Anti-collision device for mobile mechanical arm and mobile mechanical arm

Abstract

The present invention relates to an anti-collision device for a mobile robot arm, comprising: a sensing line attached to the mobile robot arm and containing a sensing fluid therein, a pressure sensor sensing the pressure of the sensing fluid inside the sensing line; the control device controls the movement of the movable mechanical arm and receives a pressure signal from the pressure sensor, the sensing pipeline is converted from an initial state to a deformation state when collision occurs, the sensing fluid has a first pressure in the initial state, and the sensing fluid has a second pressure in the deformation state. The sensing fluid has a second pressure different from the first pressure, and wherein the control device is configured to change a motion state of the mobile robot arm when a difference between the second pressure and the first pressure is greater than a predetermined threshold. According to the device, the movement state of the movable mechanical arm is controlled according to the pressure change of the sensed fluid, and the safety is improved. In addition, the invention further relates to a movable mechanical arm.

Description

Technical Field

[0001] The invention relates to an anti-collision device for a mobile mechanical arm and to a mobile mechanical arm. Background Art

[0002] In fields such as industrial robots or medical robots, devices including mobile robotic arms or moving parts have been widely used. Such mobile robotic arms or moving parts can be controlled via a computer or controller, such as programmable control or intelligent control, to assist operators in completing various operations, or to perform various operations completely independently.

[0003] However, during the movement of these mobile robotic arms or moving parts, there may be collisions with people or objects in their moving paths, resulting in safety accidents. For example, equipment damage or personal injury may occur, which may reduce operational efficiency and increase additional costs.

[0004] Therefore, there is a need for an improved anti-collision device for a mobile robot arm, which can avoid or at least partially reduce the occurrence of safety accidents. Summary of the invention

[0005] The object of the present invention is to provide an anti-collision device for a mobile robot arm, which can reliably sense the collision of the mobile robot arm or a moving part, thereby changing its motion state.

[0006] According to one aspect of the present invention, an anti-collision device for a mobile robotic arm is proposed, which may include: a sensing line, which is attached to the mobile robotic arm and contains a sensing fluid inside the sensing line, a pressure sensor, which senses the pressure of the sensing fluid inside the sensing line; and a control device, which controls the movement of the mobile robotic arm and is connected to the pressure sensor to receive a pressure signal from the pressure sensor, wherein the sensing line changes from an initial state to a deformed state when a collision occurs, in which the sensing fluid has a first pressure in the initial state, and has a second pressure different from the first pressure in the deformed state, and wherein the control device is configured to change the movement state of the mobile robotic arm when the difference between the second pressure and the first pressure is greater than a predetermined threshold.

[0007] This anti-collision device can change the internal volume of the sensing pipeline due to elastic deformation when a collision occurs, thereby changing the pressure of the sensing fluid contained in the sensing pipeline, and controlling the motion state of the mobile robot arm according to the pressure change. This sensing method has flexible arrangement and high sensing sensitivity, thereby improving the safety of the mobile robot arm.

[0008] According to the above aspects of the present invention, preferably, the sensing pipeline may include two end openings arranged at opposite ends and an intermediate pipeline extending between the end openings, wherein the end openings are arranged on the inner side of the surface of the mobile robotic arm, and the intermediate pipeline at least partially protrudes to the outer side of the surface of the mobile robotic arm.

[0009] This method can better integrate the sensing pipeline into the mobile robot arm, is reliable to install and is convenient for collision sensing. In addition, this arrangement has an aesthetic design, avoiding or reducing to a certain extent the negative impact of the collision device on the appearance of the mobile robot arm.

[0010] According to the above aspects of the present invention, preferably, the anti-collision device may further include a pipe joint, which may be provided at the end opening of the sensing pipe to seal the sensing fluid inside the sensing pipe.

[0011] Through this structural design, the anti-collision device can be more flexibly arranged at different positions of the mobile robot arm according to specific anti-collision requirements, and can adapt to different pipeline lengths and mobile robot arm types.

[0012] According to the above aspect of the present invention, preferably, the pipe joint may include a first section and a second section, the first section being inserted into the sensing pipe and the second section carrying the pressure sensor, wherein the second section is sealingly connected to the first section.

[0013] Such a pipe joint allows for a detachable connection of two sections, thereby facilitating the installation of the pressure sensor and enabling the pressure sensor to be installed on sensing pipes of different types (eg, different cross-sectional shapes or different lengths).

[0014] According to the above aspects of the present invention, preferably, the first section may include: an insertion portion, which may taper toward the sensing line; an attachment portion that is integral with the insertion portion, the attachment portion being fastened to the second section; and a through-hole, which extends through the first section from the insertion portion to the attachment portion and connects the sensing line fluid to the pressure sensor.

[0015] Such a pipe joint allows a modular structure to be realized, and facilitates connecting the pressure sensor to the sensing fluid in the sensing pipe, thereby facilitating real-time sensing of its pressure value.

[0016] According to the above aspects of the present invention, preferably, the first section may further include: an intermediate section, the intermediate section is arranged between the insertion portion and the attachment portion, and the radial dimension of the intermediate section may be smaller than the maximum radial dimension of the insertion portion and the radial dimension of the attachment portion.

[0017] Such a pipe joint can improve the sealing effect at the pipe joint, reduce the sealing cost, and further improve the collision detection sensitivity and reliability of the anti-collision device according to the present invention.

[0018] According to the above aspects of the present invention, preferably, two ends of the sensing line may be attached together via a single line joint to form a closed loop sensing line, wherein the line joint may include two oppositely arranged first sections.

[0019] This arrangement can reduce the number of components of the anti-collision device, reduce installation operations, reduce costs, and allow the sensing pipeline to be arranged in a closed loop on the mobile robot arm, thereby achieving collision detection in a larger range.

[0020] According to the above aspects of the present invention, preferably, the sensing pipeline may include a plurality of sensing pipelines, and the plurality of sensing pipelines are arranged on the mobile mechanical arm in a predetermined pattern and at least partially protrude from the surface of the mobile mechanical arm.

[0021] This arrangement allows for adaptation to a wider range of collision avoidance requirements, further improving the sensitivity and coverage of collision sensing.

[0022] According to the above aspects of the present invention, preferably, the sensing tube may be a flexible sensing tube and is made of an elastic material.

[0023] In this way, on the one hand, the cost of the anti-collision device can be reduced, the safety of the device can be improved, and the device is particularly suitable for sensing collisions that may occur between the mobile robot arm and certain parts of the human body. On the other hand, this arrangement also allows the use of a pre-embedded molding process to attach or install the sensing pipeline to the mobile robot arm.

[0024] According to the above aspects of the present invention, preferably, in order to further adapt to a wider range of collision avoidance requirements and improve the sensitivity and coverage of collision sensing, the cross-sectional shape of the sensing pipeline can be circular or elliptical; and / or the sensing pipeline can be arranged in a C-shape, U-shape, ring-shape, runway-shape or spiral shape along the surface of the mobile robotic arm.

[0025] According to another aspect of the present invention, a mobile robotic arm is proposed, which may include: a plurality of arm segments, which are joined to each other at a plurality of joints to form an articulated robotic arm; and an anti-collision device according to the above aspects, which may be arranged on at least one of the plurality of arm segments.

[0026] According to the above aspects of the present invention, preferably, the mobile robotic arm may also include at least one of the following anti-collision arrangements: a first anti-collision arrangement, which first anti-collision arrangement includes a radar-based anti-collision arrangement; or a second anti-collision arrangement, which second anti-collision arrangement includes an anti-collision arrangement based on motor current changes.

[0027] In this way, different anti-collision devices can complement each other or serve as backup. For example, a radar-based anti-collision arrangement can identify or warn before a collision occurs, an anti-collision arrangement based on motor current changes is suitable for larger collision forces, and the anti-collision arrangement described in the above aspects can more sensitively sense smaller collision forces, thereby further improving the safety of the mobile robotic arm of the present invention and related personnel.

[0028] Therefore, the anti-collision device for a mobile robot arm of the present invention can meet the use requirements, overcome the shortcomings of the prior art and achieve the predetermined purpose. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to further clearly describe the anti-collision device for a mobile mechanical arm according to the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. In the accompanying drawings:

[0030] Figure 1 shows a schematic perspective view of a mobile mechanical arm according to a non-limiting embodiment of the present invention;

[0031] Figure 2 A schematic diagram showing a mobile mechanical arm according to a non-limiting embodiment of the present invention when a collision occurs;

[0032] Figure 3 A schematic diagram of an anti-collision device for a mobile robot arm according to a non-limiting embodiment of the present invention is shown;

[0033] Figure 4 is a schematic cut-away perspective view of a portion of a mobile robotic arm according to a non-limiting embodiment of the present invention;

[0034] Figure 5 A schematic diagram showing a portion of a collision prevention device for a mobile robot arm according to a non-limiting embodiment of the present invention;

[0035] Figure 6 shows a schematic perspective view of a mobile robot arm according to another non-limiting embodiment of the present invention;

[0036] Figure 7 A schematic diagram showing a collision avoidance device for a mobile robot arm according to another non-limiting embodiment of the present invention; and

[0037] Figure 8A schematic diagram showing a portion of a collision prevention device for a mobile robot arm according to another non-limiting embodiment of the present invention.

[0038] The above drawings are merely schematic and are not drawn strictly to scale.

[0039] List of reference numerals in the figures and embodiments:

[0040] 1000 - Mobile Robotic Arm, including:

[0041] 100 - Anti-collision device, including:

[0042] 10 - Sensing pipeline, including:

[0043] 11 - open at the end;

[0044] 12 - intermediate pipeline;

[0045] 20 - pressure sensor;

[0046] 30 - control device;

[0047] 40 - Pipeline connector, including:

[0048] 41 - The first section includes:

[0049] 41a - insertion part;

[0050] 41b - attachment portion;

[0051] 41c - through-hole;

[0052] 41d - middle section;

[0053] 42 - second section;

[0054] 43 - middle flange;

[0055] 43A - flange opening;

[0056] 200 - Arm section, including:

[0057] 201 - arm surface;

[0058] 202 - mounting groove;

[0059] 200A-connector;

[0060] 300 – collision object;

[0061] 1001 - support;

[0062] 1002 - Pillar;

[0063] 1003-Operation Department;

[0064] C - Direction of movement. DETAILED DESCRIPTION

[0065] It should be understood that, unless expressly stated otherwise, the present invention may adopt various alternative orientations and step sequences. It should also be understood that the specific devices shown in the drawings and described in the specification are merely exemplary embodiments of the inventive concepts disclosed and defined herein. Therefore, unless otherwise expressly stated, the specific orientations, directions or other features involved in the various embodiments disclosed should not be considered as limiting.

[0066] Figure 1 A schematic perspective view of a mobile robotic arm 1000 according to a non-limiting embodiment of the present invention is shown.

[0067] As shown and as a non-limiting example, the mobile mechanical arm 1000 may include a plurality of arm segments 200. At least one arm segment (eg, Figure 1 The arm section on the right side) can be supported by a support 1001. The support 1001 can be fixed to an operating platform or the ground, for example, via mounting holes and fasteners provided on the support 1001. A support 1002 can be pivotally attached to the support 1001 to allow the plurality of arm sections 200 to rotate around the support 1002.

[0068] In addition, if Figure 1 As shown, at least one arm segment (eg, the arm segment at the leftmost end) can carry an operating unit 1003. For example, the operating unit 1003 can include a manipulator, an operating instrument, an endoscope, and the like.

[0069] The mobile mechanical arm 1000 can be used to achieve a desired movement trajectory of the operating part 1003. Therefore, each arm segment can have a load-bearing function and a movement function, and can have a straight, curved or other contoured shape.

[0070] As an example, multiple arm segments 200 may be joined to each other at multiple joints 200A to form an articulated robotic arm. For example, two adjacent arm segments 200 may be connected together via joints 200A such as pivot shafts or movable joints to move relative to each other, thereby achieving a desired motion path under the action of a control device and an actuator (such as a motor, etc.) to assist the operating portion 1003 in performing a predetermined operation.

[0071] Since such a mobile robot arm 1000 needs to move frequently and preferably moves at a faster speed, it may collide with a person or object existing or moving on its moving path, resulting in a safety accident.

[0072] Figure 2A schematic diagram of a mobile robot arm 1000 according to a non-limiting embodiment of the present invention is shown when a collision occurs.

[0073] like Figure 2 As shown, as the arm segment 200 of the mobile robot 1000 moves in a direction of motion C about the support column 1002 or a nearby joint 200A, the side of the arm segment 200 may collide with an impactor 300 (eg, a person or an object).

[0074] To this end, it is necessary to provide an anti-collision device for the mobile robotic arm 1000 to avoid or at least partially reduce the occurrence of collisions, or mitigate the impact caused by collisions, thereby ensuring the safety of the mobile robotic arm 1000 and personnel.

[0075] like Figure 1-2 As shown and as an example of the present invention, a collision prevention device 100 may be arranged on the mobile mechanical arm 1000, and the collision prevention device 100 is arranged on at least one of the plurality of arm sections 200. Preferably, the collision prevention device 100 may be arranged on each of the plurality of arm sections 200, in particular, on the side thereof. For example, the collision prevention device 100 may be arranged around most or all of the circumferential range of the side of the arm section 200.

[0076] The anti-collision device 100 may mainly include a sensing pipeline 10 , a pressure sensor 20 , a control device 30 , and the like.

[0077] Figure 3 A schematic diagram of an anti-collision device 100 for a mobile robot 1000 according to a non-limiting embodiment of the present invention is shown, wherein a perspective view of the sensing pipeline 10 is shown in detail.

[0078] As shown, the sensing line 10 can be roughly C-shaped or oval with a notch, including two end openings 11 arranged at opposite ends and an intermediate line 12 extending between the end openings 11. There can be a hollow line space inside the sensing line 10 to accommodate the sensing fluid. As an example, the sensing fluid can be a gas such as air or nitrogen, and the initial pressure of the gas can be approximately equal to one standard atmospheric pressure. In alternative embodiments, those skilled in the art can also use other types of sensing liquids or sensing liquids with other initial pressures based on the usage scenario.

[0079] like Figure 3 As schematically shown in FIG. 1 , the cross-sectional shape of the sensing tube 10 may be substantially circular. In addition, the sensing tube 10 may be substantially track-shaped along the entire longitudinal direction (or length direction) of the sensing tube 10 and may have substantially equal cross-sections along the longitudinal direction.

[0080] It should be understood that although the cross-section of the sensing conduit 10 is shown in the drawings as being approximately circular, those skilled in the art may instead set the cross-sectional shape of the sensing conduit 10 to a cross-sectional shape of other shapes, such as an ellipse, etc. In addition, although it is shown extending in a generally runway-shaped shape, in alternative embodiments, the sensing conduit 10 may be arranged in other shapes along the surface of the arm segment 200, such as a generally C-shaped, U-shaped, annular, or spiral shape, etc. The sensing conduit 10 according to these embodiments can further adapt to a wider range of anti-collision requirements and improve the sensitivity and coverage of collision sensing. The description "runway-shaped" as used herein may refer to the shape of a common runway in a stadium, and covers similar shapes with an opening at a bend.

[0081] It should be understood that although Figure 1-3 It is shown that a single sensing line 10 is arranged on one arm section 200 of the mobile mechanical arm 1000, but in an alternative embodiment, multiple sensing lines 10 may be arranged on one arm section 200. In this case, these sensing lines 10 may be arranged on the arm section 200 of the mobile mechanical arm in a predetermined pattern and at least partially protrude from the surface of the arm section 200. As an example, multiple sensing lines 10 may be arranged side by side or crosswise to achieve a desired collision detection effect, in particular, to improve the sensitivity and coverage of collision sensing.

[0082] Figure 4 is a schematic perspective view of a portion of a mobile robotic arm 1000 according to a non-limiting embodiment of the present invention, in which the housing or casing of the upper portion of the arm section is removed to better illustrate its internal arrangement.

[0083] As shown in the figure, at least one arm segment among the plurality of arm segments 200 may have a substantially hollow accommodation space. Corresponding components may be arranged in the accommodation space. For example, the controller, actuator, sensor or corresponding pipelines described above may be arranged in the accommodation space of the arm segment.

[0084] The two end openings 11 of the sensing pipe 10 and the pipe joints 40 (described in detail below) disposed at the end openings 11 may be disposed inside the arm section 200 of the mobile robot arm, for example, in the hollow accommodation space thereof. Figure 4 As schematically shown in FIG. 1 , the two end openings 11 can be inserted into the receiving space inside the arm segment 200 through the opening of the side wall on the arm segment 200 , and can rest against the corresponding brackets to hold the sensing pipe 10 firmly in place.

[0085] The intermediate pipeline 12 may at least partially protrude to the outside of the arm surface 201 of the arm segment 200 of the mobile robot arm. For example, the intermediate pipeline 12 may be arranged at the arm surface 201 of one or more arm segments 200 of the mobile robot arm 1000, so that a radial portion of the intermediate pipeline 12 protrudes to the outside of the arm surface 201 of the arm segment 200, such as 1 / 5 to 1 / 2 of its radial portion, etc. In the case where the radial 1 / 2 of the intermediate pipeline 12 protrudes to the outside of the arm surface 201 of the arm segment 200, the intermediate pipeline 12 may be regarded as being bisected by the arm surface 201, that is, the radial half of the pipeline portion of the intermediate pipeline 12 along its longitudinal axis is inside the arm surface 201, and the other half is outside the arm surface 201.

[0086] like Figure 4 As shown and as an example, a mounting groove 202 may be provided at a position of the arm section 200 where the sensing pipe 10 needs to be provided, so that the sensing pipe 10 is fitted into the mounting groove 202. As another example, when the shell of the arm section 200 is formed by molding a material such as a composite material or by laying a material such as carbon fiber, the sensing pipe 10 may be pre-buried therein, so that the sensing pipe 10 is fitted into the corresponding position of the arm section 200.

[0087] This arrangement can better integrate the sensing pipe 10 into the arm section 200 of the mobile mechanical arm 1000, and is reliable to install and convenient for collision sensing. In addition, this arrangement has an aesthetic design, avoiding or reducing to a certain extent the negative impact of the collision device on the appearance of the mobile mechanical arm 1000.

[0088] The sensing line 10 may be a flexible sensing line and may be composed of various natural or composite materials, such as elastic materials such as rubber, silicone, elastomer, polymer, etc. In this way, the wall of the sensing line 10 is allowed to be at least partially elastically deformed, so that when a collision occurs, the internal volume of the sensing line 10 is changed by the elastic deformation of the wall, thereby changing the pressure of the sensing fluid contained therein. In particular, a flexible line made of an elastic material is advantageous, which can reduce the cost of the anti-collision device 100, facilitate its matching to the arm section 200, improve the safety of the device, and is particularly suitable for the collision situation that the sensing arm section 200 may occur with certain parts of the human body. As used herein, the term "elastic material" refers to a composite material such as a silicon-based material (such as silicone, etc.), an elastomer, a polymer, or a natural material such as natural rubber, which has a certain elasticity to allow the sensing line 10 to be elastically deformed and change the internal volume of the sensing line 10.

[0089] As an example, the sensing line 10 may transition from an initial state to a deformed state when a collision occurs. In the initial state, the sensing line 10 is in its nominal state and there is no elastic deformation of the pipe wall due to an external force. At this time, the sensing fluid inside the sensing line 10 may have a first pressure, which may be, for example, approximately 1 standard atmosphere. In the deformed state, as described above, the sensing fluid inside the sensing line 10 may have a second pressure different from the first pressure due to the elastic deformation of the pipe wall. For example, the second pressure may be greater than the first pressure.

[0090] In order to sense the pressure of the sensing fluid contained in the sensing pipe 10 , the anti-collision device 100 of the present invention may be provided with a pressure sensor 20 .

[0091] In this way, the anti-collision device 100 of the mobile robot arm 1000 according to the present invention can form a closed and pressure-stabilized pipeline system through the flexible sensing pipeline 10 and the pressure sensor 20. The sensing pipeline 10 can be arranged on the surface of the part where the collision needs to be detected on the movable part such as the arm section 200. When a collision occurs, the above-mentioned sensing pipeline 10 will first contact the collision object 300, so that the sensing pipeline 10 will be squeezed and deformed. The deformation will cause the pressure of the sensing fluid such as air inside the sensing pipeline 10 to change. The change in pressure will be sensed by the pressure sensor 20, thereby detecting the occurrence of a collision.

[0092] Figure 5 A schematic diagram of a portion of an anti-collision device 100 for a mobile robot arm 1000 according to a non-limiting embodiment of the present invention is shown, wherein a schematic installation position of a pressure sensor 20 and its connection relationship with a control device 30 are shown.

[0093] like Figure 5 As schematically shown in FIG. 1 , the control device 30 can be coupled to the pressure sensor 20 to receive the pressure signal from the pressure sensor 20. The control device 30 can be additionally coupled to a motion control mechanism, such as an actuator, etc. The actuator can be a motor, a hydraulic or pneumatic actuation mechanism, etc., to control the motion of the arm segment 200 of the mobile robot arm 1000.

[0094] When an object or person arranged on the arm section 200 collides with the sensing pipe 10, the sensing pipe 10 is deformed, so that the pressure sensed by the pressure sensor 20 changes from an initial first pressure to a second pressure, and once the pressure difference between the second pressure and the first pressure is greater than a predetermined threshold, the control device 30 can change the motion state of the mobile robotic arm according to a predetermined program and parameter settings.

[0095] As a non-limiting example, the anti-collision device 100 according to the present invention can be configured such that when the force acting on the sensing pipe 10 is approximately 4 N, the predetermined threshold value can be reached, thereby changing the motion state of the mobile mechanical arm. At this time, for example, the motion of the mobile mechanical arm can be stopped, and corresponding alarm information (e.g., sound or optical alarm information, etc.) can be issued, or alternatively, the mobile mechanical arm can be moved in the opposite direction.

[0096] like Figure 5 As schematically shown in FIG. 1 , the anti-collision device 100 may further include: a pipe connector 40 may be disposed at the end opening 11 of the sensing pipe 10 to enclose the sensing fluid inside the sensing pipe 10 , in particular to hermetically enclose the sensing fluid inside the sensing pipe 10 .

[0097] As an example, the pipe joint 40 may be a split structure and may include a first section 41 and a second section 42. The first section 41 may be inserted into the sensing pipe 10. This structure enables the anti-collision device 100 to be more flexibly arranged at different positions of the mobile mechanical arm 1000 according to specific anti-collision requirements, and may adapt to different pipeline lengths and mobile mechanical arm types.

[0098] For example, the first section 41 may include an insert portion 41a, an attachment portion 41b, and a through hole 41c. The insert portion 41a may taper toward the sensing pipe 10 to form a substantially conical structure. Figure 5 The diameter or radial dimension of the lower end of the conical structure can be smaller than the inner diameter of the end opening 11, and the large end of the conical structure (i.e. Figure 5 The diameter or radial dimension of the upper end of the insertion portion 41a may be equal to or slightly larger than the inner diameter of the terminal opening 11 so that a sealed connection is formed after the insertion portion 41a is inserted into the terminal opening 11.

[0099] The attachment portion 41b may be integral with the insertion portion 41a and may be substantially disc-shaped. The attachment portion 41b may be fastened to the second section 42. For example, by means of mounting holes provided on the attachment portion 41b and the second section 42 and corresponding fasteners.

[0100] The through-aperture 41 c may extend through the first section 41 from the insertion portion 41 a to the attachment portion 41 b and fluidly connect the sense line 10 to the pressure sensor 20 .

[0101] Such a pipe connector 40 allows a modular structure to be realized, in particular, facilitates replacement, installation and removal of the pressure sensor 20 , and enables the pressure sensor 20 to be connected to the sensing fluid in the sensing pipe 10 .

[0102] An intermediate section 41d may be provided between the insertion portion 41a and the attachment portion 41b, the intermediate section 41d may be formed as a substantially cylindrical connection section, and the diameter of the intermediate section 41d may be smaller than the maximum diameter of the insertion portion 41a and smaller than the diameter of the attachment portion 41b.

[0103] In this way, after the insertion portion 41a is inserted into the terminal opening 11, the insertion portion 41a can be further inserted, so that the end edge portion of the terminal opening 11 passes over the large head end of the conical structure of the insertion portion 41a, and can at least partially extend to the middle section 41d. In this way, the elastic contraction of the pipe section at the end of the terminal opening 11 can be used to form a more reliable sealing connection, reduce the sealing cost, and further improve the sensitivity and reliability of the anti-collision device according to the present invention.

[0104] like Figure 5 As shown, the second section 42 may be generally disc-shaped and carry the pressure sensor 20 on one side thereof. As described above, the second section 42 may be sealingly connected to the first section 41, such as to the attachment portion 41b of the first section 41, by means of a fastener.

[0105] Although the insert portion 41a is shown in the drawings as a generally conical structure and the attachment portion 41b is shown as a generally disc-shaped structure, it should be understood that they may be different from the shapes shown. In this case, the radial dimension of the middle section 41d may be smaller than the maximum radial dimension (i.e., the outer radial dimension) of the insert portion 41a, and smaller than the radial dimension (i.e., the outer radial dimension) of the attachment portion 41b.

[0106] In order to further improve the sealing effect, an annular groove (not shown in the drawings) may be provided on the attachment surfaces facing each other of the attachment portion 41b and / or the second section 42. The annular groove may be used to accommodate a sealing ring or a sealant, etc., to prevent the sensing fluid from overflowing or leaking from the attachment surface.

[0107] Figure 6 shows a schematic perspective view of a mobile robot arm according to another non-limiting embodiment of the present invention; and Figure 7 A schematic diagram of an anti-collision device 100 for a mobile robot arm 1000 according to another non-limiting embodiment of the present invention is shown.

[0108] Except as described below, Figure 6-7 The anti-collision device 100 shown in Figure 1-4 The anti-collision device 100 shown in FIG. 1 is substantially the same or similar, and therefore, for the sake of brevity, repeated descriptions of the same or similar components are omitted, and the same or similar components are marked with the same or similar reference numerals.

[0109] exist Figure 6-7 The two ends of the sensing pipe 10 of the anti-collision device 100 shown in FIG. 1 are attached together via a single pipe joint 40 to form a substantially closed ring sensing pipe. Figure 6 As schematically shown in FIG. 1 , the sensing line 10 may be completely circumferentially arranged around the arm segment 200 , thereby achieving a larger detection range, for example, achieving collision detection within a range of approximately 360 degrees around the arm segment 200 .

[0110] Figure 8 A schematic diagram of a portion of a collision prevention device 100 for a mobile robot arm 1000 according to another non-limiting embodiment of the present invention is shown, wherein details of an alternative embodiment of the pipe connector 40 are shown.

[0111] The pipe joint 40 may include two opposite first sections 41 arranged about the middle flange 43, and connected to the two ends of the sensing pipe 10 via two inserting portions 41a. At this time, the pressure sensor 20 may be disposed at any position inside the pipe joint 40, and be in fluid communication with the sensing fluid inside the sensing pipe 10. In addition, as Figure 8 As schematically shown in FIG. 4 , a corresponding flange opening 43A may be provided on the middle flange 43 for connecting the pressure sensor 20 to the control device 30 via a corresponding cable.

[0112] Figure 6-8 The illustrated embodiment is advantageous. In particular, this arrangement can detect collisions in a larger range, while reducing the number of components of the anti-collision device 100 , reducing installation operations, and thus reducing costs.

[0113] As a preferred embodiment, the mobile mechanical arm 1000 according to the present invention may further include additional anti-collision arrangements, thereby forming a double or triple anti-collision arrangement.

[0114] For example, the first level of anti-collision arrangement may include an anti-collision arrangement based on radar. The radar may be, for example, a laser radar, an ultrasonic radar, a millimeter wave radar, and / or an infrared radar, etc., to achieve a non-contact anti-collision effect, that is, to predict the occurrence of a collision before the collision occurs, and to provide feedback to the control device 30 to achieve a desired operation, for example, to stop the movement in advance.

[0115] The second anti-collision arrangement may include an anti-collision arrangement based on motor current changes. For example, when it is sensed that the current change of the drive motor for actuating the arm section 200 exceeds a predetermined threshold, the drive motor may be stopped or reversed. At this point, it can generally be confirmed that the arm section 200 has collided and a large collision force has been generated.

[0116] The anti-collision device according to the present invention can be used as a third anti-collision arrangement, which also acts based on the occurrence of a collision, but the anti-collision arrangement is more sensitive. For example, it can usually act based on a smaller collision force, especially when the collision force is less than 10N. For example, as mentioned above, a collision force of about 4N can be sensed.

[0117] In this way, the mobile robotic arm 1000 according to the present invention can include at least one of the first to third anti-collision arrangements, so that different anti-collision devices can complement each other or serve as backup. For example, the anti-collision arrangement based on the change of motor current is suitable for larger collision forces, while the anti-collision arrangement according to the above aspects can more sensitively sense smaller collision forces, so that this multiple anti-collision arrangement further improves the safety of the mobile robotic arm of the present invention and related personnel.

[0118] As used herein, the terms "inside" and "outside" to indicate position or orientation, and the terms "first", "second", etc. to indicate order are only intended to enable those of ordinary skill in the art to better understand the concept of the present invention shown in the form of a preferred embodiment, and are not intended to limit the present invention. Unless otherwise specified, all orders, positions or orientations are only used for the purpose of distinguishing one element / component / structure from another element / component / structure, and unless otherwise specified, do not represent any specific order, order of operation, direction or orientation. For example, in an alternative embodiment, the "first anti-collision arrangement" may be the "second anti-collision arrangement".

[0119] As used herein, unless otherwise indicated, the terms "substantially" and "approximately" are interpreted to mean plus or minus five percent of the value or range of values, or to mean a deviation of plus or minus five percent of the shape and / or position.

[0120] In summary, the anti-collision device 100 for a mobile robot arm according to an embodiment of the present invention overcomes the shortcomings of the prior art and achieves the intended purpose of the invention.

[0121] Although the anti-collision device for a mobile mechanical arm of the present invention is described above in conjunction with the preferred embodiments, those skilled in the art should recognize that the above examples are only for illustration and cannot be used as limitations of the present invention. Therefore, various modifications and variations can be made to the present invention within the spirit of the claims, and these modifications and variations will fall within the scope required by the claims of the present invention.

Claims

1. An anti-collision device (100) for a mobile robot arm, comprising: a sensing pipe (10) attached to the mobile robot arm and containing a sensing fluid inside the sensing pipe, a pressure sensor (20) for sensing the pressure of the sensing fluid inside the sensing pipeline (10); as well as a control device (30) which controls the movement of the mobile robot arm and is connected to the pressure sensor (20) to receive a pressure signal from the pressure sensor (20), The sensing pipeline (10) changes from an initial state to a deformed state when a collision occurs, wherein in the initial state, the sensing fluid has a first pressure, and in the deformed state, the sensing fluid has a second pressure different from the first pressure, and wherein: The control device (30) is configured to change the motion state of the mobile mechanical arm when the difference between the second pressure and the first pressure is greater than a predetermined threshold.

2. The anti-collision device (100) according to claim 1, characterized in that: The sensing pipeline (10) comprises two end openings (11) arranged at opposite ends and an intermediate pipeline (12) extending between the end openings (11), wherein the end openings (11) are arranged on the inner side of the surface of the mobile robotic arm, and the intermediate pipeline (12) at least partially protrudes to the outer side of the surface of the mobile robotic arm.

3. The anti-collision device (100) according to claim 1, characterized in that: It also comprises a pipeline joint (40), which is arranged at the end opening (11) of the sensing pipeline (10) to seal the sensing fluid inside the sensing pipeline (10).

4. The anti-collision device (100) according to claim 3, characterized in that: The line connector (40) comprises a first section (41) which is inserted into the sensing line (10) and a second section (42) which carries the pressure sensor (20), wherein the second section (42) is sealingly connected to the first section (41).

5. The anti-collision device (100) according to claim 4, characterized in that: The first section (41) comprises: An insertion portion (41a), the insertion portion gradually tapering toward the sensing pipeline (10); an attachment portion (41b) integral with the insertion portion (41a), the attachment portion (41b) and the second section (42) being firmly connected; and A through-aperture (41c) extends through the first section (41) from the insertion portion (41a) to the attachment portion (41b) and fluidly connects the sensing line (10) to the pressure sensor (20).

6. The anti-collision device (100) according to claim 5, characterized in that: The first section (41) further includes: an intermediate section (41d), which is arranged between the insertion section (41a) and the attachment section (41b), and the radial dimension of the intermediate section (41d) is smaller than the maximum radial dimension of the insertion section (41a) and the radial dimension of the attachment section (41b).

7. The anti-collision device (100) according to claim 3, characterized in that: The two ends of the sensing line (10) are attached together via a single line joint (40) to form a closed ring-shaped sensing line, wherein the line joint (40) comprises two oppositely arranged first sections (41).

8. The anti-collision device (100) according to any one of claims 1 to 7, characterized in that: The sensing pipeline (10) comprises a plurality of sensing pipelines (10), and the plurality of sensing pipelines (10) are arranged on the mobile mechanical arm in a predetermined pattern and at least partially protrude from the surface of the mobile mechanical arm.

9. The anti-collision device (100) according to any one of claims 1 to 7, characterized in that: The sensing tube (10) is a flexible sensing tube and is made of elastic material.

10. The anti-collision device (100) according to any one of claims 1 to 7, characterized in that: The cross-sectional shape of the sensing pipe (10) is circular or elliptical; and / or The sensing pipeline (10) is arranged along the mobile mechanical arm in a C-shape, a U-shape, a ring shape, a racetrack shape or a spiral shape.

11. A mobile mechanical arm (1000), comprising: a plurality of arm segments (200) joined to one another at a plurality of joints (200A) to form an articulated robotic arm; as well as According to any one of claims 1 to 10, the anti-collision device (100) is arranged on at least one of the plurality of arm segments (200).

12. The mobile mechanical arm (1000) according to claim 11, characterized in that: The mobile mechanical arm (1000) further comprises at least one of the following anti-collision arrangements: a first level of collision avoidance arrangement, the first level of collision avoidance arrangement comprising a radar-based collision avoidance arrangement; or A second level of collision avoidance arrangement, the second level of collision avoidance arrangement comprising a collision avoidance arrangement based on motor current variation.

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