Collision force detection device of collaborative robot

Abstract

The utility model relates to a collision force detection device of a collaborative robot. The collision force detection device comprises a collision plate group, a mounting seat, a guide assembly, an elastic assembly, a cover body, at least one fastener and a sensor. According to the collision force detection device of the collaborative robot, in the actual installation and use process, the fastener is detachably connected to the cover body, so that the function of preventing the guide assembly from being separated from the cover body is achieved, the internal elastic assembly is convenient to maintain, and the collision force detection device is convenient to use. The collision force detection stability of the collision force detection device of the collaborative robot is improved.

Description

Technical Field

[0001] The present application relates to the field of safety detection technology, and in particular to a collision force detection device for a collaborative robot. Background Art

[0002] With the development of technology, society's demand for collaborative robots has gradually increased, and their application has become more widespread. As the collaboration between humans and robots becomes closer, robot safety issues are increasingly exposed, thus placing higher demands on their safety.

[0003] To reduce the threat posed by collaborative robots to life and property, the importance of collaborative robot safety collision detection is becoming increasingly prominent. The collision force detection device of the collaborative robot can detect the forces exerted on different parts of the simulated human body model, thereby understanding the forces generated by the collaborative robot in different postures.

[0004] However, the robot collision force detection device in the existing technology monitors the collision force by installing a sensor through a detection mechanism with a spring, but the specifications of its spring cannot be replaced, so maintenance is more difficult, and the same device cannot be installed in different positions to achieve a wider range of measurements, resulting in high measurement costs. Utility Model Content

[0005] Based on this, it is necessary to install a sensor on the robot collision force detection device in the existing technology to monitor the collision force through a detection mechanism with a spring. However, the specifications of the spring cannot be replaced, so maintenance is more difficult, and the same device cannot be installed in different positions to achieve a wider range of measurements, resulting in a high measurement cost. A collision force detection device for a collaborative robot is provided.

[0006] A collision force detection device for a collaborative robot, comprising: a collision plate assembly, a mounting seat, a guide assembly, an elastic assembly, a cover, at least one fastener, and a sensor;

[0007] The open end of the cover is connected to the mounting seat, and the collision plate group is located on the side of the cover facing away from the mounting seat and is used to receive the collision force; one end of the guide assembly is connected to the collision plate group, and the other end is relatively movably provided in the cover along the axial direction of the guide assembly;

[0008] The sensor is located in the cover and connected to the mounting seat; a through hole is formed on one side of the cover close to the collision plate group; the elastic component is inserted into the through hole, one end of the elastic component is detachably connected to the collision plate group, and the other end is detachably connected to the sensor;

[0009] The side surface of the portion of the guide assembly located within the cover body is provided with a strip groove extending along the through-hole direction of the through hole, the cover body is provided with a fastening hole, the fastener is passed through the fastening hole and is detachably connected to the cover body, and one end of the fastener extends into the strip groove.

[0010] In one embodiment, the guide assembly includes a plurality of guide rods, the cover body is provided with a plurality of first guide holes, the plurality of guide rods correspond one-to-one to the plurality of first guide holes, one end of the guide rod is connected to the collision plate assembly, and the other end is passed through the first guide hole and can be movably engaged with the cover body along the axial direction thereof;

[0011] The side walls of the guide rods are provided with strip grooves, and the fastener is partially located in the strip groove of one of the guide rods and movably cooperates with the guide rod.

[0012] In one embodiment, the guide assembly further includes a plurality of linear bearings, which are respectively provided in the plurality of first guide holes, the linear bearings are connected to the cover body, and the plurality of guide rods are respectively provided in the plurality of linear bearings, and the guide rods and the linear bearings are movably cooperated along the axial direction of the guide rods.

[0013] In one embodiment, the plurality of first guide holes are evenly arranged around the circumference of the through hole.

[0014] In one embodiment, the collision force detection device of the collaborative robot includes a plurality of fasteners, the cover body is provided with a plurality of fastening holes, the plurality of fastening holes, the plurality of guide rods and the plurality of fasteners correspond one to one, and the fastener portion is located in the strip groove of the guide rod and movably cooperates with the guide rod.

[0015] In one embodiment, the elastic component includes an elastic member, the elastic member is penetrated in the penetration hole, one end of the elastic member is connected to the collision plate assembly, and the other end is connected to the sensor.

[0016] In one embodiment, the elastic component also includes a guide member, which has a second guide hole. The guide member is connected to the cover body, and the elastic member is passed through the second guide hole and the through hole. One end of the elastic member is connected to the collision plate group, and the other end is connected to the sensor.

[0017] In one embodiment, the elastic component also includes a connecting member, which is passed through the through hole, one end of the connecting member is connected to the sensor and the other end is connected to an end of the guide member facing away from the collision plate group, one end of the elastic member is connected to the collision plate group, and the other end is passed through the second guide hole and connected to the connecting member.

[0018] In one embodiment, the collision plate group includes a protective plate and a collision plate, the collision plate is connected to the guide assembly and the elastic assembly at the same time, and the side of the collision plate facing away from the cover is connected to one side of the protective plate.

[0019] In one embodiment, the cover body is provided with a through hole for passing the connecting wire of the sensor.

[0020] During the actual installation and use of the above-mentioned collision force detection device of the collaborative robot, the mounting seat is first connected to one end of the collaborative robot's position to be detected, and the collision plate group is installed at the other end, so that the collision force detection device of the collaborative robot is installed at the collaborative robot's position to be detected, such as the joint gap or other positions where collisions may occur. In the process of detecting the collision force, the collision plate group is subjected to the collision force and approaches the mounting seat, driving the guide assembly to approach the mounting seat along the axial direction of the guide assembly, that is, the guide assembly and the cover body are movably coordinated, and at the same time the collision plate compresses the elastic assembly, causing the elastic assembly to generate pressure on the sensor, so that the sensor measures the corresponding collision force. In the above process, the guide assembly moves relative to the fastener so that the fastener can move relative to the guide assembly along the axial direction of the guide assembly in the strip groove. The two ends of the strip groove limit the fastener, which is equivalent to the moving phase of the fastener to the guide assembly, preventing the guide assembly from falling out of the cover body. At the same time, the fastener can be removed from the fastening hole, so that the guide assembly can be removed from the cover body, which is convenient for repair or replacement of the internal elastic assembly. The above-mentioned fastener is detachably connected to the cover body, which not only realizes the function of preventing the guide assembly from falling out of the cover body, but also facilitates the repair of the internal elastic assembly, thereby improving the stability of the collision force detection of the collision force detection device of the collaborative robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of a collision force detection device for a collaborative robot according to an embodiment.

[0022] Figure 2 Schematic diagram of the cover and sensor.

[0023] Description of Figure Numbers:

[0024] 100-Collision force detection device for collaborative robots;

[0025] 110-collision plate assembly; 111-protection plate; 112-collision plate;

[0026] 120-mounting seat;

[0027] 130-guide assembly; 131-guide rod; 132-linear bearing;

[0028] 140-elastic component; 141-elastic member; 142-guide member; 143-second guide hole; 144-connecting member;

[0029] 150 - cover; 151 - opening; 152 - through hole; 153 - first guide hole; 154 - through hole; 155 - fastening hole;

[0030] 160-Fasteners;

[0031] 170-Sensor. DETAILED DESCRIPTION

[0032] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0033] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0034] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0035] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0036] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0037] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0038] See Figure 1 , Figure 1 A structural schematic diagram of a collision force detection device 100 for a collaborative robot in an embodiment of the present application is shown. The collision force detection device 100 for a collaborative robot provided in an embodiment of the present application includes: a collision plate group 110, a mounting seat 120, a guide assembly 130, an elastic assembly 140, a cover body 150, at least one fastener 160 and a sensor 170.

[0039] In the above-mentioned collision force detection device 100 of the collaborative robot, the cover body 150 is provided with an opening 151 at one end thereof connected to the mounting seat 120, the collision plate group 110 is located on the side of the cover body 150 facing away from the mounting seat 120 and is used to receive the collision force. One end of the guide assembly 130 is connected to the collision plate group 110, and the other end is penetrated through the cover body 150 along the axial direction of the guide assembly 130 and can move relative to the cover body 150; the cover body 150 is provided with a through hole 152, and the sensor 170 is located in the through hole 152 for receiving the collision force of the robot. The elastic component 140 is passed through the through hole 152, one end of the elastic component 140 is detachably connected to the collision plate group 110, and the other end is detachably connected to or abuts the sensor 170; the side wall of the guide component 130 located in the cover body 150 is provided with a strip groove (not shown) extending along the through direction of the through hole 152, and the cover body 150 is provided with a fastening hole 155, and the fastener 160 is passed through the fastening hole 155 and is detachably connected to the cover body 150, and the fastener 160 is partially located in the strip groove.

[0040] See Figure 1 and Figure 2During the actual installation and use of the above-mentioned collaborative robot collision force detection device 100, the mounting seat 120 is first connected to one end of the collaborative robot's detection position, and the collision plate group 110 is installed at the other end, so that the collaborative robot's collision force detection device 100 is installed at the collaborative robot's detection position, such as the joint gap or other positions where collisions may occur. During the collision force detection process, the collision plate group 110 is subjected to the collision force and approaches the mounting seat 120, driving the guide assembly 130 to approach the mounting seat 120 along the axial direction of the guide assembly 130, that is, the guide assembly 130 and the cover body 150 are movably matched. At the same time, the collision plate 112 compresses the elastic assembly 140, causing the elastic assembly 140 to generate pressure on the sensor 170, so that the sensor 170 measures the corresponding collision force. The sensor 170 is located inside the cover body 150, so that the cover body 150 can protect the sensor 170 structure. During the above process, the guide assembly 130 moves relative to the fastener 160 so that the fastener 160 can move relative to the guide assembly 130 along the axial direction of the guide assembly 130 in the strip groove. The groove walls at both ends of the length direction of the strip groove limit the fastener 160, which is equivalent to the fastener 160 limiting the movement of the guide assembly 130, preventing the guide assembly 130 from falling off the cover body 150. At the same time, the fastener 160 can be removed from the fastening hole 155. After the fastener 160 is removed from the fastening hole 155, it is disengaged from the strip groove, so that the guide component 130 is removed from the cover body 150, thereby providing sufficient movement space for the elastic component 140 in the penetration direction of the through hole 152, that is, the elastic component 140 is released from the limit in its elastic direction, which is convenient for repairing or replacing the internal elastic component 140. The above-mentioned fastener 160 is detachably connected to the cover body 150, which not only realizes the function of preventing the guide component 130 from falling out of the cover body 150, but also facilitates the repair of the internal elastic component 140, thereby improving the stability of the collision force detection of the collision force detection device 100 of the collaborative robot. At the same time, the collision force detection device 100 of a collaborative robot can replace different elastic components 140, so as to be suitable for different collision parts.

[0041] The above-mentioned sensor 170 is used to detect the collision force. It can be a force sensor 170 or other types of sensors 170 such as a stress and strain sensor 170, etc., as long as it can detect the collision force.

[0042] See Figure 1 and Figure 2In one embodiment, the guide assembly 130 includes a plurality of guide rods 131, and the cover body 150 is provided with a plurality of first guide holes 153. The plurality of guide rods 131 correspond one-to-one to the plurality of first guide holes 153. One end of the guide rod 131 is connected to the collision plate assembly 110, and the other end is passed through the first guide hole 153 and can be movably engaged with the cover body 150 along its axial direction; a strip groove is provided on the side wall of the guide rod 131, and the fastener 160 is partially located in the strip groove of one of the guide rods 131 and is movably engaged with the guide rod 131.

[0043] In the above embodiment, the guide rod 131 moves along the axial direction of the guide hole in the first guide hole 153 of the cover body 150, so that the collision plate group 110 approaches along the axial direction of the guide hole, so that the collision force can be stably transmitted to the sensor 170 along the axial direction of the first guide hole 153 through the elastic component 140, so that the sensor 170 can stably detect the collision force along the axial direction of the first guide hole 153.

[0044] Specifically, the collision plate set 110 is parallel to the mounting seat 120 and is spaced apart along the axis of the first guide hole 153 .

[0045] See Figure 1 and Figure 2 In one embodiment, the guide assembly 130 also includes a plurality of linear bearings 132, and the plurality of linear bearings 132 are correspondingly provided in the plurality of first guide holes 153. The linear bearings 132 are connected to the cover body 150, and the plurality of guide rods 131 are correspondingly provided in the plurality of linear bearings 132. The guide rods 131 and the linear bearings 132 are movable together along the axial direction of the guide rods 131. Since the linear bearing 132 is a linear motion system, it is used for linear stroke and is used in conjunction with a cylindrical shaft. Since the load-bearing ball is in point contact with the bearing outer sleeve, the steel ball rolls with minimal friction resistance, so the linear bearing 132 has low friction and is relatively stable. It does not change with the bearing speed, and can obtain smooth linear motion with high sensitivity and high precision. Therefore, in the guiding process, the relative movement of the linear bearing 132 and the guide rod 131 can reduce the energy loss caused by friction, thereby more accurately detecting the magnitude of the collision force.

[0046] Specifically, the linear bearing 132 may be a plastic linear bearing 132 or a metal linear bearing 132 , and the specific form will not be described again.

[0047] See Figure 1 and Figure 2 In one embodiment, the plurality of first guide holes 153 are evenly arranged around the circumference of the through hole 152, so that the collision force on the plurality of guide rods 131 is evenly distributed, and the guide rods 131 can move stably along the axis of the first guide holes 153, preventing angles from being generated during the transmission of the collision force, thereby affecting accuracy.

[0048] See Figure 1 and Figure 2 In one embodiment, the collision force detection device 100 for a collaborative robot includes a plurality of fasteners 160. The housing 150 defines a plurality of fastening holes 155. The fastening holes 155 correspond to the guide rods 131 and the fasteners 160. The fasteners 160 are partially positioned within the strip grooves of the guide rods 131 and flexibly engage with the guide rods 131. Consequently, each guide rod 131 is positioned by a fastener 160. The fasteners 160 slidably engage with the inner walls of the strip grooves to ensure the stability of the guide rods 131 and their ability to move stably along the axis of the first guide hole 153, preventing angles from being generated during collision force transmission, which could affect accuracy.

[0049] See Figure 1 and Figure 2 In one embodiment, the elastic assembly 140 includes an elastic member 141. The elastic member 141 is inserted into the through hole 152. One end of the elastic member 141 is connected to the collision plate assembly 110, and the other end is connected to the sensor 170. The elastic member 141 buffers the collision force and can also generate a corresponding force on the sensor 170 to measure the collision force.

[0050] See Figure 1 and Figure 2 In one embodiment, the elastic component 140 also includes a guide member 142, which is provided with a second guide hole 143. The guide member 142 is connected to the cover body 150, and the elastic member 141 is passed through the second guide hole 143 and the through hole 152. One end of the elastic member 141 is connected to the collision plate group 110, and the other end is connected to the sensor 170, so that the elastic member 141 can produce elastic deformation in the second guide hole 143, preventing the elastic member 141 from partially deforming and deviating from the axis of the second guide hole 143, causing inaccurate measurement, thereby improving the stability of the collision force detection device 100 of the collaborative robot.

[0051] See Figure 1 and Figure 2 In one embodiment, the elastic assembly 140 further includes a connector 144, which is disposed through the through hole. One end of the connector 144 is connected to the sensor 170, and the other end is connected to the end of the guide member 142 facing away from the collision plate assembly 110. The elastic member 141 has one end connected to the collision plate assembly 110, and the other end is disposed through the second guide hole 143 and connected to the connector 144. Thus, the elastic member 141 is indirectly connected to the sensor 170 via the connector 144. The elastic member 141 exerts an elastic force on the connector 144, which in turn exerts a force on the sensor 170, enabling the sensor 170 to detect the collision force from the collision plate assembly 110.

[0052] Specifically, one end of the elastic member facing away from the connecting member is detachably connected to the collision plate assembly, and one end of the connecting member facing away from the elastic member is detachably connected to the sensor.

[0053] See Figure 1 and Figure 2 In one embodiment, the collision plate assembly 110 includes a protective plate 111 and a collision plate 112. The collision plate 112 is connected to both the guide assembly 130 and the elastic assembly 140. The side of the collision plate 112 facing away from the housing 150 is connected to the side of the protective plate 111. Specifically, the protective plate 111 is made of a material such as rubber and provides protection to prevent deformation of the collision plate 112, which could lead to inaccurate collision force detection. The protective plate 111 and the collision plate 112 are attached to each other and connected via screws, bolts, and other components.

[0054] See Figure 1 and Figure 2 In one embodiment, the cover body 150 is provided with a through hole 154 for passing the connecting wire of the sensor 170 .

[0055] Specifically, the cover body 150 is cylindrical, with an opening 151 at one end of the cover body 150 and a bottom wall at the other end. The opening 151 end of the cover body 150 is covered on the mounting seat 120 and connected to the mounting seat 120. The side wall of the cover body 150 is provided with a fastening hole 155 and a through hole 154, and the bottom wall of the cover body 150 is provided with a first guide hole 153 and a through hole 152.

[0056] The cover body may also be a hemispherical shell, and the direction of the fastening hole may form an acute angle with the direction of the guide rod, as long as one end of the fastener located in the cover body extends into the strip groove.

[0057] Specifically, the mounting seat 120 and the collision plate assembly 110 are both provided with connection holes, and the collision force detection device 100 of the collaborative robot is connected to the robot through the connection holes and components such as screws and bolts.

[0058] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A collision force detection device for a collaborative robot, characterized in that: The collision force detection device of the collaborative robot includes: a collision plate group, a mounting seat, a guide component, an elastic component, a cover, at least one fastener and a sensor; The open end of the cover is connected to the mounting seat, and the collision plate group is located on the side of the cover facing away from the mounting seat and is used to receive the collision force; one end of the guide assembly is connected to the collision plate group, and the other end is relatively movably provided in the cover along the axial direction of the guide assembly; The sensor is located in the cover and connected to the mounting seat; a through hole is formed on one side of the cover close to the collision plate group; the elastic component is inserted into the through hole, one end of the elastic component is detachably connected to the collision plate group, and the other end is detachably connected to the sensor; The side surface of the portion of the guide assembly located within the cover body is provided with a strip groove extending along the through-hole direction of the through hole, the cover body is provided with a fastening hole, the fastener is passed through the fastening hole and is detachably connected to the cover body, and one end of the fastener extends into the strip groove.

2. The collision force detection device for a collaborative robot according to claim 1, characterized in that: The guide assembly includes a plurality of guide rods, the cover body is provided with a plurality of first guide holes, the plurality of guide rods correspond to the plurality of first guide holes one by one, one end of the guide rod is connected to the collision plate assembly, and the other end is passed through the first guide hole and can be movably matched with the cover body along the axial direction thereof; The side walls of the guide rods are provided with strip grooves, and the fastener is partially located in the strip groove of one of the guide rods and movably cooperates with the guide rod.

3. The collision force detection device for a collaborative robot according to claim 2, characterized in that: The guide assembly also includes a plurality of linear bearings, which are respectively arranged in the plurality of first guide holes, the linear bearings are connected to the cover body, and the plurality of guide rods are respectively arranged in the plurality of linear bearings, and the guide rods and the linear bearings are movably matched along the axial direction of the guide rods.

4. The collision force detection device for a collaborative robot according to claim 2, characterized in that: The plurality of first guide holes are evenly arranged around the circumference of the through hole.

5. The collision force detection device for a collaborative robot according to claim 2, characterized in that: The collision force detection device of the collaborative robot includes a plurality of fasteners, the cover body is provided with a plurality of fastening holes, the plurality of fastening holes, the plurality of guide rods and the plurality of fasteners correspond one to one, and the fastener portion is located in the strip groove of the guide rod and movably cooperates with the guide rod.

6. The collision force detection device for a collaborative robot according to claim 1, characterized in that: The elastic component includes an elastic member, which is inserted into the insertion hole. One end of the elastic member is connected to the collision plate assembly, and the other end is connected to the sensor.

7. The collision force detection device for a collaborative robot according to claim 6, characterized in that: The elastic component also includes a guide member, which has a second guide hole. The guide member is connected to the cover body, and the elastic member is passed through the second guide hole and the through hole. One end of the elastic member is connected to the collision plate group, and the other end is connected to the sensor.

8. The collision force detection device for a collaborative robot according to claim 7, characterized in that: The elastic component also includes a connecting piece, which is passed through the through hole. One end of the connecting piece is connected to the sensor and the other end is connected to the end of the guide piece facing away from the collision plate group. One end of the elastic piece is connected to the collision plate group, and the other end is passed through the second guide hole and connected to the connecting piece.

9. The collision force detection device for a collaborative robot according to claim 1, characterized in that: The collision plate group includes a protective plate and a collision plate. The collision plate is connected to the guide assembly and the elastic assembly at the same time. The side of the collision plate facing away from the cover body is connected to one side of the protective plate.

10. The collision force detection device for a collaborative robot according to claim 1, characterized in that: The cover body is provided with a penetration hole for passing the connecting wire of the sensor.

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