Plug-in robot with anti-collision function

Abstract

This invention discloses a plug-in robot with anti-collision function, relating to the field of robot technology. The invention includes a robot base, with a connecting plate fixedly mounted on the bottom of the base. The connecting plate is rotatably mounted on a sliding block, which is slidably connected to the inside of a slide rail. Buffer plates are connected to both ends of the slide rail via buffer pillars. An anti-collision mechanism is provided on the outside of the robot base. The anti-collision mechanism includes shock-absorbing pillars on the robot base, anti-collision pads fixedly mounted on the shock-absorbing pillars, and a connecting block fixedly mounted on the side of the anti-collision pads near the robot base. This invention uses the anti-collision pads and shock-absorbing pillars to initially buffer collision forces. The structure composed of the connecting block and shock-absorbing springs allows the slider to compress the springs when the anti-collision pads are under force, absorbing and dispersing energy. Furthermore, the robot base, connected to the sliding block via the connecting plate, slides along the slide rail, and the buffer plates and buffer pillars at both ends of the slide rail further buffer the impact, providing comprehensive structural protection, reducing damage, and extending lifespan.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and more specifically, relates to a plug-in robot with anti-collision function. Background Technology

[0002] Plug-in robots are highly modular and scalable robot systems. Their core definition lies in the rapid integration and dynamic replacement of hardware functional modules (such as sensors, actuators, and processors) and software functional modules through standardized interfaces and pluggable components. Users can flexibly combine, add, remove, or upgrade plug-in modules according to task requirements without complex modifications to the overall architecture. This allows for low-cost, high-efficiency adaptation to diverse scenarios, enhancing the robot's adaptability and functional iteration capabilities.

[0003] With the increasing prevalence of automated production and intelligent operations, modular robots, due to their flexibility and efficiency, have become indispensable equipment in fields such as electronics manufacturing and precision assembly. However, in actual operation, robots often face complex and ever-changing working environments, significantly increasing the risk of collisions with surrounding equipment and obstacles. Collisions not only damage the robot's own structure, affecting its accuracy and stability, but also cause production interruptions, increasing maintenance costs and time. Currently, some modular robots on the market have limited collision avoidance capabilities, making it difficult to effectively cope with sudden collisions. Therefore, the development of a modular robot with collision avoidance capabilities is urgently needed. This robot can quickly buffer the impact force when a collision occurs, protecting the robot's structural safety, ensuring the continuity and stability of production, and meeting the demands of modern industry for efficient and reliable operation. Summary of the Invention

[0004] In view of the problems in the related technologies, the present invention proposes a plug-in robot with anti-collision function to overcome the above-mentioned technical problems existing in the existing related technologies.

[0005] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: This invention relates to a plug-in robot with anti-collision function, comprising a robot base, a connecting plate fixedly mounted on the bottom of the robot base, the connecting plate being rotatably mounted on a sliding block via bearings to achieve flexible horizontal rotation, the sliding block being slidably connected inside a slide rail to move linearly along the slide rail, the two ends of the slide rail being connected to buffer plates via buffer pillars to absorb and disperse the impact force during collision, an anti-collision mechanism being provided on the outside of the robot base, the anti-collision mechanism including shock-absorbing pillars on the robot base, the shock-absorbing pillars being made of highly elastic material, one end of which is fixedly mounted with an anti-collision pad made of soft rubber material, the side of which is fixedly mounted with a connecting block near the robot base, the connecting block being rotatably mounted with one end of a connecting rod via a pin, the other end of which is also rotatably mounted on a slider via a pin, the slider being slidably connected to a connecting shaft to achieve relative movement between the connecting rod and the slider, two of each of the connecting blocks, connecting rods, and sliders are provided, symmetrically distributed on both sides of the robot base, a shock-absorbing spring is provided between the two sliders to further absorb collision energy.

[0006] Furthermore, a threaded rod is rotatably mounted inside the slide rail via a bearing. One end of the threaded rod is fixedly mounted to a first motor via a coupling. The first motor is fixedly mounted on the slide rail by bolts to provide power for the movement of the sliding block. The threaded rod is threadedly connected to the sliding block.

[0007] Furthermore, one end of the buffer column is fixedly installed on the inner wall of the slide rail by welding, and the other end of the buffer column is also fixedly installed on the buffer plate by welding. The buffer plate is slidably connected to the inside of the slide rail through the slide groove to ensure that the buffer plate can move smoothly. A buffer spring is sleeved on the buffer column to provide additional buffering force during collision.

[0008] Furthermore, one end of the shock-absorbing column is fixedly mounted on the robot base with bolts, and the other end is also fixedly mounted on the anti-collision pad with bolts to ensure the stability of the shock-absorbing column. The connecting shaft is fixedly mounted on the connecting plate by welding, and the shock-absorbing spring is sleeved on the connecting shaft, with both ends in contact with the two sliders respectively to achieve the shock absorption effect.

[0009] Furthermore, one end of the first robotic arm is rotatably mounted on the robot base via bearings. The first robotic arm is fixedly connected to the output end of the second motor via a coupling. The second motor is fixedly mounted on the robot base via bolts to provide power for the rotation of the first robotic arm.

[0010] Furthermore, one end of a second robotic arm is rotatably mounted on the other end of the first robotic arm via a bearing, and a third motor is fixedly mounted on the end of the second robotic arm near the first robotic arm via bolts. The third motor is fixedly mounted on the first robotic arm via bolts to provide power for the rotation of the second robotic arm relative to the first robotic arm.

[0011] Furthermore, a third robotic arm is rotatably mounted on the other end of the second robotic arm via a bearing. The output end of a fourth motor is fixedly mounted on the end of the third robotic arm near the second robotic arm via bolts. The fourth motor is fixedly mounted on the second robotic arm via bolts to provide power for the rotation of the third robotic arm relative to the second robotic arm.

[0012] Furthermore, the third robotic arm has two incomplete gears rotatably mounted inside via bearings. The two incomplete gears mesh with each other to achieve synchronous rotation. Each of the two incomplete gears is fixedly mounted with a gripper for grasping and placing items. One of the incomplete gears is fixedly mounted with the output end of a fifth motor via bolts. The fifth motor is fixedly mounted on the third robotic arm via bolts to provide power for the opening and closing of the gripper.

[0013] Furthermore, a first reduction gear is fixedly installed at the bottom of the connecting plate by bolts. The first reduction gear meshes with a second reduction gear to achieve speed reduction transmission. The output end of a speed reduction motor is fixedly installed at the second reduction gear by bolts. The speed reduction motor is fixedly installed inside the sliding block by bolts to provide stable and slow power for the rotation of the connecting plate.

[0014] The present invention has the following beneficial effects: 1. This plug-in robot features multiple anti-collision protection mechanisms. The anti-collision mechanism on the outer side of the robot base includes an anti-collision pad that initially buffers the impact force through shock-absorbing columns. The structure, composed of connecting blocks, connecting rods, sliders, and shock-absorbing springs, works by compressing the shock-absorbing springs via the slider when the anti-collision pad is under pressure. The springs' elastic deformation absorbs and disperses energy, reducing damage to the robot base and internal structure. Simultaneously, the bottom of the robot base is connected to a sliding block via a connecting plate. The sliding block slides within a slide rail, which has buffer plates and buffer columns at both ends. When the sliding block reaches its end, the buffer plates and buffer columns further buffer the impact, reducing the impact force of collisions with the slide rail ends. This comprehensive protection ensures the robot's structural safety, reduces damage from collisions, and extends the robot's lifespan.

[0015] 2. The robot employs a multi-motor collaborative drive system to achieve flexible movement and precise positioning of its components. By activating the reduction motor inside the sliding block, the connecting plate and robot base rotate via gear transmission, allowing for flexible directional adjustments. Activating the second motor on the robot base rotates the first robotic arm; activating the third motor on the first robotic arm rotates the second robotic arm relative to the first; activating the fourth motor on the second robotic arm rotates the third robotic arm relative to the second, thus expanding the operating range and enabling the robotic arms to reach the target position. Furthermore, the fifth motor on the third robotic arm drives the incomplete gear rotation, causing the gripper to open and close, enabling object gripping and release. This multi-motor collaborative operation allows the robot to flexibly handle various operational tasks, improving work efficiency and operational accuracy.

[0016] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is an enlarged view of point A in the present invention; Figure 3 This is a partial structural diagram of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the anti-collision mechanism of the present invention; Figure 5 This is a partial structural diagram of the present invention. Figure 2 ; Figure 6 This is an exploded view of part of the structure of the present invention.

[0019] The attached diagram lists the components represented by each number as follows: 1. Robot base; 2. Connecting plate; 3. Sliding block; 4. Slide rail; 5. Buffer column; 6. Buffer plate; 7. Shock-absorbing spring; 8. Shock-absorbing column; 9. Anti-collision pad; 10. Connecting block; 11. Connecting rod; 12. Slider; 13. Connecting shaft; 14. Threaded rod; 15. First motor; 16. Buffer spring; 17. First robotic arm; 18. Second motor; 19. Second robotic arm; 20. Third motor; 21. Third robotic arm; 22. Fourth motor; 23. Incomplete gear; 24. Gripper; 25. Fifth motor; 26. First reduction gear; 27. Second reduction gear; 28. Gear motor. Detailed Implementation

[0020] The technical solutions of the embodiments of the invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the invention.

[0021] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "top", "middle", "inner", etc., which indicate orientation or positional relationship, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the invention.

[0022] Please see Figures 1-6 As shown, this invention is a plug-in robot with anti-collision function, including a robot base 1. A connecting plate 2 is securely fixed to the bottom of the robot base 1. The connecting plate 2 is rotatably mounted on a sliding block 3, which is slidably connected to the inside of a slide rail 4, providing a stable track foundation for the robot's movement. Buffer plates 6 are connected to both ends of the slide rail 4 via buffer pillars 5. This design can buffer the robot when it is hit by a collision, reducing the impact force on the robot's internal structure. A sophisticated anti-collision mechanism is provided on the outer side of the robot base 1. This mechanism includes a shock-absorbing pillar 8 mounted on the robot base 1, with an anti-collision pad 9 fixedly mounted on the shock-absorbing pillar 8. A connecting block 10 is fixedly mounted on the side of the anti-collision pad 9 closest to the robot base 1. One end of a connecting rod 11 is rotatably mounted on the connecting block 10, and the other end of the connecting rod 11 is rotatably mounted on a slider 12, which is slidably connected to a connecting shaft 13. Specifically, there are two connecting blocks 10, two connecting rods 11, and two sliders 12, and a shock-absorbing spring 7 is provided between the two sliders 12. This series of structures together constitutes the robot's anti-collision buffer system, which effectively absorbs and disperses collision energy.

[0023] The working principle of the plug-in robot with anti-collision function proposed in this invention is as follows: when the robot is in operation, if it encounters a collision, the anti-collision pad 9 in the anti-collision mechanism on the outside of the robot base 1 will directly bear the impact force generated by the collision. Since the anti-collision pad 9 is fixedly installed on the shock-absorbing column 8, the shock-absorbing column 8 can initially buffer part of the impact force.

[0024] The connecting block 10, which is fixedly installed on the side of the anti-collision pad 9 near the robot base 1, will move as the anti-collision pad 9 is subjected to force. One end of the connecting rod 11, which is rotatably installed on the connecting block 10, moves accordingly. Since the other end of the connecting rod 11 is rotatably installed on the slider 12, the connecting rod 11 will drive the slider 12 to slide on the connecting shaft 13.

[0025] Furthermore, since there are two connecting blocks 10, two connecting rods 11, and two sliders 12, and a shock-absorbing spring 7 is installed between the two sliders 12, the shock-absorbing spring 7 will be compressed when the two sliders 12 slide towards the middle. The shock-absorbing spring 7 absorbs and disperses the energy generated by the collision through its own elastic deformation, thereby effectively reducing the impact force on the robot base 1 and its internal structure.

[0026] Meanwhile, the connecting plate 2, fixedly mounted on the bottom of the robot base 1, is rotatably mounted on the sliding block 3, which is slidably connected inside the slide rail 4. During robot movement, if uneven force occurs due to collisions or other reasons, the sliding block 3 can slide and adjust to a certain extent within the slide rail 4 to maintain the robot's relative stability. Furthermore, buffer plates 6 are connected to both ends of the slide rail 4 via buffer pillars 5. When the sliding block 3 slides to both ends of the slide rail 4, the buffer plates 6, in conjunction with the buffer pillars 5, further buffer the impact force generated by the collision between the sliding block 3 and the end of the slide rail 4, providing comprehensive protection for the robot's structural safety.

[0027] In one embodiment, the slide rail 4 has a threaded rod 14 rotatably mounted inside it. A first motor 15 is fixedly mounted at one end of the threaded rod 14, and the first motor 15 is securely mounted on the slide rail 4. This design allows the robot to achieve precise linear movement on the slide rail 4 by rotating the threaded rod 14, while the first motor 15 provides power support. The threaded rod 14 is threadedly connected to the sliding block.

[0028] In one embodiment, for the slide rail 4 described above, one end of a buffer post 5 is fixedly installed on the inner wall of the slide rail 4, and the other end of the buffer post 5 is fixedly installed on the buffer plate 6. The buffer plate 6 is slidably connected inside the slide rail 4, and a buffer spring 16 is sleeved on the buffer post 5. This structure allows the buffer plate 6 to compress the buffer spring 16 when subjected to a collision, thereby further absorbing and dispersing the impact force and protecting the robot from damage.

[0029] In one embodiment, for the aforementioned shock-absorbing column 8, one end of the shock-absorbing column 8 is fixedly installed on the robot base 1, and the other end is fixedly installed on the anti-collision pad 9, providing stable support for the anti-collision pad 9. The connecting shaft 13 is fixedly installed on the connecting plate 2, and the shock-absorbing spring 7 is sleeved on the connecting shaft 13. This design allows the shock-absorbing spring 7 to play a shock-absorbing role when the slider 12 moves, further enhancing the robot's anti-collision performance.

[0030] The working principle of the plug-in robot with anti-collision function proposed in this invention is as follows: when the first motor 15 is started, the first motor 15 drives the threaded rod 14, which is fixedly installed thereto, to rotate inside the slide rail 4. Since the sliding block 3 is threadedly connected to the threaded rod 14, it drives the sliding block 3 to make precise linear movements within the slide rail 4, thereby driving the robot base 1, which is connected to the sliding block 3 through the connecting plate 2, and the entire robot to move.

[0031] During robot movement, if a collision occurs, the buffer plate 6, which is slidably connected inside the slide rail 4, will be impacted when the impact force is transmitted to both ends of the slide rail 4. Because the buffer plate 6 is connected to the inner wall of the slide rail 4 through the buffer post 5, and the buffer post 5 is fitted with a buffer spring 16, the buffer plate 6 will compress the buffer spring 16 when subjected to force. The buffer spring 16 will undergo elastic deformation, absorbing and dispersing the impact force generated by the collision, thus reducing the damage to the robot's internal structure.

[0032] Simultaneously, the anti-collision mechanism on the outer side of the robot base 1 functions. When a collision force is applied, the shock-absorbing column 8 fixed to the robot base 1 transmits the force to the anti-collision pad 9. The connecting block 10 fixedly installed on the side of the anti-collision pad 9 closest to the robot base 1 moves under the force, causing one end of the connecting rod 11 rotatably mounted on the connecting block 10 to move. The other end of the connecting rod 11 is rotatably mounted on the slider 12, which is slidably connected to the connecting shaft 13 fixed to the connecting plate 2. The shock-absorbing spring 7 set between the two sliders 12 is stretched or compressed when the sliders 12 move due to the connecting rod 11. Through its own elastic deformation, the shock-absorbing spring 7 further absorbs and disperses the collision energy, enhancing the robot's anti-collision performance and protecting the robot base 1 and its internal structure from serious damage.

[0033] In one embodiment, for the robot base 1 described above, one end of a first robotic arm 17 is rotatably mounted on the robot base 1. The first robotic arm 17 is fixedly connected to the output end of a second motor 18, which is fixedly mounted on the robot base 1. This design allows the first robotic arm 17 to rotate flexibly under the drive of the second motor 18, providing more possibilities for robot operation.

[0034] In one embodiment, for the first robotic arm 17, one end of a second robotic arm 19 is rotatably mounted to the other end of the first robotic arm 17. A third motor 20 is fixedly mounted to the end of the second robotic arm 19 near the first robotic arm 17, and the third motor 20 is fixedly mounted on the first robotic arm 17. This structure allows the second robotic arm 19 to rotate relative to the first robotic arm 17 under the drive of the third motor 20, further expanding the robot's operating range.

[0035] In one embodiment, for the second robotic arm 19, a third robotic arm 21 is rotatably mounted at the other end of the second robotic arm 19. The output end of a fourth motor 22 is fixedly mounted on the end of the third robotic arm 21 closest to the second robotic arm 19. The fourth motor 22 is then fixedly mounted on the second robotic arm 19. This design allows the third robotic arm 21 to rotate relative to the second robotic arm 19 under the drive of the fourth motor 22, providing strong support for the robot's precise operations.

[0036] In one embodiment, the third robotic arm 21 has two incomplete gears 23 rotatably mounted inside, meshing with each other, and each is fixedly fitted with a gripper 24. One of the incomplete gears 23 is fixedly fitted with the output end of a fifth motor 25, which is fixedly mounted on the third robotic arm 21. This structure allows the two grippers 24 to open and close under the drive of the fifth motor 25 through the meshing of the incomplete gears 23, thereby completing the gripping and release of objects.

[0037] In one embodiment, for the connecting plate 2, a first reduction gear 26 is fixedly mounted on the bottom of the connecting plate 2. The first reduction gear 26 meshes with a second reduction gear 27, and the output end of a reduction motor 28 is fixedly mounted on the second reduction gear 27. The reduction motor 28 is fixedly mounted inside the sliding block 3. This design achieves precise control of the rotation speed of the connecting plate 2 through the meshing of the reduction gears, making the robot more stable and reliable during movement and operation.

[0038] The working principle of the plug-in robot with anti-collision function proposed in this invention is as follows: When the robot needs to perform an operation task, firstly, the reduction motor 28, which is fixedly installed inside the sliding block 3, is activated. The rotation of the reduction motor 28 drives the second reduction gear 27, which is fixedly connected to its output end, to rotate. Since the second reduction gear 27 meshes with the first reduction gear 26, which is fixedly installed at the bottom of the connecting plate 2, the rotation of the second reduction gear 27 is transmitted to the first reduction gear 26, thereby driving the connecting plate 2 to rotate. Since the connecting plate 2 is stably installed at the bottom of the robot base 1, the rotation of the connecting plate 2 will drive the robot base 1 to rotate together, thereby realizing flexible adjustment of the robot's direction and keeping the robot in a stable and reliable state during movement and subsequent operations.

[0039] Next, to adjust the position of the first robotic arm 17, the second motor 18, which is fixedly installed on the robot base 1, is started. The second motor 18 drives one end of the first robotic arm 17, which is fixedly connected to its output end, to rotate on the robot base 1, so that the first robotic arm 17 can rotate flexibly, providing a basis for subsequent operations.

[0040] Once the first robotic arm 17 has rotated to the appropriate position, if it is necessary to further expand the operating range, the third motor 20, which is fixedly installed on the first robotic arm 17, is activated. The third motor 20 drives one end of the second robotic arm 19, which is fixedly connected to its output end, to rotate relative to the first robotic arm 17, so that the second robotic arm 19 reaches the required position.

[0041] Subsequently, to perform more precise operations, the fourth motor 22, which is fixedly installed on the second robotic arm 19, is activated. The fourth motor 22 drives one end of the third robotic arm 21, which is fixedly connected to its output end, to rotate relative to the second robotic arm 19, so that the third robotic arm 21 reaches the target position.

[0042] Once the third robotic arm 21 reaches the target position, to grip the object, the fifth motor 25, fixedly mounted on the third robotic arm 21, is activated. The fifth motor 25 drives an incomplete gear 23 fixedly connected to its output end to rotate. Since the two incomplete gears 23 mesh with each other, the rotation of one incomplete gear 23 drives the other incomplete gear 23 to rotate in the opposite direction, thereby causing the gripping hands 24 fixedly mounted on the two incomplete gears 23 to open and close, completing the gripping of the object. When it is necessary to release the object, the fifth motor 25 is activated again, causing the two gripping hands 24 to open and close in opposite directions, releasing the object.

[0043] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0044] The preferred embodiments of the invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A plug-in robot with anti-collision function, comprising a robot base (1), characterized in that: The robot base (1) has a connecting plate (2) fixedly installed at the bottom. The connecting plate (2) is rotatably installed on the sliding block (3). The sliding block (3) is slidably connected to the inside of the slide rail (4). The two ends of the inside of the slide rail (4) are connected to the buffer plate (6) through the buffer column (5). The robot base (1) is provided with an anti-collision mechanism. The anti-collision mechanism includes a shock-absorbing column (8) set on the robot base (1). The shock-absorbing column (8) is fixedly installed with an anti-collision pad (9). The side of the anti-collision pad (9) close to the robot base (1) is fixedly installed with a connecting block (10). The connecting block (10) is rotatably installed with one end of a connecting rod (11). The other end of the connecting rod (11) is rotatably installed on a slider (12). The slider (12) is slidably connected to the connecting shaft (13). There are two connecting blocks (10), two connecting rods (11) and two sliders (12). A shock-absorbing spring (7) is provided between the two sliders (12).

2. A plug-in robot with anti-collision function according to claim 1, characterized in that, A threaded rod (14) is rotatably mounted inside the slide rail (4). A first motor (15) is fixedly mounted at one end of the threaded rod (14). The first motor (15) is fixedly mounted on the slide rail (4). The threaded rod (14) is threadedly connected to the sliding block (3).

3. A plug-in robot with anti-collision function according to claim 2, characterized in that, One end of a buffer column (5) is fixedly installed on the inner wall of the slide rail (4), and the other end of the buffer column (5) is fixedly installed on the buffer plate (6). The buffer plate (6) is slidably connected inside the slide rail (4), and the buffer column (5) is fitted with a buffer spring (16).

4. A plug-in robot with anti-collision function according to claim 3, characterized in that, One end of the shock-absorbing column (8) is fixedly installed on the robot base (1), and the other end is fixedly installed on the anti-collision pad (9). The connecting shaft (13) is fixedly installed on the connecting plate (2), and the shock-absorbing spring (7) is sleeved on the connecting shaft (13).

5. A plug-in robot with anti-collision function according to claim 4, characterized in that, The robot base (1) is rotatably mounted on one end of the first mechanical arm (17), the first mechanical arm (17) is fixedly connected to the output end of the second motor (18), and the second motor (18) is fixedly mounted on the robot base (1).

6. A plug-in robot with anti-collision function according to claim 5, characterized in that, The other end of the first robotic arm (17) is rotatably mounted with one end of the second robotic arm (19). The end of the second robotic arm (19) near the first robotic arm (17) is fixedly mounted with a third motor (20), which is fixedly mounted on the first robotic arm (17).

7. A plug-in robot with anti-collision function according to claim 6, characterized in that, A third mechanical arm (21) is rotatably mounted on the other end of the second mechanical arm (19). The output end of a fourth motor (22) is fixedly mounted on the end of the third mechanical arm (21) near the second mechanical arm (19). The fourth motor (22) is fixedly mounted on the second mechanical arm (19).

8. A plug-in robot with anti-collision function according to claim 7, characterized in that, The third robotic arm (21) has two incomplete gears (23) rotatably mounted inside. The two incomplete gears (23) mesh with each other. Each of the two incomplete gears (23) is fixedly mounted with a gripper (24). One of the incomplete gears (23) is fixedly mounted with the output end of a fifth motor (25). The fifth motor (25) is fixedly mounted on the third robotic arm (21).

9. A plug-in robot with anti-collision function according to claim 1, characterized in that, The bottom of the connecting plate (2) is fixedly installed with a first reduction gear (26), the first reduction gear (26) meshes with a second reduction gear (27), the second reduction gear (27) is fixedly installed with the output end of a reduction motor (28), and the reduction motor (28) is fixedly installed inside the sliding block (3).

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