Intelligent robot with anti-collision function

Abstract

The utility model discloses an intelligent robot with an anti-collision function, which relates to the technical field of intelligent sweeping robots and comprises a robot body and an anti-collision ring. Second fixing plates are symmetrically and fixedly connected to the two sides of the robot body, first fixing plates are symmetrically and fixedly connected to the inner side of the anti-collision ring, buffering cylinders are symmetrically and fixedly connected to the two sides of the robot body, and transmission rods are fixedly connected to one sides of the first fixing plates. The spring is arranged to be matched with air pressure generated in the collision process for buffering, so that the piston plate is pushed to slide in the buffering cylinder through the transmission rod while the spring is extruded in the collision process, positive pressure is generated in the buffering cylinder, the buffering cylinder is communicated with the outside through the thin pipe, pressure relief is slow, the positive pressure can hinder sliding of the piston plate, and the piston plate is prevented from sliding. According to the anti-collision robot, the anti-collision force can be generated, then the force opposite to collision can be generated, the spring can provide buffering, large impact can be weakened from the source through the brake assembly, and the anti-collision effect of the robot body is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent sweeping robots, in particular to an intelligent robot with an anti-collision function. Background Art

[0002] An intelligent sweeping robot is a smart household appliance with automatic cleaning function. It combines artificial intelligence technology and automatic navigation technology, and can automatically complete indoor floor cleaning tasks without human intervention. The core components of the intelligent sweeping robot include microcomputer systems, sensors, and motors. The microcomputer system is responsible for controlling the robot's behavior, and the sensors are used to perceive the environment, such as detecting obstacles and dust, while the motor drives the robot's movement and the operation of the cleaning components.

[0003] However, most of the existing intelligent sweeping robots lack anti-collision mechanisms. During operation, the intelligent sweeping robots are prone to collision with foreign objects, and the vibrations caused by the collisions can easily cause damage to the intelligent sweeping robots.

[0004] In the prior art, a Chinese patent for an intelligent sweeping robot with an anti-collision function (publication number CN215016795U) is proposed to solve the above-mentioned technical problems. The technical solution disclosed in the patent document is as follows: the collision force can be buffered, the damage to the device body caused by the collision is reduced, and the service life of the device body is improved. The user can replace the worn rubber plate, and the control panel can be protected to prevent dust and stains from polluting the control panel, reduce the impact of dust and stains on the control panel, and ensure the cleanliness of the surface of the control panel. However, the anti-collision of the sweeping robot mainly relies on the spring for buffering to reduce the impact force between the robot and the obstacle. However, this anti-collision method has obvious limitations. Although the spring can absorb the impact energy during the collision to a certain extent, the impact force of the collision will eventually act completely on the sweeping robot body. If the robot fails to take braking measures in time during the collision, it will still cause greater impact damage, which may not only damage the structure of the robot, but also cause damage to its internal components or performance degradation. Utility Model Content

[0005] The purpose of the utility model is to provide an intelligent robot with an anti-collision function to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0007] An intelligent robot with an anti-collision function comprises a robot body and an anti-collision ring; a second fixing plate is symmetrically fixedly connected to both sides of the robot body, a first fixing plate is symmetrically fixedly connected to the inner side of the anti-collision ring, buffer cylinders are symmetrically fixedly connected to both sides of the robot body, a transmission rod is fixedly connected to one side of the first fixing plate, a through hole is opened at the central position of the second fixing plate, the transmission rod extends to the interior of the buffer cylinder through the through hole and is fixedly connected to a piston plate, the piston plate is slidably connected to the inner wall of the buffer cylinder, a capillary tube is arranged on the buffer cylinder, the buffer cylinder is communicated with the external environment through the capillary tube, a spring is sleeved on the outer side of the transmission rod and located between the first fixing plate and the second fixing plate, a brake assembly is arranged between the transmission rod and the robot body, and the brake assembly is used for braking in case of collision.

[0008] By adopting the above technical solution, a spring is set to cooperate with the air pressure generated during the collision process for buffering, so that when the collision occurs, the spring is squeezed and the piston plate is pushed to slide in the buffer cylinder through the transmission rod, so that positive pressure is generated inside the buffer cylinder. The buffer cylinder is connected to the outside through a thin tube, and the pressure release is slow. Therefore, the positive pressure will hinder the sliding of the piston plate, and then a force can be generated to counter the collision. The spring can provide buffering, and the brake assembly can be used to reduce the larger impact from the source, which greatly improves the anti-collision effect of the robot body.

[0009] A further improvement of the technical solution of the utility model is that the braking assembly includes a sliding sleeve fixedly connected to the outside of the transmission rod, the sliding sleeve includes a sliding part, an inclined part and a friction part, the sliding part is arranged as a structure with a smooth surface, the inclined part is arranged as a hollow prism structure, the sliding part is slidingly connected to the through hole on the second fixed plate, the central axes of the rollers on the robot body extend to the outside of the robot body and are fixedly connected with a blocking roller, and the blocking roller is used in conjunction with the friction part.

[0010] By adopting the above technical solution, the movement of the transmission rod will drive the sleeve to move. When the impact is too large, the friction part will move to contact the blocking roller. The blocking roller is located in the top tangent direction and the movement direction of the friction part is opposite to the movement direction of the friction part. Therefore, the friction between the friction part and the blocking roller will hinder the rotation of the roller of the robot body.

[0011] A further improvement of the technical solution of the utility model is that a third fixing plate is symmetrically fixedly connected to the inner side of the anti-collision ring, one side of the third fixing plate and one end surface of the buffer tube are fixedly connected to magnets, and the sides where the two magnets are close to each other are opposite magnetic poles.

[0012] By adopting the above technical solution, there is a relative movement space between the anti-collision ring and the robot body at the rear of the robot body, which can provide protection against rear collision to a certain extent and limit the movement range of the buffer cylinder during the spring rebound process.

[0013] A further improvement of the technical solution of the utility model is that the capillary tube is arranged just above the buffer cylinder, and a filter screen is arranged inside the capillary tube.

[0014] The above technical solution is adopted to prevent dust from entering the buffer cylinder.

[0015] A further improvement of the technical solution of the utility model is that a rubber ring is fixedly connected to the outer side of the anti-collision ring.

[0016] By adopting the above technical solution, when the robot body is about to collide, the rubber ring outside the anti-collision ring will contact the impact object in advance to provide flexible collision.

[0017] A further improvement of the technical solution of the utility model is that the friction part and the blocking roller are both made of rubber material.

[0018] When the above technical solution is adopted, the rubber has a large friction coefficient, and a large friction force will occur when the two are in contact and squeezed relative to each other.

[0019] A further improvement of the technical solution of the utility model is that a torque sensor and a controller are installed inside the robot body, and the roller on the robot body roller and the torque sensor are electrically connected to the controller.

[0020] By adopting the above technical solution, the torque sensor inside the robot body detects abnormal resistance, and then transmits a signal to the controller, which controls the motor to stop working, so that the robot body no longer moves forward, thereby achieving braking.

[0021] Due to the adoption of the above technical solution, the utility model has achieved the following technical progress compared with the prior art:

[0022] 1. The utility model provides an intelligent robot with anti-collision function, which performs buffering by arranging a spring to cooperate with the air pressure generated during the collision process, so that when the spring is squeezed during the collision, the piston plate is pushed to slide in the buffer cylinder through the transmission rod, so that positive pressure is generated inside the buffer cylinder. The buffer cylinder is connected to the outside through a thin tube, and the pressure release is slow. Therefore, the positive pressure will hinder the sliding of the piston plate, and then can generate a force to counter the collision, wherein the spring can provide buffering, and the brake assembly can be used to reduce the larger impact from the source, which greatly improves the anti-collision effect of the robot body.

[0023] 2. The utility model provides an intelligent robot with an anti-collision function. When the impact is too great, the friction part will move to contact the blocking roller. The blocking roller is located in the top tangent direction and the movement direction is opposite to the friction part. Therefore, the friction between the friction part and the blocking roller will hinder the rotation of the roller of the robot body, inhibiting the moving process. By coordinating the control to stop the roller drive, the impact can be reduced from the source. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The utility model will be further described below in conjunction with the accompanying drawings.

[0025] Figure 1 It is a structural schematic diagram of the utility model from the first perspective;

[0026] Figure 2 It is a structural schematic diagram of the utility model from a second viewing angle;

[0027] Figure 3 It is a structural schematic diagram of the utility model from a third viewing angle;

[0028] Figure 4 It is a partial structural schematic diagram of the brake assembly of the utility model;

[0029] Figure 5 For this utility model Figure 3 Enlarged view of point A in the middle.

[0030] In the figure: 1. Robot body; 2. Anti-collision ring; 3. First fixed plate; 4. Second fixed plate; 5. Buffer cylinder; 6. Piston plate; 7. Transmission rod; 8. Capillary; 9. Sliding sleeve; 91. Sliding part; 92. Inclined part; 93. Friction part; 10. Resistance roller; 11. Filter screen; 12. Spring; 13. Third fixed plate; 14. Magnet; 15. Rubber ring. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with the embodiments:

[0032] Example 1

[0033] like Figure 1 and Figure 4 As shown, the utility model provides an intelligent robot with an anti-collision function, including a robot body 1 and an anti-collision ring 2; the second fixing plates 4 are symmetrically fixedly connected on both sides of the robot body 1, the first fixing plates 3 are symmetrically fixedly connected on the inner side of the anti-collision ring 2, the buffer cylinders 5 are symmetrically fixedly connected on both sides of the robot body 1, one side of the first fixing plate 3 is fixedly connected with a transmission rod 7, a through hole is opened at the central position of the second fixing plate 4, the transmission rod 7 extends to the interior of the buffer cylinder 5 through the through hole and is fixedly connected with a piston plate 6, the piston plate 6 is slidably connected to the inner wall of the buffer cylinder 5, a capillary 8 is arranged on the buffer cylinder 5, the buffer cylinder 5 is communicated with the external environment through the capillary 8, a spring 12 is sleeved on the outer side of the transmission rod 7 and located between the first fixing plate 3 and the second fixing plate 4, a braking assembly is arranged between the transmission rod 7 and the robot body 1, and the braking assembly is used for braking during collision.

[0034] In this embodiment, a spring 12 is provided to provide buffering in cooperation with the air pressure generated during the collision, so that during the collision, the spring 12 is squeezed and at the same time the piston plate 6 is pushed to slide in the buffer cylinder 5 through the transmission rod 7, so that a positive pressure is generated inside the buffer cylinder 5. The buffer cylinder 5 is connected to the outside through a thin tube 8, and the pressure release is slow. Therefore, the positive pressure will hinder the sliding of the piston plate 6, and then can generate a force to counter the collision, wherein the spring 12 can provide buffering, and for larger impacts, the brake assembly can be used to reduce them from the source, thereby greatly improving the anti-collision effect of the robot body 1.

[0035] Example 2

[0036] like Figure 3 and Figure 4 As shown, on the basis of Example 1, the utility model provides a technical solution: preferably, the braking assembly includes a sleeve 9 fixedly connected to the outside of the transmission rod 7, the sleeve 9 includes a sliding portion 91, an inclined portion 92 and a friction portion 93, the sliding portion 91 is configured as a structure with a smooth surface, the inclined portion 92 is configured as a hollow prism structure, the sliding portion 91 is slidably connected to the through hole on the second fixed plate 4, the central axes of the rollers on the robot body 1 extend to the outside of the robot body 1 and are fixedly connected with a blocking roller 10, and the blocking roller 10 is used in conjunction with the friction portion 93.

[0037] In this embodiment, during the movement of the transmission rod 7, the sleeve 9 will be driven to move. When the impact is too large, the friction part 93 will move to contact the blocking roller 10. The blocking roller 10 is located in the top tangent direction and the movement direction of the friction part 93 is opposite to the movement direction of the friction part 93. Therefore, the friction between the friction part 93 and the blocking roller 10 will hinder the rotation of the roller of the robot body 1.

[0038] Example 3

[0039] like Figure 1 and Figure 2 As shown, based on Example 2, the utility model provides a technical solution: preferably, a third fixed plate 13 is symmetrically fixedly connected to the inner side of the anti-collision ring 2, and a magnet 14 is fixedly connected to one side of the third fixed plate 13 and one end face of the buffer cylinder 5, and the side where the two magnets 14 are close to each other has opposite magnetic poles.

[0040] In this embodiment, there is a relative movement space between the anti-collision ring 2 and the robot body 1 at the rear of the robot body 1, which can provide protection against rear collision to a certain extent and limit the movement range of the buffer cylinder 5 during the rebound process of the spring 12.

[0041] like Figure 1 and Figure 2 As shown, preferably, the capillary tube 8 is arranged directly above the buffer cylinder 5 , and a filter screen 11 is arranged inside the capillary tube 8 .

[0042] In this embodiment, dust is prevented from entering the buffer tube 5 .

[0043] like Figure 1 and Figure 2 As shown, preferably, a rubber ring 15 is fixedly connected to the outer side of the anti-collision ring 2.

[0044] In this embodiment, when the robot body 1 is about to collide, the rubber ring 15 outside the anti-collision ring 2 will contact the impact object in advance to provide flexible collision.

[0045] Preferably, the friction portion 93 and the blocking roller 10 are both made of rubber material.

[0046] In this embodiment, the rubber has a relatively large friction coefficient, and a relatively large friction force will occur when the two are in contact and pressed against each other.

[0047] Preferably, a torque sensor and a controller are installed inside the robot body 1, and the roller on the roller of the robot body 1 and the torque sensor are electrically connected to the controller.

[0048] In this embodiment, the torque sensor inside the robot body 1 detects abnormal resistance, and then transmits a signal to the controller, which controls the motor to stop working, so that the robot body 1 no longer moves forward, thereby achieving braking.

[0049] The following is a detailed description of the working principle of this intelligent robot with anti-collision function.

[0050] like Figure 1-5As shown, when the robot body 1 is about to collide, the rubber ring 15 outside the anti-collision ring 2 will contact the impact object in advance to provide flexible collision, and the anti-collision ring 2 provides rigid support. Since the collision usually comes from the front of the robot body 1, the collision will cause the anti-collision ring 2 to move relatively to the robot body 1, and the front of the robot body 1 moves toward the side close to the anti-collision ring 2, thereby squeezing the spring 12 and pushing the piston plate 6 to slide in the buffer cylinder 5 through the transmission rod 7, so that a positive pressure is generated inside the buffer cylinder 5. The buffer cylinder 5 is connected to the outside through a capillary 8, and the pressure relief is slow. Therefore, the positive pressure will hinder the sliding of the piston plate 6, and then can generate a force to counteract the impact, wherein the spring 12 can provide buffering; during the movement of the transmission rod 7, it will drive the sliding sleeve 9 to move, and when the impact When it is too large, the friction part 93 will move to contact the blocking roller 10. The turning direction of the blocking roller 10 in the top tangent direction is opposite to the moving direction of the friction part 93. Therefore, the friction between the friction part 93 and the blocking roller 10 will hinder the rotation of the roller of the robot body 1 and inhibit the moving process. At the same time, the torque sensor inside the robot body 1 detects abnormal resistance, and then transmits a signal to the controller, and controls the motor to stop working, so that the robot body 1 no longer moves forward, thereby achieving braking, which greatly reduces the damage caused to the robot body 1 in the event of a collision. After losing the brake, the robot body 1 will reset the piston plate 6 under the rebound of the spring 12, and at the same time push the robot body 1 to move in the direction away from the impact target.

[0051] The above generally describes the present invention in detail, but it is obvious to a person skilled in the art that some modifications or improvements can be made to the present invention. Therefore, modifications or improvements that do not deviate from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. An intelligent robot with anti-collision function, comprising a robot body (1) and an anti-collision ring (2); characterized in that: The robot body (1) is symmetrically fixedly connected with a second fixed plate (4) on both sides, the anti-collision ring (2) is symmetrically fixedly connected with a first fixed plate (3) on the inner side, the robot body (1) is symmetrically fixedly connected with a buffer cylinder (5) on both sides, one side of the first fixed plate (3) is fixedly connected with a transmission rod (7), a through hole is opened at the central position of the second fixed plate (4), the transmission rod (7) extends through the through hole to the inside of the buffer cylinder (5) and is fixedly connected with a piston plate (6), the piston plate (6) is slidably connected to the inner wall of the buffer cylinder (5), a capillary (8) is arranged on the buffer cylinder (5), the buffer cylinder (5) is connected to the external environment through the capillary (8), a spring (12) is sleeved on the outer side of the transmission rod (7) and located between the first fixed plate (3) and the second fixed plate (4), a brake assembly is arranged between the transmission rod (7) and the robot body (1), and the brake assembly is used for braking in the event of collision.

2. The intelligent robot with anti-collision function according to claim 1, characterized in that: The brake assembly comprises a sliding sleeve (9) fixedly connected to the outside of a transmission rod (7), the sliding sleeve (9) comprising a sliding portion (91), an inclined portion (92) and a friction portion (93), the sliding portion (91) being configured as a structure with a smooth surface, the inclined portion (92) being configured as a hollow prism structure, the sliding portion (91) being slidably connected to a through hole on a second fixed plate (4), the central axis of the roller on the robot body (1) extending to the outside of the robot body (1) and being fixedly connected to a blocking roller (10), the blocking roller (10) being used in conjunction with the friction portion (93).

3. The intelligent robot with anti-collision function according to claim 2, characterized in that: A third fixing plate (13) is symmetrically fixedly connected to the inner side of the anti-collision ring (2), and a magnet (14) is fixedly connected to one side of the third fixing plate (13) and one end surface of the buffer cylinder (5), and the sides of the two magnets (14) that are close to each other are opposite magnetic poles.

4. The intelligent robot with anti-collision function according to claim 1, characterized in that: The capillary tube (8) is arranged directly above the buffer cylinder (5), and a filter screen (11) is arranged inside the capillary tube (8).

5. The intelligent robot with anti-collision function according to claim 1, characterized in that: A rubber ring (15) is fixedly connected to the outer side of the anti-collision ring (2).

6. The intelligent robot with anti-collision function according to claim 2, characterized in that: The friction portion (93) and the blocking roller (10) are both made of rubber material.

7. The intelligent robot with anti-collision function according to claim 2, characterized in that: A torque sensor and a controller are installed inside the robot body (1); the roller on the robot body (1) and the torque sensor are both electrically connected to the controller.

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