A mobile base anti-collision robot

Abstract

The present invention discloses a mobile base anti-collision robot, belonging to the technical field of robots. The present invention includes a movable base equipped with moving wheels at the bottom and a robot body installed at the upper end of the movable base. A guiding cross bar is fixedly arranged circumferentially on the movable base, and a pressure relief buffer component is installed on the guiding cross bar. The pressure relief buffer component is connected to the movable base through a second spring. One end of the guiding cross bar far away from the movable base is provided with an active pressing plate, and the upper end of the active pressing plate is fixed on the telescopic end of a power cylinder. A negative pressure braking component is used to realize the braking of the movable base during collision and the fixation of the movable base in a non-collision working state. For this mobile base anti-collision robot, a buffer structure is provided to reduce the impact force brought by collision during collision, and at the same time, the negative pressure braking component is used to realize positioning during collision, avoiding uncontrollable movement caused by impact.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a mobile base anti-collision robot. Background Art

[0002] A robot is a machine device that automatically performs work. It can either accept human commands or run pre-programmed programs. When a robot is in use, it is usually installed on a mobile base for easy movement, and the position of the robot is adjusted by the movement of the mobile base.

[0003] For example, the publication number is: CN219854567U, the patent name is: An intelligent robot base with anti-collision function, and the publication date is: 2023-10-20. It includes: a placement seat; two embedding cavities are respectively arranged on both sides of the side of the placement seat, installation cavities are arranged on all four sides inside the placement seat, a communication hole is arranged in the middle of the bottom of the installation cavity, and sliding rods are fixedly installed on both sides inside the installation cavity.

[0004] Among the above-mentioned prior arts, the following technical problems exist: During the movement of the existing robot base, an elastic buffer structure is arranged on its side to buffer when being collided, but the functionality of the buffer structure is relatively single, and it is not convenient to brake the base in time when being stressed and buffered. As a result, after being impacted with a large force, due to the uncontrollable movement caused by the impact, it is easy to have a secondary collision with surrounding equipment or obstacles.

[0005] Therefore, we propose a mobile base anti-collision robot to solve the problems raised above. Summary of the Invention

[0006] The purpose of the present invention is to provide a mobile base anti-collision robot to solve the problem that in the prior art in the current market, during the movement of the existing robot base, an elastic buffer structure is arranged on its side to buffer when being collided, but the functionality of the buffer structure is relatively single, and it is not convenient to brake the base in time when being stressed and buffered. As a result, after being impacted with a large force, due to the uncontrollable movement caused by the impact, it is easy to have a secondary collision with surrounding equipment or obstacles.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a mobile base anti-collision robot, comprising a movable base equipped with movable wheels at the bottom and a robot body installed on the upper end of the movable base, a guide cross bar is fixed to the circumference of the movable base, and a pressure relief buffer component is installed on the guide cross bar, the pressure relief buffer component is connected to the movable base through a second spring, an active pressure plate is installed at the end of the guide cross bar away from the movable base, and the upper end of the active pressure plate is fixed to the telescopic end of the power cylinder, a negative pressure braking component is arranged on the side of the pressure relief buffer component, and the negative pressure braking component is used to realize braking of the movable base during collision and fix the movable base in a non-collision working state.

[0008] Preferably, the pressure relief buffer component includes a main substrate slidably mounted on the guide cross bar, and a connecting slider is installed on the main substrate, the connecting slider is connected to the main substrate through a first spring, and the connecting slider is connected to each other through a power-assisting connecting rod and a touch panel.

[0009] By adopting the above technical solution, the first spring can be provided to enable the connecting slider to return to its original position after moving on the main substrate.

[0010] Preferably, the connecting slider and the touch panel are both hingedly connected to the end of the power-assisting connecting rod, and the connecting slider can slide on the main substrate.

[0011] By adopting the above technical solution, when the touch panel is subjected to force, the hinged power-assisting connecting rod can be used to move the connecting slider on the main substrate.

[0012] Preferably, the active pressing plate is in contact with the main base plate in an initial state, and the active pressing plate can slide on the guide cross bar.

[0013] By adopting the above technical solution, when the power cylinder controls the active pressure plate to slide on the guide cross bar, the main base plate can be pushed, so that the main base plate can still be controlled to move in a non-collision state.

[0014] Preferably, the negative pressure braking component includes a linkage plate fixed on the main substrate, and one end of the linkage plate away from the main substrate extends into the interior of the movable base, and the linkage plate is located at one end of the movable base. The first pressure block and the second pressure block are installed on the upper and lower sides of the linkage plate, and a movable guide column is arranged on the side of the linkage plate, and the movable guide column is connected to each other with the interior of the movable base through a third spring, an elastic rubber pad is fixed to the lower end of the movable guide column, a piston rod is inserted through the middle of the movable guide column, and the piston rod is connected to the movable guide column through a fourth spring, and an extrusion column fixed to the upper end of the movable guide column is arranged on the side of the piston rod, and a pressure block is fixed to the upper end of the piston rod.

[0015] By adopting the above technical solution, the movement of the main substrate can drive the first pressing block and the second pressing block to move synchronously through the linkage plate.

[0016] Preferably, the linkage plate can slide on the movable base, and the first pressing block at the end of the linkage plate is provided with an inclined section and a straight section.

[0017] By adopting the above technical solution, the inclined section and the straight section on the first pressing block can facilitate the application of pressure to the extrusion column on the movable guide post.

[0018] Preferably, the movable guide post and the movable base form an elastic telescopic structure through the third spring, and the inside of the movable guide post is a hollow structure, and the lower end of the movable guide post is an open structure.

[0019] By adopting the above technical solution, the movable guide post moves downward below the movable base and can thus contact the ground, thereby realizing the braking of the movable base.

[0020] Preferably, the piston plug rod is located in the groove in the middle of the linkage plate, and the lower end of the piston plug rod and the movable guide post form a seamless sliding connection structure through the circumferentially wrapped sealing ring.

[0021] By adopting the above technical solution, through the groove in the middle of the linkage plate, the linkage plate will not touch the piston plug rod when moving.

[0022] Preferably, the lower surface of the side of the pressure-receiving block at the upper end of the piston plug rod is an inclined surface, and after the elastic rubber pad at the bottom of the movable guide post contacts the ground when the movable guide post moves downward, the inclined surface of the pressure-receiving block at the upper end of the piston plug rod can contact the inclined surface of the second pressing block on the linkage plate.

[0023] By adopting the above technical solution, the movement of the linkage plate can use the inclined surface of the second pressing block to squeeze the inclined surface of the pressure-receiving block.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows: for this mobile base anti-collision robot, a buffer structure is provided to reduce the impact force caused by collision during collision, and at the same time, a negative pressure braking component is used to realize positioning during collision, avoiding uncontrollable movement caused by impact;

[0025] 1. A touch panel is provided. After the touch panel is stressed, the assist connecting rod can be used to make the connecting slider move on the main substrate. The movement of the connecting slider can play a preliminary buffering role under the action of the first spring. At the same time, when the impact force is too large and the connecting slider moves to the limit, the touch panel will drive the main substrate to move. After the main substrate moves on the guiding cross bar, the elastic deformation of the second spring can play a further impact buffering role;

[0026] 2. A movable guide post is provided. When the main base plate moves and drives the linkage plate to move, after the linkage plate moves, the inclined section of the first pressing block can squeeze the extrusion column on the movable guide post. After the movable guide post moves downward, the elastic rubber pad at the lower end can contact the ground, thereby realizing the braking of the movable base;

[0027] 3. A piston insertion rod is provided. When the movable guide post moves downward and contacts the ground, and the linkage plate continues to move, the straight section on the first pressing block contacts the end of the extrusion column. At this time, when the linkage plate continues to move, the first pressing block will not continue to squeeze the extrusion column on the movable guide post, so that the movable guide post remains in contact with the ground. And when the movable guide post moves downward, it can make the pressure receiving block at the end of the piston insertion rod move downward and contact the second pressing block. After that, when the linkage plate moves, the second pressing block can be used to squeeze the pressure receiving block, so that the retraction rod moves upward along the upper part of the movable guide post, thereby forming a negative pressure effect at the bottom of the movable guide post, further improving the braking effect;

[0028] 4. A main pressing plate is provided. When the movable base moves the robot body to the fixed working station for work, the power cylinder can be used to control the main pressing plate to move on the guiding cross bar in the direction towards the movable base. After the main pressing plate moves, it can also push the main base plate to move. After the main base plate moves, the subsequent movable guide post can contact the ground, thereby realizing the stability of the movable base in the non-collision working state. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is the front three-dimensional structural schematic diagram of the present invention;

[0030] Figure 2 is the structural schematic diagram of the movable base and the main base plate of the present invention;

[0031] Figure 3 is the structural schematic diagram of the movable guide post and the third spring of the present invention;

[0032] Figure 4 is the structural schematic diagram of the movable guide post and the elastic rubber pad of the present invention;

[0033] Figure 5 is the structural schematic diagram of the piston insertion rod and the pressure receiving block of the present invention;

[0034] Figure 6 is the structural schematic diagram of the main pressing plate and the main base plate of the present invention;

[0035] Figure 7 is the structural schematic diagram of the linkage plate and the first pressing block of the present invention;

[0036] Figure 8 is the structural schematic diagram of the movable base and the movable guide post of the present invention;

[0037] Figure 9For the present invention Figure 3 Schematic diagram of the enlarged structure at position A in the present invention.

[0038] In the figure: 1, robot body; 2, movable base; 3, guiding cross bar; 4, pressure relief buffer component; 401, main substrate; 402, connecting slider; 403, first spring; 404, assisting connecting rod; 405, touch panel; 5, second spring; 6, active pressing plate; 7, power cylinder; 8, negative pressure braking component; 801, linkage plate; 802, first pressing block; 803, second pressing block; 804, moving guide post; 805, third spring; 806, elastic rubber pad; 807, extrusion post; 808, piston insertion rod; 809, fourth spring; 810, pressed block. Specific embodiments

[0039] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0040] Embodiment 1: Please refer to Figures 1 - 9, in the existing robot base during the moving process, the elastic buffer structure arranged on its side is used for buffering when being collided, but the functionality of the buffer structure is relatively single, and it is not convenient to brake the base in time when being stressed and buffered. As a result, after being impacted by a relatively large force, the uncontrollable movement caused by the impact is likely to collide with surrounding equipment or obstacles again, further reducing damage and potential safety hazards. To solve this technical problem, the following technical content is disclosed in this embodiment. A mobile base anti-collision robot includes a movable base 2 equipped with moving wheels at the bottom and a robot body 1 installed on the upper end of the movable base 2. A guiding cross bar 3 is fixedly arranged circumferentially on the movable base 2, and a pressure relief buffer component 4 is installed on the guiding cross bar 3. The pressure relief buffer component 4 is connected to the movable base 2 through a second spring 5. A negative pressure braking component 8 is arranged on the side of the pressure relief buffer component 4, and the negative pressure braking component 8 is used to brake the movable base 2 when being impacted. The pressure relief buffer component 4 includes a main substrate 401 slidably installed on the guiding cross bar 3, and a connecting slider 402 is installed on the main substrate 401. The connecting slider 402 is connected to the main substrate 401 through a first spring 403, and the connecting slider 402 is connected to a touch panel 405 through a boosting connecting rod 404. Both the connecting slider 402 and the touch panel 405 are hinged to the end of the boosting connecting rod 404, and the connecting slider 402 can slide on the main substrate 401. The negative pressure braking component 8 includes a linkage plate 801 fixed on the main substrate 401, and one end of the linkage plate 801 away from the main substrate 401 extends into the interior of the movable base 2. A first pressing block 802 and a second pressing block 803 are installed on the upper and lower sides of the end of the linkage plate 801 located inside the movable base 2. A moving guide post 804 is arranged on the side of the linkage plate 801. The moving guide post 804 is connected to the interior of the movable base 2 through a third spring 805. An elastic rubber pad 806 is fixed at the lower end of the moving guide post 804. A piston insertion rod 808 is inserted through the middle of the moving guide post 804, and the piston insertion rod 808 is connected to the moving guide post 804 through a fourth spring 809. An extrusion column 807 fixed to the upper end of the moving guide post 804 is arranged on the side of the piston insertion rod 808, and a pressure-receiving block 810 is fixed at the upper end of the piston insertion rod 808. The linkage plate 801 can slide on the movable base 2, and an inclined section and a straight section are arranged on the first pressing block 802 at the end of the linkage plate 801. The moving guide post 804 and the movable base 2 form an elastic telescopic structure through the third spring 805, and the interior of the moving guide post 804 is arranged as a hollow structure, and the lower end of the moving guide post 804 is arranged as an open structure. The piston insertion rod 808 is located in the groove body in the middle of the linkage plate 801, and the lower end of the piston insertion rod 808 and the moving guide post 804 form a seamless sliding connection structure through the circumferentially wrapped sealing ring. The lower surface of the side of the pressure-receiving block 810 at the upper end of the piston insertion rod 808 is arranged as an inclined surface, and after the elastic rubber pad 806 at the bottom of the moving guide post 804 contacts the ground after the moving guide post 804 moves downward,The inclined surface of the pressure-receiving block 810 at the upper end of the piston insertion rod 808 can contact the inclined surface of the second pressure-receiving block 803 on the linkage plate 801.

[0041] When the robot body 1 is working, the position of the robot body 1 is adjusted by moving the movable base 2, so that the robot body 1 moves to the working area. When the movable base 2 is impacted by the outside world during movement, the impact force first contacts the touch panel 405. After the touch panel 405 is stressed, it can use the articulated assist link 404 to push the connecting slider 402 to move on the main substrate 401. The movement of the connecting slider 402 can play a buffering role through the elastic deformation of the first spring 403. When the impact force is too large, after the connecting slider 402 moves to the limit on the main substrate 401, the movement of the touch panel 405 can cause the main substrate 401 to move synchronously. The movement of the main substrate 401 on the guiding cross bar 3 can play a further buffering role through the deformation of the second spring 5. After the main substrate 401 moves, it can cause the linkage plate 801 to move synchronously. After the linkage plate 801 moves, it first uses the inclined section on the first pressure-receiving block 802 to squeeze the extrusion column 807 at the upper end of the moving guide post 804, so that the moving guide post 804 can move downward, and the elastic rubber pad 806 at the bottom of the moving guide post 804 contacts the ground, thereby braking the movable base 2. The setting of the elastic rubber pad 806 can also improve the sealing performance of the opening at the lower end of the moving guide post 804. After the moving guide post 804 moves downward, it can cause the piston insertion rod 808 and the upper pressure-receiving block 810 to move downward synchronously. At this time, the inclined surface on the side of the pressure-receiving block 810 fits with the inclined surface of the second pressure-receiving block 803 at the end of the linkage plate 801. After the elastic rubber pad 806 at the lower end of the moving guide post 804 contacts the ground, when the linkage plate 801 continues to move, the straight section on the first pressure-receiving block 802 at the end of the linkage plate 801 squeezes the extrusion column 807. At this time, the moving guide post 804 and the extrusion column 807 do not continue to move downward, and the second pressure-receiving block 803 at the end of the linkage plate 801 can use the inclined surface to squeeze the pressure-receiving block 810. After the pressure-receiving block 810 is stressed, it moves upward. Through the movement of the pressure-receiving block 810, the piston insertion rod 808 can be driven to move upward synchronously. After the piston insertion rod 808 moves above the moving guide post 804, a negative pressure can be generated at the opening of the moving guide post 804, and then a negative pressure effect can be generated between the moving guide post 804 and the ground. Using the adsorption force at the opening of the moving guide post 804, the braking effect of the movable base 2 when being impacted can be further improved. When the first pressure-receiving block 802 on the linkage plate 801 pushes the extrusion column 807 and causes the extrusion column 807 and the moving guide post 804 to move downward, the moving guide post 804 causes the third spring 805 to deform elastically. The elastic deformation of the third spring 805 can also play a buffering role and achieve the effect of weakening the impact force.

[0042] Embodiment 2: The technical content disclosed in this embodiment is a further improvement based on the above Embodiment 1. The following technical content is disclosed in this embodiment. One end of the guiding cross bar 3 away from the movable base 2 is provided with an active pressing plate 6, and the upper end of the active pressing plate 6 is fixed on the telescopic end of the power cylinder 7. The active pressing plate 6 is in mutual contact with the main substrate 401 in the initial state, and the active pressing plate 6 can slide on the guiding cross bar 3.

[0043] When the movable base 2 moves the robot body 1 to the working area, the opening of the power cylinder 7 can make the active pressing plate 6 move on the guiding cross bar 3 in the direction of the movable base 2. After the active pressing plate 6 moves, it can push the main substrate 401. After the main substrate 401 moves, the first pressing block 802 on the linkage plate 801 can press the extrusion column 807. At this time, the extrusion column 807 and the moving guide post 804 move downward so that the moving guide post 804 contacts the ground. At the same time, after the linkage plate 801 moves, it can also use the second pressing block 803 to press the pressure receiving block 810 at the upper end of the piston insertion rod 808, so that the piston insertion rod 808 moves upward above the moving guide post 804, generating negative pressure at the opening of the moving guide post 804 to adsorb to the ground. Thus, the stability of the robot body 1 during non-collision operation is achieved, avoiding the self-movement of the movable base 2 during the operation of the robot body 1. At the same time, since a touch panel 405 is provided on the side of the main substrate 401, when the movable base 2 is fixed by using the moving guide post 804, during the operation of the robot body 1, when the movable base 2 is impacted, the movement of the touch panel 405 can also play a role in impact buffering.

[0044] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0045] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mobile base anti-collision robot, comprising a movable base (2) equipped with moving wheels at the bottom and a robot body (1) installed at the upper end of the movable base (2), characterized in that: A guiding cross bar (3) is circumferentially fixed to the movable base (2), and a pressure relief and buffer component (4) is installed on the guiding cross bar (3). The pressure relief and buffer component (4) is connected to the movable base (2) through a second spring (5). One end of the guiding cross bar (3) away from the movable base (2) is installed with a driving pressure plate (6), and the upper end of the driving pressure plate (6) is fixed to the telescopic end of a power cylinder (7). A negative pressure braking component (8) is arranged on the side of the pressure relief and buffer component (4), and the negative pressure braking component (8) is used to brake the movable base (2) during impact and fix the movable base (2) in a non-collision working state. The pressure relief and buffer component (4) includes a main substrate (401) slidably installed on the guiding cross bar (3), and an engaging slider (402) is installed on the main substrate (401). The engaging slider (402) is connected to the main substrate (401) through a first spring (403), and the engaging slider (402) is connected to a touch panel (405) through an assisting connecting rod (404). The negative pressure braking component (8) includes a linkage plate (801) fixed to the main substrate (401), and one end of the linkage plate (801) away from the main substrate (401) extends into the interior of the movable base (2). A first pressing block (802) and a second pressing block (803) are respectively installed on the upper and lower sides of one end of the linkage plate (801) located inside the movable base (2), and a moving guide post (804) is arranged on the side of the linkage plate (801). The moving guide post (804) is connected to the interior of the movable base (2) through a third spring (805). An elastic rubber pad (806) is fixed to the lower end of the moving guide post (804). A piston insertion rod (808) is inserted through the middle of the moving guide post (804), and the piston insertion rod (808) is connected to the moving guide post (804) through a fourth spring (809). An extrusion column (807) fixed to the upper end of the moving guide post (804) is arranged on the side of the piston insertion rod (808), and a pressure receiving block (810) is fixed to the upper end of the piston insertion rod (808).

2. The mobile base anti-collision robot according to claim 1, wherein: Both the engaging slider (402) and the touch panel (405) are hingedly connected to the end of the assisting connecting rod (404), and the engaging slider (402) can slide on the main substrate (401).

3. The mobile base anti-collision robot according to claim 1, characterized in that: In the initial state, the driving pressure plate (6) is in contact with the main substrate (401), and the driving pressure plate (6) can slide on the guiding cross bar (3).

4. The mobile base anti-collision robot according to claim 1, characterized in that: The linkage plate (801) can slide on the movable base (2), and an inclined section and a straight section are arranged on the first pressing block (802) at the end of the linkage plate (801).

5. The mobile base anti-collision robot according to claim 1, characterized in that: The moving guide post (804) and the movable base (2) form an elastic telescopic structure through the third spring (805). The interior of the moving guide post (804) is a hollow structure, and the lower end of the moving guide post (804) is an open structure.

6. The mobile base anti-collision robot according to claim 1, characterized in that: The piston insertion rod (808) is located in the groove in the middle of the linkage plate (801), and the lower end of the piston insertion rod (808) forms a seamless sliding connection structure with the moving guide post (804) through a circumferentially wrapped sealing ring.

7. The mobile base anti-collision robot according to claim 1, characterized in that: The lower surface of the side of the pressure block (810) at the upper end of the piston insertion rod (808) is set as an inclined surface, and after the elastic rubber pad (806) at the bottom of the moving guide post (804) contacts the ground when the moving guide post (804) moves downward, the inclined surface of the pressure block (810) at the upper end of the piston insertion rod (808) can contact the inclined surface of the second pressure block (803) on the linkage plate (801).

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