Robot arm sorting anti-collision structure

Abstract

The utility model discloses a robot arm sorting anti-collision structure which comprises a mechanical arm, a buffering mechanism is arranged at the bottom end of the mechanical arm, the buffering mechanism comprises a clamping plate, a hydraulic buffering column, a fixing block and a damping assembly, the hydraulic buffering column is installed on one side of the clamping plate, and the fixing block is installed on the other side of the clamping plate. When the mechanical arm is possibly close to a collision object in the moving process, a buffer plate firstly makes contact with the object, along with transmission of collision pressure, a damping assembly on the top of a fixed block starts to play a role, a transmission plate moves to drive an inclined plate and a rotating plate to correspondingly move, a telescopic rod shrinks, damping springs on the surface of the telescopic rod are compressed, and the collision pressure is reduced. The rotating plate distributes part of pressure to the fixing block, the fixing block transmits the pressure to the hydraulic buffering rod, the hydraulic buffering column is pressed to retract, meanwhile, the spring connected with the surface of the hydraulic buffering column in a sleeving mode is compressed, part of the impact force is absorbed, the clamping plates are spliced into a circle, and the buffering plates are in an arc shape, so that the device adapts to collisions in different directions and angles.

Description

Technical Field

[0001] The utility model relates to the technical field of robot arms, in particular to an anti-collision structure for robot arm sorting. Background Art

[0002] The anti-collision structure for robot arm sorting is a design system applied to robot arms, aiming to prevent the robot arm from colliding with objects, equipment or other robot arms in the surrounding environment during the sorting operation, and through specific mechanical, electronic and software components and design strategies, effectively absorb, mitigate or avoid the impact force and damage generated by the collision, so as to ensure the normal operation of the robot arm, the integrity of the sorted items and the safety of the working environment.

[0003] When the traditional anti-collision structure for robot arm sorting is in use, most of them adopt the way of avoidance to prevent the robot arm from contacting the items. However, when the avoidance system is damaged, the robot arm is very likely to hit the items, and it is very difficult to buffer the robot from different directions and angles, which may lead to the damage of the robot arm and the interruption of production. Summary of the Utility Model

[0004] The purpose of this part is to outline some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this part, as well as in the abstract and the title of the application of the present application, to avoid obscuring the purpose of this part, the abstract and the title of the utility model, and such simplifications or omissions shall not be used to limit the scope of the utility model.

[0005] In view of the problems existing in the prior art, the present utility model is proposed.

[0006] Therefore, the technical problem to be solved by the present utility model is that when the avoidance system is damaged, the robot arm is very likely to hit the items, and it is very difficult to buffer the robot from different directions and angles.

[0007] To solve the above technical problem, the present utility model provides the following technical solution: an anti-collision structure for robot arm sorting, which includes a robotic arm, a buffer mechanism is arranged at the bottom end of the robotic arm, the buffer mechanism includes a clamping plate, a hydraulic buffer column, a fixed block and a shock absorption component, the hydraulic buffer column is installed on one side of the clamping plate, a spring is sleeved on the surface of the hydraulic buffer column, one end of the hydraulic buffer column is connected to one side of the fixed block, and the shock absorption component is installed on the top of the fixed block.

[0008] As a preferred scheme of the anti-collision structure for robot arm sorting of the present utility model, wherein: a connecting block is arranged at the top end of the robotic arm, and a fixed sleeve is installed at one end of the robotic arm close to the connecting block.

[0009] As a preferred embodiment of the anti-collision structure for the robot arm sorting of the present utility model, wherein: connecting rods are distributed on the surface of the fixed sleeve in a rectangular array, and the other ends of the connecting rods are fixedly connected with a stabilizing ring through fixing bolts.

[0010] As a preferred embodiment of the anti-collision structure for the robot arm sorting of the present utility model, wherein: the number of the clamping plates is four, and the four clamping plates can be assembled into a circle.

[0011] As a preferred embodiment of the anti-collision structure for the robot arm sorting of the present utility model, wherein: the shock absorption assembly includes a rotating plate, an inclined plate and a transfer plate, one end of the inclined plate is fixedly connected to the inside of one end of the rotating plate, and the other end of the inclined plate is fixedly connected to one end of the transfer plate.

[0012] As a preferred embodiment of the anti-collision structure for the robot arm sorting of the present utility model, wherein: the other end of the rotating plate is rotatably connected to one end of a fixed block, and a protective plate is slidably connected to the surface of the transfer plate.

[0013] As a preferred embodiment of the anti-collision structure for the robot arm sorting of the present utility model, wherein: the other end of the transfer plate penetrates through the protective plate and is fixedly connected with a buffer plate, the number of the buffer plates is four, and the four buffer plates are all arc-shaped.

[0014] As a preferred embodiment of the anti-collision structure for the robot arm sorting of the present utility model, wherein: one side of the rotating plate is fixedly connected with a telescopic rod, a shock absorption spring is sleeved on the surface of the telescopic rod, and one end of the telescopic rod is connected to the surface of the robotic arm.

[0015] As a preferred embodiment of the anti-collision structure for the robot arm sorting of the present utility model, wherein: a chute adapted to the transfer plate is opened inside the protective plate, and the top surface of the transfer plate is connected to the bottom surface of the stabilizing ring.

[0016] As a preferred embodiment of the anti-collision structure for the robot arm sorting of the present utility model, wherein: a retaining piece is arranged at the bottom of the protective plate, and a robotic claw is fixedly installed on the bottom surface of the bottom end of the robotic arm.

[0017] Advantages of the present utility model: When the robotic arm may approach and collide with an object during movement, the buffer plate first comes into contact with the object. As the collision pressure is transmitted, the shock-absorbing component at the top of the fixed block starts to function. The displacement of the transfer plate will drive the inclined plate and the rotating plate to move accordingly. The telescopic rod contracts, and the shock-absorbing spring on its surface is compressed to buffer the impact force. The rotating plate distributes part of the pressure to the fixed block, and the fixed block transmits the pressure to the hydraulic buffer rod. The hydraulic buffer column is compressed and retracted, and at the same time, the spring sleeved on its surface is compressed to absorb part of the impact force. The clamping plates are assembled into a circle, and the buffer plate is arc-shaped, etc., to adapt to collisions in different directions and angles, improving the comprehensiveness of anti-collision, being able to greatly reduce the impact force generated by collisions, protecting the robotic arm and the grasped items, and effectively avoiding equipment damage and production interruption caused by the collision of the robotic arm with other objects. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. Among them:

[0019] Figure 1 It is a schematic diagram of the overall three-dimensional structure in the embodiment of the present utility model.

[0020] Figure 2 It is a schematic diagram of the overall disassembly in the embodiment of the present utility model.

[0021] Figure 3 It is a schematic diagram of the buffer mechanism in the embodiment of the present utility model.

[0022] Figure 4 For Figure 3 The enlarged view at position A in

[0023] In the figure: 1. Robotic arm; 101. Connecting block; 102. Fixed sleeve; 103. Connecting rod; 104. Stabilizing ring; 2. Buffer mechanism; 21. Clamping plate; 22. Hydraulic buffer column; 23. Fixed block; 24. Shock-absorbing component; 241. Rotating plate; 242. Inclined plate; 243. Transfer plate; 25. Spring; 3. Protective plate; 4. Buffer plate; 5. Telescopic rod; 6. Shock-absorbing spring. Detailed Embodiment

[0024] In order to make the above-mentioned objects, features, and advantages of the present utility model more obvious and understandable, the following detailed description of the specific embodiments of the present utility model will be given in conjunction with the drawings in the specification.

[0025] In the following description, many specific details are set forth in order to provide a thorough understanding of the present utility model. However, the present utility model may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0026] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation manner of the present utility model. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that mutually excludes other embodiments.

[0027] Embodiment 1

[0028] Referring to Figures 1 to 4 , which is the first embodiment of the present utility model. This embodiment provides a collision prevention structure for a robotic arm sorting system, including a robotic arm 1. A buffer mechanism 2 is provided at the bottom end of the robotic arm 1. The buffer mechanism 2 includes a clamping plate 21, a hydraulic buffer column 22, a fixed block 23, and a shock absorption assembly 24. The hydraulic buffer column 22 is installed on one side of the clamping plate 21. A spring 25 is sleeved on the surface of the hydraulic buffer column 22. One end of the hydraulic buffer column 22 is connected to one side of the fixed block 23. The shock absorption assembly 24 is installed on the top of the fixed block 23.

[0029] Four clamping plates 21 are assembled into a circle, which can receive collision forces from multiple directions and provide more comprehensive initial buffer protection. The hydraulic buffer column 22 first bears the impact force during a collision and generates damping through hydraulic action to slow down the collision speed. The spring 25 is sleeved on the surface of the hydraulic buffer column 22 to further absorb and buffer the impact force and enhance the buffer effect.

[0030] Embodiment 2

[0031] Referring to Figures 1 to 4 , which is the second embodiment of the present utility model. Based on the previous embodiment, a connection block 101 is provided at the top end of the robotic arm 1. A fixed sleeve 102 is installed at one end of the robotic arm 1 close to the connection block 101. Connecting rods 103 are arranged on the surface of the fixed sleeve 102 in a rectangular array. The other ends of the connecting rods 103 are fixedly connected to a stabilizing ring 104 through fixing bolts. The number of clamping plates 21 is set to four, and the four clamping plates 21 can be assembled into a circle.

[0032] The connecting rods 103 arranged in a rectangular array on the fixed sleeve 102 are connected to the stabilizing ring 104 through fixing bolts to form a stable support structure, reducing the shaking and vibration of the robotic arm 1 during movement and collision, and improving the stability and operation accuracy of the robotic arm 1.

[0033] Embodiment 3

[0034] Reference Figures 1 to 4 , which is the third embodiment of the utility model. This embodiment is based on the previous embodiment. The shock absorbing assembly 24 includes a rotating plate 241, an inclined plate 242 and a transmission plate 243. One end of the inclined plate 242 is fixedly connected to the inside of one end of the rotating plate 241, and the other end of the inclined plate 242 is fixedly connected to one end of the transmission plate 243. The other end of the rotating plate 241 is rotatably connected to one end of the fixed block 23. The surface of the transmission plate 243 is slidably connected with a protective plate 3. The other end of the transmission plate 243 penetrates the protective plate 3 and is fixedly connected with a buffer plate 4. The number of buffer plates 4 is four, and the four buffer plates 4 are all arc-shaped. A telescopic rod 5 is fixedly connected to one side of the rotating plate 241. A shock absorbing spring 6 is sleeved on the surface of the telescopic rod 5. One end of the telescopic rod 5 is connected to the surface of the mechanical arm 1. A sliding groove adapted to the transmission plate 243 is provided inside the protective plate 3. The top surface of the transmission plate 243 is connected to the bottom surface of the stabilizing ring 104. A baffle is provided at the bottom of the protective plate 3. A mechanical claw is fixedly installed on the bottom surface of the bottom end of the mechanical arm 1.

[0035] The telescopic rod 5 and the shock-absorbing spring 6 on one side of the rotating plate 241 play an auxiliary shock-absorbing and resetting role when the rotating plate 241 rotates, further absorbing and buffering the collision energy, and ensuring that the robot arm 1 can quickly restore to a stable state after the collision.

[0036] The working principle and use process of the utility model are as follows: the robot arm sorting system is started, and each component enters the standby state. The system performs initial detection and calibration on the position of the robot arm 1, the connecting block 101, the fixing sleeve 102, the stabilizing ring 104, etc. The robot arm 1 grabs the object to be sorted through the mechanical claw, and the robot arm 1 starts to move according to the preset sorting path. When the robot arm 1 may approach a collision object during the movement, the buffer plate 4 first contacts the object. With the transmission of the collision pressure, the shock absorbing component 24 on the top of the fixing block 23 starts to play a role, and the displacement of the transfer plate 243 drives the inclined plate 242 and the rotating plate 241 move accordingly, the telescopic rod 5 contracts, and the shock-absorbing spring 6 on its surface is compressed to buffer the impact force. The rotating plate 241 distributes part of the pressure to the fixed block 23, and the fixed block 23 transmits the pressure to the hydraulic buffer column 22. The hydraulic buffer column 22 retracts under pressure, and at the same time, the spring 25 sleeved on its surface is compressed to absorb part of the impact force. The connecting rods 103 and the stabilizing ring 104 distributed in a rectangular array on the surface of the fixed sleeve 102 provide additional stability and support to reduce the shaking of the robot arm 1. After buffering and adjustment, the robot arm 1 regains stability and continues to complete the sorting operation.

[0037] Importantly, it should be noted that the construction and arrangement of the present application shown in multiple different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who refer to this disclosure should easily understand that many modifications are possible without materially departing from the novel teachings and advantages of the subject matter described in this application (for example, the dimensions, scales, structures, shapes and proportions of various elements, as well as parameter values (such as temperature, pressure, etc.), installation arrangements, use of materials, changes in color, orientation, etc.). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature, number or position of discrete elements may be altered or changed. Therefore, all such modifications are intended to be included within the scope of the present utility model. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means plus function" clause is intended to cover the structures that perform the recited function herein, and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present utility model. Therefore, the present utility model is not limited to a specific embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0038] In addition, in order to provide a concise description of the exemplary embodiments, not all features of the actual embodiments may be described (i.e., those features that are not relevant to the currently considered best mode of implementing the present utility model or those features that are not relevant to the implementation of the present utility model).

[0039] It should be understood that in the development of any actual implementation, as in any engineering or design project, a large number of specific implementation decisions may be made. Such development efforts may be complex and time-consuming, but for those of ordinary skill in the art who benefit from this disclosure, without excessive experimentation, such development efforts will be a routine task of design, manufacturing and production.

[0040] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and not to limit them. Although the present utility model has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present utility model can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present utility model, and they should all be covered within the scope of the claims of the present utility model.

Claims

1. A robot arm sorting anti-collision structure, characterized by: include, A mechanical arm (1), wherein a buffer mechanism (2) is arranged at the bottom end of the mechanical arm (1), wherein the buffer mechanism (2) comprises a clamping plate (21), a hydraulic buffer column (22), a fixed block (23) and a shock absorbing assembly (24), wherein the hydraulic buffer column (22) is installed on one side of the clamping plate (21), a spring (25) is sleeved on the surface of the hydraulic buffer column (22), one end of the hydraulic buffer column (22) is connected to one side of the fixed block (23), and the shock absorbing assembly (24) is installed on the top of the fixed block (23).

2. The robot arm sorting anti-collision structure according to claim 1, characterized in that: A connecting block (101) is provided at the top end of the mechanical arm (1), and a fixing sleeve (102) is installed at one end of the mechanical arm (1) close to the connecting block (101).

3. The robot arm sorting anti-collision structure according to claim 2, characterized in that: The surface of the fixing sleeve (102) is provided with connecting rods (103) distributed in a rectangular array, and the other end of the connecting rod (103) is fixedly connected to a stabilizing ring (104) via a fixing bolt.

4. The robot arm sorting anti-collision structure according to claim 3, characterized in that: The number of the clamping plates (21) is four, and the four clamping plates (21) can be assembled into a circle.

5. The robot arm sorting anti-collision structure according to claim 4, characterized in that: The shock absorbing assembly (24) comprises a rotating plate (241), an inclined plate (242) and a transmission plate (243); one end of the inclined plate (242) is fixedly connected to the inside of one end of the rotating plate (241); and the other end of the inclined plate (242) is fixedly connected to one end of the transmission plate (243).

6. The robot arm sorting anti-collision structure according to claim 5, characterized in that: The other end of the rotating plate (241) is rotatably connected to one end of the fixed block (23), and the surface of the transmission plate (243) is slidably connected to a protective plate (3).

7. The robot arm sorting anti-collision structure according to claim 6, characterized in that: The other end of the transmission plate (243) passes through the protective plate (3) and is fixedly connected to a buffer plate (4), wherein four buffer plates (4) are provided, and the four buffer plates (4) are all arc-shaped.

8. The robot arm sorting anti-collision structure according to claim 7, characterized in that: A telescopic rod (5) is fixedly connected to one side of the rotating plate (241), a shock absorbing spring (6) is sleeved on the surface of the telescopic rod (5), and one end of the telescopic rod (5) is connected to the surface of the mechanical arm (1).

9. The robot arm sorting anti-collision structure according to claim 7 or 8, characterized in that: A sliding groove adapted to the transmission plate (243) is provided inside the protection plate (3), and the top surface of the transmission plate (243) is connected to the bottom surface of the stabilizing ring (104).

10. The robot arm sorting anti-collision structure according to claim 9, characterized in that: A baffle is provided at the bottom of the protective plate (3), and a mechanical claw is fixedly mounted on the bottom surface of the bottom end of the mechanical arm (1).

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