Manipulator collision induction mechanism with flexible positioning function

Abstract

The utility model relates to a flexible positioning mechanical arm collision induction mechanism which comprises a fixing plate, a rotating mechanism, a flexible positioning mechanism and a mechanical arm collision induction mechanism, and is characterized in that one end of the fixing plate is rotatably connected with the rotating mechanism while one side of the other end is provided with a sensor; one end of the connecting bridge plate elastically abuts against the other end of the fixing plate through a spring assembly, the other end of the connecting bridge plate is connected with the clamping mechanism, intervals are arranged on the two sides of the position, corresponding to the sensor probe, of the connecting bridge plate, the adjusting assembly is arranged between the fixing plate and the connecting bridge plate, one end of the adjusting assembly is embedded into the fixing plate, and the other end of the adjusting assembly is connected with the clamping mechanism. And the other end is connected with the connecting bridge plate through the circular-truncated-cone-shaped positioning hole. When the mechanical arm collides with a machine, generated collision force drives the connecting bridge plate to rotate, the adjusting assembly and the circular-truncated-cone-shaped positioning hole are staggered, the connecting bridge plate is forced to rotate and move upwards at the same time, the sensor probe is separated from the connecting bridge plate, and an alarm is triggered and fed back to a system, so that the system can suddenly stop equipment before serious collision occurs; and equipment is prevented from being seriously damaged.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and particularly to a manipulator collision induction mechanism with flexible positioning. Background Art

[0002] In automated production, workpieces are usually grasped by a manipulator for transfer. When a manipulator is configured for a machine tool, during the debugging process or when a BUG occurs in the system, the manipulator may sometimes collide with the machine tool. In the existing manipulator structure, the collision cannot be timely fed back to the system, and continued debugging or operation at this time is likely to cause damage to the equipment. Summary of the Utility Model

[0003] Based on this, it is necessary to provide a manipulator collision induction mechanism with flexible positioning to solve the defect that the existing manipulator structure cannot timely feedback when colliding.

[0004] A manipulator collision induction mechanism with flexible positioning is provided at the connection between a rotating mechanism and a clamping mechanism, and includes:

[0005] A fixed plate, one end of which is rotatably connected to the rotating mechanism, and a sensor is provided on one side of the other end.

[0006] A connecting bridge plate, one end of which is elastically abutted against the other end of the fixed plate through a spring assembly, and the other end is connected to the clamping mechanism. Intervals are provided on both sides of the connecting bridge plate at positions corresponding to the sensor probe.

[0007] An adjusting component is provided between the fixed plate and the connecting bridge plate. One end of the adjusting component is embedded in the fixed plate, and the other end is connected to the connecting bridge plate through a frustum-shaped positioning hole. A plurality of the adjusting components are arranged around the spring assembly.

[0008] As a preference of the manipulator collision induction mechanism with flexible positioning in the present utility model, the sensor is arranged on the side of the fixed plate away from the connecting bridge plate and is fixedly connected to the fixed plate. The probe of the sensor passes through the fixed plate and is flush with the side of the fixed plate close to the connecting bridge plate.

[0009] As a preference of the manipulator collision induction mechanism with flexible positioning in the present utility model, when the fixed plate and the connecting bridge plate are connected, the spring assembly is in an uncompressed or incompletely compressed state.

[0010] As a preference of the manipulator collision induction mechanism with flexible positioning in the present utility model, the spring assembly includes a bolt. The head of the bolt passes through the fixed plate and the connecting bridge plate in sequence and is then connected to a nut. A spring and a spring pressing plate are sleeved between the tail of the bolt and the fixed plate.

[0011] As an optimization of the impact sensing mechanism of the flexible positioning manipulator in the present utility model, an induction head is provided at a position corresponding to the sensor on the connecting bridge plate, and the induction head abuts against the probe of the sensor.

[0012] As an optimization of the impact sensing mechanism of the flexible positioning manipulator in the present utility model, the adjusting assembly includes rollers. A pair of the rollers are arranged side by side at intervals. A positioning ball is provided above the pair of rollers. The lower part of the positioning ball abuts against the pair of rollers, and the upper part of the positioning ball is located in the frustum-shaped positioning hole.

[0013] The beneficial effects of the present utility model:

[0014] When a minor impact occurs to the manipulator in the present utility model, the generated impact force drives the connecting bridge plate to rotate. The adjusting assembly is misaligned with the frustum-shaped positioning hole, forcing the connecting bridge plate to rotate and move upward at the same time. The sensor probe is separated from the connecting bridge plate, triggering an alarm and feeding back to the system, enabling the system to urgently stop the equipment before a serious impact occurs and avoiding serious damage to the equipment.

[0015] Through the arrangement of the spring assembly and the adjusting assembly in the present utility model, the rigid connection between the fixed plate and the connecting bridge plate is changed to a flexible connection. During normal use, the connecting bridge plate will not rotate relative to the fixed plate 1. When a collision occurs, the manipulator rotates away from the machine tool direction with the spring assembly as the rotation axis, reducing the losses caused by the collision. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a schematic structural diagram of the sensing mechanism in the embodiment of the present application;

[0018] Figure 2 It is a schematic structural diagram of the fixed plate in the embodiment of the present application;

[0019] Figure 3 It is a schematic structural diagram of the connecting bridge plate in the embodiment of the present application;

[0020] Figure 4 It is a schematic structural diagram of the sensing mechanism when the connecting bridge plate is removed in the embodiment of the present application;

[0021] Figure 5 It is a schematic structural diagram of the sensor of the sensing mechanism in the embodiment of the present application;

[0022] Figure 6 Structural schematic diagram of the induction mechanism adjustment component in the embodiment of the present application:

[0023] Explanation of reference numerals:

[0024] 1. Fixed plate;

[0025] 2. Sensor;

[0026] 3. Connecting bridge plate; 31. Positioning hole; 32. Induction head;

[0027] 4. Spring assembly; 41. Bolt; 42. Spring; 43. Spring pressing plate;

[0028] 5. Adjustment component; 51. Roller; 52. Positioning ball. Specific implementation manner

[0029] In order to make the above objects, features and advantages of the present application more obvious and understandable, the specific implementation manner of the present application will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0030] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present application.

[0031] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0032] In this application, unless otherwise clearly defined and limited, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0033] In this application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0034] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only implementation.

[0035] Embodiment

[0036] This embodiment provides a flexible positioning mechanical hand collision sensing mechanism, which is disposed at the connection between the rotating mechanism and the clamping mechanism and is used to stop the device immediately when a collision occurs in the device, such as Figure 1 As shown, it includes a fixing plate 1, a sensor 2, a connecting bridge plate 3, a spring assembly 4 and an adjusting assembly 5. The fixing plate 1 and the connecting bridge plate 3 are elastically rotatably connected through the spring assembly 4. The adjusting assembly 5 is disposed between the fixing plate 1 and the connecting bridge plate 3 and is used to rotate the connecting bridge plate 3 and increase the distance between the fixing plate 1 and the connecting bridge plate 3 when a collision occurs. The sensor 2 is used to detect the distance between the fixing plate 1 and the connecting bridge plate 3.

[0037] One end of the fixing plate 1 is rotatably connected to the rotating mechanism, and a sensor 2 is provided on one side of the other end of the fixing plate 1, as Figure 2 shown. An embedding groove for fixing the adjusting assembly 5 is provided at the other end of the fixing plate 1, and a plurality of the embedding grooves are arranged around the perforation of the spring assembly 4.

[0038] One end of the connecting bridge plate 3 is elastically abutted against the other end of the fixing plate 1 through a spring assembly 4. The connecting bridge plate 3 can rotate around the spring assembly 4 under the action of an external force, and its other end is connected to the clamping mechanism. As Figure 4 shown, there are intervals on both sides of the connecting bridge plate 3 at the position corresponding to the probe of the sensor 2, so as to trigger the alarm of the sensor 2 after the connecting bridge plate 3 rotates. At the corresponding position where the connecting bridge plate 3 is connected to the adjusting assembly 5, there is a frustum-shaped positioning hole 31, and this structure facilitates the positioning and misalignment of the adjusting assembly 5.

[0039] In this embodiment, through the arrangement of the spring assembly 4 and the adjusting assembly 5, the rigid connection between the fixing plate 1 and the connecting bridge plate 3 is changed to a flexible connection. During normal use, the connecting bridge plate 3 will not rotate relative to the fixing plate 1; when a collision occurs, the manipulator rotates away from the machine tool direction with the spring assembly 4 as the rotation axis, reducing the loss caused by the collision.

[0040] As Figure 5 shown, the sensor 2 is arranged on the side of the fixing plate 1 away from the connecting bridge plate 3, and is fixedly connected to the fixing plate 1. The probe of the sensor 2 passes through the fixing plate 1 and is flush with the side of the fixing plate 1 close to the connecting bridge plate 3. At the position corresponding to the sensor 2 on the connecting bridge plate 3, there is an induction head 32, and the induction head 32 abuts against the probe of the sensor 2. The induction stroke of the sensor 2 is 1 to 1.5 millimeters, and the alarm is not triggered when the induction head 32 abuts against the probe of the sensor 2.

[0041] The spring assembly 4 is used to connect the fixing plate 1 and the connecting bridge plate 3, and includes a bolt 41. The head of the bolt 41 passes through the fixing plate 1 and the connecting bridge plate 3 in sequence and is connected to a nut, and a spring 42 and a spring pressing plate 43 are sleeved between its tail and the fixing plate 1. When the equipment does not collide, that is, when the fixing plate 1 and the connecting bridge plate 3 are normally connected, the spring assembly 4 is in an uncompressed or incompletely compressed state, leaving a certain amount of compression margin.

[0042] The adjusting assembly 5 is arranged between the fixing plate 1 and the connecting bridge plate 3, as Figure 4 shown, and a plurality of the adjusting assemblies 5 are arranged around the spring assembly 4. One end of the adjusting assembly 5 is completely embedded in the embedding groove, and it includes a roller 51. A pair of the rollers 51 are arranged side by side at intervals, and a positioning ball 52 is arranged above the pair of the rollers 51. As Figure 6 shown, when the fixing plate 1 and the connecting bridge plate 3 are normally connected, the lower part of the positioning ball 52 abuts against the pair of the rollers 51, and its upper part is located in the frustum-shaped positioning hole 31.

[0043] When a collision occurs to this utility model, the impact force generated drives the connecting bridge plate 3 to rotate. At this time, the adjusting component 5 is misaligned with the frustum-shaped positioning hole 31, forcing the connecting bridge plate 3 to rotate and move upward at the same time. The probe of the sensor 2 is separated from the induction head 32 of the connecting bridge plate 3, triggering an alarm and feeding it back to the system, enabling the system to stop the equipment urgently before a serious collision occurs and avoiding serious damage to the equipment.

[0044] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0045] The above-described embodiments only represent several implementation manners of this application. The description is relatively specific and detailed, but it cannot be understood as a limitation to the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several deformations and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of the patent of this application should be subject to the appended claims.

Claims

1. A flexible positioning manipulator collision sensing mechanism, which is arranged at the connection between the rotating mechanism and the clamping mechanism, characterized in that: include: A fixed plate, one end of which is rotatably connected to the rotating mechanism, and one side of the other end of which is provided with a sensor; A connecting bridge plate, one end of which is elastically abutted against the other end of the fixing plate through a spring assembly, and the other end of which is connected to the clamping mechanism. A gap is provided on both sides of the connecting bridge plate at the position corresponding to the sensor probe. The adjusting component is arranged between the fixing plate and the connecting bridge plate. One end of the adjusting component is embedded in the fixing plate, and the other end is connected to the connecting bridge plate through a truncated cone shaped positioning hole. A plurality of the adjusting components are arranged around the spring component.

2. According to the flexible positioning robot collision sensing mechanism of claim 1, it is characterized in that: The sensor is arranged on the side of the fixing plate away from the connecting bridge plate and is fixedly connected to the fixing plate. The probe of the sensor passes through the fixing plate and is flush with the side of the fixing plate close to the connecting bridge plate.

3. The flexible positioning robot collision sensing mechanism according to claim 1 is characterized in that: When the fixing plate and the connecting bridge plate are connected, the spring assembly is in an uncompressed or incompletely compressed state.

4. The flexible positioning robot collision sensing mechanism according to claim 3 is characterized in that: The spring assembly comprises a bolt, the head of which passes through a fixing plate and a connecting bridge plate in sequence and is then connected to a nut, and a spring and a spring pressure plate are sleeved between the tail of the bolt and the fixing plate.

5. The flexible positioning robot collision sensing mechanism according to claim 1 is characterized in that: A sensing head is provided at a position corresponding to the connecting bridge plate and the sensor, and the sensing head abuts against the probe of the sensor.

6. The flexible positioning robot collision sensing mechanism according to claim 1 is characterized in that: The adjustment component includes rollers, a pair of the rollers are arranged side by side and spaced apart, a positioning ball is provided above the pair of rollers, the lower part of the positioning ball abuts against the pair of rollers, and the upper part of the positioning ball is located in the truncated cone-shaped positioning hole.

Images