Anti-collision robot

Abstract

The invention relates to the technical field of robots, in particular to an anti-collision robot. Comprising a robot body; a plurality of anti-collision grooves are evenly formed in the robot body, anti-collision rods are movably connected into the anti-collision grooves, anti-collision plates are arranged at the outer ends of the anti-collision rods, first springs are arranged between the anti-collision rods and the anti-collision grooves, protection mechanisms are arranged in the anti-collision grooves, and the protection mechanisms are used for preventing foreign matter from entering the anti-collision grooves. A plurality of supporting plates are evenly arranged at the bottom of the robot body, rotating shafts are arranged on the outer sides of the supporting plates, moving wheels are arranged at the outer ends of the rotating shafts, and anti-clamping mechanisms are arranged in the rotating shafts and used for preventing articles such as hair or ropes from being wound around the rotating shafts. By means of the arranged anti-clamping mechanism, wound hairs or ropes can be cut, the situation that more and more hairs or ropes are wound, and consequently movement of the moving wheels is hindered is prevented, and normal movement of the moving wheels can be effectively guaranteed.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a collision avoidance robot. Background Technology

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It performs tasks such as work or movement through programming and automatic control, and has basic characteristics such as perception, decision-making, and execution. It can assist or replace humans in completing dangerous, heavy, and complex work.

[0003] With the development of technology, the application of robots is becoming increasingly widespread, with robots appearing everywhere in industry, agriculture, military, medicine, and daily life. Currently, robots are susceptible to impacts during operation, which can easily cause damage and malfunctions. To reduce impacts and lower the damage rate, anti-collision measures are typically implemented. For example, patent application number 202221683157.5 discloses a collision-resistant inspection robot. This invention uses a first and second anti-collision plate to buffer against impacts during operation, preventing damage and malfunctions. Adjusting the height of the second anti-collision plate allows for increased protection as the robot rises, improving its anti-collision performance and enhancing the device's practicality.

[0004] While the aforementioned patents address the collision avoidance issue to some extent, they still have the following shortcomings: 1. If foreign objects enter the movement space of the collision avoidance plate, it can restrict the movement of the plate or cause it to get stuck, and may even lead to the robot continuously reporting false collisions; 2. During operation, the omnidirectional wheels may become entangled in debris such as hair or ropes, causing the robot to be unable to move or to become stuck.

[0005] Therefore, there is an urgent need to develop a collision-avoidance robot that can prevent the anti-collision plate from getting stuck and the robot's movement from getting stuck. Summary of the Invention

[0006] In order to overcome the shortcomings of the above-mentioned background technology, such as the ingress of foreign objects into the active space of the anti-collision plate, which can lead to restricted or stuck movement of the anti-collision plate, or even continuous false collision reports by the robot; and the entanglement of the caster wheels by hair or ropes during operation, which can cause the robot to be unable to move or to become stuck, this invention provides an anti-collision robot.

[0007] The technical solution is as follows: A collision avoidance robot includes a robot body with several collision avoidance grooves evenly distributed on the robot body. Collision avoidance rods are movably connected within the collision avoidance grooves, and collision avoidance plates are provided at the outer ends of the collision avoidance rods. A first spring is provided between the collision avoidance rods and the collision avoidance grooves. A protective mechanism is provided within the collision avoidance grooves to prevent foreign objects from entering the collision avoidance grooves. Several support plates are evenly distributed at the bottom of the robot body, and a rotating shaft is provided on the outer side of the support plates. A movable wheel is provided at the outer end of the rotating shaft, and an anti-jamming mechanism is provided within the rotating shaft to prevent hair or ropes from getting tangled on the rotating shaft.

[0008] Furthermore, the anti-jamming mechanism includes a pressure plate, a movable groove inside the rotating shaft, a telescopic groove on the upper side of the rotating shaft, the telescopic groove communicating with the movable groove, a pressure plate movably connected inside the telescopic groove, a second spring connecting the pressure plate and the movable groove, and a cutting unit provided inside the movable groove, the cutting unit being used to cut hair or rope wrapped around the rotating shaft.

[0009] Furthermore, the cutting unit includes a cutting plate movably connected to the movable groove, cutting grooves are symmetrically opened on both sides of the rotating shaft, the cutting grooves are located on both sides of the telescopic groove, a cutting blade is provided on the outer side of the cutting plate, the cutting blade is located in the cutting groove, and a third spring is provided between the cutting plate and the movable groove.

[0010] Furthermore, the anti-jamming mechanism also includes a reciprocating unit, which is used to control the reciprocating movement of the cutting blade. The reciprocating unit includes a bracket, and the outer side of the cutting plate is connected to the bracket. A dual-axis motor is fixedly connected to the bracket. Both ends of the dual-axis motor are provided with reciprocating lead screws that are rotatably connected to the bracket. Slider blocks are movably connected to the reciprocating lead screws, and both sliders are connected to the cutting blade.

[0011] Furthermore, the anti-jamming mechanism also includes an extension unit, which is used to control the extension and retraction of the cutting blade. A moving groove is provided on the outer side of the cutting plate, and the moving groove is movably connected to the bracket. A hydraulic cylinder is installed inside the cutting plate, and the extended end of the hydraulic cylinder is connected to the bracket. An accumulator connected to the hydraulic cylinder is installed inside the cutting plate. Flexible oil tanks are provided on both sides of the pressure plate, and the flexible oil tanks are fixedly connected to the rotating shaft. A telescopic oil pipe is installed inside the rotating shaft, one end of the telescopic oil pipe is connected to the flexible oil tank, and the other end of the telescopic oil pipe is connected to the hydraulic cylinder.

[0012] Furthermore, a fourth spring is provided on the inner side of the bracket, and the other end of the fourth spring is fixedly connected to the moving groove.

[0013] Furthermore, the protective mechanism includes a movable plate, and a movable plate that is movably connected to the anti-collision groove is provided on one side of the anti-collision bar. The movable plate is located above the first spring. A first airbag is provided on one side of the anti-collision bar. The first airbag is located on the upper side of the movable plate, and the other side of the first airbag is connected to the robot body.

[0014] Furthermore, a second airbag is provided on the other side of the anti-collision bar. The other side of the second airbag is connected to the anti-collision groove. An air inlet valve and an air outlet valve are respectively provided on the top of the second airbag. The air inlet valve is used to allow air to enter the second airbag when the anti-collision bar moves due to an impact. The air outlet valve is used to discharge the gas in the second airbag to the outside when the anti-collision bar resets after the impact.

[0015] Furthermore, a workbench is installed on the top of the robot body, and sensors are installed on the workbench to detect objects in front of it.

[0016] Furthermore, a transparent cover is installed on the workbench, located outside the sensor.

[0017] Beneficial effects: 1. The present invention, through the anti-jamming mechanism, can cut the tangled hair or rope, preventing the hair or rope from getting tangled more and more and hindering the movement of the moving wheel, thus effectively ensuring the normal movement of the moving wheel. 2. The present invention can protect the anti-collision groove through the protective mechanism, preventing foreign objects from entering the anti-collision groove during the movement of the anti-collision bar, thereby hindering the movement and reset of the anti-collision bar, or even causing the anti-collision bar to get stuck, resulting in abnormal rebound of the anti-collision plate; 3. The transparent cover of this invention can effectively prevent the sensor from being affected by dust or external liquids, which could lead to misjudgment. When there is dust on the transparent cover, it can be wiped with a cloth without causing any adverse effects on the sensor itself. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a bottom-view structural diagram of the present invention; Figure 3 This is a cross-sectional structural diagram of the robot body of the present invention; Figure 4 This is a schematic diagram of the explosion structure of the protective mechanism of the present invention; Figure 5 This is a three-dimensional structural diagram of the rotating shaft of the present invention; Figure 6 This is a schematic diagram of the first cross-sectional structure of the rotating shaft of the present invention; Figure 7 This is a schematic diagram of a second cross-sectional structure of the rotating shaft of the present invention; Figure 8 This is a three-dimensional structural diagram of the anti-jamming mechanism of the present invention; Figure 9 This is a three-dimensional structural diagram of the protruding unit of the present invention; Figure 10 This is a three-dimensional structural schematic diagram of the reciprocating unit of the present invention; Figure 11 This is a three-dimensional structural diagram of the transparent cover of the present invention.

[0019] The components in the attached diagram are labeled as follows: 1. Robot body, 2. Anti-collision plate, 3. Anti-collision groove, 4. Anti-collision rod, 5. First spring, 6. Support plate, 7. Rotary shaft, 8. Moving wheel, 9. Movable plate, 10. First airbag, 11. Second airbag, 12. Intake valve, 13. Exhaust valve, 14. Movable groove, 15. Telescopic groove, 16. Cutting groove, 17. Pressure plate, 18. Second spring, 19. Cutting plate, 20. Cutting blade, 21. Third spring, 22. Support, 22. Fourth spring, 23. Dual-axis motor, 24. Reciprocating lead screw, 25. Slider, 26. Movable groove, 27. Hydraulic cylinder, 28. Accumulator, 29. Flexible oil tank, 30. Telescopic oil pipe, 31. Worktable, 32. Sensor, 33. Transparent cover. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] A collision avoidance robot, such as Figure 1-11As shown, the robot includes a robot body 1. Several anti-collision grooves 3 are evenly distributed on the robot body 1. Anti-collision rods 4 are slidably connected within the anti-collision grooves 3. Anti-collision plates 2 are fixedly connected to the outer ends of the anti-collision rods 4. A first spring 5 is fixedly connected between the anti-collision rods 4 and the anti-collision grooves 3. The first spring 5 provides cushioning for the anti-collision rods 4, preventing the force from directly acting on the robot body 1 during impact. A protective mechanism is installed within the anti-collision grooves 3 to prevent foreign objects from entering the anti-collision grooves 3. Several support plates 6 are evenly fixedly connected to the bottom of the robot body 1. A rotating shaft 7 is rotatably connected to the outer side of the support plates 6. A movable wheel 8 is fixedly connected to the outer end of the rotating shaft 7. An anti-jamming mechanism is installed within the rotating shaft 7 to prevent hair or ropes from getting tangled on the rotating shaft 7. In use, a drive motor is installed within the movable wheel 8, and a controller is installed within the robot body 1 to control the operation of the drive motor. The drive wheel 8 moves, and when the anti-collision plate 2 collides with other objects, the anti-collision plate 2 will move inward upon impact, and the anti-collision rod 4 will also move within the anti-collision groove 3. Consequently, the first spring 5 is compressed, which can buffer the anti-collision plate 2 and reduce the damage to the robot body 1. At the same time, the protective mechanism can protect the anti-collision groove 3 to prevent foreign objects from entering the anti-collision rod 4 during movement, thereby hindering the movement and reset of the anti-collision rod 4, or even causing the anti-collision rod 4 to jam, resulting in abnormal rebound of the anti-collision plate 2. During the movement of the entire device, when hair or rope is wrapped around the rotating shaft 7, the anti-jamming mechanism works to cut the wrapped hair or rope, preventing the hair or rope from getting tangled more and more and hindering the movement of the drive wheel 8, thus effectively ensuring the normal movement of the drive wheel 8.

[0022] like Figures 5-10 As shown, in this invention, the anti-jamming mechanism includes a pressure plate 17, a movable groove 14 inside the rotating shaft 7, and a telescopic groove 15 on the upper side of the rotating shaft 7. The telescopic groove 15 communicates with the movable groove 14, and the pressure plate 17 is slidably connected inside the telescopic groove 15. A second spring 18 is fixedly connected between the pressure plate 17 and the movable groove 14. A cutting unit is provided inside the movable groove 14. The cutting unit is used to cut the hair or rope wrapped around the rotating shaft 7. In use, when hair or rope is wrapped around the rotating shaft 7, the hair or rope will become tighter and tighter under the action of the moving wheel 8, thereby compressing the pressure plate 17 and controlling the pressure plate 17 to move into the telescopic groove 15. The second spring 18 is stretched. When the pressure plate 17 contacts the cutting unit, the pressure plate 17 will drive the cutting unit to move outward, thereby cutting the hair or rope on the rotating shaft 7. After the hair or rope on the rotating shaft 7 is cut, the pressure plate 17 moves upward to reset under the action of the second spring 18, and the cutting unit will also reset at the same time.

[0023] like Figures 5-10As shown, in this invention, the cutting unit includes a cutting plate 19 slidably connected to the movable groove 14. Cutting grooves 16 are symmetrically provided on both sides of the rotating shaft 7, located on both sides of the telescopic groove 15. A cutting blade 20 is provided on the outer side of the cutting plate 19, located within the cutting groove 16. A third spring 21 is fixedly connected between the cutting plate 19 and the movable groove 14. When the pressure plate 17 moves downwards and contacts the cutting plate 19, the pressure plate 17 pushes the cutting plate 19 outwards, and the cutting blade 20 also moves outwards. The third spring 21 is compressed, and the cutting blade 20 cuts the hair or thread on the rotating shaft 7. After the cutting blade 20 cuts the hair or thread, the pressure plate 17 resets, moving away from the cutting plate 19. The cutting plate 19 resets under the action of the third spring 21, thereby driving the cutting blade 20 to reset, preparing for the next cutting operation.

[0024] like Figure 9 and Figure 10 As shown, in this invention, the anti-jamming mechanism also includes a reciprocating unit, which controls the reciprocating movement of the cutting blade 20. The reciprocating unit includes a bracket 22, and the bracket 22 is connected to the outer side of the cutting plate 19. A dual-axis motor 23 is fixedly connected to the bracket 22. Both output ends of the dual-axis motor 23 are fixedly connected to a reciprocating lead screw 24 that is rotatably connected to the bracket 22. A slider 25 is slidably connected to the reciprocating lead screw 24, and both sliders 25 are fixedly connected to the cutting blade 20. When it is necessary to cut hair or thread, the controller controls the dual-axis motor 23 to work. Motor 23 drives reciprocating screw 24 to rotate, which in turn drives cutting blade 20 to reciprocate. As cutting blade 20 moves outward, it also reciprocates, which increases the cutting speed and efficiency by rubbing against hair or thread. This facilitates the rapid cutting of hair or thread, shortens the time that hair or thread is entangled, reduces the chance of moving wheel 8 being restricted or stuck, and ensures the normal operation of moving wheel 8. After the hair or thread is cut, the dual-axis motor 23 is stopped, and cutting blade 20 stops reciprocating.

[0025] like Figure 8 , Figure 9 and Figure 10As shown, in this invention, the anti-jamming mechanism also includes an extension unit for controlling the extension and retraction of the cutting blade 20. A movable groove 26 is provided on the outer side of the cutting plate 19, and the movable groove 26 is slidably connected to the bracket 22. A hydraulic cylinder 27 is fixedly connected inside the cutting plate 19, with its extended end slidably connected to the cutting plate 19 and fixedly connected to the bracket 22. An accumulator 28, communicating with the hydraulic cylinder 27, is fixedly connected inside the cutting plate 19. The accumulator 28 can store energy when the hydraulic cylinder 27 is under pressure and release the stored energy after the pressure disappears, thereby providing power for the reset of the hydraulic cylinder 27. Flexible oil tanks 29 are fixedly connected to both sides of the pressure plate 17, and the flexible oil tanks 29 are fixedly connected to the rotating shaft 7. A telescopic oil pipe 30 is connected inside the rotating shaft 7, with one end of the telescopic oil pipe 30 fixedly connected to the flexible oil tank 29 and the other end of the telescopic oil pipe 30 passing through the cutting plate 19 and fixedly connected to the hydraulic cylinder 27. When the cutting plate 19 moves, it drives the telescopic oil pipe 30 to move as well. In use, both the flexible oil tank 29 and the telescopic oil pipe 30 are filled with hydraulic oil. When the pressure plate 17 is compressed by hair or rope, the flexible oil tank 29 is also compressed. The hydraulic oil in the flexible oil tank 29 enters the hydraulic cylinder 27 through the telescopic oil pipe 30, thereby driving the extended end of the hydraulic cylinder 27 to extend outward, driving the bracket 22 and the cutting blade 20 to move outward. At the same time, the accumulator 28 stores energy. The flexible oil tank 29 and the hydraulic cylinder 27 can increase the distance the cutting blade 20 can move outward, making it easier to cut hair or rope. When the hair or rope is cut, the pressure plate 17 drives the flexible oil tank 29 to reset, the accumulator 28 releases the stored energy, thereby pushing the extended end of the hydraulic cylinder 27 to retract, driving the bracket 22 and the cutting blade 20 to reset. The hydraulic oil in the hydraulic cylinder 27 flows back into the flexible oil tank 29 through the telescopic oil pipe 30.

[0026] like Figure 9 and Figure 10 As shown, in this invention, a fourth spring 2201 is fixedly connected to the inner side of the bracket 22, and the other end of the fourth spring 2201 is fixedly connected to the moving groove 26. The fourth spring 2201 can facilitate the flexible oil tank 29 and the hydraulic cylinder 27 to be reset better.

[0027] like Figure 1 , Figure 3 and Figure 4As shown, in this invention, the protective mechanism includes a movable plate 9. One side of the anti-collision rod 4 is fixedly connected to the movable plate 9, which is slidably connected to the anti-collision groove 3. The movable plate 9 is located above the first spring 5. One side of the anti-collision rod 4 is fixedly connected to a first airbag 10, which is located above the movable plate 9. The other side of the first airbag 10 is fixedly connected to the robot body 1. Initially, the top of the first airbag 10 is flush with the upper surface of the robot body 1, and the first airbag 10 is in a relaxed state. During use, when the anti-collision plate 2 is impacted, the anti-collision rod 4 drives the movable plate 9 to move inward, and the first airbag 10 is compressed. Because both ends of the first airbag 10 are... The first airbag 10 will not come out of the anti-collision groove 3. The middle part of the first airbag 10 will protrude outward. As the anti-collision bar 4 moves inward, the protrusion of the first airbag 10 will become more and more obvious. When a foreign object touches the first airbag 10, the foreign object will be bounced away by the first airbag 10. The first airbag 10 will isolate the foreign object from the anti-collision groove 3, which can effectively prevent the foreign object from entering the anti-collision groove 3. There will be no situation where the movement of the anti-collision bar 4 is obstructed or the rebound is abnormal due to the foreign object entering the anti-collision groove 3. When the impact force of the anti-collision plate 2 disappears, the anti-collision bar 4 will be reset under the joint action of the first spring 5 and the first airbag 10, and the first airbag 10 will also return to its original state.

[0028] like Figure 3 and Figure 4 As shown, in this invention, a second airbag 11 is fixedly connected to the other side of the anti-collision bar 4, and the other side of the second airbag 11 is fixedly connected to the anti-collision groove 3. An air inlet valve 12 and an air outlet valve 13 are fixedly connected to the top of the second airbag 11, respectively. The air inlet valve 12 and the air outlet valve 13 communicate air with the second airbag 11. The air inlet valve 12 is used to allow air to enter through the second airbag 11 when the anti-collision bar 4 moves due to an impact, and the air outlet valve 13 is used to discharge the gas in the second airbag 11 to the outside when the anti-collision bar 4 resets after an impact. Initially, the second airbag 11 is in a contracted state. In the relaxed state, both the intake valve 12 and the exhaust valve 13 are one-way valves. When the anti-collision bar 4 moves inward, the anti-collision bar 4 drives the second airbag 11 to move. The second airbag 11 takes in air through the intake valve 12 and inflates. The moving speed of the second airbag 11 is equivalent to the air intake speed. In other words, the second airbag 11 can fill the space in the anti-collision groove 3 away from the first airbag 10, and no foreign objects will enter. This can further prevent foreign objects from entering the anti-collision groove 3 and causing obstruction of movement or abnormal rebound.

[0029] like Figure 11As shown, in this invention, a workbench 31 is provided on the top of the robot body 1, and a sensor 32 is fixedly connected to the workbench 31. The sensor 32 is used to detect objects in front of it. The sensor 32 includes an infrared sensor, a displacement sensor, an ultrasonic ranging sensor, a vision sensor, etc., which can ensure that the robot body 1 collects various information in front of it during the movement process, thereby facilitating better completion of the work.

[0030] like Figure 11 As shown, in this invention, a transparent cover 33 is detachably connected to the workbench 31. The transparent cover 33 is located outside the sensor 32. The transparent cover 33 can effectively prevent the sensor 32 from being affected by dust or external liquids, which may lead to misjudgment. When there is dust on the transparent cover 33, it can be wiped with a cloth without causing any adverse effects on the sensor 32 itself. The detachable connection of the transparent cover 33 facilitates the replacement and cleaning of the transparent cover 33.

[0031] Working principle: When the anti-collision plate 2 collides with other objects, it moves inward upon impact, and the anti-collision rod 4 moves accordingly within the anti-collision groove 3. This compresses the first spring 5, which cushions the impact on the anti-collision plate 2, reducing damage to the robot body 1. Simultaneously, the protective mechanism protects the anti-collision groove 3, preventing foreign objects from entering the anti-collision rod 4 during movement, thus hindering its movement and potentially causing it to jam, leading to abnormal rebound of the anti-collision plate 2. During the entire movement process, if hair is entangled on the rotating shaft 7... When hair or thread is wrapped around the shaft 7, the anti-jamming mechanism works to cut the tangled hair or thread, preventing it from becoming increasingly entangled and obstructing the movement of the moving wheel 8, thus ensuring its normal movement. When hair or thread is wrapped around the shaft 7, it becomes increasingly tight under the action of the moving wheel 8, compressing the pressure plate 17 and controlling its movement into the telescopic groove 15. The second spring 18 is stretched, and when the pressure plate 17 contacts the cutting unit, it drives the cutting unit to move outward, thereby cutting the hair or thread on the shaft 7. After cutting, the pressure plate 17 moves upward under the action of the second spring 18 to reset, and the cutting unit also resets simultaneously. When the pressure plate 17 moves downward and contacts the cutting plate 19, the pressure plate 17 pushes the cutting plate 19 outward, and the cutting blade 20 moves outward accordingly. The third spring 21 is compressed, and the cutting blade 20 cuts the hair or thread on the rotating shaft 7. After the cutting blade 20 cuts the hair or thread, the pressure plate 17 resets and moves away from the cutting plate 19. The cutting plate 19 resets under the action of the third spring 21, which in turn drives the cutting blade 20 to reset, preparing for the next cutting operation. When cutting hair or thread, the controller controls the dual-axis motor 23 to work. The dual-axis motor 23 drives the reciprocating lead screw 24 to rotate, which in turn drives the cutting blade 20 to move back and forth. As the cutting blade 20 moves outward, it also reciprocates. This reciprocating motion rubs against the hair or thread, increasing the cutting speed and improving the cutting efficiency. This facilitates the rapid cutting of hair or thread, shortens the time that hair or thread is entangled, reduces the chance of the moving wheel 8 being restricted or jammed, and ensures the normal operation of the moving wheel 8. After the hair or thread is cut, the controller stops the dual-axis motor 23, and the cutting blade 20 stops reciprocating.When the pressure plate 17 is compressed by hair or thread, the flexible oil tank 29 is also compressed. The hydraulic oil in the flexible oil tank 29 enters the hydraulic cylinder 27 through the telescopic oil pipe 30, thereby driving the extended end of the hydraulic cylinder 27 to extend outward, causing the bracket 22 and the cutting blade 20 to move outward. At the same time, the accumulator 28 stores energy. The flexible oil tank 29 and the hydraulic cylinder 27 increase the outward movement distance of the cutting blade 20, making it easier to cut the hair or thread. When the hair or thread is cut, the pressure plate 17 drives the flexible oil tank 29 to reset, the accumulator 28 releases the stored energy, and then pushes the extended end of the hydraulic cylinder 27 to retract, causing the bracket 22 and the cutting blade 20 to reset. The hydraulic oil in the hydraulic cylinder 27 flows back into the flexible oil tank 29 through the telescopic oil pipe 30.

[0032] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Therefore, all equivalent changes made to the content described in the claims of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A collision avoidance robot, characterized in that: The robot body (1) includes a robot body (1) with several anti-collision grooves (3) evenly distributed on the robot body (1). Anti-collision rods (4) are movably connected in the anti-collision grooves (3). Anti-collision plates (2) are provided at the outer ends of the anti-collision rods (4). A first spring (5) is provided between the anti-collision rods (4) and the anti-collision grooves (3). A protective mechanism is provided in the anti-collision grooves (3). The protective mechanism is used to prevent foreign objects from entering the anti-collision grooves (3). Several support plates (6) are evenly distributed at the bottom of the robot body (1). A rotating shaft (7) is provided on the outer side of the support plate (6). A moving wheel (8) is provided at the outer end of the rotating shaft (7). An anti-jamming mechanism is provided in the rotating shaft (7). The anti-jamming mechanism is used to prevent hair or ropes and other items from getting tangled on the rotating shaft (7).

2. The collision avoidance robot according to claim 1, characterized in that: The anti-jamming mechanism includes a pressure plate (17), a movable groove (14) is provided inside the rotating shaft (7), and a telescopic groove (15) is provided on the upper side of the rotating shaft (7). The telescopic groove (15) is connected to the movable groove (14). The pressure plate (17) is movably connected inside the telescopic groove (15). A second spring (18) is connected between the pressure plate (17) and the movable groove (14). A cutting unit is provided inside the movable groove (14). The cutting unit is used to cut the hair or rope wrapped around the rotating shaft (7).

3. The collision avoidance robot according to claim 2, characterized in that: The cutting unit includes a cutting plate (19) that is movably connected to the movable groove (14). Cutting grooves (16) are symmetrically opened on both sides of the rotating shaft (7). The cutting grooves (16) are located on both sides of the telescopic groove (15). A cutting blade (20) is provided on the outside of the cutting plate (19). The cutting blade (20) is located in the cutting groove (16). A third spring (21) is provided between the cutting plate (19) and the movable groove (14).

4. The collision avoidance robot according to claim 3, characterized in that: The anti-jamming mechanism also includes a reciprocating unit, which is used to control the reciprocating movement of the cutting blade (20). The reciprocating unit includes a bracket (22), and the bracket (22) is connected to the outside of the cutting plate (19). A dual-axis motor (23) is fixedly connected to the bracket (22). Both ends of the dual-axis motor (23) are provided with reciprocating lead screws (24) that are rotatably connected to the bracket (22). A slider (25) is movably connected to the reciprocating lead screw (24). Both sliders (25) are connected to the cutting blade (20).

5. A collision avoidance robot according to claim 4, characterized in that: The anti-jamming mechanism also includes an extension unit, which is used to control the extension and retraction of the cutting blade (20). A moving groove (26) is provided on the outer side of the cutting plate (19). The moving groove (26) is movably connected to the bracket (22). A hydraulic cylinder (27) is provided inside the cutting plate (19). The extended end of the hydraulic cylinder (27) is connected to the bracket (22). An accumulator (28) connected to the hydraulic cylinder (27) is provided inside the cutting plate (19). Flexible oil tanks (29) are provided on both sides of the pressure plate (17). The flexible oil tanks (29) are fixedly connected to the rotating shaft (7). A telescopic oil pipe (30) is provided inside the rotating shaft (7). One end of the telescopic oil pipe (30) is connected to the flexible oil tank (29), and the other end of the telescopic oil pipe (30) is connected to the hydraulic cylinder (27).

6. A collision avoidance robot according to claim 5, characterized in that: A fourth spring (2201) is provided on the inner side of the bracket (22), and the other end of the fourth spring (2201) is fixedly connected to the moving groove (26).

7. The collision avoidance robot according to claim 1, characterized in that: The protective mechanism includes a movable plate (9), and a movable plate (9) is provided on one side of the anti-collision bar (4) and is movably connected to the anti-collision groove (3). The movable plate (9) is located above the first spring (5). A first airbag (10) is provided on one side of the anti-collision bar (4). The first airbag (10) is located on the upper side of the movable plate (9), and the other side of the first airbag (10) is connected to the robot body (1).

8. A collision avoidance robot according to claim 7, characterized in that: A second airbag (11) is provided on the other side of the anti-collision bar (4). The other side of the second airbag (11) is connected to the anti-collision groove (3). An air inlet valve (12) and an air outlet valve (13) are respectively provided on the top of the second airbag (11). The air inlet valve (12) is used to allow air to enter the second airbag (11) when the anti-collision bar (4) moves due to impact. The air outlet valve (13) is used to discharge the gas in the second airbag (11) to the outside when the anti-collision bar (4) resets after impact.

9. A collision avoidance robot according to claim 1, characterized in that: The robot body (1) has a workbench (31) on top, and a sensor (32) is installed on the workbench (31).

10. A collision avoidance robot according to claim 9, characterized in that: A transparent cover (33) is provided on the workbench (31).

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