Anti-collision protection device for end effector

Abstract

The present invention discloses an anti-collision protection device for an end actuator, comprising a cylinder, a shell, a mounting rod, a magnet mounting plate, an attraction mechanism and a plurality of auxiliary mechanisms, wherein a sensor is installed on each side of the cylinder, a flange connecting plate is provided on the top of the cylinder, the flange connecting plate is connected to the robot, the magnet mounting plate is connected to the top of the mounting rod, a semicircular plate is installed at each end of the bottom of the magnet mounting plate, the semicircular plate is clamped in a conical groove opened on the side of the cylinder, the attraction mechanism comprises a plurality of upper magnets and a plurality of lower magnets, the auxiliary mechanism is installed under the connecting bottom plate, the auxiliary mechanism comprises a support seat and a sliding cylinder slidably sleeved on the outside of the support seat, a mounting rod is slidably provided on the upper end of the support seat, the upper end of the mounting rod passes through the buffer sleeve and is connected to the bottom of the mounting plate, the present invention has good buffering effect and high safety in use.

Description

Technical Field

[0001] The invention relates to the technical field of robot components, and in particular to an anti-collision protection device for an end effector. Background Art

[0002] With the development of science and technology, artificial intelligence is becoming more and more advanced. In the production process of enterprises, many manually operated workstations are gradually replaced by robots, which not only improves the degree of automation, but also greatly improves work efficiency. However, since robots are often rigidly connected, robots may collide with peripheral equipment due to emergencies during the execution of commands, which will cause damage to robot components. In severe cases, the entire robot may be scrapped, which is not conducive to the production safety of the enterprise. Summary of the invention

[0003] In view of this, the present invention provides an anti-collision protection device for an end effector to solve the above technical problems.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] An anti-collision protection device for an end effector, comprising:

[0006] A cylinder, a sensor is installed on each side of the cylinder, a top cover is provided on the cylinder, a flange connection plate is provided on the top cover, and the flange connection plate is connected to the robot;

[0007] A housing, the housing comprising a connecting bottom plate and a pair of side plates, the connecting bottom plate being connected to the bottom of the cylinder, and the side plates being connected to the outer side of the sensor on the side corresponding to the installation of the cylinder;

[0008] A first mounting rod, the upper end of which slides through the connecting bottom plate and extends into the cylinder, and a mounting plate is connected to the lower side of the first mounting rod;

[0009] A magnet mounting plate, the magnet mounting plate is connected to the first mounting rod, and the two ends of the magnet mounting plate are respectively inductively coupled to the sensor, a semicircular plate is respectively mounted on the two ends of the bottom of the magnet mounting plate, the semicircular plate is clamped in a conical groove provided on the side of the cylinder, and the sensor is located outside the semicircular plate;

[0010] The suction mechanism includes a plurality of upper magnets installed under the magnet mounting plate and a plurality of lower magnets arranged under the upper magnets and suctioned to the upper magnets.

[0011] Furthermore, it also includes a plurality of auxiliary mechanisms, which are installed under the connecting base plate. The auxiliary mechanism includes a support seat and a slide tube slidably mounted on the outside of the support seat. The lower end and side of the support seat are provided with a plurality of buffer wheels for resisting impact. A buffer sleeve is provided on the top of the slide tube. A second mounting rod is slidably provided on the upper end of the support seat. The upper end of the second mounting rod passes through the buffer sleeve and is connected to the bottom of the connecting base plate. The lower end of the second mounting rod passes through the lower cavity of the support seat and is installed with a nut. The auxiliary mechanism also includes a mounting seat and a protective sleeve. The mounting seat is installed on the top of the slide tube, the buffer sleeve is installed on the top of the mounting seat, and the protective sleeve is sleeved on the mounting part of the buffer sleeve.

[0012] Furthermore, the auxiliary mechanism also includes a conical cylinder and a support sleeve, the conical cylinder is slidably installed in the conical cavity of the sliding cylinder and is sleeved on the second mounting rod, the support sleeve is sleeved on the upper end of the second mounting rod and is located above the conical cylinder, and a plurality of sliding rods are installed under the conical cylinder, and a spring is sleeved on the sliding rod, and the upper and lower ends of the spring respectively abut against the lower surface of the conical cylinder and the upper surface of the support seat.

[0013] Furthermore, the buffer sleeve also includes a buffer portion, which is connected to the top of the mounting portion, the upper end of the support sleeve is abutted against the inner upper end of the buffer portion, an accommodating cavity is opened on the outer side of the upper end of the mounting portion, the protective sleeve is accommodated in the accommodating cavity, and a concave cavity is opened on the outer side of the lower end of the mounting portion, and the protrusion of the mounting seat is embedded in the concave cavity.

[0014] Furthermore, the protective sleeve includes a sleeve body, which is sleeved in the accommodating cavity, and the outer surface of the sleeve body is provided with a plurality of upper side wings, a plurality of middle side wings and a plurality of lower side wings, and the middle side wings are located between the corresponding upper side wings and the lower side wings.

[0015] Furthermore, the support seat also includes a base and a support platform, the slide cylinder is arranged on the base, the support platform is connected to the upper end of the base and is located in the conical cavity, the lower end of the second mounting rod is slidably connected in the support platform, and the lower end of the spring is against the upper surface of the support platform.

[0016] Furthermore, a plurality of support rods are arranged on the slide cylinder, the plurality of support rods are in an annular structure, and the mounting seat and the mounting portion surround the plurality of support rods.

[0017] Furthermore, the upper wing and the middle wing are both bent and extended obliquely upward, the upper side of the outer end of the upper wing abuts against the lower surface of the buffer portion, and the lower wing is bent and extended obliquely downward.

[0018] Furthermore, a sensor mounting plate is respectively installed on both sides of the cylinder, and the sensor is installed outside the sensor mounting plate on the corresponding side.

[0019] Furthermore, the suction mechanism also includes a plurality of magnet pads, the magnet pads are installed at the bottom of the cylinder, and the lower magnet is installed on the top of the magnet pads.

[0020] It can be seen from the above technical solution that the advantages of the present invention are:

[0021] 1. The present invention can send out a signal in time when the robot collides, thereby controlling the robot to stop, which can greatly reduce the damage to the robot and make it safer when executing commands;

[0022] 2. The present invention also has an auxiliary mechanism, which can provide buffering, thereby reducing the collision impact force of the robot, thereby causing less damage, and the auxiliary mechanism has a low manufacturing cost and is easy to replace, thereby reducing production costs.

[0023] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic diagram of the structure of the present invention.

[0026] Figure 2 It is a left side view of the connection between the cylinder and the semicircular plate of the present invention.

[0027] Figure 3 It is a structural schematic diagram of the auxiliary mechanism of the present invention.

[0028] Figure 4 for Figure 3 A partial enlarged view of point A.

[0029] List of reference numerals: housing 1, connecting bottom plate 11, side plate 12, cylinder 2, conical groove 21, sensor mounting plate 22, sensor 23, top cover plate 24, flange connecting plate 25, magnet mounting plate 3, semicircular plate 31, suction mechanism 4, magnet pad 41, upper magnet 42, lower magnet 43, first mounting rod 5, mounting plate 51, auxiliary mechanism 6, support seat 61, base 611, support platform 612, sliding hole 6121, second Mounting rod 613, nut 614, lower cavity 615, buffer wheel 616, slide cylinder 62, conical cavity 622, support rod 623, conical cylinder 63, slide rod 631, spring 632, mounting seat 64, protrusion 641, protective cover 65, cover body 651, upper side wing 652, middle side wing 653, lower side wing 654, buffer cover 66, buffer part 661, accommodating cavity 662, concave cavity 663, mounting part 664, support cover 67. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] refer to Figures 1 to 4 ,like Figure 1 and Figure 2The anti-collision protection device of an end effector shown in the figure comprises a cylinder 2, a shell 1, a first mounting rod 5, a magnet mounting plate 3, a suction mechanism 4 and a plurality of auxiliary mechanisms 6, a sensor 23 is installed on each side of the cylinder 2, a top cover plate 24 is provided on the top of the cylinder 2, a flange connecting plate 25 is provided on the top cover plate 24, and the flange connecting plate 25 is connected to the robot, the shell 1 comprises a connecting bottom plate 11 and a pair of side plates 12, the connecting bottom plate 11 is connected to the bottom of the cylinder 2, the side plate 12 is connected to the outer side of the sensor 23 on the corresponding side of the cylinder 2, and the first mounting rod 5 is connected to the outer side of the sensor 23 on the corresponding side of the cylinder 2. The upper end of the first mounting rod 5 slides through the connecting bottom plate 11 and extends into the cylinder 2. A mounting plate 51 is connected to the bottom of the first mounting rod 5. The mounting plate 51 is connected to the gripper of the robot. The magnet mounting plate 3 is connected to the top of the first mounting rod 5, and the two ends of the magnet mounting plate 3 are respectively inductively coupled to the sensor 23. A semicircular plate 31 is installed at each end of the bottom of the magnet mounting plate 3. The semicircular plate 31 is stuck in the conical groove 21 opened on the side of the cylinder 2. The semicircular plate 31 is used to limit the rotation of the first mounting rod 5. The sensor 23 is located outside the semicircular plate 31. The mechanism 4 includes a plurality of upper magnets 42 mounted under the magnet mounting plate 3 and a plurality of lower magnets 43 arranged under the upper magnets 42 and mutually attracted to the upper magnets 42. The auxiliary mechanism 6 is mounted under the connecting base plate 11. The auxiliary mechanism 6 includes a support seat 61 and a slide cylinder 62 slidably sleeved on the outside of the support seat 61. The lower end and side of the support seat 61 are provided with a plurality of buffer wheels 616 for resisting impact. The buffer wheels 616 are rubber wheels with a certain impact resistance. The plurality of buffer wheels 616 surround the outside of the support seat 61 and can provide 360° protection. In order to achieve better protection, a buffer sleeve 66 is provided on the slide cylinder 62, and a second mounting rod 613 is slidably provided on the upper end of the support seat 61. The upper end of the second mounting rod 613 passes through the buffer sleeve 66 and is connected to the bottom of the connecting base plate 11. The lower end of the second mounting rod 613 passes through the lower cavity 615 of the support seat 61 and is installed with a nut 614. The nut 614 is used to limit the connection relationship between the second mounting rod 613 and the support seat 61. A disc spring is provided between the nut 614 and the top wall of the lower cavity 615, and the disc spring can reduce the collision between the nut 614 and the lower cavity 615.

[0032] like Figure 3 The auxiliary mechanism 6 also includes a mounting seat 64 and a protective cover 65. The mounting seat 64 is installed on the slide 62, the buffer cover 66 is installed on the mounting seat 64, and the protective cover 65 is sleeved on the mounting portion 664 of the buffer cover 66.

[0033] Preferably, the auxiliary mechanism 6 also includes a conical cylinder 63 and a support sleeve 67, the conical cylinder 63 is slidably installed in the conical cavity 622 of the slide cylinder 62 and is sleeved on the second mounting rod 613, the support sleeve 67 is sleeved on the upper end of the second mounting rod 613 and is located above the conical cylinder 63, and a plurality of sliding rods 631 are installed under the conical cylinder 63, and a spring 632 is sleeved on the sliding rod 631, and the upper and lower ends of the spring 632 respectively abut against the lower surface of the conical cylinder 63 and the upper surface of the support seat 61, and the buffer between the conical cylinder 63 and the support seat 61 can be improved by the sliding rod 631 and the spring 632.

[0034] Preferably, the buffer sleeve 66 also includes a buffer portion 661, the buffer portion 661 is connected to the top of the mounting portion 664, the upper end of the support sleeve 67 is abutted against the inner upper end of the buffer portion 661, an accommodating cavity 662 is opened on the outer side of the upper end of the mounting portion 664, the protective sleeve 65 is accommodated in the accommodating cavity 662, a concave cavity 663 is opened on the outer side of the lower end of the mounting portion 664, and the protrusion 641 of the mounting seat 64 is embedded in the concave cavity 663.

[0035] like Figure 4 The protective cover 65 includes a cover body 651, and the cover body 651 is sleeved in the accommodating cavity 662. The outer side of the cover body 651 is provided with a plurality of upper side wings 652, a plurality of middle side wings 653 and a plurality of lower side wings 654. The middle side wings 653 are located between the corresponding upper side wings 652 and the lower side wings 654. The cover body 651 has a supporting effect on the buffer cover 66, thereby preventing the buffer cover 66 from being over-extruded.

[0036] Preferably, the support seat 61 also includes a base 611 and a support platform 612, the slide cylinder 62 is arranged on the base 611, the support platform 612 is connected to the upper end of the base 611 and is located in the conical cavity 622, the lower end of the second mounting rod 613 is slidably connected in the support platform 612, the lower end of the spring 632 is abutted against the upper surface of the support platform 612, and the lower end of the slide rod 631 extends into the slide hole 6121 opened on the support platform 612.

[0037] Preferably, a plurality of support rods 623 are further disposed on the slide cylinder 62 , and the plurality of support rods 623 are in an annular structure, and the mounting seat 64 and the mounting portion 664 surround the plurality of support rods 623 .

[0038] Preferably, the upper wing 652 and the middle wing 653 are both bent and extended obliquely upward, the upper side of the outer end of the upper wing 652 abuts against the lower surface of the buffer portion 661, and the lower wing 654 is bent and extended obliquely downward. The upper wing 652 and the middle wing 653 can provide support and buffering for the buffer portion 661, and the lower wing 654 has a supporting effect on the upper wing 652 and the middle wing 653, thereby achieving good buffering effect and long service life.

[0039] Preferably, a sensor mounting plate 22 is respectively installed on both sides of the cylinder 2, and the sensor 23 is installed outside the sensor mounting plate 22 on the corresponding side.

[0040] Preferably, the suction mechanism 4 further includes a plurality of magnet pads 41 , the magnet pads 41 are mounted on the bottom of the cylinder 2 , and the lower magnets 43 are mounted on the magnet pads 41 .

[0041] Working principle: When the robot is working normally, the upper magnet 42 and the lower magnet 43 are tightly attracted to each other, so that the first mounting rod 5 cannot move up and down in the cylinder 2, and at this time the semicircular plate 31 is stuck in the conical groove 21, so that the first mounting rod 5 cannot rotate, so that the whole device is in a fixed state when the robot is working normally. When the robot's claws hit the surrounding equipment, the mounting plate 51 will move up, and the mounting plate 51 will first hit the buffer wheel 616. The buffer wheel 616 will squeeze the support seat 61 when impacted, and the support seat 61 will make the slide 62 slide upward, and the slide 62 will slide upward and move with the mounting seat 64 and the buffer sleeve 66 at the same time, and the buffer sleeve 66 will hit the connecting bottom plate 11, through the buffer sleeve 6 6 has its own characteristics, which can reduce the impact on the connecting base plate 11. During the buffer deformation process of the buffer sleeve 66, the protective sleeve 65 will be squeezed. The protective sleeve 65 can strengthen the effect on the buffer sleeve 66, so that the buffer protection effect is better, thereby buffering the connecting base plate 11 to reduce the impact force and increase the service life. When the impact continues to increase, the mounting plate 51 will squeeze the magnet mounting plate 3, so that the magnet mounting plate 3 moves up with the upper magnet 42, so that the upper magnet 42 and the lower magnet 43 are separated, and the semicircular plate 31 is detached from the conical groove 21. At this time, the distance between the two ends of the magnet mounting plate 3 and the sensor 23 increases. After the sensor 23 senses the increase in distance, it will send a signal to the robot, so that the robot stops moving.

[0042] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An anti-collision protection device for an end effector, characterized in that: include: A cylinder (2), wherein a sensor mounting plate (22) is mounted on both sides of the cylinder (2), a sensor (23) is mounted on the sensor mounting plate (22), a top cover plate (24) is disposed on the top of the cylinder (2), a flange connecting plate (25) is disposed on the top of the top cover plate (24), and the flange connecting plate (25) is connected to the robot; A housing (1), the housing (1) comprising a connecting bottom plate (11) and a pair of side plates (12), the connecting bottom plate (11) being connected to the bottom of the cylinder (2), and the side plates (12) being connected to the outer side of the sensor (23) on the side of the cylinder (2) corresponding to the installation side; a first mounting rod (5), the upper end of which slides through the connecting bottom plate (11) and extends into the cylinder (2), and a mounting plate (51) is connected to the lower side of the first mounting rod (5); A magnet mounting plate (3), the magnet mounting plate (3) being connected to the upper side of the first mounting rod (5), and the two ends of the magnet mounting plate (3) respectively sense each other with the sensor (23), and a semicircular plate (31) is respectively mounted on the two ends of the lower side of the magnet mounting plate (3), the semicircular plate (31) being stuck in a conical groove (21) provided on the side of the cylinder (2), and the sensor (23) is located outside the semicircular plate (31); An attraction mechanism (4), the attraction mechanism (4) comprising a plurality of upper magnets (42) mounted below the magnet mounting plate (3) and a plurality of lower magnets (43) disposed below the upper magnets (42) and mutually attracted to the upper magnets (42); A plurality of auxiliary mechanisms (6), wherein the auxiliary mechanisms (6) are mounted below the connecting base plate (11), and the auxiliary mechanisms (6) include a support seat (61), a slide tube (62) slidably mounted outside the support seat (61), a mounting seat (64) and a protective sleeve (65), wherein the mounting seat (64) is mounted on the slide tube (62), the buffer sleeve (66) is mounted on the mounting seat (64), and the protective sleeve (65) is sleeved on the buffer sleeve. The protective sleeve (65) is in the accommodating cavity (662) of the mounting portion (664) of the protective sleeve (65), wherein the protective sleeve (65) comprises a sleeve body (651), the sleeve body (651) is sleeved in the accommodating cavity (662), and the outer surface of the sleeve body (651) is provided with a plurality of upper side wings (652), a plurality of middle side wings (653) and a plurality of lower side wings (654), and the middle side wings (653) are located between the corresponding upper side wings (652) and the corresponding lower side wings (654).

2. The anti-collision protection device for the end effector according to claim 1, characterized in that: The lower end and side surfaces of the support seat (61) are provided with a plurality of buffer wheels (616) for resisting impact, the upper surface of the slide cylinder (62) is provided with a buffer sleeve (66), the upper end of the support seat (61) is slidably provided with a second mounting rod (613), the upper end of the second mounting rod (613) passes through the buffer sleeve (66) and is connected to the lower side of the connecting base plate (11), and the lower end of the second mounting rod (613) passes through the lower cavity (615) of the support seat (61) and is provided with a nut (614).

3. The anti-collision protection device for the end effector according to claim 2, characterized in that: The auxiliary mechanism (6) further comprises a conical cylinder (63) and a support sleeve (67); the conical cylinder (63) is slidably mounted in the conical cavity (622) of the slide cylinder (62) and sleeved on the second mounting rod (613); the support sleeve (67) is sleeved on the upper end of the second mounting rod (613) and is located above the conical cylinder (63); a plurality of slide rods (631) are mounted below the conical cylinder (63); a spring (632) is sleeved on the slide rod (631); the upper end and the lower end of the spring (632) respectively abut against the lower surface of the conical cylinder (63) and the upper surface of the support seat (61).

4. The anti-collision protection device for the end effector according to claim 3, characterized in that: The buffer sleeve (66) further comprises a buffer portion (661), the buffer portion (661) being connected to the upper side of the mounting portion (664), the upper end of the support sleeve (67) being abutted against the inner upper end of the buffer portion (661), an accommodating cavity (662) being provided on the outer side of the upper end of the mounting portion (664), the protective sleeve (65) being accommodated in the accommodating cavity (662), a concave cavity (663) being provided on the outer side of the lower end of the mounting portion (664), and the protruding portion (641) of the mounting seat (64) being embedded in the concave cavity (663).

5. The anti-collision protection device for the end effector according to claim 4, characterized in that: The support seat (61) further comprises a base (611) and a support platform (612), the slide cylinder (62) being arranged on the base (611), the support platform (612) being connected to the upper end of the base (611) and being located in the conical cavity (622), the lower end of the second mounting rod (613) being slidably connected in the support platform (612), and the lower end of the spring (632) being abutted against the upper surface of the support platform (612).

6. The anti-collision protection device for the end effector according to claim 5, characterized in that: A plurality of support rods (623) are also provided on the upper surface of the slide cylinder (62), and the plurality of support rods (623) are in an annular structure. The mounting seat (64) and the mounting portion (664) surround the plurality of support rods (623).

7. The anti-collision protection device for the end effector according to claim 1, characterized in that: The upper wing (652) and the middle wing (653) are both bent and extended obliquely upward, the upper side of the outer end of the upper wing (652) is abutted against the lower surface of the buffer portion (661), and the lower wing (654) is bent and extended obliquely downward.

8. The anti-collision protection device for the end effector according to claim 1, characterized in that: The suction mechanism (4) further comprises a plurality of magnet pads (41), wherein the magnet pads (41) are mounted on the bottom of the cylinder (2), and the lower magnets (43) are mounted on the top of the magnet pads (41).

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