Truss manipulator anti-collision mechanism

Abstract

The invention provides an anti-collision mechanism for a truss manipulator, and belongs to the technical field of machinery. The assembling platform solves the problem that an existing assembling platform cannot meet the requirement for avoiding damage when a truss manipulator collides in the vertical direction and the horizontal direction. The truss manipulator anti-collision mechanism comprises a fixed table and a floating table arranged below the fixed table, a columnar limiting column is vertically fixed to the fixed table, a limiting hole is formed in the floating table, and the limiting column penetrates through the limiting hole and can limit movement of the floating table in the vertical direction. An elastic piece is arranged between the fixed table and the floating table, a bulged spherical ball head is arranged at the bottom of the fixed table, a mounting hole is formed in the top of the floating table, the ball head extends into the mounting hole, the limiting hole is a strip-shaped hole, and the limiting column can swing back and forth in the length direction of the limiting hole. The anti-collision mechanism of the truss manipulator has the advantage of being capable of effectively preventing collision.

Description

Technical Field

[0001] The invention belongs to the technical field of machinery and relates to an anti-collision mechanism for a truss manipulator. Background Art

[0002] A truss robot is a fully automatic industrial equipment based on a right-angle X-axis, Y-axis, and Z-axis three-coordinate system that can adjust the workpiece position or realize the trajectory movement of the workpiece. The truss robot is often set above the machine tool and loads and unloads the workpiece through large horizontal and vertical movements. However, during the movement of the truss robot, the robot may accidentally collide with the machine tool.

[0003] To this end, people have designed a pneumatic power-assisted manipulator shock-absorbing and anti-collision assembly platform and applied for a Chinese patent, with the application number: 202120199835.X; its announcement number: CN214265672U. The pneumatic power-assisted manipulator shock-absorbing and anti-collision assembly platform includes an assembly platform, a first slide groove is provided inside the assembly platform, a threaded block is symmetrically slidably connected inside the first slide groove, a bidirectional threaded rod is rotatably connected inside the first slide groove, the bidirectional threaded rod passes through the threaded block and is threadedly connected thereto, one end of the bidirectional threaded rod passes through one side of the assembly platform and is fixedly connected to the output end of the motor, the motor is fixedly connected to one side of the assembly platform, a fixing mechanism is provided above the threaded block, and a first shock-absorbing mechanism and a second shock-absorbing mechanism are provided on the lower surface of the assembly platform. The first shock-absorbing mechanism includes a second spring and a buffer ball. When the assembly platform collides, the assembly platform is buffered and shock-absorbed by the elastic force of the second spring and the elastic force of the buffer ball.

[0004] However, the shock-absorbing mechanism in the pneumatic assisted manipulator shock-absorbing and anti-collision assembly platform can only use springs and buffer balls to buffer impacts and vibrations when the assembly platform is hit in the vertical direction. The truss manipulator has a stroke that moves in the horizontal direction in addition to the vertical direction. In the process of horizontal movement, especially in the process of approaching the machine tool horizontally, it may accidentally collide with the machine tool. The above-mentioned pneumatic assisted manipulator shock-absorbing and anti-collision assembly platform cannot buffer such collisions to avoid damage. Summary of the invention

[0005] The purpose of the present invention is to address the above problems existing in the prior art and propose a truss manipulator anti-collision mechanism to solve the problem that the existing assembly platform cannot meet the requirement of avoiding damage to the truss manipulator when colliding in the vertical and horizontal directions.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A truss manipulator anti-collision mechanism comprises a fixed platform and a floating platform arranged below the fixed platform, wherein a columnar limiting column is vertically fixed on the fixed platform, a limiting hole is provided on the floating platform, the limiting column passes through the limiting hole and can limit the vertical movement of the floating platform, an elastic part is provided between the fixed platform and the floating platform, and is characterized in that a protruding spherical ball head is provided at the bottom of the fixed platform, a mounting hole is provided at the top of the floating platform, the ball head extends into the mounting hole, the limiting hole is a strip hole and the limiting column can swing back and forth in the length direction of the limiting hole.

[0008] In the anti-collision mechanism of the truss manipulator, the length direction of the limit hole, which is a strip hole, can be set to the distribution direction of the truss manipulator and the machine tool during opening and installation, such as the X-axis or Y-axis direction. The limit column limits the vertical direction of the floating platform as described in the background technology, and can limit the maximum vertical distance between the floating platform and the fixed platform without restricting the floating platform and the fixed platform from approaching each other.

[0009] When the truss manipulator anti-collision mechanism is used, the manipulator is fixed to the lower side of the floating platform, and the top of the fixed platform is fixed to the transmission structure used to drive the manipulator to move. When no collision occurs, the vertical limit of the limit column, the elastic part and the gravity of the manipulator itself are used to keep the maximum distance between the floating platform and the fixed platform, and the floating platform will not move relative to the fixed platform, so as to achieve relative positioning between the fixed platform and the floating platform.

[0010] When the manipulator moves horizontally and approaches the machine tool, an accidental collision occurs. Since the length direction of the limit hole is the same as the distribution direction of the manipulator and the machine tool, the limit column can be subjected to the force and swing in the length direction of the limit hole, thereby causing the entire floating platform to tilt and swing around the center of the ball head, so that the manipulator can move and give way in this direction, avoiding damage to the manipulator caused by rigid collision. In combination with the elastic part, the upward movement of the floating platform relative to the fixed platform can be buffered, so that the truss manipulator anti-collision mechanism can further buffer and give way to accidental collisions in the horizontal direction of the manipulator on the basis of buffering collisions in the vertical direction, so as to avoid damage to the manipulator.

[0011] In the above-mentioned anti-collision mechanism of a truss manipulator, a sensor is fixed on the fixed platform, and the sensing end of the sensor is oriented in the horizontal direction. A detection piece is fixed on the side of the floating platform that deviates from the mounting hole, and the upper part of the detection piece is arranged opposite to the sensing end. The sensing end of the sensor is oriented horizontally. When no collision occurs, the upper part of the detection piece is arranged opposite to the sensing end, so that the sensor can detect the detection piece. When a collision occurs, whether it is a vertical collision or a horizontal collision, the position of the floating platform that deviates from the mounting hole will be displaced in the vertical direction, so that the relative position of the detection piece and the sensor and the sensing end of the sensor are misaligned, so as to prompt the sensor to send a collision signal. In conjunction with the corresponding controller, the control of the truss manipulator can be stopped in time to avoid damage.

[0012] In the above-mentioned truss manipulator anti-collision mechanism, the ball head is arranged near the center of the fixed platform, the number of the limit posts is at least three and several limit posts are distributed around the ball head, the number of the limit holes is the same as the number of the limit posts, and the two are arranged in a one-to-one correspondence, and the length directions of several limit holes are consistent. The ball head is located in the middle, and several limit posts are distributed on the periphery, so as to realize the stable connection and positioning between the fixed platform and the floating platform, ensure the accuracy of the manipulator displacement, and also reduce the impact of the floating platform on buffering and giving way due to the center of gravity offset of the floating platform when the floating platform swings around the center of the ball.

[0013] In the above-mentioned anti-collision mechanism of a truss manipulator, the elastic member is cylindrical and is sleeved on the outside of the limit column, the upper end of the elastic member is against the lower side of the fixed platform, and the lower end of the elastic member is against the upper side of the floating platform. The elastic member is sleeved on the outside of the limit column, which can not only make the elastic force of the elastic member better press the floating platform against the limit column to ensure stability when there is no collision, but also the columnar limit column can limit the deformation of the elastic member to ensure the direction of the elastic force of the elastic member and the buffering effect.

[0014] In the above-mentioned truss manipulator anti-collision mechanism, the lower end of the limit column has a protruding annular limit portion on the outer side, the floating platform is tightly against the upper side of the limit portion under the elastic force of the elastic member, the limit hole is opened on the top of the floating platform, the bottom of the floating platform has a concave hole that is concave upward and is connected to the limit hole, and the limit portion partially extends into the concave hole. The opening of the concave hole facilitates the installation and limiting of the limit column.

[0015] In the above-mentioned truss manipulator anti-collision mechanism, the top of the floating platform has an upwardly protruding boss, and the mounting hole is opened in the boss. The setting of the boss reduces the requirements for the vertical dimension of the ball head, and at the same time, ensures that there is a sufficient relative swing distance between the floating platform and the fixed platform.

[0016] Compared with the prior art, the anti-collision mechanism of the truss manipulator relies on the cooperation between the ball head and the mounting hole, as well as the cooperation between the limit column and the limit hole, so that the floating platform can superimpose circumferential swing relative to the fixed platform on the basis of the vertical direction, providing buffering and making way for the horizontal collision of the truss manipulator, so that the anti-collision mechanism of the truss manipulator can simultaneously meet the buffering requirements of vertical and horizontal accidental collisions during the actual use of the truss manipulator, thereby avoiding damage to the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the anti-collision mechanism of the truss manipulator.

[0018] Figure 2 It is a schematic diagram of the cross-sectional structure of the ball head of the anti-collision mechanism of the truss manipulator.

[0019] Figure 3 It is a schematic diagram of the cross-sectional structure of the limit column of the anti-collision mechanism of the truss manipulator.

[0020] Figure 4 It is a schematic diagram of the cross-sectional structure of the limit column of the anti-collision mechanism of the truss manipulator from another perspective.

[0021] Figure 5 It is a structural schematic diagram of the anti-collision mechanism of the truss manipulator when in use.

[0022] Figure 6 It is a schematic diagram of the cross-sectional structure of the limit hole of the anti-collision mechanism of the truss manipulator.

[0023] In the figure, 1, fixed platform; 2, floating platform; 2a, limiting hole; 2b, recessed hole; 2c, mounting hole; 2d, boss; 3, limiting column; 3a, limiting part; 4, elastic part; 5, ball head; 6, sensor; 7, detection part; 7a, detection head; 8, manipulator. DETAILED DESCRIPTION

[0024] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0025] like Figure 1 As shown, the anti-collision mechanism of the truss manipulator includes a fixed platform 1 and a floating platform 2, both of which are flat and horizontally arranged. The floating platform 2 is arranged below the fixed platform 1 with a spacing between the two. A cylindrical limiting column 3 is vertically fixed on the fixed platform 1, and a waist-shaped limiting hole 2a is opened on the floating platform 2. The lower end of the limiting column 3 passes through the limiting hole 2a and can limit the bottom of the floating platform 2 in the vertical direction. An elastic member 4 is arranged between the fixed platform 1 and the floating platform 2.

[0026] like Figure 3 and Figure 6As shown, the two side walls of the limiting hole 2a in the width direction respectively abut against the corresponding two sides of the limiting column 3. Figure 4 As shown, there is a spacing between the two side walls of the limiting hole 2a in the length direction and the limiting column 3, that is, the length of the limiting hole 2a is greater than the diameter of the limiting column 3. The lower end of the limiting column 3 has a protruding circular ring-shaped limiting portion 3a on the outer side, the limiting hole 2a is opened on the top of the floating platform 2, and the bottom of the floating platform 2 has an upwardly concave hole 2b, and the concave hole 2b is connected with the limiting hole 2a. The cross section of the concave hole 2b is a straight strip, and its length is greater than the length of the limiting hole 2a, and its width is greater than the width of the limiting hole 2a, so that a step is formed between the two. The limiting portion 3a is located below the limiting hole 2a and partially extends into the concave hole 2b. Under the elastic force of the elastic member 4, the upper side surface of the limiting portion 3a is tightly against the step surface between the concave hole 2b and the limiting hole 2a. In this embodiment, the limiting column 3 is a bolt, the limiting portion 3a is the head of the bolt, the elastic member 4 is a cylindrical spring and is sleeved outside the bolt, and the two ends of the spring are respectively against the fixed platform 1 and the floating platform 2.

[0027] like Figure 2 As shown, the middle part of the bottom surface of the fixed platform 1 has a ball head 5 protruding downward in a spherical shape, the top of the floating platform 2 has a boss 2d protruding upward, and the top surface of the boss 2d has a mounting hole 2c recessed downward, the mounting hole 2c is a circular straight hole, the ball head 5 extends into the mounting hole 2c and the side wall of the mounting hole 2c abuts against the outer side of the ball head 5, and can cooperate with the ball head 5 to achieve horizontal limit. There is a gap between the bottom surface of the mounting hole 2c and the ball head 5. In this embodiment, the ball head 5 is arranged near the center of the fixed platform 1, the number of the limiting columns 3 is four and the four limiting columns 3 are distributed around the ball head 5 in four corners, the number of the limiting holes 2a and the elastic member 4 are the same as the number of the limiting columns 3, and the three are arranged one by one, and the length direction of the four limiting holes 2a is consistent. Here, the fixed platform 1 and the floating platform 2 are both rectangular plates, and the length direction of the fixed platform 1 and the floating platform 2 is consistent with the length direction of the limiting hole 2a.

[0028] A sensor 6 is fixed to the top edge of the fixed table 1, and the sensing end of the sensor 6 is oriented horizontally outward. A plate-shaped detection member 7 is fixed to the side of the floating table 2 corresponding to the sensor 6. The upper part of the detection member 7 extends upward beyond the top surface of the fixed table 1, and the detection member 7 has a protruding cylindrical detection head 7a on the side facing the sensor 6. The diameter of the detection head 7a is substantially the same as that of the sensing end of the sensor 6, and the two are arranged opposite each other.

[0029] In the truss manipulator anti-collision mechanism, the length direction of the limit hole 2a can be set to the distribution direction of the truss manipulator 8 and the machine tool, such as the X-axis, during opening and installation.

[0030] like Figure 5As shown, when the truss manipulator anti-collision mechanism is used, the manipulator 8 is fixed to the lower side of the floating platform 2, and the top of the fixed platform 1 is fixed to the transmission structure used to drive the manipulator 8 to move.

[0031] When no collision occurs, the axial limit of the limit column 3, in conjunction with the elastic member 4 and the gravity of the manipulator 8, maintains the maximum distance between the floating platform 2 and the fixed platform 1, and the floating platform 2 will not move vertically relative to the fixed platform 1, thereby realizing the vertical positioning of the fixed platform 1 and the floating platform 2. The ball head 5 abuts against the hole wall of the mounting hole 2c, so that the floating platform 2 will not move horizontally relative to the fixed platform 1, thereby realizing the horizontal linear positioning of the floating platform 2 and the fixed platform 1. The two side walls in the width direction of the limit hole 2a abut against the outer side of the limit column 3, positioning the floating platform 2 and the fixed platform 1 in the circumferential direction, that is, the floating platform 2 cannot rotate circumferentially relative to the fixed platform 1. In this way, when no collision occurs, the floating platform 2 and the manipulator 8 fixed on the lower side of the floating platform 2 will not move in any direction relative to the fixed platform 1, thereby ensuring that the setting of the anti-collision mechanism will not affect the loading and unloading accuracy of the manipulator 8.

[0032] When a collision occurs in the vertical direction, the manipulator 8 and the floating platform 2 can move upward relative to the fixed platform 1, compressing the spring so that the collision and vibration are buffered, thereby preventing damage to the manipulator 8 at the bottom. When the manipulator 8 moves horizontally along the X-axis and approaches the machine tool, when an accidental collision occurs, because the length direction of the limit hole 2a is the same as the distribution direction of the manipulator 8 and the machine tool, the limit column 3 swings in the length direction of the limit hole 2a, and the entire floating platform 2 tilts and swings around the center of the ball head 5, similarly compressing the spring so that the manipulator 8 can be displaced and give way in this direction, thereby preventing damage to the manipulator 8 caused by a rigid collision.

[0033] In the above process, when no collision occurs, the detection head 7a of the detection member 7 is arranged relative to the sensing end, so that the sensor 6 can detect the detection head 7a of the detection member 7; when a collision occurs, whether it is a vertical collision or a horizontal collision, the side position of the floating platform 2 for installing the detection member 7 will be displaced in the vertical direction, so that the detection head 7a of the detection member 7 and the sensing end of the sensor 6 are misaligned, so as to prompt the sensor 6 to send a collision signal, and cooperate with the corresponding controller to stop the control of the truss manipulator 8 in time to avoid damage.

[0034] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A truss manipulator anti-collision mechanism, comprising a fixed platform (1) and a floating platform (2) arranged below the fixed platform (1), a columnar limiting column (3) is vertically fixed on the fixed platform (1), a limiting hole (2a) is provided on the floating platform (2), the limiting column (3) passes through the limiting hole (2a) and can limit the vertical movement of the floating platform (2), an elastic member (4) is arranged between the fixed platform (1) and the floating platform (2), characterized in that: The bottom of the fixed platform (1) has a protruding spherical ball head (5), the top of the floating platform (2) is provided with a mounting hole (2c), the ball head (5) extends into the mounting hole (2c), the limiting hole (2a) is a strip hole and the limiting column can swing back and forth in the length direction of the limiting hole.

2. The truss manipulator anti-collision mechanism according to claim 1, characterized in that: A sensor (6) is fixed on the fixed platform (1), and the sensing end of the sensor (6) is oriented in a horizontal direction. A detection member (7) is fixed on the floating platform (2) on a side deviating from the mounting hole (2c), and the upper part of the detection member (7) is arranged opposite to the sensing end.

3. A truss manipulator anti-collision mechanism according to claim 1 or 2, characterized in that: The ball head (5) is arranged near the center of the fixing platform (1), the number of the limiting posts (3) is at least three and several limiting posts (3) are distributed around the ball head (5), the number of the limiting holes (2a) is the same as the number of the limiting posts (3), and the two are arranged in a one-to-one correspondence, and the length directions of the several limiting holes (2a) are consistent.

4. A truss manipulator anti-collision mechanism according to claim 1 or 2, characterized in that: The elastic member (4) is cylindrical and is sleeved on the outside of the limiting column (3); the upper end of the elastic member (4) abuts against the lower side of the fixed platform (1), and the lower end of the elastic member (4) abuts against the upper side of the floating platform (2).

5. A truss manipulator anti-collision mechanism according to claim 1 or 2, characterized in that: The outer side of the lower end of the limiting column (3) has a protruding annular limiting portion (3a), and the floating platform (2) is tightly pressed against the upper side of the limiting portion (3a) under the elastic force of the elastic member (4). The limiting hole (2a) is opened at the top of the floating platform (2), and the bottom of the floating platform (2) has a recessed hole (2b) that is recessed upward and is connected to the limiting hole (2a), and the limiting portion (3a) partially extends into the recessed hole (2b).

6. A truss manipulator anti-collision mechanism according to claim 1 or 2, characterized in that: The top of the floating platform (2) is provided with a boss (2d) protruding upward, and the mounting hole (2c) is opened in the boss (2d).

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