Manipulator anti-collision protection mechanism

Abstract

The utility model relates to the technical field of protection mechanisms, in particular to a mechanical arm anti-collision protection mechanism which comprises a base bottom plate, an annular surrounding plate and an outer surrounding type anti-collision assembly. The upper end part of the base bottom plate is fixedly connected with an annular surrounding plate; an outer surrounding type anti-collision assembly is arranged in the annular surrounding plate. A manipulator body is mounted at the upper end part of the base bottom plate; a limiting inner enclosure is mounted at the upper end part of the base bottom plate; the limiting inner enclosure is mounted on the inner side of the annular enclosure plate; the outer surrounding type anti-collision assembly comprises a movable bottom rod and an anti-impact top plate. The five movable bottom rods are annularly distributed between the annular surrounding plate and the limiting inner surrounding baffle at equal intervals, the upper ends of the movable bottom rods are firmly and fixedly connected with the anti-impact top plate, and a protective barrier surrounding the mechanical arm body is formed. And the shock absorber arranged in the shock-resistant top plate plays a role to primarily buffer and absorb the impact force, so that the impact energy transfer speed is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of protection mechanisms, in particular to an anti-collision protection mechanism for a manipulator. Background Art

[0002] With the continuous improvement of the degree of industrial automation, more and more companies are using robots for production operations, such as in the automobile manufacturing, electronics manufacturing, mechanical processing and other industries. It can replace manual labor to complete heavy and repetitive physical labor, avoid errors caused by human factors, improve the degree of automation and production efficiency of the production process, and ensure production safety.

[0003] Existing manipulators lack anti-collision protection structures when in use, which causes the manipulator's arm to easily bend and deform after a collision, shortening its service life. After a collision, it may also lose control and hit surrounding operators, causing personal injury.

[0004] Therefore, a manipulator anti-collision protection mechanism is proposed to solve the problem that the manipulator lacks an anti-collision protection structure, which causes damage to mechanical parts after a collision. Utility Model Content

[0005] In order to overcome the problem that the protection mechanism lacks anti-collision protection structure during use, which causes the robotic arm of the manipulator to bend and deform easily after a collision, shortening its service life, and may also hit the surrounding operators due to loss of control after a collision, causing personal injury, a manipulator anti-collision protection mechanism is proposed.

[0006] The technical solution of the utility model is as follows: the manipulator anti-collision protection mechanism includes a base bottom plate, an annular enclosure and an outer enclosed anti-collision component; the upper end of the base bottom plate is fixedly connected to the annular enclosure; the inner part of the annular enclosure is provided with an outer enclosed anti-collision component; the upper end of the base bottom plate is installed with a manipulator body; the upper end of the base bottom plate is installed with a limited inner enclosure; the limited inner enclosure is installed on the inner side of the annular enclosure; the outer enclosed anti-collision component includes a movable bottom rod and an impact-resistant top plate; five movable bottom rods are arranged in a ring between the annular enclosure and the limited inner enclosure; the upper ends of the five movable bottom rods are all fixedly connected to the impact-resistant top plate.

[0007] Preferably, the outer enclosed anti-collision component also includes a shock absorber, a contact baffle, a sliding roller support plate, a sliding ball, a fixed frame plate, a tension spring, a first pull rope, a slot plate, a motor, a winding roller, a second pull rope, a hook and a rubber band; a shock absorber is arranged inside the impact-resistant top plate.

[0008] Preferably, the output end of the shock absorber is fixed with a contact baffle; rubber bands are fixed between the five impact-resistant top plates; and the rubber band at the side end of the first impact-resistant top plate on the left is fixed to the upper end of the annular enclosure.

[0009] Preferably, the inner end of the movable bottom rod is fixed with a sliding roller support plate; the sliding roller support plate is slidably connected to the upper end surface of the limiting inner enclosure; and a sliding ball is provided at the lower end of the movable bottom rod.

[0010] Preferably, the upper end of the base bottom plate is fixedly connected to a fixed frame plate; a tension spring is hinged inside the fixed frame plate; the side end of the tension spring is hinged to a first pull rope; the side end of the first pull rope is fixed to the side end of the first movable bottom rod on the right.

[0011] Preferably, the side end of the first movable bottom rod on the right is fixed with a slot plate; the upper end of the annular enclosure is installed with a motor; the output shaft of the motor passes through the upper end surface of the annular enclosure and is fixed with a winding roller.

[0012] Preferably, a second pull rope is wound around the outer end of the winding roller; a hook is fixed to the end of the second pull rope; and the hook is engaged and connected to the inside of the slot plate.

[0013] The beneficial effects of the present invention are as follows: during the use of the protection mechanism, the five movable bottom bars are equidistantly distributed in a ring shape between the annular enclosure and the limiting inner enclosure, and their upper ends are firmly fixed to the impact-resistant top plate to form a protective barrier around the manipulator body. When an external object hits the impact-resistant top plate, the impact force is first transmitted to the impact-resistant top plate, and the shock absorber arranged inside the impact-resistant top plate plays a role, preliminarily buffering and absorbing the impact force and slowing down the transmission speed of the impact energy. When the operator needs to inspect the manipulator body, the motor drives the winding roller to rotate, and the second pull rope wrapped outside is wound up. The second pull rope is engaged with the slot plate of the first movable bottom bar on the right side through the hook at its end end. During the winding process, the movable bottom bar and the impact-resistant top plate can be gathered and stored to the left side from right to left, which can free up space for the operator to approach the manipulator body for inspection and maintenance. After the inspection is completed, the winding roller is wound in the opposite direction, and the wound second pull rope is loosened, and then the tension spring and the first pull rope are used to pull the first movable bottom bar on the right side back to its original position. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Shown is a schematic diagram of the three-dimensional structure of the protection mechanism of the utility model;

[0015] Figure 2 Shown is a schematic diagram of the three-dimensional structure of the shock absorber of the protection mechanism of the utility model;

[0016] Figure 3 Shown is a schematic diagram of the three-dimensional structure of the sliding ball of the protection mechanism of the utility model;

[0017] Figure 4 The utility model is shown Figure 3 A schematic diagram of the enlarged three-dimensional structure at point A in the middle;

[0018] Figure 5Shown is a schematic diagram of the three-dimensional structure of the tension spring of the protection mechanism of the utility model.

[0019] Explanation of the accompanying drawings: 1. Base bottom plate; 2. Annular enclosure; 3. Manipulator body; 4. Limit inner enclosure; 201. Movable bottom rod; 202. Impact-resistant top plate; 203. Shock absorber; 204. Contact baffle; 205. Sliding roller support plate; 206. Sliding ball; 207. Fixed frame plate; 208. Tension spring; 209. First pull rope; 210. Slot plate; 211. Motor; 212. Winding roller; 213. Second pull rope; 214. Hook; 215. Rubber band. DETAILED DESCRIPTION

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] See also Figure 1-Figure 5 The utility model provides an embodiment: a manipulator anti-collision protection mechanism includes a base bottom plate 1, an annular enclosure 2 and an outer surrounding anti-collision component; the upper end of the base bottom plate 1 is fixedly connected to the annular enclosure 2; the outer surrounding anti-collision component is arranged inside the annular enclosure 2; the upper end of the base bottom plate 1 is installed with a manipulator body 3; the upper end of the base bottom plate 1 is installed with a limited inner enclosure 4; the limited inner enclosure 4 is installed on the inner side of the annular enclosure 2; the outer surrounding anti-collision component includes a movable bottom rod 201 and an impact-resistant top plate 202; five movable bottom rods 201 are arranged in a ring between the annular enclosure 2 and the limited inner enclosure 4; the upper ends of the five movable bottom rods 201 are all fixedly connected to the impact-resistant top plate 202, and the five movable bottom rods 201 are distributed in a ring-shaped manner and equidistantly between the annular enclosure 2 and the limited inner enclosure 4, and the impact-resistant top plate 202 firmly fixed at their upper ends forms a protective barrier around the manipulator body 3.

[0022] See also Figure 2 In this embodiment, a shock absorber 203 is provided inside the impact-resistant top plate 202, and the output end of the shock absorber 203 is fixedly connected to a contact baffle 204; rubber bands 215 are fixedly connected between the five impact-resistant top plates 202; the rubber band 215 at the side end of the first impact-resistant top plate 202 on the left is fixed to the upper end portion of the annular enclosure 2, and the inner end of the movable bottom rod 201 is fixedly connected to a sliding roller support plate 205; the sliding roller support plate 205 is slidably connected to the upper end surface of the limiting inner enclosure 4.

[0023] See also Figure 3-Figure 5In this embodiment, a sliding ball 206 is provided at the lower end of the movable bottom rod 201, and a fixed frame plate 207 is fixed to the upper end of the base bottom plate 1; a tension spring 208 is hinged inside the fixed frame plate 207; a first pull rope 209 is hinged to the side end of the tension spring 208; the side end of the first pull rope 209 is fixed to the side end of the first movable bottom rod 201 on the right side, and a slot plate 210 is fixed to the side end of the first movable bottom rod 201 on the right side; a motor 211 is installed at the upper end of the annular enclosure 2; the output shaft of the motor 211 passes through the upper end surface of the annular enclosure 2 and is fixed to a winding roller 212, and the outer end of the winding roller 212 is wound with the first Two pull ropes 213; the end of the second pull rope 213 is fixedly connected with a hook 214; the hook 214 is engaged and connected to the inside of the slot plate 210. When the operator needs to inspect the manipulator body 3, the motor 211 drives the winding roller 212 to rotate, and the second pull rope 213 wrapped around the outside is wound up. The second pull rope 213 is engaged with the slot plate 210 of the first movable bottom rod 201 on the right side through the hook 214 at its end. During the winding process, the movable bottom rod 201 and the impact-resistant top plate 202 can be gathered and stored to the left side from right to left, which can make space for the operator to approach the manipulator body 3 for inspection and maintenance.

[0024] During operation, the five movable bottom bars 201 are equidistantly distributed in a circular pattern between the annular enclosure 2 and the inner limiting enclosure 4. The upper ends are fixedly connected to the impact-resistant top plate 202, forming a protective barrier around the manipulator body 3. Once an external object hits the impact-resistant top plate 202, the impact force first reaches the top plate, and its built-in shock absorber 203 immediately takes effect, initially buffering and absorbing the impact force and slowing down energy transfer. When the manipulator body 3 needs to be repaired, the motor 211 drives the winding roller 212 to rotate, rewinding the second pull rope 213 wrapped around the outside. The hook 214 at the end of the pull rope will be locked into the slot plate 210 of the first movable bottom bar 201 on the right. As the reeling proceeds, the movable bottom bar 201 and the impact-resistant top plate 202 are gathered and stored from right to left, freeing up operating space and making it easier for personnel to repair the manipulator body 3.

[0025] Through the above steps, the problem of the robot's lack of anti-collision protection structure causing damage to mechanical parts after collision is solved. Five movable bottom rods 201 are distributed in a circular and equidistant manner between the annular enclosure 2 and the limiting inner enclosure 4. The upper ends of the five movable bottom rods 201 are firmly fixed to the impact-resistant top plate 202 to form a protective barrier around the robot body 3. When an external object hits the impact-resistant top plate 202, the impact force is first transmitted to the impact-resistant top plate 202, and the shock absorber 203 arranged inside the impact-resistant top plate 202 plays a role in preliminarily buffering and absorbing the impact force and slowing down the transmission speed of the impact energy.

[0026] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the purpose of the present invention.

Claims

1. A manipulator anti-collision protection mechanism, comprising a base plate (1); characterized in that: The invention also includes an annular enclosure (2) and an outer surrounding anti-collision component; the upper end of the base bottom plate (1) is fixedly connected to the annular enclosure (2); the inner portion of the annular enclosure (2) is provided with an outer surrounding anti-collision component; the upper end of the base bottom plate (1) is provided with a manipulator body (3); the upper end of the base bottom plate (1) is provided with a limited inner enclosure (4); the limited inner enclosure (4) is provided on the inner side of the annular enclosure (2); the outer surrounding anti-collision component includes a movable bottom rod (201) and an impact-resistant top plate (202); five movable bottom rods (201) are provided in an annular manner between the annular enclosure (2) and the limited inner enclosure (4); the upper ends of the five movable bottom rods (201) are all fixedly connected to the impact-resistant top plate (202).

2. The robot anti-collision protection mechanism according to claim 1, characterized in that: The outer enclosed anti-collision component further includes a shock absorber (203), a contact baffle (204), a sliding roller support plate (205), a sliding ball (206), a fixed frame plate (207), a tension spring (208), a first pull rope (209), a slot plate (210), a motor (211), a winding roller (212), a second pull rope (213), a hook (214) and a rubber band (215); the shock absorber (203) is arranged inside the impact-resistant top plate (202).

3. The robot anti-collision protection mechanism according to claim 2, characterized in that: The output end of the shock absorber (203) is fixedly connected to a contact baffle (204); rubber bands (215) are fixedly connected between the five impact-resistant top plates (202); and the rubber band (215) at the side end of the first impact-resistant top plate (202) on the left is fixedly connected to the upper end of the annular enclosure (2).

4. The robot anti-collision protection mechanism according to claim 1, characterized in that: The inner end of the movable bottom rod (201) is fixedly connected to a sliding roller support plate (205); the sliding roller support plate (205) is slidably connected to the upper end surface of the limiting inner enclosure (4); and the lower end of the movable bottom rod (201) is provided with a sliding ball (206).

5. The robot anti-collision protection mechanism according to claim 1, characterized in that: The upper end of the base bottom plate (1) is fixedly connected to a fixed frame plate (207); a tension spring (208) is hingedly connected inside the fixed frame plate (207); a first pull rope (209) is hingedly connected to the side end of the tension spring (208); and the side end of the first pull rope (209) is fixedly connected to the side end of the first movable bottom rod (201) on the right side.

6. The robot anti-collision protection mechanism according to claim 5, characterized in that: A slot plate (210) is fixedly connected to the side end of the first movable bottom rod (201) on the right side; a motor (211) is installed at the upper end of the annular enclosure (2); and an output shaft of the motor (211) passes through the upper end surface of the annular enclosure (2) and is fixedly connected to a winding roller (212).

7. The robot anti-collision protection mechanism according to claim 6, characterized in that: A second pull rope (213) is wound around the outer end of the winding roller (212); a hook (214) is fixed to the end of the second pull rope (213); and the hook (214) is engaged and connected to the inside of the card slot plate (210).

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