collision. Similarly, the longitudinal buttons 420 are evenly arranged on the first end wall 120 of the inner sleeve 100 along the circumference of the inner sleeve 100. Such arrangement of the longitudinal buttons 420 can also further ensure all-round monitoring of whether the end tool of the manipulator has a collision.

[0045] The number of the horizontal buttons 410 and the vertical buttons 420 can be reasonably set according to the outer diameter of the anti-collision protection device 10, and it is not easy to set too few or too many. If too few are set, the monitoring accuracy cannot be guaranteed; if too many are set, it is not conducive to wiring and the processing difficulty can be increased. For example, if the outer diameter of the anti-collision protection device 10 is 100 mm, the horizontal buttons 410 are evenly set along the circumference of the inner sleeve 100 as shown in FIG. 4, and the vertical buttons 420 are evenly set along the circumference of the inner sleeve 100. Two.

[0046] In order to enable the outer sleeve 200 to effectively trigger the transverse button 410 without increasing the wall thickness of the second circumferential side wall 210 of the outer sleeve 200, referring to FIG. 3 , the second circumferential side wall 210 is provided with a transverse pressing member 510 arranged along the circumference, and the transverse pressing member 510 is used to trigger the corresponding transverse button 410. The provision of the transverse pressing member 510 can not only reduce the wall thickness of the second circumferential side wall 210, but also facilitate the routing of the button 400. Among them, the transverse pressing member 510 can be a threaded member, such as a screw, and by screwing the screw, the length of the threaded member extending into the outer sleeve 200 can be adjusted to meet different working conditions, so that when the manipulator end tool is hit with different forces, the transverse pressing member 510 can trigger the transverse button 410. It can be understood that the number and arrangement of the transverse pressing members 510 are the same as those of the transverse button 410.

[0047] Similarly, referring to FIG3 , the second end wall 220 is provided with a longitudinal pressing member 520, and the longitudinal pressing member 520 is used to trigger the corresponding longitudinal button 420. The provision of the longitudinal pressing member 520 can not only reduce the wall thickness of the second end wall 220, but also facilitate the routing of the button 400. The longitudinal pressing member 520 can be a threaded member, such as a screw, and by screwing the screw, the length of the threaded member extending into the outer sleeve 200 can be adjusted to meet different working conditions, so that when the end tool of the manipulator is subjected to collisions of different forces, the longitudinal pressing member 520 can trigger the transverse button 410. It can be understood that the number and arrangement of the longitudinal pressing members 520 are the same as those of the longitudinal buttons 420.

[0048] Referring to FIG. 3 , in some embodiments of the present application, the support assembly 300 includes an elastic member 310, which is disposed between a side of the inner sleeve 100 away from the end of the manipulator and a side of the outer sleeve 200 away from the end of the manipulator to support the outer sleeve 200, that is, the elastic member 310 is disposed between the first end wall 120 of the inner sleeve 100 and the second end wall 220 of the outer sleeve 200. The elastic member 310 has a first deformation amount Δx1 before the end tool of the manipulator collides, and the elastic member 310 has a second deformation amount Δx2 after the end tool of the manipulator collides, wherein Δx1<Δx2.

[0049] The elastic member 310 has a first deformation amount Δx1 before the robot end tool collides, so that the elastic member 310 has a certain pre-tightening force, so that when the robot end tool does not collide and operates normally, the outer sleeve 200 will not shake due to its own inertia under the action of the pre-tightening force of the elastic member 310, which can avoid the button 400 from being triggered by mistake and ensure the correctness of the device monitoring. The first deformation amount Δx1 is smaller than the second deformation amount Δx2 of the elastic member 310 after the robot end tool collides, so that after the robot end tool collides, the elastic member 310 can continue to change phase under the movement of the outer sleeve 200, which can ensure that the button 400 can be effectively triggered.

[0050] The elastic member 310 may be a spring.

[0051] Referring to FIG. 3 , a first boss 200a is provided on the side of the outer sleeve 200 away from the end of the manipulator, a second boss 100a is provided on the side of the inner sleeve 100 away from the end of the manipulator, and two ends of the elastic member 310 are respectively sleeved on the outside of the first boss 200a and the outside of the second boss 100a. The installation of the elastic member 310 can be achieved by sleeved the two ends of the elastic member 310 on the outside of the first boss 200a and the outside of the second boss 100a, which is convenient for the disassembly and assembly of the elastic member 310, and the elastic member 310 with different elastic coefficients can be adjusted according to the load size when the end tool of the manipulator collides. As an example, the button box of the longitudinal button 420 axially penetrates the second boss 100a and the first end wall 120 of the inner sleeve 100, and the button of the longitudinal button 420 extends to the outside of the second boss 100a.

[0052] Further, referring to FIG. 3 , the inner sleeve 100 has a through hole 100b on one side away from the end of the manipulator, and the support assembly 300 further includes a reinforcing member 320, which has a first end and a second end arranged opposite to each other, and the first end of the reinforcing member 320 is connected to the side of the outer sleeve 200 away from the end of the manipulator, and the second end of the reinforcing member 320 can be passed through the through hole 100b and has a clearance gap 100b between the through hole 100b. The reinforcing member 320 can limit the relative position between the outer sleeve 200 and the inner sleeve 100, ensure that the overall rigidity of the device is within the allowable range, and prevent the device from being scrapped due to large deformation. Among them, when the end tool of the manipulator collides longitudinally, the second end of the reinforcement 320 can be driven by the outer sleeve 200 to pass through the through hole 100b of the inner sleeve 100; when the end of the manipulator collides laterally, due to the clearance gap 100b between the second end of the reinforcement 320 and the through hole 100b, the second end of the reinforcement 320 can move laterally under the drive of the outer sleeve 200; when the end tool of the manipulator collides obliquely, due to the clearance gap 100b between the second end of the reinforcement 320 and the through hole 100b, the second end of the reinforcement 320 can move obliquely under the drive of the outer sleeve 200.

[0053] The reinforcing member 320 may be a screw, and the tail of the screw (ie, the first end of the reinforcing member 320 ) is threadedly connected to the outer sleeve 200 .

[0054] The number of the reinforcing members 320 may be multiple, such as two as shown in FIG. 4 , and the multiple reinforcing members 320 may be alternately and evenly arranged with the longitudinal pressing members 520 along the circumferential direction.

[0055] Further, referring to FIG3 , a limiting head 321 is provided at the second end of the reinforcement member 320, and the support assembly 300 further includes a retaining ring 330, which is provided between the limiting head 321 and the side of the inner sleeve 100 away from the end of the manipulator, and the inner diameter of the retaining ring 330 is greater than or equal to the diameter of the second end of the reinforcement member 320, and the outer diameter of the retaining ring 330 is greater than the aperture of the through hole 100b. Through the cooperation between the limiting head 321 and the retaining ring 330, the reinforcement member 320 can be prevented from being separated from the inner sleeve 100, the rigidity of the entire device can be effectively guaranteed, and the elastic member 310 can also have a first deformation amount Δx1 before the end tool of the manipulator collides.

[0056] As shown in FIG3 , in some embodiments of the present application, the anti-collision protection device 10 further includes a connecting flange 600, which is disposed on a side of the inner sleeve 100 close to the end of the manipulator, and is used to connect the inner sleeve 100 to the end of the manipulator. The connecting flange 600 facilitates the connection between the inner sleeve 100 of the anti-collision protection device 10 and the end of the manipulator.

[0057] Further, as shown in FIGS. 1 to 3 , the anti-collision protection device 10 further includes an elastic sheath 700, which has a first end and a second end that are arranged opposite to each other, the first end of the elastic sheath 700 is wound around the outside of the outer sleeve 200 and connected to the outer sleeve 200, and the second end of the elastic sheath 700 is wound around the outside of the connecting flange 600 and connected to the connecting flange 600. The elastic sheath 700 can prevent external water or dust from entering the outside of the protection device, thereby playing a protective role.

[0058] The elastic sheath 700 may be a rubber sheath, which is more easily deformed with the movement of the outer sleeve 200. The elastic sheath 700 may be connected to the outer sleeve 200 and the connecting flange 600 by interference fit.

[0059] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An anti-collision protection device for the end of a manipulator, characterized in that: include: An inner sleeve connected to the end of the manipulator; An outer sleeve, the outer sleeve is connected to the manipulator end tool, the outer sleeve is supported on the outside of the inner sleeve by a support assembly, and can move relative to the inner sleeve when the manipulator end tool is collided; as well as A plurality of buttons are arranged on the inner sleeve and / or the outer sleeve, and can be triggered by the outer sleeve and / or the inner sleeve to output a switching signal when the outer sleeve moves relative to the inner sleeve.

2. The anti-collision protection device according to claim 1, characterized in that: The inner sleeve comprises a first circumferential side wall and a first end wall, the first circumferential side wall is arranged around the central axis of the anti-collision protection device, and the first end wall is arranged on a side of the first circumferential side wall away from the end of the manipulator; the plurality of buttons comprises a plurality of transverse buttons and a plurality of longitudinal buttons, the transverse buttons are arranged on the first circumferential side wall along the circumference of the inner sleeve, and the longitudinal buttons are arranged on the first end wall; When the end tool of the manipulator collides laterally, at least one of the lateral buttons is triggered; When the end tool of the manipulator collides longitudinally, at least one of the longitudinal buttons is triggered; When the manipulator end tool is tilted and collides, at least one of the transverse buttons and / or at least one of the longitudinal buttons is triggered.

3. The anti-collision protection device according to claim 2, characterized in that: The transverse buttons are evenly arranged on the first circumferential side wall along the circumference of the inner sleeve, and / or the longitudinal buttons are evenly arranged on the first end wall along the circumference of the inner sleeve.

4. The anti-collision protection device according to claim 2, characterized in that: The outer sleeve includes a second circumferential side wall and a second end wall, the second circumferential side wall is arranged around the central axis of the anti-collision protection device, and the second end wall is arranged on a side of the circumferential side wall away from the end of the manipulator; The second circumferential side wall is provided with a transverse pressing piece arranged along the circumference, and the transverse pressing piece is used to trigger the corresponding transverse button; and / or the second end wall is provided with a longitudinal pressing piece, and the longitudinal pressing piece is used to trigger the corresponding longitudinal button.

5. The anti-collision protection device according to any one of claims 1 to 4, characterized in that: The support assembly includes an elastic member, and the elastic member is arranged between a side of the inner sleeve away from the end of the manipulator and a side of the outer sleeve away from the end of the manipulator; The elastic member has a first deformation amount Δx1 before the robot end tooling collides, and the elastic member has a second deformation amount Δx2 after the robot end tooling collides, wherein Δx1<Δx2.

6. The anti-collision protection device according to claim 5, characterized in that: A first boss is provided on a side of the outer sleeve away from the end of the manipulator, a second boss is provided on a side of the inner sleeve away from the end of the manipulator, and two ends of the elastic member are respectively sleeved on the outside of the first boss and the outside of the second boss.

7. The anti-collision protection device according to claim 5, characterized in that: The inner sleeve has a through hole on one side away from the end of the manipulator, and the support assembly also includes a reinforcement member, which has a first end and a second end that are relatively arranged. The first end of the reinforcement member is connected to the outer sleeve on the side away from the end of the manipulator, and the second end of the reinforcement member can be passed through the through hole and has a clearance between the reinforcement member and the through hole.

8. The anti-collision protection device according to claim 7, characterized in that: A limiting head is provided at the second end of the reinforcement, and the support assembly also includes a retaining ring, which is provided between the limiting head and the side of the inner sleeve away from the end of the manipulator, the inner diameter of the retaining ring is greater than or equal to the diameter of the second end of the reinforcement, and the outer diameter of the retaining ring is greater than the aperture of the through hole.

9. The anti-collision protection device according to any one of claims 1 to 5, characterized in that: The anti-collision protection device also includes a connecting flange, which is arranged on a side of the inner sleeve close to the end of the manipulator and is used to connect the inner sleeve to the end of the manipulator.

10. The anti-collision protection device according to claim 9, characterized in that: The anti-collision protection device also includes an elastic sleeve, which has a first end and a second end that are arranged opposite to each other. The first end of the elastic sleeve is wrapped around the outside of the outer sleeve and connected to the outer sleeve, and the second end of the elastic sleeve is wrapped around the outside of the connecting flange and connected to the connecting flange.

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