Manipulator with anti-collision function
By designing and assembling cylinders, springs, push columns and movable chucks at the clamping end of the manipulator, soft clamping is achieved, which solves the problem of hard contact collision during clamping of the manipulator, protects the object and reduces the clamping impact effect.
Patent Information
- Application Number
- CN202420676823.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-03
- Publication Date
- 2025-03-14
- Estimated Expiration
- 2034-04-03
AI Technical Summary
During work, existing robots create hard contact collisions between the jaws and objects, resulting in damage to the object.
A robot with anti-collision function is designed to achieve soft clamping by installing assembled cylinders, springs, push columns and movable collets at the clamping ends of the clamping jaws. The movable chuck moves during clamping, pressing the spring, and the spring reacts to avoid hard contact.
It effectively avoids hard collisions during clamping of traditional robots, protects the integrity of objects, and further reduces the clamping impact effect through designs such as limit blocks and rubber blocks.
Smart Images
Figure CN222609614U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of manipulators, and in particular relates to a manipulator with an anti-collision function. Background Art
[0002] The manipulator can imitate certain movements and functions of human hands and arms, and is an automatic operating device used to grab, move objects or operate tools according to a fixed program. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy labor of people to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety.
[0003] When working, the existing manipulator adjusts the position and angle of the gripper through the arm, and then controls the gripper to grip and pick up the object to achieve the object transportation. However, there are the following defects:
[0004] (1) When the existing manipulator is working, its gripper contacts and clamps the object. At this time, there is direct hard contact and hard clamping between the gripper and the object, without any buffering effect, which causes the gripper to collide with the object and cause damage to the object. For this reason, we propose a manipulator with an anti-collision function. Utility Model Content
[0005] The utility model aims to provide a manipulator with an anti-collision function to solve the problem in the background art that during operation of the manipulator, a hard contact collision occurs between the gripper and the object, causing damage to the object.
[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a manipulator with anti-collision function, comprising an arm assembly, wherein the clamping end of the arm assembly is equipped with two clamping claws, an assembly cylinder is embedded in the clamping claws, a spring is arranged inside the assembly cylinder, a push column is arranged at one end of the spring, and the push column is located inside the assembly cylinder, and a movable chuck is fixed at one end of the push column.
[0007] Preferably, both end surfaces of the movable clamp are provided with limiting holes, and limiting blocks are arranged inside the limiting holes, and the limiting blocks are fixed on the surface of the clamping jaws.
[0008] Preferably, the longitudinal section of the movable chuck is a U-shaped structure.
[0009] Preferably, a threaded hole is formed on the end surface of the assembly cylinder, a stud is threadedly connected in the threaded hole, one end of the stud is connected to a rotating assembly, and an inner disk is connected to the rotating assembly.
[0010] Preferably, the rotating assembly consists of an end column and an end sleeve, and the end sleeve is installed on the outer wall of the end column by sleeve arrangement.
[0011] Preferably, the cross section of the end column is a convex structure, the longitudinal sections of the end column and the end sleeve are both circular structures, and the central axes of the end column and the end sleeve coincide with each other.
[0012] Preferably, a rubber block is installed on the movable clamp, and the widths of the rubber block and the movable clamp are equal.
[0013] Compared with the prior art, the beneficial effects of the utility model are:
[0014] (1) Through the designed assembly tube, spring, push column and movable chuck, the movable chuck is movably installed at the clamping end of the clamping jaw through the assembly tube and the push column. When the clamping jaw clamps an object, the movable chuck at the end contacts the object first, and during the clamping process, the movable chuck moves and squeezes the spring. The spring reversely squeezes the movable chuck to achieve soft clamping, effectively avoiding the situation in which the clamping jaw directly and hard contacts the clamped object during the clamping work of the traditional manipulator and causes hard collision, thereby causing damage to the object. Through the designed limit block and limit hole, the sliding position of the movable chuck is limited to avoid separation from the clamping jaw. Through the designed threaded hole, stud, rotating assembly and inner disk, the stud is rotated. The stud drives the inner disk to squeeze the spring through thread adjustment to achieve the adjustment of the elastic force of the spring. Through the designed rubber block, the rubber block has soft characteristics, which further reduces the clamping impact effect between the movable chuck and the object. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is the front view of the utility model;
[0016] Figure 2 For this utility model Figure 1 A in the enlarged view;
[0017] Figure 3 This is a partial structural sectional view of the utility model at A;
[0018] Figure 4 It is a three-dimensional diagram of the movable chuck of the utility model;
[0019] Figure 5 It is a side view of the assembly of the rotating assembly and the inner disk of the utility model;
[0020] In the figure: 1. arm assembly; 2. clamping claw; 3. assembly cylinder; 4. stud; 5. push pin; 6. rubber block; 7. movable chuck; 8. limit block; 9. limit hole; 10. spring; 11. inner disk; 12. rotating assembly; 13. threaded hole; 14. end column; 15. end sleeve. DETAILED DESCRIPTION
[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0022] Example
[0023] See also Figures 1 to 5 The utility model provides a technical solution: a manipulator with anti-collision function, including an arm assembly 1, two clamping claws 2 are installed at the clamping end of the arm assembly 1, an assembly cylinder 3 is inlaid on the clamping claw 2, a spring 10 is arranged inside the assembly cylinder 3, a push column 5 is arranged at one end of the spring 10, and the push column 5 is inside the assembly cylinder 3, and a movable chuck 7 is fixed at one end of the push column 5. Through the designed assembly cylinder 3, spring 10, push column 5 and movable chuck 7, the movable chuck 7 is movably installed at the clamping end of the clamping claw 2 through the assembly cylinder 3 and the push column 5. When the clamping claw 2 clamps an object, the movable chuck 7 at the end first and The movable chuck 7 contacts the object, and during the clamping process, the movable chuck 7 moves and squeezes the spring 10, and the spring 10 reversely squeezes the movable chuck 7 to achieve soft clamping, effectively avoiding the traditional manipulator clamping work, the clamping claws directly and hard contact with the clamped object to produce a hard collision, and damage to the object. Limit holes 9 are provided on the two end surfaces of the movable chuck 7, and a limiting block 8 is arranged inside the limiting hole 9. The limiting block 8 is fixed on the surface of the clamping jaw 2. The sliding position of the movable chuck 7 is limited by the designed limiting block 8 and limiting hole 9 to avoid separation from the clamping jaw 2. The longitudinal section of the movable chuck 7 is a U-shaped structure.
[0024] In this embodiment, preferably, a threaded hole 13 is provided on the end face of the assembly tube 3, and a stud 4 is connected to the threaded hole 13 through a thread. One end of the stud 4 is connected to a rotating component 12, and the rotating component 12 is connected to an inner disk 11. The rotating component 12 is composed of an end column 14 and an end sleeve 15. The stud 4 is rotated through the designed threaded hole 13, the stud 4, the rotating component 12 and the inner disk 11. The stud 4 drives the inner disk 11 to squeeze the spring 10 through thread adjustment to achieve elastic force adjustment of the spring 10. The end sleeve 15 is installed on the outer wall of the end column 14 by sleeve arrangement. The cross section of the end column 14 is a convex structure. The longitudinal sections of the end column 14 and the end sleeve 15 are both circular structures. The central axes of the end column 14 and the end sleeve 15 coincide with each other. A rubber block 6 is installed on the movable chuck 7. The designed rubber block 6 has soft characteristics, which further reduces the clamping and impact effect between the movable chuck 7 and the object. The widths of the rubber block 6 and the movable chuck 7 are equal.
[0025] The working principle and use process of the utility model are as follows: the utility model has a movable chuck 7 movably installed at the clamping end of the clamping jaw 2 through the assembly tube 3 and the push pin 5. The stud 4 is rotated, and the stud 4 drives the inner disk 11 to squeeze the spring 10 through the thread adjustment to achieve the elastic force adjustment of the spring 10. When the clamping jaw 2 clamps an object, the movable chuck 7 at the end contacts the object first, and during the clamping process, the movable chuck 7 moves and squeezes the spring 10. The spring 10 reversely squeezes the movable chuck 7 to achieve soft clamping, effectively avoiding the situation in which the clamping jaw directly and hard contacts the clamped object and causes hard collision when the traditional manipulator is clamping, thereby causing damage to the object.
[0026] Although 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 the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A robot with anti-collision function, comprising an arm assembly (1), wherein the clamping end of the arm assembly (1) is provided with two clamping claws (2), characterized in that: An assembly cylinder (3) is embedded on the clamping jaw (2), a spring (10) is arranged inside the assembly cylinder (3), a push column (5) is arranged at one end of the spring (10), and the push column (5) is located inside the assembly cylinder (3), and a movable clamp (7) is fixed at one end of the push column (5).
2. The robot with anti-collision function according to claim 1, characterized in that: Limiting holes (9) are provided on both end surfaces of the movable clamp (7), and limiting blocks (8) are arranged inside the limiting holes (9), and the limiting blocks (8) are fixed on the surface of the clamping jaws (2).
3. The robot with anti-collision function according to claim 2, characterized in that: The longitudinal section of the movable clamp (7) is a U-shaped structure.
4. The robot with anti-collision function according to claim 1, characterized in that: The end surface of the assembly cylinder (3) is provided with a threaded hole (13), a stud (4) is connected to the threaded hole (13) via a thread, one end of the stud (4) is connected to a rotating assembly (12), and the rotating assembly (12) is connected to an inner disk (11).
5. The robot with anti-collision function according to claim 4, characterized in that: The rotating assembly (12) is composed of an end column (14) and an end sleeve (15), and the end sleeve (15) is installed on the outer wall of the end column (14) by sleeve arrangement.
6. The robot with anti-collision function according to claim 5, characterized in that: The cross section of the end column (14) is a convex structure, the longitudinal sections of the end column (14) and the end sleeve (15) are both circular structures, and the central axes of the end column (14) and the end sleeve (15) coincide with each other.
7. The robot with anti-collision function according to claim 1, characterized in that: A rubber block (6) is mounted on the movable clamp (7), and the rubber block (6) and the movable clamp (7) have the same width.