Anti-collision device for robot collision detection

Abstract

The invention relates to an anti-collision device for robot collision detection. The anti-collision device comprises a guide shaft support, a force sensor and an actuator clamp, wherein the guide shaft support is fixedly connected with the force sensor, the actuator clamp comprises a clamp body and a pneumatic sucker, a through hole is formed in the clamp body, the conduction direction of the through hole is parallel to the extending direction from the guide shaft support to the force sensor, a plurality of springs are arranged in the through hole, two ends of each spring are fixedly connectedto the clamp body correspondingly; included angles are formed between the springs, the middle parts of the springs are connected with each other, and connecting points are fixedly connected with theforce sensor. When the pneumatic sucker collides with external equipment or a human body, a plurality of mutually connected springs in the clamp body can buffer impact force from different angles, thecontact force threshold during collision can be increased, large buffer can be realized, the force sensor, the external equipment or the human body cannot be damaged, and the safety of human-computerphysical interaction can be ensured.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an anti-collision device for robot collision detection. Background technique [0002] Human-machine integration is a current research hotspot, and the market demand is strong. Collaborative robots will soon become colleagues of humans, serving as multifunctional service assistants in the home, in addition to helping humans work in complex or physically demanding industrial environments. [0003] In order for a robot to be able to share its workspace with humans and physically interact with humans, it is necessary to quickly and reliably handle possible collisions on the entire robot structure, as well as to make safe reactive control strategies. The main purpose of collision detection is to reduce the impact of the collision force on the robot body, avoid damage to the robot body or peripheral equipment, and at the same time avoid causing harm to humans when the robot interacts w...

AI Technical Summary

Problems solved by technology

[0006] When the pneumatic suction cup collides with external equipment or the human body, due to the high rigidity of the device, the contact force threshold is small during the collision, and buffering cannot be achieved, resulting in easy damage to the force sensor, external equipment or human body, and the safety of human-computer physical interaction cannot be guaranteed.

Images