Cleaning line manipulator anti-collision device
By designing a cleaning line robot anti-collision device containing an anti-collision mechanism, the problem of no alarm during movement of the robot is solved, and the safe protection and stable operation of the equipment are achieved.
Patent Information
- Application Number
- CN202421888996.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-06
- Publication Date
- 2025-06-06
- Estimated Expiration
- 2034-08-06
AI Technical Summary
The existing cleaning line robots are prone to collision with obstacles during movement, lack anti-collision judgment and alarm mechanism, and pose safety hazards.
A cleaning line robot anti-collision device including a base plate, a suspension column, a cover, a suspension and an anti-collision mechanism is designed. The anti-collision mechanism uses the lever principle to identify the collision and trigger an alarm through the first proximity switch, the second proximity switch, the first lever mechanism and the second lever mechanism.
It effectively solves the problem of no alarms during the movement of the cleaning line robot, improves the operating stability of the equipment, eliminates the risk of collision, improves the safety protection of personnel and equipment, and improves the safety protection function of the equipment.
Smart Images
Figure CN222945610U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of tool cleaning equipment, in particular to an anti-collision device for a cleaning line manipulator. Background Art
[0002] After the machining of cutting parts, such as cutting tools, is completed, a coating needs to be applied to the surface. In order to ensure the quality of the coating, the cutting tool needs to be cleaned. At present, the cutting tool is cleaned by placing the cutting tool in a cleaning frame, and then the cleaning frame is suspended by a robot and dropped into a cleaning tank for cleaning. During the movement process, there are obstacles such as other personnel or equipment in the workshop environment. Therefore, when the robot drives the cleaning frame to move, there is a possibility of collision with obstacles. The existing robot structure does not have relevant protection mechanisms, and cannot judge and alarm, which poses a safety hazard. Utility Model Content
[0003] The technical problem to be solved by the utility model is: in order to overcome the deficiency of the existing technology that the cleaning line manipulator has no anti-collision judgment, the utility model provides an anti-collision device for the cleaning line manipulator.
[0004] The utility model solves the technical problem by adopting the following technical solution: a cleaning line manipulator anti-collision device, comprising a bottom plate, a suspension column, a cover shell, a suspension and an anti-collision mechanism, at least two suspension columns are arranged in parallel on the bottom plate, and the ends of the suspension columns extend outward and protrude from the edge of the bottom plate to form a suspension part for hanging a cleaning basket containing products to be cleaned, the lower end of the suspension is connected to the bottom plate, the anti-collision mechanism is arranged on the bottom plate, and the outer cover is provided with a cover shell;
[0005] Among them, the anti-collision mechanism includes a first proximity switch, a second proximity switch, a proximity switch mounting plate, a first lever mechanism and a second lever mechanism, the left and right ends of the proximity switch mounting plate are respectively installed on the suspension, the first proximity switch and the second proximity switch are respectively installed on the front and rear sides of the proximity switch mounting plate, the first lever mechanism is arranged on the bottom plate below the first proximity switch, and one end of the first lever mechanism is subjected to force, and the other end can trigger the first proximity switch; the second lever mechanism is arranged on the bottom plate below the second proximity switch, and one end of the second lever mechanism is subjected to force, and the other end can trigger the second proximity switch.
[0006] Furthermore, the first lever mechanism and the second lever mechanism have the same structure and are centrally symmetrically positioned, including a support seat, a rotating shaft, a seesaw and a touch rod, wherein the support seat is fixed on the bottom plate, one end of the seesaw is rotatably connected to the support seat through a rotating shaft, and the other end extends to the bottom of the first proximity switch / second proximity switch, and a shallow groove is provided on the upper surface of the seesaw, and the horizontal portion of the upper end of the touch rod is embedded in the shallow groove, and the end of the touch rod close to the support seat is bent downward through the first oval through hole on the suspension column, and then bent horizontally to extend to the bottom of the suspension part, and then bent upward through the second oval through hole on the suspension part, and the end is higher than the suspension part to form a contact. The overall shape of the touch rod is approximately "B"-shaped. The collision is identified by using the principle of a lever, with a simple structure and a fast identification speed.
[0007] Furthermore, to facilitate the installation of the proximity switch, the front and rear sides of the proximity switch mounting plate are respectively provided with a first protrusion and a second protrusion, the first proximity switch is mounted on the front first protrusion, and the second proximity switch is mounted on the rear second protrusion.
[0008] Furthermore, the suspension includes a left column, a right column and a crossbeam, the left end of the crossbeam is connected to the manipulator linear movement mechanism, the left column and the right column are arranged at the lower end of the crossbeam, and are spaced apart on the left and right sides of the crossbeam, the left column and the right column are arranged in parallel below the crossbeam and extend downward, and the lower ends of the left column and the right column are connected to the bottom plate, so as to realize the load-bearing of the entire device and suspend it.
[0009] Furthermore, it also includes a robot linear motion mechanism, the bottom of which is fixed to the ground, and a slider is provided on the side, one end of the beam is fixedly connected to the slider, and the entire device can be driven to move up and down through the beam.
[0010] Furthermore, in order to install and support the cover, a first supporting angle piece and a second supporting angle piece are further included, wherein the first supporting angle piece is arranged on the inner side of the left column, and the second supporting angle piece is arranged on the inner side of the left column, and both are located above the proximity switch mounting plate. The upper end of the cover is directly mounted and fixed on the first supporting angle piece and the second supporting angle piece.
[0011] The beneficial effects of the utility model are as follows: the utility model provides a cleaning line manipulator anti-collision device, which solves the problem of no alarm caused by the cleaning line during the operation of the equipment and improves the operating stability of the equipment; eliminates the collision risk of the equipment, improves the safety protection of personnel and equipment, and improves the safety protection function of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] The utility model is further described below in conjunction with the accompanying drawings and embodiments.
[0013] Figure 1 It is a structural schematic diagram of the utility model of the anti-collision device of the cleaning line manipulator.
[0014] Figure 2 It is a partial structural schematic diagram of the utility model of the anti-collision device of the cleaning line manipulator.
[0015] Figure 3 yes Figure 2 Schematic diagram of the internal structure after removing the cover.
[0016] Figure 4 yes Figure 3 Schematic diagram of the enlarged structure of the lever mechanism.
[0017] Figure 5 It is a schematic diagram of the action principle of the lever mechanism.
[0018] In the figure: 1, bottom plate, 2, suspension column, 2.1, suspension part, 2.2, first oval through hole, 2.3, second oval through hole, 3, cover shell, 4, suspension, 4.1, left column, 4.2, right column, 4.3, beam, 5, manipulator linear movement mechanism, 5.1, slider, 6, first proximity switch, 7, second proximity switch, 8, first lever mechanism, 8.1, support seat, 8.2, rotating shaft, 8.3, seesaw, 8.4, touch rod, 8.5, contact, 8.6, shallow groove, 9, second lever mechanism, 10, proximity switch mounting plate, 10.1, first protrusion, 10.2, second protrusion, 11, first supporting angle piece, 12, second supporting angle piece. DETAILED DESCRIPTION
[0019] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner only, and therefore only show the components related to the present invention, and directions and references (e.g., up, down, left, right, etc.) may only be used to help describe the features in the drawings. Therefore, the following specific embodiments are not to be taken in a limiting sense, and the scope of the subject matter claimed is limited only by the attached claims and their equivalents.
[0020] like Figure 1-Figure 3As shown, the utility model is a cleaning line manipulator anti-collision device, including a manipulator linear moving mechanism 5, a base plate 1, a suspension column 2, a cover shell 3, a suspension 4 and an anti-collision mechanism, at least two suspension columns 2 are arranged in parallel on the base plate 1, and the ends of the suspension columns 2 extend outward and protrude from the edge of the base plate 1 to form a hanging portion 2.1, which is used to hang a cleaning basket containing products to be cleaned. In order to facilitate the installation of the touch rod 8.4, a first oval through hole 2.2 is provided on the suspension column 2, and a second oval through hole 2.3 is provided on the hanging portion 2.1. The first oval through hole 2.2 and the second oval through hole 2.3 are respectively located on the inner and outer sides of the cover shell 3. The suspension 4 includes a left column 4.1, a right column 4.2 and a crossbeam 4.3. The left end of the crossbeam 4.3 is connected to the manipulator linear motion mechanism 5. The left column 4.1 and the right column 4.2 are arranged at the lower end of the crossbeam 4.3 and are spaced apart on the left and right sides of the crossbeam 4.3. The left column 4.1 and the right column 4.2 are arranged in parallel below the crossbeam 4.3 and extend downward. The lower ends of the left column 4.1 and the right column 4.2 are connected to the bottom plate 1. It is used to realize the load-bearing of the entire device and suspend it. The bottom of the manipulator linear motion mechanism 5 is fixed to the ground, and a slider 5.1 is provided on the side. One end of the crossbeam 4.3 is fixedly connected to the slider 5.1, and the entire device can be driven up and down by the crossbeam 4.3. The anti-collision mechanism is arranged on the bottom plate 1, and the outer cover is provided with a cover shell 3.
[0021] like Figure 3 As shown, in order to install and support the cover 3, a first support angle piece 11 and a second support angle piece 12 are also included, wherein the first support angle piece 11 is arranged on the inner side of the left column 4.1, and the second support angle piece 12 is arranged on the inner side of the left column, and both are located above the proximity switch mounting plate 10. The upper end of the cover 3 is directly mounted and fixed on the first support angle piece 11 and the second support angle piece 12.
[0022] like Figure 3As shown, the anti-collision mechanism includes a first proximity switch 6, a second proximity switch 7, a proximity switch mounting plate 10, a first lever mechanism 8 and a second lever mechanism 9. The left and right ends of the proximity switch mounting plate 10 are respectively mounted on the left column 4.1 and the right column 4.2 of the suspension 4. The first proximity switch 6 and the second proximity switch 7 are respectively mounted on the front and rear sides of the proximity switch mounting plate 10. The first lever mechanism 8 is arranged on the bottom plate 1 below the first proximity switch 6, and one end of the first lever mechanism 8 is subjected to force, and the other end can trigger the first proximity switch 6; the second lever mechanism 9 is arranged on the bottom plate 1 below the second proximity switch 7, and one end of the second lever mechanism 9 is subjected to force, and the other end can trigger the second proximity switch 7. In order to facilitate the installation of the proximity switch, the front and rear sides of the proximity switch mounting plate 10 are respectively provided with a first protrusion 10.1 and a second protrusion 10.2, the first proximity switch 6 is mounted on the front first protrusion 10.1, and the second proximity switch 7 is mounted on the rear second protrusion 10.2.
[0023] like Figure 4 As shown, the first lever mechanism 8 and the second lever mechanism 9 have the same structure and are centrally symmetrical, and include a support seat 8.1, a rotating shaft 8.2, a seesaw 8.3 and a touch rod 8.4, wherein the support seat 8.1 is fixed on the bottom plate 1, one end of the seesaw 8.3 is rotatably connected to the support seat 8.1 through the rotating shaft 8.2, and the other end extends to the bottom of the first proximity switch 6 / second proximity switch 7, and a shallow groove 8.6 is provided on the upper surface of the seesaw 8.3, and the horizontal portion of the upper end of the touch rod 8.4 is embedded in the shallow groove 8.6, and the end of the touch rod 8.4 close to the support seat 8.1 is bent downward to pass through the first oblong through hole 2.2 on the suspension column 2, and then bent horizontally to extend to the bottom of the suspension part 2.1, and then bent upward to pass through the second oblong through hole 2.3 on the suspension part 2.1, and the end is higher than the suspension part 2.1 to form a contact 8.5. The overall shape of the touch rod 8.4 is approximately "B" shaped. The lever principle is used to identify collisions, with a simple structure and fast identification speed.
[0024] Working principle:
[0025] like Figure 3-Figure 5 As shown, the suspension columns 2 on both sides are provided with contacts 8.5. When the washing basket is suspended on the suspension part 2.1, a downward force is generated on the contact 8.5 of the lever mechanism, thereby pressing the contact 8.5 downward, causing the contact rod 8.4 to rotate clockwise around the rotating shaft 8.2. The contact rod 8.4 presses on the seesaw 8.3, thereby driving the seesaw 8.3 to rotate clockwise at the same time, causing the left end of the seesaw 8.3 to lift up and contact the first proximity switch 6 / the second proximity switch 7, so that the circuit forms a path, and the control end obtains a signal, indicating that the suspended washing basket is normal.
[0026] When the bottom of the cleaning basket touches the ground or collides with other obstacles, the cleaning basket cannot be stably pressed on the contact 8.5. When the force on the contact 8.5 disappears, the contact 8.5 of the touch rod 8.4 is lifted upward, the touch rod 8.4 rotates counterclockwise around the rotating shaft 8.2, the seesaw 8.3 also rotates counterclockwise, and the left end of the seesaw 8.3 is disengaged from the first proximity switch 6 / the second proximity switch 7. The control end cannot receive a signal. At this time, it can be determined that the cleaning basket has collided, and an alarm is issued to prompt the operator to reduce safety hazards.
[0027] The first proximity switch 6 and the second proximity switch 7 are used as micro switches, which are driven by a lever structure. Without changing the overall structure of the manipulator, two micro switch touch structures are added at the diagonal gripper of the manipulator. The switch signal of the micro switch is used to confirm the anti-collision machine protection signal of the equipment, so as to achieve the protection alarm purpose of the equipment. When the equipment is operating normally, after a collision occurs, the alarm signal is triggered, the equipment stops, and it is manually reset to resume production after the fault is eliminated.
[0028] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without departing from the scope of the utility model through the above description. The technical scope of this utility model is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.
Claims
1. A cleaning line robot anti-collision device, characterized in that: It includes a bottom plate, a suspension column, a cover shell, a suspension and an anti-collision mechanism. There are at least two suspension columns, which are arranged in parallel on the bottom plate, and the ends of the suspension columns extend outward and protrude from the edge of the bottom plate to form a suspension part. The lower end of the suspension is connected to the bottom plate. The anti-collision mechanism is arranged on the bottom plate, and the outer cover is provided with a cover shell. Among them, the anti-collision mechanism includes a first proximity switch, a second proximity switch, a proximity switch mounting plate, a first lever mechanism and a second lever mechanism, the left and right ends of the proximity switch mounting plate are respectively installed on the suspension, the first proximity switch and the second proximity switch are respectively installed on the front and rear sides of the proximity switch mounting plate, the first lever mechanism is arranged on the bottom plate below the first proximity switch, and one end of the first lever mechanism is subjected to force, and the other end can trigger the first proximity switch; the second lever mechanism is arranged on the bottom plate below the second proximity switch, and one end of the second lever mechanism is subjected to force, and the other end can trigger the second proximity switch.
2. The cleaning line robot anti-collision device according to claim 1, characterized in that: The first lever mechanism and the second lever mechanism have the same structure and are centrally symmetrical in position, and include a support seat, a rotating shaft, a seesaw and a touch rod, wherein the support seat is fixed on the base plate, one end of the seesaw is rotatably connected to the support seat via a rotating shaft, and the other end extends to the bottom of the first proximity switch / the second proximity switch, a shallow groove is provided on the upper surface of the seesaw, and the horizontal portion of the upper end of the touch rod is embedded in the shallow groove, and one end of the touch rod close to the support seat is bent downward to pass through the first oval through hole on the suspension column, and then bent horizontally to extend to the bottom of the suspension part, and then bent upward to pass through the second oval through hole on the suspension part, and the end is higher than the suspension part to form a contact.
3. The cleaning line robot anti-collision device according to claim 1, characterized in that: The front and rear sides of the proximity switch mounting plate are respectively provided with a first protrusion and a second protrusion. The first proximity switch is mounted on the front first protrusion, and the second proximity switch is mounted on the rear second protrusion.
4. The anti-collision device for a cleaning line robot according to claim 1, characterized in that: The suspension includes a left column, a right column and a crossbeam, the left end of the crossbeam is connected to the robot linear movement mechanism, the left column and the right column are arranged at the lower end of the crossbeam and are spaced apart on the left and right sides of the crossbeam, and the lower ends of the left column and the right column are connected to the base plate.
5. The cleaning line robot anti-collision device according to claim 4, characterized in that: It also includes a robot linear motion mechanism, the bottom of which is fixed to the ground, and a slider is provided on the side, one end of the crossbeam is fixedly connected to the slider, and the crossbeam can drive the entire device to move up and down.
6. The cleaning line robot anti-collision device according to claim 4, characterized in that: It also includes a first supporting angle piece and a second supporting angle piece, wherein the first supporting angle piece is arranged on the inner side of the left pillar, and the second supporting angle piece is arranged on the inner side of the left pillar, and both are located above the proximity switch mounting plate.