Collision detection device

Abstract

The utility model discloses a collision detection device, which comprises a frame connected with a movable device; the first mounting piece is connected with the frame; the first detection unit is connected with the first mounting piece; the second mounting piece is connected with the frame; the rotating part is connected with the second mounting part and can execute rotation action; one end of the sensing part is connected with the rotating part, and the other end is freely suspended; one end of the swing arm is connected with the rotating part, the other end of the swing arm extends towards the side of the movable equipment and is freely suspended, and a light emitting hole is formed in the freely suspended end of the swing arm; the second detection unit is used for outputting ranging laser; and a device control unit connected to the movable device. According to the invention, misjudgment caused by splash can be reduced, so that the accuracy of a detection result is ensured.

Description

Technical Field

[0001] The utility model belongs to the technical field of detection equipment, and in particular relates to a collision detection device. Background Art

[0002] In the field of industrial production, it is usually necessary to install collision detection devices on mobile devices to avoid collisions. For example, the patent application document with application number 202010032815.3 and patent name "Unmanned guided vehicle collision avoidance device and collision avoidance method" discloses a solution using infrared sensors as sensing devices. However, since there are usually various foreign objects in the air of the production environment, such as spatters generated during laser processing, and such foreign objects will block infrared rays, it will lead to misjudgment. Utility Model Content

[0003] In view of the deficiencies in the prior art, the utility model provides a collision detection device, which can reduce misjudgment caused by splashing objects to ensure the accuracy of the detection results.

[0004] Specifically, the utility model provides a collision detection device, which includes:

[0005] A framework that connects removable devices;

[0006] a first mounting member connected to the frame;

[0007] a first detection unit connected to the first mounting member;

[0008] a second mounting member connected to the frame;

[0009] A rotating member connected to the second mounting member and capable of performing a rotating motion;

[0010] An induction member, one end of which is connected to the rotating member and the other end of which is freely suspended;

[0011] A swing arm, one end of which is connected to the rotating member, and the other end of which extends toward the side of the movable device and is freely suspended in the air, and a light outlet hole is provided on the freely suspended end of the swing arm;

[0012] A second detection unit, which is used to output a distance measuring laser;

[0013] and a device control unit connected to the movable device;

[0014] When the ranging laser output by the second detection unit is blocked by the freely suspended end of the swing arm or an obstacle, and the freely suspended end of the sensing element is out of the sensing area of ​​the first detection unit, and the two no longer generate sensing signals, the first detection unit generates a stop signal and sends it to the device control unit.

[0015] Preferably, the second detection unit is arranged below the swing arm, and the ranging laser output by the second detection unit passes through the light output hole from below the swing arm.

[0016] Preferably, the swing arm is a Z-shaped structure as a whole.

[0017] Preferably, the first detection unit comprises a slot-type photoelectric switch.

[0018] Preferably, the frame is made of aluminum profiles.

[0019] Preferably, the swing arm is entirely made of sheet metal.

[0020] Preferably, the rotating member comprises:

[0021] a housing connected to the second mounting member;

[0022] An adapter sleeve connected to the housing;

[0023] A connecting block, which is arranged above the adapter sleeve and is used to connect the induction element and the swing arm;

[0024] A rotating shaft, one end of which extends into the interior of the connecting block, and the other end of which passes through the adapter sleeve and extends into the interior of the housing;

[0025] A torsion spring having a first free end and a second free end, and the torsion spring is disposed inside the adapter sleeve and sleeved on the outer wall surface of the rotating shaft;

[0026] An upper limiting sleeve is arranged inside the adapter sleeve and sleeved on the outer wall surface of the rotating shaft, and an upper limiting sleeve notch is opened in the circumferential direction;

[0027] A lower limiting sleeve is arranged inside the adapter sleeve and sleeved on the outer wall surface of the rotating shaft, and a lower limiting sleeve notch is opened in the circumferential direction;

[0028] The first free end and the second free end of the torsion spring are correspondingly in contact with the notch portion of the upper limiting sleeve and the notch portion of the lower limiting sleeve.

[0029] Preferably, the shell and the adapter sleeve are integrally formed.

[0030] Compared with the prior art, the utility model has the following beneficial effects:

[0031] In the utility model, a stop signal is generated only when the conditions that the ranging laser is blocked and the sensing element is out of the sensing area of ​​the first detection unit are met at the same time, and at the same time, the splashing objects are blocked by the upper swing arm to avoid affecting the ranging laser, so as to ensure the accuracy of the detection result. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1This is the overall structural diagram of the collision detection component in the utility model;

[0033] Figure 2 It is a schematic diagram of the state change of the collision detection component before and after the collision with the obstacle in the utility model;

[0034] Figure 3 It is the overall structural diagram of the rotating part in the utility model;

[0035] Figure 4 It is a partial cross-sectional view of the rotating part in the utility model;

[0036] Figure 5 It is a front view of the rotating part in the utility model. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] Embodiment 1:

[0039] This embodiment provides a collision detection device, such as Figure 1 As shown, it includes:

[0040] A frame 9, which is connected to the movable device; in this embodiment, the frame 9 can be made of aluminum profiles, and the movable device includes unmanned equipment, such as an unmanned vehicle, etc.;

[0041] A first mounting member 10 connected to the frame 9;

[0042] A first detection unit 11, which is connected to the first mounting member 10; in this embodiment, the first detection unit 11 includes a slot-type photoelectric switch, etc.;

[0043] A second mounting member 12 connected to the frame 9;

[0044] A rotating member 13 connected to the second mounting member 12, and the rotating member 13 can perform a rotational motion through a mechanism such as a torsion spring;

[0045] The induction member 14 has one end connected to the rotating member 13 via a screw or other component, and the other end is freely suspended;

[0046] A swing arm 15, one end of which is connected to the rotating member 13, and the other end of which extends toward the side of the movable device and is freely suspended. At the same time, a light exit hole 151 is opened on the freely suspended end 152 of the swing arm 15, and the freely suspended end of the swing arm 15 and the freely suspended end of the sensor 14 extend in opposite directions;

[0047] A second detection unit 16, connected to the second mounting member 12, and configured to output a distance measuring laser 161;

[0048] and a device control unit connected to the movable device;

[0049] like Figure 2 As shown in part (a) of the figure, when there is no obstacle 104, the freely suspended end of the sensing element 14 generates a sensing signal with the first detection unit 11, and the ranging laser 161 output by the second detection unit 16 passes through the light exit hole 151 and is not blocked by the freely suspended end 152 of the swing arm 15;

[0050] like Figure 2 As shown in part (b), during the movement, when an obstacle 104 appears on the side of the movable device and the swing arm 15 collides with the obstacle 104, the rotating member 13 drives the sensing member 14 and the swing arm 15 to rotate synchronously in the same direction until the ranging laser 161 output by the second detection unit 16 is blocked by the freely suspended end 152 of the swing arm 15 or the obstacle 104, and the freely suspended end of the sensing member 14 is out of the sensing area of ​​the first detection unit 11, and the two no longer generate a sensing signal, the first detection unit 11 generates a stop signal and sends it to the device control unit 17, and the device control unit 17 stops the action of the movable device according to the stop signal, such as stopping the movement.

[0051] It should be noted that, since the swing arm 15 has a certain length, when the swing arm 15 collides with the obstacle 104, there is still a certain distance between the side of the movable device and the obstacle 104, and no collision occurs between the side of the movable device and the obstacle 104, but the distance between the two is already very close, and there is a risk of collision at any time, so it is necessary to generate a stop signal.

[0052] Therefore, in the collision detection device of this embodiment, a stop signal will only be generated when the conditions that the ranging laser is blocked and the sensing element is out of the sensing area of ​​the first detection unit are met at the same time. This can prevent the ranging laser and infrared rays from being blocked by splashes floating and moving in the air, thereby causing misjudgment.

[0053] Embodiment 2:

[0054] The difference between this embodiment and embodiment 1 is that Figure 1As shown, the second detection unit 16 is disposed below the swing arm 15, and the distance measuring laser 161 outputted by the second detection unit 16 passes through the light exit hole 151 from below the swing arm 15. Furthermore, the swing arm 15 is a Z-shaped structure as a whole and is made of sheet metal.

[0055] Therefore, by setting the second detection unit 16 below the swing arm 15, the ranging laser 161 is output from below the swing arm 15, so that the splashing objects can be blocked by the upper swing arm 15 to avoid affecting the ranging laser 161, so as to ensure the accuracy of the detection result.

[0056] Embodiment 3:

[0057] The difference between this embodiment and embodiment 1 or 2 is that Figure 3-5 As shown, the rotating member 13 includes:

[0058] A housing 1 connected to the second mounting member 12;

[0059] The adapter sleeve 2 is connected to the housing 1; in this embodiment, the housing 1 and the adapter sleeve 2 can be integrally formed, and the interiors of the housing 1 and the adapter sleeve 2 are both hollow;

[0060] A connecting block 3, which is disposed above the adapter sleeve 2 and is used to connect the induction element 14 and the swing arm 15;

[0061] The rotating shaft 4 has one end extending into the connecting block 3 and the other end passing through the adapter sleeve 2 and extending into the housing 1;

[0062] A torsion spring 5, which has a first free end 51 and a second free end 52, and the torsion spring 5 is disposed inside the adapter sleeve 2 and sleeved on the outer wall surface of the rotating shaft 4;

[0063] An upper limiting sleeve 6 is arranged inside the adapter sleeve 2 and sleeved on the outer wall surface of the rotating shaft 4, and an upper limiting sleeve notch 61 is opened in the circumferential direction;

[0064] A lower limiting sleeve 7 is arranged inside the adapter sleeve 2 and sleeved on the outer wall surface of the rotating shaft 4, and a lower limiting sleeve notch 71 is opened in the circumferential direction;

[0065] The first free end 51 and the second free end 52 of the torsion spring 5 are in contact with the upper limiting sleeve notch 61 and the lower limiting sleeve notch 71 respectively;

[0066] When the swing arm 15 collides with the obstacle 104, the connecting block 3, the sensing element 14, the swing arm 15, the upper limiting sleeve 6, the lower limiting sleeve 7, and the rotating shaft 4 rotate synchronously, thereby driving the torsion spring 5 to twist. When the swing arm 15 no longer contacts the obstacle 104, the torsion spring 5 generates a restoring force to complete the rotational reset.

[0067] To sum up, in the collision detection device of the utility model, a stop signal will only be generated when the conditions that the ranging laser is blocked and the sensing element is out of the sensing area of ​​the first detection unit are met at the same time. At the same time, the splashing objects are blocked by the upper swing arm to prevent them from affecting the ranging laser, thereby ensuring the accuracy of the detection results.

[0068] It should be noted that the technical features in the above-mentioned embodiments 1 to 3 can be combined arbitrarily, and the combined technical solutions all belong to the protection scope of the present application. And in this article, terms such as "including", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements.

[0069] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A collision detection device, characterized in that: include: A framework to which movable devices are connected; a first mounting member connected to the frame; a first detection unit connected to the first mounting member; a second mounting member connected to the frame; A rotating member connected to the second mounting member and capable of performing a rotating motion; An induction member, one end of which is connected to the rotating member and the other end of which is freely suspended; A swing arm, one end of which is connected to the rotating member, and the other end of which extends toward the side of the movable device and is freely suspended in the air, and a light outlet hole is provided on the freely suspended end of the swing arm; A second detection unit, which is used to output a distance measuring laser; and a device control unit connected to the movable device; When the ranging laser output by the second detection unit is blocked by the freely suspended end of the swing arm or an obstacle, and the freely suspended end of the sensing element is out of the sensing area of ​​the first detection unit, and the two no longer generate sensing signals, the first detection unit generates a stop signal and sends it to the device control unit.

2. The collision detection device according to claim 1, characterized in that: The second detection unit is arranged below the swing arm, and the distance measuring laser output by the second detection unit passes through the light exit hole from below the swing arm.

3. The collision detection device according to claim 1, characterized in that: The swing arm is a Z-shaped structure as a whole.

4. The collision detection device according to claim 1, characterized in that: The first detection unit includes a slot-type photoelectric switch.

5. The collision detection device according to claim 1, characterized in that: The frame is made of aluminum profiles.

6. The collision detection device according to claim 1, characterized in that: The swing arm is made entirely of sheet metal.

7. The collision detection device according to claim 1, characterized in that: The rotating member comprises: a housing connected to the second mounting member; An adapter sleeve connected to the housing; A connecting block, which is arranged above the adapter sleeve and is used to connect the induction element and the swing arm; A rotating shaft, one end of which extends into the interior of the connecting block, and the other end of which passes through the adapter sleeve and extends into the interior of the housing; A torsion spring having a first free end and a second free end, and the torsion spring is disposed inside the adapter sleeve and sleeved on the outer wall surface of the rotating shaft; An upper limiting sleeve is arranged inside the adapter sleeve and sleeved on the outer wall surface of the rotating shaft, and an upper limiting sleeve notch is opened in the circumferential direction; A lower limiting sleeve is arranged inside the adapter sleeve and sleeved on the outer wall surface of the rotating shaft, and a lower limiting sleeve notch is opened in the circumferential direction; The first free end and the second free end of the torsion spring are correspondingly in contact with the notch portion of the upper limiting sleeve and the notch portion of the lower limiting sleeve.

8. The collision detection device according to claim 7, characterized in that: The shell and the adapter sleeve are integrally formed.

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