Undercarriage front impact device and mobile robot

Abstract

The application is suitable for the field of robot technology, and provides a chassis front collision device and a mobile robot with the same. The chassis front collision device comprises a mobile chassis, a front collision plate and a swing mechanism. The front collision plate is slidably connected to one side of the mobile chassis along a first direction. The swing mechanism comprises a swing arm, a sensor and a reset member. The swing arm is rotatably arranged on the mobile chassis and has a rotation center axis perpendicular to the first direction. The sensor is connected to the swing arm. The reset member is used to provide a reset force to the swing arm. The sliding of the front collision plate in the first direction is converted into the rotation of the swing arm. The swing arm triggers the sensor after being rotated. The sensor does not have to be distributed according to the impact point position. The triggering of the sensor is not limited to the collision position on the front collision plate and the area of the front collision plate. The number of sensors can be reduced, the space occupied by the sensors can be reduced, and the control difficulty of the sensors can be reduced. The chassis front collision device has the advantages of small number of sensors, small space occupation, low cost and simplified control mode.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a chassis front collision device and a mobile robot. Background Technology

[0002] Mobile robots are used to provide various services to people. Their movement conditions are relatively complex, and safety requirements are high. Therefore, mobile robots need to be able to avoid obstacles flexibly. Based on this, a forward collision detection device needs to be designed into the mobile robot to trigger a switch when the robot collides with an obstacle, thereby adjusting the mobile robot's movement path.

[0003] Currently, in mobile robots on the market, the front collision device is specifically designed to trigger the switch (sensor) on the inner side through the outer collision plate. For larger collision plates, it is necessary to increase the number of sensors to ensure that the collision plate can be triggered at multiple points. This requires reserving a large space for the collision plate and sensors in the overall design. At the same time, the setting of multiple sensors also increases the difficulty of control. Summary of the Invention

[0004] The purpose of this application is to provide a chassis front collision device, which aims to solve the technical problems of large space occupation and high control difficulty of existing front collision devices in mobile robots.

[0005] This application embodiment is implemented as follows: a chassis front collision device includes:

[0006] Mobile chassis;

[0007] A front impact plate, slidably disposed on the outer side of the mobile chassis along a first direction; and

[0008] The swing mechanism includes a swing arm, a sensor, and a reset component. The swing arm is rotatably mounted on the movable chassis and has a rotation center axis perpendicular to the first direction. The sensor is connected to the swing arm, and the reset component is connected between the swing arm and the movable chassis and is used to provide a reset force to the swing arm.

[0009] In one embodiment, the swing arm includes a pivot body and a swing arm body. The pivot body is rotatably mounted on the mobile chassis and has the pivot axis. The swing arm body is connected to one side of the pivot body. The surface of the swing arm body facing the front impact plate is a convex arc surface.

[0010] In one embodiment, the swing mechanism includes two swing arms distributed in a direction perpendicular to the first direction and the rotation center axis of the swing arm, and two rotating shaft bodies disposed between the two swing arm bodies and connected to the swing arm bodies in a one-to-one correspondence.

[0011] In one embodiment, the sensor is located on the side of the swing arm body away from the front impact plate, and the reset member is located on the side of the swing arm body closer to the front impact plate.

[0012] In one embodiment, the reset element is a tension spring, and the sensor is a micro switch.

[0013] In one embodiment, the swing mechanism further includes a fixed plate, and the number of reset members is two. The fixed plate is fixed to the movable chassis and located between the two swing arm bodies, and the two reset members are connected to the fixed plate at their adjacent ends.

[0014] In one embodiment, the two ends of the reset member are respectively connected to the two swing arm bodies.

[0015] In one embodiment, the swing arm further includes a limiting arm connected to the pivot body and having a limiting surface for abutting against the mobile chassis.

[0016] In one embodiment, the swing mechanism further includes a pivot arm fixed to the mobile chassis, one axial end of the rotating shaft body is rotatably connected to the mobile chassis, and the other axial end of the rotating shaft body is rotatably connected to the pivot arm.

[0017] In one embodiment, a buffer strip is provided on the side of the front impact plate opposite to the swing arm.

[0018] In one embodiment, the swing mechanism further includes a roller, the central axis of which is parallel to the rotational central axis of the swing arm; the roller is disposed on the sensor and rolls in contact with the swing arm, or the roller is disposed on the swing arm and rolls in contact with the sensor.

[0019] In one embodiment, the mobile chassis includes a base and a middle frame, the middle frame surrounds the base, the front impact plate is disposed on the outside of the middle frame, and a through hole is formed on the middle frame;

[0020] A protruding post is formed on the front impact plate, the protruding post passes through the through hole and abuts against the swing arm; or, a protruding post is formed on the swing arm, the protruding post passes through the through hole and abuts against the front impact plate.

[0021] Another objective of this application is to provide a mobile robot, including the chassis front collision device described in the above embodiments.

[0022] The chassis front collision device and mobile robot provided in this application have the following advantages:

[0023] The chassis front collision device provided in this application embodiment has a front collision plate slidably connected to one side of a mobile chassis along a first direction. The swing mechanism includes a swing arm, a sensor, and a reset component. The swing arm is rotatably mounted on the mobile chassis and has a rotation center axis perpendicular to the first direction. The sensor is connected to the swing arm, and the reset component is used to provide a reset force to the swing arm. When the front collision plate collides with an obstacle, the sliding of the front collision plate in the first direction is converted into the rotation of the swing arm. After the swing arm rotates, it triggers the sensor. The sensor does not need to be distributed according to the impact point. The triggering of the sensor is not limited by the collision position on the front collision plate and the area of ​​the front collision plate, which can reduce the number of sensors, reduce the space occupied by the sensors, and reduce the control difficulty of the sensors. After the obstacle is cleared, the swing arm automatically returns to its original position, avoiding continuous triggering of the sensor. This chassis front collision device uses fewer sensors, occupies less space, has low cost, and simplifies the control method. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of the chassis front collision device provided in the embodiments of this application;

[0026] Figure 2 yes Figure 1 A partially exploded diagram of the chassis front collision device shown.

[0027] Figure 3 yes Figure 1 A further exploded schematic diagram of the chassis front collision device shown;

[0028] Figure 4 yes Figure 1 An exploded view of part of the chassis front collision device shown.

[0029] Figure 5 yes Figure 1 A schematic diagram of the swing mechanism of the chassis front impact device shown;

[0030] Figure 6 yes Figure 1 A schematic diagram of the front impact plate of the chassis front impact device shown.

[0031] The markings in the diagram mean:

[0032] 100- Chassis front collision device;

[0033] 1-Mobile chassis, 11-Base, 111-Positioning post, 12-Middle frame, 120-Through hole, 121-Accommodation space, 13-Top cover;

[0034] 2-Swing mechanism, 21-Swing arm, 211-Rotating shaft body, 212-Swing arm body, 213-Limiting arm, 2130-Limiting surface, 22-Sensor, 221-Sensor body, 222-Actuating spring, 23-Reset component, 24-Pivot arm, 25-Fixing plate, 250-Positioning hole, 26-Roller;

[0035] 3-Front impact plate, 31-Protruding post, 32-Buffer strip. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0037] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly or indirectly fixed to or set on that other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the purpose of description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this patent. The terms "first" and "second" are used only for the purpose of description 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 specified.

[0038] To illustrate the technical solutions described in this application, the following detailed description is provided in conjunction with specific drawings and embodiments.

[0039] First, please refer to Figures 1 to 3 As shown, this application embodiment first provides a chassis front collision device 100, which is typically used in mobile robots (not shown) as part of the bottom. Specifically, the chassis front collision device 100 includes a mobile chassis 1, a front collision plate 3, and a swing mechanism 2. The mobile chassis 1 is typically connected to a moving component (such as drive wheels, not shown), and moves under the action of the moving component. The front collision plate 3 is disposed on the mobile chassis 1, specifically on one side surface of the mobile chassis 1, and can slide along a first direction on the mobile chassis 1. When the mobile chassis 1 moves on the ground, it may encounter obstacles, and the front collision plate 3 is used to directly collide with the obstacles. Figure 5As shown, the swing mechanism 2 includes a swing arm 21, a sensor 22, and a reset member 23. The swing arm 21 is rotatably mounted on the movable chassis 1. The rotation center axis of the swing arm 21 is perpendicular to a first direction, that is, the first direction can be one or more directions in a plane perpendicular to the rotation center axis of the swing arm 21. The aforementioned front impact plate 3 can slide in a plane perpendicular to the rotation center axis of the swing arm 21. The swing arm 21 is located on the side of the front impact plate 3 closest to the movable chassis 1. The sensor 22 is located between the swing arm 21 and the movable chassis 1. The reset member 23 is located between the swing arm 21 and the movable chassis 1 and is used to provide a reset force to the swing arm 21.

[0040] Thus, when the front impact plate 3 collides with an obstacle, it moves the front impact plate 3 along the first direction and toward the direction of the moving chassis 1. After the front impact plate 3 moves, it drives the swing arm 21 to rotate. After the swing arm 21 rotates, it further triggers the sensor 22.

[0041] In a mobile robot, the moving components are controlled by a controller (not shown). In this embodiment, sensor 22 is connected to the controller and is used to feed back obstacle signals to the controller. After receiving the obstacle signal from sensor 22, the controller controls the moving components to perform actions such as changing direction or moving backward to avoid the current obstacle.

[0042] The chassis front collision device 100 provided in this application embodiment has a front collision plate 3 slidably connected to one side of a movable chassis 1 along a first direction. The swing mechanism 2 includes a swing arm 21, a sensor 22, and a reset member 23. The swing arm 21 is rotatably mounted on the movable chassis 1 and has a rotation center axis perpendicular to the first direction. The sensor 22 is connected between the swing arm 21 and the movable chassis 1. The reset member 23 is connected between the swing arm 21 and the movable chassis 1 and is used to provide a reset force to the swing arm 21. When the front collision plate 3 collides with an obstacle, the sliding of the front collision plate 3 in the first direction is converted into the rotation of the swing arm 21. After the swing arm 21 rotates, it triggers the sensor 22, so that the triggering of the sensor 22 is not limited by the collision position and area of ​​the front collision plate 3. The sensor 22 does not need to be distributed according to the impact point, which can reduce the number of sensors 22 used, thereby reducing the production cost and control difficulty of the chassis front collision device 100. At the same time, it also reduces the space occupied by the sensor 22, etc. After the obstacle is cleared, the swing arm 21 automatically returns to its original position, avoiding continuous triggering of the sensor 22. It can be seen that the chassis front collision device 100 has a small space occupation, low cost, and simplified control method.

[0043] Normally, the mobile chassis 1 moves on the ground, that is, it moves roughly in the horizontal direction. The impact force exerted by the obstacle on the front impact plate 3 is usually a horizontal force. Therefore, the first direction is the horizontal direction.

[0044] Correspondingly, the rotation center axis of the swing arm 21 is in the vertical direction. This means that the force exerted by the front impact plate 3 on the swing arm 21 has no axial component, and is entirely used to push the swing arm 21 to rotate. In other words, all the force exerted by the front impact plate 3 on the swing arm 21 is used to push the swing arm 21 to rotate, thereby improving the sensitivity of the sensor 22 triggering.

[0045] It should also be noted that, in the operation of the mobile robot, the front impact plate 3 is always positioned at the front of its direction of travel to ensure direct contact with obstacles. Correspondingly, when the user is directly facing the front impact plate 3, the chassis front impact device 100 also has rear, left, right, upper, and lower sides, such as... Figure 1 As shown. In the following description, the structure of each part of the chassis front collision device 100 will be described using these orientations.

[0046] Depending on the area of ​​the front impact plate 3, the swing mechanism 2 can have different numbers of swing arms 21, sensors 22, and reset components 23. For example, if the area of ​​the front impact plate 3 is small, the number of swing arms 21, sensors 22, and reset components 23 can all be one. Or, if the area of ​​the front impact plate 3 is large, the swing mechanism 2 can include two sets of swing arms 21, three sets of swing arms 21, or more sets of swing arms 21, etc.

[0047] like Figure 5 As shown, in one embodiment, the swing mechanism 2 includes two swing arms 21, two sensors 22, and two reset members 23. The two swing arms 21 are distributed horizontally in the left-right direction, corresponding to the left and right sides of the front impact plate 3, respectively. The two sensors 22 are independently connected to the controller. The purpose of this arrangement is that the two swing arms 21 substantially correspond to the left and right sides of the front impact plate 3. On the one hand, when either side of the front impact plate 3 is hit by an obstacle, the corresponding sensor 22 can be triggered. On the other hand, the two sensors 22 are triggered independently, and the controller can determine which side of the front impact plate 3 encountered the obstacle based on the feedback signals from the two sensors 22. Thus, the moving components can be adjusted according to the position of the obstacle.

[0048] For example, when the left sensor 22 is triggered, the controller receives the signal from the sensor 22 and determines that there is an obstacle on the left side of the mobile chassis 1. Then the controller can control the mobile component to move backward and turn to the right. Conversely, when the right sensor 22 is triggered, the controller receives the signal from the sensor 22 and determines that there is an obstacle on the right side of the mobile chassis 1. Then the controller can control the mobile component to move backward and turn to the left.

[0049] Of course, it is understandable that with the two swing arms 21 distributed in the left-right direction, if the center of the front impact plate 3 is impacted, it is possible to trigger both sensors 22 simultaneously. At this time, the controller can control the moving component to move backward and turn 180°.

[0050] The above adjustment of the moving component's direction of travel is only an example. In specific applications, the controller can adjust the moving component's direction of travel in other ways based on the signal from sensor 22, which is not specifically limited here.

[0051] Please see Figure 2 and Figure 3 As shown, in one embodiment, the mobile chassis 1 includes a base 11 and a middle frame 12. The middle frame 12 surrounds the base 11 and forms an accommodating space 121 inside, which is used to protect structural components and the like on the base 11.

[0052] And, as Figures 1 to 3 As shown, the mobile chassis 1 also includes an upper cover 13, which covers the upper periphery of the middle frame 12, further covering the structural components on the base 11. In addition, the upper cover 13 provides a large surface area for the mobile chassis 1, and in some embodiments, the upper side of which can be further connected to the main shell and other structures of the mobile robot.

[0053] Not limited to the above, in other alternative embodiments, the mobile chassis 1 may have other design forms according to product requirements, which will not be elaborated further.

[0054] Correspondingly, the front impact plate 3 is located on the outside of the middle frame 12, and in the swing mechanism 2, at least its swing arm 21 is located inside the middle frame 12. Figure 3 As shown, a through hole 120 is formed on the middle frame 12, and a protrusion 31 is formed on the rear surface of the front impact plate 3. The protrusion 31 passes through the through hole 120 and abuts against the front surface of the swing arm 21. The purpose of this arrangement is to ensure that the front impact plate 3 and the swing arm 21 abut against each other without affecting the basic structure of the middle frame 12, and the swing arm 21 can also be protected by the middle frame 12 to a certain extent. Even if the swing arm 21 falls off, it will not fall outside the middle frame 12, thus preventing the swing arm 21 from being lost. This swing mechanism 2 is also easier to maintain.

[0055] Alternatively, in other alternative embodiments, the protrusion 31 may be formed on the front surface of the swing arm 21, and the protrusion 31 passes through the through hole 120 on the middle frame 12 and abuts against the rear surface of the front impact plate 3.

[0056] Of course, not limited to the above, in other alternative embodiments, the middle frame 12 can also have other configurations, and the swing arm 21 can be disposed between the front surface of the middle frame 12 and the rear surface of the front bumper 3. For example, the front surface of the middle frame 12 can be recessed to form a space, accommodating the aforementioned swing arm 21 without significantly increasing the space between the middle frame 12 and the front bumper 3.

[0057] Please see Figure 3 and Figure 6As shown, there are multiple through holes 120, multiple protrusions 31, and multiple protrusions 31 that abut against each swing arm 21. The purpose of this arrangement is that each swing arm 21 can rotate by the impact of any protrusion 31. That is, by reasonably setting the distribution of protrusions 31, the impact trigger sensor 22 can be triggered at any point on the front impact plate 3.

[0058] In a specific embodiment, the protrusion 31 does not need to abut against the entire outer surface area of ​​the swing arm 21. Adjacent protrusions 31 can be spaced apart. Their number and density can be designed according to the product size and requirements, and are not particularly limited here.

[0059] In this embodiment, please refer to Figure 3 As shown, the front impact plate 3 has three protrusions 31 corresponding to each swing arm 21. Two protrusions 31 are spaced apart along the rotation center axis of the swing arm 21, and the third protrusion 31 is horizontally aligned with the center of the line connecting the first two protrusions 31. In this way, the front impact plate 3 can be equipped with a minimum number of protrusions 31 to ensure that the corresponding sensor 22 is triggered when it is impacted at different positions in the horizontal direction and at different positions in the vertical direction.

[0060] Of course, not limited to the above, in other alternative embodiments, there may be other numbers of protrusions 31 corresponding to each swing arm 21, and there may also be other arrangements, which will not be further elaborated here.

[0061] Please see Figure 5 In one embodiment, the swing arm 21 includes a pivot body 211 and a swing arm body 212. The pivot body 211 is rotatably mounted on the base 11 of the movable chassis 1, and the swing arm body 212 is connected to the side of the pivot body 211.

[0062] Please refer to the following: Figure 4 and Figure 5 As shown, in one embodiment, the swing mechanism 2 includes two swing arms 21, and the two swing arm bodies 212 are respectively located on opposite sides of the two rotating shaft bodies 211. That is, the two rotating shaft bodies 211 correspond to the middle of the front impact plate 3, and the two swing arm bodies 212 correspond to the left and right sides of the front impact plate 3. The purpose of this arrangement is that, in actual use, the probability of an obstacle hitting the left and right sides of the front impact plate 3 is greater than that of an obstacle only hitting the middle of the front impact plate 3. Therefore, this arrangement makes it easier for the swing arms 21 to rotate when the front impact plate 3 is hit, and has a larger swing amplitude, thereby improving the sensitivity of the front impact plate 3 to obstacle impact, and enabling the sensor 22 to be triggered more timely and accurately.

[0063] Please see Figure 3 , Figure 5 and Figure 6As shown, the front side of the front impact plate 3 is designed as a forward-protruding curved surface, which makes the front surface of the chassis front impact device 100 a relatively gentle curved surface. Correspondingly, the front side of the swing arm 21 is also designed as a forward-protruding curved surface. The purpose of this design is that the direction of the normal on the front side of the swing arm 21 is not unique, but rather points in various directions on the horizontal plane, with the protruding post 31 abutting at different positions on the curved surface. In this way, the swing arm 21 can be more sensitive to impact forces from any direction of the front impact plate 3. For example, if the left corner of the front impact plate 3 encounters an obstacle, the force exerted by the obstacle on the front impact plate 3 is generally in the right rear direction. Due to the design of the front side of the swing arm body 212, which has a normal direction parallel to or close to this right rear direction, most or even all of the force in this right rear direction can act on the swing arm body 212, thereby driving the swing arm body 212 to rotate and improving the sensitivity of the sensor 22 triggering.

[0064] The reset member 23 and the sensor 22 can be located on the same side of the swing arm body 212, for example, both located between the front side of the swing arm body 212 and the base 11 of the movable chassis 1, or both located between the rear side of the swing arm body 212 and the base 11 of the movable chassis 1.

[0065] In this embodiment, the swing arm body 212 is disposed within the middle frame 12, and the reset member 23 and the sensor 22 are both disposed on the rear side of the swing arm body 212. When the swing arm body 212 rotates backward and presses the sensor 22, the sensor 22 is triggered, and at the same time, the reset member 23 is compressed. At this time, the reset member 23 is used to provide a pushing force (reset force) to the swing arm body 212 away from the sensor 22.

[0066] Alternatively, in another embodiment, the reset member 23 and the sensor 22 are located on opposite sides of the swing arm body 212.

[0067] Please see Figure 4 and Figure 5 As shown, the reset member 23 is located on the front side of the swing arm body 212, and the sensor 22 is located on the rear side of the swing arm body 212. When the swing arm body 212 rotates backward and presses the sensor 22, the sensor 22 is triggered, and the reset member 23 is stretched at the same time. At this time, the reset member 23 is used to provide a pulling force (reset force) to the swing arm body 212 in a direction away from the sensor 22.

[0068] As described above, when the reset member 23 is positioned at different locations relative to the sensor 22, the direction of the force it provides is different. Therefore, it can be in the form of a tension spring, a compression spring, a spring arm, etc.

[0069] In one specific embodiment, the reset member 23 is located on the front side of the swing arm body 212 and is a tension spring. Compared with compression springs, spring arms, etc., tension springs have higher structural reliability.

[0070] Different types of sensors 22 are suitable for placement in different locations to ensure they can be triggered. For example, the sensor 22 can be a microswitch, which is suitable for pressure triggering. Therefore, the microswitch is suitable for placement between the rear side of the swing arm body 212 and the base 11, and can be triggered when the swing arm 21 moves toward the microswitch. Alternatively, the sensor 22 can be a limit switch, which is placed on the path of the swing arm body 212 as it rotates backward, and is triggered when the swing arm body 212 rotates backward. Or, the sensor 22 can be a pressure sensor, which is suitable for triggering based on the pressure applied by the swing arm body 212. When the swing arm 21 rotates relative to the moving chassis 1, the pressure applied to the sensor 22 changes. When the pressure changes to a certain level, it can be triggered. The pressure sensor can be placed between the front side of the swing arm body 212 and the base 11 or between the rear side of the swing arm body 212 and the base 11. In other embodiments, the sensor 22 can be other types of sensors, as long as they can be triggered when the swing arm 21 is subjected to the action of the front impact plate 3, which will not be elaborated further.

[0071] In this embodiment, sensor 22 is a micro switch, which includes a sensor body 221 and an actuating reed 222. For example... Figure 5 As shown, the sensor body 221 can be mounted on the mobile chassis 1, and the actuation spring 222 is connected to the swing arm 21. Alternatively, the positions of the sensor body 221 and the actuation spring 222 can be interchanged, which will not be elaborated further.

[0072] Please see Figure 5 As shown, in this embodiment, the two reset members 23 are respectively connected to the movable chassis 1 at their close ends.

[0073] Specifically, such as Figure 5 As shown, in one embodiment, the swing mechanism 2 further includes a fixing plate 25, which is fixedly mounted on the base 11 and connected to both reset members 23. To save space, there is only one fixing plate 25, which connects both reset members 23 simultaneously, and the fixing plate 25 is positioned between the two swing arm bodies 212. That is to say, the adjacent ends of the two reset members 23 are respectively connected to the fixing plate 25.

[0074] Since the two swing arms 21 are distributed in the left and right directions, and the two pivot bodies 211 and the two swing arm bodies 212 are also distributed in the left and right directions, in order to reserve installation space for the aforementioned fixing plate 25 between the two swing arm bodies 212, the two pivot bodies 211 are set relatively far back to avoid the front impact plate 3. The two swing arm bodies 212 are set to tilt forward from the pivot bodies 211 and gradually approach the front impact plate 3. In this way, a space will be formed between the two swing arm bodies 212, that is, on the side of the two pivot bodies 211 that is close to the front impact plate 3. The fixing plate 25 is set in this space, and the two resetting members 23 with their close-to-each ends can be located in this space and fixedly connected to the fixing plate 25.

[0075] The shape of the fixing plate 25 is designed to fit the space between the two swing arm bodies 212 mentioned above, such as... Figure 5 As shown, in this embodiment, the fixing plate 25 is generally triangular in shape. Of course, the shape of the fixing plate 25 is not unique. As long as it does not affect the rotation of the two rotating shaft bodies 211, the fixing plate 25 can be designed in other shapes, which will not be listed in detail here.

[0076] The fixing connection between the fixing plate 25 and the base 11 is not limited in form; a detachable connection is optional. For example, in this embodiment, the fixing plate 25 is provided with multiple positioning holes 250, and the base 11 is provided with multiple positioning posts 111. The positioning posts 111 are fitted into the positioning holes 250, so that the fixing plate 25 cannot move on the horizontal plane on the base 11. At the same time, this arrangement allows the fixing plate 25 to move in the vertical direction and then be freed from the restriction of the positioning posts 111. That is, the fixing and detachable connection of the fixing plate 25 are achieved in a simple way.

[0077] Not limited to the above, in other alternative embodiments, the positions of the positioning hole 250 and the positioning post 111 can be interchanged. Alternatively, in other alternative embodiments, the fixing plate 25 and the base 11 can be detachably connected by means of screw locking, snap-fit ​​connection, etc. Alternatively, in other more embodiments, the fixing plate 25 and the base 11 can be non-detachably connected by means of welding or integral molding.

[0078] Please see Figure 5As shown, the size and distribution of the positioning holes 250 are not particularly limited, as long as they can be easily assembled and disassembled with the positioning posts 111. For example, in this embodiment, one of the positioning holes 250 has a larger diameter, and correspondingly, one of the positioning posts 111 has a larger outer diameter, while the other positioning holes 250 and positioning posts 111 are smaller. When installing the fixing plate 25, the positioning hole 250 with the larger diameter can be aligned with the corresponding positioning post 111 to achieve pre-positioning between the fixing plate 25 and the base 11. The fixing plate 25 is then moved down, and the other positioning posts 111 are then aligned with the positioning holes 250 to form a mating structure.

[0079] In another embodiment, the two swing arm bodies 212 may share a single reset member 23, such as Figure 5 As shown, the reset member 23 is located on the front side of the swing arm body 212 and connects the front sides of both swing arm bodies 212. Thus, when the left swing arm body 212 rotates inward, causing the reset member 23 to be stretched, the tension of the reset member 23 acts on the right swing arm body 212, causing the right swing arm body 212 to tend to rotate forward. The left sensor 22 is triggered, while the right sensor 22 is set not to be triggered.

[0080] Please refer to the following: Figure 4 and Figure 5 As shown, in one embodiment, the swing arm 21 further includes a limiting arm 213, which is connected to the rotating shaft body 211 or the swing arm body 212, and has a limiting surface 2130 for abutting against the base 11. The abutment of the limiting surface 2130 against the base 11 defines a position for the rotating shaft body 211 and the swing arm body 212, which is the limit position for the swing arm body 212 to rotate forward. That is, due to the setting of the limiting arm 213 and the limiting surface 2130, the swing arm body 212 can only rotate backward from this limit position, and cannot rotate forward.

[0081] In particular, when the two swing arm bodies 212 mentioned above share a reset member 23, even if the right swing arm body 212 is subjected to an outward pulling force from the reset member 23, it cannot continue to rotate forward. Thus, the right sensor 22 will not be subjected to a pulling force, which can avoid structural damage to the sensor 22 itself.

[0082] The position of the limit arm 213 is not limited, but it is preferable not to affect the rotation of the rotating shaft body 211 and the swing arm body 212. For example... Figure 5 As shown, in one embodiment, the limiting arm 213 can be disposed on the rear side of the swing arm body 212. Since the base 11 is also basically located on the rear side of the swing arm body 212, it is easier to set the surface on the base 11 for abutting against the limiting surface 2130.

[0083] Of course, it is understandable that the extreme position of the rearward rotation of the swing arm body 212 can also be achieved through the cooperation of the rear side of the swing arm body 212 and / or the base 11, so that the rearward rotation of the swing arm body 212 is not too large. For example, it only needs to meet the trigger stroke of the micro switch, so as to avoid the problem of the sensor 22 or the aforementioned reset member 23 failing under excessive pressure. In this embodiment, the specific method of limiting the extreme position of the rearward rotation will not be described in detail.

[0084] Please see Figure 4 and 5 As shown, in one embodiment, the swing mechanism 2 further includes a pivot arm 24 mounted on the chassis assembly. One end (e.g., the lower end) of the pivot body 211 is rotatably connected to the base 11, and another end (e.g., the upper end) of the pivot body 211 is rotatably connected to one end of the pivot arm 24, while the other end of the pivot arm 24 is fixed to the base 11. The purpose of this arrangement is to ensure that both ends of the pivot body 211 are rotatably connected to the base 11, thereby ensuring the stability of the rotation of the pivot body 211.

[0085] The pivot arm 24 allows the pivot body 211 to be mounted on the base 11 in a more convenient manner. Specifically, when mounting the pivot arm 21 on the base 11, firstly, the lower end of the pivot body 211 is mounted on the base 11, then one end of the pivot arm 24 is connected to the upper end of the pivot body 211, and then the other end of the pivot arm 24 is fixed to the base 11.

[0086] The other end of the pivot arm 24 can be fixed to the base 11 in a detachable manner by means of screw locking, buckle, etc., or it can be fixed to the base 11 in a non-detachable manner by means of welding, etc. The specific design can be made according to product requirements, and no special limitation is made here.

[0087] Please see Figure 3 and Figure 4 As shown, a buffer strip 32 is provided on the outer side of the front impact plate 3. The purpose of this arrangement is that when the front impact plate 3 encounters an obstacle, the buffer strip 32 will first collide with the obstacle to buffer the force acting on the front impact plate 3 and the swing arm 21, thereby avoiding hard impact between the obstacle and the front impact plate 3 and between the front impact plate 3 and the swing arm body 212.

[0088] The material of the buffer strip 32 is not limited; any material with a certain degree of flexibility can be used, such as flexible plastic, rubber, or silicone.

[0089] The arrangement of the buffer strip 32 is not limited; it can be one or more strip-shaped structures arranged on the horizontal plane.

[0090] Specifically, in this embodiment, there is one buffer strip 32, which is located at a relatively lower position on the front impact plate 3.

[0091] The front impact plate 3 can be a single piece of molded material, or it can be a composite plate made of multiple pieces connected together. In an optional embodiment, the front impact plate 3 includes two parts, with a buffer strip 32 disposed on the lower part. When these two parts are installed on the middle frame 12, they can slide towards each other in the vertical direction on the middle frame 12 until they are snapped together. The assembly method of this front impact plate 3 is relatively simple.

[0092] Of course, not limited to the above, in other alternative embodiments, the front impact plate 3 can be installed on the middle frame 12 in other ways, or it can be divided into multiple parts that can be combined with each other in other ways. These will not be listed in detail here.

[0093] Please see Figure 5 As shown, in one embodiment, the swing mechanism 2 further includes a roller 26, the central axis of which is parallel to the rotation central axis of the swing arm 21. The roller 26 may be disposed on the actuating spring 222 of the sensor 22 and roll in contact with the swing arm body 212, or the roller 26 may be disposed on the swing arm body 212 and roll in contact with the actuating spring 222 of the sensor 22. The purpose of this design is that during the rotation of the swing arm body 212, especially when the sensor 22 is located on the rear side of the swing arm body 212, the rotation of the swing arm body 212 will cause the area on its rear side that is used to contact the sensor 22 to change. That is, the area on the swing arm body 212 that is used to contact the sensor 22 will move in the horizontal direction. Due to the setting of the roller 26, the friction between the rear surface of the swing arm body 212 and the sensor 22 is reduced, avoiding the swing arm body 212 from exerting a left-right force on the sensor 22 (specifically its actuating spring 222), ensuring that the sensor 22 is only triggered by a front-back force, and also avoiding damage to the structure of the sensor body 221.

[0094] This application also provides a mobile robot (not shown) including the chassis front collision device 100 described in the above embodiments. The features of the chassis front collision device 100 can be found in the descriptions of the above embodiments, and will not be repeated here.

[0095] The mobile robot provided in this application embodiment can achieve forward collision detection with fewer sensors 22, occupy less space, have lower cost, and simplify the control method of the sensors 22.

[0096] The mobile robots mentioned can be, but are not limited to, portable air conditioners, portable air purifiers, portable refrigerators, or service robots used to deliver packages, takeout, or other items to customers. They can even be automatic cleaning robots, such as sweeping and mopping robots.

[0097] Optionally, the mobile robot may also include a main housing (not shown) disposed on the chassis front impact device 100, or the chassis front impact device 100 may directly serve as the main housing.

[0098] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A chassis front collision device, characterized in that, include: Mobile chassis; A front impact plate is slidably disposed on the outside of the mobile chassis along a first direction; as well as The swing mechanism includes multiple swing arms, a sensor, and a reset component. Each swing arm is independently rotatably mounted on the movable chassis. Each swing arm has a rotation center axis perpendicular to the first direction. The sensor is connected to the swing arm, and the reset component is connected between the swing arm and the movable chassis and is used to provide a reset force to the swing arm. The swing arm includes a rotating shaft body and a swing arm body. The rotating shaft body is rotatably mounted on the movable chassis and has the rotation center axis. The swing arm body is connected to one side of the rotating shaft body. The surface of the swing arm body facing the front impact plate is a forward-protruding arc-shaped convex surface, and the side of the front impact plate away from the swing arm body is a forward-protruding arc-shaped convex surface. The front impact plate is configured to be separate from each of the swing arm bodies, and the front impact plate can abut against the swing arm body when it is hit, so as to push the swing arm body to rotate; The swing mechanism includes two swing arms distributed in a direction perpendicular to the first direction and the rotation center axis of the swing arm, and two rotating shaft bodies disposed between the two swing arm bodies and connected to the swing arm bodies in a one-to-one correspondence. The swing mechanism also includes a fixed plate, and there are two reset members. The fixed plate is fixed to the movable chassis and located between the two swing arm bodies. The two reset members are connected to the fixed plate at their closest points.

2. The chassis front collision device as described in claim 1, characterized in that, The sensor is located on the side of the swing arm body away from the front impact plate, and the reset member is located on the side of the swing arm body closer to the front impact plate.

3. The chassis front collision device as described in claim 2, characterized in that, The reset element is a tension spring, and the sensor is a micro switch.

4. The chassis front collision device as described in claim 2, characterized in that, The two ends of the reset component are respectively connected to the two swing arm bodies.

5. The chassis forward collision device as described in any one of claims 1 to 4, characterized in that, The swing arm also includes a limiting arm, which is connected to the rotating shaft body and has a limiting surface for abutting against the mobile chassis.

6. The chassis forward collision device as described in any one of claims 1 to 4, characterized in that, The swing mechanism also includes a pivot arm fixed to the movable chassis. One axial end of the rotating shaft body is rotatably connected to the movable chassis, and the other axial end of the rotating shaft body is rotatably connected to the pivot arm.

7. The chassis forward collision device as described in any one of claims 1 to 4, characterized in that, The front impact plate has a buffer strip on the side opposite to the swing arm.

8. The chassis forward collision device as described in any one of claims 1 to 4, characterized in that, The swing mechanism further includes a roller, the central axis of which is parallel to the rotation center axis of the swing arm; the roller is disposed on the sensor and rolls in contact with the swing arm, or the roller is disposed on the swing arm and rolls in contact with the sensor.

9. The chassis forward collision device as described in any one of claims 1 to 4, characterized in that, The mobile chassis includes a base and a middle frame, the middle frame surrounds the base, the front impact plate is located on the outside of the middle frame, and a through hole is formed on the middle frame; A protruding post is formed on the front impact plate, the protruding post passes through the through hole and abuts against the swing arm; or, a protruding post is formed on the swing arm, the protruding post passes through the through hole and abuts against the front impact plate.

10. A mobile robot, characterized in that, Includes the chassis front collision device as described in any one of claims 1 to 9.

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