Anti-collision device of intelligent robot

Abstract

The utility model relates to the field of robots, and discloses an anti-collision device of an intelligent robot, the upper end and the lower end of each collision wheel are rotationally connected with a first deflection plate through a shaft pin, and the end, away from the collision wheel, of each first deflection plate is rotationally connected with a second deflection plate through a shaft pin; the tail end of the second deflection plate is rotationally connected to a fixed shaft seat through a shaft pin, the multiple collision wheels are circumferentially distributed on the surface of the outer ring of the intelligent robot through screws and the fixed shaft seat, and an abutting seat is arranged between the two mounting shaft seats of the same collision wheel through screws; according to the intelligent robot, the multiple sets of annularly-distributed collision wheels are arranged on the surface of the outer ring of the intelligent robot, direct collision between the intelligent robot and an object can be avoided, the first deflection plate, the second deflection plate and the abutting base are arranged in a matched mode, and an elastic rubber pad arranged on the surface of the abutting base can reduce impact on the abutting base; and therefore, the impact force borne by the intelligent robot is reduced.

Description

Technical Field

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

[0002] Some intelligent robots may collide with obstacles during movement, causing damage to the robots. Chinese Patent No. CN210414618U describes an intelligent robot anti-collision device, which can prevent the educational robot body from directly colliding with obstacles. It has a buffering function to prevent the robot from being damaged due to collisions with obstacles, and the utility model is easy to disassemble for maintenance. In the above structure, when the roller collides with an obstacle, it will generate certain vibrations. These vibrations will be transmitted to the surface of the frame and then to the robot itself, which will still cause a certain degree of vibration to the robot and damage its internal components. To this end, we have designed an anti-collision device for intelligent robots. Utility Model Content

[0003] In order to solve the technical problem that a certain degree of vibration caused to a robot may cause damage to its internal components, the utility model provides an anti-collision device for an intelligent robot.

[0004] The utility model is implemented by the following technical solutions: an anti-collision device of an intelligent robot, including a collision wheel and an abutment seat, wherein a plurality of collision wheels are provided, and the upper and lower ends of each collision wheel are rotatably connected to a deflection plate 1 through an axle pin, and the end of the deflection plate 1 away from the collision wheel is rotatably connected to a deflection plate 2 through an axle pin, and the tail end of the deflection plate 2 is rotatably connected to a fixed axle seat through an axle pin, and the plurality of collision wheels are circumferentially distributed on the outer ring surface of the intelligent robot through screws and fixed axle seats, and an abutment seat is provided between two mounting axle seats of the same collision wheel through screws.

[0005] As a further improvement of the above solution, the abutment seat is fixed to the outer ring surface of the intelligent robot by screws, and the outer ring surface of the abutment seat is sleeved with an elastic rubber pad. When the robot collides sideways, deflection plate one or deflection plate two will contact the elastic rubber pad, avoiding direct contact with the abutment seat, which can play a buffering role. The elastic rubber pad is elastic and can make deflection plate one or deflection plate two rebound outward, so that the collision wheel can be restored to its original state as much as possible.

[0006] As a further improvement of the above solution, the two edges on the outward side of the elastic rubber pad are chamfered to form an arcuate surface, and under normal conditions, the outer surface of the elastic rubber pad does not contact the deflection plate 1 and the deflection plate 2, and there is an obtuse angle between the deflection plate 1 and the deflection plate 2. The design of the arcuate surface avoids wear on the edge of the elastic rubber pad as much as possible, thereby extending its service life.

[0007] As a further improvement of the above-mentioned scheme, an abutment assembly is provided at the middle position of the inward side of each collision wheel, wherein the abutment assembly includes an abutment wheel, an abutment bracket, a reset spring and a sliding column, the abutment wheel is rotatably mounted on the abutment bracket through an axle pin, and a sliding column is fixed on the inward side of the abutment bracket, and a reset spring is sleeved on the sliding column.

[0008] As a further improvement of the above scheme, a sliding hole is formed inwardly through the middle position of the outward side of the abutment seat, and the cross-section of the sliding hole is a convex structure. A limiting ring is fixed on the sliding column, and the sliding column is slidably sleeved in the sliding hole, and the limiting ring is slidably placed in the sliding hole. The sliding hole includes a large circular hole and a small circular hole. The sliding column is inserted into the large circular hole through the small circular hole, and the limiting ring is placed in the large circular hole, which can prevent the sliding column from detaching from the abutment seat.

[0009] As a further improvement of the above solution, a contact ring is slidably sleeved on the sliding column, the inward end of the contact ring contacts the elastic rubber pad, the outward side of the contact ring abuts the reset spring, and the other end of the reset spring abuts on the abutment bracket. The reset spring can ensure that the abutment wheel is in contact with the collision wheel. In a forward collision, the abutment wheel can buffer the collision wheel.

[0010] As a further improvement of the above solution, the outer ring surface of the abutment wheel is in rotational contact with the outer ring surface of the collision wheel, and the abutment wheel does not contact the deflection plate 1 and the deflection plate 2, and the abutment wheel will not interfere with the normal deflection of the deflection plate 1 and the deflection plate 2.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] 1. The present invention provides multiple groups of annularly distributed collision wheels on the outer ring surface of the intelligent robot to prevent direct collision between the intelligent robot and objects. The coordinated arrangement of the first and second deflection plates and the abutment seat, and the elastic rubber pad provided on the surface of the abutment seat, can reduce the impact on the abutment seat, thereby reducing the impact force on the intelligent robot.

[0013] 2. By arranging a corresponding abutment component on the abutment seat, when a head-on collision occurs with an object, the resistance of the collision wheel to the abutment wheel will reduce the impact on the abutment seat, thereby reducing the impact force on the intelligent robot and minimizing the impact force during a head-on collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of the collision wheel installed on the intelligent robot;

[0015] Figure 2This is a schematic diagram of the overall structure of an anti-collision device for an intelligent robot provided by the utility model;

[0016] Figure 3 for Figure 2 Isometric drawing of

[0017] Figure 4 for Figure 2 Schematic diagram of the structure of the abutment component.

[0018] Description of main symbols:

[0019] 1. Intelligent robot; 2. Collision wheel; 3. Deflection plate 1; 4. Deflection plate 2; 5. Fixed shaft seat; 6. Abutment seat; 61. Elastic rubber pad; 7. Abutment assembly; 71. Abutment wheel; 72. Abutment bracket; 73. Contact ring; 74. Return spring; 75. Sliding column; 76. Limiting ring. DETAILED DESCRIPTION

[0020] Below, the present invention is further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0021] Example:

[0022] Please combine Figures 1-4 , an anti-collision device of an intelligent robot in this embodiment includes a collision wheel 2 and an abutment seat 6. A plurality of collision wheels 2 are provided, and the upper and lower ends of each collision wheel 2 are rotatably connected to a deflection plate 3 through an axle pin, and the end of the deflection plate 3 away from the collision wheel 2 is rotatably connected to a deflection plate 2 4 through an axle pin, and the tail end of the deflection plate 2 4 is rotatably connected to the fixed axle seat 5 through an axle pin. Multiple collision wheels 2 are circumferentially distributed on the outer ring surface of the intelligent robot 1 through screws and the fixed axle seat 5, and an abutment seat 6 is provided between the two mounting axle seats of the same collision wheel 2 through screws.

[0023] The abutment seat 6 is fixed to the outer ring surface of the intelligent robot 1 by screws, and the outer ring surface of the abutment seat 6 is sleeved with an elastic rubber pad 61. When the robot collides sideways, the deflection plate 1 3 or the deflection plate 2 4 will contact the elastic rubber pad 61, avoiding direct contact with the abutment seat 6, and can play a buffering role. The elastic rubber pad 61 is elastic, which can make the deflection plate 1 3 or the deflection plate 2 4 rebound outward, so as to restore the collision wheel 2 to its original state as much as possible.

[0024] The two edges on the outward side of the elastic rubber pad 61 are rounded to form an arc-shaped surface, and under normal conditions, the outer surface of the elastic rubber pad 61 does not contact the deflection plate 1 3 and the deflection plate 2 4. There is an obtuse angle between the deflection plate 1 3 and the deflection plate 2 4. The design of the arc-shaped surface avoids wear on the edges of the elastic rubber pad 61 as much as possible, thereby extending its service life.

[0025] An abutment assembly 7 is provided at the middle position of the inner side of each collision wheel 2, wherein the abutment assembly 7 includes an abutment wheel 71, an abutment bracket 72, a return spring 74 and a sliding column 75. The abutment wheel 71 is rotatably mounted on the abutment bracket 72 through an axle pin, and a sliding column 75 is fixed on the inner side of the abutment bracket 72, and a return spring 74 is sleeved on the sliding column 75.

[0026] A sliding hole is formed inwardly through the middle position of the outward side of the abutment seat 6. The cross-section of the sliding hole is a convex structure. A limiting ring 76 is fixed on the sliding column 75. The sliding column 75 is slidably sleeved in the sliding hole, and the limiting ring 76 is slidably placed in the sliding hole. The sliding hole includes a large circular hole and a small circular hole. The sliding column 75 is inserted into the large circular hole through the small circular hole, and the limiting ring 76 is placed in the large circular hole, which can prevent the sliding column 75 from detaching from the abutment seat 6.

[0027] A contact ring 73 is slidably sleeved on the sliding column 75. The inward end of the contact ring 73 contacts the elastic rubber pad 61, and the outward side of the contact ring 73 abuts against the return spring 74, and the other end of the return spring 74 abuts against the abutment bracket 72. The return spring 74 can ensure that the abutment wheel 71 contacts the collision wheel 2. In a forward collision, the abutment wheel 71 can play a buffering role on the collision wheel 2.

[0028] The outer ring surface of the abutment wheel 71 is in rotational contact with the outer ring surface of the collision wheel 2, and the abutment wheel 71 does not contact the deflection plate 1 3 and the deflection plate 2 4, and the abutment wheel 71 will not interfere with the normal deflection of the deflection plate 1 3 and the deflection plate 2 4.

[0029] The implementation principle of the anti-collision device of an intelligent robot in the embodiment of the present application is as follows: the impact force received during a frontal collision is the greatest, and when the intelligent robot 1 collides head-on with an object, the collision wheel 2 will move inwards upon being hit, thereby causing the abutment wheel 71 to move inwards at the same time, and the return spring 74 on the sliding column 75 will cushion it, reducing the force of its backward collision, and the tail end of the return spring 74 contacts the elastic rubber pad 61 through the contact ring 73, and the elastic rubber pad 61 itself has good elastic deformation ability, which can buffer the return spring 74, further reducing the impact on the abutment seat 6, thereby reducing the impact force received by the intelligent robot 1. , and the elastic rubber pad 61 also reduces the force of the return spring 74 when it rebounds, avoiding secondary impact. When a side impact occurs, the collision wheel 2 will first contact the object and deflect in the opposite direction of the impact, reducing the angle between the two, so that the collision wheel 2 can roll away from the object as much as possible. At the same time, the corresponding deflection plate 1 3 and deflection plate 2 4 will deflect accordingly, and the deflection plate 1 3 and deflection plate 2 4 will contact the elastic rubber pad 61, thereby reducing the impact on the abutment seat 6, reducing the impact force received by the intelligent robot 1, and the elastic rubber pad 61 is elastic, which can make the deflection plate 1 3 or the deflection plate 2 4 rebound outward, so that the collision wheel 2 can return to its original state as much as possible;

[0030] By providing multiple groups of collision wheels 2 distributed in an annular pattern on the outer surface of the intelligent robot 1, direct collision between the intelligent robot 1 and an object can be avoided. In combination with the deflection plate 1 3, the deflection plate 2 4 and the abutment seat 6, the elastic rubber pad 61 provided on the surface of the abutment seat 6 can reduce the impact on the abutment seat 6, thereby reducing the impact force on the intelligent robot 1.

[0031] By arranging a corresponding abutment assembly 7 on the abutment seat 6, when a head-on collision occurs with an object, the resistance of the collision wheel 2 to the abutment wheel 71 will reduce the impact on the abutment seat 6, thereby reducing the impact force on the intelligent robot 1 and minimizing the impact force during a head-on collision.

[0032] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. An anti-collision device for an intelligent robot, comprising a collision wheel (2) and an abutment seat (6), characterized in that: The collision wheels (2) are provided in plurality, and the upper and lower ends of each collision wheel (2) are rotatably connected to a deflection plate (3) via an axle pin, and the end of the deflection plate (3) away from the collision wheel (2) is rotatably connected to a deflection plate (4) via an axle pin, and the tail end of the deflection plate (4) is rotatably connected to a fixed shaft seat (5) via an axle pin, and the plurality of collision wheels (2) are circumferentially distributed on the outer ring surface of the intelligent robot (1) via screws and fixed shaft seats (5), and an abutment seat (6) is provided between two mounting shaft seats of the same collision wheel (2) via screws; An abutment assembly (7) is provided at a middle position of the inner side of each collision wheel (2), wherein the abutment assembly (7) comprises an abutment wheel (71), an abutment bracket (72), a return spring (74) and a sliding column (75); the abutment wheel is rotatably mounted on the abutment bracket (72) via an axle pin, and a sliding column (75) is fixed on the inner side of the abutment bracket (72), and a return spring (74) is sleeved on the sliding column (75); A sliding hole is formed inwardly through the middle position of the outward side of the abutment seat (6), the cross section of the sliding hole is a convex structure, a limiting ring (76) is fixed on the sliding column (75), the sliding column (75) is slidably sleeved in the sliding hole, and the limiting ring (76) is slidably placed in the sliding hole.

2. The anti-collision device of an intelligent robot as claimed in claim 1, characterized in that: The abutment seat (6) is fixed to the outer ring surface of the intelligent robot (1) by means of screws, and an elastic rubber pad (61) is sleeved on the outer ring surface of the abutment seat (6).

3. The anti-collision device of an intelligent robot as claimed in claim 2, characterized in that: The two edges of the elastic rubber pad (61) facing outward are chamfered to form an arc-shaped surface, and in a normal state, the outer surface of the elastic rubber pad (61) does not contact the first deflection plate (3) or the second deflection plate (4).

4. The anti-collision device for an intelligent robot as claimed in claim 3, characterized in that: A contact ring (73) is slidably sleeved on the sliding column (75), an inward end of the contact ring (73) contacts the elastic rubber pad (61), an outward side of the contact ring (73) abuts against a return spring (74), and the other end of the return spring (74) abuts against the abutment bracket (72).

5. The anti-collision device for an intelligent robot as claimed in claim 4, characterized in that: The outer ring surface of the abutment wheel (71) is in rotational contact with the outer ring surface of the collision wheel (2), and the abutment wheel (71) is not in contact with the first deflection plate (3) or the second deflection plate (4).

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