Anti-collision mechanism of humanoid robot
By designing an anti-collision mechanism including the chassis main body, insertion block, mounting block, rotating disk, buffer structure and limit structure, the problem of accidental collision of humanoid robots during movement is solved, and the buffer structure is conveniently replaced and The improvement of anti-collision effect has solved the problem of inconvenient disassembly and assembly of anti-collision mechanisms in the prior art.
Patent Information
- Application Number
- CN202421083509.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-17
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2034-05-17
AI Technical Summary
During the movement of the humanoid robot, the sensor device cannot detect transparent or similar obstacles to the ground in time, resulting in accidental collision. The existing anti-collision mechanism and the robot chassis are integrated, which is inconvenient to disassemble, assembly and maintenance.
An anti-collision mechanism including the chassis main body, insertion block, mounting block, rotary disk, buffer structure and limit structure is designed. Through the coordination of the rotary disk and limit structure, the buffer structure can be easily replaced, and the chassis and obstacles are used. When objects come into contact, use a buffer structure for buffering to avoid direct collision of the chassis.
It realizes the convenience of replacing the buffer structure, and through the setting of the buffer structure, the direct collision between the robot chassis and obstacles is avoided, the anti-collision effect is improved, and the maintenance process is simplified.
Smart Images
Figure CN222270370U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of robot anti-collision, and in particular relates to an anti-collision mechanism of a humanoid robot. Background Art
[0002] Humanoid robots generally refer to robots that imitate human appearance and behavior, especially robots with bodies similar to humans.
[0003] When a humanoid robot moves, in order to avoid collision, a sensor device is set up to avoid hitting other objects. However, when the obstacle is transparent or the color is similar to the ground, the sensor device cannot detect it in time, resulting in a mistaken collision. Therefore, in order to avoid the robot accidentally hitting an obstacle, an anti-collision mechanism is set up to reduce the impact on the robot. However, the general anti-collision mechanism is set as an integrated structure between the robot chassis, which makes it inconvenient to disassemble and maintain during replacement, and is inconvenient to use.
[0004] Therefore, how to provide an anti-collision mechanism for a humanoid robot is an urgent problem to be solved by those skilled in the art. Utility Model Content
[0005] The utility model aims to provide a humanoid robot anti-collision mechanism, aiming to solve the problems mentioned in the background technology.
[0006] The utility model is implemented as follows: a humanoid robot anti-collision mechanism comprises:
[0007] Chassis body;
[0008] Insert blocks, wherein the insert blocks are arranged in a circular array on the top of the chassis body;
[0009] A mounting block, the mounting block being movably disposed inside the insert block;
[0010] A rotating disk, the rotating disk is movably mounted on the top of the chassis body;
[0011] A buffer structure, which is arranged outside the mounting block and connected to each other;
[0012] The limiting structure is arranged on the surface of the rotating disk to constrain the position of the rotating disk.
[0013] Preferably, the buffer structure includes a buffer component, which is arranged on the outside of the mounting block, and the outer end of the buffer component is fixedly connected to a protective ring, and a third spring is movably sleeved on the surface of the buffer component, and the front and rear ends of the third spring are respectively fixedly connected to the surfaces of the mounting block and the protective ring, and the inner sides of adjacent protective rings are movably hinged with a first hinge plate, and a second hinge plate is movably hinged between adjacent first hinge plates.
[0014] Preferably, the limiting structure includes a fixed limiting plate and a movable limiting plate, the fixed limiting plate is symmetrically staggeredly installed at the bottom of the rotating disk, the upper end of the rotating disk is symmetrically staggered to provide a limiting groove, a second spring is fixedly installed inside the limiting groove, a lifting block is fixedly installed on the top of the second spring, the movable limiting plate is fixedly installed at the bottom of the lifting block, passes through the surface of the rotating disk, and movably abuts against the side of the mounting block.
[0015] Preferably, a receiving groove is provided inside the protective ring, a first spring is arranged in an internal array of the receiving groove, and an extension plate is fixedly mounted on the bottom of the first spring.
[0016] Preferably, a positioning block is fixedly installed in the middle of the top of the inserting block, and the positioning block is movably plugged into the middle of the mounting block.
[0017] Preferably, two movable limiting plates and two fixed limiting plates are each provided, and the movable limiting plates and the fixed limiting plates are cross-arranged in a circular array.
[0018] Preferably, the rotating disk is arranged in a cross shape, and the number and shape of the opening positions of the rotating disk correspond to the number and shape of the positions of the mounting blocks.
[0019] Compared with the prior art, the beneficial effect of the utility model is that when in use, through the cooperation between the rotating disk and the limiting structure, when replacing the buffer structure, the limiting structure is lifted to release the restriction on the rotating disk, so that the rotating disk can rotate counterclockwise, exposing the mounting block, so that the buffer structure can be conveniently replaced as a whole through the mounting block.
[0020] At the same time, by setting up a buffer structure, when the chassis body is about to contact an obstacle, the buffer structure around the chassis body will first contact the obstacle and then shrink for buffering. At the same time, the robot receives the signal and changes the direction of movement, so as to facilitate continued movement and avoid collision with the chassis body. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:
[0022] Figure 1 A schematic diagram of the overall appearance of a humanoid robot anti-collision mechanism provided by an embodiment of the utility model;
[0023] Figure 2 A schematic diagram of the overall appearance of a humanoid robot anti-collision mechanism provided by an embodiment of the utility model when viewed from above;
[0024] Figure 3 A schematic diagram of a left-side cross-sectional structure of an anti-collision mechanism of a humanoid robot provided in an embodiment of the utility model;
[0025] Figure 4 A schematic diagram of the front cross-sectional structure of a humanoid robot anti-collision mechanism provided in an embodiment of the utility model.
[0026] In the figure: 1-chassis body, 2-mounting block, 3-buffer, 4-third spring, 5-protective ring, 6-first hinge plate, 7-second hinge plate, 8-storage slot, 9-first spring, 10-extension plate, 11-insertion block, 12-positioning block, 13-rotating disk, 14-limiting slot, 15-second spring, 16-lifting block, 17-movable limiting plate, 18-fixed limiting plate. DETAILED DESCRIPTION
[0027] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.
[0028] The specific implementation of the present utility model is described in detail below in conjunction with specific embodiments.
[0029] like Figure 1 , Figure 2 , Figure 3 and Figure 4 FIG. 1 is a schematic diagram of a humanoid robot anti-collision mechanism according to an embodiment of the present invention, comprising:
[0030] Chassis body 1;
[0031] Insert blocks 11, the insert blocks 11 are arranged in a circular array on the top of the chassis body 1;
[0032] A mounting block 2, the mounting block 2 being movably disposed inside the insert block 11;
[0033] A rotating disk 13, the rotating disk 13 is movably mounted on the top of the chassis body 1;
[0034] A buffer structure, which is arranged outside the mounting block 2 and connected to each other;
[0035] The limiting structure is arranged on the surface of the rotating disk 13 to constrain the position of the rotating disk 13 .
[0036] In the embodiment of the utility model, when in use, the chassis body 1 is started to move, and then the buffer structure first contacts the obstacle on the ground, and then transmits a signal to the robot to change the route, and then continue to move;
[0037] Through the cooperation between the rotating disk 13 and the limiting structure, when replacing the buffer structure, the limiting structure is lifted to release the restriction on the rotating disk 13, so that the rotating disk 13 can rotate counterclockwise, exposing the mounting block 2, thereby making it convenient to replace the buffer structure as a whole through the mounting block 2.
[0038] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, as a preferred embodiment of the utility model, the buffer structure includes a buffer member 3, the buffer member 3 is arranged on the outside of the mounting block 2, the outer end of the buffer member 3 is fixedly connected to the protective ring 5, the surface of the buffer member 3 is movably sleeved with a third spring 4, the front and rear ends of the third spring 4 are respectively fixedly connected to the surfaces of the mounting block 2 and the protective ring 5, the inner sides of adjacent protective rings 5 are movably hinged with first hinged plates 6, and a second hinged plate 7 is movably hinged between adjacent first hinged plates 6.
[0039] In the embodiment of the utility model, when the chassis body 1 is about to contact an obstacle during use, the protective ring 5 around the chassis body 1 will first contact the obstacle, thereby causing the third spring 4 and the buffer 3 to be compressed and contracted, and then a signal is transmitted to the robot, indicating that an obstacle has appeared in that direction and that the moving direction needs to be changed in time, so as to facilitate continued movement;
[0040] By setting up a buffer structure, the chassis body 1 is protected and reminded of obstacles. At the same time, the robot receives signals and changes the moving direction, thereby facilitating continued movement and avoiding collision of the chassis body 1.
[0041] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, as a preferred embodiment of the utility model, the limiting structure includes a fixed limiting plate 18 and a movable limiting plate 17. The fixed limiting plate 18 is symmetrically staggered and installed at the bottom of the rotating disk 13. The upper end of the rotating disk 13 is symmetrically staggered to provide a limiting groove 14. A second spring 15 is fixedly installed inside the limiting groove 14. A lifting block 16 is fixedly installed on the top of the second spring 15. The movable limiting plate 17 is fixedly installed at the bottom of the lifting block 16, passes through the surface of the rotating disk 13, and movably abuts against the side of the mounting block 2.
[0042] In the embodiment of the utility model, when in use, the lifting block 16 is lifted, and then the rotating disk 13 is rotated clockwise until the fixed limiting plate 18 contacts the side of the mounting block 2, and then the lifting block 16 is loosened, and then the movable limiting plate 17 is extended under the action of the second spring 15, thereby contacting the side of the mounting block 2, so that the rotating disk 13 cannot rotate;
[0043] By setting the rotating disk 13 and the limiting structure, when replacing the buffer structure, the limiting structure is lifted to release the restriction on the rotating disk 13, so that the rotating disk 13 can rotate counterclockwise, exposing the mounting block 2, so that the buffer structure can be conveniently replaced as a whole through the mounting block 2.
[0044] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, as a preferred embodiment of the utility model, a receiving groove 8 is opened inside the protective ring 5, and a first spring 9 is arranged in an internal array of the receiving groove 8, and an extension plate 10 is fixedly installed at the bottom of the first spring 9.
[0045] In the embodiment of the utility model, when in use, the extension plate 10 is extended from the receiving slot 8 under the action of the first spring 9;
[0046] The extension plate 10 increases the protection height of the protection ring 5, thereby improving the anti-collision effect.
[0047] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, as a preferred embodiment of the utility model, a positioning block 12 is fixedly installed in the middle of the top of the inserting block 11, and the positioning block 12 is movably plugged with the middle of the mounting block 2.
[0048] In the embodiment of the utility model, when in use, a positioning block 12 is fixedly installed in the middle of the top of the inserting block 11, and the positioning block 12 is movably plugged into the middle of the installation block 2, so as to facilitate installation and positioning.
[0049] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, as a preferred embodiment of the present utility model, two movable limiting plates 17 and two fixed limiting plates 18 are provided, and the movable limiting plates 17 and the fixed limiting plates 18 are cross-arranged in a circular array.
[0050] In the embodiment of the utility model, when in use, by providing two movable limiting plates 17 and two fixed limiting plates 18, and cross-disposing the movable limiting plates 17 and the fixed limiting plates 18 in a circular array, rotation limiting is facilitated.
[0051] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, as a preferred embodiment of the present utility model, the rotating disk 13 is arranged in a cross shape, and the number and shape of the opening positions of the rotating disk 13 correspond to the number and shape of the positions of the mounting block 2.
[0052] In the embodiment of the utility model, when in use, by setting the rotating disk 13 into a cross shape, and the number and shape of the opening positions of the rotating disk 13 correspond to the number and shape of the positions of the mounting block 2, it is convenient to cover and expose the positions of the mounting block 2.
[0053] The above embodiment of the utility model provides a humanoid robot anti-collision mechanism. When in use, when the chassis body 1 is about to contact an obstacle, the protective ring 5 around the chassis body 1 will first contact the obstacle, thereby causing the third spring 4 and the buffer 3 to be compressed and contracted, and then a signal is transmitted to the robot, indicating that an obstacle has appeared in that direction and that the moving direction needs to be changed in time, so as to facilitate continued movement;
[0054] When the buffer structure needs to be replaced, lift the lifting blocks 16 on both sides with force to overcome the elasticity of the second spring 15 in the limiting groove 14 and drive the movable limiting plate 17 to lift, thereby releasing the cooperation with the fixed limiting plate 18 and the mounting block 2, so that the rotating disk 13 can rotate counterclockwise to expose the mounting block 2, so that the buffer structure can be replaced as a whole through the mounting block 2, or the connection between the buffer structures can be released so that they can be replaced individually, thereby reducing the replacement amount.
[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. A humanoid robot anti-collision mechanism, characterized in that: include; Chassis body (1); Insert blocks (11), wherein the insert blocks (11) are arranged in a circular array on the top of the chassis body (1); A mounting block (2), wherein the mounting block (2) is movably arranged inside the insert block (11); A rotating disk (13), wherein the rotating disk (13) is movably mounted on the top of the chassis body (1); A buffer structure, the buffer structure is arranged on the outside of the mounting block (2) and is connected to each other; A limiting structure is arranged on the surface of the rotating disk (13) to constrain the position of the rotating disk (13).
2. The anti-collision mechanism of a humanoid robot according to claim 1, characterized in that: The buffer structure comprises a buffer component (3), wherein the buffer component (3) is arranged on the outer side of the mounting block (2), the outer end of the buffer component (3) is fixedly connected to a protective ring (5), the surface of the buffer component (3) is movably sleeved with a third spring (4), the front and rear ends of the third spring (4) are respectively fixedly connected to the surfaces of the mounting block (2) and the protective ring (5), the inner sides of adjacent protective rings (5) are movably hinged with a first hinge plate (6), and a second hinge plate (7) is movably hinged between adjacent first hinge plates (6).
3. The anti-collision mechanism of a humanoid robot according to claim 1, characterized in that: The limiting structure comprises a fixed limiting plate (18) and a movable limiting plate (17); the fixed limiting plate (18) is symmetrically offset and installed at the bottom of the rotating disk (13); a limiting groove (14) is symmetrically offset and provided at the upper end of the rotating disk (13); a second spring (15) is fixedly installed inside the limiting groove (14); a lifting block (16) is fixedly installed on the top of the second spring (15); the movable limiting plate (17) is fixedly installed at the bottom of the lifting block (16), passes through the surface of the rotating disk (13), and is movably abutted against the side of the mounting block (2).
4. The anti-collision mechanism of a humanoid robot according to claim 2, characterized in that: A receiving groove (8) is provided inside the protective ring (5), and a first spring (9) is arranged in an array inside the receiving groove (8), and an extension plate (10) is fixedly mounted on the bottom of the first spring (9).
5. The anti-collision mechanism of a humanoid robot according to claim 1, characterized in that: A positioning block (12) is fixedly installed in the middle of the top of the insert block (11), and the positioning block (12) is movably plugged into the middle of the installation block (2).
6. The anti-collision mechanism of a humanoid robot according to claim 3, characterized in that: Two of each of the movable limiting plates (17) and the fixed limiting plates (18) are provided, and the movable limiting plates (17) and the fixed limiting plates (18) are cross-arranged in a circular array.
7. The anti-collision mechanism of a humanoid robot according to claim 1, characterized in that: The rotating disk (13) is arranged in a cross shape, and the number, shape and size of the opening positions of the rotating disk (13) correspond to the number, shape and size of the positions of the mounting block (2).