Pneumatic locking device for collision early warning of mechanical arm

Abstract

The invention provides a pneumatic locking device for collision early warning of a mechanical arm, the pneumatic locking device comprises a case, a first rotating rod and a pressure relief opening, a rotating seat is rotatably mounted at the top of the case, a control panel is fixedly mounted at the top of the case on one side of the rotating seat, and a first rotating arm is movably mounted at the top of the rotating seat. Through mutual cooperation of a clamping plate, a linkage rod, a Y-shaped connecting frame, a second rotating rod and an extension spring, the outside of the device can be sensed through a radar sensor, sensed information is transmitted to the interior of a control panel, a bending rod and the linkage rod can be driven to turn over in the rotating process of the Y-shaped connecting frame, and the device is convenient to use. And a second rotating rod installed at one end of a clamping plate and a connecting base can conveniently move, the clamping plate can extrude the outer side of the rotating base, and the rotating base can stop rotating in the process that the outer side of the rotating base is rubbed through a friction strip.

Description

Technical Field

[0001] The invention relates to a mechanical arm technology, in particular to a pneumatic locking device for mechanical arm collision warning, belonging to the technical field of mechanical arm collision warning. Background Art

[0002] Whether in the industrial field or the service field, the use of robotic arms is becoming more and more popular. At present, most robotic arms are controlled by a single joint or run along a fixed track using a teaching method. This method is cumbersome to operate and can only be used in a specific environment. For robotic arms that can be guided and positioned, vision or pan-tilt is currently used for three-dimensional positioning operations. The amount of positioning and reverse calculations is large and complex, and the overall space occupied by the robotic arm is also relatively large. In the field of industrial automation, robotic arms, as important actuators, are widely used in assembly, handling, welding and other production line operations;

[0003] After searching, in order to solve the problem that the currently used robotic arms may collide with surrounding equipment during use and cause injuries, it is inconvenient to provide early warnings to supervisors, it is inconvenient to ensure the safety of the robotic arms, it is inconvenient to provide support in danger, and it is inconvenient to ensure stability, therefore, we propose a robotic arm with an anti-collision alarm function, the publication number is CN110315572A, and the disclosed robotic arm with an anti-collision alarm function, the robotic arm with an anti-collision alarm function, the invention discloses a robotic arm with an anti-collision alarm function, including a support seat, one end of a first spring is welded to the outer side of the support seat, and the outer side of the first spring is provided with An anti-collision block is provided, and a contact block is arranged on the inner side of the anti-collision block, a transverse arm is fixed with bolts on the top of the support seat, a support plate is fixed with bolts on the right side of the transverse arm, and a micro-retraction rod is fixed inside the front side of the support plate, a connecting rod is arranged on the right side of the micro-retraction rod, a longitudinal arm is connected through the middle part of the support plate, an anti-collision column is movably connected to the outside of the right side of the connecting rod, and a gripper is fixed with bolts on the bottom of the longitudinal arm. The mechanical arm with anti-collision alarm function can avoid damage caused by collision with surrounding equipment during use, effectively warn, ensure the safety of the mechanical arm, extend its service life, provide support in danger, and ensure stability.

[0004] In the field of industrial automation, robotic arms, as important actuators, are widely used in production line operations such as assembly, handling, and welding. In order to ensure the safe operation of robotic arms in complex environments and prevent equipment damage or personal injury due to accidental collisions, existing technical solutions mostly rely on electronic sensors, such as laser sensors and infrared sensors, combined with software algorithms for collision detection and early warning. However, these solutions have the following obvious disadvantages: First, electronic sensors are easily affected by factors such as ambient light and electromagnetic interference, resulting in false alarms or missed alarms; second, they rely on complex algorithm processing, which requires high computing resources and may limit the response speed; third, the sensor cost is high, which increases the economic burden of the overall system;

[0005] Therefore, a pneumatic locking device for robot arm collision warning is proposed. Summary of the invention

[0006] In view of this, the present invention provides a pneumatic locking device for robot arm collision warning to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial option.

[0007] The technical solution of the present invention is implemented as follows: it comprises: a chassis, a first rotating rod and a pressure relief port, a rotating seat is rotatably installed on the top of the chassis, a control panel is fixedly installed on the top of the chassis on one side of the rotating seat, a first rotating arm is movably installed on the top of the rotating seat, a second rotating arm is movably installed on one end of the first rotating arm, radar sensors are arranged on the outer sides of the second rotating arm and the first rotating arm, the first rotating arm and the second rotating arm are movably connected by a pneumatic telescopic rod, a first rotating rod and a second rotating rod are movably installed inside the chassis, a clamping plate corresponding to the rotating seat is fixedly installed on one end of the first rotating rod and the second rotating rod, One end of the clamping plate is movably connected with a linkage rod, one end of the linkage rod is movably connected with a Y-shaped connecting frame, one side of the other clamping plate is movably connected to the Y-shaped connecting frame, the inner side of the clamping plate is provided with a friction strip that cooperates with a rotating seat, one end of the Y-shaped connecting frame is movably installed with a pneumatic rod, the bottoms of the two clamping plates are movably connected by a tension spring, the bottom of the pneumatic telescopic rod is provided with a pressure relief port, the outer side of the bottom of the pneumatic telescopic rod is movably installed with a pneumatic contraction rod, a bottom plate corresponding to the pressure relief port is fixedly installed between the pneumatic contraction rods, the front end of the pressure relief port is provided with an air relief port, and the top of the bottom plate is fixedly installed with a sealing plate corresponding to the air relief port.

[0008] Further preferably, a support column is fixedly installed on the bottom of the chassis, a telescopic arm is slidably installed inside the pneumatic telescopic rod, a rotating sleeve is fixedly installed on one end of the telescopic arm, and the rotating sleeve is movably installed between the second rotating arm.

[0009] Further preferably, the first rotating rod and the second rotating rod are both rotatably mounted inside the chassis via a connecting seat.

[0010] Further preferably, both ends of the linkage rod are movably mounted with a rotating shaft, and the rotating shaft is movably connected to the clamping plate and the Y-shaped connecting frame.

[0011] Further preferably, a mounting shaft is rotatably mounted inside the Y-shaped connecting frame, the bottom of the mounting shaft is fixedly mounted inside the chassis, and the Y-shaped connecting frame is movably connected to another clamping plate via a bending rod.

[0012] Further preferably, the pneumatic rod and the Y-shaped connecting frame are movably mounted via a connecting shaft, and the pneumatic rod and the chassis are movably connected via a mounting seat.

[0013] Further preferably, a plugging head corresponding to the pressure relief port is fixedly installed on the top of the base plate, and the base plate and the sealing plate are fixedly installed via a lifting plate.

[0014] Further preferably, the sealing plate and the front end of the pneumatic retractable rod are slidably mounted via a sliding groove, and sliding blocks cooperating with the sliding groove are fixedly mounted on both sides of the sealing plate.

[0015] The embodiment of the present invention has the following advantages due to the adoption of the above technical solution:

[0016] 1. The present invention is provided with a clamping plate, a linkage rod, a Y-shaped connecting frame, a second rotating rod and a tension spring that cooperate with each other. The outside of the device can be sensed by a radar sensor, and the sensed information is transmitted to the inside of the control panel. The control panel can be used to control other components. The contraction of the pneumatic rod can drive the Y-shaped connecting frame to rotate around the installation axis. During the rotation of the Y-shaped connecting frame, the bending rod and the linkage rod can be driven to flip at the same time. During the flipping of the linkage rod and the bending rod, the clamping plate can be pulled so that the second rotating rod and the connecting seat installed at one end of the clamping plate can be conveniently moved, so that the clamping plate can squeeze the outer side of the rotating seat, and the rotating seat can be stopped from rotating in the process of rubbing the outer side of the rotating seat by the friction strip.

[0017] 2. The present invention is provided with a bottom plate, a plugging head, a sealing plate, an air vent and a sliding groove that cooperate with each other. When the control panel detects that there are other objects outside that may cause a collision, the control panel controls the extension and retraction of the pneumatic retractable rod to move the bottom plate downward, so that the plugging head is separated from the bottom of the pressure relief port. At the same time, during the downward movement of the bottom plate, the lifting plate can be used to synchronously drive the sealing plate to move, so that the sliding blocks installed on both sides of the sealing plate can slide against each other along the inside of the sliding groove, so that the air vent can be effectively opened, so that the air pressure inside the pneumatic telescopic rod can be discharged through the bottom of the pressure relief port and the air vent, and the movement of the robot arm is slowed down by increasing the release of the air pressure inside the pneumatic telescopic rod, thereby avoiding collision.

[0018] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 This is a first appearance three-dimensional structural diagram of the present invention;

[0021] Figure 2 It is a second appearance three-dimensional structure diagram of the present invention;

[0022] Figure 3 This is a three-dimensional structural diagram of the installation of the clamping plate rotating seat of the present invention;

[0023] Figure 4 It is a three-dimensional structural diagram of the Y-shaped connecting frame of the present invention;

[0024] Figure 5 It is a three-dimensional structural diagram of the internal section of the pneumatic telescopic rod of the present invention;

[0025] Figure 6 It is a three-dimensional structural diagram of the connection between the pressure relief port and the bottom plate of the present invention;

[0026] Figure 7 It is a three-dimensional structural diagram of the sealing plate of the present invention.

[0027] 1. Chassis; 101. Support column; 102. Control panel; 103. Rotating seat; 104. First rotating arm; 105. Second rotating arm; 106. Pneumatic telescopic rod; 107. Telescopic arm; 108. Rotating sleeve; 109. Radar sensor; 2. First rotating rod; 201. Second rotating rod; 202. Connecting seat; 203. Clamping plate; 204. Linking rod; 205. Rotating axis; 206. Y-shaped connecting frame; 207. Friction strip; 208. Mounting axis; 209. Pneumatic rod; 210. Connecting axis; 211. Mounting seat; 212. Bending rod; 213. Tension spring; 3. Pressure relief port; 301. Pneumatic retracting rod; 302. Bottom plate; 303. Plug; 304. Lifting plate; 305. Sealing plate; 306. Sliding groove; 307. Sliding block; 308. Air relief port. DETAILED DESCRIPTION

[0028] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0029] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0030] like Figure 1 - Figure 7As shown, the embodiment of the present invention provides a pneumatic locking device for robot arm collision warning, including: a chassis 1, a first rotating rod 2 and a pressure relief port 3, a rotating seat 103 is rotatably installed on the top of the chassis 1, a control panel 102 is fixedly installed on the top of the chassis 1 on one side of the rotating seat 103, a first rotating arm 104 is movably installed on the top of the rotating seat 103, a second rotating arm 105 is movably installed on one end of the first rotating arm 104, and radar sensors 109 are arranged on the outer sides of the second rotating arm 105 and the first rotating arm 104, the first rotating arm 104 and the second rotating arm 105 are movably connected through a pneumatic telescopic rod 106, a first rotating rod 2 and a second rotating rod 201 are movably installed inside the chassis 1, one end of the first rotating rod 2 and the second rotating rod 201 are fixedly installed with a clamping plate 203 corresponding to the rotating seat 103, one end of the clamping plate 203 is movably connected with a linkage rod 204, and the linkage rod 204 One end of the Y-shaped connecting frame 206 is movably connected, one side of the other clamping plate 203 is movably connected to the Y-shaped connecting frame 206, the inner side of the clamping plate 203 is provided with a friction strip 207 that cooperates with the rotating seat 103, one end of the Y-shaped connecting frame 206 is movably installed with a pneumatic rod 209, the bottoms of the two clamping plates 203 are movably connected through a tension spring 213, the bottom of the pneumatic telescopic rod 106 is provided with a pressure relief port 3, the outer side of the bottom of the pneumatic telescopic rod 106 is movably installed with a pneumatic contraction rod 301, a bottom plate 302 corresponding to the pressure relief port 3 is fixedly installed between the pneumatic contraction rods 301, the front end of the pressure relief port 3 is provided with an air release port 308, a sealing plate 305 corresponding to the air release port 308 is fixedly installed on the top of the bottom plate 302, the sealing plate 305 and the front end of the pneumatic contraction rod 301 are slidably installed through a sliding groove 306, and sliding blocks 307 that cooperate with the sliding groove 306 are fixedly installed on both sides of the sealing plate 305.

[0031] By controlling the contraction of the pneumatic rod 209, the Y-shaped connecting frame 206 can be driven to rotate around the installation axis 208. During the rotation of the Y-shaped connecting frame 206, the bending rod 212 and the linkage rod 204 can be flipped at the same time. During the flipping of the linkage rod 204 and the bending rod 212, the clamping plate 203 can be pulled, so that the second rotating rod 201 and the connecting seat 202 installed at one end of the clamping plate 203 can be easily moved, so that the clamping plate 203 can squeeze the outer side of the rotating seat 103, and the rotating seat 103 can be stopped from rotating in the process of rubbing the outer side of the rotating seat 103 by the friction strip 207.

[0032] Reference Figure 1 , Figure 2 and Figure 5A support column 101 is fixedly installed at the bottom of the chassis 1, and a telescopic arm 107 is slidably installed inside the pneumatic telescopic rod 106. A rotating sleeve 108 is fixedly installed at one end of the telescopic arm 107. The rotating sleeve 108 and the second rotating arm 105 are movably installed. The first rotating rod 2 and the second rotating rod 201 are both rotatably installed inside the chassis 1 through a connecting seat 202.

[0033] The device can be conveniently supported by the support column 101, so that the device can be more stable during use. The cooperation between the telescopic arm 107 and the rotating sleeve 108 can enable the pneumatic telescopic rod 106 to adjust the second rotating arm 105 during the telescopic process, which is more convenient during use. The first rotating rod 2 and the second rotating rod 201 can be rotated by the connecting seat 202, and the clamping plates 203 can be moved relative to each other during use, thereby clamping the rotating seat 103.

[0034] Reference Figure 3 and Figure 4 Both ends of the linkage rod 204 are movably installed with a rotating shaft 205, and the rotating shaft 205 is movably connected to the clamping plate 203 and the Y-shaped connecting frame 206. The inside of the Y-shaped connecting frame 206 is rotatably installed with a mounting shaft 208, and the bottom of the mounting shaft 208 is fixedly installed inside the chassis 1. The Y-shaped connecting frame 206 is movably connected to the other clamping plate 203 through a bending rod 212.

[0035] By rotating the Y-shaped connecting frame 206, the bending rod 212 and the linkage rod 204 can be flipped at the same time. During the flipping process of the linkage rod 204 and the bending rod 212, the clamping plate 203 can be pulled, so that the second rotating rod 201 and the connecting seat 202 installed at one end of the clamping plate 203 can be easily moved, so that the clamping plate 203 can squeeze the outer side of the rotating seat 103, and the stretching effect of the bending rod 212 can make the clamping plates 203 approach each other, so that the inner side of the clamping plate 203 can contact the outer side of the rotating seat 103.

[0036] Reference Figure 6 combine Figure 7 The pneumatic rod 209 and the Y-shaped connecting frame 206 are movably installed through the connecting shaft 210, the pneumatic rod 209 and the chassis 1 are movably connected through the mounting seat 211, the top of the bottom plate 302 is fixedly installed with a plug head 303 corresponding to the pressure relief port 3, and the bottom plate 302 and the sealing plate 305 are fixedly installed through the lifting plate 304.

[0037] During the downward movement of the bottom plate 302, the lifting plate 304 can be used to synchronously drive the sealing plate 305 to move, so that the sliding blocks 307 installed on both sides of the sealing plate 305 can slide against each other along the inside of the sliding groove 306, so that the air release port 308 can be effectively opened, so that the air pressure inside the pneumatic telescopic rod 106 can be discharged through the bottom of the pressure release port 3 and the air release port 308, and the movement of the robot arm is slowed down by increasing the internal air pressure of the pneumatic telescopic rod 106.

[0038] When the present invention is working: the outside of the device can be sensed by the radar sensor 109, and the sensed information is transmitted to the inside of the control panel 102. The control panel 102 can be used to control other components. The contraction of the pneumatic rod 209 can drive the Y-shaped connecting frame 206 to rotate around the installation axis 208. During the rotation of the Y-shaped connecting frame 206, the bending rod 212 and the linkage rod 204 can be simultaneously driven to flip. During the flipping of the linkage rod 204 and the bending rod 212, the clamping plate 203 can be pulled, so that the second rotating rod 201 and the connecting seat 202 installed at one end of the clamping plate 203 can be conveniently moved, so that the clamping plate 203 can squeeze the outer side of the rotating seat 103, and the outer side of the rotating seat 103 is rubbed by the friction strip 207. During the process, the rotating seat 103 can stop rotating. When the control panel 102 detects that there are other objects outside that may cause a collision, the control panel 102 controls the extension and retraction of the pneumatic retractable rod 301 to move the bottom plate 302 downward, so that the plugging head 303 is separated from the bottom of the pressure relief port 3. At the same time, in the process of the bottom plate 302 moving downward, the lifting plate 304 can be used to synchronously drive the sealing plate 305 to move, so that the sliding blocks 307 installed on both sides of the sealing plate 305 can slide against each other along the inside of the sliding groove 306, so that the air relief port 308 can be effectively opened, so that the air pressure inside the pneumatic telescopic rod 106 can be discharged through the bottom of the pressure relief port 3 and the air relief port 308, and the movement of the robot arm is slowed down by increasing the internal air pressure of the pneumatic telescopic rod 106, thereby avoiding collision.

[0039] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A pneumatic locking device for robot arm collision warning, characterized in that: The invention comprises a chassis (1), a first rotating rod (2) and a pressure relief port (3); a rotating seat (103) is rotatably mounted on the top of the chassis (1); a control panel (102) is fixedly mounted on the top of the chassis (1) on one side of the rotating seat (103); a first rotating arm (104) is movably mounted on the top of the rotating seat (103); a second rotating arm (105) is movably mounted on one end of the first rotating arm (104); the second rotating arm (105) and the first rotating arm (105) are movably mounted on the top of the chassis (103); 04) are both provided with a radar sensor (109), the first rotating arm (104) and the second rotating arm (105) are movably connected via a pneumatic telescopic rod (106), the first rotating rod (2) and the second rotating rod (201) are movably installed inside the chassis (1), one end of each of the first rotating rod (2) and the second rotating rod (201) is fixedly provided with a clamping plate (203) corresponding to the rotating seat (103), and one end of the clamping plate (203) is movably installed. The Y-shaped connecting frame (206) is movably connected to the clamping plate (203), one end of which is movably connected to the Y-shaped connecting frame (206), one side of the other clamping plate (203) is movably connected to the Y-shaped connecting frame (206), the inner side of the clamping plate (203) is provided with a friction strip (207) that cooperates with the rotating seat (103), one end of the Y-shaped connecting frame (206) is movably installed with a pneumatic rod (209), and the bottoms of the two clamping plates (203) are connected by tension springs (21 3) a movable connection, wherein a pressure relief port (3) is provided at the bottom of the pneumatic telescopic rod (106), a pneumatic retractable rod (301) is movably installed on the outer side of the bottom of the pneumatic telescopic rod (106), a bottom plate (302) corresponding to the pressure relief port (3) is fixedly installed between the pneumatic retractable rods (301), an air relief port (308) is provided at the front end of the pressure relief port (3), and a sealing plate (305) corresponding to the air relief port (308) is fixedly installed on the top of the bottom plate (302).

2. A pneumatic locking device for robot arm collision warning according to claim 1, characterized in that: A support column (101) is fixedly mounted on the bottom of the chassis (1); a telescopic arm (107) is slidably mounted inside the pneumatic telescopic rod (106); a rotating sleeve (108) is fixedly mounted on one end of the telescopic arm (107); and the rotating sleeve (108) is movably mounted on the second rotating arm (105).

3. The pneumatic locking device for robot arm collision warning according to claim 1, characterized in that: The first rotating rod (2) and the second rotating rod (201) are both rotatably mounted inside the chassis (1) via a connecting seat (202).

4. The pneumatic locking device for robot arm collision warning according to claim 1, characterized in that: Both ends of the linkage rod (204) are movably mounted with a rotating shaft (205), and the rotating shaft (205) is movably connected to the clamping plate (203) and the Y-shaped connecting frame (206).

5. The pneumatic locking device for robot arm collision warning according to claim 1, characterized in that: A mounting shaft (208) is rotatably mounted inside the Y-shaped connecting frame (206), and the bottom of the mounting shaft (208) is fixedly mounted inside the chassis (1). The Y-shaped connecting frame (206) is movably connected to another clamping plate (203) via a bending rod (212).

6. The pneumatic locking device for robot arm collision warning according to claim 1, characterized in that: The pneumatic rod (209) and the Y-shaped connecting frame (206) are movably mounted via a connecting shaft (210), and the pneumatic rod (209) and the chassis (1) are movably connected via a mounting seat (211).

7. The pneumatic locking device for robot arm collision warning according to claim 1, characterized in that: A plug (303) corresponding to the pressure relief port (3) is fixedly mounted on the top of the bottom plate (302), and a lifting plate (304) is fixedly mounted between the bottom plate (302) and the sealing plate (305).

8. The pneumatic locking device for robot arm collision warning according to claim 1, characterized in that: The sealing plate (305) and the front end of the pneumatic retractable rod (301) are slidably mounted via a sliding groove (306), and sliding blocks (307) matching the sliding groove (306) are fixedly mounted on both sides of the sealing plate (305).

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