Anti-collision early warning device for mechanical arm

Abstract

The utility model discloses a mechanical arm anti-collision early warning device which comprises an anti-collision mechanism installed on a mechanical arm, the mechanical arm comprises a fixing base, a rotating base is installed at the upper end of the fixing base in a rotating mode, and the rotating base is connected with a mechanical arm body. The anti-collision early warning device for the mechanical arm has the beneficial effects that the anti-collision mechanism is arranged on the mechanical arm, and a shielding object detection mechanism consisting of the laser transmitter, the reflecting mirror surface and the laser receiver is utilized, so that foreign matters on a rotating path of the main body of the mechanical arm can be detected in advance; and the PLC controls the motor to stop working and enables the buzzer to give an alarm, the mechanical arm body is effectively prevented from colliding with the foreign matter, the distance between the shielding object detection mechanism and the mechanical arm body is adjustable, and the anti-collision flexibility and reliability are further improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a robotic arm anti-collision warning device. Background Technology

[0002] In the printing and processing industry, robotic arms are widely used, enabling convenient transfer of printed materials. For example, Chinese utility model patent CN207326984U discloses a robotic arm for transferring paper after edge trimming in the printing industry. This device is installed at the end of the material conveyor belt next to the die-cutting machine. The transfer mechanism consists of a robotic arm and grippers connected to the front end of the robotic arm to clamp the paper. The robotic arm includes a base with a turntable controlled by a motor. A vertical motion cylinder is connected to the turntable, and the extension rod of the vertical motion cylinder is connected to the horizontal extension arm cylinder, thus achieving automated transfer and replacing manual operation.

[0003] However, there is a significant problem in the process of the robotic arm using its grippers to pick up and rotate printed materials: the robotic arm is prone to colliding with objects in its path, such as transport carts or other temporarily placed items.

[0004] In view of this, in order to prevent the robotic arm from being damaged by collision with obstructions during rotation, this utility model proposes a robotic arm anti-collision warning device, which aims to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a collision avoidance warning device for robotic arms, in order to solve the problem that robotic arms are prone to collision with objects on their path when rotating during the transfer of printed materials in the printing and processing field.

[0006] This utility model provides the following technical solution: a robotic arm anti-collision warning device, including an anti-collision mechanism installed on the robotic arm, the robotic arm including a fixed base, a rotating base rotatably mounted on the upper end of the fixed base, and the rotating base connected to the main body of the robotic arm;

[0007] The anti-collision mechanism includes:

[0008] A base for fixing to the bottom of the fixing seat;

[0009] The column has its lower end fixed to the rotating seat and its upper end fixed to a crossbeam. The crossbeam has an obstruction detection mechanism on the side of the crossbeam closest to the rotation direction of the main body of the robotic arm.

[0010] The obstruction detection mechanism includes a mounting plate fixed to the side of the crossbeam. A horizontally arranged first reflective mirror is fixed to the surface of the mounting plate, and a horizontally arranged second reflective mirror is fixed to the surface of the base. A laser emitter and a laser receiver are respectively fixed to the two ends of the first reflective mirror. The laser emitter is used to emit laser light into the second reflective mirror. After multiple reflections by the second reflective mirror and the first reflective mirror, the laser light is received by the laser receiver.

[0011] The laser receiver is connected to a PLC controller, and the fixed base is equipped with a motor for driving the rotating base to rotate. The signal output terminal of the PLC controller is electrically connected to the signal input terminal of the motor.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model provides a robotic arm anti-collision early warning device. By installing an anti-collision mechanism on the robotic arm and utilizing an obstruction detection mechanism composed of a laser emitter, a reflective mirror, and a laser receiver, it can detect foreign objects on the rotation path of the robotic arm in advance. The PLC controller controls the motor to stop working and the buzzer to sound an alarm, effectively preventing the robotic arm from colliding with foreign objects. Furthermore, the distance between the obstruction detection mechanism and the main body of the robotic arm is adjustable, further improving the flexibility and reliability of the anti-collision mechanism. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0014] Figure 2 This is a top view of the structure of this utility model.

[0015] Figure 3 This is a frontal cross-sectional view of the present invention. Detailed Implementation

[0016] 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.

[0017] Please see Figure 1-3This utility model discloses a robotic arm anti-collision warning device, including an anti-collision mechanism installed on the robotic arm. The robotic arm includes a fixed base 14, and a rotating base 12 is rotatably mounted on the upper end of the fixed base 14. The rotating base 12 is connected to the robotic arm body 11. The robotic arm body 11 is used to grasp items such as printed materials. After the robotic arm body 11 grasps the items, the rotating base 12 rotates, driving the robotic arm body 11 to rotate, transferring the printed materials from one workstation to another. The anti-collision mechanism prevents the robotic arm body 11 from colliding with foreign objects in the movement path during rotation.

[0018] In this embodiment, the anti-collision mechanism includes:

[0019] The base 4 is used to fix the bottom of the fixed seat 14, and the lower surface of the base 4 can be directly fixed to the ground by bolts or other structures.

[0020] A column 10 is fixed at its lower end to a rotating base 12, and a crossbeam 1 is fixed at its upper end. A blocking object detection mechanism is provided on the side of the crossbeam 1 closest to the rotation direction of the robotic arm body 11. This mechanism detects foreign objects along the movement path of the robotic arm body 11 during rotation, preventing collisions. Specifically, the column 10 is fixed to the rotating base 12 at its lower end, so that when the rotating base 12 rotates, causing the robotic arm body 11 to rotate, the column 10 can synchronously move the blocking object detection mechanism. Furthermore, if... Figure 2 As shown, the obstruction detection mechanism extends a certain distance on one side of the robotic arm body 1. In this way, the obstruction detection mechanism can detect the presence of obstructions in advance when it moves together with the robotic arm body 1.

[0021] Specifically, the obstruction detection mechanism includes a mounting plate 5 fixed to the side of the crossbeam 1. A horizontally arranged first reflective mirror 6 is fixed to the surface of the mounting plate 5, and a horizontally arranged second reflective mirror 3 is fixed to the surface of the base 4. A laser emitter 7 and a laser receiver 2 are respectively fixed to the two ends of the first reflective mirror 6. The laser emitter 7 is used to emit laser light to the second reflective mirror 3. In the absence of obstructions, the laser light emitted by the laser emitter 7 is received by the laser receiver 2 after multiple reflections by the second reflective mirror 3 and the first reflective mirror 6.

[0022] Furthermore, the laser receiver 2 is connected to the PLC controller 8, and the fixed base 14 is equipped with a motor 15 for driving the rotating base 12 to rotate. The signal output terminal of the PLC controller 8 is electrically connected to the signal input terminal of the motor 15. When a foreign object obstructs the laser, the laser emitted by the laser emitter 7 cannot be successfully received by the laser receiver 2. The laser receiver 2 sends a laser reception abnormality signal to the PLC controller 8. After the PLC controller 8 obtains the abnormal signal from the laser receiver 2, it controls the motor 15 to stop working, causing the robotic arm body 1 to stop moving, thereby effectively preventing the robotic arm body 1 from colliding with foreign objects when moving. Receiving the laser through the laser receiver 2 and sending an abnormal signal to the PLC controller 8 when there is an abnormality is the prior art. For example, Chinese Utility Model Patent Application No. 202321943908.7 discloses a device for quickly judging the usage status of the coke oven flue gas chute. The laser receiver receives the laser emitted by the laser emitter. When the laser is obstructed, the laser receiver sends a laser reception abnormality signal to the PLC data acquisition system, and the PLC controller controls the alarm to sound an alarm.

[0023] The PLC controller 8 is fixed at the top of the column 10, and the PLC controller 8 is connected to a buzzer 9. When the laser is blocked by a foreign object, the PLC controller 8 receives a signal from the laser receiver 2, causing the buzzer 9 to sound an alarm.

[0024] In some embodiments, the second reflective mirror 3 has an arc shape, and there are 2-4 second reflective mirrors 3. The second reflective mirror 3 can be embedded and fixed on the surface of the fixing base 14 to prevent the second reflective mirror 3 from being damaged when the transfer trolley moves.

[0025] In some embodiments, the main body 11 of the robotic arm includes a first rotating arm 111, a second rotating arm 112, a third rotating arm 113, and a gripper 114. One end of the first rotating arm 111 is rotatably connected to the rotating base 12 in a vertical plane, and the other end of the first rotating arm 111 is rotatably connected to one end of the second rotating arm 112 in a vertical plane. The other end of the second rotating arm 112 is rotatably connected to one end of the third rotating arm 113 in a vertical plane. The gripper 114 is mounted on the other end of the third rotating arm 113. Motors are installed on the rotating base 12, the first rotating arm 111, and the second rotating arm 112. The motors are used to drive the first rotating arm 111, the second rotating arm 112, and the third rotating arm 113 to move in a vertical plane, thereby adjusting the position of the gripper 114.

[0026] A connector 13 is connected between the mounting plate 5 and the crossbeam 1. The length of the connector 13 is adjustable. In some embodiments, the connector 13 is an electric telescopic rod structure. By setting the connector 13, the distance between the obstruction detection mechanism and the crossbeam 1 is adjustable, thereby realizing the adjustable distance between the obstruction detection mechanism and the robotic arm body 11 in the horizontal direction. For example, the length of the connector 13 can be adjusted to 10cm. Then, during the rotation of the robotic arm body 11, the obstruction detection mechanism can detect foreign objects in advance at a position more than 10cm away from the robotic arm body 11.

[0027] In summary, this utility model aims to achieve the following: by setting up an anti-collision warning device on the robotic arm, which consists of a laser emitter 7, a laser receiver 2, and a PLC controller 8, the device can detect obstructions on the rotation path of the robotic arm body 11 in advance, control the robotic arm body 11 to stop moving in time and issue an alarm, effectively avoid collisions between the robotic arm body 11 and objects on the path, and ensure the safety and stability of the robotic arm operation during the printing and processing transfer process.

[0028] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A collision avoidance warning device for a robotic arm, comprising a collision avoidance mechanism mounted on the robotic arm, the robotic arm including a fixed base, a rotating base rotatably mounted on the upper end of the fixed base, the rotating base being connected to the main body of the robotic arm, characterized in that: The anti-collision mechanism includes: A base for fixing to the bottom of the fixing seat; The column has its lower end fixed to the rotating seat and its upper end fixed to a crossbeam. The crossbeam has an obstruction detection mechanism on the side of the crossbeam closest to the rotation direction of the main body of the robotic arm. The obstruction detection mechanism includes a mounting plate fixed to the side of the crossbeam. A horizontally arranged first reflective mirror is fixed to the surface of the mounting plate, and a horizontally arranged second reflective mirror is fixed to the surface of the base. A laser emitter and a laser receiver are respectively fixed to the two ends of the first reflective mirror. The laser emitter is used to emit laser light into the second reflective mirror. After multiple reflections by the second reflective mirror and the first reflective mirror, the laser light is received by the laser receiver. The laser receiver is connected to a PLC controller, and the fixed base is equipped with a motor for driving the rotating base to rotate. The signal output terminal of the PLC controller is electrically connected to the signal input terminal of the motor.

2. The anti-collision warning device for a robotic arm as described in claim 1, characterized in that: The PLC controller is fixed to the upper end of the column, and the PLC controller is connected to a buzzer.

3. The anti-collision warning device for a robotic arm as described in claim 1, characterized in that: The second reflective mirror has an arc shape, and there are 2-4 second reflective mirrors.

4. The anti-collision warning device for a robotic arm as described in claim 1, characterized in that: The main body of the robotic arm includes a first rotating arm, a second rotating arm, a third rotating arm, and a gripper. One end of the first rotating arm is rotatably connected to the rotating base in a vertical plane. The other end of the first rotating arm is rotatably connected to one end of the second rotating arm in a vertical plane. The other end of the second rotating arm is rotatably connected to one end of the third rotating arm in a vertical plane. The gripper is installed on the other end of the third rotating arm.

5. The anti-collision warning device for a robotic arm as described in claim 1, characterized in that: A connector is provided between the mounting plate and the crossbeam, and the length of the connector is adjustable.

6. The anti-collision warning device for a robotic arm as described in claim 5, characterized in that: The connector is an electric telescopic rod structure.

7. The anti-collision warning device for a robotic arm as described in claim 3, characterized in that: The second reflective mirror is embedded and fixed on the surface of the mounting base.

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