Cooperative machine detection device

Abstract

A cooperative machine detection device disclosed by the present invention comprises a mechanical arm, the tail end of the mechanical arm is provided with a rotating clamping jaw, the middle part of a tail end joint arm of the mechanical arm is fixedly provided with a driving motor, and the peripheral surface of the tail end joint arm of the mechanical arm is fixedly provided with a fixing ring located below the driving motor. An annular sliding rail is fixedly installed on the peripheral face of the fixing ring, a sliding block is slidably connected to the peripheral face of the annular sliding rail, a gear ring is fixedly installed at the top of the sliding block, a sliding frame is fixedly installed on the side face of the sliding block, a gear is fixedly installed at the output end of the driving motor, and the gear is meshed with the gear ring. According to the cooperative machine detection device, collision between a robot arm and an object or a worker can be effectively prevented, the safety of a robot in the running state is greatly improved, meanwhile, the personal safety of the worker is improved, and the overall structure is stable and convenient to use.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a collaborative machine detection device. Background Art

[0002] Collaborative robots are widely used in many sectors, including manufacturing. They can replace or assist humans in performing heavy work in hazardous locations. While robots free people from heavy, dangerous, and repetitive labor, they also pose a risk. Collaborative robots offer significantly greater freedom of movement than conventional machines. Their working components can operate within larger spaces, and they possess high-speed, high-powered arms and complex autonomous movements. Accidents can easily endanger people or other equipment on the production line.

[0003] However, existing robots lack emotions and sensor equipment. Since traditional robots cannot sense the presence of humans, collisions with humans can easily cause injuries to technicians. In addition to installing sensors on collaborative robots and production lines, video surveillance analysis based on computer vision is one of the commonly used accident detection methods in the industry. Summary of the Invention

[0004] In response to the defects in the prior art, the present invention provides a collaborative machine detection device, including a robotic arm, a rotating clamping claw is provided at the end of the robotic arm, a driving motor is fixedly installed in the middle of the joint arm at the end of the robotic arm, a fixing ring located below the driving motor is fixedly installed on the outer circumference of the joint arm at the end of the robotic arm, an annular slide rail is fixedly installed on the outer circumference of the fixing ring, a sliding block is slidably connected to the outer circumference of the annular slide rail, a gear ring is fixedly installed on the top of the sliding block, a sliding frame is fixedly installed on the side of the sliding block, a gear is fixedly installed on the output end of the driving motor, the gear is meshed with the gear ring, a displacement block is movably connected inside the sliding frame, a main camera is fixedly installed on the bottom of the displacement block through a bracket, and a main distance sensor located on one side of the main camera is fixedly installed on the bottom of the displacement block.

[0005] Preferably, a connecting ring is fixedly installed on the outside of the rotating part of the rotating clamp, an elliptical guide rail is fixedly installed on the outer peripheral surface of the connecting ring through a bracket, a guide rod located above the elliptical guide rail is fixedly installed on the bottom of the displacement block, and a roller is rotatably connected to the bottom of the guide rod, and the roller is rollingly connected to the inside of the elliptical guide rail.

[0006] Preferably, a groove is provided at the top of the elliptical guide rail, the roller is rollingly connected to the inside of the groove at the top of the elliptical guide rail, the bottom of the roller is higher than the bottom of the groove, and the long axis of the elliptical guide rail is arranged parallel to the longer direction of the rotating clamp. By setting the sliding frame and the elliptical guide rail, when the robotic arm and the rotating clamp are working, the elliptical guide rail rotates with the rotating clamp, and when the sliding block moves along the annular slide rail, the roller and the guide rod move along the elliptical guide rail, thereby driving the displacement block to move inside the sliding frame, so that the main camera and the main distance sensor move in the opposite direction along the long axis of the rotating clamp, thereby preventing collision due to the length of the rotating clamp.

[0007] Preferably, the shape of the fixing ring is the same as that of the joint arm at the end of the robotic arm, the center of the annular slide rail coincides with the center of the fixing ring, the gear ring and the annular slide rail are coaxially arranged, and the drive motor is fixedly installed on the side of the joint arm at the end of the robotic arm away from the robotic arm mounting seat.

[0008] Preferably, a guide slide bar is fixedly installed inside the sliding frame, the guide slide bar is slidably connected to the middle part of the displacement block, and a reset spring is sleeved on the outside of the guide slide bar.

[0009] Preferably, one end of the return spring is tightly arranged against a side of the sliding frame away from the sliding block, and the other end of the return spring is tightly arranged against a side surface of the displacement block.

[0010] Preferably, the outer peripheral surface of the annular slide rail is slidably connected with four sliding blocks, one of which is fixedly mounted with a sliding frame, and auxiliary cameras are fixedly mounted on the sides of the remaining three sliding blocks, and auxiliary distance sensors located on one side of the auxiliary camera are fixedly mounted on the sides of the remaining three sliding blocks, and another auxiliary distance sensor located on the top of the end of the sliding frame is fixedly mounted. By setting the annular slide rail, the driving motor drives the gear ring to rotate through the gear, so that the sliding block rotates along the annular slide rail, thereby enabling the main camera and main distance sensor arranged under the sliding frame and the auxiliary cameras and auxiliary distance sensors installed on one side of the three sliding blocks in the spirit position to detect the surrounding environment of the robot arm and the rotating clamp, and then analyze the distance between the staff or other machines and the robot arm, but when the distance is less than the set threshold, a command is issued to the robot arm to stop the robot arm, which can effectively prevent the robot arm from colliding with objects or staff, greatly improves the safety of the robot in operation, and at the same time improves the personal safety of the staff. The overall structure is stable and easy to use.

[0011] Preferably, a protective cover is provided at the bottom of the displacement block, a limiting protrusion is integrally provided inside the protective cover, the protective cover is slidably connected to the bracket for installing the main camera through the limiting protrusion, connecting plates are fixedly installed on the front and rear sides of the protective cover, and a guide slider is integrally connected to the top of the connecting plate.

[0012] Preferably, guide slots are provided on the front and rear sides of the sliding frame, the guide sliding block is slidably connected to the inside of the guide slots, and one end of the guide slot close to the sliding block is higher than the other end of the guide slot.

[0013] Preferably, the width of the guide slider is the same as the width of the guide slot, and the height of the protective cover is the same as the height difference between the two ends of the guide slot. By setting the guide slot, when the displacement block drives the main camera and the main distance sensor to move along the sliding frame, as the main camera and the main distance sensor move away from the sliding block, the guide slider moves along the guide slot, and the protective cover moves downward to wrap the main camera and the main distance sensor inside to prevent collisions caused by external objects. When the displacement block moves in the same direction, the guide slider moves in the opposite direction along the guide slot, and the protective cover moves upward to leak the main camera and the main distance sensor.

[0014] The beneficial effects of the present invention are embodied in:

[0015] 1. This collaborative machine detection device sets an annular slide rail, and the driving motor drives the gear ring to rotate through the gear, so that the sliding block rotates along the annular slide rail, and then the main camera and main distance sensor set under the sliding frame and the auxiliary camera and auxiliary distance sensor installed on one side of the three sliding blocks of the spirit position detect the surrounding environment of the robot arm and the rotating clamp, and then analyze the distance between the staff or other machines and the robot arm. However, when the distance is less than the set threshold, a command is issued to the robot arm to stop the robot arm, which can effectively prevent the robot arm from colliding with objects or staff, greatly improving the safety of the robot in operation, and at the same time improving the personal safety of the staff. The overall structure is stable and easy to use.

[0016] 2. This collaborative machine detection device is equipped with a sliding frame and an elliptical guide rail. When the robotic arm and the rotating clamp are working, the elliptical guide rail rotates along with the rotating clamp. When the sliding block moves along the annular slide rail, the roller and the guide rod move along the elliptical guide rail, thereby driving the displacement block to move inside the sliding frame, so that the main camera and the main distance sensor move in the opposite direction along the long axis of the rotating clamp, thereby preventing collisions caused by the length of the rotating clamp.

[0017] 3. This collaborative machine detection device is equipped with a guide groove. When the displacement block drives the main camera and the main distance sensor to move along the sliding frame, as the main camera and the main distance sensor move away from the sliding block, the guide slider moves along the guide groove, and the protective cover moves downward to wrap the main camera and the main distance sensor inside to prevent collisions caused by external objects. When the displacement block moves in the same direction, the guide slider moves in the opposite direction along the guide groove, and the protective cover moves upward to expose the main camera and the main distance sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly describes the drawings required for the specific embodiments or the description of the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. Elements or parts in the drawings are not necessarily drawn to scale.

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

[0020] Figure 2 Schematic diagram of the structure of the robotic arm of the present invention;

[0021] Figure 3 It is a structural schematic diagram of the rotating clamping jaw of the present invention;

[0022] Figure 4 It is a structural schematic diagram of the fixing ring of the present invention;

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

[0024] Figure 6 For the present invention Figure 5 Enlarged view of point A in the middle;

[0025] Figure 7 It is a structural schematic diagram of the displacement block of the present invention;

[0026] Figure 8 Schematic diagram of the structure of the return spring of the present invention;

[0027] Figure 9 It is a schematic structural diagram of the protective cover of the present invention.

[0028] In the figure: 1. Robotic arm; 2. Rotating gripper; 3. Fixed ring; 4. Annular slide; 5. Sliding block; 6. Gear ring; 7. Drive motor; 8. Gear; 9. Auxiliary camera; 10. Auxiliary distance sensor; 11. Sliding frame; 12. Displacement block; 13. Return spring; 14. Guide slide bar; 15. Main camera; 16. Main distance sensor; 17. Protective cover; 18. Connecting plate; 19. Guide slider; 20. Guide chute; 21. Guide rod; 22. Roller; 23. Connecting ring; 24. Elliptical guide rail; 25. Limiting bump. DETAILED DESCRIPTION

[0029] The following embodiments of the technical solution of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and are therefore only examples and are not intended to limit the scope of protection of the present invention.

[0030] It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0031] See also Figures 1 to 9 A collaborative machine detection device includes a robotic arm 1, a rotating clamp 2 is provided at the end of the robotic arm 1, a drive motor 7 is fixedly installed in the middle of the joint arm at the end of the robotic arm 1, a fixed ring 3 located below the drive motor 7 is fixedly installed on the outer circumference of the joint arm at the end of the robotic arm 1, an annular slide rail 4 is fixedly installed on the outer circumference of the fixed ring 3, a sliding block 5 is slidably connected to the outer circumference of the annular slide rail 4, a gear ring 6 is fixedly installed on the top of the sliding block 5, a sliding frame 11 is fixedly installed on the side of the sliding block 5, a gear 8 is fixedly installed on the output end of the drive motor 7, the gear 8 is engaged with the gear ring 6, a displacement block 12 is movably connected inside the sliding frame 11, a main camera 15 is fixedly installed on the bottom of the displacement block 12 through a bracket, and a main distance sensor 16 located on one side of the main camera is fixedly installed on the bottom of the displacement block 12.

[0032] As an embodiment of the present invention, a connecting ring 23 is fixedly installed on the outside of the rotating part of the rotating clamp 2, and an elliptical guide rail 24 is fixedly installed on the outer peripheral surface of the connecting ring 23 through a bracket. A guide rod 21 located above the elliptical guide rail 24 is fixedly installed on the bottom of the displacement block 12, and a roller 22 is rotatably connected to the bottom of the guide rod 21, and the roller 22 is rollingly connected to the inside of the elliptical guide rail 24.

[0033] As an embodiment of the present invention, a groove is provided at the top of the elliptical guide rail 24, and the roller 22 is rollingly connected to the inside of the groove at the top of the elliptical guide rail 24. The bottom of the roller 22 is higher than the bottom of the groove. The long axis of the elliptical guide rail 24 is arranged parallel to the longer direction of the rotating jaw 2. By setting the sliding frame 11 and the elliptical guide rail 24, when the robotic arm 1 and the rotating jaw 2 are working, the elliptical guide rail 24 rotates with the rotating jaw 2. When the sliding block 5 moves along the annular slide rail 4, the roller 22 and the guide rod 21 move along the elliptical guide rail 24, thereby driving the displacement block 12 to move inside the sliding frame 11, so that the main camera 15 and the main distance sensor 16 move in the opposite direction along the long axis of the rotating jaw 2, thereby preventing collision due to the length of the rotating jaw 2.

[0034] As an embodiment of the present invention, the shape of the fixed ring 3 is the same as the shape of the end joint arm of the robot arm 1, the center of the annular slide rail 4 coincides with the center of the fixed ring 3, the gear ring 6 and the annular slide rail 4 are coaxially arranged, and the drive motor 7 is fixedly installed on the side of the end joint arm of the robot arm 1 away from the mounting seat of the robot arm 1.

[0035] As an embodiment of the present invention, a guide slide rod 14 is fixedly installed inside the sliding frame 11 , and the guide slide rod 14 is slidably connected to the middle of the displacement block 12 . A return spring 13 is sleeved on the outside of the guide slide rod 14 .

[0036] As an embodiment of the present invention, one end of the return spring 13 is tightly mounted against a side of the sliding frame 11 away from the sliding block 5 , and the other end of the return spring 13 is tightly mounted against a side surface of the displacement block 12 .

[0037] As an embodiment of the present invention, four sliding blocks 5 are slidably connected to the outer circumference of the annular slide rail 4, one of the sliding blocks 5 is fixedly installed with a sliding frame 11, and auxiliary cameras 9 are fixedly installed on the sides of the remaining three sliding blocks 5, and auxiliary distance sensors 10 located on one side of the auxiliary camera 9 are fixedly installed on the sides of the remaining three sliding blocks 5. Another auxiliary distance sensor 10 is fixed on the top of the end of the sliding frame 11. By setting the annular slide rail 4, the driving motor 7 drives the gear ring 6 to rotate through the gear 8, so that the sliding block 5 rotates along the annular slide rail 4, thereby enabling the main camera 15 and the main distance sensor 16 set below the sliding frame 11 and the auxiliary cameras 9 and the auxiliary distance sensor 10 installed on the side of the three sliding blocks 5 in the spirit position to detect the surrounding environment of the robotic arm 1 and the rotating clamp 2, and then analyze the distance between the staff or other machines and the robotic arm 1. However, when the distance is less than the set threshold, a command is issued to the robotic arm to stop the robotic arm, which can effectively prevent the robotic arm from colliding with objects or staff, greatly improving the safety of the robot in operation, and at the same time improving the personal safety of the staff. The overall structure is stable and easy to use.

[0038] As an embodiment of the present invention, a protective cover 17 is provided at the bottom of the displacement block 12, and a limiting protrusion 25 is integrally provided inside the protective cover 17. The protective cover 17 is slidably connected to the bracket for installing the main camera 15 through the limiting protrusion 25. Connecting plates 18 are fixedly installed on the front and rear sides of the protective cover 17, and a guide slider 19 is integrally connected to the top of the connecting plate 18.

[0039] As an embodiment of the present invention, guide grooves 20 are opened on the front and rear sides of the sliding frame 11, and the guide slider 19 is slidably connected to the inside of the guide groove 20, and the end of the guide groove 20 close to the sliding block 5 is higher than the other end of the guide groove 20.

[0040] As an embodiment of the present invention, the width of the guide slider 19 is the same as the width of the guide slot 20, and the height of the protective cover 17 is the same as the height difference between the two ends of the guide slot 20. By setting the guide slot 20, when the displacement block 12 drives the main camera 15 and the main distance sensor 16 to move along the sliding frame 11, as the main camera 15 and the main distance sensor 16 move away from the sliding block 5, the guide slider 19 moves along the guide slot 20, and the protective cover 17 moves downward to wrap the main camera 15 and the main distance sensor 16 inside to prevent collisions caused by external objects. When the displacement block 12 moves in the direction, the guide slider 19 moves in the opposite direction along the guide slot 20, and the protective cover 17 moves up to leak the main camera 15 and the main distance sensor 16.

[0041] It should be noted that when the through-robot arm 1 and the rotating gripper 2 are working, the driving motor 7 drives the gear ring 6 to rotate through the gear 8, so that the sliding block 5 rotates along the annular slide rail 4, thereby enabling the main camera 15 and the main distance sensor 16 arranged below the sliding frame 11, and the auxiliary camera 9 and the auxiliary distance sensor 10 installed on one side of the three sliding blocks 5 in the spirit position to detect the surrounding environment of the robot arm 1 and the rotating gripper 2, and then analyze the distance between the staff or other machines and the robot arm 1. However, when the distance is less than the set threshold, a command is issued to the robot arm to stop the robot arm, which can effectively prevent the robot arm from colliding with objects or staff. When the through-robot arm 1 and the rotating gripper 2 are working, the elliptical guide rail 24 rotates with the rotating gripper 2, and when the sliding block 5 moves along the annular slide rail 4, the roller 22 The guide rod 21 moves along the elliptical guide rail 24, thereby driving the displacement block 12 to move inside the sliding frame 11, so that the main camera 15 and the main distance sensor 16 move in the opposite direction along the long axis of the rotating clamp 2, thereby preventing the rotating clamp 2 from causing a collision due to the length. When the displacement block 12 drives the main camera 15 and the main distance sensor 16 to move along the sliding frame 11, as the main camera 15 and the main distance sensor 16 move away from the sliding block 5, the guide slider 19 moves along the guide slot 20, and the protective cover 17 moves downward to wrap the main camera 15 and the main distance sensor 16 inside to prevent collisions caused by external objects. When the displacement block 12 moves in the direction, the guide slider 19 moves in the opposite direction along the guide slot 20, and the protective cover 17 moves up to leak the main camera 15 and the main distance sensor 16.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A collaborative machine detection device, comprising a robotic arm (1), characterized in that: The end of the mechanical arm (1) is provided with a rotating clamp (2), the middle part of the end joint arm of the mechanical arm (1) is fixedly installed with a driving motor (7), the outer peripheral surface of the end joint arm of the mechanical arm (1) is fixedly installed with a fixing ring (3) located below the driving motor (7), the outer peripheral surface of the fixing ring (3) is fixedly installed with an annular slide rail (4), the outer peripheral surface of the annular slide rail (4) is slidably connected with a sliding block (5), the top of the sliding block (5) is fixedly installed with a gear ring (6), the side of the sliding block (5) is fixedly installed with a sliding frame (11), the output end of the driving motor (7) is fixedly installed with a gear (8), the gear (8) is meshed with the gear ring (6), the interior of the sliding frame (11) is movably connected with a displacement block (12), the bottom of the displacement block (12) is fixedly installed with a main camera (15) through a bracket, and the bottom of the displacement block (12) is fixedly installed with a main distance sensor (16) located on one side of the main camera.

2. The collaborative machine detection device according to claim 1, characterized in that: A connecting ring (23) is fixedly mounted on the outside of the rotating part of the rotating clamp (2); an elliptical guide rail (24) is fixedly mounted on the outer peripheral surface of the connecting ring (23) via a bracket; a guide rod (21) located above the elliptical guide rail (24) is fixedly mounted on the bottom of the displacement block (12); a roller (22) is rotatably connected to the bottom of the guide rod (21); and the roller (22) is rollingly connected to the inside of the elliptical guide rail (24).

3. The collaborative machine detection device according to claim 2, characterized in that: A groove is provided at the top of the elliptical guide rail (24), the roller (22) is rollingly connected to the inside of the groove at the top of the elliptical guide rail (24), the bottom of the roller (22) is higher than the bottom of the groove, and the long axis of the elliptical guide rail (24) is arranged parallel to the longer direction of the rotating clamp (2).

4. The collaborative machine detection device according to claim 1, characterized in that: The shape of the fixed ring (3) is the same as that of the end joint arm of the robot arm (1); the center of the annular slide rail (4) coincides with the center of the fixed ring (3); the gear ring (6) and the annular slide rail (4) are coaxially arranged; and the drive motor (7) is fixedly mounted on a side of the end joint arm of the robot arm (1) away from the mounting seat of the robot arm (1).

5. The collaborative machine detection device according to claim 1, characterized in that: A guide slide bar (14) is fixedly installed inside the sliding frame (11), and the guide slide bar (14) is slidably connected to the middle of the displacement block (12). A return spring (13) is sleeved on the outside of the guide slide bar (14).

6. The collaborative machine detection device according to claim 5, characterized in that: One end of the return spring (13) is tightly arranged against a side of the sliding frame (11) away from the sliding block (5), and the other end of the return spring (13) is tightly arranged against a side surface of the displacement block (12).

7. The collaborative machine detection device according to claim 1, characterized in that: Four sliding blocks (5) are slidably connected to the outer peripheral surface of the annular slide rail (4), one of the sliding blocks (5) is fixedly mounted with a sliding frame (11), and the sides of the remaining three sliding blocks (5) are fixedly mounted with auxiliary cameras (9), and the sides of the remaining three sliding blocks (5) are fixedly mounted with auxiliary distance sensors (10) located on one side of the auxiliary camera (9), and another auxiliary distance sensor (10) is fixed at the top of the end of the sliding frame (11).

8. The collaborative machine detection device according to claim 1, characterized in that: A protective cover (17) is provided at the bottom of the displacement block (12), a limiting protrusion (25) is integrally provided inside the protective cover (17), the protective cover (17) is slidably connected to a bracket for mounting the main camera (15) via the limiting protrusion (25), a connecting plate (18) is fixedly installed on the front and rear sides of the protective cover (17), and a guide slider (19) is integrally connected to the top of the connecting plate (18).

9. The collaborative machine detection device according to claim 8, characterized in that: The front and rear sides of the sliding frame (11) are provided with guide slots (20), the guide slider (19) is slidably connected to the inside of the guide slots (20), and one end of the guide slot (20) close to the sliding block (5) is higher than the other end of the guide slot (20).

10. The collaborative machine detection device according to claim 9, characterized in that: The width of the guide sliding block (19) is the same as the width of the guide sliding groove (20), and the height of the protective cover (17) is the same as the height difference between the two ends of the guide sliding groove (20).

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