A collaborative robot with a collision detection elastic joint structure

Abstract

This utility model discloses a collision detection elastic joint structure for collaborative robots, relating to the field of collaborative robot technology. It includes a drive joint head and a driven joint head. A shielding plate and an inner limiting plate are fixedly connected to the outer surface of the drive joint head, with the inner limiting plate located near the driven joint head. A guide frame is fixedly connected to the outer surface of the driven joint head. Through the arrangement of a first pneumatic cylinder and a movable plate, during collision detection, the first pneumatic cylinder rapidly retracts, causing movement between the inner limiting plate and the movable plate. When fully retracted, the driven joint head and the drive joint head are completely disconnected. Simultaneously, the cooperation between the movable plate and the inner limiting plate restricts the position of the driven joint head while disengaging, preventing it from falling and injuring workers, thus ensuring safety. Furthermore, this design is simple, has low maintenance costs, and will not cause damage to the internal structure of the collaborative robot.

Description

Technical Field

[0001] This utility model relates to the field of collaborative robot technology, and in particular to a collision detection elastic joint structure for collaborative robots. Background Technology

[0002] Collaborative robots are robots that work together with humans on the production line, giving full play to the efficiency of robots and the intelligence of humans. Collaborative robots need to have good collision detection capabilities. During the production process, collision detection of collaborative robots must be carried out to ensure the safety of workers in subsequent normal work.

[0003] In the existing technology, the joint drive of collaborative robots is driven by brushless DC motors. The joints are connected by fixing the end of the robotic arm to the output end of the motor. Disassembly between the two is inconvenient. During collision detection, the joints cannot be disassembled. Therefore, after the collision detection, the internal structure of the entire collaborative robot will be damaged to varying degrees, making repair difficult and increasing the cost of use. Utility Model Content

[0004] The purpose of this invention is to address the problem that existing collaborative robots use brushless DC motors for joint drive, and the joints are connected by fixing the end of the robotic arm to the output end of the motor. Disassembly between the two is inconvenient, and the joints cannot be disassembled during collision detection. Therefore, after collision detection, the entire internal structure of the collaborative robot will suffer varying degrees of damage, making repair difficult and increasing the cost of use. The invention proposes a collision detection elastic joint structure for collaborative robots.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a collision detection elastic joint structure for a collaborative robot, comprising a driving joint head and a driven joint head. A shielding plate and an inner limiting plate are fixedly connected to the outer surface of the driving joint head. The inner limiting plate is located on the side closer to the driven joint head. A guide frame is fixedly connected to the outer surface of the driven joint head. A cover plate is installed at one end of the driven joint head. Connecting rods are slidably connected to the four corners of the guide frame. A hemispherical head is fixedly connected to one end of each connecting rod. An outer inclined groove is formed on the outer surface of the inner limiting plate. A movable plate is provided on the outer side of the inner limiting plate. An inner inclined groove is formed inside the movable plate. A through hole is formed on one side of the movable plate. The connecting rod is inserted into the through hole. A hemispherical groove is formed at one end of the through hole. A connecting plate is fixedly connected between the other ends of the four connecting rods. A first pneumatic cylinder is fixedly connected to the middle of one side of the connecting plate. The output end of the first pneumatic cylinder passes through the connecting plate and is fixedly connected to the cover plate. Both the first and second pneumatic cylinders are connected to the sensors required for collision detection.

[0006] Preferably, the internal rotation of the drive joint head is connected to a drive disc.

[0007] Preferably, a limiting sleeve is fixedly connected to one side of the movable plate and at the edge of the through hole, as well as to the four corners of the guide frame.

[0008] Preferably, a spring is fitted onto the outer surface of the connecting rod, and the two ends of the spring are fixedly connected to two limiting sleeves respectively.

[0009] Preferably, a second pneumatic cylinder is fixedly connected inside the driven joint head, and a connecting piece is rotatably connected to the output end of the second pneumatic cylinder.

[0010] Preferably, the plug at the end of the connector is inserted into the drive disk.

[0011] Preferably, a guide sleeve is fixedly connected inside the driven joint head, and the connecting member is movably connected to the guide sleeve.

[0012] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0013] 1. In this utility model, by setting up a No. 1 pneumatic cylinder and a movable plate, during collision detection, the No. 1 pneumatic cylinder quickly retracts, causing the inner limit plate and the movable plate to move together. When fully retracted, the driven joint head and the driving joint head are completely disconnected. At the same time, through the cooperation between the movable plate and the inner limit plate, the position of the driven joint head is restricted while the connection is broken, preventing the driven joint head from falling and injuring workers, thus ensuring safety during use. In addition, this design has a simple structure, low maintenance cost, and will not cause damage to the internal structure of the collaborative robot.

[0014] 2. In this utility model, by setting a spring, the movable disc and the guide frame are squeezed, and when the first pneumatic cylinder retracts, the driven joint head is pushed to disengage from the driving joint head through elasticity. With the setting of the second pneumatic cylinder, the connecting part is quickly driven to retract and disconnect from the driving disc, thereby accelerating the speed at which the driving joint head and the driven joint head disengage. This avoids the force generated by the collision being transmitted to the connection point of the driving disc, avoids the wear and tear of internal components, and further reduces maintenance costs. Attached Figure Description

[0015] Figure 1 This utility model presents a three-dimensional structural schematic of a collision detection elastic joint structure for collaborative robots. Figure 1 ;

[0016] Figure 2 This utility model presents a three-dimensional structural schematic of a collision detection elastic joint structure for collaborative robots. Figure 2 ;

[0017] Figure 3 An exploded view of a collision detection elastic joint structure for a collaborative robot is provided for this utility model.

[0018] Figure 4 This utility model provides a three-dimensional structural diagram of the driven joint head in a collision detection elastic joint structure for collaborative robots.

[0019] Figure 5 This utility model provides a three-dimensional structural diagram of the movable disk in a collision detection elastic joint structure for collaborative robots.

[0020] Figure 6 This invention presents a three-dimensional structural diagram of the drive joint head in a collision detection elastic joint structure for collaborative robots.

[0021] Legend: 1. Drive joint head; 2. Driven joint head; 3. Covering plate; 4. Movable plate; 5. Inner limiting plate; 6. Guide frame; 7. Connecting plate; 8. No. 1 pneumatic cylinder; 9. Connecting rod; 10. Spring; 11. Hemispherical head; 12. Limiting sleeve; 13. Connector; 14. Drive plate; 15. No. 2 pneumatic cylinder; 16. Cover plate; 17. Inner inclined groove; 18. Guide sleeve; 19. Through hole; 20. Hemispherical groove; 21. Outer inclined groove. Detailed Implementation

[0022] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0024] Example 1: As Figures 1-6As shown, this utility model provides a collision detection elastic joint structure for a collaborative robot, including a drive joint head 1 and a driven joint head 2. A shielding plate 3 and an inner limiting plate 5 are fixedly connected to the outer surface of the drive joint head 1. The inner limiting plate 5 is located on the side closer to the driven joint head 2. A guide frame 6 is fixedly connected to the outer surface of the driven joint head 2. A cover plate 16 is installed at one end of the driven joint head 2. Connecting rods 9 are slidably connected to the four corners of the guide frame 6. A hemispherical head 11 is fixedly connected to one end of each connecting rod 9. An external oblique groove is formed on the outer surface of the inner limiting plate 5. 21. A movable disc 4 is provided on the outer side of the inner limit disc 5. An inner inclined groove 17 is opened inside the movable disc 4. A through hole 19 is opened on one side of the movable disc 4. The connecting rod 9 is inserted into the through hole 19. A hemispherical groove 20 is opened at one end of the through hole 19. A connecting disc 7 is fixedly connected between the other ends of the four connecting rods 9. A first pneumatic cylinder 8 is fixedly connected to the middle of one side of the connecting disc 7. The output end of the first pneumatic cylinder 8 passes through the connecting disc 7 and is fixedly connected to the cover plate 16. The first pneumatic cylinder 8 and the second pneumatic cylinder 15 are both connected to the sensors required for collision detection.

[0025] The specific settings and functions of this embodiment are described in detail below. Through the arrangement of the first pneumatic cylinder 8 and the movable plate 4, during collision detection, the first pneumatic cylinder 8 quickly retracts, causing the inner limit plate 5 and the movable plate 4 to move together. When fully retracted, the driven joint head 2 and the driving joint head 1 are completely disconnected. At the same time, through the cooperation between the movable plate 4 and the inner limit plate 5, the position of the driven joint head 2 is restricted while the connection is broken, preventing the driven joint head 2 from falling and injuring the worker, thus ensuring the safety of use. In addition, this design has a simple structure, low maintenance cost, and will not cause damage to the internal structure of the collaborative robot.

[0026] Example 2: Figures 1-6 As shown, a drive disc 14 is rotatably connected inside the drive joint head 1. A limiting sleeve 12 is fixedly connected to one side of the movable disc 4 and at the edge of the through hole 19 and at the four corners of the guide frame 6. A spring 10 is sleeved on the outer surface of the connecting rod 9. The two ends of the spring 10 are fixedly connected to the two limiting sleeves 12 respectively. A second pneumatic cylinder 15 is fixedly connected inside the driven joint head 2. A connector 13 is rotatably connected to the output end of the second pneumatic cylinder 15. The insertion rod at the end of the connector 13 is inserted into the drive disc 14. A guide sleeve 18 is fixedly connected inside the driven joint head 2. The connector 13 is movably connected to the guide sleeve 18. The drive disc 14 is used to connect with the drive equipment. A gap is left between the shielding disc 3 and the inner limiting disc 5 to provide space for the movement of the driven joint head 2.

[0027] The overall effect of this embodiment is that, by setting the spring 10 to squeeze the movable disc 4 and the guide frame 6, when the first pneumatic cylinder 8 retracts, the driven joint head 2 is pushed to disengage from the drive joint head 1 through elasticity. With the setting of the second pneumatic cylinder 15, the connecting piece 13 is quickly driven to retract, and the connection with the drive disc 14 is released. This increases the speed at which the drive joint head 1 and the driven joint head 2 disengage, avoids the force generated by the collision from being transmitted to the connection point of the drive disc 14, avoids the wear and tear of internal components, and further reduces maintenance costs.

[0028] The device's operation and working principle are as follows: During collision detection, the sensor detects data, and the second pneumatic cylinder 15 and the first pneumatic cylinder 8 contract, causing the connector 13 to disengage from the drive disc 14. Simultaneously, the hemispherical head 11 moves towards the shielding disc 3. Due to the elasticity of the spring 10, the distance between the hemispherical head 11 and the guide frame 6 increases, pushing the guide frame 6 to move, thus disengaging the driven joint head 2 from the drive joint head 1. As the first pneumatic cylinder 8 continues to contract, the hemispherical head 11 impacts the shielding disc 3, pushing the driven joint head 2 away from the drive joint head 1. In this way, the drive joint head 1 and the driven joint head 2 are quickly disengaged. The impact force is transmitted to the shielding disc 3 and the inner limit disc 5, causing only vibration in the drive joint head 1 without affecting the internal components.

[0029] The above are merely preferred embodiments of this utility model and are not intended to limit the utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model without departing from the technical solution of this utility model shall still fall within the protection scope of this utility model.

Claims

1. A collision detection elastic joint structure for a collaborative robot, comprising a driving joint head (1) and a driven joint head (2), characterized in that: A shielding plate (3) and an inner limiting plate (5) are fixedly connected to the outer surface of the drive joint head (1). The inner limiting plate (5) is located on the side close to the driven joint head (2). A guide frame (6) is fixedly connected to the outer surface of the driven joint head (2). A cover plate (16) is installed at one end of the driven joint head (2). Connecting rods (9) are slidably connected to the four corners of the guide frame (6). A hemispherical head (11) is fixedly connected to one end of the connecting rod (9). An outer inclined groove (21) is opened on the outer surface of the inner limiting plate (5). An movable disc (4) is provided on the outside of the movable disc (4). An inner inclined groove (17) is provided inside the movable disc (4). A through hole (19) is provided on one side of the movable disc (4). A connecting rod (9) is inserted into the through hole (19). A hemispherical groove (20) is provided at one end of the through hole (19). A connecting disc (7) is fixedly connected between the other ends of the four connecting rods (9). A first pneumatic cylinder (8) is fixedly connected to the middle of one side of the connecting disc (7). The output end of the first pneumatic cylinder (8) passes through the connecting disc (7) and is fixedly connected to the cover plate (16).

2. The collision detection elastic joint structure for a collaborative robot according to claim 1, characterized in that: The drive joint head (1) is internally connected to a drive disc (14).

3. The collision detection elastic joint structure for a collaborative robot according to claim 1, characterized in that: A limiting sleeve (12) is fixedly connected to one side of the movable plate (4) and at the edge of the through hole (19) and at the four corners of the guide frame (6).

4. The collision detection elastic joint structure for a collaborative robot according to claim 3, characterized in that: A spring (10) is sleeved on the outer surface of the connecting rod (9), and the two ends of the spring (10) are fixedly connected to two limiting sleeves (12).

5. The collision detection elastic joint structure for a collaborative robot according to claim 1, characterized in that: The driven joint head (2) is fixedly connected to a second pneumatic cylinder (15), and the output end of the second pneumatic cylinder (15) is rotatably connected to a connector (13).

6. The collision detection elastic joint structure for a collaborative robot according to claim 5, characterized in that: The plug at the end of the connector (13) is inserted into the drive disk (14).

7. The collision detection elastic joint structure for a collaborative robot according to claim 6, characterized in that: The driven joint head (2) is internally fixedly connected to a guide sleeve (18), and the connector (13) is movably connected to the guide sleeve (18).

Images