Collision detection mechanism and robot

Abstract

The application belongs to the technical field of robot design, and particularly relates to a collision detection mechanism and a robot. The collision detection mechanism comprises: a collision plate connected to a body of the robot; a base used for being installed on one of the collision plate and the body of the robot, the base being provided with a connecting portion; a sleeve provided with a connecting column, the connecting column being movably installed in the connecting portion; a swing rod assembly, one end of the swing rod assembly extending to the base, the other end of the swing rod assembly penetrating out of the sleeve and being connected to the other one of the collision plate and the body of the robot, the swing rod assembly being relatively displaced with the base after the collision plate collides with an obstacle; a reset device used for providing a reset elastic force to the swing rod assembly, so that the swing rod assembly is reset after moving relative to the base; and a detection device used for detecting whether the end of the swing rod assembly towards the base is relatively moved with the base. The technical scheme of the application solves the problems of high design difficulty and high investment cost of the robot in the prior art in the aspect of collision detection.

Description

Technical Field

[0001] This application belongs to the field of robot design technology, and in particular relates to a collision detection mechanism and robot. Background Technology

[0002] In existing lawnmower robots, radar monitoring systems are commonly used to detect and avoid obstacles in the robot's path. However, radar monitoring systems are very complex, especially the design and manufacturing of optical components involved in the radar detection and positioning equipment used in radar detection systems. Furthermore, the detection and positioning accuracy requirements of radar detection and positioning equipment are quite high, which makes the design of collision detection robots difficult and costly. Summary of the Invention

[0003] The purpose of this application is to provide a collision detection mechanism and robot, which aims to solve the problem that the use of radar monitoring systems in existing robots leads to high design difficulty and high cost in collision detection.

[0004] To achieve the above objectives, the technical solution adopted in this application embodiment is: a collision detection mechanism for detecting whether a collision occurs during robot movement, the collision detection mechanism comprising:

[0005] A crash plate, which is connected to the robot's body;

[0006] A base for mounting on either the impact plate or the robot's body, the base having a connecting portion;

[0007] The casing is provided with a connecting post, which is movably installed in the connecting part, and the casing and the base enclose a receiving space.

[0008] A swing arm assembly is installed in the receiving space, with one end of the swing arm assembly extending to the base and the other end of the swing arm assembly passing through the housing and connected to the other of the collision plate and the robot's body. The swing arm assembly undergoes relative displacement with respect to the base after the collision plate collides with an obstacle.

[0009] A reset device is installed in the receiving space and is used to provide a reset spring force to the swing arm assembly so that the swing arm assembly resets after moving relative to the base;

[0010] A detection device is mounted on the base and is used to detect whether there is relative movement between the end of the swing arm assembly facing the base and the base.

[0011] In one embodiment, the collision detection mechanism further includes a protective pad installed in the receiving space, the end of the housing facing the base abutting against the protective pad, and the end of the swing arm assembly facing the base moving through the protective pad.

[0012] In one embodiment, the reset device includes a first spring and a second spring. The peripheral sidewall of the rocker arm assembly has a protrusion. The first spring and the second spring are both sleeved on the rocker arm assembly. One end of the first spring abuts against the housing and the other end of the first spring abuts against the protrusion. One end of the second spring abuts against the housing and the other end of the second spring abuts against the base.

[0013] In one embodiment, the swing arm assembly includes a first rod and a second rod, the first rod and the second rod are fixedly connected, the first rod is located in the receiving space, the second rod extends out of the housing, and the protrusion is disposed on the peripheral sidewall of the first rod.

[0014] In one embodiment, the protrusion is located on the side of the pad away from the base, and the outer diameter of the protrusion is larger than the diameter of the through hole in the pad through which the second rod passes.

[0015] In one embodiment, the second rod is provided with a stop portion located outside the receiving space, the stop portion abutting against the end of the sleeve away from the base.

[0016] In one embodiment, there is a gap between the end of the second rod facing the base and the inner wall of the base.

[0017] In one embodiment, the detection device is a Hall sensor, the end of the pendulum assembly facing the base is correspondingly disposed with the Hall sensor, and the end of the pendulum assembly facing the base is magnetic.

[0018] In one embodiment, the collision detection mechanism further includes a magnet mounted on the end of the swing arm assembly facing the base.

[0019] According to another aspect of the present invention, a robot is provided. Specifically, the robot includes the collision detection mechanism as described above.

[0020] In one embodiment, the robot is a lawnmower robot used for trimming lawns.

[0021] The embodiments of this application have at least the following beneficial effects:

[0022] When the collision detection mechanism provided in this embodiment of the invention is mounted on a robot, during the robot's movement, when the collision detection mechanism's collision plate collides with an obstacle, the collision plate will cause the swing arm assembly and the housing to swing relative to the base. That is, the relative position of the end of the swing arm assembly facing the base and the base itself shifts. Therefore, the detection device only needs to detect this relative shift in the relative position of the end of the swing arm assembly facing the base and the base to determine that the collision plate has collided with an obstacle; otherwise, no obstacle has been collided with. In the collision detection mechanism provided in this embodiment of the invention, after colliding with an obstacle, the collision plate can swing with the swing arm assembly and the housing, allowing the collision plate to offset part of the collision force, thus protecting the collision plate from damage. Furthermore, the collision plate causes the swing arm assembly and the housing to swing, causing a shift in the relative position of the end of the swing arm assembly facing the base and the base. The detection device detects this shift in the relative position of the end of the swing arm assembly and the base, thus accurately determining that the collision plate has collided with an obstacle. Compared with existing radar detection technology, this collision detection mechanism has a simpler assembly structure, lower investment cost, and can guarantee higher detection accuracy. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, 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 embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is an isometric view of the collision detection mechanism according to an embodiment of the present invention;

[0025] Figure 2 yes Figure 1 An exploded view of the collision detection mechanism shown;

[0026] Figure 3 yes Figure 1 The side view of the collision detection mechanism shown along the S1 direction;

[0027] Figure 4 yes Figure 3 A cross-sectional view along the AA direction;

[0028] Figure 5 yes Figure 1 The side view of the collision detection mechanism shown along the S2 direction;

[0029] Figure 6 yes Figure 5 A cross-sectional view along the BB direction.

[0030] The following are the labeling elements in the figure:

[0031] 10. Base; 11. Connecting part; 12. Accommodating space;

[0032] 20. Shell; 21. Connecting post;

[0033] 30. Swing arm assembly; 31. First link; 311. Protrusion; 32. Second link; 321. Stop;

[0034] 40. Reset device; 41. First spring; 42. Second spring;

[0035] 50. Detection device;

[0036] 60. Pad; 61. Through hole;

[0037] 70. Magnet;

[0038] 80. Rubber connector cap. Detailed Implementation

[0039] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0040] In the description of the embodiments of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of this application and simplifying the 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. Therefore, they should not be construed as limitations on the embodiments of this application.

[0041] Furthermore, the terms "first," "second," etc., 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 indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0042] In the embodiments of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0043] The collision detection mechanism provided in this embodiment of the invention is applicable to robots and is used to detect whether the robot collides with an obstacle during the robot's walking process, especially during forward movement.

[0044] like Figures 1 to 6 As shown, the collision detection mechanism provided in this embodiment of the invention includes a collision plate (not shown), a base 10, a housing 20, a swing arm assembly 30, a reset device 40, and a detection device 50. The collision plate is generally in the form of a protective cover, used to cover and protect the robot's body. When the robot encounters an obstacle during its movement, the collision plate is the first to collide with the obstacle. The base 10 is used to mount on either the collision plate or the robot's body. Generally, the base 10 is fixedly mounted on the robot's body (the following description uses the example of the base 10 being fixedly mounted on the robot's body). The base 10 has two opposing connecting portions 11, and the housing 20 has two opposing connecting posts 21. The two connecting posts 21 are corresponding one-to-one and movably mounted in the two connecting portions 11. The connecting posts 21 can swing and move up and down within the connecting portions 11 (e.g., ...). Figure 4 and Figure 6As shown, the axis of the swing arm assembly 30 is defined as the up-down direction, and the housing 20 swings around the line connecting the two connecting posts 21 as the swing axis. The swing direction of the swing arm assembly 30 is the forward-backward direction of the robot's movement. The housing 20 and the base 10 form a receiving space 12. The swing arm assembly 30 is installed in the receiving space 12, with one end extending to the base 10 and the other end passing through the housing 20 and connected to the impact plate via a rubber connecting cap 80. After the impact plate collides with an obstacle, the swing arm assembly 30 undergoes relative displacement with the base 10. That is, when the robot collides with an obstacle during its forward movement (i.e., the impact plate collides with an obstacle), the impact plate will cause the swing arm assembly 30 and the housing 20 to swing backward relative to the base 10 (when the robot collides with an obstacle during its backward movement, the impact plate will cause the swing arm assembly 30 and the housing 20 to swing forward relative to the base 10). The reset device 40 is installed in the receiving space 12. The reset device 40 is used to provide a reset spring force to the swing arm assembly 30. When the impact plate collides with the obstacle and causes the swing arm assembly 30 and the housing 20 to swing relative to the base 10, the position of the end of the swing arm assembly 30 facing the base 10 and the position between the base 10 and the base 10 are relatively offset. Under the action of the reset spring force of the reset device 40, the swing arm assembly 30 can return to the initial position relative to the base 10 before the movement after the movement. The detection device 50 is installed on the base 10. When the impact plate collides with an obstacle and causes the swing arm assembly 30 and the housing 20 to swing relative to the base 10, the detection device 50 can detect that the position of the end of the swing arm assembly 30 facing the base 10 and the base 10 has shifted. Thus, the detection device 50 determines that the impact plate has collided with the obstacle. In other words, the detection device 50 is used to detect whether there is relative movement between the end of the swing arm assembly 30 facing the base 10 and the base 10, so as to determine whether the impact plate has collided with the obstacle.

[0045] When the collision detection mechanism provided in this embodiment of the invention is mounted on a robot, during the robot's movement, when the collision detection mechanism's collision plate collides with an obstacle, the collision plate will cause the swing arm assembly 30 and the housing 20 to swing relative to the base 10. That is, the relative position between the end of the swing arm assembly 30 facing the base 10 and the base 10 changes. Therefore, the detection device 50 only needs to detect that the relative position between the end of the swing arm assembly 30 facing the base 10 and the base 10 has changed to determine that the collision plate has collided with an obstacle. Otherwise, there is no collision with an obstacle (that is, the detection device 50 detects that the relative position between the end of the swing arm assembly 30 facing the base 10 and the base 10 has not changed, which means that the collision plate has not collided with an obstacle). In the collision detection mechanism provided in this embodiment of the invention, after the impact plate collides with an obstacle, it can swing with the swing arm assembly 30 and the housing 20, so that the impact plate can offset part of the collision force when it collides with the obstacle, thereby protecting the impact plate from damage. Furthermore, the impact plate drives the swing arm assembly 30 and the housing 20 to swing, causing a shift in the relative position between the end of the swing arm assembly 30 and the base 10. The detection device 50 detects this shift in relative position between the end of the swing arm assembly 30 and the base 10, thus accurately determining the detection result that the impact plate has collided with the obstacle. Compared with existing radar detection technology, this collision detection mechanism has a simpler assembly structure, lower investment cost, and can guarantee higher detection accuracy.

[0046] like Figure 2 , Figure 4 and Figure 6 As shown, the collision detection mechanism also includes a protective pad 60, which is installed in the receiving space 12 and located between the base 10 and the housing 20. After assembly, the end of the housing 20 facing the base 10 abuts against the protective pad 60, and the end of the swing arm assembly 30 facing the base 10 moves through the protective pad 60. Using the protective pad 60 as a spacer between the base 10 and the housing 20 improves the smoothness of the housing 20 when swinging relative to the base 10.

[0047] Furthermore, such as Figure 2 , Figure 4 and Figure 6As shown, the reset device 40 includes a first spring 41 and a second spring 42. The peripheral sidewall of the rocker arm assembly 30 has a protrusion 311. Both the first spring 41 and the second spring 42 are sleeved on the rocker arm assembly 30. One end of the first spring 41 abuts against the housing 20, and the other end abuts against the protrusion 311. One end of the second spring 42 abuts against the housing 20, and the other end abuts against the base 10. That is, the first spring 41 is pre-compressed and installed between the rocker arm assembly 30 and the housing 20, and the second spring 42 is pre-compressed and installed between the housing 20 and the base 10. When the collision plate collides with an obstacle during the robot's forward movement, the collision plate experiences a backward reaction force, causing the collision plate to swing the swing arm assembly 30 and the housing 20 around the line connecting the two connecting posts 21 relative to the base 10. This causes a shift in the relative position between the end of the swing arm assembly 30 and the base 10. The detection device 50 detects this change in the relative position between the end of the swing arm assembly 30 and the base 10, thus determining that the collision plate has collided with an obstacle.

[0048] In this collision detection mechanism, the swing arm assembly 30 tends to move toward the base 10 under the elastic force of the first spring 41. Since the double spring structure of the first spring 41 and the second spring 42 is adopted, the pressure between the first spring 41 and the second spring 42 cancels each other out, reducing the normal pressure at the swing arm assembly 30 (that is, reducing the normal pressure between the connecting post 21 and the connecting part 11 of the housing 20), thereby greatly reducing its friction.

[0049] like Figure 2 , Figure 4 and Figure 6 As shown, the rocker arm assembly 30 includes a first rod 31 and a second rod 32. The first rod 31 and the second rod 32 are fixedly connected. Preferably, one end of the second rod 32 has an external thread, and one end of the first rod 31 has an internal thread, so the second rod 32 is screwed and fixed to the first rod 31. The first rod 31 is located in the receiving space 12, and the second rod 32 extends out of the sleeve 20. The protrusion 311 is provided on the peripheral sidewall of the first rod 31. Specifically, the protrusion 311 is an annular protrusion arranged circumferentially around the peripheral sidewall of the first rod 31.

[0050] In this embodiment of the invention, the protrusion 311 is located on the side of the pad 60 away from the base 10, and the outer diameter of the protrusion 311 is larger than the diameter of the through hole 61 of the pad 60 through which the second rod 32 passes. That is, the end of the second spring 42 away from the base 10 abuts against the side of the pad 60 away from the housing 20, and under the elastic force of the second spring 42, the side of the pad 60 facing the housing 20 abuts against the end of the housing 20. In this way, during the swinging motion of the swing rod assembly 30 and the housing 20 relative to the base 10 driven by the impact plate, the pad 60 also swings relative to the base 10, and the outer side wall of the pad 60 and the inner side wall of the base 10 can guide each other, thereby improving the smoothness of the housing 20 when swinging relative to the base 10.

[0051] Furthermore, such as Figures 1 to 6 As shown, the second rod 32 is provided with a stop 321, which is located outside the receiving space 12. The stop 321 abuts against the end of the housing 20 away from the base 10, and there is a gap between the end of the second rod 32 facing the base 10 and the inner wall of the base 10. Because the rocker arm assembly 30 tends to move towards the base 10 under the elastic force of the first spring 41, but because the stop 321 abuts against the end of the housing 20 away from the base 10, the rocker arm assembly 30 cannot continue to move towards the base 10, and maintains a stable relative position with the base 10 under the elastic force of the first spring 41 and the second spring 42 (maintaining the relative position when the impact plate does not collide with an obstacle, and returning to the original relative position after the impact plate collides with an obstacle).

[0052] In this embodiment of the invention, the detection device 50 is a Hall sensor. The end of the swing arm assembly 30 facing the base 10 is correspondingly disposed with the Hall sensor, and the end of the swing arm assembly 30 facing the base 10 is magnetic. When the impact plate collides with an obstacle, the impact plate will cause the swing arm assembly 30 and the housing 20 to swing relative to the base 10. At this time, the relative position between the end of the swing arm assembly 30 facing the base 10 and the base 10 changes. That is, the magnetic flux of the end of the swing arm assembly 30 facing the base 10 acting on the Hall sensor changes. Therefore, the magnetic voltage output by the Hall sensor changes, thereby determining that the relative position between the end of the swing arm assembly 30 and the base 10 has changed, and thus obtaining the detection result that the impact plate has collided with the obstacle.

[0053] In addition, when the robot is lifted up by the handle on the lifting plate, the swing arm assembly 30 will further compress the first spring 41 under the gravity of the robot body. The end of the swing arm assembly 30 facing the base 10 moves upward relative to the base 10. That is to say, the relative position between the end of the swing arm assembly 30 and the base 10 has changed. At this time, the detection device 50 can detect that the relative position between the end of the swing arm assembly 30 and the base 10 has changed. However, at this time, only the vertical movement between the end of the swing arm assembly 30 and the Hall sensor changes, so the waveform of the magnetic voltage output by the Hall sensor remains unchanged. But when the swing arm assembly 30 swings relative to the base 10, the change in the relative position between the end of the swing arm assembly 30 and the base 10 causes a change in the waveform of the magnetic voltage output by the Hall sensor. Based on whether the waveform changes, it can be determined whether the change in relative position between the end of the swing arm assembly 30 and the base 10 is caused by swinging or by vertical movement (the correspondence is: if the waveform changes, it's due to swinging; if the waveform remains unchanged, it's due to vertical movement). When the detection device 50 determines that vertical movement has occurred between the swing arm assembly 30 and the base 10, it obtains the detection result that the robot has been lifted by the user.

[0054] Furthermore, the collision detection mechanism also includes a magnet 70, which is mounted on the end of the swing arm assembly 30 facing the base 10. This enhances the magnetic capability of the end of the swing arm assembly 30 facing the base 10, thereby increasing the magnetic flux acting on the Hall sensor at the end of the swing arm assembly 30 facing the base 10.

[0055] According to another aspect of the present invention, a robot (not shown) is provided. Specifically, the robot includes the collision detection mechanism as described above. Using the collision detection mechanism provided in this embodiment of the invention, it is possible to accurately detect and determine whether the robot collides with an obstacle during its movement. Further, the robot is a lawnmower robot for trimming lawns. When the detection device 50 determines that there has been vertical movement between the swing arm assembly 30 and the base 10, that is, when the detection result indicates that the lawnmower robot has been lifted by the user, the lawnmower robot controls the blades to stop rotating to prevent the user from being cut by the rotating blades and to protect the user's safety.

[0056] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the embodiments of the present application should be included within the protection scope of the present application.

Claims

1. A collision detection mechanism for detecting collisions during robot movement, characterized in that, The collision detection mechanism includes: The impact plate is attached to the robot's body. A base for mounting on either the impact plate or the robot's body, the base having a connecting portion; The casing is provided with a connecting column, which is movably installed in the connecting part. The connecting column can swing and move up and down in the connecting part. The casing and the base enclose and form an accommodating space. A swing arm assembly is installed in the receiving space, with one end of the swing arm assembly extending to the base and the other end of the swing arm assembly passing through the housing and connected to the other of the collision plate and the robot's body. After the collision plate collides with the obstacle, the swing arm assembly undergoes relative displacement with the base. The peripheral sidewall of the swing arm assembly is provided with a protrusion. The collision detection mechanism also includes a protective pad, which is installed in the receiving space. The protective pad has a through hole. The end of the sleeve facing the base abuts against the protective pad. The end of the swing arm assembly facing the base moves through the through hole of the protective pad, and the outer diameter of the protrusion is larger than the diameter of the through hole. A reset device is installed in the receiving space. The reset device includes a first spring and a second spring. Both the first spring and the second spring are sleeved on the swing arm assembly. One end of the first spring abuts against the housing and the other end of the first spring abuts against the protrusion. One end of the second spring abuts against the housing and the other end of the second spring abuts against the base. The reset device is used to provide a reset force to the swing arm assembly so that the swing arm assembly resets after moving relative to the base. A detection device is installed on the base, and the detection device is used to detect whether there is relative movement between the end of the swing arm assembly facing the base and the base.

2. The collision detection mechanism according to claim 1, characterized in that, The swing arm assembly includes a first rod and a second rod, the first rod and the second rod are fixedly connected, the first rod is located in the receiving space, the second rod extends out of the housing, and the protrusion is provided on the peripheral sidewall of the first rod.

3. The collision detection mechanism according to claim 2, characterized in that, The protrusion is located on the side of the pad away from the base, and the outer diameter of the protrusion is larger than the diameter of the through hole in the pad through which the second rod passes.

4. The collision detection mechanism according to claim 2, characterized in that, The second rod is provided with a stop portion, which is located outside the receiving space and abuts against the end of the sleeve that is away from the base.

5. The collision detection mechanism according to claim 4, characterized in that, There is a gap between the end of the second rod facing the base and the inner wall of the base.

6. The collision detection mechanism according to any one of claims 1-5, characterized in that, The detection device is a Hall sensor, and the end of the pendulum assembly facing the base is correspondingly arranged with the Hall sensor, and the end of the pendulum assembly facing the base is magnetic.

7. The collision detection mechanism according to claim 6, characterized in that, The collision detection mechanism also includes a magnet, which is mounted on the end of the swing arm assembly facing the base.

8. A robot, characterized in that, The robot includes a collision detection mechanism as described in any one of claims 1-7.

9. The robot according to claim 8, characterized in that, The robot in question is a lawnmower robot used for trimming lawns.

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