An anti-collision device for replacing heating tubes by a manipulator
By designing an anti-collision device including a fixed end connection plate, a movable end connection plate, a heating pipe mechanism and a guide mechanism, the problem of insufficient safety and stability when replacing a heating pipe by the robot in the prior art is solved, and an efficient and safe heating rod replacement process under different environments and user needs is achieved.
Patent Information
- Application Number
- CN202420675087.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-03
- Publication Date
- 2025-04-01
- Estimated Expiration
- 2034-04-03
AI Technical Summary
The existing anti-collision device is insufficient in safety and stability when the robot replaces the heating pipe, and is difficult to use effectively in an unmanned environment and one-handed operation, and cannot meet the needs of different users and environments.
A collision prevention device including a fixed end connection plate, a movable end connection plate, a heating pipe mechanism and a guide mechanism is designed. The movement of the flexible wire rope drives the movement of the connecting column, special-shaped plate, circular plate and heating rod to achieve anti-collision protection of the heating rod, and ensures the stability and safety of the device in different states through the cooperation of the guide mechanism and the spring.
It realizes safety and stability when replacing the heating pipe, is suitable for unmanned environments and one-handed operations, supports a variety of environments and user needs, and avoids collision and damage of the heating rod during disassembly.
Smart Images
Figure CN222697264U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of manipulators, in particular to an anti-collision device used for manipulators to replace heating tubes. Background Art
[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. Its characteristic is that it can be programmed to complete various expected tasks, and its structure and performance combine the advantages of both human and mechanical machines.
[0003] At present, with the development of industrial manufacturing, entertainment and medical fields, the use of manipulators is extremely common, which can save labor and stabilize production, etc. The position of the heating tube in the manipulator is extremely important. In the daily maintenance of the manipulator, it is often necessary to replace the heating tube, and an anti-collision device is required when replacing the heating tube. However, the existing anti-collision device can be safer and more stable than the traditional method of replacing the heating device during use, and can have the advantages of unmanned environment, one-handed operation, manipulator operation, etc., and can support more than one environment to meet the needs of different users. Therefore, improvements are proposed for the anti-collision device. The technicians in this field provide an anti-collision device for manipulator replacement of heating tubes to solve the problems raised in the above background technology. Utility Model Content
[0004] The utility model aims to provide an anti-collision device for replacing a heating tube by a manipulator, so as to solve the problems raised in the above-mentioned background technology.
[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:
[0006] An anti-collision device for replacing a heating tube by a manipulator comprises an anti-collision device body, the anti-collision device body comprises a fixed end connecting plate, a movable end connecting plate is installed on the top of the fixed end connecting plate, an outer frame is fixedly connected to the center of the bottom of the fixed end connecting plate, and the inner cavities of the movable end connecting plate and the fixed end connecting plate are both installed with a heating tube mechanism;
[0007] The heating tube mechanism includes a heating rod, the surface of the heating rod is movably connected to the inner cavity of the fixed end connecting plate and the outer frame, the top of the heating rod surface is fixedly connected to the inner cavity of the movable end connecting plate, the top of the heating rod penetrates to the top of the movable end connecting plate and is fixedly connected to a connecting rod, the top of the connecting rod is fixedly connected to a circular plate, the circular plate is arranged in a circular structure, a special-shaped plate is installed on the top of the circular plate, both sides of the top of the special-shaped plate are fixedly connected to connecting columns, the top of the inner cavity of the connecting column is movably connected to a flexible steel wire rope, and the flexible steel wire rope is arranged in a ring structure.
[0008] As a further solution of the utility model: the inner cavity of the special-shaped plate is movably connected with a fixing rod, the bottom of the special-shaped plate is fixedly connected to the top of the circular plate through the fixing rod, and the top of the fixing rod is arranged in a hexagonal structure.
[0009] As a further solution of the utility model: the inner cavity of the flexible steel wire rope and the connecting column are movably connected with an insertion column, the outer side of the insertion column penetrates to the outer side of the connecting column, the outer side of the surface of the insertion column is movably connected with a fixing sleeve, and the inner side of the fixing sleeve is movably connected to the outer side of the connecting column.
[0010] As a further solution of the utility model: guide mechanisms are installed on both sides of the back side of the inner cavity of the fixed end connecting plate and the movable end connecting plate and on the left side of the front side of the inner cavity, and the guide mechanism includes an outer column, the bottom of the outer column surface is fixedly connected to the inner cavity of the fixed end connecting plate, the inner cavity of the outer column is movably connected with an inner rod, the top of the inner rod passes through the top of the movable end connecting plate and is fixedly connected to a limiting plate, the limiting plate is arranged in a circular structure, and the top of the inner rod surface is fixedly connected to the inner cavity of the movable end connecting plate.
[0011] As a further solution of the utility model: a spring is sleeved on the bottom of the inner rod surface, the bottom of the spring is fixedly connected to the inner cavity of the outer column, and the top of the spring is fixedly connected to the surface of the inner rod.
[0012] As a further solution of the utility model: a mounting plate 2 is installed on the right side of the top front side of the movable end connecting plate, and the inner cavity of the mounting plate 2 is fixedly connected with a male electric connector, and the bottom of the male electric connector passes through the bottom of the movable end connecting plate; a mounting plate 1 is installed on the right side of the top front side of the fixed end connecting plate, and the inner cavity of the mounting plate 1 is fixedly connected with a female electric connector, and the top of the inner cavity of the female electric connector is plugged and connected to the bottom of the surface of the male electric connector.
[0013] As a further solution of the utility model: the four corners of the inner cavities of the mounting plate 1 and the mounting plate 2 are movably connected with bolt 1, the bottoms of the mounting plate 1 and the mounting plate 2 are respectively fixedly connected to the tops of the fixed end connecting plate and the movable end connecting plate by bolt 1, the top of the male head of the electrical connector is connected with control line 2, the left side of the control line 2 is connected to the right side of the top of the heating rod, and the right side of the female head of the electrical connector is connected with control line 1.
[0014] Compared with the prior art, the beneficial effects of the utility model are:
[0015] 1. The utility model pulls the flexible steel wire rope upward by hand, and the movement of the flexible steel wire rope drives the connecting column to move, and then drives the special-shaped plate to move, and then drives the circular plate to move, and then drives the connecting rod to move, and then drives the heating rod to move, and then drives the movable end connecting plate to move through the movement of the heating rod, and then drives the inner rod to move upward in the inner cavity of the outer column, and then pulls the male head of the electric connector out of the inner cavity of the female head of the electric connector, thereby achieving the effect of anti-collision of the heating rod in the replacement state, which can solve the problem that the existing anti-collision device can be used in the process of use, and can be safer and more stable than the traditional way of replacing the heating device by personnel, and can have the advantages of unmanned environment, single-handed operation, manipulator operation, etc., and can support more than one environment, and can meet the needs of different users.
[0016] 2. The utility model achieves the effect of installing and fixing the circular plate and the special-shaped plate in the working state by setting the fixing rod, and then realizes the effect of driving the circular plate to move by the movement of the special-shaped plate. The utility model achieves the effect of limiting the position of the flexible steel wire rope in the working state by setting the plug-in column. The utility model achieves the effect of fixing the plug-in column in the working state by setting the fixing sleeve, thereby preventing the flexible steel wire rope from falling off from the inner cavity of the connecting column during operation. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a structural schematic diagram of an anti-collision device used for replacing a heating tube by a manipulator;
[0018] Figure 2 A bottom view of a fixed end connecting plate in an anti-collision device for replacing a heating tube by a manipulator;
[0019] Figure 3 A schematic diagram of the structural connection of a connecting rod in an anti-collision device for replacing a heating tube by a manipulator;
[0020] Figure 4 A cross-sectional view of a connecting column in an anti-collision device for replacing a heating tube by a manipulator;
[0021] Figure 5 The figure is a cross-sectional view of an outer column in an anti-collision device used for replacing a heating tube by a manipulator.
[0022] In the figure: 1. Anti-collision device body; 101. Fixed end connecting plate; 102. Electrical connector male head; 103. Electrical connector female head; 104. Bolt one; 105. Mounting plate one; 106. Control line one; 107. Movable end connecting plate; 108. Control line two; 109. Outer frame; 110. Mounting plate two; 2. Heating tube mechanism; 201. Heating rod; 202. Round plate; 203. Flexible steel wire rope; 204. Connecting rod; 205. Connecting column; 206. Fixed rod; 207. Special-shaped plate; 208. Insert column; 209. Fixed sleeve; 3. Guide mechanism; 301. Outer column; 302. Inner rod; 303. Limiting plate; 304. Spring. DETAILED DESCRIPTION
[0023] 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.
[0024] See also Figure 1-5 , an anti-collision device for replacing a heating tube by a manipulator, comprising an anti-collision device body 1, the anti-collision device body 1 comprising a fixed end connecting plate 101, a movable end connecting plate 107 is installed on the top of the fixed end connecting plate 101, an outer frame 109 is fixedly connected at the center of the bottom of the fixed end connecting plate 101, and a heating tube mechanism 2 is installed in the inner cavity of the movable end connecting plate 107 and the fixed end connecting plate 101;
[0025] The heating tube mechanism 2 includes a heating rod 201, the surface of the heating rod 201 is movably connected to the inner cavity of the fixed end connecting plate 101 and the outer frame 109, the top of the surface of the heating rod 201 is fixedly connected to the inner cavity of the movable end connecting plate 107, the top of the heating rod 201 penetrates to the top of the movable end connecting plate 107 and is fixedly connected to a connecting rod 204, the top of the connecting rod 204 is fixedly connected to a circular plate 202, the circular plate 202 is arranged in a circular structure, a special-shaped plate 207 is installed on the top of the circular plate 202, both sides of the top of the special-shaped plate 207 are fixedly connected to connecting columns 205, the top of the inner cavity of the connecting column 205 is movably connected to a flexible steel wire rope 203, and the flexible steel wire rope 203 is arranged in a ring structure.
[0026] Specifically, the inner cavity of the special-shaped plate 207 is movably connected with a fixing rod 206 , and the bottom of the special-shaped plate 207 is fixedly connected to the top of the circular plate 202 through the fixing rod 206 , and the top of the fixing rod 206 is arranged in a hexagonal structure.
[0027] Through the above technical solution, by setting the fixing rod 206, the circular plate 202 and the special-shaped plate 207 in the working state are installed and fixed, and then the circular plate 202 is driven to move by the movement of the special-shaped plate 207.
[0028] Specifically, the inner cavities of the flexible steel wire rope 203 and the connecting column 205 are movably connected with the plug column 208, the outer sides of the plug column 208 penetrate to the outer side of the connecting column 205, the outer sides of the surfaces of the plug column 208 are movably connected with the fixing sleeve 209, and the inner sides of the fixing sleeve 209 are movably connected to the outer side of the connecting column 205.
[0029] Through the above technical scheme, by setting the plug column 208, the position of the flexible steel wire rope 203 in the working state is limited, and by setting the fixing sleeve 209, the plug column 208 in the working state is fixed, thereby preventing the flexible steel wire rope 203 from falling off from the inner cavity of the connecting column 205 during operation.
[0030] Specifically, guide mechanisms 3 are installed on both sides of the back side of the inner cavity of the fixed-end connecting plate 101 and the movable-end connecting plate 107 and on the left side of the front side of the inner cavity. The guide mechanism 3 includes an outer column 301. The bottom of the surface of the outer column 301 is fixedly connected to the inner cavity of the fixed-end connecting plate 101. The inner cavity of the outer column 301 is movably connected to an inner rod 302. The top of the inner rod 302 penetrates to the top of the movable-end connecting plate 107 and is fixedly connected to a limiting plate 303. The limiting plate 303 is arranged in a circular structure. The top of the surface of the inner rod 302 is fixedly connected to the inner cavity of the movable-end connecting plate 107.
[0031] Through the above technical solution, the movable end connecting plate 107 is moved by the movement of the heating rod 201, and then the inner rod 302 is moved, and then the spring 304 is extended. Then, when the heating rod 201 is disassembled, the movable end connecting plate 107 loses its strength, and then under the action of the spring 304, the inner rod 302 is retracted into the inner cavity of the outer column 301, thereby achieving the effect of guiding the fixed end connecting plate 101 and the movable end connecting plate 107 in the moving state.
[0032] Specifically, a spring 304 is sleeved on the bottom of the surface of the inner rod 302 , the bottom of the spring 304 is fixedly connected to the inner cavity of the outer column 301 , and the top of the spring 304 is fixedly connected to the surface of the inner rod 302 .
[0033] Through the above technical solution, through the setting of the spring 304, when the movable end connecting plate 107 moves, it will drive the inner rod 302 to move, so as to absorb the energy of the generated force. Further, when the movable end connecting plate 107 loses its force, the inner rod 302 will return to its original position, thereby achieving the function of guiding the movable end connecting plate 107 in the moving state.
[0034] Specifically, a mounting plate 2 110 is installed on the right side of the top front side of the movable end connecting plate 107, and the inner cavity of the mounting plate 2 110 is fixedly connected to the male electric connector 102, and the bottom of the male electric connector 102 extends to the bottom of the movable end connecting plate 107. A mounting plate 105 is installed on the right side of the top front side of the fixed end connecting plate 101, and the inner cavity of the mounting plate 105 is fixedly connected to the female electric connector 103, and the top of the inner cavity of the female electric connector 103 is plugged and connected to the bottom of the surface of the male electric connector 102.
[0035] Through the above technical solution, through the setting of the electrical connector male head 102 and the electrical connector female head 103, it is possible to enhance safety or ensure the normal operation of the equipment, prevent the occurrence of some unsafe factors or inappropriate connections, and through the setting of the electrical connector male head 102 and the electrical connector female head 103, the heating rod 201 in a stationary state can be protected from collision.
[0036] Specifically, the four corners of the inner cavity of the mounting plate 105 and the mounting plate 2 110 are movably connected with bolts 104, the bottoms of the mounting plate 105 and the mounting plate 2 110 are respectively fixedly connected to the tops of the fixed end connecting plate 101 and the movable end connecting plate 107 by bolts 104, the top of the male connector 102 is connected to the control line 2 108, the left side of the control line 2 108 is connected to the right side of the top of the heating rod 201, and the right side of the female connector 103 is connected to the control line 106.
[0037] Through the above technical scheme, by setting the bolt one 104, the effect of installing and fixing the mounting plate one 105 and the mounting plate two 110 in the working state is achieved, thereby avoiding the phenomenon of the male connector 102 and the female connector 103 of the electric connector being offset during the working process. By setting the control line two 108 and the control line one 106, the function of transmitting the current is achieved, and then the current flows into the female connector 103 through the control cabinet, and then flows into the interior of the male connector 102, and then is transported to the interior of the heating rod 201, thereby ensuring the heating function of the heating rod 201 body.
[0038] The working principle of the utility model is as follows: first, the hand inserts the flexible steel wire rope 203 into the inner cavity of the connecting column 205, and then when the flexible steel wire rope 203 reaches the specified position, the hand inserts the plug column 208 into the interior of the flexible steel wire rope 203, and then when the plug column 208 completely penetrates the connecting column 205, the hand installs and fixes the fixing sleeve 209 on the outer side of the plug column 208, thereby achieving the function of installing and fixing the flexible steel wire rope 203 in the working state, and then the hand puts the special-shaped plate 207 on the top of the circular plate 202, and then the hand inserts the fixing rod 206 into the inner cavity of the special-shaped plate 207 and the circular plate 202, and then The purpose of installing and fixing the special-shaped plate 207 in the working state is achieved, and then the bolt 104 is inserted into the inner cavity of the mounting plate 105 and the mounting plate 2 110, so as to achieve the purpose of installing and fixing the mounting plate 105 and the mounting plate 2 110 in the working state, and avoid the shaking of the mounting plate 105 and the mounting plate 2 110 during the working process. Secondly, the right side of the control line 106 is connected to the control cabinet data line, and then the current flows into the female connector 103 through the control cabinet, and then flows into the inside of the male connector 102, and then is transported to the inside of the heating rod 201. , and then ensure the heating function of the heating rod 201 body, and finally pull the flexible steel wire rope 203 upward by hand, and the movement of the flexible steel wire rope 203 drives the plug column 208 to move, and then drives the connecting column 205 to move, and then drives the special-shaped plate 207 to move, and then drives the circular plate 202 to move, and then drives the connecting rod 204 to move, and then drives the heating rod 201 to move, and then drives the movable end connecting plate 107 to move through the movement of the heating rod 201, and then makes the heating rod 201 move in the inner cavity of the fixed end connecting plate 101 and the outer frame 109, and then Then, the inner rod 302 is driven to move by the movement of the movable end connecting plate 107, and then the spring 304 is stretched. At the same time, the inner rod 302 is limited during the movement by the limiting plate 303. At the same time, the male head 102 of the electric connector is separated from the inner cavity of the female head 103 of the electric connector by the movement of the movable end connecting plate 107, and then the heating rod 201 completely enters the interior of the outer frame 109 and the fixed end connecting plate 101, and then the fixed end connecting plate 101 and the manipulator are disassembled, thereby achieving the effect of preventing the heating rod 201 from collision during the disassembly process.
[0039] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.
Claims
1. An anti-collision device for replacing a heating tube by a manipulator, comprising an anti-collision device body (1), characterized in that: The anti-collision device body (1) comprises a fixed end connecting plate (101), a movable end connecting plate (107) is installed on the top of the fixed end connecting plate (101), an outer frame (109) is fixedly connected to the center of the bottom of the fixed end connecting plate (101), and the inner cavities of the movable end connecting plate (107) and the fixed end connecting plate (101) are both installed with heating pipe mechanisms (2); The heating tube mechanism (2) comprises a heating rod (201), the surface of the heating rod (201) is movably connected to the inner cavity of the fixed end connecting plate (101) and the outer frame (109), the top of the surface of the heating rod (201) is fixedly connected to the inner cavity of the movable end connecting plate (107), the top of the heating rod (201) penetrates to the top of the movable end connecting plate (107) and is fixedly connected to a connecting rod (204), the top of the connecting rod (204) is fixedly connected to a circular plate (202), the circular plate (202) is arranged in a circular structure, a special-shaped plate (207) is installed on the top of the circular plate (202), both sides of the top of the special-shaped plate (207) are fixedly connected to connecting columns (205), the top of the inner cavity of the connecting column (205) is movably connected to a flexible steel wire rope (203), and the flexible steel wire rope (203) is arranged in an annular structure.
2. The anti-collision device for replacing a heating tube by a manipulator according to claim 1, characterized in that: The inner cavity of the special-shaped plate (207) is movably connected to a fixing rod (206), the bottom of the special-shaped plate (207) is fixedly connected to the top of the circular plate (202) through the fixing rod (206), and the top of the fixing rod (206) is arranged in a hexagonal structure.
3. The anti-collision device for replacing a heating tube by a manipulator according to claim 1, characterized in that: The inner cavities of the flexible steel wire rope (203) and the connecting column (205) are movably connected with the plug column (208), the outer sides of the plug column (208) penetrate to the outer side of the connecting column (205), the outer sides of the surfaces of the plug column (208) are movably connected with the fixing sleeve (209), and the inner side of the fixing sleeve (209) is movably connected to the outer side of the connecting column (205).
4. The anti-collision device for replacing a heating tube by a manipulator according to claim 1, characterized in that: A guide mechanism (3) is installed on both sides of the back side of the inner cavity of the fixed end connecting plate (101) and the movable end connecting plate (107) and on the left side of the front side of the inner cavity. The guide mechanism (3) comprises an outer column (301). The bottom of the surface of the outer column (301) is fixedly connected to the inner cavity of the fixed end connecting plate (101). The inner cavity of the outer column (301) is movably connected to an inner rod (302). The top of the inner rod (302) penetrates to the top of the movable end connecting plate (107) and is fixedly connected to a limit plate (303). The limit plate (303) is arranged in a circular structure. The top of the surface of the inner rod (302) is fixedly connected to the inner cavity of the movable end connecting plate (107).
5. The anti-collision device for replacing a heating tube by a manipulator according to claim 4, characterized in that: A spring (304) is sleeved on the bottom of the surface of the inner rod (302), the bottom of the spring (304) is fixedly connected to the inner cavity of the outer column (301), and the top of the spring (304) is fixedly connected to the surface of the inner rod (302).
6. The anti-collision device for replacing a heating tube by a manipulator according to claim 1, characterized in that: A second mounting plate (110) is installed on the right side of the top front side of the movable end connecting plate (107), and the inner cavity of the second mounting plate (110) is fixedly connected to the male head of the electric connector (102), and the bottom of the male head of the electric connector (102) extends through the bottom of the movable end connecting plate (107). A first mounting plate (105) is installed on the right side of the top front side of the fixed end connecting plate (101), and the inner cavity of the first mounting plate (105) is fixedly connected to the female head of the electric connector (103), and the top of the inner cavity of the female head of the electric connector (103) is plugged and connected to the bottom of the surface of the male head of the electric connector (102).
7. The anti-collision device for replacing a heating tube by a manipulator according to claim 6, characterized in that: The four corners of the inner cavities of the mounting plate 1 (105) and the mounting plate 2 (110) are movably connected with bolts 1 (104); the bottoms of the mounting plate 1 (105) and the mounting plate 2 (110) are respectively fixedly connected to the tops of the fixed end connecting plate (101) and the movable end connecting plate (107) by bolts 1 (104); the top of the male head (102) of the electrical connector is connected with control line 2 (108); the left side of the control line 2 (108) is connected to the right side of the top of the heating rod (201); and the right side of the female head (103) of the electrical connector is connected with control line 1 (106).