Operation mechanical arm motion limiter

Abstract

The utility model discloses an operation mechanical arm motion limiter which comprises a base and an installation frame installed on the top of the base, and further comprises two rhombic folding frames installed on the inner wall of one side of the installation frame, a moving assembly is installed on the outer wall of one side of the installation frame, and one ends of the two rhombic folding frames are rotationally connected with the outer walls of the two sides of the moving assembly respectively. According to the motion limiting stopper of the operation mechanical arm, the two rhombic folding frames can be driven by the moving assembly to be synchronously folded or unfolded according to the size of the mechanical arm, the range of an infrared laser enclosure and the distance between lasers are adjusted, adjustment can be conveniently conducted according to the size of the mechanical arm, the applicability of the device is improved, and the working efficiency is improved. The smoke sensor can be used for monitoring smoke of the infrared laser grating accessory, when the smoke sensor monitors the smoke, a signal is transmitted to the controller, and the controller starts the smoke extraction assembly to extract smoke, so that the smoke is prevented from influencing the accuracy of detecting the position of the mechanical arm by the infrared laser grating.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm motion limiting technology, specifically a motion limiter for a robotic arm. Background Technology

[0002] A robotic arm motion limiter is a device used to limit the range of motion of a robotic arm, preventing it from exceeding its safe working range and avoiding collisions with surrounding equipment and obstacles. This protects the robotic arm itself and surrounding equipment and facilities from damage, while also ensuring the safety of on-site operators and reducing the occurrence of accidents.

[0003] Currently, limit switches are mainly divided into two types: contact limit switches and contact limit switches. Contact limit switches typically consist of mechanical blocks, levers, and other components. When the robotic arm moves to a certain position, the mechanical block will stop it from moving further. The structure is simple, but it is easy to damage the robotic arm.

[0004] Another type is non-contact limiting, which forms an infrared laser barrier by setting up infrared laser emitters and receivers around the working space of the robotic arm. When the robotic arm enters the area covered by the infrared laser barrier, it blocks the infrared laser beam. The receiver detects the interruption of the laser beam and generates a corresponding electrical signal. This signal is transmitted to the robotic arm's control system. After receiving the signal, the control system determines whether the robotic arm has exceeded the limit range according to preset logic and takes corresponding measures, such as stopping the robotic arm's movement or issuing an alarm, to achieve non-contact limiting of the robotic arm and prevent damage to it.

[0005] While current non-contact limiting devices can achieve good limiting effects, the distance between the internal infrared laser emitting and receiving devices is not adjustable after assembly. This makes it inconvenient to adjust the range of the infrared laser enclosure and the distance between lasers according to the size of the robotic arm, and its applicability needs to be further improved. Utility Model Content

[0006] The purpose of this utility model is to provide a motion limiter for a robotic arm to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a motion limiter for a robotic arm, comprising: a base and a mounting frame mounted on the top of the base, and further comprising: two rhomboid folding frames mounted on the inner wall of one side of the mounting frame, a movable component mounted on the outer wall of one side of the mounting frame, and one end of each of the two rhomboid folding frames being rotatably connected to the outer walls of the movable component on both sides, sliding openings being provided on the upper and lower outer walls of the mounting frame, and multiple equally spaced infrared emitting components and infrared receiving components being slidably connected to the inner walls of the upper and lower sliding openings, and multiple equally spaced telescopic rods being connected between the upper and lower rhomboid folding frames, with the end of the telescopic rod away from the two rhomboid folding frames being connected to the corresponding infrared emitting component or infrared receiving component, a smoke sensor mounted on the inner wall of one side of the mounting frame, and a smoke extraction component mounted on the outer wall of the other side of the mounting frame, and a controller mounted on the outer wall of one side of the mounting frame.

[0008] The movable component includes a fixed frame, a threaded rod rotatably mounted on one side of the outer wall of the fixed frame, and a movable block screwed onto the threaded rod, with one end of each of the two rhomboid folding frames rotatably connected to the outer walls on both sides of the movable block.

[0009] The infrared emitting assembly includes an upper slider, an upper connecting plate mounted on the bottom of the upper slider, and an infrared emitter mounted on the bottom of the upper connecting plate.

[0010] The infrared receiving assembly includes a lower slider, a lower connecting plate mounted on top of the lower slider, and an infrared receiver mounted on top of the lower connecting plate.

[0011] The telescopic rod includes a sleeve and a movable rod that is slidably connected to the inner wall of the sleeve.

[0012] The smoke extraction assembly includes an extraction pipe, an air pump installed on the extraction pipe, and two air collection hoods connected to the extraction pipe.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] This utility model discloses a motion limiter for a robotic arm. Depending on the size of the robotic arm, a moving component drives two diamond-shaped folding frames to fold or unfold synchronously. This adjusts the range of the infrared laser barrier and the distance between the laser beams, allowing for easy adjustment based on the size of the robotic arm and improving the device's applicability. A smoke sensor can monitor smoke near the infrared laser grid. When the smoke sensor detects smoke, it transmits a signal to the controller, which then activates a smoke extraction component to remove smoke, preventing it from affecting the accuracy of the infrared laser grid's detection of the robotic arm's position. Attached Figure Description

[0015] Figure 1 This is an external structural view of the present invention;

[0016] Figure 2This is a structural diagram of the rhomboid folding frame of this utility model;

[0017] Figure 3 This is a structural diagram of the mobile component of this utility model;

[0018] Figure 4 This is a structural diagram of the infrared emitting component and the infrared receiving component of this utility model;

[0019] Figure 5 This is a structural diagram of the telescopic rod of this utility model;

[0020] Figure 6 This is a structural diagram of the smoking component of this utility model.

[0021] In the diagram: 1. Base; 2. Mounting frame; 3. Diamond-shaped folding frame; 4. Moving component; 401. Fixed frame; 402. Threaded rod; 403. Moving block; 5. Sliding port; 6. Infrared emitting component; 601. Upper slider; 602. Upper connecting plate; 603. Infrared transmitter; 7. Infrared receiving component; 701. Lower slider; 702. Lower connecting plate; 703. Infrared receiver; 8. Telescopic rod; 801. Sleeve; 802. Movable rod; 9. Controller; 10. Smoke sensor; 11. Smoke extraction component; 1101. Exhaust pipe; 1102. Exhaust pump; 1103. Gas collection hood. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Please see Figure 1-6 This utility model provides a motion limiter for a robotic arm, comprising: a base 1 and a mounting frame 2 mounted on the top of the base 1; two rhomboid folding frames 3 mounted on the inner wall of one side of the mounting frame 2; a movable component 4 mounted on the outer wall of one side of the mounting frame 2; one end of each of the two rhomboid folding frames 3 being rotatably connected to the outer walls of the movable component 4 on both sides; sliding openings 5 ​​on both the upper and lower outer walls of the mounting frame 2; multiple equally spaced infrared emitting components 6 and infrared receiving components 7 slidably connected to the inner walls of the upper and lower sliding openings 5; multiple equally spaced telescopic rods 8 connecting the upper and lower sides of the two rhomboid folding frames 3; and the end of each telescopic rod 8 away from the two rhomboid folding frames 3 being connected to the corresponding infrared emitting component 6 or infrared receiving component 7; a smoke sensor 10 mounted on the inner wall of one side of the mounting frame 2; a smoke extraction component 11 mounted on the outer wall of the other side of the mounting frame 2; and a controller 9 mounted on the outer wall of one side of the mounting frame 2.

[0024] It should be noted that the device can be installed at the location where the robotic arm needs to be limited. The controller 9 is connected to the robotic arm's control system. Multiple infrared emitting components 6 emit infrared lasers, which are received by multiple infrared receiving components 7, forming a laser barrier. When the robotic arm enters the area covered by the infrared laser barrier during its movement, it blocks the infrared laser beam. The infrared receiving components 7 detect the interruption of the laser beam, thereby generating a corresponding electrical signal, which is transmitted to the controller 9. The controller 9 determines whether the robotic arm has exceeded the limit range according to preset logic and takes corresponding measures, such as stopping the robotic arm's movement or issuing an alarm, to achieve non-contact limiting of the robotic arm. Depending on the size of the robotic arm, the moving component 4 can drive two diamond-shaped folding frames 3 to fold or unfold synchronously, which in turn drives the corresponding infrared emitting components via the telescopic rod 8. The infrared transmitter 6 and the infrared receiver 7 move together, synchronously adjusting the distance between the infrared transmitter 6 and the infrared receiver 7, thereby adjusting the size of the infrared laser barrier and the distance between the laser beams. This allows for easy adjustment based on the size of the robotic arm, improving the applicability of the device. Simultaneously, when there is smoke around the robotic arm's working environment, the smoke drifts to the vicinity of the infrared laser barrier, and the particles in the smoke scatter the laser beam, causing a change in the laser's propagation direction and affecting the accuracy of the infrared laser grid in detecting the robotic arm's position. A smoke sensor 10 can be used to monitor smoke near the infrared laser grid. When the smoke sensor 10 detects smoke, it transmits a signal to the controller 9, which then activates the smoke extraction component 11 to remove smoke, preventing the smoke from affecting the accuracy of the infrared laser grid in detecting the robotic arm's position.

[0025] In a preferred embodiment, the movable component 4 includes a fixed frame 401, a threaded rod 402 rotatably mounted on one side of the outer wall of the fixed frame 401, and a movable block 403 screwed onto the threaded rod 402, and one end of the two rhomboid folding frames 3 is rotatably connected to the outer walls on both sides of the movable block 403 respectively.

[0026] It should be noted that the rotatable threaded rod 402 drives the moving block 403 to move, which in turn drives the two rhomboid folding frames 3 to fold or unfold synchronously.

[0027] In a preferred embodiment, the infrared emitting assembly 6 includes an upper slider 601, an upper connecting plate 602 mounted on the bottom of the upper slider 601, and an infrared emitter 603 mounted on the bottom of the upper connecting plate 602.

[0028] It should be noted here that the infrared emitter 603 can emit infrared lasers.

[0029] In a preferred embodiment, the infrared receiving assembly 7 includes a lower slider 701, a lower connecting plate 702 mounted on top of the lower slider 701, and an infrared receiver 703 mounted on top of the lower connecting plate 702.

[0030] It should be noted here that the infrared receiver 703 can receive infrared lasers.

[0031] In a preferred embodiment, the telescopic rod 8 includes a sleeve 801 and a movable rod 802 slidably connected to the inner wall of the sleeve 801.

[0032] It should be noted that the height of the upper and lower ends of the diamond-shaped folding frame 3 will change during the folding or unfolding process. This can be achieved by sliding the movable rod 802 on the inner wall of the sleeve 801 to adapt to the height change.

[0033] In a preferred embodiment, the smoke extraction assembly 11 includes an extraction pipe 1101, an extraction pump 1102 mounted on the extraction pipe 1101, and two gas collection hoods 1103 connected to the extraction pipe 1101.

[0034] It should be noted that the air pump 1102 can draw smoke through the gas collection hood 1103 into the air extraction pipe 1101 and then discharge it.

[0035] Working principle: The device can be installed at the position where the robotic arm needs to be limited. The controller 9 is connected to the control system of the robotic arm. Multiple infrared transmitters 603 emit infrared lasers, which are received by multiple infrared receivers 703 to form a laser barrier. When the robotic arm enters the coverage area of ​​the infrared laser barrier during its movement, it will block the infrared laser beam. The corresponding infrared receiver 703 detects the interruption of the laser beam, thereby generating a corresponding electrical signal and transmitting the signal to the controller 9. The controller 9 judges whether the robotic arm has exceeded the limit range according to the preset logic and takes corresponding measures, such as stopping the movement of the robotic arm or issuing an alarm, so as to achieve non-contact limitation of the robotic arm.

[0036] Depending on the size of the robotic arm, rotating the threaded rod 402 will move the moving block 403, thereby causing the two rhomboid folding frames 3 to fold or unfold synchronously. This will then cause the corresponding infrared transmitters 603 and infrared receivers 703 to move via the telescopic rod 8, allowing for synchronous adjustment of the distance between the infrared transmitters 603 and the distance between the infrared receivers 703. This will adjust the size of the infrared laser enclosure and the distance between the laser beams, making it easy to adjust according to the size of the robotic arm and improving the applicability of the device.

[0037] Meanwhile, when there is smoke around the working environment of the robotic arm, the smoke drifts to the vicinity of the infrared laser barrier. The particles in the smoke will cause the laser to scatter, resulting in a change in the direction of laser propagation and affecting the accuracy of the infrared laser grid in detecting the position of the robotic arm. The smoke sensor 10 can be used to monitor the smoke around the infrared laser grid. When the smoke sensor 10 detects smoke, it transmits the signal to the controller 9. The controller 9 starts the air pump 1102. The air pump 1102 can draw the smoke through the air collection hood 1103 into the air extraction pipe 1101 and then discharge it, so as to avoid the smoke affecting the accuracy of the infrared laser grid in detecting the position of the robotic arm.

[0038] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A work mechanical arm motion limiter, comprising: a base (1) and a mounting frame (2) mounted on the top of the base (1); characterized in that it further comprises two rhombus folding frames (3) mounted on the inner wall of one side of the mounting frame (2), a moving assembly (4) mounted on the outer wall of one side of the mounting frame (2), and one end of each of the two rhombus folding frames (3) is rotatably connected to the outer wall of one side of the moving assembly (4), sliding openings (5) are formed on the outer walls of the upper and lower sides of the mounting frame (2), and a plurality of equidistantly distributed infrared emitting assemblies (6) and infrared receiving assemblies (7) are slidably connected to the inner walls of the upper and lower sliding openings (5), respectively, a plurality of equidistantly distributed telescopic rods (8) are connected between the upper and lower rhombus folding frames (3), and one end of each of the telescopic rods (8) away from the two rhombus folding frames (3) is connected to the corresponding infrared emitting assembly (6) or infrared receiving assembly (7), a smoke sensor (10) is mounted on the inner wall of one side of the mounting frame (2), an air extraction assembly (11) is mounted on the outer wall of the other side of the mounting frame (2), and a controller (9) is mounted on the outer wall of one side of the mounting frame (2).

2. A motion limiter for a robotic arm of a machine according to claim 1, characterized in that: The moving assembly (4) comprises a fixed frame (401), a threaded rod (402) rotatably mounted on the outer wall of one side of the fixed frame (401), and a moving block (403) screwed on the threaded rod (402), and one end of each of the two rhombus folding frames (3) is rotatably connected to the outer wall of one side of the moving block (403).

3. A motion limiter for a robotic arm of a machine according to claim 1, wherein: The infrared emitting assembly (6) comprises an upper sliding block (601), an upper connecting plate (602) mounted on the bottom of the upper sliding block (601), and an infrared emitter (603) mounted on the bottom of the upper connecting plate (602).

4. A motion limiter for a robotic arm of a machine according to claim 1, wherein: The infrared receiving assembly (7) comprises a lower sliding block (701), a lower connecting plate (702) mounted on the top of the lower sliding block (701), and an infrared receiver (703) mounted on the top of the lower connecting plate (702).

5. A work machine arm motion limiter according to claim 2, characterized in that: The telescopic rod (8) comprises a sleeve (801) and a movable rod (802) slidably connected to the inner wall of the sleeve (801).

6. A work machine arm motion limiter according to claim 1, characterized in that: The air extraction assembly (11) comprises an air extraction pipe (1101), an air extraction pump (1102) mounted on the air extraction pipe (1101), and two air collection covers (1103) connected to the air extraction pipe (1101).

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