CN112894888B - Manipulator protection device - Google Patents
Manipulator protection device Download PDFInfo
- Publication number
- CN112894888B CN112894888B CN202110492528.5A CN202110492528A CN112894888B CN 112894888 B CN112894888 B CN 112894888B CN 202110492528 A CN202110492528 A CN 202110492528A CN 112894888 B CN112894888 B CN 112894888B
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- frame
- manipulator
- protection
- sensor
- limiting
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- 230000001681 protective effect Effects 0.000 claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000036410 touch Effects 0.000 abstract 1
- 238000004806 packaging method and process Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
- B25J19/065—Mechanical fuse
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator protection device, which comprises a protection unit, a limiting unit and a sensor unit, wherein the protection unit is used for protecting a manipulator; the protection unit includes: the protective frame hole is positioned on the protective frame; the spacing unit includes: the limiting frame is positioned in the limiting frame hole; the sensor unit includes: a sensor, a signal emitter; the protection frame and the limiting frame are both of hollow structures, the protection frame is positioned below the limiting frame, and the diameter of an inner frame of the protection frame is smaller than that of the limiting frame; the sensor is located the top in spacing frame hole and protecting frame hole, and signal transmitter is located the below in spacing frame hole, and with the sensor phase-match, when the manipulator touchs the protecting frame, relative displacement takes place for spacing frame hole and protecting frame hole, and the signal that the sensor received is interrupted, and the sensor sends the stop work signal to the manipulator. The manipulator protection device disclosed by the invention can realize collision of the manipulator in the working process, prevent the manipulator from being further damaged and reduce the production cost.
Description
Technical Field
The invention relates to the field of electronic tag packaging and manufacturing equipment, in particular to a manipulator protection device.
Background
With the gradual maturity of the technology, the application of the electronic tag in the fields of identity recognition, logistics management, product tracking and tracing, anti-counterfeiting and the like is gradually popularized, and the technology brings great convenience to human beings. With the wider application of electronic tags, higher requirements are put on electronic tag packaging equipment, and various manipulators are introduced into enterprises for producing electronic tags. In the electronic tag packaging equipment, a manipulator needs to move in a three-dimensional working production space, and an obstacle inevitably exists in the working range of the manipulator, so that the anti-collision problem of the manipulator needs to be considered in the design link of the electronic tag packaging and manufacturing equipment, and the manipulator is prevented from colliding in the operation process, so that the purpose of protecting the equipment is achieved. Present common manipulator protection device relies on spacing mode to protect, and prior art has great problem: on one hand, the mechanical arm protection device is not high in reliability and expensive, and once collision occurs, the mechanical arm and a corresponding mechanism are damaged, so that the protection device needs to be replaced; on the other hand, the manipulator needs to be reset manually after collision, and the production efficiency is seriously reduced.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides the manipulator protection device, and the technical scheme that the protection structure and the limiting structure are additionally arranged on the manipulator solves the technical problems that the manipulator is further damaged and needs to be replaced after collision occurs in the working process, reduces the production cost and improves the production efficiency.
In order to achieve the purpose, the invention provides a manipulator protection device, which comprises a protection unit, a limiting unit and a sensor unit; the protection unit includes: the protection frame hole is positioned on the protection frame; the spacing unit includes: the limiting frame is positioned in the limiting frame hole; the sensor unit includes: a sensor, a signal emitter; the protection frame and the limiting frame are both of hollow structures, the protection frame is positioned below the limiting frame, and the diameter of an inner frame of the protection frame is smaller than that of the limiting frame; the sensor is located spacing frame hole with the top in protection frame hole, signal transmitter is located the below in spacing frame hole, with the sensor phase-match, when the manipulator touches when the protection frame, spacing frame hole with relative displacement takes place in the protection frame hole, the sensor is received the signal of signal transmitter transmission is interrupted, the sensor to the manipulator sends stop work signal.
Further, the manipulator protection device further comprises a manipulator fixer used for fixing the manipulator, the manipulator fixer is fixedly connected with the protection frame, and the sensor is fixedly connected with the manipulator fixer.
Further, the number of the protective frame holes is 1; the number of the limiting frame holes is at least two, and the limiting frame holes are distributed along the circumferential direction of the limiting frame.
Furthermore, an elastic connecting piece is connected between the protection frame and the limiting frame.
Further, the elastic connecting piece is a spring or an elastic band.
According to the manipulator protection device provided by the invention, when the manipulator collides in the working process, the manipulator can be prevented from being further damaged; through setting up elastic connection spare, make the manipulator bump the back, can work by automatic recovery, promoted production efficiency.
Drawings
FIG. 1 is a schematic view of a robot protection device with a robot secured thereto according to an embodiment of the present invention;
FIG. 2 is a schematic view of a robot protection device according to an embodiment of the present invention;
FIG. 3 is a bottom schematic view of a robot protection apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a limiting frame of a manipulator protection device according to an embodiment of the invention;
fig. 5 is a schematic view of a protection frame of the manipulator protection device according to the embodiment of the invention.
Wherein the reference numerals include: the mechanical arm comprises a protective frame 1, a protective frame hole 101, a limiting frame 2, a limiting frame hole 201, a sensor 3, a signal emitter 4, a mechanical arm fixer 5, an elastic connecting piece 6 and a mechanical arm 7.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a schematic view of a robot protection device with a robot fixed according to an embodiment of the present invention, and fig. 2 is a schematic view of the robot protection device according to the embodiment of the present invention; fig. 3 shows a schematic bottom view of a manipulator protection device according to an embodiment of the present invention, which includes a protection unit, a limiting unit, and a sensor unit, where the protection unit includes: the protection frame 1 and the protection frame hole 101 are positioned on the protection frame 1, and when the manipulator 7 exceeds a set motion range or touches an obstacle, the protection frame 1 is used for protecting the manipulator 7 and preventing the manipulator 7 from being damaged; the spacing unit includes: spacing frame 2, be located spacing frame hole 201 on spacing frame 2, spacing frame 2 is used for injecing the motion range of manipulator 7, and the sensor unit includes: the mechanical arm position detection device comprises a sensor 3 and a signal emitter 4, wherein the signal emitter 4 is used for sending a position state signal of a mechanical arm 7, and the sensor 3 is used for receiving the signal sent by the signal emitter 4 and sending a normal working or stop working signal to the mechanical arm.
The protection frame 1 and the limiting frame 2 are both of hollow structures, the protection frame 1 is located below the limiting frame 2, the diameter of the inner frame of the protection frame 1 is smaller than that of the inner frame of the limiting frame 2, the structure can ensure that when the manipulator 7 exceeds the movement range set by the limiting frame 2, the protection frame 1 collides with the manipulator 7 firstly, and the protection frame 1 can displace rather than rigidly collide with the manipulator 7 after collision occurs, so that the manipulator 7 is ensured not to be damaged; the sensor 3 is positioned above the limiting frame hole 201 and the protective frame hole 101, the arrangement position of the sensor 3 is not limited by the invention, and the sensor can be arranged on a manipulator protective device or an external device as long as the sensor is positioned above the limiting frame hole 201 and the protective frame hole 101. The signal emitter 4 is positioned below the limit frame hole 201 and matched with the sensor 3. In a normal working state without collision, the limiting frame 2 and the protection frame 1 do not generate relative displacement, the limiting frame hole 201 and the protection frame hole 101 are in a superposed state, a signal emitted by the signal emitter 4 can be detected by the sensor 3, the sensor 3 sends a normal working signal to the manipulator 7, and the manipulator 7 works normally; when the manipulator 7 collides with the protection frame 1, the limit frame 2 and the protection frame 1 are relatively displaced, the limit frame hole 201 and the protection frame hole 101 are not in a superposed state, the signal transmitted by the signal transmitter 4 received by the sensor 3 is interrupted, the sensor 3 sends a stop work to the manipulator 7, and the manipulator 7 stops working.
In a preferred embodiment of the present invention, as shown in fig. 1 and 2, the robot protection device further includes a robot holder 5, the robot 7 is fixedly connected to the protection frame 1 through the robot holder 5, and the robot holder 5 can drive the robot 7 to perform linkage. The sensor 3 is fixedly connected to the manipulator holder 5. The manipulator 7 works in the range limited by the limit frame 2, when the manipulator 7 exceeds the limited working range and touches the protection frame 1, the limit frame hole 201 and the protection frame hole 101 are relatively displaced, the signal transmitted by the signal transmitter 4 received by the sensor 3 is interrupted, and the sensor 3 sends a work stopping signal to the manipulator 7.
In a preferred embodiment of the present invention, as shown in fig. 3, 4 and 5, the number of the protective frame holes 101 is 1; the number of the limiting frame holes 201 is at least two, the aperture sizes are different, and the limiting frame holes are distributed along the circumferential direction of the limiting frame 2. The limiting frame holes 201 with different apertures can be rotated to the protecting frame hole 101, and the rotation mode can be realized by using the prior art, which is not limited by the invention. The aperture size of the limiting frame hole 201 can control the protection precision of the manipulator protection device, and when the aperture size of the limiting frame hole 201 is large, the protection precision of the manipulator protection device is small; when the aperture of the limiting frame hole 201 is small, the protection precision of the manipulator protection device is high.
In a preferred embodiment of the present invention, as shown in fig. 3, an elastic connecting member 6 is connected between the protection frame 1 and the limiting frame 2, the limiting frame 2 is connected with the protection frame 1 through the elastic connecting member 6, when the manipulator 7 collides and touches the protection frame 1, the elastic connecting member 6 deforms, and since the elastic connecting member 6 has a deformation recovery characteristic, the impact force can be weakened to a certain extent, on one hand, the manipulator 7 can be protected by buffering the force after the manipulator 7 collides; on the other hand, elastic connection spare 6 can drive protecting frame 1 and reset back to work area, makes sensor 3 detect the signal of signal transmitter 4 transmission, and spacing frame hole 201 and protecting frame hole 101's recovery coincidence state promptly, the signal of signal transmitter 4 transmission can be surveyed by sensor 3, and sensor 3 sends normal operating signal to manipulator 7, does not need the manual work to resume manipulator 7 work, and then improves work efficiency.
In a preferred embodiment of the invention, the elastic connection 6 is a plurality of springs, as shown in fig. 3.
In a preferred embodiment of the invention, the elastic connection 6 is a spring or elastic band.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be taken as limiting the invention. Variations, modifications, substitutions and alterations of the above-described embodiments may be made by those of ordinary skill in the art without departing from the scope of the present invention.
The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (5)
1. A manipulator protection device is characterized by comprising a protection unit, a limiting unit and a sensor unit;
the protection unit includes: the protective frame comprises a protective frame (1) and a protective frame hole (101) positioned on the protective frame (1);
the spacing unit includes: the limiting frame comprises a limiting frame (2) and a limiting frame hole (201) positioned on the limiting frame (2);
the sensor unit includes: a sensor (3) and a signal emitter (4);
the protection frame (1) and the limiting frame (2) are both of a hollow structure, the protection frame (1) is located below the limiting frame (2), and the diameter of an inner frame of the protection frame (1) is smaller than that of the limiting frame (2); sensor (3) are located spacing frame hole (201) with the top of protective frame hole (101), signal transmitter (4) are located protective frame hole (101) with the below of spacing frame hole (201), with sensor (3) phase-match, when manipulator (7) touch protective frame (1), spacing frame hole (201) with relative displacement takes place in protective frame hole (101), sensor (3) are received the signal of signal transmitter (4) transmission is interrupted, sensor (3) to manipulator (7) send stop work signal.
2. The manipulator protection device according to claim 1, further comprising a manipulator holder (5) for holding the manipulator (7), wherein the manipulator holder (5) is fixedly connected to the protection frame (1), and wherein the sensor (3) is fixedly connected to the manipulator holder (5).
3. The manipulator protection device according to claim 1, wherein the number of the protection frame holes (101) is 1; the number of the limiting frame holes (201) is at least two, the hole diameters of the limiting frame holes are different, and the limiting frame holes are distributed along the circumferential direction of the limiting frame (2).
4. The manipulator protection device according to claim 1, characterized in that an elastic connecting piece (6) is connected between the protection frame (1) and the limiting frame (2).
5. The manipulator protection device according to claim 4, characterized in that the elastic connection (6) is a spring or a resilient band.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110492528.5A CN112894888B (en) | 2021-05-07 | 2021-05-07 | Manipulator protection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110492528.5A CN112894888B (en) | 2021-05-07 | 2021-05-07 | Manipulator protection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112894888A CN112894888A (en) | 2021-06-04 |
| CN112894888B true CN112894888B (en) | 2021-07-16 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110492528.5A Active CN112894888B (en) | 2021-05-07 | 2021-05-07 | Manipulator protection device |
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| Country | Link |
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| CN (1) | CN112894888B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115502960B (en) * | 2022-10-28 | 2023-08-08 | 深圳市深科达智能装备股份有限公司 | Terminal assembly, working device and control method thereof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02237789A (en) * | 1989-03-10 | 1990-09-20 | Sony Corp | Articulated robot |
| DE20100947U1 (en) * | 2001-01-19 | 2001-05-03 | Kuka Roboter GmbH, 86165 Augsburg | Wear ring |
| CN204366953U (en) * | 2014-12-19 | 2015-06-03 | 重庆树德教育研究所 | A kind of four-degree-of-freedom manipulator |
| CN206519973U (en) * | 2016-12-30 | 2017-09-26 | 温州市图盛科技有限公司 | A kind of Intelligent Mobile Robot Self-Protection Subsystem |
| CN106695884A (en) * | 2016-12-30 | 2017-05-24 | 温州市图盛科技有限公司 | Anti-collision system of inspection robot of substation |
| CN106881727B (en) * | 2017-03-29 | 2020-05-19 | 广东工业大学 | Robot joint and elastic mechanism thereof |
| CN107671895A (en) * | 2017-11-02 | 2018-02-09 | 刘和勇 | A kind of multisection type mechanical arm protects shell |
| CN111687887A (en) * | 2020-06-24 | 2020-09-22 | 吴立华 | Industrial transfer robot and anti-collision mechanism thereof |
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- 2021-05-07 CN CN202110492528.5A patent/CN112894888B/en active Active
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| CN112894888A (en) | 2021-06-04 |
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