Robot moving base with anti-collision mechanism

Abstract

The invention discloses a robot moving base with an anti-collision mechanism, and relates to the technical field of robot moving bases. Comprising an arc plate, the inner wall of the arc plate is fixedly connected with two reset springs, the ends, away from the arc plate, of the reset springs are fixedly connected with a shell, the two reset springs are vertically and symmetrically arranged at the two ends of the arc plate, the sides, close to the shell, of the reset springs are fixedly connected with a fixing ring, and the outer side of the fixing ring is rotationally connected with a rotating plate; the rotating plates are symmetrically arranged with the reset spring as the center. According to the robot moving base with the anti-collision mechanism, the whole protection assembly is designed to be circular, the circular shape can enable collision force to be dispersed to the whole protection assembly, structural damage caused by too large local stress is avoided, when equipment is collided, a reset spring is stressed to be rapidly compressed, energy generated by collision is absorbed, and the safety of the equipment is improved. Therefore, the impact force borne by the robot is reduced.

Description

Technical Field

[0001] This invention relates to the field of robot mobile base technology, specifically a robot mobile base with an anti-collision mechanism. Background Technology

[0002] Robots are a common term for automated machines, which include all machines that mimic human behavior or thought, or other biological entities (such as robotic dogs and robotic cats). In a narrower sense, there are many classifications and controversies surrounding the definition of robots; some computer programs are even referred to as robots. In modern industry, a robot refers to an artificial machine device capable of automatically performing tasks to replace or assist human work. Ideally, highly realistic robots are the product of advanced integrated cybernetics, mechatronics, computer science and artificial intelligence, materials science, and bionics. The robot's base is a crucial component, providing a stable foundation and ensuring normal operation in various environments and applications. A mobile base within the robot's chassis is a device that enables the robot to move, providing mobility, navigation, stability, and expandability.

[0003] Robot bases enable robots to move autonomously, expanding their application scenarios. However, during use, their outer walls inevitably collide with obstacles, which can easily damage their internal structure. Furthermore, the base lacks a buffer mechanism to protect the robot's internal structure. On unpaved surfaces, the robot base may experience bumps and instability during movement, potentially damaging internal components. Summary of the Invention

[0004] To achieve the above objectives, the present invention is implemented through the following technical solution: a robot mobile base with an anti-collision mechanism, comprising a shell and rollers fixedly installed at the bottom of the shell, wherein there are multiple rollers evenly distributed at the bottom edge of the shell, and a motor is fixedly connected inside the shell;

[0005] A connecting assembly is fixedly installed on the top of the housing, and the output end of the motor is fixedly connected to the connecting assembly;

[0006] The protective components are fixedly installed on the outside of the housing. There are multiple protective components, which are evenly distributed on the outside of the housing.

[0007] The protective component includes an arc plate, with a return spring fixedly connected to the inner wall of the arc plate. The end of the return spring away from the arc plate is fixedly connected to the housing. There are two return springs, which are vertically and symmetrically arranged at both ends of the arc plate. The protective component is circular in design. The circular shape can disperse the impact force throughout the entire protective component, avoiding structural damage caused by excessive local force. When the device is impacted, the return spring is quickly compressed, absorbing the energy generated by the collision, thereby reducing the impact force on the robot. This not only protects the structural safety of the robot itself, but also reduces damage to obstacles. Moreover, the return spring can automatically return to its original shape after compression, allowing the robot to quickly return to normal operating status, improving the robot's work efficiency and reliability. A fixing ring is fixedly connected to the side of the return spring near the housing. A rotating plate is rotatably connected to the outside of the fixing ring. The rotating plate is symmetrically arranged with the return spring as the center.

[0008] Preferably, there are two fixed rings, which are vertically and symmetrically arranged at both ends of the arc plate, with the return spring located at the interval between the two fixed rings. There are multiple rotating plates, divided into two groups. One group of rotating plates is symmetrically arranged around the fixed rings. When the arc plate collides with an obstacle, the impact force is first transmitted to the sliding rotating plates at both ends. The sliding rotating plates then transmit the force to the return spring in the middle, causing the return spring to compress. During the compression process, the return spring absorbs the energy generated by the collision, converting kinetic energy into elastic potential energy, thereby reducing the impact force on the robot. Simultaneously, the sliding rotating plates drive the connecting rod to slide inside the ring hole to adapt to the compression and extension of the spring, ensuring the protective components can... The device can flexibly deform within a certain range to adapt to collisions of different degrees. After the collision, the return spring releases the stored elastic potential energy, returns to the initial state, and pushes the sliding plate back to its original position, so that the protective component can return to normal working state. By setting the plate and the return spring, the combination of the middle return spring and the sliding plates at both ends can achieve a highly efficient buffering and shock absorption effect. The elastic deformation capability of the return spring and the flexible sliding of the sliding plate enable the protective component to effectively absorb and disperse energy when facing collisions of different speeds and forces, and protect the robot and its surrounding environment to the greatest extent. The end of the plate away from the fixed ring is fixedly connected to a connecting rod, and the two ends of the connecting rod are fixedly connected to the two plates on both sides of the fixed ring.

[0009] Preferably, the connecting assembly includes a connecting seat, which is conical in design. An elastic ring is fixedly connected to the bottom of the connecting seat, and the end of the elastic ring furthest from the connecting seat is fixedly connected to the top of the housing. A connecting cylinder is fixedly connected to the center of the bottom of the connecting seat, and a fixing strip is fixedly connected to the inner wall of the connecting cylinder. The motor is powered by an external power source, and its operation drives the connecting cylinder to rotate via the fixing strip, thereby rotating the connecting seat and the robot on top. This allows the robot on top to be adjusted to multiple angles. The connecting cylinder is connected to the output end of the motor, and the connecting cylinder is slidably connected to the output end of the motor via the fixing strip. A groove is formed in the center of the top of the connecting seat, and a central rod is slidably connected to the center of the groove. A compression spring is fixedly connected to the bottom of the central rod, and the end of the compression spring furthest from the central rod is fixedly connected to the connecting seat. A circular plate is fixedly connected to the top of the central rod, and multiple circular rods are fixedly connected to the bottom edge of the circular plate. These circular rods are evenly distributed around the central rod and slidably connected to the connecting seat. A slot is formed at the top edge of the connecting seat, allowing the robot to be placed on top of the connecting seat so that the robot's connecting parts are inserted into the slot. Under the robot's gravity, the compression spring is compressed, and the central rod drives the circular plate downward, placing the circular plate inside the groove. This causes the circular rod to contact and compress with the rotating rod, subjecting the spring plate to compressive force. Subsequently, the rotating rod rotates and contacts the connecting part inside the groove. The friction between the rotating rod and the connecting part clamps and fixes the robot, constraining it from multiple directions and ensuring a tight fit with the mobile base. This method effectively resists various external forces encountered by the robot during operation, including horizontal impact, vertical vibration, and torque, ensuring the robot remains stable on the mobile base and is less prone to loosening or falling off. At the same time, the clamping at the edge provides sufficient lateral force to prevent the robot from sliding sideways and also buffers vertical impact. There are multiple grooves evenly distributed around the circular plate. The circular rod passes through the connecting seat and extends into the groove. A rotating rod is installed inside the groove, with one end of the rotating rod near the central rod rotatably connected to the groove. A spring plate is fixedly connected to the outside of the rotating rod, with the end of the spring plate away from the rotating rod also fixedly connected to the groove.

[0010] Preferably, the housing includes a top plate, a cylinder is fixedly connected to the bottom of the top plate, a connecting seat is located inside the cylinder, a motor is fixedly connected to the middle of the bottom of the cylinder, the output end of the motor passes through the cylinder and extends into the cylinder, a ring is fixedly connected to the outside of the cylinder, and a trapezoidal block is fixedly connected to the outside of the ring. When the arc plate collides with an obstacle, the arc plate moves towards the cylinder inside two adjacent trapezoidal blocks. By setting the trapezoidal blocks, a stable connection is provided for the movable base housing and the arc plate. It contacts both through its side, forming a stable support structure between the movable base and the arc plate. At the same time, the shape of the trapezoidal block can be... To create a natural spatial transition between the movable base and the arc plate, it fills the gap between the two, making the overall robot appearance more compact and smooth, avoiding abrupt gaps or uneven surfaces. Multiple trapezoidal blocks are evenly distributed on the outer side of the cylinder. The arc plate is located at the interval between adjacent trapezoidal blocks, and the contact surface between the arc plate and adjacent trapezoidal blocks is inclined. A connecting ring is fixedly connected to the bottom of the cylinder, and the connecting ring is sleeved on the outside of the motor. A groove is opened at the end of the trapezoidal block away from the ring, and a support plate is slidably connected to the inner wall of the groove. The bottom of the support plate is connected to a roller. A support ring is fixedly connected to the top, and the support ring and connecting ring are located on the same vertical plane with their axes coinciding. A sliding groove is provided on the outer side of the connecting ring. An intermediate cylinder is fixedly connected to the bottom of the cylinder. The intermediate cylinder is elastic and is fitted around the outside of the motor. A support seat is fixedly connected to the top center of the support plate. The support seat is elastic. When the moving base passes through uneven roads, the elastic properties of the intermediate cylinder and support seat effectively absorb and buffer the vibrations generated during equipment operation, reducing friction and collisions between mechanical parts, thereby reducing wear and extending the machine's lifespan. The lifespan of mechanical parts is extended, reducing equipment maintenance costs and replacement frequency. At the same time, vibration damping can also prevent electronic components from loosening, desoldering, or being damaged due to vibration, ensuring the normal operation of electronic equipment and improving the reliability and stability of the equipment. The top of the support base is fixedly connected to the motor, and a positioning ring is fixedly connected to the top of the support plate. An electric push rod is fixedly connected to the bottom edge of the cylinder. The output end of the electric push rod is fixedly connected to a limit component, which is slidably connected to the sliding groove. The outer side of the ring near the rotating plate has a ring hole, and the connecting rod is located inside the ring hole. There are two rings, one of which is fixedly connected to the bottom of the support plate.

[0011] Preferably, the limiting component includes an intermediate ring located at the interval between the positioning ring and the connecting ring. Multiple protrusions are fixedly connected to the inner wall of the intermediate ring, evenly distributed on its surface. These protrusions are located inside a sliding groove, and the intermediate ring is slidably connected to the connecting ring via the protrusions. When the electric actuator operates, it moves the intermediate ring downwards, causing the protrusions to slide within the sliding groove until the fixed block at the bottom of the intermediate ring contacts the ground. Utilizing the elastic properties of the elastic plate, the contact block makes tight contact with the ground, increasing the contact points between the movable base and the ground, forming a more stable support structure, and helping to prevent… The mobile base moves or shakes when subjected to external forces such as collisions or wind, improving the overall stability and safety of the robot. It also better balances the robot's weight, especially when the robot's center of gravity is high or the load is uneven, effectively reducing the risk of tipping over and improving its stability under various ground conditions. A fixing block is fixedly connected to the bottom of the middle ring. The fixing block is located inside the through hole. A through groove is opened in the middle of the fixing block. An elastic plate is fixedly connected to the inner wall of the through groove. A contact block is slidably connected to the inner wall of the through groove. The end of the elastic plate away from the through groove is fixedly connected to the contact block.

[0012] This invention provides a robot mobile base with an anti-collision mechanism. It has the following beneficial effects:

[0013] I. The robot mobile base with anti-collision mechanism, through the combination of rotating plates and return springs, the central return spring and the sliding rotating plates at both ends can achieve a highly efficient buffering and shock absorption effect. The elastic deformation capability of the return spring and the flexible sliding of the sliding rotating plates enable the protective components to effectively absorb and disperse energy when facing collisions of different speeds and forces, thus protecting the robot and its surrounding environment to the greatest extent.

[0014] Second, the robot's mobile base with an anti-collision mechanism absorbs the energy generated by a collision by rapidly compressing the return spring, thereby reducing the impact force on the robot. This not only protects the robot's own structural safety but also reduces damage to obstacles.

[0015] Third, the robot mobile base with anti-collision mechanism uses the friction between the rotating rod and the connecting parts to clamp and fix the robot. It can constrain the robot from multiple directions and make it tightly connected to the mobile base. This method can effectively resist various external forces that the robot is subjected to during operation, including horizontal impact force, vertical vibration and torque force, etc., to ensure that the robot remains stable on the mobile base.

[0016] Fourth, the robot mobile base with anti-collision mechanism provides a stable connection between the mobile base shell and the arc plate by setting a trapezoidal block. It can form a stable support structure between the mobile base and the arc plate by contacting the two with the side. At the same time, the shape of the trapezoidal block can form a natural spatial transition between the mobile base and the arc plate, which can fill the gap between the two. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the structure of the invention from a bottom view;

[0019] Figure 3 This is a schematic diagram of the cross-sectional view of the present invention;

[0020] Figure 4 This is a schematic diagram of the structure of the protective component of the present invention;

[0021] Figure 5 This is a bottom view of the connecting component of the present invention.

[0022] Figure 6 This is a schematic diagram of the cross-sectional view of the connection component of the present invention;

[0023] Figure 7 For the present invention Figure 6 A structural schematic diagram of the enlarged view at point A in the middle;

[0024] Figure 8 This is a schematic diagram of the structure of the housing of the present invention;

[0025] Figure 9 This is a schematic diagram of the structure of the shell of the present invention in cross-section;

[0026] Figure 10 This is a schematic diagram of the structure of the limiting component of the present invention.

[0027] In the diagram: 1. Shell; 11. Top plate; 12. Cylinder; 13. Ring; 14. Trapezoidal block; 15. Support plate; 16. Through hole; 17. Electric actuator; 18. Limiting component; 181. Intermediate ring; 182. Protrusion; 183. Fixing block; 184. Through groove; 185. Elastic plate; 186. Contact block; 19. Positioning ring; 110. Ring hole; 111. Connecting ring; 112. Sliding groove; 113. Sliding groove; 114. Intermediate cylinder; 11 5. Support seat; 116. Support ring; 2. Protective assembly; 21. Arc plate; 22. Fixing ring; 23. Rotating plate; 24. Connecting rod; 25. Return spring; 3. Connecting assembly; 31. Connecting seat; 32. Groove; 33. Recessed groove; 34. Round plate; 35. Round rod; 36. Elastic ring; 37. Connecting cylinder; 38. Fixing strip; 39. Compression spring; 310. Intermediate rod; 311. Rotating rod; 312. Spring plate; 4. Roller; 5. Motor. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0029] First embodiment, such as Figures 1 to 4 As shown, the present invention provides a technical solution: a robot mobile base with an anti-collision mechanism, including a housing 1 and rollers 4 fixedly installed at the bottom of the housing 1. There are multiple rollers 4, which are evenly distributed at the bottom edge of the housing 1. A motor 5 is fixedly connected inside the housing 1.

[0030] Connection component 3 is fixedly installed on the top of housing 1, and the output end of motor 5 is fixedly connected to connection component 3;

[0031] Protective component 2 is fixedly installed on the outside of housing 1. There are multiple protective components 2, which are evenly distributed on the outside of housing 1.

[0032] The protective component 2 includes an arc plate 21, with a return spring 25 fixedly connected to the inner wall of the arc plate 21. The end of the return spring 25 away from the arc plate 21 is fixedly connected to the housing 1. There are two return springs 25, which are vertically and symmetrically arranged at both ends of the arc plate 21. The protective component 2 is circular in design. The circular shape can disperse the impact force to the entire protective component 2, avoiding structural damage caused by excessive local force. When the device is impacted, the return spring 25 is quickly compressed and absorbs the energy generated by the collision, thereby reducing the impact force on the robot. This not only protects the structural safety of the robot itself, but also reduces damage to obstacles. Moreover, the return spring 25 can automatically return to its original shape after compression, allowing the robot to quickly return to normal operation, improving the robot's working efficiency and reliability. A fixing ring 22 is fixedly connected to the side of the return spring 25 near the housing 1. A rotating plate 23 is rotatably connected to the outside of the fixing ring 22. The rotating plate 23 is symmetrically arranged with the return spring 25 as the center.

[0033] There are two fixed rings 22, which are vertically and symmetrically arranged at both ends of the arc plate 21. The return spring 25 is located at the interval between the two fixed rings 22. There are multiple rotating plates 23, which are divided into two groups. One group of rotating plates 23 is symmetrically arranged around the fixed rings 22. When the arc plate 21 collides with an obstacle, the impact force is first transmitted to the sliding rotating plates 23 at both ends. The sliding rotating plates 23 transmit the force to the return spring 25 in the middle, causing the return spring 25 to compress and deform. During the compression process, the return spring 25 absorbs the energy generated by the collision and converts the kinetic energy into elastic potential energy, thereby reducing the impact force on the robot. At the same time, the sliding rotating plates 23 drive the connecting rod 24 to slide inside the ring hole 110 to adapt to the compression and extension of the spring, ensuring the protective components. 2. It can flexibly deform within a certain range to adapt to collisions of different degrees. After the collision ends, the return spring 25 will release the stored elastic potential energy and return to the initial state, pushing the sliding plate 23 back to its original position, so that the protective component can return to normal working state. By setting the plate 23 and the return spring 25, the combination of the middle return spring 25 and the sliding plates 23 at both ends can achieve a high-efficiency buffering and shock absorption effect. The elastic deformation capability of the return spring 25 and the flexible sliding of the sliding plate 23 enable the protective component to effectively absorb and disperse energy when facing collisions of different speeds and forces, and protect the robot and its surrounding environment to the greatest extent. The end of the plate 23 away from the fixed ring 22 is fixedly connected to the connecting rod 24, and the two ends of the connecting rod 24 are fixedly connected to the two plates 23 on both sides of the fixed ring 22.

[0034] The second embodiment is based on the first embodiment; please refer to [link / reference]. Figures 5 to 7As shown, the connecting assembly 3 includes a connecting seat 31, which is conical in shape. An elastic ring 36 is fixedly connected to the bottom of the connecting seat 31. The end of the elastic ring 36 furthest from the connecting seat 31 is fixedly connected to the top of the housing 1. A connecting cylinder 37 is fixedly connected to the middle of the bottom of the connecting seat 31. A fixing strip 38 is fixedly connected to the inner wall of the connecting cylinder 37. The motor 5 is powered by an external power source. The motor 5 drives the connecting cylinder 37 to rotate via the fixing strip 38, thereby driving the connecting seat 31 and the robot on top to rotate. This allows the robot on top to be adjusted to multiple angles. The connecting cylinder 37 is connected to the output end of the motor 5, and the connecting cylinder 37 slides against the output end of the motor 5 via the fixing strip 38. The connecting seat 31 has a groove 33 at the top center, and a middle rod 310 is slidably connected to the middle of the groove 33. A compression spring 39 is fixedly connected to the bottom of the middle rod 310, and the end of the compression spring 39 away from the middle rod 310 is fixedly connected to the connecting seat 31. A circular plate 34 is fixedly connected to the top of the middle rod 310, and a circular rod 35 is fixedly connected to the bottom edge of the circular plate 34. There are multiple circular rods 35, which are evenly distributed around the middle rod 310. The circular rods 35 are slidably connected to the connecting seat 31. A slot 32 is provided at the top edge of the connecting seat 31. The robot is placed on top of the connecting seat 31, so that the robot's connection... The connector is inserted into the slot 32. Simultaneously, under the robot's gravity, the compression spring 39 is compressed, and the intermediate rod 310 drives the circular plate 34 to move downwards, placing the circular plate 34 inside the groove 33. This causes the circular rod 35 to contact and compress with the rotating rod 311, resulting in the spring plate 312 being subjected to compressive force. Subsequently, the rotating rod 311 rotates and contacts the connector inside the slot 32. Utilizing the friction between the rotating rod 311 and the connector, the robot is clamped and fixed. This method can constrain the robot from multiple directions, ensuring a tight connection with the mobile base. It effectively resists various external forces encountered by the robot during operation, including horizontal impact forces. The system effectively mitigates vertical vibrations and torque, ensuring the robot remains stable on the mobile base and preventing it from loosening or falling off. The edge clamps provide sufficient lateral force to prevent the robot from sliding sideways and also cushion vertical impacts. Multiple slots 32 are evenly distributed around a circular plate 34. A circular rod 35 passes through the connecting seat 31 and extends into the slot 32. A rotating rod 311 is installed inside the slot 32. The end of the rotating rod 311 closest to the central rod 310 is rotatably connected to the slot 32. A spring plate 312 is fixedly connected to the outside of the rotating rod 311, and the end of the spring plate 312 furthest from the rotating rod 311 is fixedly connected to the slot 32.

[0035] The third embodiment is based on embodiments one and two; please refer to [link / reference]. Figures 8 to 10As shown, the housing 1 includes a top plate 11, with a cylinder 12 fixedly connected to the bottom of the top plate 11. A connecting seat 31 is located inside the cylinder 12. A motor 5 is fixedly connected to the middle of the bottom of the cylinder 12. The output end of the motor 5 passes through the cylinder 12 and extends into the cylinder 12. A ring 13 is fixedly connected to the outside of the cylinder 12, and a trapezoidal block 14 is fixedly connected to the outside of the ring 13. When the arc plate 21 collides with an obstacle, the arc plate 21 moves towards the cylinder 12 inside two adjacent trapezoidal blocks 14. By being set in the trapezoidal blocks 14, a stable connection is provided for the movable base housing 1 and the arc plate 21. It contacts both through its side, forming a stable support structure between the movable base and the arc plate 21. At the same time, the shape of the trapezoidal block can be adjusted. A natural spatial transition is formed between the movable base and the arc plate 21, which fills the gap between them, making the overall appearance of the robot more compact and smooth, avoiding abrupt gaps or uneven surfaces. Multiple trapezoidal blocks 14 are evenly distributed on the outside of the cylinder 12. The arc plate 21 is located at the interval between two adjacent trapezoidal blocks 14, and the contact surface between the arc plate 21 and the adjacent trapezoidal block 14 is inclined. A connecting ring 111 is fixedly connected to the bottom of the cylinder 12, and the connecting ring 111 is sleeved on the outside of the motor 5. A groove 113 is formed at the end of the trapezoidal block 14 away from the ring 13. A support plate 15 is slidably connected to the inner wall of the groove 113. The bottom of the support plate 15 is connected to the roller 4, and the top of the support plate 15 is fixed. A support ring 116 is connected, and the support ring 116 and the connecting ring 111 are located on the same vertical plane, with their axes coinciding. A sliding groove 112 is provided on the outer side of the connecting ring 111. An intermediate cylinder 114 is fixedly connected to the bottom of the cylinder 12. The intermediate cylinder 114 is elastic and is sleeved on the outside of the motor 5. A support seat 115 is fixedly connected to the top center of the support plate 15. The support seat 115 is elastic. When the moving base passes through uneven roads, the intermediate cylinder 114 and the support seat 115, with their elastic properties, can effectively absorb and buffer the vibrations generated during equipment operation, reducing friction and collision between mechanical parts, thereby reducing wear. This reduces wear and tear, extends the service life of mechanical parts, reduces equipment maintenance costs and replacement frequency, and also prevents electronic components from loosening, desoldering or being damaged due to vibration, ensuring the normal operation of electronic equipment and improving the reliability and stability of the equipment. The top of the support base 115 is fixedly connected to the motor 5, and the top of the support plate 15 is fixedly connected to the positioning ring 19. The bottom edge of the cylinder 12 is fixedly connected to the electric push rod 17, and the output end of the electric push rod 17 is fixedly connected to the limit member 18. The limit member 18 is slidably connected to the sliding groove 112. The ring 13 has an annular hole 110 on the outer side near the rotating plate 23, and the connecting rod 24 is located inside the annular hole 110. There are two rings 13, and one ring 13 is fixedly connected to the bottom of the support plate 15.

[0036] The limiting component 18 includes an intermediate ring 181, located at the interval between the positioning ring 19 and the connecting ring 111. A plurality of protrusions 182 are fixedly connected to the inner wall of the intermediate ring 181, evenly distributed on the ring. The protrusions 182 are located inside the sliding groove 112. The intermediate ring 181 is slidably connected to the connecting ring 111 via the protrusions 182. When the electric push rod 17 operates, it drives the intermediate ring 181 downwards, causing the protrusions 182 to slide within the sliding groove 112 until the fixing block 183 at the bottom of the intermediate ring 181 contacts the ground. Utilizing the elastic properties of the elastic plate 185, the contact block 186 makes tight contact with the ground, increasing the contact points between the movable base and the ground, thus creating a more stable connection. The fixed support structure helps prevent the mobile base from moving or shaking when subjected to external forces such as collisions or wind, improving the overall stability and safety of the robot. It can also better balance the weight of the robot, especially when the robot's center of gravity is high or the load is uneven, effectively reducing the risk of the robot tipping over and improving its stability under various ground conditions. The bottom of the intermediate ring 181 is fixedly connected to a fixing block 183, which is located inside the through hole 16. A through groove 184 is opened in the middle of the fixing block 183. An elastic plate 185 is fixedly connected to the inner wall of the through groove 184. A contact block 186 is slidably connected to the inner wall of the through groove 184. The end of the elastic plate 185 away from the through groove 184 is fixedly connected to the contact block 186.

[0037] In use, the robot is placed on top of the connector 31, so that the robot's connector is inserted into the slot 32. At the same time, under the action of the robot's gravity, the compression spring 39 is compressed, and the intermediate rod 310 drives the circular plate 34 to move downward, so that the circular plate 34 is located inside the groove 33. Thus, the circular rod 35 and the rotating rod 311 come into contact and squeeze each other, and the spring plate 312 is subjected to the squeezing force. Then the rotating rod 311 rotates and comes into contact with the connector inside the slot 32. The robot is clamped and fixed by the friction between the rotating rod 311 and the connector.

[0038] When the arc plate 21 collides with an obstacle, the impact force is first transmitted to the sliding rotating plates 23 at both ends. The sliding rotating plates 23 transmit the force to the return spring 25 in the middle, causing the return spring 25 to compress and deform. During the compression process, the return spring 25 absorbs the energy generated by the collision and converts the kinetic energy into elastic potential energy, thereby reducing the impact force on the robot. At the same time, the sliding rotating plate 23 drives the connecting rod 24 to slide inside the annular hole 110 to adapt to the compression and extension of the spring, ensuring that the protective component 2 can deform flexibly within a certain range to adapt to collisions of different degrees. After the collision ends, the return spring 25 releases the stored elastic potential energy, returns to the initial state, and pushes the sliding rotating plate 23 back to its original position, so that the protective component returns to its normal working state.

[0039] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0040] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot mobile base with an anti-collision mechanism, characterized in that, include: The housing (1) and the rollers (4) fixedly installed at the bottom of the housing (1) are multiple, and the multiple rollers (4) are evenly distributed at the bottom edge of the housing (1). A motor (5) is fixedly connected inside the housing (1). A connecting component (3) is fixedly installed on the top of the housing (1), and the output end of the motor (5) is fixedly connected to the connecting component (3); The protective component (2) is fixedly installed on the outside of the housing (1). There are multiple protective components (2), and the multiple protective components (2) are evenly distributed on the outside of the housing (1). The protective component (2) includes an arc plate (21). A return spring (25) is fixedly connected to the inner wall of the arc plate (21). The end of the return spring (25) away from the arc plate (21) is fixedly connected to the housing (1). There are two return springs (25). The two return springs (25) are vertically and symmetrically arranged at both ends of the arc plate (21). A fixing ring (22) is fixedly connected to the side of the return spring (25) close to the housing (1). A rotating plate (23) is rotatably connected to the outside of the fixing ring (22). The rotating plate (23) is symmetrically arranged with the return spring (25) as the center.

2. The robot mobile base with an anti-collision mechanism according to claim 1, characterized in that: There are two fixed rings (22), which are vertically and symmetrically arranged at both ends of the arc plate (21). The reset spring (25) is located at the interval between the two fixed rings (22). There are multiple rotating plates (23), which are divided into two groups. One group of rotating plates (23) is symmetrically arranged with the fixed ring (22) as the center. A connecting rod (24) is fixedly connected to one end of the rotating plate (23) away from the fixed ring (22). The two ends of the connecting rod (24) are fixedly connected to the two rotating plates (23) on both sides of the fixed ring (22).

3. A robot mobile base with an anti-collision mechanism according to claim 2, characterized in that: The connecting assembly (3) includes a connecting seat (31), which is a conical design. An elastic ring (36) is fixedly connected to the bottom of the connecting seat (31). The end of the elastic ring (36) away from the connecting seat (31) is fixedly connected to the top of the housing (1). A connecting cylinder (37) is fixedly connected to the middle of the bottom of the connecting seat (31). A fixing strip (38) is fixedly connected to the inner wall of the connecting cylinder (37). The connecting cylinder (37) is connected to the output end of the motor (5). The connecting cylinder (37) is slidably connected to the output end of the motor (5) through the fixing strip (38). A groove (33) is provided in the middle of the top of the connecting seat (31). A middle rod (310) is slidably connected to the middle of the inside of the groove (33). A compression spring (39) is fixedly connected to the bottom of the middle rod (310). The end of the compression spring (39) away from the middle rod (310) is fixedly connected to the connecting seat (31).

4. A robot mobile base with an anti-collision mechanism according to claim 3, characterized in that: A circular plate (34) is fixedly connected to the top of the intermediate rod (310), and a circular rod (35) is fixedly connected to the bottom edge of the circular plate (34). There are multiple circular rods (35), which are evenly distributed around the intermediate rod (310). The circular rods (35) are slidably connected to the connecting seat (31). A slot (32) is provided at the top edge of the connecting seat (31). There are multiple slots (32), which are evenly distributed around the circular plate (34).

5. A robot mobile base with an anti-collision mechanism according to claim 4, characterized in that: The round rod (35) passes through the connecting seat (31) and extends into the inside of the slot (32). A rotating rod (311) is provided inside the slot (32). The end of the rotating rod (311) near the middle rod (310) is rotatably connected to the slot (32). A spring plate (312) is fixedly connected to the outside of the rotating rod (311). The end of the spring plate (312) away from the rotating rod (311) is fixedly connected to the slot (32).

6. A robot mobile base with an anti-collision mechanism according to claim 5, characterized in that: The housing (1) includes a top plate (11), a cylinder (12) is fixedly connected to the bottom of the top plate (11), the connecting seat (31) is located inside the cylinder (12), a motor (5) is fixedly connected to the middle of the bottom of the cylinder (12), the output end of the motor (5) passes through the cylinder (12) and extends into the cylinder (12), a ring (13) is fixedly connected to the outside of the cylinder (12), a trapezoidal block (14) is fixedly connected to the outside of the ring (13), there are multiple trapezoidal blocks (14), the multiple trapezoidal blocks (14) are evenly distributed on the outside of the cylinder (12), the arc plate (21) is located at the interval between two adjacent trapezoidal blocks (14), and the contact surface between the arc plate (21) and the adjacent trapezoidal block (14) is inclined.

7. A robot mobile base with an anti-collision mechanism according to claim 6, characterized in that: A connecting ring (111) is fixedly connected to the bottom of the cylinder (12). The connecting ring (111) is sleeved on the outside of the motor (5). A groove (113) is opened at the end of the trapezoidal block (14) away from the ring (13). A support plate (15) is slidably connected to the inner wall of the groove (113). The bottom of the support plate (15) is connected to the roller (4). A support ring (116) is fixedly connected to the top of the support plate (15). The support ring (116) and the connecting ring (111) are located on the same vertical plane, and the axes of the support ring (116) and the connecting ring (111) coincide.

8. A robot mobile base with an anti-collision mechanism according to claim 7, characterized in that: The outer side of the connecting ring (111) is provided with a sliding groove (112). The bottom of the cylinder (12) is fixedly connected to an intermediate cylinder (114). The intermediate cylinder (114) is elastic and is sleeved on the outside of the motor (5). The top of the support plate (15) is fixedly connected to a support seat (115). The top of the support seat (115) is fixedly connected to the motor (5). The top of the support plate (15) is fixedly connected to a positioning ring (19).

9. A robot mobile base with an anti-collision mechanism according to claim 8, characterized in that: An electric actuator (17) is fixedly connected to the bottom edge of the cylinder (12). A limiting member (18) is fixedly connected to the output end of the electric actuator (17). The limiting member (18) is slidably connected to the sliding groove (112). An annular hole (110) is opened on the outer side of the ring (13) near the rotating plate (23). The connecting rod (24) is located inside the annular hole (110). There are two rings (13). One of the rings (13) is fixedly connected to the bottom of the support plate (15).

10. A robot mobile base with an anti-collision mechanism according to claim 9, characterized in that: The limiting member (18) includes an intermediate ring (181), which is located at the interval between the positioning ring (19) and the connecting ring (111). A protrusion (182) is fixedly connected to the inner wall of the intermediate ring (181). There are multiple protrusions (182) evenly distributed on the intermediate ring (181). The protrusions (182) are located inside the sliding groove (112). The intermediate ring (181) is connected to the connecting ring (111) via the protrusions (182). 111) Sliding connection, the bottom of the intermediate ring (181) is fixedly connected to a fixing block (183), the fixing block (183) is located inside the through hole (16), the middle part of the fixing block (183) is provided with a through groove (184), the inner wall of the through groove (184) is fixedly connected to an elastic plate (185), the inner wall of the through groove (184) is slidably connected to a contact block (186), and the end of the elastic plate (185) away from the through groove (184) is fixedly connected to the contact block (186).

Images