A precision hardware manipulator anti-collision structure

Abstract

The present invention relates to the technical field of robot anti-collision, and specifically to an anti-collision structure for a precision hardware robot, including a robot, wherein the robot is provided with a stabilizing mechanism that assists the robot in stably grasping hardware, the stabilizing mechanism comprising a cross bar sliding on the robot, one end of the cross bar being slidably mounted with a back plate, the back plate and the other end of the cross bar being distributed on both sides of the robot, and a limiting shaft for limiting the sliding of the cross bar being provided on the cross bar; when the robot grasps hardware, the other end of the cross bar is used to contact and squeeze the hardware; the purpose of the present invention is to provide an anti-collision structure for a precision hardware robot, so that the anti-collision plate can protect the robot, and prevent the robot from colliding with external instruments or other hardware that suddenly appear on the path during the process of grasping hardware and moving along a specific path, thereby causing damage to the robot and increasing maintenance costs.

Description

Technical Field

[0001] The present invention relates to the technical field of robot anti-collision, in particular to a precision hardware robot anti-collision structure. Background Art

[0002] The manipulator is an automatic operating device that can imitate certain movements and functions of human hands and arms and is used to grasp, carry objects or operate tools according to fixed procedures. It is the earliest industrial robot and also the earliest modern robot. It can replace human labor to achieve mechanization and automation of production. It can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] Currently, when a robot grasps precision hardware and moves along a specific path, it may collide with external equipment or other hardware that suddenly appears along the path, causing damage to the robot and increasing maintenance costs. Summary of the Invention

[0004] The purpose of the present invention is to provide an anti-collision structure for a precision hardware manipulator, so that the anti-collision plate can protect the manipulator and prevent the manipulator from colliding with external instruments or other hardware that suddenly appear on the path while grabbing hardware and moving along a specific path, thereby causing damage to the manipulator and increasing maintenance costs.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a collision-proof structure for a precision hardware manipulator, comprising a manipulator, wherein the manipulator is provided with a stabilizing mechanism that assists the manipulator in stably grasping the hardware, the stabilizing mechanism comprising a cross bar sliding on the manipulator, a stop plate slidably mounted on one end of the cross bar, the stop plate and the other end of the cross bar being distributed on both sides of the manipulator, and a limiting shaft for limiting the sliding of the cross bar being provided on the cross bar; when the manipulator grasps the hardware, the other end of the cross bar is contacted and squeezed with the hardware, and the stop plate is contacted and squeezed with another part of the hardware, thereby cooperating with the manipulator to form a multi-point grasping of the hardware; in addition, the stop plate slides on one end of the cross bar, thereby adjusting the horizontal difference between the bottom of the stop plate and the bottom of the other end of the cross bar; a hydraulic rod is provided on the cross bar The output end of the hydraulic rod is fixedly connected to the cross bar; the cross bar is provided with an anti-collision mechanism for protecting the manipulator from moving along a specific path by grabbing the hardware, and the anti-collision mechanism includes a fixed frame located on one side of the abutment plate, and the fixed frame is fixed with a guide rod with a scale on the surface, and two sets of slides are slid on the guide rod, and the two sets of slides are connected by a telescopic spring, and one side of the two sets of slides is provided with an anti-collision plate, and the anti-collision plate is located on one side of the gripper on the manipulator, and the bottom of the two sets of slides is provided with an extrusion ball. In the process of contact and extrusion between the abutment plate and the other end of the cross bar and the hardware, the slide first contacts and squeezes with the hardware through the extrusion ball, and the slide is driven to move by the extrusion force between the extrusion ball and the hardware, and the slide is on the guide rod, and at the same time, the slide drives the anti-collision plate and makes it stay on one side of the gripper.

[0006] Preferably, the manipulator is provided with an empty slot for the cross bar to pass through.

[0007] Preferably, the limiting shaft is fixedly mounted on the manipulator, and the cross bar is provided with a sliding groove cooperating with the limiting shaft to limit the movement of the cross bar.

[0008] Preferably, the cross bar is L-shaped, and the cross bar cooperates to limit the movement of the shaft inside the empty slot on the manipulator.

[0009] Preferably, a clamping hand that contacts and squeezes the hardware is installed at the other end of the crossbar, and the clamping hand is located on one side of the gripper on the manipulator.

[0010] Preferably, a first threaded shaft is fixed on the abutment plate, the first threaded shaft penetrates the cross bar and is fixed by bolts, and a mark a is provided on the outer side of the first threaded shaft.

[0011] Preferably, a mounting rod is fixed to one side of the abutment plate, and one end of the mounting rod is connected to the fixing frame.

[0012] Preferably, the guide rod is fixed on a fixing frame, and a mark b is provided on the outer side of the guide rod.

[0013] Preferably, the slide plate slides on the guide rod, and the telescopic spring is sleeved on the outside of the guide rod, and both ends of the telescopic spring are respectively connected to the two groups of slide plates.

[0014] Preferably, a second threaded shaft is fixed to one side of the two groups of slide plates, and the anti-collision plate is fixed to the second threaded shaft by bolts.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention utilizes the movement of the slide plate while the slide plate drives the movement of the anti-collision plate through the second threaded shaft. When the abutment plate and the clamping hand contact and squeeze the hardware, the anti-collision plate is located on one side of the gripper on the manipulator, and a certain distance is maintained between the anti-collision plate and the gripper on the manipulator. In this way, the anti-collision plate can protect the manipulator and prevent the manipulator from colliding with external instruments or other hardware that suddenly appear on the path when grabbing hardware and moving along a specific path, thereby causing damage to the manipulator and increasing maintenance costs.

[0017] 2. In the present invention, after the manipulator continues to move downward, the clamping hand and the back plate will be squeezed by the hardware, driving the cross bar to move on the manipulator, and the cross bar moves inside the empty slot on the manipulator. After the manipulator moves to a certain position, the gripper on the manipulator grabs the hardware. At this time, after the cross bar moves on the limiting shaft, the cross bar moves and contacts and squeezes the top of the limiting shaft, so that the cross bar remains stable. In this way, the manipulator is used in conjunction with the clamping hand and the back plate to connect multiple positions of the hardware, which can increase the stability of the hardware in the process of following the movement of the manipulator, and avoid the manipulator's grasping position of the hardware from offset, causing the hardware to tip over or even fall when following the movement of the manipulator, damaging the hardware and increasing costs.

[0018] 3. In the process of contact and extrusion between the hardware and the squeezing ball of the present invention, the hardware squeezes the squeezing ball to move, and the squeezing ball drives the slide plate to move along the guide rod. While the two sets of slide plates move in opposite directions along the guide rod, the two sets of slide plates stretch the telescopic springs. When the squeezing ball moves to a certain position outside the hardware, the abutment plate and the clamping hand contact and squeeze the hardware, and the gripper on the manipulator grabs the hardware again. At this time, the distance between the two sets of slide plates and the mark b on the guide rod can be used to intuitively detect the size data of the hardware. On the one hand, the dimensional accuracy of the hardware can be detected and the precision of the hardware can be improved. On the other hand, it can facilitate the staff to record data and improve work convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2This is the second schematic diagram of the overall structure of the present invention;

[0021] Figure 3 This is a partial cross-sectional view of the present invention;

[0022] Figure 4 This is the second partial cross-sectional view of the present invention;

[0023] Figure 5 It is a partial structural schematic diagram of the present invention;

[0024] Figure 6 The third partial cross-sectional view of the present invention;

[0025] Figure 7 This is the third schematic diagram of the overall structure of the present invention.

[0026] In the figure: 1. Robotic arm; 2. Stabilizing mechanism; 21. Cross bar; 23. Clamping hand; 24. Hydraulic rod; 25. Abutment plate; 26. First threaded shaft; 27. Limiting shaft; 3. Anti-collision mechanism; 31. Mounting rod; 32. Fixing frame; 33. Anti-collision plate; 34. Telescopic spring; 35. Guide rod; 36. Second threaded shaft; 37. Slide plate; 38. Squeeze ball. DETAILED DESCRIPTION

[0027] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0028] The present invention provides an anti-collision structure for a precision hardware manipulator, comprising a manipulator 1, wherein the manipulator 1 is provided with a stabilizing mechanism 2 that assists the manipulator 1 in stably grasping the hardware, the stabilizing mechanism 2 comprising a cross bar 21 that slides on the manipulator 1, and a stop plate 25 that is slidably mounted on one end of the cross bar 21, the stop plate 25 and the other end of the cross bar 21 being distributed on both sides of the manipulator 1, and a limiting shaft 27 for limiting the sliding of the cross bar 21 being provided on the cross bar 21; when the manipulator 1 grasps the hardware, the other end of the cross bar 21 is used to contact and squeeze the hardware, and the stop plate 25 is used to contact and squeeze another part of the hardware, thereby cooperating with the manipulator 1 to form a multi-point grasping of the hardware; in addition, the stop plate 25 slides on one end of the cross bar 21, thereby adjusting the contact between the bottom of the stop plate 25 and the cross bar 21; the manipulator 1 is provided with an empty slot for the cross bar 21 to pass through, the limiting shaft 27 is fixedly installed on the manipulator 1, and the cross bar 21 is provided with a sliding slot that cooperates with the limiting shaft 27 to limit the movement of the cross bar 21. The cross bar 21 is L-shaped, and the cross bar 21 cooperates with the limiting shaft 27 to move inside the empty slot on the manipulator 1. The other end of the cross bar 21 is installed with a clamping hand 23 that contacts and squeezes the hardware. The clamping hand 23 is located on one side of the gripper on the manipulator 1. A first threaded shaft 26 is fixed on the butt plate 25. The first threaded shaft 26 passes through the cross bar 21 and is fixed by bolts. The outer side of the first threaded shaft 26 is provided with a mark a; a hydraulic rod 24 is provided on the cross bar 21, and the output end of the hydraulic rod 24 is fixedly connected to the cross bar 21;

[0029] See Figures 1 to 5 As shown, in the process of the manipulator 1 grasping the hardware, the manipulator 1 drives the cross bar 21 to move while moving along a specific path, and the cross bar 21 drives the clamping hand 23 and the back plate 25 to move at the same time. When the gripper on the manipulator 1 is about to grasp the hardware, the clamping hand 23 and the back plate 25 on the cross bar 21 first contact the hardware. After the manipulator 1 continues to move downward, the clamping hand 23 and the back plate 25 will be squeezed by the hardware, and drive the cross bar 21 to move on the manipulator 1. The cross bar 21 moves inside the empty slot on the manipulator 1. After moving to a certain position, the gripper on the manipulator 1 grabs the hardware. At this time, after the crossbar 21 moves on the limiting shaft 27, the crossbar 21 moves and contacts and squeezes the top of the limiting shaft 27, so that the crossbar 21 remains stable. In this way, the manipulator 1 is used in conjunction with the clamping hand 23 and the abutment plate 25 to connect the hardware at multiple positions, which can increase the stability of the hardware in the process of following the movement of the manipulator 1, and avoid the manipulator 1 from shifting the position of the hardware grasping the hardware, causing the hardware to fall or even fall when following the movement of the manipulator 1, damaging the hardware and increasing costs.

[0030] In addition, the size of the hardware can be adjusted, for example, the diameter of the hardware can be designed in a stepped shape, such as Figure 7As shown, the position of the butt plate 25 is adjusted, and the first threaded shaft 26 on the butt plate 25 is used to slide on the cross bar 21, and the mark a on the outside of the first threaded shaft 26 is used to facilitate the staff to adjust the position of the butt plate 25. After the clamping hand 23 contacts the hardware with the butt plate 25, the contact between the clamping hand 23 and the hardware can be observed. At the same time, by observing whether the butt plate 25 contacts the hardware, the dimensional accuracy problem of the hardware can be intuitively checked, thereby improving the production quality of the hardware.

[0031] In addition, the hydraulic rod 24 is started, and one end of the hydraulic rod 24 is squeezed with the manipulator 1, and then the cross bar 21 can be driven to move through the output end, and the cross bar 21 drives the movement of the clamping hand 23 and the abutment plate 25. Therefore, according to actual conditions, the position of the clamping hand 23 and the abutment plate 25 can be adjusted, and then the distance between the clamping hand 23 and the abutment plate 25 and the gripper on the manipulator 1 can be adjusted, so that the manipulator 1 can more easily grasp precision hardware with a stepped diameter design, thereby greatly improving flexibility and practicality.

[0032] The crossbar 21 is provided with an anti-collision mechanism 3 for protecting the manipulator 1 from moving along a specific path when grabbing hardware. The anti-collision mechanism 3 includes a fixed frame 32 located on one side of the abutment plate 25. A guide rod 35 with a scale on the surface is fixed to the fixed frame 32. Two sets of slides 37 slide on the guide rod 35. A telescopic spring 34 is connected between the two sets of slides 37. One side of the two sets of slides 37 is provided with an anti-collision plate 33. The anti-collision plate 33 is located on the gripper side of the manipulator 1. The bottom of the two sets of slides 37 is provided with a squeezing ball 38. When the abutment plate 25 and the other end of the crossbar 21 contact and squeeze with the hardware, the slide 37 first contacts and squeezes with the hardware through the squeezing ball 38, and then squeezes The extrusion force between the pressure ball 38 and the hardware drives the slide plate 37 to move. The slide plate 37 is on the guide rod 35. At the same time, the slide plate 37 drives the anti-collision plate 33 and makes it stay on the side of the gripper; a mounting rod 31 is fixed to one side of the abutment plate 25, one end of the mounting rod 31 is connected to the fixing frame 32, the guide rod 35 is fixedly mounted on the fixing frame 32, and a mark b is provided on the outer side of the guide rod 35. The slide plate 37 slides on the guide rod 35, and the telescopic spring 34 is sleeved on the outer side of the guide rod 35. The two ends of the telescopic spring 34 are respectively connected to the two groups of slide plates 37. A second threaded shaft 36 is fixed to one side of the two groups of slide plates 37. The anti-collision plate 33 is fixed to the second threaded shaft 36 by bolts.

[0033] See Figures 4 to 6As shown, when the gripper on the manipulator 1 is about to grab the hardware, the clamping hand 23 and the back plate 25 on the cross bar 21 first contact the hardware, and at the same time, the back plate 25 drives the fixing frame 32 to move downward through the mounting rod 31, and the fixing frame 32 drives the slide plate 37 to move through the guide rod 35, and the squeezing ball 38 on the slide plate 37 first contacts and squeezes the hardware. Due to the spherical design of the bottom of the squeezing ball 38 and the arc-shaped outer surface of the hardware, during the process of contact and squeezing between the hardware and the squeezing ball 38, the hardware squeezes the squeezing ball 38 to move, and the squeezing ball 38 drives the slide plate 37 to move along the guide rod 35 When the two sets of slides 37 move in opposite directions along the guide rod 35, the two sets of slides 37 stretch the telescopic spring 34. When the squeezing ball 38 moves to a certain position outside the hardware, the abutment plate 25 and the clamping hand 23 contact and squeeze the hardware, and the gripper on the manipulator 1 grabs the hardware again. At this time, the distance between the two sets of slides 37 and the mark b on the guide rod 35 can be used to intuitively detect the size data of the hardware. On the one hand, the dimensional accuracy of the hardware can be detected, thereby improving the precision of the hardware. On the other hand, it is convenient for the staff to record data and improve the convenience of work.

[0034] In addition, when the slide plate 37 moves, the slide plate 37 drives the anti-collision plate 33 to move through the second threaded shaft 36. When the abutment plate 25 and the gripping hand 23 come into contact and squeeze with the hardware, the anti-collision plate 33 is located on one side of the gripper of the manipulator 1, and the anti-collision plate 33 is kept at a certain distance from the gripper of the manipulator 1. In this way, the anti-collision plate 33 can protect the manipulator 1 and prevent the manipulator 1 from colliding with external equipment or other hardware that suddenly appears on the path when grasping the hardware and moving along a specific path, thereby causing damage to the manipulator 1 and increasing maintenance costs.

[0035] In addition, the distance that the slide plate 37 moves is automatically driven according to the size of the hardware, and then the position of the anti-collision plate 33 is automatically adjusted by the slide plate 37. Therefore, the position of the anti-collision plate 33 can be automatically adjusted according to hardware of different sizes, and then the distance between the anti-collision plate 33 and the manipulator 1 can be adjusted. On the one hand, it can prevent the anti-collision plate 33 from being too close to the gripper of the manipulator 1 when the gripper of the manipulator 1 is opened, affecting the opening of the gripper of the manipulator 1. On the other hand, the anti-collision plate 33 is located at a suitable position on the gripper side of the manipulator 1, which can provide anti-collision protection for the manipulator 1 while avoiding the anti-collision plate 33 occupying too much working space, causing the anti-collision plate 33 to cause trouble to the working environment of the staff during the gripping process of the manipulator 1; in addition, the position of the anti-collision plate 33 on the second threaded shaft 36 can be adjusted according to actual conditions to further increase flexibility.

[0036] When the gripper 1 is about to grab the hardware, the gripper 23 and the butt plate 25 on the cross bar 21 first contact the hardware. At the same time, the butt plate 25 drives the fixing frame 32 to move downward through the mounting rod 31, and the fixing frame 32 drives the slide plate 37 to move through the guide rod 35. The squeezing ball 38 on the slide plate 37 first contacts and squeezes the hardware. Due to the spherical design of the bottom of the squeezing ball 38 and the curved outer surface of the hardware, during the contact and squeezing process between the hardware and the squeezing ball 38, the hardware squeezes the squeezing ball 38 to move, and the squeezing ball 38 drives the slide plate 37 to move along the guide rod 35. When the two sets of slide plates 37 move in opposite directions along the guide rod 35, the two sets of slide plates 37 stretch the telescopic spring 34. When the squeezing ball 38 moves to a certain position outside the hardware, When the slide 37 moves, the slide 37 drives the anti-collision plate 33 to move through the second threaded shaft 36, and when the slide 37 moves, the anti-collision plate 33 is located on one side of the gripper on the manipulator 1, and the anti-collision plate 33 is kept at a certain distance from the gripper on the manipulator 1, thereby making the anti-collision plate 33 play a protective role for the manipulator 1, preventing the manipulator 1 from colliding with external instruments or other hardware that suddenly appear on the path during the movement of the specific path when grabbing the hardware.

[0037] After the manipulator 1 continues to move downward, the clamping hand 23 and the support plate 25 will be squeezed by the hardware, driving the cross bar 21 to move on the manipulator 1. The cross bar 21 moves inside the empty slot on the manipulator 1. After the manipulator 1 moves to a certain position, the gripper on the manipulator 1 grabs the hardware. At this time, after the cross bar 21 moves on the limiting shaft 27, the cross bar 21 moves and contacts and squeezes the top of the limiting shaft 27, so that the cross bar 21 remains stable. Therefore, the manipulator 1 is used in conjunction with the clamping hand 23 and the support plate 25 to connect multiple positions of the hardware, which can increase the stability of the hardware in the process of following the movement of the manipulator 1, and avoid the manipulator 1 from offsetting the grasping position of the hardware, causing the hardware to tip over or even fall when following the movement of the manipulator 1, damaging the hardware and increasing costs.

[0038] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A precision hardware manipulator anti-collision structure, comprising a manipulator (1), characterized in that: The manipulator (1) is provided with a stabilizing mechanism (2) for assisting the manipulator (1) in stably grasping hardware. The stabilizing mechanism (2) comprises a cross bar (21) sliding on the manipulator (1). A support plate (25) is slidably mounted on one end of the cross bar (21). The support plate (25) and the other end of the cross bar (21) are distributed on both sides of the manipulator (1). A limiting shaft (27) for limiting the sliding of the cross bar (21) is provided on the cross bar (21). When the manipulator (1) grasps the hardware, the stabilizing mechanism (2) is provided. The other end of the cross bar (21) is in contact with and squeezed against the hardware, and the abutment plate (25) is in contact with and squeezed against another part of the hardware, thereby cooperating with the manipulator (1) to form a multi-point grasping of the hardware; in addition, the abutment plate (25) slides on one end of the cross bar (21), thereby adjusting the level difference between the bottom of the abutment plate (25) and the bottom of the other end of the cross bar (21); a hydraulic rod (24) is provided on the cross bar (21), and the output end of the hydraulic rod (24) is fixedly connected to the cross bar (21); The crossbar (21) is provided with an anti-collision mechanism (3) for protecting the manipulator (1) from moving along a specific path when grabbing hardware. The anti-collision mechanism (3) includes a fixed frame (32) located on one side of the abutment plate (25). A guide rod (35) with a scale on the surface is fixed on the fixed frame (32). Two groups of slide plates (37) are slidably mounted on the guide rod (35). A telescopic spring (34) is connected between the two groups of slide plates (37). An anti-collision plate (33) is provided on one side of the two groups of slide plates (37). The anti-collision plate (33) On one side of the gripper on the manipulator (1), the bottoms of the two groups of slides (37) are both provided with squeezing balls (38). During the process of the contact and squeezing of the abutment plate (25) and the other end of the cross bar (21) with the hardware, the slides (37) are first contacted and squeezed with the hardware through the squeezing balls (38). The slides (37) are driven to move by the squeezing force between the squeezing balls (38) and the hardware. The slides (37) are on the guide rod (35), and at the same time, the slides (37) drive the anti-collision plate (33) and make it stay on one side of the gripper.

2. The anti-collision structure of a precision hardware manipulator according to claim 1 is characterized in that: The manipulator (1) is provided with an empty slot for the crossbar (21) to pass through.

3. The anti-collision structure of a precision hardware manipulator according to claim 1 is characterized in that: The limiting shaft (27) is fixedly mounted on the manipulator (1), and a sliding groove is provided on the cross bar (21) for cooperating with the limiting shaft (27) to limit the movement of the cross bar (21).

4. The anti-collision structure of a precision hardware manipulator according to claim 1 is characterized in that: The crossbar (21) is of L-shaped design, and the crossbar (21) cooperates with the limiting shaft (27) to move inside the empty slot on the manipulator (1).

5. The anti-collision structure of a precision hardware manipulator according to claim 1 is characterized in that: The other end of the crossbar (21) is provided with a clamping hand (23) for contacting and squeezing the hardware, and the clamping hand (23) is located on one side of the gripper on the manipulator (1).

6. The anti-collision structure of a precision hardware manipulator according to claim 1, characterized in that: A first threaded shaft (26) is fixed on the abutment plate (25), the first threaded shaft (26) penetrates the crossbar (21) and is fixed by bolts, and a mark a is provided on the outer side of the first threaded shaft (26).

7. The anti-collision structure of a precision hardware manipulator according to claim 1, characterized in that: A mounting rod (31) is fixed to one side of the abutment plate (25), and one end of the mounting rod (31) is connected to a fixing frame (32).

8. The anti-collision structure of a precision hardware manipulator according to claim 1 is characterized in that: The guide rod (35) is fixedly mounted on the fixing frame (32), and a mark b is provided on the outer side of the guide rod (35).

9. The anti-collision structure of a precision hardware manipulator according to claim 1, characterized in that: The slide plate (37) slides on the guide rod (35), and the telescopic spring (34) is sleeved on the outside of the guide rod (35), and the two ends of the telescopic spring (34) are respectively connected to the two groups of slide plates (37).

10. The anti-collision structure of a precision hardware manipulator according to claim 1, characterized in that: A second threaded shaft (36) is fixed to one side of the two groups of slide plates (37), and the anti-collision plate (33) is fixed to the second threaded shaft (36) by means of bolts.

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