Collision protection buffer device for mechanical arm

Abstract

The utility model provides a mechanical arm collision protection buffering device which comprises a clamping assembly used for being connected with a mechanical arm. The moving block is connected with the clamping assembly; a sliding part of the driving assembly is connected with the moving block, the moving block is driven to move by driving the sliding part to move, so that the mechanical arm is driven to move, and the moving block is movably arranged relative to the sliding part; the protection assembly comprises a marking part and a sensing part, the marking part is arranged on the sliding part, the sensing part is arranged on the moving block, and the marking part and the sensing part are correspondingly arranged so that the sensing part can sense the marking part; and the controller is in signal connection with the driving assembly and the sensing part. The collision protection buffer device for the mechanical arm solves the technical problems that the mechanical arm is not protected when being collided in the prior art, the maintenance cost of the mechanical arm is increased, and a sample tube is easily broken.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a collision protection buffer device for a mechanical arm. Background Art

[0002] As the performance of robots continues to improve, the application scope of mechanical grippers has expanded. The method of taking and placing sample tubes used in laboratory analysis instruments used in hospitals, scientific research institutions and other institutions has been changed from manual taking and placing to the gripper operation of mechanical arms, which greatly reduces the labor intensity of experimenters.

[0003] At present, most robot arm collision detection uses infrared or angle sensors, but this method is very costly to prevent robot arm collisions and is easily affected by external factors. There is no protection when the robot arm collides. If the robot arm collides and is not protected, the cost of repairing the robot arm will be greatly increased in the future, the maintenance cost of secondary overhaul and maintenance will be increased, the service life of the robot arm will be reduced, and the safe operation of the machine will be affected to a certain extent. It is also likely to compress the sample tube, causing it to break and cause contamination.

[0004] Therefore, the prior art needs to be further developed. Utility Model Content

[0005] The purpose of the utility model is to overcome the above-mentioned technical deficiencies and provide a robot arm collision protection buffer device to solve the technical problems in the related technology that the robot arm is not protected when a collision occurs, which increases the maintenance cost of the robot arm and easily causes the sample tube to break.

[0006] In order to achieve the above technical objectives, the utility model adopts the following technical solutions: a robot arm collision protection buffer device is provided, including: a clamping assembly, the clamping assembly is used to connect the robot arm; a moving block, the moving block is connected to the clamping assembly; a driving assembly, the sliding part of the driving assembly is connected to the moving block, and the moving block is driven to move by driving the sliding part, thereby driving the robot arm to move, and the moving block is movably arranged relative to the sliding part; a protection assembly, the protection assembly includes a marking component and a sensing component, the marking component is arranged on the sliding part, the sensing component is arranged on the moving block, and the marking component and the sensing component are arranged correspondingly so that the sensing component senses the marking component; a controller, the controller is respectively connected to the driving assembly and the sensing component signals.

[0007] Furthermore, the marking component is a magnet, and the sensing component is a Hall circuit board. When the moving block moves relative to the sliding part, the Hall circuit board moves away from the magnet, so that the Hall circuit board transmits the signal to the controller.

[0008] Furthermore, the collision protection buffer device of the mechanical arm also includes a fixed frame, and the driving assembly also includes a motor and a screw. The motor is fixed on the fixed frame, the screw is arranged through the fixed frame, the sliding part is sleeved on the screw, and the motor drives the screw to rotate, so that the sliding part drives the moving block to move.

[0009] Furthermore, a through slot is arranged on the moving block, the lead screw passes through the through slot, the sliding part is arranged in the through slot, and the sliding part is movable in the through slot.

[0010] Furthermore, the robot arm collision protection buffer device also includes two limit rods, and two connecting holes are also arranged on the moving block, and the two connecting holes are respectively located on both sides of the lead screw, and each limit rod passes through the moving block and the sliding part in turn to connect the sliding part to the moving block; each limit rod passes through each connecting hole to enter the through groove, and each limit rod is movably arranged in each connecting hole.

[0011] Furthermore, a through hole is provided on the moving block, and the through hole, the marking component and the sensing component are all provided in one-to-one correspondence, and the through hole is connected with the through slot so that the sensing component can sense the marking component through the through hole.

[0012] Furthermore, the robot arm collision protection buffer device also includes an elastic member, which is arranged in the through groove, the elastic member is arranged opposite to the two connecting holes, and the elastic member is connected to the sliding part.

[0013] Furthermore, the elastic member is a spring, and the spring is sleeved on the lead screw.

[0014] Furthermore, the driving assembly also includes a slider and a slide rail, the slider moves on the slide rail, and the moving block is connected to the slider so that the moving block moves on the slide rail.

[0015] Furthermore, the clamping assembly includes two clamping plates, which are respectively connected to two sides of the moving block, and the two clamping plates are respectively located on two sides of the robotic arm to clamp the robotic arm.

[0016] Beneficial effects:

[0017] 1. With the robot arm collision protection buffer device of the utility model, when the robot arm or the sample tube collides with other objects, the moving block moves up slightly relative to the sliding part, driving the robot arm to move up, thereby avoiding more serious collision and squeezing, and preventing the sample tube from cracking and breaking. At the same time, the moving block drives the Hall circuit board to move up, causing the magnet and the Hall circuit board to be misaligned and separated, so that the magnet and the Hall circuit board are disconnected from the induction, and the controller transmits the signal to the drive component to immediately stop the robot arm from continuing to descend, effectively preventing the sample tube from being damaged and cracked, and the robot arm from being damaged.

[0018] 2. The robot arm collision protection buffer device of the utility model is provided with a spring in the through slot and on the lead screw. When a collision occurs, the robot arm that continues to descend is buffered because of the compression of the spring, thereby preventing the drive motor from being burned out, avoiding circuit hidden dangers, affecting equipment operation, and avoiding the maintenance costs caused by secondary maintenance.

[0019] 3. When the robot arm collision protection buffer device of the utility model is adopted, a barcode scanner is connected to the bottom of the fixed frame for scanning the QR code on the sample tube grasped by the gripper, so as to update the grasping information in time.

[0020] 4. The robot arm collision protection buffer device of the utility model can effectively protect the sample tube held by the robot arm to avoid cracks, breakage, etc. after collision. Even in the extreme case that the sensing component of the protection component fails, there is a certain buffer space to protect the integrity of the sample tube held by the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the mechanical arm collision protection buffer device used in the embodiment of the utility model;

[0022] Figure 2 It is a structural schematic diagram of a moving block and a driving assembly of a mechanical arm collision protection buffer device used in an embodiment of the utility model;

[0023] Figure 3 It is an exploded view of the moving block and the driving assembly of the robot arm collision protection buffer device used in the embodiment of the utility model;

[0024] Figure 4 It is an exploded view of the protection component of the robot arm collision protection buffer device adopted in the embodiment of the utility model.

[0025] The above drawings include the following reference numerals:

[0026] 1. Clamping assembly; 11. Clamping plate; 12. Shockproof pad; 2. Robotic arm; 21. Gripper; 3. Moving block; 31. Through slot; 32. Connecting hole; 33. Through hole; 4. Driving assembly; 41. Sliding part; 42. Motor; 43. Lead screw; 44. Slider; 45. Slide rail; 5. Protection assembly; 51. Marking part; 52. Sensing part; 6. Fixing frame; 7. Limiting rod; 8. Elastic part; 81. Spring; 9. Barcode scanner; 10. Sample tube. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0028] According to an embodiment of the utility model, a mechanical arm collision protection buffer device is provided. Figures 1 to 4 , including: a clamping assembly 1, the clamping assembly 1 is used to connect the mechanical arm 2; a moving block 3, the moving block 3 is connected to the clamping assembly 1; a driving assembly 4, the sliding part 41 of the driving assembly 4 is connected to the moving block 3, and the moving block 3 is driven to move by driving the sliding part 41 to move, thereby driving the mechanical arm 2 to move, and the moving block 3 is movably arranged relative to the sliding part 41; a protection assembly 5, the protection assembly 5 includes a marking component 51 and a sensing component 52, the marking component 51 is arranged on the sliding part 41, and the sensing component 52 is arranged on the moving block 3, and the marking component 51 and the sensing component 52 are correspondingly arranged so that the sensing component 52 senses the marking component 51; a controller, the controller is respectively connected to the driving assembly 4 and the sensing component 52 by signal. The sliding part 41 drives the moving block 3 to move, and the moving block 3 drives the clamping assembly 1 to move, thereby driving the mechanical arm 2 to move and grab the sample tube 10. The moving block 3 is movable relative to the sliding part 41. When the bottom of the mechanical arm 2 or the sample tube 10 at the bottom collides with other objects, the mechanical arm 2 that continues to move downward transmits the force to the moving block 3. The moving block 3 is forced to move in the opposite direction. At this time, the sliding part 41 is still driven to move downward, and the marking component 51 set on the sliding part 41 moves downward accordingly. The upward movement of the moving block 3 drives the sensing component 52 set on the moving block 3 to move upward, thereby forming a misaligned state in which the marking component 51 moves downward and the sensing component 52 moves upward. When the sensing component 52 cannot sense the marking component 51, it transmits a signal to the controller, and the controller controls the driving component 4 to stop driving the mechanical arm 2 downward, thereby timely and efficiently avoiding mechanical arm damage caused by the mechanical arm 2 or the sample tube 10 being squeezed with other objects, effectively preventing the collision from intensifying, and reducing the equipment maintenance cost. The mechanical arm collision protection buffer device of this embodiment solves the technical problems in the related art that the mechanical arm is not protected when it collides, increases the mechanical arm maintenance cost, and easily causes the sample tube to break.

[0029] The robot arm collision protection buffer device of this embodiment is also equipped with an alarm device. When the sensing component 52 disconnects the sensing of the marking component 51, the alarm device emits a sound to remind the operator to perform maintenance.

[0030] In the robot arm collision protection buffer device of this embodiment, the marking component 51 is a magnet, and the induction component 52 is a Hall circuit board. When the moving block 3 moves relative to the sliding part 41, the Hall circuit board is away from the magnet, so that the Hall circuit board transmits the signal to the controller. When the robot arm 2 moves normally, the moving block 3 is stationary relative to the sliding part 41, and the Hall circuit board continues to receive the magnetic flux generated by the magnet, that is, the controller does not receive the collision signal, and the robot arm 2 operates normally; when the robot arm 2 collides, the moving block 3 moves relative to the sliding part 41, the Hall circuit board is away from the magnet, and the internal chip of the Hall circuit board cannot sense the magnetic flux. The Hall circuit board sends a collision signal to the controller, so that the Hall circuit board transmits the signal to the controller, so that the robot arm 2 immediately stops all movements and issues a prompt.

[0031] See also Figure 1 and Figure 2 The robot arm collision protection buffer device of this embodiment further includes a fixed frame 6, and the driving assembly 4 further includes a motor 42 and a lead screw 43. The motor 42 is fixed on the fixed frame 6, and the lead screw 43 is arranged on the fixed frame 6 through the fixed frame 6. The sliding part 41 is sleeved on the lead screw 43. The motor 42 drives the lead screw 43 to rotate, so that the sliding part 41 drives the moving block 3 to move. The motor 42 drives the lead screw 43 to rotate, thereby driving the sliding part 41 on the lead screw 43 to reciprocate, and the movement of the sliding part 41 drives the moving block 3 to move.

[0032] See also Figure 2 and Figure 3 In the robot arm collision protection buffer device of this embodiment, a through slot 31 is provided on the moving block 3, a lead screw 43 is provided through the through slot 31, a sliding part 41 is provided in the through slot 31, and the sliding part 41 is movable in the through slot 31. Since the sensing component 52 is on the moving block 3 and the marking component 51 is on the sliding part 41, the through slot 31 provides a movable space for the moving block to move upward, so that the moving block 3 can move relative to the sliding part 41, and the misalignment of the marking component 51 and the sensing component 52 is improved. When a collision occurs, the controller can stop the robot arm 2 from moving downward in the first time, and timely prevent the collision from intensifying, thereby reducing the maintenance cost.

[0033] See also Figure 3 and Figure 4The robot arm collision protection buffer device of this embodiment further includes two limit rods 7. Two connecting holes 32 are also provided on the moving block 3. The two connecting holes 32 are respectively located on both sides of the lead screw 43. Each limit rod 7 passes through the moving block 3 and the sliding part 41 in sequence to connect the sliding part 41 with the moving block 3. Each limit rod 7 passes through each connecting hole 32 to enter the through groove 31. Each limit rod 7 is movably arranged in each connecting hole 32. Two limit rods 7 are arranged on both sides of the lead screw 43 to limit the moving direction of the sliding part 41 and prevent the sliding part 41 from deviating when the lead screw 43 rotates. The limit rod 7 passes through the connecting hole 32 to connect the sliding part 41 with the moving block 3. The limit rod 7 has a certain length. When a collision occurs, the moving block 3 moves up relative to the sliding part 41, and the limit rod 7 still moves in the connecting hole 32.

[0034] See also Figure 4 In the robot arm collision protection buffer device of this embodiment, the moving block 3 is further provided with a through hole 33, and the through hole 33, the marking component 51 and the sensing component 52 are all provided in a one-to-one correspondence, and the through hole 33 is connected with the through slot 31, so that the sensing component 52 senses the marking component 51 through the through hole 33. The connecting portion of the moving block 3 and the sensing component 52 is provided with a through hole 33, and the through hole 33, the marking component 51 and the sensing component 52 are provided in a corresponding manner, so that the sensing component 52 senses the marking component 51.

[0035] See also Figure 2 The robot arm collision protection buffer device of this embodiment further includes an elastic member 8, which is disposed in the through slot 31, and the elastic member 8 is disposed opposite to the two connection holes 32, and the elastic member 8 is connected to the sliding portion 41. In the through slot 31, the elastic member 8 is connected to the sliding portion 41, and when the moving block 3 moves up and the sliding portion 41 moves down, the elastic force generated during the compression of the elastic member 8 causes the sliding portion 41 to move down slowly, thereby avoiding collision with the motor 42 and burning the motor 42.

[0036] See also Figure 2 In the robot arm collision protection buffer device of this embodiment, the elastic member 8 is a spring 81, and the spring 81 is sleeved on the lead screw 43. The spring 81 is sleeved on the lead screw 43, one end of the spring 81 is connected to the sliding part 41, and the other end is arranged at the bottom of the through groove 31.

[0037] See also Figure 2In the robot arm collision protection buffer device of this embodiment, the driving assembly 4 also includes a slider 44 and a slide rail 45. The slider 44 moves on the slide rail 45, and the moving block 3 is connected to the slider 44 so that the moving block 3 moves on the slide rail 45. One side of the moving block 3 is connected to the lead screw 43 that passes through it, and reciprocates on the lead screw 43. The other side is connected to the slider 44. When the sliding part 41 drives the moving block 3 to move, the moving block 3 drives the slider 44 to move on the slide rail 45, thereby increasing the stability of the moving block 3 during movement. The setting of the slider 44 and the slide rail 45 enables the robot arm to move together and share the force when it is running, ensuring the left and right balance of the robot arm.

[0038] See also Figure 1 The robot arm collision protection buffer device of this embodiment, the clamping assembly 1 includes two clamping plates 11, the two clamping plates 11 are respectively connected to the two sides of the moving block 3, and the two clamping plates 11 are respectively located on the two sides of the robot arm 2 to clamp the robot arm 2 so that the gripper fingers under the robot arm 2 are centered, so as to facilitate the sample tube 10. The clamping plates 11 are connected to the moving block 3, and the clamping plates 11 are arranged at intervals, and the middle of the two clamping plates 11 clamps the robot arm 2. A gripper 21 is arranged below the robot arm 2 for grabbing the sample tube 10. A motor for the gripper to be extended and retracted is arranged above the gripper 21, and a shockproof pad 12 is arranged on the opposite side of the two clamping plates 11. The shockproof pad 12 is arranged corresponding to the motor for the gripper to be extended and retracted, and the vibration amplitude of the motor is reduced by setting the shockproof pad 12. A code scanner 9 is connected to the bottom of the fixed frame 6 for scanning the QR code on the sample tube grabbed by the gripper, so as to update the grabbing information in time.

[0039] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0040] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0041] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0042] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0043] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A robot arm collision protection buffer device, characterized in that: include: A clamping assembly (1), wherein the clamping assembly (1) is used to connect to a mechanical arm (2); A moving block (3), the moving block (3) being connected to the clamping assembly (1); A driving assembly (4), wherein a sliding portion (41) of the driving assembly (4) is connected to the moving block (3), and the moving block (3) is driven to move by driving the sliding portion (41), thereby driving the mechanical arm (2) to move, and the moving block (3) is movably arranged relative to the sliding portion (41); A protection component (5), the protection component (5) comprising a marking component (51) and a sensing component (52), the marking component (51) being arranged on the sliding portion (41), the sensing component (52) being arranged on the moving block (3), the marking component (51) and the sensing component (52) being arranged correspondingly so that the sensing component (52) senses the marking component (51); A controller is signal-connected to the driving component (4) and the sensing component (52) respectively.

2. The robot arm collision protection buffer device according to claim 1, characterized in that: The marking component (51) is a magnet, and the induction component (52) is a Hall circuit board. When the moving block (3) moves relative to the sliding portion (41), the Hall circuit board moves away from the magnet, so that the Hall circuit board transmits a signal to the controller.

3. The robot arm collision protection buffer device according to claim 1, characterized in that: The mechanical arm collision protection buffer device also includes a fixed frame (6), and the driving component (4) also includes a motor (42) and a lead screw (43), wherein the motor (42) is fixed on the fixed frame (6), the lead screw (43) is arranged on the fixed frame (6), and the sliding part (41) is sleeved on the lead screw (43), and the motor (42) drives the lead screw (43) to rotate, so that the sliding part (41) drives the moving block (3) to move.

4. The robot arm collision protection buffer device according to claim 3, characterized in that: The moving block (3) is provided with a through slot (31), the lead screw (43) is arranged to penetrate the through slot (31), the sliding part (41) is arranged in the through slot (31), and the sliding part (41) is movable in the through slot (31).

5. The robot arm collision protection buffer device according to claim 4, characterized in that: The mechanical arm collision protection buffer device also includes two limit rods (7), and the moving block (3) is also provided with two connection holes (32), the two connection holes (32) are respectively located on both sides of the lead screw (43), and each of the limit rods (7) passes through the moving block (3) and the sliding part (41) in sequence, so that the sliding part (41) is connected to the moving block (3); Each of the limiting rods (7) passes through each of the connecting holes (32) to enter the through slot (31), and each of the limiting rods (7) is movably arranged in each of the connecting holes (32).

6. The robot arm collision protection buffer device according to claim 5, characterized in that: The moving block (3) is also provided with a through hole (33); the through hole (33), the marking component (51) and the sensing component (52) are all provided in a one-to-one correspondence; the through hole (33) is communicated with the through groove (31) so that the sensing component (52) senses the marking component (51) through the through hole (33).

7. The robot arm collision protection buffer device according to claim 6, characterized in that: The mechanical arm collision protection buffer device also includes an elastic member (8), wherein the elastic member (8) is arranged in the through groove (31), the elastic member (8) is arranged opposite to the two connecting holes (32), and the elastic member (8) is connected to the sliding portion (41).

8. The robot arm collision protection buffer device according to claim 7, characterized in that: The elastic member (8) is a spring (81), and the spring (81) is sleeved on the lead screw (43).

9. The robot arm collision protection buffer device according to claim 3, characterized in that: The driving assembly (4) further comprises a slider (44) and a slide rail (45), the slider (44) moves on the slide rail (45), and the moving block (3) is connected to the slider (44) so ​​that the moving block (3) moves on the slide rail (45).

10. The robot arm collision protection buffer device according to claim 1, characterized in that: The clamping assembly (1) comprises two clamping plates (11), the two clamping plates (11) are respectively connected to two sides of the moving block (3), and the two clamping plates (11) are respectively located on two sides of the mechanical arm (2) to clamp the mechanical arm (2).

Images