Collision detection structure and mower

Abstract

The utility model relates to the field of robot sensing, in particular to a collision detection structure and a mower, the collision detection structure comprises a mounting seat, and a detection mechanism and a touch block which are arranged on the mounting seat; the upper part of the touch block is rotationally connected with the mounting seat; the detection mechanism is arranged between the mounting seat and the touch block; an elastic piece is arranged on the installation base and connected with the touch block so that the touch block can abut against the induction face of the detection mechanism. According to the collision detection device, the detection mechanism is completely protected in a shielding manner through the rotationally connected touch block, and meanwhile, the influence of external slight interference on the detection mechanism is eliminated through the elastic piece, so that the detection mechanism is more suitable for being applied to a collision detection environment. On one hand, under the action of the elastic piece, the stability of the state between the mounting base and the touch block is maintained, a good working environment is created for the detection mechanism, on the other hand, the overall structure is simplified, and convenience is brought to equipment maintenance and cleaning.

Description

Technical Field

[0001] The utility model relates to the field of robot sensing, and more specifically, to a collision detection structure and a lawn mower. Background Art

[0002] The working environment of a lawn mower robot is usually complex. When performing its mowing task, it will not only encounter uneven road surfaces, but also often encounter obstacles such as weeds and gravel. There are many kinds of obstacles on the lawn, such as trees, fences, walls, stones or debris. Among the many obstacles, some obstacles will interfere with the operation of the robot, so it is necessary to install collision detection to avoid obstacles in time after a collision to prevent damage to the lawn mower robot. Some obstacles are light and movable, so there is no need to avoid obstacles after a collision. If any obstacles are avoided, the operating range of the lawn mower robot will be greatly limited, resulting in low mowing efficiency and a small effective mowing area. Therefore, collision detection is crucial for the lawn mower robot.

[0003] Existing collision detection mostly relies on collision detectors. However, collision detectors are mostly precision detection equipment, which require high operating conditions and are not adaptable enough to dusty and harsh grassy environments. In addition, the existing collision detectors have a complex way of identifying whether to avoid obstacles, resulting in a complex structure and high cost. Utility Model Content

[0004] The utility model aims to overcome at least one defect (deficiency) of the above-mentioned prior art and provide a collision detection structure and a lawn mower, which are used to solve the problem that the existing collision detection equipment has a complex structure and high requirements on adaptability to the use environment.

[0005] The technical solution adopted by the utility model is to provide a collision detection structure, including: a mounting seat, and a detection mechanism and a trigger block arranged on the mounting seat; the upper part of the trigger block is rotatably connected to the mounting seat; the detection mechanism is arranged between the mounting seat and the trigger block; an elastic member is provided on the mounting seat, and the elastic member is connected to the trigger block so that the trigger block abuts against the sensing surface of the detection mechanism.

[0006] The mounting seat includes: a mounting plate and a fixing platform; one side of the fixing platform is used to fix the collision detection structure, and the other side is detachably connected to the mounting plate; a concave mounting position is provided on a side surface of the mounting plate away from the fixing platform, the detection mechanism is arranged on the mounting position, and the trigger block is rotatably connected to the mounting plate.

[0007] The fixing platform comprises a plurality of supporting plates, which are connected end to end to form a hollow supporting body. A fixing connecting column is arranged between two adjacent supporting plates, and a structural reinforcing plate is also arranged on the fixing connecting column.

[0008] The mounting plate comprises a hollow plate body, a side of the hollow plate body close to the fixing platform is provided with an open surface, and the mounting position is arranged on the other side opposite to the open surface; a connecting structure is provided above the mounting position, and the trigger block is rotatably connected to the mounting plate through the connecting structure.

[0009] The connection structure includes a pair of sleeve parts, a connecting shaft is arranged on the sleeve parts, the elastic part is sleeved on the connecting shaft, the trigger block is rotatably connected to the connecting shaft, one end of the elastic part is connected to the mounting plate, and the other end is connected to the trigger block.

[0010] The trigger block comprises a hollow shell, a side of the shell facing the detection structure is provided with an opening communicating with the outside, an abutment column is provided in the shell, the abutment column extends to the outside of the shell through the opening and cooperates with the sensing surface.

[0011] A plurality of limiting columns are arranged in the shell, and the limiting columns and the abutting columns are perpendicular to the same plane; the limiting columns are used to cooperate with the external limiting sleeves to control the minimum gap between the trigger block and the mounting seat.

[0012] The abutting column is provided with a plurality of cavities, a closed contact surface is formed on one side close to the detection mechanism, and a connecting hole connected with the outside is formed on the other side away from the detection mechanism.

[0013] Furthermore, a lawn mower is provided, comprising a body and a collision detection structure arranged on a side surface of the body.

[0014] A receiving platform is provided below the collision detection structure, the receiving platform is connected to the machine body, and a plurality of limit sleeves are provided on the receiving platform, the limit sleeves are used to cooperate with the collision detection structure to limit the maximum force of the trigger block on the detection mechanism.

[0015] Compared with the prior art, the utility model has the following beneficial effects: while the detection mechanism is completely shielded and protected by the rotating connected trigger block, the elastic member is used to eliminate the influence of slight external interference on the detection mechanism, making the detection mechanism more suitable for application in the collision detection environment. On the one hand, the elastic member maintains the stability of the state between the mounting seat and the trigger block, creating a good working environment for the detection mechanism, and on the other hand, simplifies the overall structure, bringing convenience to equipment maintenance and cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional schematic diagram of the collision detection structure in the utility model.

[0017] Figure 2It is a schematic diagram of the fixing platform in the utility model.

[0018] Figure 3 It is a schematic diagram of the back side of the trigger block in the utility model.

[0019] Figure 4 It is a back side schematic diagram of the trigger block and the mounting plate after being assembled in the utility model.

[0020] Figure 5 It is a schematic diagram of the installation plate in the utility model.

[0021] Figure 6 It is a partial schematic diagram of the lawn mower in the utility model.

[0022] Explanation of the reference numerals: mounting seat 100, mounting plate 110, hollow plate body 111, open surface 112, connecting structure 113, mounting position 114, sleeve 115, connecting shaft 116, fixing platform 120, supporting sheet 121, fixed connecting column 122, structural reinforcement sheet 123, detection mechanism 200, sensing surface 201, trigger block 300, shell 310, limiting column 320, abutting column 330, cavity 331, touch surface 332, connecting hole 333, opening 334, elastic member 400, main body 500, receiving platform 510, limiting sleeve 511. DETAILED DESCRIPTION

[0023] The drawings of the present invention are only used for illustrative purposes and cannot be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0024] Example 1

[0025] like Figure 1 As shown, this embodiment is a collision detection structure, comprising: a mounting seat 100, and a detection mechanism 200 and a trigger block 300 arranged on the mounting seat 100; the upper part of the trigger block 300 is rotatably connected to the mounting seat 100; the detection mechanism 200 is arranged between the mounting seat 100 and the trigger block 300; an elastic member 400 is provided on the mounting seat 100, and the elastic member 400 is connected to the trigger block so that the trigger block 300 abuts against the sensing surface 201 of the detection mechanism 200.

[0026] The mounting seat 100 is used to fix the detection mechanism 200 and install the collision detection structure. The detection mechanism 200 converts the force of the trigger block 300 into a detection signal for detecting the external collision. The trigger block 300 is used to form the transmission of the external impact force to the detection mechanism 200 and protect the detection mechanism 200. The elastic member 400 is used to maintain the state of the detection mechanism 200 and the trigger block 300 before the collision, and to self-reset the two states after the collision ends and the force is released.

[0027] The trigger block 300 not only realizes the complete shielding protection for the detection mechanism 200, but also eliminates the influence of slight external interference on the detection mechanism 200, so that the adaptability of the detection mechanism 200 is improved, and it is more suitable for the application in the collision detection environment. Under the action of the trigger block 300 and the elastic member 400, the detection mechanism 200 can maintain the stability of the state between the trigger block 300 and the trigger block 300 through the elastic member 400, creating a good detection environment, and on the other hand, the structure is simple, which brings convenience to equipment maintenance and cleaning. The upper part of the trigger block 300 is rotatably connected to the mounting seat 100, so that the opening 334 between the trigger block 300 and the mounting seat 100 is at the bottom, and the upper part forms a dustproof shield for the detection mechanism 200, which can optimize the detection environment.

[0028] The mounting base 100 includes: a mounting plate 110 and a fixing platform 120; one side of the fixing platform 120 is used to fix the collision detection structure, and the other side is detachably connected to the mounting plate 110; a concave mounting position 114 is provided on a side surface of the mounting plate 110 away from the fixing platform 120, the detection mechanism 200 is arranged on the mounting position 114, and the trigger block 300 is rotatably connected to the mounting plate 110.

[0029] The fixing platform 120 and the mounting plate 110 are used to control the installation distance of the detection mechanism 200. The mounting plate 110 is used to fix the detection mechanism 200. The mounting position 114 is used to fix the position of the detection mechanism 200. The detachable connection between the fixing platform 120 and the mounting plate 110 allows the adaptability of the fixing platform 120 to different detection mechanisms 200 to be met by replacing different mounting plates 110. At the same time, when the detection mechanism 200 is disassembled for maintenance, it is not necessary to disassemble the entire mounting base 100, which is convenient for operation.

[0030] like Figure 2As shown, the fixed platform 120 includes a plurality of support sheets 121, and the support sheets 121 are connected end to end to form a hollow support body 500. A fixed connection column 122 is provided between two adjacent support sheets 121, and a structural reinforcement sheet 123 is also provided on the fixed connection column 122. The support sheets 121 are used to form a structural frame. The fixed connection column 122 is used to connect the fixed platform 120 with the mounting plate 110, and to strengthen the connection stability between the support sheets 121. The structural reinforcement sheet 123 is used to further strengthen the structure of the fixed connection column 122. The hollow design controls the weight of the fixed platform 120, and the overall structure is strengthened under the action of the fixed connection column 122 and the structural reinforcement sheet 123. The combination of the two enables the fixed platform 120 to achieve a firm and stable structure under light weight.

[0031] like Figure 5 As shown, the mounting plate 110 includes a hollow plate body 111, and an open surface 112 is provided on one side of the hollow plate body 111 close to the fixing platform 120, and the mounting position 114 is arranged on the other side opposite to the open surface 112; a connecting structure 113 is provided above the mounting position 114, and the trigger block 300 is rotatably connected to the mounting plate 110 through the connecting structure 113.

[0032] The hollow plate body 111 is the main body 500 of the mounting plate 110. The open surface 112 is used for the outside to communicate with the inside of the hollow plate body 111. The connecting structure 113 is used to connect the mounting plate 110 with the trigger block 300. After the mounting plate 110 is assembled with the fixing platform 120, the open surface 112 is closed. The design of the hollow plate body 111 makes the mounting plate 110 lighter, which reduces the load on the one hand and reduces the inertial impact on the other hand.

[0033] The connection structure 113 includes a pair of sleeves 115, a connecting shaft 116 is arranged on the sleeves 115, the elastic member 400 is sleeved on the connecting shaft 116, the trigger block 300 is rotatably connected to the connecting shaft 116, one end of the elastic member 400 is connected to the mounting plate 110, and the other end is connected to the trigger block 300. The sleeve 115 is used to fix the connecting shaft 116. The trigger block 300 is installed on the connecting shaft 116. The elastic member 400 sleeved on the connecting shaft 116 can not only stabilize the stable contact between the trigger block 300 and the detection mechanism 200 before the collision, but also can be used to reset the trigger block 300 after the collision state is eliminated. The structure is simple, the anti-interference is strong, and it is easy to maintain.

[0034] like Figure 3As shown, the trigger block 300 includes a hollow shell 310, and an opening 334 communicating with the outside is provided on the side of the shell 310 facing the detection structure. An abutment column 330 is provided in the shell 310, and the abutment column 330 extends to the outside of the shell 310 through the opening 334 and cooperates with the sensing surface 201. The hollow shell 310 is used to form a large-area external trigger surface. The opening 334 is used to establish a communication channel between the shell 310 and the detection mechanism 200. The abutment column 330 is used to form a concentrated transmission of force in a small area between the shell 310 and the detection mechanism 200.

[0035] The hollow shell 310 can effectively reduce the gravity of the trigger block 300, thereby reducing the inertial effect of the trigger block 300 during movement or collision, and also reducing the load required for using the collision detection structure. The opening 334 cooperates with the abutment column 330, on the one hand, to maintain the original large external trigger surface and expand the effective detection area of ​​the detection mechanism 200, and on the other hand, to form a force transmission between the shell 310 and the detection mechanism 200 when the large area is converted to a small area, making the detection more sensitive.

[0036] like Figure 4 As shown, a plurality of limiting columns 320 are provided in the housing 310, and the limiting columns 320 and the abutting columns 330 are perpendicular to the same plane; the limiting columns 320 are used to cooperate with the external limiting sleeve 511 to control the minimum gap between the trigger block 300 and the mounting seat 100. The limiting columns 320 are used to cooperate with the external limiting sleeve 511 to form a limiting assembly. The setting of the limiting sleeve 511 can effectively protect the detection mechanism 200 and prevent the detection mechanism 200 from being damaged due to excessive collision force. The service life of the detection mechanism 200 is improved.

[0037] The abutment column 330 is provided with a plurality of cavities 331, a closed touch surface 332 is formed on one side close to the detection mechanism 200, and a connecting hole 333 connected to the outside is formed on the other side away from the detection mechanism 200. The touch surface 332 is used to abut against the detection mechanism 200. The connecting hole 333 is used to identify the position of the abutment column 330. The cavity 331 is used to reduce the weight of the abutment column 330. The design of the cavity 331 can further reduce the weight of the abutment column 330, thereby reducing the impact of the abutment column 330. The closed touch surface 332 helps to maintain good force transmission while reducing the weight of the abutment column 330.

[0038] Example 2

[0039] like Figure 6As shown, this embodiment is a lawn mower, including a body, and also includes a collision detection structure arranged on a side surface of the body. The collision detection structure includes: a mounting seat 100, and a detection mechanism 200 and a trigger block 300 arranged on the mounting seat 100; the upper part of the trigger block 300 is rotatably connected to the mounting seat 100; the detection mechanism 200 is arranged between the mounting seat 100 and the trigger block 300; the mounting seat 100 is provided with an elastic member 400, and the elastic member 400 is connected to the trigger block so that the trigger block 300 abuts against the sensing surface 201 of the detection mechanism 200.

[0040] The mounting seat 100 is used for fixing the detection mechanism 200 and installing the collision detection structure. The detection mechanism 200 converts the force of the trigger block 300 into a detection signal for detecting the external collision. The trigger block 300 is used to form the transmission of the external impact force to the detection mechanism 200 and the protection of the detection mechanism 200. The elastic member 400 is used to maintain the state of the detection mechanism 200 and the trigger block 300 before the collision, and the self-reset of the two states after the collision ends and the force is released. In this embodiment, the detection mechanism 200 can use a pressure sensor, and the pressure sensor can transmit the detection data in a wired or wireless form. The sensing surface 201 of the pressure sensor faces the trigger block 300. The sensing surface 201 is a vertical plane, specifically a rectangular shape.

[0041] The mounting seat 100 includes: a mounting plate 110 and a fixing platform 120; one side of the fixing platform 120 is used to fix the collision detection structure, and the other side is detachably connected to the mounting plate 110; a concave mounting position 114 is provided on the side surface of the mounting plate 110 away from the fixing platform 120, the detection mechanism 200 is arranged on the mounting position 114, and the trigger block 300 is rotatably connected to the mounting plate 110. The fixing platform 120 and the mounting plate 110 are used to control the installation distance of the detection mechanism 200. The mounting plate 110 is used to fix the detection mechanism 200. The mounting position 114 is used to fix the position of the detection mechanism 200. In this embodiment, the mounting plate 110 is a rectangular parallelepiped, and the fixing platform 120 is a column. Snap-fit ​​holes are also provided around the mounting position 114. The snap-fit ​​holes are used for the installation of the detection mechanism 200.

[0042] The fixing platform 120 includes a plurality of support plates 121, which are connected end to end to form a hollow support body 500. A fixed connection column 122 is provided between two adjacent support plates 121, and a structural reinforcement plate 123 is also provided on the fixed connection column 122. The support plates 121 are used to form a structural frame. The fixed connection column 122 is used to connect the fixing platform 120 with the mounting plate 110 and to strengthen the connection stability between the support plates 121. The structural reinforcement plate 123 is used to further strengthen the structure of the fixed connection column 122. The support plate 121 is a rectangular metal sheet, and the support body 500 is a rectangular frame. The fixed connection column 122 is a cylinder, which is threadedly connected to the mounting plate 110 through a connector. The structural reinforcement plate 123 is triangular and faces different directions.

[0043] The mounting plate 110 includes a hollow plate body 111. An open surface 112 is provided on one side of the hollow plate body 111 close to the fixing platform 120. A mounting position 114 is provided on the other side opposite to the open surface 112. A connecting structure 113 is provided above the mounting position 114. The trigger block 300 is rotatably connected to the mounting plate 110 through the connecting structure 113. The hollow plate body 111 is the main body 500 of the mounting plate 110. The open surface 112 is used to communicate with the inside of the hollow plate body 111 from the outside. The connecting structure 113 is used to connect the mounting plate 110 with the trigger block 300. After the mounting plate 110 is assembled with the fixing platform 120, the open surface 112 is closed. In this embodiment, the hollow plate body 111 is a rectangular plate, and one side of the open surface 112 is the largest side of the rectangular plate and is completely open.

[0044] The connection structure 113 includes a pair of sleeves 115, a connecting shaft 116 is arranged on the sleeves 115, an elastic member 400 is sleeved on the connecting shaft 116, the trigger block 300 is rotatably connected to the connecting shaft 116, one end of the elastic member 400 is connected to the mounting plate 110, and the other end is connected to the trigger block 300. The sleeve 115 is used to fix the connecting shaft 116. The trigger block 300 is installed on the connecting shaft 116. In this embodiment, the elastic member 400 is a tube spring.

[0045] The trigger block 300 includes a hollow shell 310, and an opening 334 communicating with the outside is provided on one side of the shell 310 facing the detection structure. An abutment column 330 is provided in the shell 310, and the abutment column 330 extends to the outside of the shell 310 through the opening 334 and cooperates with the sensing surface 201. The hollow shell 310 is used to form a large-area external trigger surface. The opening 334 is used to establish a communication channel between the shell 310 and the detection mechanism 200. The abutment column 330 is used to form a small-area concentrated transmission of force between the shell 310 and the detection mechanism 200. In this embodiment, the shell 310 is a hollow metal cuboid, the left side is the opening 334, and the right side is the external trigger surface. The abutment column 330 is cylindrical, with a cross-section smaller than the sensing surface 201, one end is connected to the external trigger surface, and the other end is used to abut the detection mechanism 200. After installation, the abutment column 330 is perpendicular to the external trigger surface and the sensing surface 201 and protrudes out of the opening 334.

[0046] A plurality of limiting posts 320 are provided in the housing 310, and the limiting posts 320 and the abutting posts 330 are perpendicular to the same plane; the limiting posts 320 are used to cooperate with the external limiting sleeve 511 to control the minimum gap between the trigger block 300 and the mounting seat 100. The limiting posts 320 are used to cooperate with the external limiting sleeve 511 to form a limiting assembly. In this embodiment, there are three limiting posts 320, which are equidistantly distributed laterally below the abutting posts 330, and one end is connected to the housing 310. The limiting posts 320 are cylindrical and are located in the housing 310 as a whole.

[0047] The abutment column 330 is provided with a plurality of cavities 331, a closed touch surface 332 is formed on the side close to the detection mechanism 200, and a connecting hole 333 connected to the outside is formed on the other side away from the detection mechanism 200. The touch surface 332 is used to abut against the detection mechanism 200. The connecting hole 333 is used to identify the position of the abutment column 330. The cavity 331 is used to reduce the weight of the abutment column 330. In this embodiment, the abutment column 330 is a hollow structure and one end away from the detection mechanism 200 is connected to the outside to form a connecting hole 333. The abutment column 330 has four cavities 331 separated by a cross plate.

[0048] The body is the main body 500 of the lawn mower, and its surface is the surface of the lawn mower shell. The collision detection structure is suitable for collision detection of the lawn mower. It has a simple structure and is easy to maintain. It can adapt to the complex environment of the lawn mower and can also use its own function to avoid filtering touches that do not actually need to be avoided. In this embodiment, the collision detection structure is set on the side of the lawn mower.

[0049] A receiving platform 510 is provided below the collision detection structure. The receiving platform 510 is connected to the machine body. A plurality of limit sleeves 511 are provided on the receiving platform 510. The limit sleeves 511 are used to cooperate with the collision detection structure to limit the maximum force of the trigger block 300 on the detection mechanism 200. The receiving platform 510 is used to cooperate with the position of the fixed collision detection structure. The limit sleeves 511 are used to cooperate with the trigger block 300. On the one hand, the receiving platform 510 provides further support for the collision detection structure to prevent the collision detection structure from falling or shifting. The limit sleeves 511 provide support when the trigger block 300 is over-compressed to prevent the detection mechanism 200 from being clamped. In this embodiment, the limit sleeve 511 can cooperate with the limit column 320, and the two form a movable connection. Part of the limit column 320 is located in the limit sleeve 511, and a channel cooperating with the limit column 320 is provided in the middle of the limit sleeve 511. The depth of the channel limits the maximum degree of engagement between the limit column 320 and the limit sleeve 511, thereby preventing the trigger block 300 from being over-clamped.

[0050] Obviously, the above embodiments of the utility model are only examples for clearly explaining the technical solution of the utility model, and are not intended to limit the specific implementation methods of the utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the claims of the utility model shall be included in the protection scope of the claims of the utility model.

Claims

1. A collision detection structure, characterized in that: include: A mounting seat, and a detection mechanism and a trigger block arranged on the mounting seat; The upper portion of the trigger block is rotatably connected to the mounting seat; The detection mechanism is arranged between the mounting seat and the trigger block; An elastic member is disposed on the mounting seat, and the elastic member is connected to the trigger block so that the trigger block abuts against the sensing surface of the detection mechanism.

2. A collision detection structure according to claim 1, characterized in that: The mounting seat includes: a mounting plate and a fixing platform; one side of the fixing platform is used to fix the collision detection structure, and the other side is detachably connected to the mounting plate; a concave mounting position is provided on a side surface of the mounting plate away from the fixing platform, the detection mechanism is arranged on the mounting position, and the trigger block is rotatably connected to the mounting plate.

3. A collision detection structure according to claim 2, characterized in that: The fixing platform comprises a plurality of supporting plates, which are connected end to end to form a hollow supporting body. A fixing connecting column is arranged between two adjacent supporting plates, and a structural reinforcing plate is also arranged on the fixing connecting column.

4. A collision detection structure according to claim 2, characterized in that: The mounting plate comprises a hollow plate body, a side of the hollow plate body close to the fixing platform is provided with an open surface, and the mounting position is arranged on the other side opposite to the open surface; a connecting structure is provided above the mounting position, and the trigger block is rotatably connected to the mounting plate through the connecting structure.

5. A collision detection structure according to claim 4, characterized in that: The connection structure includes a pair of sleeve parts, a connecting shaft is arranged on the sleeve parts, the elastic part is sleeved on the connecting shaft, the trigger block is rotatably connected to the connecting shaft, one end of the elastic part is connected to the mounting plate, and the other end is connected to the trigger block.

6. A collision detection structure according to any one of claims 1 to 5, characterized in that: The trigger block comprises a hollow shell, a side of the shell facing the detection structure is provided with an opening communicating with the outside, an abutment column is provided in the shell, the abutment column extends to the outside of the shell through the opening and cooperates with the sensing surface.

7. A collision detection structure according to claim 6, characterized in that: A plurality of limiting columns are arranged in the shell, and the limiting columns and the abutting columns are perpendicular to the same plane; the limiting columns are used to cooperate with the external limiting sleeves to control the minimum gap between the trigger block and the mounting seat.

8. A collision detection structure according to claim 6, characterized in that: The abutting column is provided with a plurality of cavities, a closed contact surface is formed on one side close to the detection mechanism, and a connecting hole connected with the outside is formed on the other side away from the detection mechanism.

9. A lawn mower, comprising a body, characterized in that: It also includes a collision detection structure according to any one of claims 1 to 8, which is arranged on a surface of one side of the body.

10. A lawn mower according to claim 9, characterized in that: A receiving platform is provided below the collision detection structure, the receiving platform is connected to the machine body, and a plurality of limit sleeves are provided on the receiving platform, the limit sleeves are used to cooperate with the collision detection structure to limit the maximum force of the trigger block on the detection mechanism.

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