Anti-collision device for robot

Abstract

The utility model relates to the technical field of robot anti-collision, in particular to an anti-collision device for a robot. Comprising a robot body, a mounting frame, a plurality of spring telescopic rods, a plurality of buffer springs, an anti-collision outer frame and a deviation control mechanism, and the deviation control mechanism comprises a plurality of mounting bases, a plurality of pressure sensors, a plurality of telescopic springs, a plurality of telescopic probe rods and a plurality of arc-shaped pressed plates. The arc-shaped pressure bearing plate drives the telescopic probe rod to slide at the end of the corresponding mounting base, the end, located in the corresponding mounting base, of the telescopic probe rod extrudes the pressure bearing end of the corresponding pressure sensor, and a pressure bearing signal is transmitted to a control terminal of the robot body through the current pressure sensor. The control terminal of the robot body controls the robot body to move in the direction away from the obstacle, and then the function of automatically avoiding the obstacle is achieved.

Description

Technical Field

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

[0002] The existing robots are not provided with anti-collision mechanisms. When colliding with obstacles, the collision will act on the robot body without being buffered, causing damage to the robot body.

[0003] To solve the above problems, the existing open patent (CN211220787U) discloses an anti-collision device for an intelligent robot, including a robot body, a protective ring frame is horizontally sleeved outside the robot body, a plurality of spring telescopic rods are evenly arranged between the protective ring frame and the robot body, and the plurality of spring telescopic rods are tilted in the horizontal direction, a buffer spring is sleeved on the spring telescopic rod, and the two ends of the buffer spring are respectively fixedly connected to the two ends of the spring telescopic rod, and a plurality of second buffer springs are evenly distributed around the robot body and the protective ring frame, one end of the second buffer spring is fixedly connected to the robot body, and the other end of the second buffer spring is fixedly connected to the protective ring frame, and a buffer structure is provided on the arc-shaped side wall of the protective ring frame away from the robot body. This technical solution can provide all-round anti-collision protection for the robot.

[0004] However, the structure of the existing anti-collision device for robots is relatively simple. When the robot collides with an obstacle, the robot cannot be controlled to move away from the obstacle and realize the function of automatically avoiding the obstacle. Utility Model Content

[0005] The utility model aims to provide an anti-collision device for a robot, aiming to solve the technical problem that the structure of the existing anti-collision device for a robot is relatively simple, and when the robot collides with an obstacle, the robot cannot be controlled to stay away from the obstacle and realize the function of automatically avoiding the obstacle.

[0006] To achieve the above-mentioned purpose, the utility model provides an anti-collision device for a robot, comprising a robot body, a mounting frame, a plurality of spring telescopic rods, a plurality of buffer springs, an anti-collision outer frame and a deviation control mechanism, wherein the mounting frame is arranged on the outer side wall of the robot body, the anti-collision outer frame is arranged outside the mounting frame, a plurality of buffer springs and a plurality of spring telescopic rods are arranged between the inner side wall of the anti-collision outer frame and the outer side wall of the mounting frame, the buffer springs and the spring telescopic rods are arranged in a staggered structure, the buffer springs are fixedly installed between the mounting frame and the anti-collision outer frame, the spring telescopic rods are arranged in an inclined structure, and the spring telescopic rods are hingedly installed between the mounting frame and the anti-collision outer frame;

[0007] The deviation control mechanism includes multiple mounting seats, multiple pressure sensors, multiple telescopic springs, multiple telescopic probes and multiple arc-shaped pressure plates. The multiple mounting seats are evenly arranged on the outer side wall of the mounting frame, each of the mounting seats is respectively located between the corresponding buffer spring and the spring telescopic rod, the pressure sensor is arranged inside one end of each mounting seat close to the mounting frame, the telescopic probe is slidably arranged on one end of each mounting seat away from the mounting frame, the pressure-bearing end of the pressure sensor is close to one end of the telescopic probe located inside the mounting seat, the telescopic spring is arranged between the outside of the telescopic probe and the end of the corresponding mounting seat, the end of the telescopic probe away from the mounting seat passes through the anti-collision outer frame, and the arc-shaped pressure plate is arranged on one end of the telescopic probe away from the mounting seat.

[0008] Wherein, connecting springs are arranged at the four end corners of each of the arc-shaped pressure plates, and one end of the connecting spring away from the arc-shaped pressure plate is connected to the outer side wall of the anti-collision outer frame.

[0009] Wherein, each of the mounting seats is provided with a fixed wing plate at one end close to the mounting frame, and the fixed wing plate is detachably connected to the outer side wall of the mounting frame.

[0010] Wherein, a mounting ring is arranged on the outside of each telescopic probe rod, one end of the telescopic spring is fixedly connected to the mounting ring, and the other end of the telescopic spring is fixedly connected to the end of the corresponding mounting seat.

[0011] Wherein, each of the telescopic probe rods is provided with a limit block inside the corresponding mounting seat, and the diameter of the limit block is larger than the diameter of the sliding hole provided on the end of the mounting seat.

[0012] Wherein, the anti-collision device for the robot further comprises a plurality of buffer sponges, and the buffer sponges are arranged on a side of each of the arc-shaped pressure plates away from the anti-collision outer frame.

[0013] Wherein, a first adhesive layer is arranged on the inner side wall of each of the buffer sponges, and a second adhesive layer is arranged on the outer side wall of each of the arc-shaped pressure plates, and the second adhesive layer is matched with the first adhesive layer.

[0014] The utility model provides an anti-collision device for a robot. When the robot body collides with an obstacle, the arc-shaped pressure plate in contact with the obstacle is subjected to the force generated during the collision. The force generated during the collision is transmitted to the telescopic probe rod through the arc-shaped pressure plate. The telescopic probe rod slides at the end of the corresponding mounting seat under the force. One end of the telescopic probe rod located inside the corresponding mounting seat is pressed against the pressure end of the corresponding pressure sensor. A pressure signal is transmitted to the control terminal of the robot body through the current pressure sensor, indicating that the robot body collides in the current direction. The control terminal of the robot body sends a signal to the walking mechanism to move away from the current direction, thereby causing the robot body to move in the direction away from the obstacle, thereby realizing the function of automatically avoiding the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a schematic structural diagram of an anti-collision device for a robot according to the first embodiment of the utility model.

[0017] Figure 2 The utility model provides Figure 1 A magnified view of the local structure at A.

[0018] Figure 3 It is a schematic diagram of the connection structure between the telescopic probe rod and the mounting seat in the first embodiment of the utility model.

[0019] Figure 4 The utility model provides Figure 3 Cross-sectional view of the internal structure of line BB.

[0020] Figure 5 It is a schematic diagram of the connection structure between the telescopic probe rod and the mounting seat in the second embodiment of the utility model.

[0021] 101-robot body, 102-installation frame, 103-spring telescopic rod, 104-buffer spring, 105-anti-collision outer frame, 106-mounting seat, 107-pressure sensor, 108-telescopic spring, 109-telescopic probe rod, 110-arc pressure plate, 111-connecting spring, 112-fixed wing plate, 113-installation ring, 114-limiting block, 201-buffer sponge, 202-first adhesive layer, 203-second adhesive layer. DETAILED DESCRIPTION

[0022] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0023] First embodiment:

[0024] See also Figures 1 to 4 ,in Figure 1 is a schematic structural diagram of the anti-collision device for a robot according to the first embodiment, Figure 2 yes Figure 1 The enlarged view of the local structure at A. Figure 3 is a schematic diagram of the connection structure between the telescopic probe rod and the mounting base in the first embodiment, Figure 4 yes Figure 3 Cross-sectional view of the internal structure of line BB.

[0025] The utility model provides an anti-collision device for a robot: including a robot body 101, a mounting frame 102, a plurality of spring telescopic rods 103, a plurality of buffer springs 104, an anti-collision outer frame 105 and a deviation control mechanism, wherein the deviation control mechanism includes a plurality of mounting seats 106, a plurality of pressure sensors 107, a plurality of telescopic springs 108, a plurality of telescopic probes 109 and a plurality of arc-shaped pressure plates 110. The above-mentioned solution solves the problem that the structure of the existing anti-collision device for a robot is relatively simple, and when the robot collides with an obstacle, the robot cannot be controlled to stay away from the obstacle to realize the function of automatically avoiding the obstacle. It can be understood that the above-mentioned solution can be used in the structure of the anti-collision device for a robot.

[0026] According to this specific embodiment, the installation frame 102 is provided on the outer side wall of the robot body 101, and the anti-collision outer frame 105 is provided on the outside of the installation frame 102, and a plurality of buffer springs 104 and a plurality of spring telescopic rods 103 are provided between the inner side wall of the anti-collision outer frame 105 and the outer side wall of the installation frame 102, and the buffer springs 104 and the spring telescopic rods 103 are arranged in a staggered structure, and the buffer springs 104 are fixedly installed between the installation frame 102 and the anti-collision outer frame 105, and the spring telescopic rods 103 are arranged in an inclined structure, and the spring telescopic rods 103 are hingedly installed between the installation frame 102 and the anti-collision outer frame 105. By staggering a plurality of buffer springs 104 and a plurality of spring telescopic rods 103 between the installation frame 102 and the anti-collision outer frame 105, the force generated during the collision is buffered in all aspects, thereby reducing the damage to the robot body 101.

[0027] Among them, the outer wall of the installation frame 102 is evenly provided with a plurality of the installation seats 106, each of the installation seats 106 is respectively located between the corresponding buffer spring 104 and the spring telescopic rod 103, the inner part of each of the installation seats 106 close to the installation frame 102 is provided with the pressure sensor 107, and the end of each of the installation seats 106 away from the installation frame 102 is slidably provided with the telescopic probe rod 109, the pressure-bearing end of the pressure sensor 107 is close to the telescopic probe rod 109 and is located at one end of the interior of the installation seat 106, the telescopic spring 108 is arranged between the outside of the telescopic probe rod 109 and the end of the corresponding installation seat 106, the end of the telescopic probe rod 109 away from the installation seat 106 passes through the anti-collision outer frame 105, and the end of the telescopic probe rod 109 away from the installation seat 106 is provided with the arc The pressure plate 110, when the robot body 101 collides with an obstacle, the arc-shaped pressure plate 110 in contact with the obstacle is subjected to the force generated during the collision, and the force generated during the collision is transmitted to the telescopic probe 109 through the arc-shaped pressure plate 110. The telescopic probe 109 slides at the end of the corresponding mounting seat 106 under the force, and one end of the telescopic probe 109 located inside the corresponding mounting seat 106 is squeezed to the corresponding pressure end of the pressure sensor 107. A pressure signal is transmitted to the control terminal of the robot body 101 through the current pressure sensor 107, indicating that the robot body 101 collides in the current direction. The control terminal of the robot body 101 sends a signal to the walking mechanism to move away from the current direction, so that the robot body 101 moves in the direction away from the obstacle, thereby realizing the function of automatically avoiding the obstacle.

[0028] Secondly, each of the four end corners of the arc-shaped pressure plate 110 is provided with a connecting spring 111, and the end of the connecting spring 111 away from the arc-shaped pressure plate 110 is connected to the outer wall of the anti-collision outer frame 105. Through the setting of the connecting spring 111, the installation of the arc-shaped pressure plate 110 and the anti-collision outer frame 105 is completed, and the connecting spring 111 is used to preliminarily buffer the force received during the collision, so that the anti-collision performance of the entire anti-collision device is better.

[0029] At the same time, each mounting seat 106 is provided with a fixed wing plate 112 at one end close to the mounting frame 102. The fixed wing plate 112 is detachably connected to the outer wall of the mounting frame 102, and the fixed wing plate 112 is fixed to the outer wall of the mounting frame 102 by screws, thereby completing the installation of the mounting seat 106.

[0030] In addition, a mounting ring 113 is provided on the outside of each telescopic probe rod 109, one end of the telescopic spring 108 is fixedly connected to the mounting ring 113, and the other end of the telescopic spring 108 is fixedly connected to the end of the corresponding mounting seat 106. The installation of the telescopic spring 108 is completed by the setting of the mounting ring 113, and a limiting block 114 is provided inside the corresponding mounting seat 106 of each telescopic probe rod 109. The diameter of the limiting block 114 is larger than the diameter of the sliding hole set on the end of the mounting seat 106. The setting of the limiting block 114 can prevent the telescopic probe rod 109 from falling off from the inside of the mounting seat 106.

[0031] When using the anti-collision device for a robot of the present embodiment, a plurality of buffer springs 104 and a plurality of spring telescopic rods 103 are alternately arranged between the mounting frame 102 and the anti-collision outer frame 105, so as to buffer the force generated during the collision in all aspects, reduce the damage to the robot body 101, and when the robot body 101 collides with an obstacle, the arc-shaped pressure plate 110 in contact with the obstacle is subjected to the force generated during the collision, and the force generated during the collision is transmitted to the telescopic probe 109 through the arc-shaped pressure plate 110, and the telescopic probe 109 is 9 is subjected to force and slides at the end of the corresponding mounting seat 106, and one end of the telescopic probe rod 109 located inside the corresponding mounting seat 106 is squeezed to the corresponding pressure-bearing end of the pressure sensor 107, and a pressure signal is transmitted to the control terminal of the robot body 101 through the current pressure sensor 107, indicating that the robot body 101 collides in the current direction, and the control terminal of the robot body 101 sends a signal to the walking mechanism to move away from the current direction, so that the robot body 101 moves in the direction away from the obstacle, thereby realizing the function of automatically avoiding the obstacle.

[0032] Second embodiment:

[0033] Based on the first embodiment, please refer to Figure 5 , Figure 5 Schematic diagram of the connection structure between the telescopic probe rod and the mounting base in the second embodiment.

[0034] The utility model provides an anti-collision device for a robot, which also includes a plurality of buffer sponges 201 .

[0035] According to this specific embodiment, each of the arc-shaped pressure plates 110 is provided with the buffer sponge 201 on one side away from the anti-collision outer frame 105. Through the setting of the buffer sponge 201, the force generated when the robot body 101 collides with an obstacle is further absorbed, thereby further improving the anti-collision performance of the entire anti-collision device.

[0036] Among them, a first adhesive layer 202 is arranged on the inner wall of each of the buffer sponges 201, and a second adhesive layer 203 is arranged on the outer wall of each of the arc-shaped pressure plates 110. The second adhesive layer 203 is adapted to the first adhesive layer 202, and the installation of the buffer sponge 201 is completed by setting the first adhesive layer 202 and the second adhesive layer 203.

[0037] When using the anti-collision device for a robot according to this embodiment, the installation of the buffer sponge 201 is completed by setting the first adhesive layer 202 and the second adhesive layer 203. Through the setting of the buffer sponge 201, the force generated when the robot body 101 collides with an obstacle is further absorbed, thereby further improving the anti-collision performance of the entire anti-collision device.

[0038] The above disclosure is only a preferred embodiment of the present invention, and certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the utility model.

Claims

1. An anti-collision device for a robot, comprising a robot body, a mounting frame, a plurality of spring telescopic rods, a plurality of buffer springs and an anti-collision outer frame, wherein the mounting frame is arranged on the outer side wall of the robot body, the anti-collision outer frame is arranged outside the mounting frame, a plurality of buffer springs and a plurality of spring telescopic rods are arranged between the inner side wall of the anti-collision outer frame and the outer side wall of the mounting frame, the buffer springs and the spring telescopic rods are arranged in a staggered structure, the buffer springs are fixedly installed between the mounting frame and the anti-collision outer frame, the spring telescopic rods are arranged in an inclined structure, the spring telescopic rods are hingedly installed between the mounting frame and the anti-collision outer frame, and characterized in that: Also included are deviation control mechanisms; The deviation control mechanism includes multiple mounting seats, multiple pressure sensors, multiple telescopic springs, multiple telescopic probes and multiple arc-shaped pressure plates. The multiple mounting seats are evenly arranged on the outer side wall of the mounting frame, each of the mounting seats is respectively located between the corresponding buffer spring and the spring telescopic rod, the pressure sensor is arranged inside one end of each mounting seat close to the mounting frame, the telescopic probe is slidably arranged on one end of each mounting seat away from the mounting frame, the pressure-bearing end of the pressure sensor is close to one end of the telescopic probe located inside the mounting seat, the telescopic spring is arranged between the outside of the telescopic probe and the end of the corresponding mounting seat, the end of the telescopic probe away from the mounting seat passes through the anti-collision outer frame, and the arc-shaped pressure plate is arranged on one end of the telescopic probe away from the mounting seat.

2. The anti-collision device for a robot according to claim 1, characterized in that: Connecting springs are arranged at the four end corners of each of the arc-shaped pressure plates, and one end of the connecting spring away from the arc-shaped pressure plate is connected to the outer side wall of the anti-collision outer frame.

3. The anti-collision device for a robot according to claim 1, characterized in that: A fixing wing plate is arranged at one end of each mounting seat close to the mounting frame, and the fixing wing plate is detachably connected to the outer side wall of the mounting frame.

4. The anti-collision device for a robot according to claim 1, characterized in that: A mounting ring is arranged on the outside of each telescopic probe rod, one end of the telescopic spring is fixedly connected to the mounting ring, and the other end of the telescopic spring is fixedly connected to the end of the corresponding mounting seat.

5. The anti-collision device for a robot according to claim 1, characterized in that: Each of the telescopic probe rods is provided with a limit block inside the corresponding mounting seat, and the diameter of the limit block is greater than the diameter of the sliding hole provided on the end of the mounting seat.

6. The anti-collision device for a robot according to claim 1, characterized in that: The anti-collision device for the robot further comprises a plurality of buffer sponges, and the buffer sponges are arranged on a side of each of the arc-shaped pressure plates away from the anti-collision outer frame.

7. The anti-collision device for a robot according to claim 6, characterized in that: A first adhesive layer is arranged on the inner side wall of each buffer sponge, and a second adhesive layer is arranged on the outer side wall of each arc-shaped pressure plate, and the second adhesive layer is matched with the first adhesive layer.

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