Multidirectional anti-collision device
By introducing multi-directional anti-collision elements and direction sensing components into the anti-collision device of the robotic arm, multi-angle collision detection is realized, solving the problem of blind spots in existing technologies and improving the safety and control accuracy of the robotic arm.
Patent Information
- Application Number
- CN202422357240.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-26
- Publication Date
- 2025-12-05
- Estimated Expiration
- 2034-09-26
AI Technical Summary
In existing technologies, the anti-collision devices of robotic arms can only detect collisions in a single direction or at a limited angle, which can easily lead to blind spots in complex environments, causing equipment damage and safety hazards.
Design a multi-directional anti-collision device, including an anti-collision body with a hollow octagonal prism structure, a cuboid cavity with an anti-collision offset plate inside the anti-collision body, and equipped with a direction sensing component. The device detects collisions from multiple angles through direction sensors and sensing plates, and combines the offset and pressure changes of the anti-collision offset plate to achieve multi-directional perception and precise control.
It improves the comprehensiveness and accuracy of collision detection, reduces the possibility of false alarms during acceleration and deceleration of the robot, and ensures the safe and reliable operation of the robot in complex environments.
Smart Images
Figure CN223630387U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to mechanical hand anti -collision technical field especially relates to a multidirectional anti -collision device. BACKGROUND
[0002] At present, the mechanical hand has been widely used in industrial automation production, is used to material handling, stacking etc. operation, along with the development of industry and science and technology, the accuracy and safety requirement of mechanical hand is unceasingly improved, in the actual use process, the mechanical hand can collide because of various reasons, causes equipment damage or product loss, influences production efficiency and safety, and the design and application of mechanical hand anti -collision device have been an important research topic.
[0003] In the prior art, the mechanical hand anti -collision device can only detect single direction or limited angle collision, and the limitation of such detection range makes the mechanical hand prone to detection blind area in complex working environment, and the mechanical hand can collide in the direction not detected, thereby causing equipment damage, workpiece damage, and even causing safety accidents. UTILITARY MODEL CONTENTS
[0004] Therefore, the utility model provides a multidirectional anti -collision device to overcome the limitation of detection range in the prior art, which makes the mechanical hand prone to detection blind area in complex working environment and collision.
[0005] To achieve the above object, the utility model provides a multidirectional anti -collision device, which comprises,
[0006] The anti -collision body is a hollow octagonal prism structure, a cuboid cavity is arranged in the inside, a circular through hole is arranged in the upper center, a rounded square through hole is arranged in the lower center, rounded rectangular through holes and accommodating grooves are arranged at the lower four sides of the anti -collision body;
[0007] The anti -collision offset plate is sleeved in the cuboid cavity at the upper end, and the lower end is arranged below the anti -collision body;
[0008] The direction sensing component comprises a direction sensor and a direction sensing sheet, the direction sensor is arranged at the rounded rectangular through hole and connected with the anti -collision offset plate, and the direction sensing sheet is arranged in the accommodating groove.
[0009] Further, the central axis of the cuboid cavity coincides with the central axis of the anti -collision body.
[0010] Further, the rounded rectangular through hole is connected with the accommodating groove.
[0011] Further, the lower end of the anti -collision offset plate is a combined body formed by splicing the cuboid with the same central axis and the octagonal prism.
[0012] Further, the center of the cuboid is provided with a through-type cylindrical hole penetrating the anti-collision offset plate.
[0013] Further, the longitudinal height of the cuboid cavity is greater than the longitudinal height of the upper end of the anti-collision offset plate.
[0014] Further, the aperture of the circular through-hole is greater than the aperture of the through-type cylindrical hole.
[0015] Further, a long through-hole is arranged on the cylindrical surface of the through-type cylindrical hole, horizontally penetrating the anti-collision offset plate.
[0016] Further, the long through-hole is on the same horizontal line as the direction sensor.
[0017] Further, the rectangular area of the cuboid in the horizontal direction is smaller than the area of the rounded rectangular through-hole.
[0018] Compared with the prior art, the anti-collision offset plate can offset in the cuboid cavity, which helps to buffer the impact when a collision occurs, the direction sensing assembly is arranged in multiple directions, which can perceive the collision from multiple angles, improving the comprehensiveness of collision detection, the double verification of the offset of the anti-collision offset plate by the direction sensor and the pressure change by the direction sensing sheet determines that a collision occurs when the direction sensor detects that the anti-collision offset plate has acceleration offset in a certain direction and the direction sensing sheet detects that there is a pressure change, effectively reducing the possibility of false reporting of the mechanical hand when accelerating and decelerating, and accurately determining the collision direction and intensity, quickly responding when a collision occurs, accurately controlling the movement of the mechanical hand to stop, improving the accuracy of collision detection, and facilitating accurate control of the mechanical hand in various situations.
[0019] Further, by arranging the cuboid cavity at the center of the anti-collision offset plate, the device produces the same effect when a collision occurs in different directions, which is conducive to the detection of the collision and makes the collision detection more accurate, and since the longitudinal height of the cuboid cavity is greater than the upper end of the anti-collision offset plate, sufficient offset is provided to allow the anti-collision offset plate to offset when a collision occurs, which is conducive to the protection of the mechanical hand during a collision.
[0020] Further, the circular through hole of the anti-collision body has a larger diameter than the through cylindrical hole of the anti-collision offset plate, when the manipulator is impacted, the anti-collision offset plate offsets in the range of the excess of the diameter of the circular through hole over the diameter of the through cylindrical hole, effectively enhancing the flexibility of the anti-collision offset plate in collision, the four long through holes on the through cylindrical hole are on the same horizontal line with the direction sensor, effectively sending a stop signal to the manipulator, which is beneficial to the accurate control of the manipulator, the rectangular area of the cuboid in the horizontal direction is smaller than the rectangular area of the rounded rectangular through hole, the anti-collision offset plate has a certain offset range when collision occurs, and this design is beneficial to absorbing and dispersing the impact force when collision occurs, reducing rigid impact. BRIEF DESCRIPTION OF DRAWINGS
[0021] Figure 1 It is a schematic diagram of the overall structure of the multi-directional anti-collision device of the utility model;
[0022] Figure 2 It is a sectional view of the anti-collision body in the utility model;
[0023] Figure 3 It is a schematic diagram of the structure of the anti-collision body and the direction detection assembly in the utility model;
[0024] Figure 4 It is a sectional view of the anti-collision offset plate in the utility model.
[0025] In the drawing: 1-anti-collision body, 2-long through hole, 3-anti-collision offset plate, 4-direction sensor, 5-direction sensing sheet, 6-circular through hole, 7-rounded square through hole, 8-rounded rectangular through hole, 9-housing groove, 10-through cylindrical hole, 11-cuboid cavity. DETAILED DESCRIPTION
[0026] In order to make the purpose and advantages of the utility model more clear and obvious, the utility model is further described below in combination with examples; it should be understood that the specific examples described herein are only used to explain the utility model, and are not used to limit the utility model.
[0027] The preferred embodiments of the utility model are described below with reference to the drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the utility model, and are not used to limit the protection scope of the utility model.
[0028] It should be noted that in the description of the utility model, the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicate the direction or position relationship terms based on the direction or position relationship shown in the drawings, which is only for the convenience of description, and is not indicative or suggestive of the device or element having a specific orientation, being constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.
[0029] Further, it needs to be explained that, in the description of the utility model, unless another explicit provision and limitation, the term "installation", "connection", "connect" should be broad understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected; can be mechanical connection, also can be electrical connection; can be directly connected, also can be indirectly connected through the intermediate medium, can be two elements inside the communication. For those skilled in the art, the above-mentioned terms can be understood according to the specific meaning of the utility model.
[0030] Please refer to Figure 1 、 Figure 2 、 Figure 3 And Figure 4 As shown in Figure 1 、 Figure 2 、 Figure 3 And Figure 4 , wherein, Figure 1 It is a kind of overall structure schematic diagram of multi-directional anti-collision device of the utility model, Figure 2 It is the sectional view of anti-collision body in the utility model, Figure 3 It is the structure schematic diagram of anti-collision body and direction detection component in the utility model, Figure 4 It is the sectional view of anti-collision offset plate in the utility model;
[0031] Specifically, the embodiment of the application provides a kind of multi-directional anti-collision device, comprising,
[0032] Anti-collision body 1, it is hollow octagon prism structure, its inside is provided with cuboid cavity 11, its upper center is provided with circular through-hole 6, its lower center is provided with rounded square through-hole 7, and its lower four sides are provided with four rounded rectangular through-hole 8 and four containing slot 9;
[0033] Anti-collision offset plate 3, its upper end is sleeved in the cuboid cavity 11, and its lower end is arranged below the anti-collision body 1;
[0034] Direction induction component, it includes four direction inductors 4 and four direction induction sheets 5, direction inductor 4 is arranged at rounded rectangular through-hole 8, and is connected with anti-collision offset plate 3, and direction induction sheet 5 is arranged in containing slot 9.
[0035] Specifically, the accommodation groove 9 can also be replaced by multiple, four accommodation grooves 9 are provided in the embodiment, and the corresponding direction sensor 4 and the direction sensing sheet 5 are also provided with four, the upper end of the anti-collision offset plate 3 is sleeved in the cuboid cavity 11 of the anti-collision body 1, when the anti-collision body 1 collides, the anti-collision offset plate 3 is offset in the cuboid cavity 11, the direction sensor 4 connected to the upper end of the anti-collision offset plate 3 is offset together with the anti-collision offset plate 3, the direction sensor detects the direction and acceleration of the offset of the anti-collision offset plate 3, and the direction sensing sheet 5 detects the pressure change of the anti-collision body 1, when the direction sensor 4 detects that the anti-collision offset plate 3 has acceleration offset in a certain direction and the direction sensing sheet 5 detects that there is a pressure change, it is determined that a collision occurs, and the device sends a collision signal to the manipulator to make the manipulator pause movement.
[0036] Specifically, by setting the cuboid cavity 11 sleeving the anti-collision offset plate 3 in the anti-collision body 1, the anti-collision offset plate 3 can be offset in the cuboid cavity, which helps to buffer the impact when a collision occurs, and by setting the direction sensing assembly in multiple directions, the collision can be perceived from multiple angles, which improves the comprehensiveness of the collision detection, and by the double verification of the offset of the anti-collision offset plate 3 detected by the direction sensor 4 and the pressure change detected by the direction sensing sheet 5, when the direction sensor 4 detects that the anti-collision offset plate 3 has acceleration offset in a certain direction and the direction sensing sheet 5 detects that there is a pressure change, it is determined that a collision occurs, which effectively reduces the possibility of false reporting of the manipulator when accelerating or decelerating, and accurately determines the collision direction and strength, quickly responds when a collision occurs, and accurately controls the manipulator to stop movement, which improves the accuracy of collision detection and is beneficial to accurately control the manipulator in various situations.
[0037] Specifically, the central axis of the cuboid cavity 11 coincides with the central axis of the anti-collision body.
[0038] Specifically, the rounded rectangular through hole 8 is connected with the accommodation groove 9.
[0039] Specifically, the lower end of the anti-collision offset plate 3 is a combination of a cuboid and an octagonal prism with coinciding central axes.
[0040] Specifically, the center of the cuboid is provided with a through cylindrical hole 10 penetrating the anti-collision offset plate 3.
[0041] Specifically, the longitudinal height of the cuboid cavity 11 is greater than the longitudinal height of the upper end of the anti-collision offset plate 3.
[0042] Specifically, the anti-collision offset plate 3 is sleeved on the manipulator through the through cylindrical hole 10, and when the manipulator collides, the upper end of the anti-collision offset plate 3 is offset in the cuboid cavity 11.
[0043] Specifically, by setting the cuboid cavity 11 at the center of the anti-collision offset plate 3, the device produces the same effect when collisions occur in different directions, which is conducive to the detection of collisions and makes the collision detection more accurate. Since the longitudinal height of the cuboid cavity 11 is greater than the upper end fitting height of the anti-collision offset plate 3, sufficient offset is provided for the anti-collision offset plate 3 to be offset when a collision occurs, which is conducive to the protection of the mechanical hand during a collision.
[0044] Specifically, the hole diameter of the circular through hole 6 is greater than the hole diameter of the through cylindrical hole 10.
[0045] Specifically, four long through holes 2 are provided on the cylindrical surface of the through cylindrical hole 10, which horizontally pass through the anti-collision offset plate 3.
[0046] Specifically, the long through hole 2 is on the same horizontal line as the direction sensor 4.
[0047] Specifically, the rectangular area of the cuboid horizontal direction is smaller than the area of the rounded rectangular through hole 8.
[0048] As shown in Figure 4 the anti-collision offset plate 3 is arranged in the cuboid cavity 11 of the anti-collision body 1. When a collision occurs, the collision force drives the anti-collision offset plate 3 to displace within the cuboid cavity 11. Since the longitudinal height of the cuboid cavity 11 is greater than the longitudinal height of the upper end of the anti-collision offset plate 3, and the rectangular area of the cuboid horizontal direction is smaller than the area of the rounded rectangular through hole 8, the necessary offset space is provided for the anti-collision offset plate 3. The displacement process itself can absorb and disperse impact energy, play a buffering role, and trigger the direction sensing assembly.
[0049] Specifically, the hole diameter of the circular through hole 6 of the anti-collision body 1 is greater than the hole diameter of the through cylindrical hole 10 of the anti-collision offset plate 3. When the mechanical hand is hit, the anti-collision offset plate 3 is offset in the range where the hole diameter of the circular through hole 6 is greater than the hole diameter of the through cylindrical hole 10, effectively enhancing the flexibility of the anti-collision offset plate 3 during a collision. The four long through holes 2 on the through cylindrical hole 10 are on the same horizontal line as the direction sensor 4, effectively sending a stop signal to the mechanical hand, which is conducive to precise control of the mechanical hand. The rectangular area of the cuboid horizontal direction is smaller than the rectangular area of the rounded rectangular through hole 8, and the anti-collision offset plate 3 has a certain offset range when a collision occurs. This design is conducive to absorbing and dispersing impact force when a collision occurs, reducing rigid impact.
[0050] Thus far, the technical scheme of the present application has been described in connection with the preferred embodiments shown in the drawings, but it is readily understood by those skilled in the art that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the relevant technical features without deviating from the principles of the present application, and the technical schemes after these changes or replacements will all fall within the protection scope of the present application.
[0051] The above description is merely preferred embodiments of the present application and is not intended to limit the present application; for those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.
Claims
1. A multidirectional crash avoidance device, characterized by, The application relates to a collision-preventing body, which is a hollow octagonal prism structure, the inside of which is provided with a cuboid cavity, the upper center of the collision-preventing body is provided with a circular through hole, the lower center of the collision-preventing body is provided with a rounded square through hole, and the lower four sides of the collision-preventing body are provided with rounded rectangular through holes and accommodating grooves. A collision-preventing offset plate is arranged in the cuboid cavity and at the lower side of the collision-preventing body. A direction sensing assembly is arranged on the collision-preventing offset plate and comprises a direction sensor and a direction sensing sheet. The central axis of the cuboid cavity coincides with the central axis of the collision-preventing body.
2. The omnidirectional crash avoidance device of claim 1, wherein, The rounded rectangular through hole is connected with the accommodating groove.
3. The omnidirectional crash avoidance device of claim 1, wherein, The lower end of the collision-preventing offset plate is a combined body formed by splicing a cuboid and an octagonal prism.
4. The omnidirectional crash avoidance device of claim 1, wherein, The center of the cuboid is provided with a through-type cylindrical hole penetrating the collision-preventing offset plate.
5. The omnidirectional crash avoidance device of claim 4, wherein, The longitudinal height of the cuboid cavity is greater than the longitudinal height of the upper end of the collision-preventing offset plate.
6. The omnidirectional crash avoidance device of claim 1, wherein, The aperture of the circular through hole is greater than the aperture of the through-type cylindrical hole.
7. The omnidirectional crash avoidance device of claim 5, wherein, A long through hole is arranged on the cylindrical surface of the through-type cylindrical hole and horizontally penetrates the collision-preventing offset plate.
8. The omnidirectional crash avoidance device of claim 5, wherein, The long through hole and the direction sensor are on the same horizontal line.
9. The omnidirectional crash avoidance device of claim 8, wherein, The rectangular area of the cuboid in the horizontal direction is smaller than the area of the rounded rectangular through hole.
10. The omnidirectional crash avoidance device of claim 9, wherein,