An intrusion detection and control system applied to a robot

Abstract

The application relates to the technical field of robots, and discloses an intrusion detection and control system applied to a robot, which comprises a top plate and a bottom plate, two warehouse doors are arranged between the top plate and the bottom plate, the top plate and the bottom plate are connected through two connecting plates, handles are arranged on the warehouse doors, connecting blocks are fixedly connected to the top and bottom of each warehouse door respectively, sliding grooves are arranged on the two sides of the top plate and the bottom plate respectively, sliding plates are fixedly connected to the connecting blocks and are inserted into the corresponding sliding grooves, a magnetic attraction positioning mechanism matched with the two sliding plates is arranged on the top plate, and two infrared detection devices and two image detection devices are arranged on one side of the top plate; the positions of the infrared detection devices and the image detection devices can be adjusted according to actual requirements. The application solves the problem that the infrared detection devices and the image detection devices are generally directly fixedly installed on the warehouse doors and inconvenient to adjust the positions of the infrared detection devices and the image detection devices according to actual requirements.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to an intrusion detection and control system for robots. Background Technology

[0002] When the robot's door structure detects a human hand, it needs to be opened. Timely and effective control is required to address any unexpected situations during operation. Infrared detection devices can be installed to initiate opening control upon detecting a human hand, preventing unforeseen circumstances. Alternatively, image detection and recognition devices can be installed to detect abnormal operating conditions and automatically control the robot based on emergencies, ensuring the safety of people, goods, and the machine. However, infrared and image detection devices are typically fixed to the door, making it difficult to adjust their positions according to specific needs. Summary of the Invention

[0003] The purpose of this invention is to provide an intrusion detection and control system for robots, in order to solve the problem that in the prior art, infrared detection devices and image detection devices are generally directly fixed on the door, making it inconvenient to adjust the position of the infrared detection devices and image detection devices according to the implementation requirements.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An intrusion detection and control system for robots is provided, comprising a top plate and a bottom plate, with two compartment doors between the top and bottom plates, connected by two connecting plates. Each compartment door has a handle, and connecting blocks are fixedly connected to its top and bottom. Slide grooves are provided on both sides of the top and bottom plates, and sliding plates are fixedly connected to the connecting blocks, with the sliding plates inserted into their corresponding slide grooves. A magnetic positioning mechanism that cooperates with the two sliding plates is provided on the top plate. Two infrared detection devices and two image detection devices are provided on one side of the top plate. Movable seats are provided on one side of each of the infrared and image detection devices. The infrared and image detection devices are connected to the movable seats via rotary actuators. Swing plates are fixedly connected to each of the infrared and image detection devices. Clamping plates are provided on both sides of each swing plate. The clamping plates and movable seats are connected via a clamping drive mechanism. The movable seats and the top plate are connected via a sliding locking assembly.

[0005] In one embodiment, the clamping drive mechanism includes a fixed seat disposed above the movable seat. The fixed seat and the movable seat are connected by a support plate. The fixed seat has a first rectangular hole. The swing plate passes through the first rectangular hole. The clamping plates on both sides of the swing plate are located inside the first rectangular hole. Two first lead screws are fixedly connected to the clamping plates. The first lead screws pass through the inner wall of one side of the first rectangular hole. Two nuts are sleeved on the outside of the first lead screws.

[0006] In one embodiment, the rotary actuator includes a fixed block disposed on a movable seat, the fixed block and the movable seat being fixedly connected, a connecting shaft being fixedly connected to the infrared detection device and the image detection device respectively, a spherical groove being provided on the fixed block, and a rotating ball being fixedly connected to one end of the connecting shaft, with the rotating ball located within the spherical groove.

[0007] In one embodiment, the sliding locking assembly includes a limiting strip disposed on one side of the top plate, the limiting strip being fixedly connected to the top plate, a limiting groove being provided on the movable seat, and the limiting strip passing through the limiting groove, both the limiting strip and the limiting groove having a T-shaped cross-section. Through the design of the limiting strip and the limiting groove, the movable seat is slidably connected to the top plate, and a fixing plate is fixedly connected to the bottom of the movable seat, the fixing plate being provided with a pressing mechanism that cooperates with the top plate.

[0008] In one embodiment, the pressing mechanism includes two pressing discs disposed on one side of the fixed plate. A second lead screw is fixedly connected to the pressing disc, the second lead screw passes through the fixed plate, and the connection between the second lead screw and the fixed plate is a threaded connection. A fixed disc is fixedly connected to the end of the second lead screw away from the pressing disc.

[0009] In one embodiment, a movable plate is provided on the side of the fixed plate away from the fixed plate. Two positioning posts are fixedly connected to the movable plate. The movable plate and the fixed plate are connected by a tension spring. Several positioning slots are provided on the fixed plate. The positioning posts pass through the fixed plate, and one end of the positioning post is inserted into the corresponding positioning slot.

[0010] In one embodiment, an anti-slip pad is fixedly connected to one side of the pressing plate, and the anti-slip pad is in contact with the top plate.

[0011] In one embodiment, a guide groove is provided on the inner wall of the slide, and a guide block is fixedly connected to the slide plate. The guide block is located in the guide groove. Through the design of the guide groove and the guide block, the slide plate can slide smoothly in the slide.

[0012] In one embodiment, a groove is provided on the bottom inner wall of the slide, and a plurality of support shafts are provided in the groove. The two ends of the support shafts are fixedly connected to the inner wall of the groove, and a rotatably connected roller is sleeved on the outside of the support shaft. The roller contacts the bottom of the slide. Through the design of the groove, support shaft and roller, the resistance encountered by the slide when sliding in the slide is reduced, which facilitates the horizontal movement of the drive door relative to the top plate and the bottom plate.

[0013] In one embodiment, the magnetic positioning mechanism includes two second rectangular holes on the top plate. An iron plate is fixedly connected to the slide plate, and the iron plate passes through the second rectangular holes. An electromagnet is fixedly connected to the top of the top plate. The two iron plates are in contact with the two electromagnets respectively. When the infrared detection device or the image detection device detects a worker, the electromagnet is de-energized, releasing the fixed relationship between the electromagnet and the iron plate, allowing the iron plate and the slide plate to move horizontally. The worker holds the handle and drives the two compartment doors to move away from each other, thereby causing the connecting block to drive the slide plate to slide in the slide groove, thus opening the two compartment doors.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] (1) Through the design of the fixed block, spherical groove, rotating ball and connecting shaft, the infrared detection device or the image detection device is rotated and connected relative to the movable seat. The infrared detection device or the image detection device is manually driven to rotate and adjust its position. After the position of the infrared detection device or the image detection device is adjusted, the two adjacent clamps are manually driven to move so that the two adjacent clamps hold the swing plate. The nut is manually driven to rotate so that the two adjacent nuts hold the fixed seat, thus fixing the clamps relative to the fixed seat and limiting the position of the clamps to prevent the clamps from shaking. The two clamps can hold the swing plate, thus fixing the infrared detection device or the image detection device relative to the movable seat, which is convenient for adjusting the position of the infrared detection device and the image detection device.

[0016] (2) Through the design of the limiting strip and the limiting groove, the movable seat is slidably connected to the top plate. The movable plate is manually driven to move away from the fixed plate, so that the positioning column is disengaged from the corresponding positioning groove. The tension spring is in the tension state, releasing the fixed relationship between the fixed plate and the fixed plate. The fixed plate is manually driven to rotate, so that the second screw rotates relative to the fixed plate, thereby causing the pressing plate to move towards the top plate, so that the anti-slip pad is in close contact with the top plate, preventing the movable seat from sliding relative to the top plate. The movable plate is released, and the tension spring drives the movable plate and the positioning column to move, so that one end of the positioning column is inserted into the corresponding positioning groove, thereby fixing the fixed plate and the second screw relative to the fixed plate, preventing the second screw and the pressing plate from rotating relative to the fixed plate due to non-human factors.

[0017] (3) When the infrared detection device or image detection device detects the staff, the electromagnet is de-energized, releasing the fixed relationship between the electromagnet and the iron plate, allowing the iron plate and the slide plate to move horizontally. The staff holds the handle and drives the two compartment doors to move away from each other, thereby causing the connecting block to drive the slide plate to slide in the slide groove, thus opening the two compartment doors.

[0018] (4) The design of guide groove and guide block enables the slide plate to slide smoothly in the groove. The design of groove, support shaft and roller reduces the resistance encountered by the slide plate when sliding in the groove, making it easier to drive the door to move horizontally relative to the top plate and bottom plate. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is one of the overall structural schematic diagrams of an intrusion detection and control system for robots provided in an embodiment of the present invention;

[0021] Figure 2 This is the second schematic diagram of the overall structure of the intrusion detection and control system for robots provided in an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the top plate structure in an intrusion detection and control system for robots provided in an embodiment of the present invention;

[0023] Figure 4 for Figure 3 A magnified schematic diagram of the local structure at point A;

[0024] Figure 5 A schematic diagram of the clamping drive mechanism in an intrusion detection and control system for robots provided in an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of the movable seat in an intrusion detection and control system for robots provided in an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the structure of the fixed base in the intrusion detection and control system for robots provided in an embodiment of the present invention;

[0027] Figure 8 This is a schematic diagram of the structure of the fixed plate in the intrusion detection and control system for robots provided in an embodiment of the present invention.

[0028] The following are the labeling elements in the figure:

[0029] 1. Top plate; 2. Bottom plate; 3. Door; 4. Handle; 5. Connecting block; 6. Connecting plate; 7. Infrared detection device; 8. Image detection device; 9. Movable seat; 10. Swing plate; 11. Clamping plate; 12. Slide groove; 13. Slide plate; 14. Fixed seat; 15. First rectangular hole; 16. Support plate; 17. First lead screw; 18. Nut; 19. Fixed block; 20. Spherical groove; 21. Rotating ball; 22. Connecting shaft; 23. Limiting strip; 24. Limiting groove; 25. Fixed plate; 26. Pressing plate; 27. Second lead screw; 28. Fixed plate; 29. ​​Positioning column; 30. Positioning groove; 31. Movable plate; 32. Tension spring; 33. Anti-slip pad; 34. Guide groove; 35. Guide block; 36. Groove; 37. Support shaft; 38. Roller; 39. Electromagnet; 40. Second rectangular hole; 41. Iron plate. Detailed Implementation

[0030] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0031] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it may be directly or indirectly located on that other component. When a component is referred to as "connected to" another component, it may be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate orientations or positions based on the accompanying drawings, and are for ease of description only, and should not be construed as limiting the technical solution. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "A plurality" means two or more, unless otherwise explicitly defined.

[0032] Example 1, by Figures 1 to 8The present invention includes a top plate 1 and a bottom plate 2, with two compartment doors 3 between the top plate 1 and the bottom plate 2. The top plate 1 and the bottom plate 2 are connected by two connecting plates 6. The compartment doors 3 are provided with handles 4. Connecting blocks 5 are fixedly connected to the top and bottom of the compartment doors 3 respectively. Slide grooves 12 are respectively opened on both sides of the top plate 1 and the bottom plate 2. Slide plates 13 are fixedly connected to the connecting blocks 5 and are inserted into the corresponding slide grooves 12. The top plate 1 is provided with a magnetic positioning mechanism that cooperates with the two slide plates 13. Two infrared detection devices 7 and two image detection devices 8 are provided on one side of the top plate 1. Movable seats 9 are respectively provided on one side of the infrared detection devices 7 and the image detection devices 8. The infrared detection devices 7 and the image detection devices 8 are respectively connected to the movable seats 9 through a rotary actuator. Swing plates 10 are fixedly connected to the infrared detection devices 7 and the image detection devices 8 respectively. Clamping plates 11 are respectively provided on both sides of the swing plates 10. The clamping plates 11 and the movable seats 9 are connected by a clamping drive mechanism. The movable seats 9 and the top plate 1 are connected by a sliding locking assembly.

[0033] Example 2, based on Example 1, is... Figure 5 , Figure 6 and Figure 7 The clamping drive mechanism includes a fixed seat 14 disposed above the movable seat 9. The fixed seat 14 and the movable seat 9 are connected by a support plate 16. The fixed seat 14 has a first rectangular hole 15. The swing plate 10 passes through the first rectangular hole 15. The clamping plates 11 located on both sides of the swing plate 10 are located inside the first rectangular hole 15. Two first lead screws 17 are fixedly connected to the clamping plates 11. The first lead screws 17 pass through one side of the inner wall of the first rectangular hole 15. Two nuts 18 are sleeved on the outside of the first lead screws 17. The rotating actuator includes a fixed block 19 disposed on the movable seat 9. The fixed block 19 and the movable seat 9 are fixedly connected. The infrared detection device 7 and the image detection device 8 are respectively fixedly connected to a connecting shaft 22. The fixed block 19 has a spherical groove 20. One end of the connecting shaft 22 is fixedly connected to a rotating ball 21, and the rotating ball 21 is located inside the spherical groove 20.

[0034] Through the design of the fixed block 19, spherical groove 20, rotating ball 21 and connecting shaft 22, the infrared detection device 7 or image detection device 8 is rotatably connected to the movable seat 9. The infrared detection device 7 or image detection device 8 is manually driven to rotate, and its position is adjusted. After the position of the infrared detection device 7 or image detection device 8 is adjusted, the two adjacent clamping plates 11 are manually driven to move, so that the two adjacent clamping plates 11 clamp the swing plate 10. The nut 18 is manually driven to rotate, so that the two adjacent nuts 18 clamp the fixed seat 14, thus fixing the clamping plates 11 relative to the fixed seat 14, limiting the position of the clamping plates 11 and preventing the clamping plates 11 from shaking. By clamping the swing plate 10 with the two clamping plates 11, the infrared detection device 7 or image detection device 8 can be fixed relative to the movable seat 9, which facilitates the adjustment of the position of the infrared detection device 7 and image detection device 8.

[0035] Example 3, based on Example 1, is... Figure 5 , Figure 6 and Figure 8 The sliding locking assembly includes a limiting strip 23 disposed on one side of the top plate 1, the limiting strip 23 being fixedly connected to the top plate 1, a limiting groove 24 being formed on the movable seat 9, and the limiting strip 23 passing through the limiting groove 24, both the limiting strip 23 and the limiting groove 24 having a T-shaped cross-section, a fixed plate 25 being fixedly connected to the bottom of the movable seat 9, and a pressing mechanism cooperating with the top plate 1 being provided on the fixed plate 25, the pressing mechanism including two pressing discs 26 disposed on one side of the fixed plate 25, a second lead screw 27 being fixedly connected to the pressing discs 26, the second lead screw 27 passing through the fixed plate 25, the second lead screw 27... The connection between the second lead screw 27 and the fixed plate 25 is a threaded connection. The end of the second lead screw 27 away from the pressing plate 26 is fixedly connected to the fixed plate 28. The side of the fixed plate 28 away from the fixed plate 25 is provided with a movable plate 31. Two positioning posts 29 are fixedly connected on the movable plate 31. The movable plate 31 and the fixed plate 28 are connected by a tension spring 32. Several positioning grooves 30 are opened on the fixed plate 25. The positioning posts 29 pass through the fixed plate 28. One end of the positioning post 29 is inserted into the corresponding positioning groove 30. An anti-slip pad 33 is fixedly connected to one side of the pressing plate 26. The anti-slip pad 33 is in contact with the top plate 1.

[0036] The design of the limiting strip 23 and the limiting groove 24 allows the movable seat 9 to slide relative to the top plate 1. The movable plate 31 is manually driven to move away from the fixed plate 28, causing the positioning post 29 to disengage from the corresponding positioning groove 30. The tension spring 32 is in a stretched state, releasing the fixed relationship between the fixed plate 28 and the fixed plate 25. The fixed plate 28 is manually driven to rotate, causing the second lead screw 27 to rotate relative to the fixed plate 25, thereby causing the pressing plate 26 to move towards the top plate 1, so that the anti-slip pad 33 is in close contact with the top plate 1, preventing the movable seat 9 from sliding relative to the top plate 1. The movable plate 31 is released, and the tension spring 32 drives the movable plate 31 and the positioning post 29 to move, so that one end of the positioning post 29 is inserted into the corresponding positioning groove 30. This fixes the fixed plate 28 and the second lead screw 27 relative to the fixed plate 25, preventing the second lead screw 27 and the pressing plate 26 from rotating relative to the fixed plate 25 due to non-human factors.

[0037] Example 4, based on Example 1, by Figure 1 , Figure 3 and Figure 4 The slide 12 has a guide groove 34 on its inner wall, and a guide block 35 is fixedly connected to the slide plate 13. The guide block 35 is located in the guide groove 34. The bottom inner wall of the slide 12 has a groove 36. Several support shafts 37 are provided in the groove 36. The two ends of the support shafts 37 are fixedly connected to the inner wall of the groove 36. A rotatably connected roller 38 is sleeved on the outside of the support shafts 37. The roller 38 is in contact with the bottom of the slide plate 13. The magnetic positioning mechanism includes two second rectangular holes 40 opened on the top plate 1. An iron plate 41 is fixedly connected to the slide plate 13. The iron plate 41 passes through the second rectangular holes 40. An electromagnet 39 is fixedly connected to the top of the top plate 1. The two iron plates 41 are in contact with the two electromagnets 39 respectively.

[0038] When the infrared detection device 7 or the image detection device 8 detects a worker, the electromagnet 39 is de-energized, releasing the fixed relationship between the electromagnet 39 and the iron plate 41, allowing the iron plate 41 and the slide plate 13 to move horizontally. The worker holds the handle 4 and drives the two compartment doors 3 to move away from each other, thereby causing the connecting block 5 to drive the slide plate 13 to slide in the slide groove 12, thus opening the two compartment doors 3. Through the design of the guide groove 34 and the guide block 35, the slide plate 13 slides smoothly in the slide groove 12. Through the design of the groove 36, the support shaft 37 and the roller 38, the resistance encountered by the slide plate 13 when sliding in the slide groove 12 is reduced, making it easier to drive the compartment door 3 to move horizontally relative to the top plate 1 and the bottom plate 2.

[0039] Working principle: During operation, the design of the fixed block 19, spherical groove 20, rotating ball 21, and connecting shaft 22 allows the infrared detection device 7 or image detection device 8 to rotate relative to the movable seat 9. The infrared detection device 7 or image detection device 8 is manually driven to rotate, adjusting its position. After adjustment, the two adjacent clamping plates 11 are manually moved, clamping the swing plate 10. The nut 18 is then manually rotated, clamping the fixed seat 14. The clamping plate 11 is fixed relative to the fixed seat 14, limiting the position of the clamping plate 11 and preventing it from shaking. The swing plate 10 can be held by the two clamping plates 11, so that the infrared detection device 7 or the image detection device 8 can be fixed relative to the movable seat 9, making it easy to adjust the position of the infrared detection device 7 and the image detection device 8. Through the design of the limiting strip 23 and the limiting groove 24, the movable seat 9 is slidably connected relative to the top plate 1. The movable plate 31 is manually driven to move away from the fixed plate 28, so that the positioning post 29 is disengaged from the corresponding positioning groove 30, the tension spring 32 is in the tension state, and the fixed relationship between the fixed plate 28 and the fixed plate 25 is released. The fixed plate 28 is manually rotated, causing the second lead screw 27 to rotate relative to the fixed plate 25. This, in turn, causes the pressing plate 26 to move towards the top plate 1, making the anti-slip pad 33 adhere tightly to the top plate 1 and preventing the movable seat 9 from sliding relative to the top plate 1. The movable plate 31 is then released, and the tension spring 32 drives the movable plate 31 and the positioning post 29 to move, causing one end of the positioning post 29 to insert into the corresponding positioning groove 30. This fixes the fixed plate 28 and the second lead screw 27 relative to the fixed plate 25, preventing the second lead screw 27 and the pressing plate 26 from rotating relative to the fixed plate 25 due to non-human factors. When the infrared detection device 7 or the image detection device 8 detects a worker... When the electromagnet 39 is de-energized, the fixed relationship between the electromagnet 39 and the iron plate 41 is released, allowing the iron plate 41 and the slide plate 13 to move horizontally. The operator holds the handle 4 and drives the two compartment doors 3 to move away from each other, which in turn causes the connecting block 5 to drive the slide plate 13 to slide in the slide groove 12, thus opening the two compartment doors 3. Through the design of the guide groove 34 and the guide block 35, the slide plate 13 slides smoothly in the slide groove 12. Through the design of the groove 36, the support shaft 37 and the roller 38, the resistance encountered by the slide plate 13 when sliding in the slide groove 12 is reduced, making it easier to drive the compartment door 3 to move horizontally relative to the top plate 1 and the bottom plate 2.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intrusion detection and control system for application to a robot comprising a top plate and a bottom plate, characterized in that: The top plate and the bottom plate are connected through two connecting plates, a handle is arranged on the door, the top and bottom of the door are fixedly connected with connecting blocks, sliding grooves are arranged on the two sides of the top plate and the bottom plate, sliding plates are fixedly connected to the connecting blocks and are inserted into the corresponding sliding grooves, a magnetic attraction positioning mechanism matched with the two sliding plates is arranged on the top plate, two infrared detection devices and two image detection devices are arranged on one side of the top plate, movable seats are arranged on one side of the infrared detection device and the image detection device, the infrared detection device and the image detection device are connected with the movable seats through rotary rotators, swing plates are fixedly connected to the infrared detection device and the image detection device, clamping plates are arranged on the two sides of the swing plate, the clamping plate and the movable seat are connected through a clamping driving mechanism, and the movable seat and the top plate are connected through a sliding locking assembly.

2. The intrusion detection and control system for robots according to claim 1, wherein: The clamping driving mechanism comprises a fixed seat arranged above the movable seat, the fixed seat and the movable seat are connected through a support plate, a first rectangular hole is arranged on the fixed seat, the swing plate penetrates through the first rectangular hole, the clamping plates on the two sides of the swing plate are located in the first rectangular hole, two first lead screws are fixedly connected to the clamping plates, the first lead screws penetrate through the inner wall of one side of the first rectangular hole, and two nuts are arranged on the outer sides of the first lead screws.

3. The intrusion detection and control system for robots according to claim 1, wherein: The rotary rotator comprises a fixed block arranged on the movable seat, the fixed block is fixedly connected with the movable seat, connecting shafts are fixedly connected to the infrared detection device and the image detection device, a spherical groove is arranged on the fixed block, and a rotating ball is fixedly connected to one end of the connecting shaft and located in the spherical groove.

4. The intrusion detection and control system for robots of claim 1, wherein: The sliding locking assembly comprises a limiting strip arranged on one side of the top plate, the limiting strip is fixedly connected with the top plate, a limiting groove is arranged on the movable seat, the limiting strip penetrates through the limiting groove, the limiting strip and the limiting groove are both in T-shaped structure, a fixed plate is fixedly connected to the bottom of the movable seat, and a pressing mechanism matched with the top plate is arranged on the fixed plate.

5. The intrusion detection and control system for robots according to claim 4, wherein: The pressing mechanism comprises two pressing discs arranged on one side of the fixed plate, second lead screws are fixedly connected to the pressing discs, the second lead screws penetrate through the fixed plate, the second lead screws and the fixed plate are connected in a threaded mode, and fixed discs are fixedly connected to the ends of the second lead screws away from the pressing discs.

6. The intrusion detection and control system for robots according to claim 5, wherein: An active plate is arranged on the side of the fixed disc away from the fixed plate, two positioning columns are fixedly connected to the active plate, the active plate and the fixed disc are connected through a stretching spring, a plurality of positioning grooves are arranged on the fixed plate, the positioning columns penetrate through the fixed disc, and the ends of the positioning columns are inserted into the corresponding positioning grooves.

7. The intrusion detection and control system for robots according to claim 5, wherein: A non-slip pad is fixedly connected to one side of the pressing disc, and the non-slip pad is in contact with the top plate.

8. The intrusion detection and control system for robots of claim 1, wherein: A guide groove is arranged on the inner wall of the sliding groove, a guide block is fixedly connected to the sliding plate, and the guide block is located in the guide groove.

9. The intrusion detection and control system for robots of claim 1, wherein: A groove is arranged on the bottom inner wall of the sliding groove, a plurality of supporting shafts are arranged in the groove, the two ends of each supporting shaft are fixedly connected with the inner wall of the groove, and rotating rollers are rotatably arranged on the outer sides of the supporting shafts, and the rollers are in contact with the bottom of the sliding plate.

10. The intrusion detection and control system for robots of claim 1, wherein: The magnetic attraction positioning mechanism comprises two second rectangular holes arranged on the top plate, iron plates are fixedly connected to the sliding plates, the iron plates penetrate through the second rectangular holes, electromagnets are fixedly connected to the top of the top plate, and the two iron plates are in contact with the two electromagnets.

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