A robot collision energy-absorbing protection device based on foamed aluminum

Abstract

The application discloses a kind of robot collision energy-absorbing protective devices based on foamed aluminum, it is related to robot protection technical field, including support frame and energy-absorbing protective module, the inside of support frame is equipped with the installation slot compatible with energy-absorbing protective module, the energy-absorbing protective module includes sequentially connected elastic buffer layer, middle layer foamed aluminum plate and outer foamed aluminum plate, the intelligent collision early warning module includes pressure sensor, signal processor and early warning device.The energy-absorbing layer of foamed aluminum is designed as the combination structure of middle layer foamed aluminum plate and outer foamed aluminum plate in the application, and both are spliced using 2 layers of foamed aluminum plate blocks with different densities, gradient density design, the initial impact is preferentially absorbed by outer low-density foamed aluminum, the remaining energy is further buffered by inner high-density foamed aluminum, combined with the high energy-absorbing characteristics of foamed aluminum, the energy-absorbing efficiency is effectively improved, the peak impact force of collision is significantly reduced, and the problem of limited energy-absorbing effect of traditional protective devices is solved.

Description

Technical Field

[0001] This invention relates to the field of robot protection technology, specifically to a robot collision energy absorption protection device based on aluminum foam. Background Technology

[0002] With the rapid development of robotics technology, industrial robots and service robots have been widely used in manufacturing, logistics, medical care, home services and other fields. While improving production efficiency and making life more convenient, robots are prone to collisions with surrounding equipment, workpieces or people during operation, which can lead to damage to the robot's structure, failure of precision parts, or even safety accidents. Therefore, robot collision protection devices have become a key component to ensure the stable operation of robots.

[0003] Existing robot protective devices are mainly made of rubber, plastic, or solid metal, which have several technical shortcomings and are difficult to meet practical needs: First, their energy absorption effect is limited. Rubber and plastic materials have low energy absorption capacity and cannot effectively absorb the energy generated by high-intensity collisions, while solid metal materials, although able to withstand impacts, have almost no energy absorption capacity, and the impact force is directly transmitted to the robot body, causing damage. Second, they are prone to rebound. Pure rubber or plastic protective devices generate significant rebound force after a collision, which may cause the robot to collide again, further expanding the damage area. Third, they are heavy. Solid metal protective devices are heavy, increasing the robot's weight. Dynamic loads affect the robot's movement flexibility and response speed, making it particularly unsuitable for load-sensitive service robots and light industrial robots; fourth, high maintenance costs, as traditional protective devices are mostly integral structures, requiring replacement of the entire unit if a part is damaged, which not only increases maintenance costs but also affects the robot's normal operating efficiency; fifth, single impact direction resistance, as conventional devices mostly adopt vertical buffer designs, which have weak ability to disperse lateral impact forces. In multi-directional composite impact scenarios, uneven stress distribution can easily lead to local structural failure. At the same time, the rubber body is only simply bonded to the rigid structure, which can easily lead to interface peeling or detachment under repeated impacts, weakening the overall structural reliability.

[0004] Therefore, it is necessary to invent a robot collision energy absorption protection device based on aluminum foam to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a robot collision energy absorption and protection device based on aluminum foam, so as to solve the problems of limited energy absorption effect, easy rebound, large weight, high maintenance cost, poor structural stability and single impact direction of existing robot protection devices.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a robot collision energy absorption and protection device based on aluminum foam, comprising a support frame and an energy absorption and protection module. The inner side of the support frame is provided with an installation groove adapted to the energy absorption and protection module. The energy absorption and protection module comprises an elastic buffer layer, a middle layer of aluminum foam board, and an outer layer of aluminum foam board connected in sequence. The middle layer of aluminum foam board and the outer layer of aluminum foam board together constitute the aluminum foam energy absorption layer, each composed of two layers of aluminum foam boards with different densities spliced ​​together, adopting a density gradient design. The density of the outer layer of aluminum foam board is 0.3-0.5 g / cm³, and the density of the inner layer of aluminum foam board is 0.6-0.8 g / cm³. The middle layer of aluminum foam board and the outer layer of aluminum foam board are connected by a mortise and tenon structure. The energy absorption and protection module is embedded into the installation groove of the support frame through the cooperation of the installation slider and the installation groove. An intelligent collision warning module is provided between the elastic buffer layer and the middle layer of aluminum foam board. The intelligent collision warning module includes a pressure sensor, a signal processor, and a warning device.

[0007] Furthermore, the support frame is made of titanium alloy with a thickness of 2-4mm, and its two side walls have multiple waist-shaped holes for detachable connection with the robot body.

[0008] Furthermore, the elastic buffer layer is made of rubber material with a thickness of 5-10 mm.

[0009] Furthermore, the outer surface of the elastic buffer layer is provided with anti-slip texture, the inner surface of the elastic buffer layer is integrally formed with positioning bosses distributed in a semi-circular array, and the side surface of the middle layer aluminum foam board near the elastic buffer layer is provided with positioning grooves that are adapted to the positioning bosses.

[0010] Furthermore, the gap between the positioning boss and the middle layer of aluminum foam board is filled with adhesive to achieve a fixed connection between the elastic buffer layer and the middle layer of aluminum foam board.

[0011] Furthermore, the energy-absorbing protection module has mounting sliders fixed on both side walls, and the inner wall of the support frame has mounting grooves that are slidably adapted to the mounting sliders at their corresponding positions.

[0012] Furthermore, four connecting lugs are fixedly mounted on the front side of the support frame, and each of the four connecting lugs is threaded with a fixing bolt. The fixing bolts penetrate the energy-absorbing protection module and extend into the interior of the support frame.

[0013] Furthermore, the pressure sensor is a thin-film type, embedded between the elastic buffer layer and the middle layer of aluminum foam board. The warning device is fixed to the side wall of the support frame. The signal processor is electrically connected to the pressure sensor, the warning device and the robot control system respectively. It is used to receive the collision pressure signal from the pressure sensor, control the warning device to issue a warning, and control the robot control system to realize the robot deceleration or stopping.

[0014] Furthermore, the mortise and tenon structure includes a tenon, a mortise and a flexible buffer pad. The tenon is integrally formed on one side surface of the middle layer of aluminum foam board, and the mortise is opened on the corresponding side surface of the outer layer of aluminum foam board, with the tenon and mortise fitting together.

[0015] Furthermore, the elastic buffer pad is disposed at the connection between the middle layer of aluminum foam board and the outer layer of aluminum foam board, and the elastic buffer pad is made of silicone material.

[0016] The technical effects and advantages provided by the present invention in the above technical solution are as follows: 1. This invention designs the foamed aluminum energy-absorbing layer as a combination structure of a middle layer of foamed aluminum board and an outer layer of foamed aluminum board. Both layers are spliced ​​together with two layers of foamed aluminum boards of different densities and a gradient density design. The outer low-density foamed aluminum preferentially absorbs the initial impact, while the inner high-density foamed aluminum further buffers the remaining energy. Combined with the high energy absorption characteristics of foamed aluminum itself, the energy absorption efficiency is effectively improved, the peak impact force of the collision is significantly reduced, and the problem of limited energy absorption effect of traditional protective devices is solved. 2. This invention utilizes the synergistic cooperation of an elastic buffer layer and a foamed aluminum energy-absorbing layer. The elastic buffer layer can reduce the initial reaction force of a collision, avoiding the rebound problem caused by direct collision with pure foamed aluminum. At the same time, the interlocking fit between the positioning boss and the positioning groove, as well as the adhesive filling, ensures a firm connection between the elastic buffer layer and the middle foamed aluminum board, preventing interlayer displacement during a collision, further improving protective stability, and better protecting the robot body. 3. This invention achieves a detachable connection between the middle layer aluminum foam board and the outer layer aluminum foam board through a mortise and tenon structure. Combined with the dual fixing structure of the energy-absorbing protection module and the support frame, including the mounting slider, mounting groove and fixing bolts, it not only ensures the overall structural integrity, but also realizes the modular design of the aluminum foam board. When damaged, it can be replaced individually, reducing maintenance costs. 4. This invention uses a lightweight titanium alloy support frame, which balances structural strength and lightness. The overall weight is 40%-60% lighter than traditional metal protective devices, without affecting the robot's motion performance. Through the customized support frame, it can cover the robot arm end, body side, bottom and other easily collided parts, and is suitable for various types of industrial robots, service robots and so on. 5. This invention, through the setting of an intelligent collision warning module, utilizes a thin-film pressure sensor to detect collision pressure signals in real time. The signal processor quickly receives the signal and simultaneously controls the warning device to issue a warning and controls the robot control system to decelerate or stop, achieving dual protection of "passive energy absorption + active warning". This effectively avoids secondary collisions, further improves the safety of robot operation, and solves the shortcomings of traditional protective devices that can only passively buffer and cannot actively warn and protect, significantly reducing the risk of damage to the robot body and surrounding equipment. Attached Figure Description

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

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is an exploded three-dimensional structural diagram of the mounting slider and mounting groove of the present invention; Figure 3 This is a three-dimensional structural diagram of the mounting groove of the present invention; Figure 4 This is a three-dimensional structural diagram of the energy-absorbing protection module of the present invention; Figure 5 This is a schematic diagram of the exploded three-dimensional structure of the elastic buffer layer and the middle layer of aluminum foam board of the present invention; Figure 6 This is a three-dimensional structural diagram of the intelligent collision warning module of the present invention; Figure 7 This is an exploded three-dimensional structural diagram of the middle layer aluminum foam board and the outer layer aluminum foam board of the present invention; Figure 8 This is an exploded top view of the mortise and tenon structure of the present invention.

[0019] Explanation of reference numerals in the attached figures: 1. Support frame; 2. Waist-shaped hole; 3. Mounting groove; 4. Energy-absorbing protection module; 401. Elastic buffer layer; 4011. Anti-slip texture; 4012. Positioning boss; 4013. Positioning groove; 402. Middle layer aluminum foam board; 403. Outer layer aluminum foam board; 5. Mounting slider; 6. Mounting groove; 7. Connecting ear; 8. Fixing bolt; 9. Intelligent collision warning module; 901. Pressure sensor; 902. Signal processor; 903. Warning device; 10. Mortise and tenon structure; 1001. Tenon; 1002. Mortise and tenon groove; 1003. Elastic buffer pad. Detailed Implementation

[0020] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] The components of the embodiments of the invention described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0022] 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.

[0023] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] This invention provides, for example Figure 1-8 The illustrated robot collision energy absorption and protection device based on aluminum foam includes a support frame 1 and an energy absorption and protection module 4. The support frame 1 has an inner mounting groove 3 adapted to the energy absorption and protection module 4. The energy absorption and protection module 4 includes an elastic buffer layer 401, a middle layer of aluminum foam board 402, and an outer layer of aluminum foam board 403 connected in sequence. The middle layer of aluminum foam board 402 and the outer layer of aluminum foam board 403 together constitute the aluminum foam energy absorption layer, each composed of two layers of aluminum foam boards with different densities, employing a density gradient design. The outer layer of aluminum foam board is denser. The density of the inner foam aluminum plate is 0.6-0.8 g / cm³, and the middle foam aluminum plate 402 and the outer foam aluminum plate 403 are connected by a tenon and mortise structure 10. The energy-absorbing protection module 4 is embedded in the mounting groove 3 of the support frame 1 through the cooperation of the mounting slider 5 and the mounting groove 6. An intelligent collision warning module 9 is provided between the elastic buffer layer 401 and the middle foam aluminum plate 402. The intelligent collision warning module 9 includes a pressure sensor 901, a signal processor 902 and a warning device 903.

[0026] The support frame 1 is made of titanium alloy with a thickness of 2-4mm. Multiple waist-shaped holes 2 are opened on its two side walls for detachable connection with the robot body. Four connecting lugs 7 are fixedly installed on the front side of the support frame 1. Each of the four connecting lugs 7 is threaded with a fixing bolt 8. The fixing bolt 8 passes through the energy absorption protection module 4 and extends into the interior of the support frame 1. Mounting sliders 5 are fixedly installed on the two side walls of the energy absorption protection module 4. The inner wall of the support frame 1 has mounting grooves 6 that are slidably adapted to the mounting sliders 5.

[0027] In this embodiment, the support frame 1 is made of TC4 titanium alloy. With a thickness of only 3mm, it can ensure sufficient structural strength to resist the impact force during collision, while also achieving a lightweight design. Compared with traditional metal frames, it effectively reduces the overall weight of the device without affecting the robot's movement flexibility. The design of the waist-shaped hole 2 can adapt to the installation deviation of the robot body, improve the installation adaptability, and realize the quick and detachable connection between the device and the robot body. The cooperation between the mounting slider 5 and the mounting groove 6 facilitates the quick installation and removal of the energy absorption protection module 4. With the double locking effect of the fixing bolt 8, it ensures that the energy absorption protection module 4 is firmly connected to the support frame 1, avoiding displacement or loosening during collision and ensuring the stability of the overall protection structure. The four connecting lugs 7 are distributed in a rectangular array, which can evenly distribute the locking force and further improve the connection reliability.

[0028] The elastic buffer layer 401 is made of rubber material with a thickness of 5-10mm. The outer surface of the elastic buffer layer 401 is provided with anti-slip texture 4011. The inner surface of the elastic buffer layer 401 is integrally formed with positioning bosses 4012 distributed in a semi-circular array. The middle layer aluminum foam board 402 has a positioning groove 4013 adapted to the positioning bosses 4012 on the side surface near the elastic buffer layer 401. The gap between the positioning bosses 4012 and the middle layer aluminum foam board 402 is filled with adhesive to achieve a fixed connection between the elastic buffer layer 401 and the middle layer aluminum foam board 402.

[0029] In this embodiment, the elastic buffer layer 401 is made of rubber, which has good elasticity and buffering performance. It can effectively reduce the initial reaction force of the collision, alleviate the initial impact, and prevent the foam aluminum energy-absorbing layer from being damaged by direct contact with the colliding object. The anti-slip texture 4011 on the outside can increase the friction during the collision, prevent the colliding object from sliding, and reduce the risk of secondary collision. The precise fit between the positioning boss 4012 and the positioning groove 4013 can realize the rapid positioning of the elastic buffer layer 401 and the middle foam aluminum board 402, and avoid the offset during installation. The high-temperature resistant adhesive filled in the gap further strengthens the connection strength between the two, prevents interlayer peeling and displacement during the collision, and ensures that the elastic buffer layer 401 and the foam aluminum energy-absorbing layer work together to play a buffering and energy-absorbing role, thereby improving the overall protection effect.

[0030] The pressure sensor 901 is a thin-film type, embedded between the elastic buffer layer 401 and the middle layer of aluminum foam board 402. The warning device 903 is fixed to the side wall of the support frame 1. The signal processor 902 is electrically connected to the pressure sensor 901, the warning device 903 and the robot control system respectively. It is used to receive the collision pressure signal from the pressure sensor 901, control the warning device 903 to issue a warning, and control the robot control system to realize the robot deceleration or stop.

[0031] In this embodiment, the intelligent collision warning module 9 achieves dual protection of "passive energy absorption + active warning", which solves the shortcomings of traditional protective devices that can only passively buffer and cannot actively warn. The thin-film pressure sensor 901 is small in size and thin in thickness. Its embedded installation will not affect the adhesion between the elastic buffer layer 401 and the foam aluminum energy absorption layer. It can detect collision pressure signals in real time and accurately. The signal processor 902 reacts quickly and can quickly trigger the warning and control the robot to stop, effectively avoiding secondary collisions and greatly reducing the risk of damage to the robot body, protective devices and peripheral equipment. At the same time, the audible and visual warning device 903 can remind the staff to deal with collision accidents in a timely manner, improving the safety and reliability of robot operation.

[0032] The mortise and tenon structure 10 includes a tenon 1001, a mortise 1002, and an elastic buffer pad 1003. The tenon 1001 is integrally formed on one side surface of the middle layer aluminum foam board 402, and the mortise 1002 is opened on the corresponding side surface of the outer layer aluminum foam board 403. The tenon 1001 and the mortise 1002 are adapted to fit together. The elastic buffer pad 1003 is set at the connection between the middle layer aluminum foam board 402 and the outer layer aluminum foam board 403, and the elastic buffer pad 1003 is made of silicone.

[0033] In this embodiment, the tenon and mortise structure 10 enables a detachable connection between the middle layer aluminum foam board 402 and the outer layer aluminum foam board 403. Compared with traditional bolt connections, this not only ensures the strength of the connection but also facilitates the individual disassembly and replacement of the aluminum foam boards, enabling modular maintenance and reducing maintenance costs. The elastic buffer pad 1003 made of silicone material can alleviate the impact transmission between the middle layer aluminum foam board 402 and the outer layer aluminum foam board 403, preventing them from making hard contact and causing damage during collisions. At the same time, it can fill the gap between the tenon 1001 and the mortise 1002, improving the sealing and stability of the connection, preventing moisture and dust from entering the gap and causing corrosion of the aluminum foam boards, and extending the service life of the device. The precise fit between the tenon 1001 and the mortise 1002 ensures the integrity of the aluminum foam energy-absorbing layer, ensuring the smooth operation of the gradient density energy absorption design and improving the overall energy absorption efficiency.

[0034] 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 process, method, article, or apparatus.

[0035] 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 collision energy absorption and protection device based on aluminum foam, comprising a support frame (1) and an energy absorption and protection module (4), characterized in that: The inner side of the support frame (1) is provided with an installation groove (3) adapted to the energy-absorbing protection module (4). The energy-absorbing protection module (4) includes an elastic buffer layer (401), a middle layer of aluminum foam board (402), and an outer layer of aluminum foam board (403) connected in sequence. The middle layer of aluminum foam board (402) and the outer layer of aluminum foam board (403) together constitute the aluminum foam energy-absorbing layer, which is spliced ​​from two layers of aluminum foam boards with different densities. The density gradient design is adopted, wherein the density of the outer layer of aluminum foam board is 0.3-0.5 g / cm³, and the density of the inner layer of aluminum foam board is... 0.6-0.8 g / cm³, and the middle layer aluminum foam board (402) and the outer layer aluminum foam board (403) are connected by a tenon and mortise structure (10). The energy-absorbing protection module (4) is embedded in the mounting groove (3) of the support frame (1) through the cooperation of the mounting slider (5) and the mounting groove (6). An intelligent collision warning module (9) is provided between the elastic buffer layer (401) and the middle layer aluminum foam board (402). The intelligent collision warning module (9) includes a pressure sensor (901), a signal processor (902) and a warning device (903).

2. The robot collision energy absorption protection device based on aluminum foam according to claim 1, characterized in that: The support frame (1) is made of titanium alloy with a thickness of 2-4mm. Multiple waist-shaped holes (2) are provided on its two side walls for detachable connection with the robot body.

3. The robot collision energy absorption protection device based on aluminum foam according to claim 1, characterized in that: The elastic buffer layer (401) is made of rubber material with a thickness of 5-10 mm.

4. The robot collision energy absorption protection device based on aluminum foam according to claim 3, characterized in that: The outer surface of the elastic buffer layer (401) is provided with anti-slip texture (4011), and the inner surface of the elastic buffer layer (401) is integrally formed with positioning bosses (4012) distributed in a semi-circular array. The middle layer aluminum foam board (402) has a positioning groove (4013) adapted to the positioning bosses (4012) on the side surface near the elastic buffer layer (401).

5. A robot collision energy absorption protection device based on aluminum foam according to claim 4, characterized in that: The gap between the positioning boss (4012) and the middle layer aluminum foam board (402) is filled with adhesive to achieve a fixed connection between the elastic buffer layer (401) and the middle layer aluminum foam board (402).

6. The robot collision energy absorption protection device based on aluminum foam according to claim 1, characterized in that: The energy-absorbing protection module (4) has mounting sliders (5) fixed on both sides of its sidewalls, and the inner wall of the support frame (1) has mounting grooves (6) that are adapted to the mounting sliders (5) at their corresponding positions.

7. A robot collision energy absorption protection device based on aluminum foam according to claim 6, characterized in that: The front side of the support frame (1) is fixed with four connecting lugs (7), and each of the four connecting lugs (7) is threaded with a fixing bolt (8). The fixing bolt (8) passes through the energy-absorbing protection module (4) and extends into the interior of the support frame (1).

8. The robot collision energy absorption protection device based on aluminum foam according to claim 1, characterized in that: The pressure sensor (901) is a thin film type, embedded between the elastic buffer layer (401) and the middle layer of aluminum foam board (402). The warning device (903) is fixed to the side wall of the support frame (1). The signal processor (902) is electrically connected to the pressure sensor (901), the warning device (903) and the robot control system respectively. It is used to receive the collision pressure signal from the pressure sensor (901), control the warning device (903) to issue a warning, and control the robot control system to realize the robot deceleration or stop.

9. A robot collision energy absorption protection device based on aluminum foam according to claim 1, characterized in that: The mortise and tenon structure (10) includes a tenon (1001), a mortise (1002) and an elastic buffer pad (1003). The tenon (1001) is integrally formed on one side surface of the middle layer aluminum foam board (402), and the mortise (1002) is opened on the corresponding side surface of the outer aluminum foam board (403). The tenon (1001) and the mortise (1002) are adapted to each other.

10. A robot collision energy absorption protection device based on aluminum foam according to claim 9, characterized in that: The elastic buffer pad (1003) is located at the connection between the middle layer aluminum foam board (402) and the outer layer aluminum foam board (403), and the elastic buffer pad (1003) is made of silicone.

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